+ python -m lidar_slam --result /working/result.json --no-model /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 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 0.001858064 Adjusted end_distance from 9.223372036854776e+18 to 263.171858064 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001858064 meters Centerline goodness : 0.207595 with order 1 Centerline is valid? [0, False] SLAMing on 0.061858064 meters Centerline goodness : 0.200209 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 0.9999955 -0.00250101 -0.00165825 0.01615727] [ 0.00250804 0.99998782 0.00425141 0.01380802] [ 0.0016476 -0.00425555 0.99998959 -0.00155355] [ 0. 0. 0. 1. ]] SLAMing on 0.121858064 meters Centerline goodness : 0.186216 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.00 [[ 0.99998329 -0.00257366 -0.00517584 0.03571953] [ 0.00262965 0.99993779 0.01083985 0.03136765] [ 0.00514762 -0.01085328 0.99992785 -0.00308299] [ 0. 0. 0. 1. ]] SLAMing on 0.18185806399999999 meters Centerline goodness : 0.217268 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99999332 -0.00253937 -0.00262898 0.06097175] [ 0.00255641 0.9999756 0.00650048 0.04663428] [ 0.00261241 -0.00650716 0.99997542 -0.00698901] [ 0. 0. 0. 1. ]] SLAMing on 0.24185806399999998 meters Centerline goodness : 0.124375 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 0.99998989 -0.00310324 0.00325555 0.09623999] [ 0.00306778 0.99993651 0.01084318 0.06287305] [-0.00328899 -0.01083308 0.99993591 -0.01162032] [ 0. 0. 0. 1. ]] SLAMing on 0.301858064 meters Centerline goodness : 0.804127 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 0.99993222 -0.00636921 0.00974651 0.12835503] [ 0.00618997 0.99981318 0.01831065 0.07497393] [-0.00986132 -0.01824908 0.99978484 -0.0178878 ] [ 0. 0. 0. 1. ]] SLAMing on 0.361858064 meters Centerline goodness : 0.817600 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99990471 -0.01150036 0.00763662 0.13988271] [ 0.0113662 0.99978425 0.01738594 0.08496608] [-0.00783492 -0.01729749 0.99981969 -0.01994736] [ 0. 0. 0. 1. ]] SLAMing on 0.421858064 meters Centerline goodness : 0.194502 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.03 [[ 0.99971829 -0.01989482 0.01294371 0.18019801] [ 0.01966057 0.99964503 0.01797977 0.09557071] [-0.01329682 -0.01772022 0.99975456 -0.02521856] [ 0. 0. 0. 1. ]] SLAMing on 0.481858064 meters Centerline goodness : 0.136407 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:-0.03 [[ 0.99967036 -0.02326152 0.01086581 0.2127613 ] [ 0.02305655 0.99956071 0.01862207 0.10093244] [-0.01129421 -0.0183654 0.99976755 -0.02577671] [ 0. 0. 0. 1. ]] SLAMing on 0.541858064 meters Centerline goodness : 0.224811 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.03 [[ 0.99965974 -0.02422958 0.00966125 0.26777279] [ 0.02399378 0.99942832 0.02381879 0.10818949] [-0.01023285 -0.02357888 0.99966961 -0.02662166] [ 0. 0. 0. 1. ]] SLAMing on 0.601858064 meters Centerline goodness : 0.149916 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.11, Z:-0.03 [[ 0.99960063 -0.02608087 0.0108796 0.31549078] [ 0.02565265 0.99895606 0.03779857 0.11188392] [-0.01185406 -0.03750438 0.99922615 -0.03211529] [ 0. 0. 0. 1. ]] SLAMing on 0.6618580639999999 meters Centerline goodness : 0.152640 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.12, Z:-0.04 [[ 0.99948865 -0.02909186 0.01327014 0.34356739] [ 0.02863056 0.99902115 0.03371993 0.11941896] [-0.01423813 -0.03332276 0.99934322 -0.03660189] [ 0. 0. 0. 1. ]] SLAMing on 0.721858064 meters Centerline goodness : 0.155738 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.04 [[ 0.99939887 -0.0311076 0.01530409 0.39691687] [ 0.03056626 0.99893998 0.03441845 0.12715921] [-0.01635854 -0.03392997 0.99929033 -0.0404508 ] [ 0. 0. 0. 1. ]] SLAMing on 0.781858064 meters Centerline goodness : 0.155104 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:-0.04 [[ 0.99933938 -0.03170757 0.0177605 0.41623753] [ 0.03117669 0.9990811 0.02941049 0.13170681] [-0.01867672 -0.02883734 0.99940962 -0.04240867] [ 0. 0. 0. 1. ]] SLAMing on 0.841858064 meters Centerline goodness : 0.144258 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.14, Z:-0.05 [[ 0.99931615 -0.03173856 0.01897093 0.45881755] [ 0.03125494 0.99919201 0.02526758 0.13728949] [-0.01975756 -0.02465737 0.9995007 -0.04501695] [ 0. 0. 0. 1. ]] SLAMing on 0.9018580639999999 meters Centerline goodness : 0.137306 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.14, Z:-0.05 [[ 0.99913242 -0.03650153 0.02005113 0.51804773] [ 0.03599236 0.99903446 0.02519329 0.14421189] [-0.02095136 -0.02444974 0.99948149 -0.0500788 ] [ 0. 0. 0. 1. ]] SLAMing on 0.961858064 meters Centerline goodness : 0.580771 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.15, Z:-0.05 [[ 0.99876675 -0.04463003 0.02175179 0.57780809] [ 0.04412725 0.99875948 0.02307114 0.14881758] [-0.02275448 -0.02208284 0.99949716 -0.05454761] [ 0. 0. 0. 1. ]] SLAMing on 1.0218580640000001 meters Centerline goodness : 0.560470 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.06 [[ 0.99830331 -0.0525517 0.02507612 0.61680184] [ 0.05189615 0.998311 0.02611405 0.14991583] [-0.02640611 -0.02476839 0.99934441 -0.05916072] [ 0. 0. 0. 1. ]] SLAMing on 1.0818580640000002 meters Centerline goodness : 0.611674 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.06 [[ 0.99773619 -0.06262801 0.02449946 0.68131439] [ 0.06196036 0.99771001 0.02712301 0.15307529] [-0.02614201 -0.02554361 0.99933184 -0.06389992] [ 0. 0. 0. 1. ]] SLAMing on 1.141858064 meters Centerline goodness : 0.648256 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.16, Z:-0.07 [[ 0.99700214 -0.073017 0.02559795 0.7417676 ] [ 0.07235809 0.99704531 0.02578679 0.15711873] [-0.02740519 -0.02385726 0.99933968 -0.06804476] [ 0. 0. 0. 1. ]] SLAMing on 1.201858064 meters Centerline goodness : 0.678491 with order 3 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.07 [[ 0.99671192 -0.07595999 0.02820341 0.78265565] [ 0.07545324 0.99697551 0.0186183 0.1620095 ] [-0.02953236 -0.01642904 0.9994288 -0.0713077 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2618580640000001 meters Centerline goodness : 0.703575 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.17, Z:-0.08 [[ 0.9962868 -0.08030518 0.03104341 0.83532005] [ 0.07973967 0.99663374 0.01904673 0.16788152] [-0.03246846 -0.01650061 0.99933654 -0.07548391] [ 0. 0. 0. 1. ]] SLAMing on 1.321858064 meters Centerline goodness : 0.778060 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.18, Z:-0.08 [[ 0.99635028 -0.07868893 0.03307817 0.87534826] [ 0.07823609 0.99682544 0.01477042 0.17528352] [-0.03413543 -0.0121286 0.99934362 -0.0790689 ] [ 0. 0. 0. 1. ]] SLAMing on 1.381858064 meters Centerline goodness : 0.773036 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:-0.08 [[ 0.99654432 -0.0760063 0.03350325 0.92110924] [ 0.07568294 0.99707325 0.01081815 0.18613753] [-0.03422744 -0.00824514 0.99938006 -0.08459403] [ 0. 0. 0. 1. ]] SLAMing on 1.441858064 meters Centerline goodness : 0.859524 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.09 [[ 0.99669644 -0.07389046 0.0337105 0.9447324 ] [ 0.07360028 0.99723995 0.00977108 0.1921398 ] [-0.03433945 -0.0072577 0.99938387 -0.08781251] [ 0. 0. 0. 1. ]] SLAMing on 1.501858064 meters Centerline goodness : 0.884992 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:0.20, Z:-0.09 [[ 0.9969047 -0.07034298 0.03511236 0.98683515] [ 0.07016881 0.99751605 0.0061697 0.20386493] [-0.03545914 -0.00368681 0.99936433 -0.09163393] [ 0. 0. 0. 1. ]] SLAMing on 1.5618580640000002 meters Centerline goodness : 0.894482 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:0.21, Z:-0.10 [[ 0.99708054 -0.06830916 0.03412132 1.01429996] [ 0.06818025 0.99766084 0.00492868 0.21493262] [-0.03437818 -0.00258789 0.99940555 -0.09571574] [ 0. 0. 0. 1. ]] SLAMing on 1.621858064 meters Centerline goodness : 0.897674 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:0.22, Z:-0.10 [[ 0.99715936 -0.06687203 0.03466051 1.03807092] [ 0.06676568 0.99775977 0.00421796 0.22089437] [-0.03486492 -0.00189185 0.99939024 -0.09901066] [ 0. 0. 0. 1. ]] SLAMing on 1.681858064 meters Centerline goodness : 0.914256 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.23, Z:-0.10 [[ 0.99678355 -0.07065336 0.03782411 1.0734823 ] [ 0.07049856 0.9974972 0.00541249 0.23189108] [-0.03811185 -0.00272854 0.99926975 -0.10477769] [ 0. 0. 0. 1. ]] SLAMing on 1.741858064 meters Centerline goodness : 0.920723 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:0.24, Z:-0.11 [[ 0.99650516 -0.0736234 0.03945954 1.10611489] [ 0.07332256 0.99726749 0.0090196 0.23929304] [-0.04001577 -0.00609481 0.99918046 -0.10819955] [ 0. 0. 0. 1. ]] SLAMing on 1.801858064 meters Centerline goodness : 0.934338 with order 3 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.11 [[ 0.99649631 -0.07469032 0.03763582 1.15463087] [ 0.07468233 0.99720606 0.00162016 0.25308589] [-0.03765168 0.00119625 0.99929021 -0.1116312 ] [ 0. 0. 0. 1. ]] SLAMing on 1.861858064 meters Centerline goodness : 0.943922 with order 3 Centerline is valid? [False, False] Translation: X:1.20, Y:0.26, Z:-0.11 [[ 0.99637389 -0.07694475 0.03631217 1.20181974] [ 0.07713418 0.99701332 -0.00384284 0.26417875] [-0.03590803 0.00662981 0.99933311 -0.11378516] [ 0. 0. 0. 1. ]] SLAMing on 1.921858064 meters Centerline goodness : 0.946252 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:0.27, Z:-0.12 [[ 0.99635152 -0.07648393 0.03786632 1.24213787] [ 0.07675423 0.99703355 -0.00573457 0.2715086 ] [-0.03731539 0.00862005 0.99926636 -0.11548897] [ 0. 0. 0. 1. ]] SLAMing on 1.981858064 meters Centerline goodness : 0.950244 with order 1 Centerline is valid? [False, True] Translation: X:1.30, Y:0.28, Z:-0.12 [[ 0.99640426 -0.07616499 0.03711396 1.30168858] [ 0.07661972 0.99699986 -0.01098606 0.28387195] [-0.03616586 0.01379022 0.99925065 -0.11559929] [ 0. 0. 0. 1. ]] SLAMing on 2.041858064 meters Centerline goodness : 0.953925 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:0.28, Z:-0.12 [[ 9.96394581e-01 -7.68895668e-02 3.58585267e-02 1.36414761e+00] [ 7.68246835e-02 9.97039527e-01 3.18582416e-03 2.83552690e-01] [-3.59973252e-02 -4.19517962e-04 9.99351798e-01 -1.15326519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101858064 meters Centerline goodness : 0.962854 with order 1 Centerline is valid? [True, True] Translation: X:1.43, Y:0.29, Z:-0.11 [[ 9.96376860e-01 -7.71187683e-02 3.58587392e-02 1.42526361e+00] [ 7.70541195e-02 9.97021829e-01 3.18343064e-03 2.90481906e-01] [-3.59974480e-02 -4.08833052e-04 9.99351798e-01 -1.11764494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161858064 meters Centerline goodness : 0.966869 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:0.30, Z:-0.12 [[ 9.96297254e-01 -7.81404247e-02 3.58588334e-02 1.48481604e+00] [ 7.80764755e-02 9.96942293e-01 3.18236937e-03 3.01765968e-01] [-3.59978593e-02 -3.70854539e-04 9.99351798e-01 -1.16951118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2218580639999996 meters Centerline goodness : 0.968628 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:0.31, Z:-0.12 [[ 9.96393701e-01 -7.69008097e-02 3.58588570e-02 1.54578977e+00] [ 7.68360676e-02 9.97038662e-01 3.18210375e-03 3.10069638e-01] [-3.59973731e-02 -4.15374574e-04 9.99351798e-01 -1.20190669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2818580639999997 meters Centerline goodness : 0.964842 with order 1 Centerline is valid? [True, True] Translation: X:1.60, Y:0.32, Z:-0.13 [[ 9.96324937e-01 -7.77864770e-02 3.58592292e-02 1.60496762e+00] [ 7.77224594e-02 9.96969970e-01 3.17790324e-03 3.23361015e-01] [-3.59977726e-02 -3.79156754e-04 9.99351798e-01 -1.28112382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3418580639999997 meters Centerline goodness : 0.974416 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:0.33, Z:-0.12 [[ 9.96415959e-01 -7.66116846e-02 3.58592458e-02 1.66380876e+00] [ 7.65469132e-02 9.97060917e-01 3.17771638e-03 3.32961867e-01] [-3.59973027e-02 -4.21412737e-04 9.99351798e-01 -1.24501038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401858064 meters Centerline goodness : 0.972407 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:0.34, Z:-0.13 [[ 9.96574574e-01 -7.45199723e-02 3.58593507e-02 1.72248498e+00] [ 7.44538899e-02 9.97219398e-01 3.17653247e-03 3.39493170e-01] [-3.59963552e-02 -4.95783347e-04 9.99351798e-01 -1.29679637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461858064 meters Centerline goodness : 0.976516 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:0.35, Z:-0.13 [[ 9.96661274e-01 -7.33513117e-02 3.58593062e-02 1.78439126e+00] [ 7.32844551e-02 9.97306019e-01 3.17703442e-03 3.48222891e-01] [-3.59957415e-02 -5.38497462e-04 9.99351798e-01 -1.30525492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521858064 meters Centerline goodness : 0.975039 with order 1 Centerline is valid? [True, True] Translation: X:1.84, Y:0.36, Z:-0.14 [[ 9.96868247e-01 -7.04825827e-02 3.58595000e-02 1.84467222e+00] [ 7.04139495e-02 9.97512805e-01 3.17484473e-03 3.55170144e-01] [-3.59940817e-02 -6.39892874e-04 9.99351798e-01 -1.35650232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581858064 meters Centerline goodness : 0.982268 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:0.37, Z:-0.13 [[ 9.96988158e-01 -6.87655781e-02 3.58595479e-02 1.90514549e+00] [ 6.86958544e-02 9.97632599e-01 3.17430413e-03 3.65364549e-01] [-3.59929368e-02 -7.01341346e-04 9.99351798e-01 -1.33029503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6418580639999996 meters Centerline goodness : 0.980317 with order 1 Centerline is valid? [True, True] Translation: X:1.96, Y:0.38, Z:-0.14 [[ 9.97592845e-01 -5.93515008e-02 3.58596689e-02 1.96491746e+00] [ 5.92757461e-02 9.98236604e-01 3.17293659e-03 3.76017996e-01] [-3.59847527e-02 -1.03969021e-03 9.99351798e-01 -1.39897443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7018580639999996 meters Centerline goodness : 0.978793 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:0.38, Z:-0.14 [[ 9.97810922e-01 -5.55648137e-02 3.58596650e-02 2.02723265e+00] [ 5.54866147e-02 9.98454389e-01 3.17298085e-03 3.81770600e-01] [-3.59805460e-02 -1.17630353e-03 9.99351798e-01 -1.43694867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7618580639999997 meters Centerline goodness : 0.975856 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:0.39, Z:-0.15 [[ 9.98073236e-01 -5.06347925e-02 3.58598994e-02 2.08568874e+00] [ 5.05535107e-02 9.98716322e-01 3.17032911e-03 3.90543730e-01] [-3.59743958e-02 -1.35137683e-03 9.99351798e-01 -1.48989471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8218580639999997 meters Centerline goodness : 0.988948 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:0.41, Z:-0.10 [[ 9.98640556e-01 -3.78300353e-02 3.58598516e-02 2.14626491e+00] [ 3.77404931e-02 9.99282543e-01 3.17087013e-03 4.08335393e-01] [-3.59540778e-02 -1.81319103e-03 9.99351798e-01 -1.02499757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8818580639999998 meters Centerline goodness : 0.989652 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:0.42, Z:-0.10 [[ 9.98785948e-01 -3.37742499e-02 3.58598663e-02 2.20798455e+00] [ 3.36821072e-02 9.99427567e-01 3.17070420e-03 4.15847777e-01] [-3.59464271e-02 -1.95901894e-03 9.99351798e-01 -1.04102356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941858064 meters Centerline goodness : 0.991081 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:0.41, Z:-0.10 [[ 9.99027980e-01 -2.56349694e-02 3.58600551e-02 2.27028693e+00] [ 2.55376782e-02 9.99668839e-01 3.16856659e-03 4.13504747e-01] [-3.59294058e-02 -2.24970413e-03 9.99351798e-01 -1.04961591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001858064 meters Centerline goodness : 0.993116 with order 1 Centerline is valid? [True, True] Translation: X:2.33, Y:0.42, Z:-0.11 [[ 9.97840598e-01 -5.50288771e-02 3.58603243e-02 2.32907258e+00] [ 5.49506003e-02 9.98484056e-01 3.16551787e-03 4.23622432e-01] [-3.59801569e-02 -1.18813590e-03 9.99351798e-01 -1.12608221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061858064 meters Centerline goodness : 0.992472 with order 1 Centerline is valid? [True, True] Translation: X:2.39, Y:0.44, Z:-0.12 [[ 9.97896585e-01 -5.40041441e-02 3.58602693e-02 2.38949419e+00] [ 5.39251843e-02 9.98539959e-01 3.16613995e-03 4.35018693e-01] [-3.59788966e-02 -1.22570861e-03 9.99351798e-01 -1.17452265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121858064 meters Centerline goodness : 0.992050 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:0.44, Z:-0.11 [[ 9.98189032e-01 -4.82979347e-02 3.58603761e-02 2.45033761e+00] [ 4.82153411e-02 9.98831950e-01 3.16493075e-03 4.44354161e-01] [-3.59713490e-02 -1.43017889e-03 9.99351798e-01 -1.07010544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1818580639999996 meters Centerline goodness : 0.993713 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:0.45, Z:-0.12 [[ 9.97365408e-01 -6.30576259e-02 3.58605358e-02 2.51142256e+00] [ 6.29846163e-02 9.98009485e-01 3.16311943e-03 4.48985794e-01] [-3.59886137e-02 -8.96123808e-04 9.99351798e-01 -1.20958868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2418580639999997 meters Centerline goodness : 0.992903 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:0.46, Z:-0.11 [[ 9.97875560e-01 -5.43909628e-02 3.58606949e-02 2.57114051e+00] [ 5.43124256e-02 9.98518987e-01 3.16131547e-03 4.56218275e-01] [-3.59795317e-02 -1.20691812e-03 9.99351798e-01 -1.11423379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3018580639999997 meters Centerline goodness : 0.992968 with order 1 Centerline is valid? [True, True] Translation: X:2.63, Y:0.46, Z:-0.11 [[ 9.97851128e-01 -5.48373742e-02 3.58606949e-02 2.63392868e+00] [ 5.47591248e-02 9.98494589e-01 3.16131547e-03 4.64740274e-01] [-3.59800680e-02 -1.19082194e-03 9.99351798e-01 -1.14567807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3618580639999998 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:0.48, Z:-0.11 [[ 9.97907835e-01 -5.37953767e-02 3.58609980e-02 2.69500728e+00] [ 5.37165790e-02 9.98551229e-01 3.15787347e-03 4.76416883e-01] [-3.59789226e-02 -1.22493655e-03 9.99351798e-01 -1.14503061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421858064 meters Centerline goodness : 0.994438 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:0.49, Z:-0.12 [[ 9.97996321e-01 -5.21278942e-02 3.58611981e-02 2.75683689e+00] [ 5.20481032e-02 9.98639593e-01 3.15559862e-03 4.87075749e-01] [-3.59769070e-02 -1.28276848e-03 9.99351798e-01 -1.15480927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481858064 meters Centerline goodness : 0.995702 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:0.50, Z:-0.13 [[ 9.97591667e-01 -5.93702433e-02 3.58613960e-02 2.81647067e+00] [ 5.92952043e-02 9.98235511e-01 3.15334849e-03 4.95157730e-01] [-3.59853340e-02 -1.01934538e-03 9.99351798e-01 -1.28047136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541858064 meters Centerline goodness : 0.997186 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:0.51, Z:-0.12 [[ 9.98526698e-01 -4.07233824e-02 3.58613960e-02 2.87704955e+00] [ 4.06363285e-02 9.99169027e-01 3.15334849e-03 5.06960224e-01] [-3.59600112e-02 -1.69142719e-03 9.99351798e-01 -1.16262090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6018580639999995 meters Centerline goodness : 0.997139 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:0.52, Z:-0.12 [[ 9.98709547e-01 -3.59609641e-02 3.58615414e-02 2.93907245e+00] [ 3.58709072e-02 9.99351462e-01 3.15169374e-03 5.15736103e-01] [-3.59516218e-02 -1.86124060e-03 9.99351798e-01 -1.19732425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6618580639999996 meters Centerline goodness : 0.995718 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:0.53, Z:-0.13 [[ 9.98698411e-01 -3.62685789e-02 3.58618844e-02 2.99838400e+00] [ 3.61788597e-02 9.99340373e-01 3.14778577e-03 5.32586067e-01] [-3.59523947e-02 -1.84624657e-03 9.99351798e-01 -1.29363810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7218580639999996 meters Centerline goodness : 0.996215 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:0.54, Z:-0.13 [[ 9.98669468e-01 -3.70562567e-02 3.58626135e-02 3.05890344e+00] [ 3.69673421e-02 9.99311543e-01 3.13945754e-03 5.41179542e-01] [-3.59542602e-02 -1.80953489e-03 9.99351798e-01 -1.26458926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7818580639999997 meters Centerline goodness : 0.996830 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:0.55, Z:-0.13 [[ 9.98676473e-01 -3.68663627e-02 3.58632706e-02 3.11897280e+00] [ 3.67775956e-02 9.99318568e-01 3.13193321e-03 5.48821735e-01] [-3.59542952e-02 -1.80882315e-03 9.99351798e-01 -1.29826954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8418580639999997 meters Centerline goodness : 0.997219 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:0.56, Z:-0.13 [[ 9.98590844e-01 -3.91168463e-02 3.58636195e-02 3.18018581e+00] [ 3.90296698e-02 9.99233156e-01 3.12793250e-03 5.57621980e-01] [-3.59584726e-02 -1.72377953e-03 9.99351798e-01 -1.33522461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901858064 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:0.57, Z:-0.14 [[ 9.98496189e-01 -4.14621672e-02 3.58643102e-02 3.24178119e+00] [ 4.13767841e-02 9.99138743e-01 3.11999336e-03 5.65457650e-01] [-3.59627835e-02 -1.63135166e-03 9.99351798e-01 -1.35056606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961858064 meters Centerline goodness : 0.998155 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:0.57, Z:-0.14 [[ 9.98315281e-01 -4.56107174e-02 3.58644982e-02 3.30362578e+00] [ 4.55280824e-02 9.98958194e-01 3.11783089e-03 5.74519825e-01] [-3.59693408e-02 -1.47973639e-03 9.99351798e-01 -1.39068381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021858064 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:0.58, Z:-0.14 [[ 9.98259085e-01 -4.68242677e-02 3.58648448e-02 3.36669911e+00] [ 4.67425576e-02 9.98902116e-01 3.11383865e-03 5.81342825e-01] [-3.59712726e-02 -1.43200315e-03 9.99351798e-01 -1.41162020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081858064 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:0.59, Z:-0.14 [[ 9.98103388e-01 -5.00331849e-02 3.58651214e-02 3.42841932e+00] [ 4.99536569e-02 9.98746693e-01 3.11064944e-03 5.89996357e-01] [-3.59758071e-02 -1.31315578e-03 9.99351798e-01 -1.41999688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141858064 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:3.49, Y:0.60, Z:-0.14 [[ 9.98017981e-01 -5.17083616e-02 3.58657970e-02 3.48962593e+00] [ 5.16301936e-02 9.98661452e-01 3.10284041e-03 5.97807842e-01] [-3.59782317e-02 -1.24493248e-03 9.99351798e-01 -1.42376824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2018580640000005 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:0.60, Z:-0.14 [[ 9.98001847e-01 -5.20187263e-02 3.58659242e-02 3.55240748e+00] [ 5.19408113e-02 9.98645349e-01 3.10136910e-03 6.04415895e-01] [-3.59786677e-02 -1.23226689e-03 9.99351798e-01 -1.43978569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261858064 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:0.61, Z:-0.15 [[ 9.98150283e-01 -4.90879768e-02 3.58661871e-02 3.61438330e+00] [ 4.90082818e-02 9.98793567e-01 3.09832576e-03 6.12080891e-01] [-3.59750075e-02 -1.33485453e-03 9.99351798e-01 -1.45078320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321858064000001 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:3.68, Y:0.62, Z:-0.15 [[ 9.98414104e-01 -4.33921369e-02 3.58664037e-02 3.67704559e+00] [ 4.33088628e-02 9.99056934e-01 3.09581613e-03 6.21553063e-01] [-3.59669134e-02 -1.53757333e-03 9.99351798e-01 -1.47198047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381858064 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:0.63, Z:-0.15 [[ 9.98495264e-01 -4.14824080e-02 3.58666605e-02 3.74018800e+00] [ 4.13980113e-02 9.99137948e-01 3.09283830e-03 6.27482550e-01] [-3.59640400e-02 -1.60337598e-03 9.99351798e-01 -1.49906508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441858064 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:3.80, Y:0.63, Z:-0.15 [[ 9.98584548e-01 -3.92742372e-02 3.58669139e-02 3.80186933e+00] [ 3.91885249e-02 9.99227057e-01 3.08989748e-03 6.34385739e-01] [-3.59605442e-02 -1.67995243e-03 9.99351798e-01 -1.50064900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501858064 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:0.64, Z:-0.15 [[ 9.98566776e-01 -3.97233341e-02 3.58671158e-02 3.86396609e+00] [ 3.96379949e-02 9.99209336e-01 3.08755146e-03 6.42634366e-01] [-3.59614048e-02 -1.66142576e-03 9.99351798e-01 -1.51543450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561858064 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:3.93, Y:0.65, Z:-0.16 [[ 9.98434457e-01 -4.29199460e-02 3.58679925e-02 3.92534160e+00] [ 4.28370306e-02 9.99077334e-01 3.07733371e-03 6.51537751e-01] [-3.59669773e-02 -1.53603772e-03 9.99351798e-01 -1.58224679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621858064 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:3.99, Y:0.66, Z:-0.16 [[ 9.98310661e-01 -4.57083829e-02 3.58687520e-02 3.98774941e+00] [ 4.56275819e-02 9.98953807e-01 3.06845503e-03 6.56925009e-01] [-3.59714805e-02 -1.42666695e-03 9.99351799e-01 -1.60030508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681858064 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:4.05, Y:0.66, Z:-0.16 [[ 9.97922097e-01 -5.35243643e-02 3.58696216e-02 4.04896425e+00] [ 5.34489682e-02 9.98565899e-01 3.05825575e-03 6.64828126e-01] [-3.59818721e-02 -1.13470673e-03 9.99351799e-01 -1.62750267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7418580640000005 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:4.11, Y:0.67, Z:-0.16 [[ 9.97475593e-01 -6.12843709e-02 3.58701562e-02 4.11157555e+00] [ 6.12142103e-02 9.98119986e-01 3.05197236e-03 6.70161522e-01] [-3.59897580e-02 -8.48504649e-04 9.99351799e-01 -1.64991872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.17, Y:0.67, Z:-0.17 [[ 9.97197318e-01 -6.56565332e-02 3.58710091e-02 4.17482566e+00] [ 6.55895598e-02 9.97842050e-01 3.04191529e-03 6.74616948e-01] [-3.59933228e-02 -6.80626075e-04 9.99351799e-01 -1.67546072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861858064 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:0.68, Z:-0.17 [[ 9.97009652e-01 -6.84468020e-02 3.58718522e-02 4.23791300e+00] [ 6.83819919e-02 9.97654605e-01 3.03194051e-03 6.78763567e-01] [-3.59952451e-02 -5.69885244e-04 9.99351799e-01 -1.69482303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921858064 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:0.69, Z:-0.17 [[ 9.97368893e-01 -6.29955388e-02 3.58727306e-02 4.29989188e+00] [ 6.29275789e-02 9.98013522e-01 3.02151134e-03 6.85316020e-01] [-3.59918119e-02 -7.56177340e-04 9.99351799e-01 -1.72903329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981858064 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:0.69, Z:-0.18 [[ 9.97685506e-01 -5.77643450e-02 3.58735373e-02 4.36146482e+00] [ 5.76933507e-02 9.98329808e-01 3.01190291e-03 6.89617584e-01] [-3.59876022e-02 -9.35267306e-04 9.99351799e-01 -1.76646490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041858064 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:4.42, Y:0.70, Z:-0.18 [[ 9.98074340e-01 -5.06028483e-02 3.58742773e-02 4.42426452e+00] [ 5.05275494e-02 9.98718153e-01 3.00306262e-03 6.96712957e-01] [-3.59802555e-02 -1.18464042e-03 9.99351799e-01 -1.77668624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101858064 meters Centerline goodness : 0.997213 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:0.70, Z:-0.18 [[ 9.98142007e-01 -4.92494636e-02 3.58751085e-02 4.48570823e+00] [ 4.91736494e-02 9.98785760e-01 2.99310015e-03 7.03508175e-01] [-3.59789561e-02 -1.22342898e-03 9.99351799e-01 -1.79936444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1618580640000005 meters Centerline goodness : 0.996630 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:0.71, Z:-0.18 [[ 9.98197304e-01 -4.81152982e-02 3.58756181e-02 4.54786805e+00] [ 4.80389723e-02 9.98840996e-01 2.98697951e-03 7.08679183e-01] [-3.59777575e-02 -1.25816707e-03 9.99351799e-01 -1.84047897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221858064 meters Centerline goodness : 0.994823 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:0.71, Z:-0.19 [[ 9.98351102e-01 -4.48107526e-02 3.58758201e-02 4.60872679e+00] [ 4.47323834e-02 9.98994548e-01 2.98455203e-03 7.13882789e-01] [-3.59734887e-02 -1.37481986e-03 9.99351799e-01 -1.88285500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281858064 meters Centerline goodness : 0.993405 with order 1 Centerline is valid? [True, True] Translation: X:4.67, Y:0.72, Z:-0.19 [[ 9.98485217e-01 -4.17151237e-02 3.58764603e-02 4.67076327e+00] [ 4.16350366e-02 9.99128451e-01 2.97683626e-03 7.15961123e-01] [-3.59693713e-02 -1.47860926e-03 9.99351799e-01 -1.88507510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341858064 meters Centerline goodness : 0.992270 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:0.72, Z:-0.19 [[ 9.98585533e-01 -3.92402745e-02 3.58766636e-02 4.73301814e+00] [ 3.91586814e-02 9.99228578e-01 2.97438436e-03 7.19735650e-01] [-3.59657032e-02 -1.56529435e-03 9.99351799e-01 -1.91006550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401858064 meters Centerline goodness : 0.990593 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:0.72, Z:-0.19 [[ 9.98724142e-01 -3.55373020e-02 3.58774111e-02 4.79620384e+00] [ 3.54536493e-02 9.99366922e-01 2.96533992e-03 7.20649707e-01] [-3.59600781e-02 -1.68957142e-03 9.99351799e-01 -1.92895483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461858064 meters Centerline goodness : 0.991318 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:0.72, Z:-0.20 [[ 9.98792989e-01 -3.35463228e-02 3.58777059e-02 4.85968305e+00] [ 3.34615169e-02 9.99435618e-01 2.96176850e-03 7.22303163e-01] [-3.59568136e-02 -1.75767115e-03 9.99351799e-01 -1.95633226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521858064 meters Centerline goodness : 0.992258 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:0.72, Z:-0.20 [[ 9.98791417e-01 -3.35927935e-02 3.58779952e-02 4.92188421e+00] [ 3.35081432e-02 9.99434066e-01 2.95825963e-03 7.23011810e-01] [-3.59570669e-02 -1.75247933e-03 9.99351799e-01 -1.97105790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581858064 meters Centerline goodness : 0.990664 with order 1 Centerline is valid? [True, True] Translation: X:4.98, Y:0.72, Z:-0.20 [[ 9.98633022e-01 -3.80108295e-02 3.58784687e-02 4.98392205e+00] [ 3.79292292e-02 9.99276066e-01 2.95250576e-03 7.22487576e-01] [-3.59647223e-02 -1.58762708e-03 9.99351799e-01 -1.99777010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641858064 meters Centerline goodness : 0.991240 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.72, Z:-0.20 [[ 9.98439136e-01 -4.28016162e-02 3.58791620e-02 5.04578941e+00] [ 4.27234051e-02 9.99082601e-01 2.94405712e-03 7.22287675e-01] [-3.59722569e-02 -1.40658188e-03 9.99351799e-01 -2.03278362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7018580640000005 meters Centerline goodness : 0.991272 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.72, Z:-0.20 [[ 9.98109600e-01 -4.98986825e-02 3.58796165e-02 5.10957180e+00] [ 4.98252473e-02 9.98753628e-01 2.93850693e-03 7.18609882e-01] [-3.59815248e-02 -1.14524121e-03 9.99351799e-01 -2.04649184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761858064 meters Centerline goodness : 0.991512 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.72, Z:-0.21 [[ 9.97992811e-01 -5.21818697e-02 3.58803882e-02 5.17135080e+00] [ 5.21102476e-02 9.98637043e-01 2.92905427e-03 7.20549535e-01] [-3.59843283e-02 -1.05343919e-03 9.99351799e-01 -2.05061781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821858064 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.72, Z:-0.20 [[ 9.98126602e-01 -4.95563583e-02 3.58811036e-02 5.23442244e+00] [ 4.94833573e-02 9.98770679e-01 2.92026437e-03 7.18017750e-01] [-3.59817119e-02 -1.13927608e-03 9.99351799e-01 -2.04644056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881858064 meters Centerline goodness : 0.993718 with order 1 Centerline is valid? [True, True] Translation: X:5.30, Y:0.71, Z:-0.21 [[ 9.98408995e-01 -4.34971882e-02 3.58813840e-02 5.29761869e+00] [ 4.34204031e-02 9.99052632e-01 2.91681527e-03 7.14493523e-01] [-3.59742643e-02 -1.35419044e-03 9.99351799e-01 -2.06543159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941858064 meters Centerline goodness : 0.992077 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:0.71, Z:-0.21 [[ 9.98608433e-01 -3.86484397e-02 3.58816784e-02 5.36110607e+00] [ 3.85686601e-02 9.99251706e-01 2.91318871e-03 7.10269146e-01] [-3.59674186e-02 -1.52522655e-03 9.99351799e-01 -2.10805673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001858064 meters Centerline goodness : 0.994072 with order 1 Centerline is valid? [True, True] Translation: X:5.42, Y:0.71, Z:-0.21 [[ 9.98662658e-01 -3.72206355e-02 3.58820372e-02 5.42461292e+00] [ 3.71400949e-02 9.99305835e-01 2.90876328e-03 7.08622649e-01] [-3.59653951e-02 -1.57221100e-03 9.99351799e-01 -2.13230125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061858064 meters Centerline goodness : 0.994522 with order 1 Centerline is valid? [True, True] Translation: X:5.49, Y:0.70, Z:-0.22 [[ 9.98628574e-01 -3.81238534e-02 3.58823487e-02 5.48694121e+00] [ 3.80440326e-02 9.99271841e-01 2.90491504e-03 7.01916900e-01] [-3.59669672e-02 -1.53582192e-03 9.99351799e-01 -2.15498735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121858064 meters Centerline goodness : 0.994015 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:0.70, Z:-0.22 [[ 9.98567836e-01 -3.96822379e-02 3.58831119e-02 5.55060344e+00] [ 3.96037603e-02 9.99211268e-01 2.89545652e-03 6.99879444e-01] [-3.59697080e-02 -1.47020359e-03 9.99351799e-01 -2.18369548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181858064 meters Centerline goodness : 0.995466 with order 1 Centerline is valid? [True, True] Translation: X:5.61, Y:0.69, Z:-0.22 [[ 9.98493775e-01 -4.15037571e-02 3.58834121e-02 5.61398593e+00] [ 4.14265871e-02 9.99137366e-01 2.89173213e-03 6.93216623e-01] [-3.59724755e-02 -1.40084924e-03 9.99351799e-01 -2.20133165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2418580640000005 meters Centerline goodness : 0.995476 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:0.69, Z:-0.22 [[ 9.98596522e-01 -3.89531131e-02 3.58837253e-02 5.67684444e+00] [ 3.88744390e-02 9.99239930e-01 2.88783963e-03 6.87315524e-01] [-3.59689415e-02 -1.48882692e-03 9.99351799e-01 -2.20614663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301858064 meters Centerline goodness : 0.996245 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:0.69, Z:-0.22 [[ 9.98768506e-01 -3.42604017e-02 3.58844893e-02 5.73944036e+00] [ 3.41790467e-02 9.99411581e-01 2.87831462e-03 6.85464222e-01] [-3.59619864e-02 -1.64827235e-03 9.99351799e-01 -2.22630878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361858064 meters Centerline goodness : 0.996833 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:0.68, Z:-0.22 [[ 9.99017323e-01 -2.60122709e-02 3.58852339e-02 5.80272253e+00] [ 2.59259422e-02 9.99659749e-01 2.86900112e-03 6.78368858e-01] [-3.59476532e-02 -1.93582331e-03 9.99351799e-01 -2.24376358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421858064 meters Centerline goodness : 0.996654 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:0.67, Z:-0.23 [[ 9.99128928e-01 -2.12982134e-02 3.58855394e-02 5.86495015e+00] [ 2.12089914e-02 9.99770958e-01 2.86517545e-03 6.74799172e-01] [-3.59383432e-02 -2.10158358e-03 9.99351799e-01 -2.26362428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481858064 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:0.68, Z:-0.23 [[ 9.99162357e-01 -1.96666130e-02 3.58860382e-02 5.92850178e+00] [ 1.95765668e-02 9.99804273e-01 2.85891439e-03 6.75620477e-01] [-3.59352395e-02 -2.15399422e-03 9.99351799e-01 -2.28979781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541858064 meters Centerline goodness : 0.995987 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.67, Z:-0.23 [[ 9.99153857e-01 -2.00933210e-02 3.58863379e-02 5.99114077e+00] [ 2.00036838e-02 9.99795830e-01 2.85514685e-03 6.65431517e-01] [-3.59363804e-02 -2.13487203e-03 9.99351799e-01 -2.32392264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601858064 meters Centerline goodness : 0.996971 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:0.66, Z:-0.23 [[ 9.99100100e-01 -2.26077176e-02 3.58870698e-02 6.05533680e+00] [ 2.25200266e-02 9.99742341e-01 2.84591822e-03 6.55668709e-01] [-3.59421629e-02 -2.03517941e-03 9.99351799e-01 -2.32712836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6618580640000005 meters Centerline goodness : 0.997297 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:0.65, Z:-0.23 [[ 9.99046059e-01 -2.48810755e-02 3.58873690e-02 6.11872808e+00] [ 2.47949814e-02 9.99688517e-01 2.84214047e-03 6.51240136e-01] [-3.59469062e-02 -1.94960259e-03 9.99351799e-01 -2.33833734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721858064 meters Centerline goodness : 0.997104 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:0.64, Z:-0.24 [[ 9.98950499e-01 -2.84600912e-02 3.58876638e-02 6.18236139e+00] [ 2.83764330e-02 9.99593278e-01 2.83841222e-03 6.44027529e-01] [-3.59538490e-02 -1.81706941e-03 9.99351799e-01 -2.37105141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781858064 meters Centerline goodness : 0.997045 with order 1 Centerline is valid? [True, True] Translation: X:6.25, Y:0.64, Z:-0.24 [[ 9.98942494e-01 -2.87393144e-02 3.58879625e-02 6.24624436e+00] [ 2.86559713e-02 9.99585314e-01 2.83463089e-03 6.40202805e-01] [-3.59545456e-02 -1.80322883e-03 9.99351799e-01 -2.38960531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841858064 meters Centerline goodness : 0.998072 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:0.63, Z:-0.24 [[ 9.98948583e-01 -2.85265038e-02 3.58882580e-02 6.30868287e+00] [ 2.84431581e-02 9.99591403e-01 2.83088470e-03 6.32250695e-01] [-3.59543494e-02 -1.80713286e-03 9.99351799e-01 -2.39974173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901858064 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:0.62, Z:-0.24 [[ 9.98958033e-01 -2.81933200e-02 3.58885005e-02 6.37163444e+00] [ 2.81098702e-02 9.99600840e-01 2.82780693e-03 6.24150428e-01] [-3.59539005e-02 -1.81603936e-03 9.99351799e-01 -2.43137065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961858064 meters Centerline goodness : 0.997750 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:0.62, Z:-0.25 [[ 9.98927169e-01 -2.92662182e-02 3.58887011e-02 6.43471649e+00] [ 2.91835501e-02 9.99570077e-01 2.82525883e-03 6.19150259e-01] [-3.59559564e-02 -1.77486810e-03 9.99351799e-01 -2.45357075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021858064 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:0.61, Z:-0.24 [[ 9.98899138e-01 -3.02074831e-02 3.58889991e-02 6.49657060e+00] [ 3.01255568e-02 9.99542140e-01 2.82146879e-03 6.10635147e-01] [-3.59577964e-02 -1.73718666e-03 9.99351799e-01 -2.44886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081858064 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:0.60, Z:-0.25 [[ 9.98877354e-01 -3.09192662e-02 3.58891454e-02 6.56024091e+00] [ 3.08378648e-02 9.99520423e-01 2.81960573e-03 6.03645080e-01] [-3.59591140e-02 -1.70969570e-03 9.99351799e-01 -2.46173567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141858064 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:6.62, Y:0.60, Z:-0.25 [[ 9.98879798e-01 -3.08398815e-02 3.58894317e-02 6.62301272e+00] [ 3.07585597e-02 9.99522877e-01 2.81595780e-03 6.00676598e-01] [-3.59591518e-02 -1.70889613e-03 9.99351799e-01 -2.45814643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201858064 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:0.59, Z:-0.25 [[ 9.98887044e-01 -3.06040543e-02 3.58896233e-02 6.68696096e+00] [ 3.05226684e-02 9.99530115e-01 2.81351335e-03 5.92293641e-01] [-3.59588642e-02 -1.71493496e-03 9.99351799e-01 -2.45447209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261858064 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:0.59, Z:-0.25 [[ 9.98932934e-01 -2.90672737e-02 3.58899210e-02 6.74928922e+00] [ 2.89850348e-02 9.99575897e-01 2.80971100e-03 5.90680985e-01] [-3.59563706e-02 -1.76644224e-03 9.99351799e-01 -2.46617828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321858064 meters Centerline goodness : 0.998077 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:0.58, Z:-0.25 [[ 9.99010262e-01 -2.62753318e-02 3.58901653e-02 6.81296077e+00] [ 2.61914082e-02 9.99653006e-01 2.80658684e-03 5.84495965e-01] [-3.59514556e-02 -1.86379509e-03 9.99351799e-01 -2.48642087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381858064 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:0.58, Z:-0.25 [[ 9.99083479e-01 -2.33254734e-02 3.58904568e-02 6.87652986e+00] [ 2.32397861e-02 9.99725991e-01 2.80285378e-03 5.79379122e-01] [-3.59460004e-02 -1.96619836e-03 9.99351799e-01 -2.50039507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441858064 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:6.94, Y:0.58, Z:-0.25 [[ 9.99084903e-01 -2.32639413e-02 3.58907490e-02 6.94016669e+00] [ 2.31783486e-02 9.99727427e-01 2.79910690e-03 5.78709505e-01] [-3.59460845e-02 -1.96465716e-03 9.99351799e-01 -2.52606171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501858064 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:7.00, Y:0.57, Z:-0.26 [[ 9.99032585e-01 -2.54111581e-02 3.58910418e-02 7.00322028e+00] [ 2.53270812e-02 9.99675310e-01 2.79534849e-03 5.74522214e-01] [-3.59504213e-02 -1.88362890e-03 9.99351799e-01 -2.56567824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561858064 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:0.57, Z:-0.26 [[ 9.98996742e-01 -2.67829236e-02 3.58912884e-02 7.06456616e+00] [ 2.66998429e-02 9.99639596e-01 2.79217776e-03 5.72965085e-01] [-3.59531357e-02 -1.83108472e-03 9.99351799e-01 -2.60002756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621858064 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:0.57, Z:-0.26 [[ 9.98913480e-01 -2.97264926e-02 3.58914341e-02 7.12752325e+00] [ 2.96453736e-02 9.99556585e-01 2.79030449e-03 5.70019904e-01] [-3.59584652e-02 -1.72325779e-03 9.99351799e-01 -2.63395045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681858064 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:7.19, Y:0.57, Z:-0.27 [[ 9.98878522e-01 -3.08786328e-02 3.58916197e-02 7.19020903e+00] [ 3.07983414e-02 9.99521730e-01 2.78791511e-03 5.69609011e-01] [-3.59605408e-02 -1.67938617e-03 9.99351800e-01 -2.66046742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741858064 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:0.57, Z:-0.27 [[ 9.98818273e-01 -3.27693397e-02 3.58918948e-02 7.25260107e+00] [ 3.26903931e-02 9.99461648e-01 2.78436785e-03 5.65018671e-01] [-3.59638143e-02 -1.60775734e-03 9.99351800e-01 -2.65162963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801858064 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:7.32, Y:0.56, Z:-0.27 [[ 9.98772546e-01 -3.41344369e-02 3.58920860e-02 7.31529047e+00] [ 3.40564582e-02 9.99416039e-01 2.78190203e-03 5.63074960e-01] [-3.59660850e-02 -1.55613005e-03 9.99351800e-01 -2.67007044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861858064 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:0.56, Z:-0.27 [[ 9.98746133e-01 -3.48985218e-02 3.58922746e-02 7.37787564e+00] [ 3.48211228e-02 9.99389696e-01 2.77946618e-03 5.62438429e-01] [-3.59673686e-02 -1.52617180e-03 9.99351800e-01 -2.68323476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921858064 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:7.44, Y:0.56, Z:-0.27 [[ 9.98682335e-01 -3.66786717e-02 3.58924607e-02 7.44003610e+00] [ 3.66025062e-02 9.99326045e-01 2.77706028e-03 5.58677612e-01] [-3.59701297e-02 -1.45964702e-03 9.99351800e-01 -2.67545435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981858064 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:7.50, Y:0.56, Z:-0.27 [[ 9.98652363e-01 -3.74857251e-02 3.58925981e-02 7.50198518e+00] [ 3.74101436e-02 9.99296142e-01 2.77528387e-03 5.56344741e-01] [-3.59713683e-02 -1.42879655e-03 9.99351800e-01 -2.67709991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041858064 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:7.56, Y:0.56, Z:-0.27 [[ 9.98657766e-01 -3.73413665e-02 3.58927328e-02 7.56375768e+00] [ 3.72657545e-02 9.99301542e-01 2.77354040e-03 5.58100197e-01] [-3.59712310e-02 -1.43224789e-03 9.99351800e-01 -2.70106634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101858064 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:0.56, Z:-0.27 [[ 9.98647621e-01 -3.76115425e-02 3.58929100e-02 7.62584780e+00] [ 3.75361871e-02 9.99291426e-01 2.77124494e-03 5.55669690e-01] [-3.59717081e-02 -1.42021418e-03 9.99351800e-01 -2.71429833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161858064 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:0.56, Z:-0.27 [[ 9.98529454e-01 -4.06277846e-02 3.58930848e-02 7.68777660e+00] [ 4.05544555e-02 9.99173493e-01 2.76897904e-03 5.56719353e-01] [-3.59759164e-02 -1.30928262e-03 9.99351800e-01 -2.74223777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221858064 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:0.56, Z:-0.28 [[ 9.98131431e-01 -4.94501744e-02 3.58932574e-02 7.74940106e+00] [ 4.93826200e-02 9.98776102e-01 2.76674011e-03 5.55586873e-01] [-3.59861435e-02 -9.89067175e-04 9.99351800e-01 -2.79384575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:0.55, Z:-0.28 [[ 9.97481880e-01 -6.11683438e-02 3.58933427e-02 7.80760595e+00] [ 6.11084045e-02 9.98127304e-01 2.76563351e-03 5.52644734e-01] [-3.59952946e-02 -5.65284413e-04 9.99351800e-01 -2.79963635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341858064 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:0.55, Z:-0.28 [[ 9.96703048e-01 -7.27648100e-02 3.58931325e-02 7.86620558e+00] [ 7.27122828e-02 9.97349116e-01 2.76835917e-03 5.52592239e-01] [-3.59994231e-02 -1.49360424e-04 9.99351800e-01 -2.79828621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:0.55, Z:-0.28 [[ 9.95959218e-01 -8.23223872e-02 3.58923456e-02 7.92445800e+00] [ 8.22756936e-02 9.96605735e-01 2.77852435e-03 5.54065883e-01] [-3.59992522e-02 1.85770690e-04 9.99351800e-01 -2.80881655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461858064 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:0.56, Z:-0.28 [[ 9.95736512e-01 -8.49740755e-02 3.58915678e-02 7.98177236e+00] [ 8.49287427e-02 9.96383125e-01 2.78853552e-03 5.57488101e-01] [-3.59987057e-02 2.71579093e-04 9.99351800e-01 -2.81787484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521858064 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:0.56, Z:-0.28 [[ 9.95420342e-01 -8.86011380e-02 3.58912339e-02 8.03956083e+00] [ 8.85580065e-02 9.96067106e-01 2.79282550e-03 5.61632076e-01] [-3.59975250e-02 3.98420817e-04 9.99351800e-01 -2.83551441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581858064 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:0.57, Z:-0.29 [[ 9.95338890e-01 -8.95118287e-02 3.58904739e-02 8.09702034e+00] [ 8.94689381e-02 9.95985670e-01 2.80255848e-03 5.69017592e-01] [-3.59972599e-02 4.21587139e-04 9.99351800e-01 -2.87806820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641858064000001 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:8.15, Y:0.58, Z:-0.29 [[ 9.95531193e-01 -8.73474177e-02 3.58897214e-02 8.15431190e+00] [ 8.73027747e-02 9.96177854e-01 2.81216243e-03 5.75895831e-01] [-3.59981808e-02 3.33676844e-04 9.99351800e-01 -2.91182633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701858064 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:0.58, Z:-0.29 [[ 9.96046841e-01 -8.12568485e-02 3.58889262e-02 8.21148409e+00] [ 8.12078867e-02 9.96693189e-01 2.82227448e-03 5.84435607e-01] [-3.59995775e-02 1.03346276e-04 9.99351800e-01 -2.93994144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761858064 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:0.59, Z:-0.30 [[ 9.96623916e-01 -7.38431562e-02 3.58881235e-02 8.26845975e+00] [ 7.37890202e-02 9.97269852e-01 2.83244464e-03 5.93529405e-01] [-3.59993003e-02 -1.74732602e-04 9.99351800e-01 -2.97242538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821858064 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:0.60, Z:-0.30 [[ 9.97080034e-01 -6.74055313e-02 3.58873280e-02 8.32621684e+00] [ 6.73468636e-02 9.97725574e-01 2.84248872e-03 6.00952062e-01] [-3.59973044e-02 -4.17289769e-04 9.99351800e-01 -2.97828445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881858064 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:0.61, Z:-0.30 [[ 9.97219109e-01 -6.53162038e-02 3.58865152e-02 8.38391599e+00] [ 6.52558157e-02 9.97864490e-01 2.85271374e-03 6.07495374e-01] [-3.59962076e-02 -5.02976834e-04 9.99351800e-01 -2.98170396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941858064 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:0.61, Z:-0.30 [[ 9.97356872e-01 -6.31782196e-02 3.58856946e-02 8.44164356e+00] [ 6.31160781e-02 9.98002086e-01 2.86299959e-03 6.14303872e-01] [-3.59948772e-02 -5.90468016e-04 9.99351800e-01 -2.98772775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001858064 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:0.62, Z:-0.30 [[ 9.97426820e-01 -6.20645920e-02 3.58848766e-02 8.49916020e+00] [ 6.20013627e-02 9.98071929e-01 2.87321535e-03 6.21083296e-01] [-3.59940130e-02 -6.40910798e-04 9.99351800e-01 -3.00231323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061858064 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:0.63, Z:-0.30 [[ 9.97479430e-01 -6.12137237e-02 3.58840620e-02 8.55682680e+00] [ 6.11495796e-02 9.98124449e-01 2.88335329e-03 6.28378318e-01] [-3.59932604e-02 -6.81790288e-04 9.99351800e-01 -3.04589065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121858064 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:0.64, Z:-0.31 [[ 9.97347226e-01 -6.33313681e-02 3.58838107e-02 8.61402699e+00] [ 6.32684812e-02 9.97992368e-01 2.88647791e-03 6.35118878e-01] [-3.59945738e-02 -6.08506540e-04 9.99351800e-01 -3.09991422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181858064 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:0.64, Z:-0.32 [[ 9.97089511e-01 -6.72675075e-02 3.58829836e-02 8.67158219e+00] [ 6.72067989e-02 9.97734862e-01 2.89672352e-03 6.40958756e-01] [-3.59965590e-02 -4.76712177e-04 9.99351800e-01 -3.15013811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241858064 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:0.65, Z:-0.32 [[ 9.96562587e-01 -7.46691360e-02 3.58821652e-02 8.72950983e+00] [ 7.46128571e-02 9.97208339e-01 2.90682619e-03 6.47151719e-01] [-3.59990445e-02 -2.19563371e-04 9.99351800e-01 -3.16774877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301858064 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:0.66, Z:-0.32 [[ 9.96021274e-01 -8.15729831e-02 3.58813281e-02 8.78680485e+00] [ 8.15208093e-02 9.96667371e-01 2.91712229e-03 6.56411202e-01] [-3.59997073e-02 1.95590419e-05 9.99351800e-01 -3.16570271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:0.66, Z:-0.32 [[ 9.95708740e-01 -8.53035460e-02 3.58804988e-02 8.84312554e+00] [ 8.52534266e-02 9.96354999e-01 2.92728663e-03 6.64694143e-01] [-3.59994223e-02 1.44210589e-04 9.99351800e-01 -3.16444912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:0.67, Z:-0.32 [[ 9.95444081e-01 -8.83386187e-02 3.58799347e-02 8.90044843e+00] [ 8.82902211e-02 9.96090472e-01 2.93418562e-03 6.74784137e-01] [-3.59988629e-02 2.47029657e-04 9.99351800e-01 -3.16765589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:0.69, Z:-0.32 [[ 9.95635139e-01 -8.61589175e-02 3.58791048e-02 8.95613488e+00] [ 8.61087403e-02 9.96281394e-01 2.94429853e-03 6.86869013e-01] [-3.59993621e-02 1.58057440e-04 9.99351800e-01 -3.20839163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:0.70, Z:-0.32 [[ 9.96050638e-01 -8.12148773e-02 3.58785373e-02 9.01282390e+00] [ 8.11612438e-02 9.96696615e-01 2.95119689e-03 6.99668907e-01] [-3.59996978e-02 -2.75948346e-05 9.99351800e-01 -3.23993071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:0.71, Z:-0.33 [[ 9.96250259e-01 -7.87287248e-02 3.58776939e-02 9.07031617e+00] [ 7.86731112e-02 9.96896069e-01 2.96141569e-03 7.08470199e-01] [-3.59994805e-02 -1.27701352e-04 9.99351800e-01 -3.25141362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:0.72, Z:-0.33 [[ 9.96523374e-01 -7.51931968e-02 3.58768561e-02 9.12790889e+00] [ 7.51349279e-02 9.97168949e-01 2.97153046e-03 7.18028270e-01] [-3.59987258e-02 -2.65594565e-04 9.99351801e-01 -3.27131331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.18, Y:0.73, Z:-0.33 [[ 9.96636777e-01 -7.36752762e-02 3.58760220e-02 9.18487549e+00] [ 7.36156628e-02 9.97282229e-01 2.98156646e-03 7.25815812e-01] [-3.59981870e-02 -3.30501645e-04 9.99351801e-01 -3.30196289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:0.73, Z:-0.33 [[ 9.96644699e-01 -7.35683114e-02 3.58754469e-02 9.24247938e+00] [ 7.35083802e-02 9.97290122e-01 2.98847104e-03 7.32971318e-01] [-3.59980856e-02 -3.41297827e-04 9.99351801e-01 -3.31483800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:0.74, Z:-0.33 [[ 9.96606436e-01 -7.40852452e-02 3.58746306e-02 9.30026629e+00] [ 7.40252973e-02 9.97251857e-01 2.99823764e-03 7.37329354e-01] [-3.59981672e-02 -3.32432731e-04 9.99351801e-01 -3.32930026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:0.74, Z:-0.34 [[ 9.96646266e-01 -7.35478877e-02 3.58737754e-02 9.35731137e+00] [ 7.34872247e-02 9.97291621e-01 3.00843638e-03 7.42220318e-01] [-3.59978797e-02 -3.62082698e-04 9.99351801e-01 -3.36245178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:0.75, Z:-0.34 [[ 9.96921323e-01 -6.97206836e-02 3.58734072e-02 9.41524422e+00] [ 6.96573855e-02 9.97566425e-01 3.01281962e-03 7.46608575e-01] [-3.59961624e-02 -5.04696363e-04 9.99351801e-01 -3.37708030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.47, Y:0.75, Z:-0.34 [[ 9.97399911e-01 -6.25026243e-02 3.58725527e-02 9.47287605e+00] [ 6.24342937e-02 9.98044498e-01 3.02296046e-03 7.54212545e-01] [-3.59913468e-02 -7.75423001e-04 9.99351801e-01 -3.42303904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.53, Y:0.76, Z:-0.35 [[ 9.97618002e-01 -5.89195339e-02 3.58721467e-02 9.53107240e+00] [ 5.88487155e-02 9.98262321e-01 3.02777022e-03 7.59983159e-01] [-3.59882072e-02 -9.09528325e-04 9.99351801e-01 -3.45190272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.59, Y:0.77, Z:-0.35 [[ 9.97722828e-01 -5.71174151e-02 3.58714186e-02 9.58911501e+00] [ 5.70451240e-02 9.98366984e-01 3.03637169e-03 7.65096508e-01] [-3.59862697e-02 -9.83167824e-04 9.99351801e-01 -3.47606492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.65, Y:0.77, Z:-0.35 [[ 9.97684423e-01 -5.77844618e-02 3.58712651e-02 9.64824103e+00] [ 5.77125363e-02 9.98328620e-01 3.03818402e-03 7.68897671e-01] [-3.59868704e-02 -9.60927179e-04 9.99351801e-01 -3.49865975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:0.77, Z:-0.35 [[ 9.97583837e-01 -5.94957843e-02 3.58711641e-02 9.70783917e+00] [ 5.94249211e-02 9.98228151e-01 3.03937633e-03 7.71696668e-01] [-3.59884359e-02 -9.00391607e-04 9.99351801e-01 -3.51870948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:0.78, Z:-0.35 [[ 9.97522646e-01 -6.05131210e-02 3.58710594e-02 9.76646246e+00] [ 6.04428705e-02 9.98167027e-01 3.04061145e-03 7.75585064e-01] [-3.59893056e-02 -8.64928975e-04 9.99351801e-01 -3.53318998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:0.78, Z:-0.36 [[ 9.97457647e-01 -6.15756816e-02 3.58703047e-02 9.82532489e+00] [ 6.15057984e-02 9.98102068e-01 3.04948935e-03 7.80464168e-01] [-3.59899996e-02 -8.35504741e-04 9.99351801e-01 -3.55883280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.88, Y:0.78, Z:-0.36 [[ 9.97129339e-01 -6.66817480e-02 3.58695597e-02 9.88282236e+00] [ 6.66148510e-02 9.97774077e-01 3.05822749e-03 7.82797685e-01] [-3.59936447e-02 -6.60002985e-04 9.99351801e-01 -3.56647722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.94, Y:0.79, Z:-0.36 [[ 9.96665510e-01 -7.32888442e-02 3.58692978e-02 9.94049245e+00] [ 7.32261113e-02 9.97310666e-01 3.06129531e-03 7.85745036e-01] [-3.59971921e-02 -4.24518252e-04 9.99351801e-01 -3.58569928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561858063999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.00, Y:0.79, Z:-0.36 [[ 9.95716729e-01 -8.52153059e-02 3.58684639e-02 9.99881153e+00] [ 8.51599502e-02 9.96362560e-01 3.07103493e-03 7.86843588e-01] [-3.59996937e-02 -3.32425070e-06 9.99351801e-01 -3.60309781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:0.79, Z:-0.36 [[ 9.94929819e-01 -9.39583225e-02 3.58676465e-02 1.00577243e+01] [ 9.39082987e-02 9.95576085e-01 3.08055299e-03 7.87828197e-01] [-3.59984146e-02 3.03335627e-04 9.99351801e-01 -3.58567449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.11, Y:0.79, Z:-0.36 [[ 9.94743891e-01 -9.59070385e-02 3.58668607e-02 1.01147920e+01] [ 9.58579519e-02 9.95390228e-01 3.08967423e-03 7.91975378e-01] [-3.59978442e-02 3.64689242e-04 9.99351801e-01 -3.59787566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.17, Y:0.80, Z:-0.36 [[ 9.95149088e-01 -9.16072539e-02 3.58664818e-02 1.01722410e+01] [ 9.15552162e-02 9.95795194e-01 3.09406652e-03 7.97659387e-01] [-3.59991092e-02 2.04706023e-04 9.99351801e-01 -3.60453457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:10.23, Y:0.81, Z:-0.37 [[ 9.95688924e-01 -8.55407823e-02 3.58655857e-02 1.02294744e+01] [ 8.54844350e-02 9.96334670e-01 3.10442001e-03 8.05110906e-01] [-3.59996810e-02 -2.50872928e-05 9.99351801e-01 -3.65466761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.29, Y:0.81, Z:-0.37 [[ 9.95981557e-01 -8.20637508e-02 3.58647172e-02 1.02861347e+01] [ 8.20047892e-02 9.96627069e-01 3.11442125e-03 8.12350900e-01] [-3.59993290e-02 -1.60827556e-04 9.99351801e-01 -3.67694128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:0.82, Z:-0.37 [[ 9.96107170e-01 -8.05248849e-02 3.58643121e-02 1.03434916e+01] [ 8.04647583e-02 9.96752574e-01 3.11907887e-03 8.20365800e-01] [-3.59990089e-02 -2.21123615e-04 9.99351801e-01 -3.69356534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.40, Y:0.83, Z:-0.37 [[ 9.95976657e-01 -8.21237852e-02 3.58633922e-02 1.03999638e+01] [ 8.20643152e-02 9.96622122e-01 3.12962050e-03 8.26893216e-01] [-3.59992663e-02 -1.73924241e-04 9.99351801e-01 -3.71370236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.46, Y:0.83, Z:-0.37 [[ 9.95895102e-01 -8.31071087e-02 3.58629964e-02 1.04563294e+01] [ 8.30481128e-02 9.96540610e-01 3.13414963e-03 8.32561603e-01] [-3.59994024e-02 -1.42930098e-04 9.99351801e-01 -3.73051254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:0.84, Z:-0.38 [[ 9.95979170e-01 -8.20936441e-02 3.58626068e-02 1.05133093e+01] [ 8.20338311e-02 9.96624603e-01 3.13860090e-03 8.41049237e-01] [-3.59992155e-02 -1.84034091e-04 9.99351801e-01 -3.76716051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161858064 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:0.85, Z:-0.38 [[ 9.96182215e-01 -7.95922869e-02 3.58617138e-02 1.05709212e+01] [ 7.95304872e-02 9.96827461e-01 3.14877115e-03 8.46937296e-01] [-3.59985590e-02 -2.84650244e-04 9.99351801e-01 -3.78622649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221858064 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:0.85, Z:-0.38 [[ 9.96273773e-01 -7.84383241e-02 3.58608162e-02 1.06285854e+01] [ 7.83754103e-02 9.96918911e-01 3.15896114e-03 8.50813839e-01] [-3.59981095e-02 -3.36583947e-04 9.99351801e-01 -3.80883585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281858064 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:0.85, Z:-0.38 [[ 9.96353477e-01 -7.74197382e-02 3.58598967e-02 1.06856118e+01] [ 7.73557905e-02 9.96998514e-01 3.16936506e-03 8.54817623e-01] [-3.59976351e-02 -3.83837240e-04 9.99351801e-01 -3.83619020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341858064 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:0.86, Z:-0.39 [[ 9.96288110e-01 -7.82566110e-02 3.58595015e-02 1.07435892e+01] [ 7.81930444e-02 9.96933185e-01 3.17382990e-03 8.58602656e-01] [-3.59979002e-02 -3.58085393e-04 9.99351801e-01 -3.85704958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401858064 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:0.86, Z:-0.39 [[ 9.96253144e-01 -7.87009163e-02 3.58585866e-02 1.08013753e+01] [ 7.86372666e-02 9.96898210e-01 3.18413358e-03 8.62087604e-01] [-3.59979550e-02 -3.52381860e-04 9.99351801e-01 -3.88012173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461858064 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:10.86, Y:0.87, Z:-0.39 [[ 9.96221680e-01 -7.90986092e-02 3.58576904e-02 1.08582159e+01] [ 7.90348549e-02 9.96866736e-01 3.19419377e-03 8.65445950e-01] [-3.59979951e-02 -3.48117725e-04 9.99351802e-01 -3.91978742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:0.87, Z:-0.39 [[ 9.96194175e-01 -7.94444365e-02 3.58573049e-02 1.09158367e+01] [ 7.93807505e-02 9.96839238e-01 3.19851566e-03 8.67761959e-01] [-3.59980728e-02 -3.39962895e-04 9.99351802e-01 -3.94517536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581858064 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:0.87, Z:-0.40 [[ 9.96266108e-01 -7.85376258e-02 3.58564294e-02 1.09745489e+01] [ 7.84730006e-02 9.96911077e-01 3.20830040e-03 8.70677398e-01] [-3.59976439e-02 -3.82559349e-04 9.99351802e-01 -3.98307737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641858064 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:0.87, Z:-0.40 [[ 9.96308075e-01 -7.80037633e-02 3.58557209e-02 1.10334452e+01] [ 7.79385083e-02 9.96952980e-01 3.21619882e-03 8.72441390e-01] [-3.59973435e-02 -4.09783447e-04 9.99351802e-01 -3.96062071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701858064 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:0.87, Z:-0.40 [[ 9.96436796e-01 -7.63422420e-02 3.58549081e-02 1.10913769e+01] [ 7.62755865e-02 9.97081558e-01 3.22523552e-03 8.74739204e-01] [-3.59964893e-02 -4.78889201e-04 9.99351802e-01 -3.97623698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761858064 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:0.88, Z:-0.40 [[ 9.96736871e-01 -7.23194380e-02 3.58539930e-02 1.11485679e+01] [ 7.22498158e-02 9.97381319e-01 3.23537613e-03 8.76302241e-01] [-3.59940834e-02 -6.34374286e-04 9.99351802e-01 -3.98083613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821858064 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:0.88, Z:-0.40 [[ 9.97049839e-01 -6.78685408e-02 3.58535986e-02 1.12069656e+01] [ 6.77958851e-02 9.97693952e-01 3.23974128e-03 8.79544427e-01] [-3.59907950e-02 -7.99457074e-04 9.99351802e-01 -3.98444185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881858064 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:0.88, Z:-0.40 [[ 9.97147806e-01 -6.64141454e-02 3.58526634e-02 1.12641218e+01] [ 6.63401795e-02 9.97791771e-01 3.25005741e-03 8.79869574e-01] [-3.59893423e-02 -8.62315489e-04 9.99351802e-01 -3.98758340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941858064 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:0.88, Z:-0.40 [[ 9.97055912e-01 -6.77799629e-02 3.58522597e-02 1.13218921e+01] [ 6.77067194e-02 9.97699959e-01 3.25450509e-03 8.81952348e-01] [-3.59903882e-02 -8.17484658e-04 9.99351802e-01 -4.00263629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001858064 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:0.88, Z:-0.40 [[ 9.96860557e-01 -7.05954096e-02 3.58513318e-02 1.13789334e+01] [ 7.05236189e-02 9.97504767e-01 3.26469492e-03 8.84304130e-01] [-3.59923468e-02 -7.26079935e-04 9.99351802e-01 -4.04482510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061858063999999 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:0.89, Z:-0.41 [[ 9.96625538e-01 -7.38393410e-02 3.58509323e-02 1.14367641e+01] [ 7.37694897e-02 9.97269961e-01 3.26907540e-03 8.85459210e-01] [-3.59944443e-02 -6.13339048e-04 9.99351802e-01 -4.06439254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121858064 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:11.49, Y:0.89, Z:-0.41 [[ 9.96320943e-01 -7.78418600e-02 3.58500219e-02 1.14947494e+01] [ 7.77742396e-02 9.96965604e-01 3.27902928e-03 8.85191317e-01] [-3.59964845e-02 -4.78757348e-04 9.99351802e-01 -4.07726216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181858064 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:11.55, Y:0.89, Z:-0.41 [[ 9.96148402e-01 -8.00200334e-02 3.58490726e-02 1.15531183e+01] [ 7.99534504e-02 9.96793171e-01 3.28937539e-03 8.86982791e-01] [-3.59973267e-02 -4.10448988e-04 9.99351802e-01 -4.10670677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241858064 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:11.61, Y:0.89, Z:-0.42 [[ 9.96068649e-01 -8.10071473e-02 3.58481231e-02 1.16104261e+01] [ 8.09408321e-02 9.96713446e-01 3.29969021e-03 8.91156016e-01] [-3.59976048e-02 -3.85141053e-04 9.99351802e-01 -4.15024662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301858064 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:11.67, Y:0.89, Z:-0.42 [[ 9.95850854e-01 -8.36424309e-02 3.58471880e-02 1.16688901e+01] [ 8.35774574e-02 9.96495787e-01 3.30981846e-03 8.92514054e-01] [-3.59984131e-02 -3.00068710e-04 9.99351802e-01 -4.16257590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361858064 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:11.73, Y:0.90, Z:-0.42 [[ 9.95659138e-01 -8.58948947e-02 3.58461675e-02 1.17267854e+01] [ 8.58309837e-02 9.96304178e-01 3.32083400e-03 8.95582212e-01] [-3.59989291e-02 -2.29706898e-04 9.99351802e-01 -4.17427937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:0.90, Z:-0.42 [[ 9.95361197e-01 -8.92816447e-02 3.58451558e-02 1.17853254e+01] [ 8.92195365e-02 9.96006413e-01 3.33171862e-03 8.96236398e-01] [-3.59994664e-02 -1.18175244e-04 9.99351802e-01 -4.18254153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481858064 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:0.90, Z:-0.42 [[ 9.95075918e-01 -9.24073210e-02 3.58441714e-02 1.18431316e+01] [ 9.23468592e-02 9.95721290e-01 3.34227607e-03 8.97116452e-01] [-3.59996553e-02 -1.57217843e-05 9.99351802e-01 -4.21194132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541858064 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:0.89, Z:-0.42 [[ 9.95211494e-01 -9.09356842e-02 3.58438698e-02 1.19028353e+01] [ 9.08741517e-02 9.95856765e-01 3.34550761e-03 8.93981759e-01] [-3.59995862e-02 -7.22063738e-05 9.99351802e-01 -4.20280745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601858064 meters Centerline goodness : 0.998448 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:0.90, Z:-0.42 [[ 9.94974488e-01 -9.34935807e-02 3.58429595e-02 1.19611226e+01] [ 9.34333569e-02 9.95619882e-01 3.35523117e-03 8.95878825e-01] [-3.59996557e-02 1.05586112e-05 9.99351802e-01 -4.24266887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661858064 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:0.90, Z:-0.43 [[ 9.94719938e-01 -9.61641924e-02 3.58426076e-02 1.20187388e+01] [ 9.61055660e-02 9.95365479e-01 3.35898678e-03 9.03203207e-01] [-3.59995085e-02 1.03422967e-04 9.99351802e-01 -4.28947405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721858064 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:0.90, Z:-0.43 [[ 9.95212290e-01 -9.09276755e-02 3.58420818e-02 1.20780989e+01] [ 9.08654507e-02 9.95857495e-01 3.36458751e-03 9.02342506e-01] [-3.59995399e-02 -9.16719273e-05 9.99351802e-01 -4.26413156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781858064 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:0.91, Z:-0.43 [[ 9.95119272e-01 -9.19402551e-02 3.58416423e-02 1.21362732e+01] [ 9.18785184e-02 9.95764523e-01 3.36926295e-03 9.08936972e-01] [-3.59996068e-02 -5.97415028e-05 9.99351802e-01 -4.31202530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:0.91, Z:-0.43 [[ 9.95108800e-01 -9.20538729e-02 3.58407617e-02 1.21939623e+01] [ 9.19918734e-02 9.95754026e-01 3.37860490e-03 9.12219462e-01] [-3.59995964e-02 -6.50206598e-05 9.99351802e-01 -4.32972051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901858064 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:0.91, Z:-0.43 [[ 9.95066348e-01 -9.25120326e-02 3.58397527e-02 1.22508104e+01] [ 9.24499459e-02 9.95711565e-01 3.38927427e-03 9.14734199e-01] [-3.59996049e-02 -5.91695740e-05 9.99351802e-01 -4.34291041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961858064 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:0.92, Z:-0.44 [[ 9.95044877e-01 -9.27429303e-02 3.58390997e-02 1.23085245e+01] [ 9.26807451e-02 9.95690085e-01 3.39616589e-03 9.17776384e-01] [-3.59996066e-02 -5.77430103e-05 9.99351802e-01 -4.35281502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021858064 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:0.92, Z:-0.44 [[ 9.95015735e-01 -9.30554421e-02 3.58381352e-02 1.23669494e+01] [ 9.29930941e-02 9.95660927e-01 3.40631320e-03 9.21772044e-01] [-3.59996069e-02 -5.66361533e-05 9.99351802e-01 -4.36327789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:12.42, Y:0.93, Z:-0.44 [[ 9.94755643e-01 -9.57961843e-02 3.58371612e-02 1.24249210e+01] [ 9.57352458e-02 9.95400969e-01 3.41652925e-03 9.25821364e-01] [-3.59996355e-02 3.22676942e-05 9.99351803e-01 -4.37891440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141858064 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:12.48, Y:0.93, Z:-0.44 [[ 9.94450569e-01 -9.89132630e-02 3.58361841e-02 1.24820324e+01] [ 9.88539790e-02 9.95096050e-01 3.42674756e-03 9.29783782e-01] [-3.59993961e-02 1.34818330e-04 9.99351803e-01 -4.40774657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201858064 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:12.54, Y:0.93, Z:-0.44 [[ 9.94246956e-01 -1.00939532e-01 3.58357642e-02 1.25415132e+01] [ 1.00881406e-01 9.94892542e-01 3.43113395e-03 9.30221767e-01] [-3.59990715e-02 2.03767785e-04 9.99351803e-01 -4.42535547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261858064 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:12.60, Y:0.94, Z:-0.45 [[ 9.93985755e-01 -1.03480322e-01 3.58349158e-02 1.26004759e+01] [ 1.03423527e-01 9.94631460e-01 3.43997126e-03 9.35552957e-01] [-3.59985040e-02 2.86890950e-04 9.99351803e-01 -4.46601031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321858064 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:0.94, Z:-0.46 [[ 9.93848962e-01 -1.04786263e-01 3.58340674e-02 1.26590948e+01] [ 1.04729999e-01 9.94494713e-01 3.44878696e-03 9.43139911e-01] [-3.59981760e-02 3.25328485e-04 9.99351803e-01 -4.55021619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381858064 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:12.72, Y:0.94, Z:-0.45 [[ 9.94323977e-01 -1.00178912e-01 3.58331387e-02 1.27184730e+01] [ 1.00119309e-01 9.94969428e-01 3.45840894e-03 9.43051099e-01] [-3.59993372e-02 1.48810145e-04 9.99351803e-01 -4.51233626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441858064 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:12.78, Y:0.95, Z:-0.45 [[ 9.94571325e-01 -9.76930788e-02 3.58321223e-02 1.27757715e+01] [ 9.76314840e-02 9.95216589e-01 3.46890800e-03 9.46584658e-01] [-3.59996109e-02 4.82668488e-05 9.99351803e-01 -4.48932700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501858064 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:0.95, Z:-0.45 [[ 9.94806907e-01 -9.52644487e-02 3.58315749e-02 1.28332453e+01] [ 9.52010752e-02 9.95451999e-01 3.47455286e-03 9.51057539e-01] [-3.59996143e-02 -4.53047229e-05 9.99351803e-01 -4.51590300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561858063999999 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:0.96, Z:-0.45 [[ 9.94944900e-01 -9.38126612e-02 3.58305747e-02 1.28914603e+01] [ 9.37479761e-02 9.95589862e-01 3.48483698e-03 9.55715168e-01] [-3.59994788e-02 -1.08176917e-04 9.99351803e-01 -4.53941461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621858064 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:0.96, Z:-0.46 [[ 9.95290292e-01 -9.00748370e-02 3.58295738e-02 1.29498141e+01] [ 9.00073604e-02 9.95934967e-01 3.49509785e-03 9.58838903e-01] [-3.59987458e-02 -2.53711602e-04 9.99351803e-01 -4.55848302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:0.96, Z:-0.46 [[ 9.95410770e-01 -8.87339346e-02 3.58285775e-02 1.30074002e+01] [ 8.86652230e-02 9.96055315e-01 3.50528121e-03 9.63341195e-01] [-3.59982825e-02 -3.12445857e-04 9.99351803e-01 -4.59127834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741858064 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:0.97, Z:-0.46 [[ 9.95264138e-01 -9.03641391e-02 3.58276064e-02 1.30647905e+01] [ 9.02961271e-02 9.95908757e-01 3.51517868e-03 9.67072559e-01] [-3.59986731e-02 -2.63437177e-04 9.99351803e-01 -4.61785239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801858064 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:0.97, Z:-0.46 [[ 9.94907959e-01 -9.42048740e-02 3.58272830e-02 1.31226773e+01] [ 9.41392319e-02 9.95552824e-01 3.51847220e-03 9.69647021e-01] [-3.59994100e-02 -1.27803099e-04 9.99351803e-01 -4.62914765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861858064 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:0.97, Z:-0.46 [[ 9.94483666e-01 -9.85835431e-02 3.58262866e-02 1.31796347e+01] [ 9.85203759e-02 9.95128778e-01 3.52858882e-03 9.72317417e-01] [-3.59996296e-02 2.04952733e-05 9.99351803e-01 -4.64717321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921858064 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:0.98, Z:-0.47 [[ 9.94296354e-01 -1.00455393e-01 3.58256133e-02 1.32379093e+01] [ 1.00393195e-01 9.94941560e-01 3.53541161e-03 9.78052692e-01] [-3.59995427e-02 8.14008957e-05 9.99351803e-01 -4.69707684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981858063999999 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:0.98, Z:-0.47 [[ 9.94237053e-01 -1.01040935e-01 3.58247443e-02 1.32951883e+01] [ 1.00978800e-01 9.94882265e-01 3.54419524e-03 9.81198845e-01] [-3.59995116e-02 9.37694639e-05 9.99351803e-01 -4.71382343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041858064 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:0.99, Z:-0.47 [[ 9.94172228e-01 -1.01677018e-01 3.58240729e-02 1.33534368e+01] [ 1.01615052e-01 9.94817457e-01 3.55096889e-03 9.87087373e-01] [-3.59994650e-02 1.09990374e-04 9.99351803e-01 -4.70783462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101858064 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:0.99, Z:-0.47 [[ 9.94139848e-01 -1.01993436e-01 3.58231989e-02 1.34122751e+01] [ 1.01931358e-01 9.94785065e-01 3.55976390e-03 9.93224636e-01] [-3.59994558e-02 1.12604157e-04 9.99351803e-01 -4.72035076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161858064 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:1.00, Z:-0.47 [[ 9.94134584e-01 -1.02045042e-01 3.58223246e-02 1.34704497e+01] [ 1.01982681e-01 9.94779774e-01 3.56854104e-03 9.99531374e-01] [-3.59994758e-02 1.05646630e-04 9.99351803e-01 -4.72051504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221858064 meters Centerline goodness : 0.998521 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:1.01, Z:-0.47 [[ 9.94387618e-01 -9.95494284e-02 3.58214596e-02 1.35278002e+01] [ 9.94851363e-02 9.95032618e-01 3.57720224e-03 1.00619076e+00] [-3.59996292e-02 6.57718509e-06 9.99351803e-01 -4.73790726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281858064 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:13.59, Y:1.01, Z:-0.48 [[ 9.94614615e-01 -9.72556489e-02 3.58204671e-02 1.35863784e+01] [ 9.71895124e-02 9.95259429e-01 3.58711349e-03 1.01289292e+00] [-3.59995247e-02 -8.64217718e-05 9.99351803e-01 -4.77495285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341858064 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:1.02, Z:-0.48 [[ 9.95036052e-01 -9.28451562e-02 3.58194392e-02 1.36442449e+01] [ 9.27757932e-02 9.95680527e-01 3.59734880e-03 1.02219969e+00] [-3.59987145e-02 -2.56314866e-04 9.99351803e-01 -4.82882399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401858063999999 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:1.03, Z:-0.48 [[ 9.95216043e-01 -9.08958693e-02 3.58185629e-02 1.37021090e+01] [ 9.08249308e-02 9.95860346e-01 3.60605331e-03 1.02595355e+00] [-3.59980617e-02 -3.35583606e-04 9.99351803e-01 -4.83550374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461858064 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:1.03, Z:-0.49 [[ 9.95254862e-01 -9.04702352e-02 3.58175280e-02 1.37593347e+01] [ 9.03986523e-02 9.95899094e-01 3.61630303e-03 1.03116768e+00] [-3.59978115e-02 -3.61286917e-04 9.99351803e-01 -4.85012485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521858064 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:13.82, Y:1.04, Z:-0.49 [[ 9.95137311e-01 -9.17543447e-02 3.58172101e-02 1.38181434e+01] [ 9.16834799e-02 9.95781622e-01 3.61944855e-03 1.03636359e+00] [-3.59982197e-02 -3.18001834e-04 9.99351803e-01 -4.85090797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581858064 meters Centerline goodness : 0.996649 with order 1 Centerline is valid? [True, True] Translation: X:13.88, Y:1.04, Z:-0.49 [[ 9.95118979e-01 -9.19532933e-02 3.58163182e-02 1.38772645e+01] [ 9.18822405e-02 9.95763270e-01 3.62825367e-03 1.04112225e+00] [-3.59982040e-02 -3.19660532e-04 9.99351803e-01 -4.86208775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:1.05, Z:-0.49 [[ 9.94934831e-01 -9.39252069e-02 3.58153240e-02 1.39348167e+01] [ 9.38550787e-02 9.95579223e-01 3.63804046e-03 1.04730803e+00] [-3.59986962e-02 -2.58163116e-04 9.99351804e-01 -4.87718033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:1.05, Z:-0.49 [[ 9.94729176e-01 -9.60792206e-02 3.58140909e-02 1.39923811e+01] [ 9.60100522e-02 9.95373672e-01 3.65013966e-03 1.05417416e+00] [-3.59991057e-02 -1.92387682e-04 9.99351804e-01 -4.92251801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761858064 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:1.06, Z:-0.50 [[ 9.94449717e-01 -9.89302065e-02 3.58130645e-02 1.40502674e+01] [ 9.88625241e-02 9.95094370e-01 3.66018240e-03 1.05915410e+00] [-3.59994815e-02 -9.92973975e-05 9.99351804e-01 -4.95097511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821858064 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:1.06, Z:-0.50 [[ 9.93917524e-01 -1.04141505e-01 3.58120476e-02 1.41092261e+01] [ 1.04076845e-01 9.94562487e-01 3.67010535e-03 1.06301704e+00] [-3.59995294e-02 7.94228990e-05 9.99351804e-01 -5.01102201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881858064 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:1.07, Z:-0.50 [[ 9.93536907e-01 -1.07712530e-01 3.58109573e-02 1.41671101e+01] [ 1.07649806e-01 9.94182062e-01 3.68071296e-03 1.06762855e+00] [-3.59990703e-02 1.98118450e-04 9.99351804e-01 -5.01017713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941858064 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:1.07, Z:-0.50 [[ 9.93364953e-01 -1.09287181e-01 3.58103770e-02 1.42253481e+01] [ 1.09225277e-01 9.94010186e-01 3.68635045e-03 1.07230064e+00] [-3.59987503e-02 2.49507000e-04 9.99351804e-01 -5.03323095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001858064 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:1.08, Z:-0.51 [[ 9.93660209e-01 -1.06569604e-01 3.58093471e-02 1.42831388e+01] [ 1.06505575e-01 9.94305235e-01 3.69632751e-03 1.07809487e+00] [-3.59993375e-02 1.41001554e-04 9.99351804e-01 -5.05824439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061858063999999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:1.08, Z:-0.51 [[ 9.93767804e-01 -1.05561677e-01 3.58090040e-02 1.43414493e+01] [ 1.05496875e-01 9.94412752e-01 3.69964912e-03 1.08325446e+00] [-3.59994714e-02 1.01145824e-04 9.99351804e-01 -5.06627558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121858064 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:1.09, Z:-0.51 [[ 9.93915406e-01 -1.04163122e-01 3.58079615e-02 1.43989592e+01] [ 1.04097050e-01 9.94560226e-01 3.70971130e-03 1.08846261e+00] [-3.59995894e-02 4.03639423e-05 9.99351804e-01 -5.07711129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181858064 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:1.09, Z:-0.51 [[ 9.93961396e-01 -1.03723460e-01 3.58076412e-02 1.44572743e+01] [ 1.03656990e-01 9.94606175e-01 3.71280054e-03 1.09397954e+00] [-3.59996056e-02 2.13319184e-05 9.99351804e-01 -5.09282697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:1.11, Z:-0.52 [[ 9.93419428e-01 -1.08792115e-01 3.58066405e-02 1.45153539e+01] [ 1.08728588e-01 9.94064504e-01 3.72242691e-03 1.10604015e+00] [-3.59990810e-02 1.95274260e-04 9.99351804e-01 -5.21207886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301858064 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:1.11, Z:-0.52 [[ 9.93470681e-01 -1.08323381e-01 3.58057328e-02 1.45736584e+01] [ 1.08259237e-01 9.94115696e-01 3.73113691e-03 1.11128875e+00] [-3.59992104e-02 1.69526176e-04 9.99351804e-01 -5.24726370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361858064 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:1.11, Z:-0.52 [[ 9.93551350e-01 -1.07581295e-01 3.58047591e-02 1.46308578e+01] [ 1.07516332e-01 9.94196282e-01 3.74045776e-03 1.11116128e+00] [-3.59993617e-02 1.33259527e-04 9.99351804e-01 -5.21656974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421858064 meters Centerline goodness : 0.997416 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:1.12, Z:-0.52 [[ 9.93015858e-01 -1.12417146e-01 3.58035148e-02 1.46884226e+01] [ 1.12354896e-01 9.93661058e-01 3.75233071e-03 1.11666148e+00] [-3.59983847e-02 2.96576278e-04 9.99351804e-01 -5.23597778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481858063999999 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:1.12, Z:-0.52 [[ 9.92273404e-01 -1.18792606e-01 3.58023471e-02 1.47458660e+01] [ 1.18734100e-01 9.92918954e-01 3.76343959e-03 1.12310670e+00] [-3.59958978e-02 5.16598456e-04 9.99351804e-01 -5.24990085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541858064 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:1.13, Z:-0.53 [[ 9.91777992e-01 -1.22860486e-01 3.58010612e-02 1.48031225e+01] [ 1.22804189e-01 9.92423738e-01 3.77563267e-03 1.13070041e+00] [-3.59936990e-02 6.51930880e-04 9.99351804e-01 -5.29399671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601858064 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:1.14, Z:-0.53 [[ 9.91512412e-01 -1.24986034e-01 3.57998332e-02 1.48610767e+01] [ 1.24930701e-01 9.92158242e-01 3.78724051e-03 1.13886699e+00] [-3.59924517e-02 7.17402287e-04 9.99351804e-01 -5.30410994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:1.15, Z:-0.53 [[ 9.91146254e-01 -1.27857586e-01 3.57986018e-02 1.49179368e+01] [ 1.27803706e-01 9.91792207e-01 3.79884467e-03 1.14797732e+00] [-3.59904854e-02 8.09983297e-04 9.99351804e-01 -5.32073489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721858064 meters Centerline goodness : 0.996637 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:1.16, Z:-0.53 [[ 9.90861412e-01 -1.30046816e-01 3.57978761e-02 1.49753925e+01] [ 1.29994116e-01 9.91507462e-01 3.80567037e-03 1.15614217e+00] [-3.59887766e-02 8.82621333e-04 9.99351804e-01 -5.34286359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781858064 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:1.17, Z:-0.53 [[ 9.90962470e-01 -1.29274853e-01 3.57965960e-02 1.50330627e+01] [ 1.29221216e-01 9.91608442e-01 3.81767400e-03 1.16614345e+00] [-3.59897360e-02 8.42508018e-04 9.99351804e-01 -5.32275931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841858064 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:15.09, Y:1.18, Z:-0.54 [[ 9.91297965e-01 -1.26676661e-01 3.57961964e-02 1.50904004e+01] [ 1.26621196e-01 9.91943783e-01 3.82141646e-03 1.17757544e+00] [-3.59918988e-02 7.44394837e-04 9.99351804e-01 -5.35492556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901858063999999 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:15.15, Y:1.19, Z:-0.54 [[ 9.91698704e-01 -1.23500557e-01 3.57951539e-02 1.51475419e+01] [ 1.23442672e-01 9.92344310e-01 3.83115679e-03 1.18725972e+00] [-3.59942673e-02 6.19296236e-04 9.99351805e-01 -5.38636267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961858064 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:1.20, Z:-0.54 [[ 9.92058410e-01 -1.20577218e-01 3.57944958e-02 1.52046596e+01] [ 1.20517209e-01 9.92703822e-01 3.83729597e-03 1.19876292e+00] [-3.59960232e-02 5.07030991e-04 9.99351805e-01 -5.37498453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021858064 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:15.26, Y:1.21, Z:-0.54 [[ 9.92233845e-01 -1.19125269e-01 3.57933879e-02 1.52623257e+01] [ 1.19063944e-01 9.92879133e-01 3.84760283e-03 1.20753587e+00] [-3.59968546e-02 4.43980167e-04 9.99351805e-01 -5.39307721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081858064 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:15.32, Y:1.22, Z:-0.54 [[ 9.92707676e-01 -1.15110302e-01 3.57922941e-02 1.53195826e+01] [ 1.15046002e-01 9.93352674e-01 3.85775087e-03 1.21896461e+00] [-3.59984379e-02 2.88141430e-04 9.99351805e-01 -5.43096184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141858064 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:15.38, Y:1.23, Z:-0.55 [[ 9.93147800e-01 -1.11249443e-01 3.57911884e-02 1.53771475e+01] [ 1.11182267e-01 9.93792505e-01 3.86798165e-03 1.22852842e+00] [-3.59993256e-02 1.37867993e-04 9.99351805e-01 -5.46228299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201858064 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:1.24, Z:-0.55 [[ 9.93044291e-01 -1.12169972e-01 3.57901232e-02 1.54328746e+01] [ 1.12103038e-01 9.93689021e-01 3.87781346e-03 1.24205866e+00] [-3.59992267e-02 1.61341030e-04 9.99351805e-01 -5.53754517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261858064 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:15.49, Y:1.25, Z:-0.56 [[ 9.92874133e-01 -1.13666439e-01 3.57896263e-02 1.54903521e+01] [ 1.13600312e-01 9.93518946e-01 3.88239401e-03 1.25188474e+00] [-3.59989697e-02 2.10984131e-04 9.99351805e-01 -5.59547520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321858064 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:1.26, Z:-0.56 [[ 9.93110697e-01 -1.11581009e-01 3.57885630e-02 1.55479270e+01] [ 1.11513176e-01 9.93755333e-01 3.89217063e-03 1.25673066e+00] [-3.59993677e-02 1.25540030e-04 9.99351805e-01 -5.57002060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381858064 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:1.27, Z:-0.56 [[ 9.93269930e-01 -1.10154897e-01 3.57874841e-02 1.56056636e+01] [ 1.10085781e-01 9.93914430e-01 3.90206606e-03 1.26570830e+00] [-3.59995286e-02 6.38882651e-05 9.99351805e-01 -5.59429248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441858063999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:1.28, Z:-0.56 [[ 9.93244015e-01 -1.10388703e-01 3.57863281e-02 1.56629534e+01] [ 1.10319358e-01 9.93888490e-01 3.91263892e-03 1.27509403e+00] [-3.59995308e-02 6.17195597e-05 9.99351805e-01 -5.61371954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501858064 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:1.28, Z:-0.56 [[ 9.93305326e-01 -1.09836034e-01 3.57851245e-02 1.57205060e+01] [ 1.09765935e-01 9.93949719e-01 3.92361666e-03 1.28244117e+00] [-3.59995689e-02 3.06383191e-05 9.99351805e-01 -5.61658197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561858064 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:1.29, Z:-0.56 [[ 9.93233288e-01 -1.10485955e-01 3.57839146e-02 1.57781886e+01] [ 1.10415882e-01 9.93877685e-01 3.93462034e-03 1.28860605e+00] [-3.59995545e-02 4.31165841e-05 9.99351805e-01 -5.64138411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621858064 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:1.30, Z:-0.57 [[ 9.93139313e-01 -1.11327926e-01 3.57826536e-02 1.58355237e+01] [ 1.11257987e-01 9.93783723e-01 3.94605541e-03 1.29657973e+00] [-3.59995248e-02 6.21232468e-05 9.99351805e-01 -5.67556300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681858064 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:15.89, Y:1.31, Z:-0.58 [[ 9.92440683e-01 -1.17393287e-01 3.57813860e-02 1.58930337e+01] [ 1.17326873e-01 9.93085466e-01 3.95751542e-03 1.30860914e+00] [-3.59985602e-02 2.70518835e-04 9.99351805e-01 -5.78295615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741858064 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:15.95, Y:1.32, Z:-0.59 [[ 9.91507571e-01 -1.25030016e-01 3.57803145e-02 1.59518255e+01] [ 1.24968218e-01 9.92152814e-01 3.96717982e-03 1.32143550e+00] [-3.59955563e-02 5.37913333e-04 9.99351805e-01 -5.87844528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801858064 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:16.01, Y:1.32, Z:-0.57 [[ 9.91871598e-01 -1.22108587e-01 3.57802394e-02 1.60136883e+01] [ 1.22044865e-01 9.92516653e-01 3.96785706e-03 1.31676014e+00] [-3.59969929e-02 4.31189765e-04 9.99351805e-01 -5.72178427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:1.32, Z:-0.57 [[ 9.91289192e-01 -1.26749799e-01 3.57802394e-02 1.60720051e+01] [ 1.26689096e-01 9.91934539e-01 3.96785706e-03 1.32258773e+00] [-3.59945803e-02 5.99672382e-04 9.99351805e-01 -5.72443334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921858064 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:16.13, Y:1.33, Z:-0.57 [[ 9.90673958e-01 -1.31472309e-01 3.57790690e-02 1.61283698e+01] [ 1.31414303e-01 9.91319552e-01 3.97838326e-03 1.32945516e+00] [-3.59915378e-02 7.60600721e-04 9.99351805e-01 -5.74114671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981858064 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:16.19, Y:1.34, Z:-0.58 [[ 9.90224946e-01 -1.34812647e-01 3.57785799e-02 1.61858905e+01] [ 1.34756660e-01 9.90870718e-01 3.98277652e-03 1.33849479e+00] [-3.59888758e-02 8.77557261e-04 9.99351805e-01 -5.81059877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041858064 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:1.35, Z:-0.58 [[ 9.90174550e-01 -1.35182618e-01 3.57773608e-02 1.62421817e+01] [ 1.35126478e-01 9.90820309e-01 3.99369805e-03 1.34697288e+00] [-3.59888142e-02 8.80010585e-04 9.99351805e-01 -5.83670807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101858063999998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:1.35, Z:-0.58 [[ 9.90704840e-01 -1.31240208e-01 3.57760753e-02 1.62996347e+01] [ 1.31181084e-01 9.91350333e-01 4.00518034e-03 1.35391477e+00] [-3.59922649e-02 7.25192779e-04 9.99351805e-01 -5.79840099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161858064 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:1.36, Z:-0.58 [[ 9.90929587e-01 -1.29532446e-01 3.57756766e-02 1.63567092e+01] [ 1.29472081e-01 9.91574965e-01 4.00873886e-03 1.36217600e+00] [-3.59935270e-02 6.59573343e-04 9.99351805e-01 -5.81173398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221858064 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:16.41, Y:1.37, Z:-0.58 [[ 9.91295959e-01 -1.26698480e-01 3.57745412e-02 1.64144528e+01] [ 1.26635905e-01 9.91941126e-01 4.01884586e-03 1.37208855e+00] [-3.59954203e-02 5.46475721e-04 9.99351805e-01 -5.83798181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281858064 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:1.39, Z:-0.60 [[ 9.90339708e-01 -1.33968370e-01 3.57734397e-02 1.64709169e+01] [ 1.33910177e-01 9.90985285e-01 4.02862728e-03 1.39370922e+00] [-3.59906609e-02 8.00718089e-04 9.99351806e-01 -6.03457316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:1.40, Z:-0.60 [[ 9.90550340e-01 -1.32402022e-01 3.57732931e-02 1.65291975e+01] [ 1.32342761e-01 9.91195820e-01 4.02992807e-03 1.40424983e+00] [-3.59919092e-02 7.42489759e-04 9.99351806e-01 -6.04172211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401858064 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:1.40, Z:-0.59 [[ 9.92336462e-01 -1.18273658e-01 3.57727317e-02 1.65898198e+01] [ 1.18205025e-01 9.92981013e-01 4.03490511e-03 1.39915754e+00] [-3.59988664e-02 2.24533203e-04 9.99351806e-01 -5.87548278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461858064 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:1.41, Z:-0.59 [[ 9.92312346e-01 -1.18475841e-01 3.57726561e-02 1.66467679e+01] [ 1.18407316e-01 9.92956908e-01 4.03557538e-03 1.40814684e+00] [-3.59988242e-02 2.31192934e-04 9.99351806e-01 -5.91066798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521858064 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:1.42, Z:-0.59 [[ 9.91850508e-01 -1.22282370e-01 3.57713887e-02 1.67041888e+01] [ 1.22215914e-01 9.92495287e-01 4.04677850e-03 1.41520807e+00] [-3.59977844e-02 3.58033675e-04 9.99351806e-01 -5.94533333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:16.76, Y:1.42, Z:-0.60 [[ 9.91648353e-01 -1.23911431e-01 3.57701201e-02 1.67611199e+01] [ 1.23845632e-01 9.92293199e-01 4.05796145e-03 1.42234562e+00] [-3.59972747e-02 4.05902327e-04 9.99351806e-01 -5.96592760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641858064 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:1.43, Z:-0.60 [[ 9.91813383e-01 -1.22583602e-01 3.57697255e-02 1.68182199e+01] [ 1.22516814e-01 9.92458128e-01 4.06143656e-03 1.43187369e+00] [-3.59978203e-02 3.54205673e-04 9.99351806e-01 -6.01270329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701858064 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:16.88, Y:1.43, Z:-0.60 [[ 9.93015398e-01 -1.12432318e-01 3.57686110e-02 1.68778106e+01] [ 1.12358586e-01 9.93659385e-01 4.07122858e-03 1.43251230e+00] [-3.59995536e-02 -2.38821173e-05 9.99351806e-01 -5.95426704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761858064 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:16.93, Y:1.45, Z:-0.60 [[ 9.93058963e-01 -1.12047044e-01 3.57680777e-02 1.69338300e+01] [ 1.11972894e-01 9.93702902e-01 4.07590862e-03 1.44759061e+00] [-3.59995361e-02 -4.25624369e-05 9.99351806e-01 -6.03559452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821858064 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:1.45, Z:-0.61 [[ 9.93873981e-01 -1.04571478e-01 3.57675255e-02 1.69913216e+01] [ 1.04492310e-01 9.94517322e-01 4.08074834e-03 1.45288626e+00] [-3.59981536e-02 -3.18318231e-04 9.99351806e-01 -6.08836964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881858064 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:1.45, Z:-0.61 [[ 9.95015843e-01 -9.30815830e-02 3.57671891e-02 1.70508648e+01] [ 9.29948814e-02 9.95658212e-01 4.08369465e-03 1.44995698e+00] [-3.59920123e-02 -7.37175363e-04 9.99351806e-01 -6.06774528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941858063999998 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:17.11, Y:1.46, Z:-0.61 [[ 9.95176519e-01 -9.13480829e-02 3.57662269e-02 1.71096867e+01] [ 9.12599603e-02 9.95818696e-01 4.09210481e-03 1.45698966e+00] [-3.59904833e-02 -8.08342180e-04 9.99351806e-01 -6.10647895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001858064 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:17.17, Y:1.47, Z:-0.61 [[ 9.95090859e-01 -9.22769393e-02 3.57651825e-02 1.71673810e+01] [ 9.21890889e-02 9.95733073e-01 4.10121283e-03 1.47126503e+00] [-3.59910224e-02 -7.83919811e-04 9.99351806e-01 -6.14427546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061858064 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:17.23, Y:1.48, Z:-0.61 [[ 9.95134631e-01 -9.18037806e-02 3.57649431e-02 1.72252357e+01] [ 9.17155499e-02 9.95776793e-01 4.10329872e-03 1.47667484e+00] [-3.59905987e-02 -8.03133234e-04 9.99351806e-01 -6.14882999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121858064 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:1.48, Z:-0.62 [[ 9.95079009e-01 -9.24052319e-02 3.57636572e-02 1.72831060e+01] [ 9.23169878e-02 9.95721168e-01 4.11447659e-03 1.48163159e+00] [-3.59908297e-02 -7.92636188e-04 9.99351806e-01 -6.17516618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181858064 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:17.34, Y:1.48, Z:-0.62 [[ 9.94948418e-01 -9.38013407e-02 3.57624784e-02 1.73425700e+01] [ 9.37136305e-02 9.95590650e-01 4.12469661e-03 1.48397254e+00] [-3.59916912e-02 -7.52428673e-04 9.99351806e-01 -6.18771599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241858064 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:17.40, Y:1.48, Z:-0.62 [[ 9.94981025e-01 -9.34552312e-02 3.57614380e-02 1.74008460e+01] [ 9.33669743e-02 9.95623182e-01 4.13369738e-03 1.48004124e+00] [-3.59912324e-02 -7.74013189e-04 9.99351806e-01 -6.21874717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301858064 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:1.49, Z:-0.62 [[ 9.94420024e-01 -9.92469841e-02 3.57610357e-02 1.74594337e+01] [ 9.91623426e-02 9.95062668e-01 4.13717521e-03 1.48831008e+00] [-3.59950737e-02 -5.67941802e-04 9.99351806e-01 -6.23737430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361858064 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:1.49, Z:-0.63 [[ 9.93841982e-01 -1.04877766e-01 3.57598923e-02 1.75179712e+01] [ 1.04796411e-01 9.94485050e-01 4.14703502e-03 1.48590947e+00] [-3.59976100e-02 -3.73989146e-04 9.99351806e-01 -6.26038831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421858064 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:1.49, Z:-0.63 [[ 9.93330254e-01 -1.09618710e-01 3.57595339e-02 1.75765405e+01] [ 1.09540314e-01 9.93973690e-01 4.15012293e-03 1.48815808e+00] [-3.59989670e-02 -2.05332107e-04 9.99351806e-01 -6.27533275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481858064 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:1.49, Z:-0.63 [[ 9.92689631e-01 -1.15276338e-01 3.57583925e-02 1.76361566e+01] [ 1.15201255e-01 9.93333462e-01 4.15993436e-03 1.48768582e+00] [-3.59995498e-02 -1.01120240e-05 9.99351806e-01 -6.31117591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541858064 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:1.50, Z:-0.64 [[ 9.91467916e-01 -1.25350608e-01 3.57574634e-02 1.76942288e+01] [ 1.25281779e-01 9.92112445e-01 4.16790554e-03 1.49558899e+00] [-3.59978739e-02 3.47414019e-04 9.99351806e-01 -6.42186724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601858063999998 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:1.49, Z:-0.63 [[ 9.92161022e-01 -1.19741328e-01 3.57563986e-02 1.77549217e+01] [ 1.19668527e-01 9.92805115e-01 4.17701970e-03 1.48865175e+00] [-3.59992974e-02 1.34639416e-04 9.99351806e-01 -6.31139998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661858064 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:1.49, Z:-0.63 [[ 9.92303463e-01 -1.18555408e-01 3.57554432e-02 1.78118162e+01] [ 1.18481543e-01 9.92947435e-01 4.18518281e-03 1.49211144e+00] [-3.59994516e-02 8.33886690e-05 9.99351806e-01 -6.33027211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721858064 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:1.50, Z:-0.64 [[ 9.92894621e-01 -1.13498268e-01 3.57549285e-02 1.78696073e+01] [ 1.13420964e-01 9.93538189e-01 4.18957498e-03 1.49581769e+00] [-3.59993964e-02 -1.04447990e-04 9.99351806e-01 -6.35358087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781858063999998 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:1.50, Z:-0.64 [[ 9.93374743e-01 -1.09216712e-01 3.57537452e-02 1.79264194e+01] [ 1.09136273e-01 9.94017926e-01 4.19964894e-03 1.49969901e+00] [-3.59985355e-02 -2.69794702e-04 9.99351806e-01 -6.37706971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841858064 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:1.50, Z:-0.64 [[ 9.93434608e-01 -1.08670995e-01 3.57532392e-02 1.79854617e+01] [ 1.08590047e-01 9.94077728e-01 4.20395263e-03 1.50364850e+00] [-3.59983465e-02 -2.93906097e-04 9.99351806e-01 -6.40790793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901858064 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:1.50, Z:-0.64 [[ 9.93901697e-01 -1.04312967e-01 3.57522306e-02 1.80454425e+01] [ 1.04228892e-01 9.94544415e-01 4.21251246e-03 1.49719995e+00] [-3.59966009e-02 -4.60407911e-04 9.99351806e-01 -6.35625204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:1.51, Z:-0.64 [[ 9.93290516e-01 -1.09980689e-01 3.57519156e-02 1.81027029e+01] [ 1.09900185e-01 9.93933691e-01 4.21518394e-03 1.50741900e+00] [-3.59986223e-02 -2.57760074e-04 9.99351806e-01 -6.43936573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021858064 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:1.50, Z:-0.64 [[ 9.93556448e-01 -1.07551884e-01 3.57516036e-02 1.81625813e+01] [ 1.07469712e-01 9.94199412e-01 4.21782921e-03 1.50375522e+00] [-3.59978587e-02 -3.48436863e-04 9.99351806e-01 -6.39169206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:1.51, Z:-0.64 [[ 9.93136305e-01 -1.11364819e-01 3.57513101e-02 1.82221207e+01] [ 1.11285026e-01 9.93779569e-01 4.22031517e-03 1.50589053e+00] [-3.59989162e-02 -2.12762727e-04 9.99351806e-01 -6.37527327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141858064 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:1.51, Z:-0.64 [[ 9.92788779e-01 -1.14421848e-01 3.57502563e-02 1.82808106e+01] [ 1.14343715e-01 9.93432247e-01 4.22922348e-03 1.50891779e+00] [-3.59993730e-02 -1.10908491e-04 9.99351806e-01 -6.37869995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201858064 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:1.52, Z:-0.64 [[ 9.91897846e-01 -1.21904315e-01 3.57491361e-02 1.83375382e+01] [ 1.21830696e-01 9.92541846e-01 4.23867072e-03 1.51575909e+00] [-3.59992258e-02 1.51013769e-04 9.99351806e-01 -6.44745136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:1.52, Z:-0.65 [[ 9.91403814e-01 -1.25859111e-01 3.57485846e-02 1.83956553e+01] [ 1.25787894e-01 9.92048084e-01 4.24331737e-03 1.52330368e+00] [-3.59983750e-02 2.89898138e-04 9.99351806e-01 -6.47505835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321858064 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:1.54, Z:-0.65 [[ 9.90714614e-01 -1.31174210e-01 3.57474528e-02 1.84525493e+01] [ 1.31106106e-01 9.91359220e-01 4.25283044e-03 1.53628916e+00] [-3.59964286e-02 4.73368068e-04 9.99351806e-01 -6.54497693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381858064 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:1.54, Z:-0.66 [[ 9.90272783e-01 -1.34469192e-01 3.57470619e-02 1.85106677e+01] [ 1.34403114e-01 9.90917599e-01 4.25611374e-03 1.54458821e+00] [-3.59947089e-02 5.89802827e-04 9.99351806e-01 -6.62077813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441858063999998 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:1.55, Z:-0.66 [[ 9.90096030e-01 -1.35764775e-01 3.57460112e-02 1.85687075e+01] [ 1.35699223e-01 9.90740900e-01 4.26492051e-03 1.55272416e+00] [-3.59940612e-02 6.28025075e-04 9.99351806e-01 -6.63340084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:1.56, Z:-0.66 [[ 9.89658876e-01 -1.38915865e-01 3.57448196e-02 1.86260082e+01] [ 1.38852006e-01 9.90303916e-01 4.27488351e-03 1.56083016e+00] [-3.59920840e-02 7.32563518e-04 9.99351807e-01 -6.62679624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561858064 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:1.57, Z:-0.66 [[ 9.89271030e-01 -1.41651762e-01 3.57436275e-02 1.86831012e+01] [ 1.41589328e-01 9.89916210e-01 4.28482856e-03 1.57238058e+00] [-3.59901497e-02 8.22059432e-04 9.99351807e-01 -6.59420700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621858064 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:1.58, Z:-0.67 [[ 9.89888778e-01 -1.37268463e-01 3.57432062e-02 1.87411551e+01] [ 1.37203045e-01 9.90533662e-01 4.28833955e-03 1.57811109e+00] [-3.59935027e-02 6.59097526e-04 9.99351807e-01 -6.65170288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681858064 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:1.59, Z:-0.67 [[ 9.90393802e-01 -1.33576278e-01 3.57420698e-02 1.87975407e+01] [ 1.33508115e-01 9.91038401e-01 4.29779016e-03 1.59235851e+00] [-3.59958466e-02 5.15351618e-04 9.99351807e-01 -6.65011395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741858064 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:18.85, Y:1.60, Z:-0.67 [[ 9.91593156e-01 -1.24360562e-01 3.57416329e-02 1.88540755e+01] [ 1.24286276e-01 9.92237078e-01 4.30142080e-03 1.60298320e+00] [-3.59991005e-02 1.76935018e-04 9.99351807e-01 -6.69667451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801858064 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:18.91, Y:1.61, Z:-0.67 [[ 9.92304857e-01 -1.18548019e-01 3.57412640e-02 1.89117414e+01] [ 1.18469851e-01 9.92948320e-01 4.30448414e-03 1.61013973e+00] [-3.59995161e-02 -3.70982819e-05 9.99351807e-01 -6.70380530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861858064 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:18.97, Y:1.62, Z:-0.67 [[ 9.92756434e-01 -1.14705325e-01 3.57400613e-02 1.89704267e+01] [ 1.14624308e-01 9.93399544e-01 4.31444708e-03 1.61830257e+00] [-3.59990506e-02 -1.86515306e-04 9.99351807e-01 -6.73871618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921858064 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:1.63, Z:-0.67 [[ 9.93210408e-01 -1.10705957e-01 3.57390091e-02 1.90292188e+01] [ 1.10622037e-01 9.93853146e-01 4.32314569e-03 1.62606360e+00] [-3.59979246e-02 -3.40271300e-04 9.99351807e-01 -6.74368884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981858064 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:19.09, Y:1.63, Z:-0.67 [[ 9.93247997e-01 -1.10368548e-01 3.57379398e-02 1.90877827e+01] [ 1.10284092e-01 9.93890665e-01 4.33196702e-03 1.63113375e+00] [-3.59977176e-02 -3.61391316e-04 9.99351807e-01 -6.72117866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041858064 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:1.64, Z:-0.68 [[ 9.93122003e-01 -1.11496918e-01 3.57368719e-02 1.91438918e+01] [ 1.11412877e-01 9.93764725e-01 4.34075846e-03 1.63864830e+00] [-3.59980239e-02 -3.29355034e-04 9.99351807e-01 -6.75263608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101858063999998 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:19.20, Y:1.65, Z:-0.68 [[ 9.92919593e-01 -1.13285457e-01 3.57363450e-02 1.92019273e+01] [ 1.13202417e-01 9.93562445e-01 4.34509208e-03 1.64560536e+00] [-3.59985261e-02 -2.68886418e-04 9.99351807e-01 -6.79366345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161858064 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:19.26, Y:1.65, Z:-0.68 [[ 9.92141610e-01 -1.19908352e-01 3.57353128e-02 1.92597748e+01] [ 1.19829298e-01 9.92784965e-01 4.35356486e-03 1.64851722e+00] [-3.59995100e-02 -3.72153935e-05 9.99351807e-01 -6.78875743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221858064 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:1.65, Z:-0.68 [[ 9.90923244e-01 -1.29592442e-01 3.57340762e-02 1.93174626e+01] [ 1.29519311e-01 9.91567298e-01 4.36369137e-03 1.65257716e+00] [-3.59982428e-02 3.04169709e-04 9.99351807e-01 -6.80761102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281858063999998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:1.66, Z:-0.69 [[ 9.90146990e-01 -1.35395869e-01 3.57336969e-02 1.93754278e+01] [ 1.35326400e-01 9.90791450e-01 4.36679498e-03 1.65859302e+00] [-3.59958874e-02 5.11943663e-04 9.99351807e-01 -6.86650045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:19.43, Y:1.67, Z:-0.69 [[ 9.89088461e-01 -1.42923803e-01 3.57323822e-02 1.94328668e+01] [ 1.42858850e-01 9.89733391e-01 4.37752665e-03 1.66618818e+00] [-3.59911846e-02 7.74925942e-04 9.99351807e-01 -6.86481841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401858064 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:1.67, Z:-0.69 [[ 9.88229542e-01 -1.48746758e-01 3.57319836e-02 1.94915860e+01] [ 1.48685487e-01 9.88874833e-01 4.38077806e-03 1.67446733e+00] [-3.59860858e-02 9.83613104e-04 9.99351807e-01 -6.90366544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461858064 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:1.69, Z:-0.69 [[ 9.88250027e-01 -1.48610725e-01 3.57314526e-02 1.95498941e+01] [ 1.48549210e-01 9.88895294e-01 4.38510473e-03 1.68632596e+00] [-3.59863389e-02 9.74299176e-04 9.99351807e-01 -6.88095140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521858064 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:1.70, Z:-0.70 [[ 9.87964470e-01 -1.50497674e-01 3.57303330e-02 1.96079344e+01] [ 1.50437062e-01 9.88609823e-01 4.39420806e-03 1.69826519e+00] [-3.59846763e-02 1.03384488e-03 9.99351807e-01 -6.97998738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581858064 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:1.71, Z:-0.70 [[ 9.88452765e-01 -1.47256746e-01 3.57292947e-02 1.96657298e+01] [ 1.47193714e-01 9.89097886e-01 4.40263462e-03 1.70906592e+00] [-3.59880875e-02 9.07331213e-04 9.99351807e-01 -6.97094652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641858064 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:1.72, Z:-0.70 [[ 9.89393113e-01 -1.40800465e-01 3.57280994e-02 1.97230371e+01] [ 1.40732872e-01 9.90037772e-01 4.41231343e-03 1.71737408e+00] [-3.59934237e-02 6.62605535e-04 9.99351807e-01 -6.98348997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701858064 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:1.73, Z:-0.70 [[ 9.90383547e-01 -1.33656348e-01 3.57268997e-02 1.97792929e+01] [ 1.33583756e-01 9.91027662e-01 4.42200623e-03 1.73420891e+00] [-3.59973751e-02 3.93051230e-04 9.99351807e-01 -7.00073700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761858064 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:19.84, Y:1.75, Z:-0.71 [[ 9.91317673e-01 -1.26542043e-01 3.57265056e-02 1.98362018e+01] [ 1.26464713e-01 9.91961236e-01 4.42518777e-03 1.74744772e+00] [-3.59992810e-02 1.31375437e-04 9.99351807e-01 -7.07944174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821858064 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:1.76, Z:-0.70 [[ 9.92060420e-01 -1.20580964e-01 3.57260964e-02 1.98941687e+01] [ 1.20499648e-01 9.92703492e-01 4.42848910e-03 1.75565718e+00] [-3.59994121e-02 -8.83467187e-05 9.99351807e-01 -7.01087063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881858064 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:1.77, Z:-0.70 [[ 9.92551467e-01 -1.16470002e-01 3.57256884e-02 1.99509065e+01] [ 1.16385904e-01 9.93194181e-01 4.43177790e-03 1.76693578e+00] [-3.59987150e-02 -2.40801121e-04 9.99351807e-01 -7.02437747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941858063999998 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:1.78, Z:-0.71 [[ 9.92937433e-01 -1.13132465e-01 3.57253245e-02 2.00088438e+01] [ 1.13046102e-01 9.93579847e-01 4.43470969e-03 1.77520139e+00] [-3.59976721e-02 -3.64780592e-04 9.99351807e-01 -7.05106682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001858064 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:1.78, Z:-0.71 [[ 9.93244735e-01 -1.10402371e-01 3.57241094e-02 2.00660522e+01] [ 1.10313890e-01 9.93886861e-01 4.44447677e-03 1.78221064e+00] [-3.59964037e-02 -4.73587685e-04 9.99351807e-01 -7.08716089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061858064 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:20.12, Y:1.79, Z:-0.71 [[ 9.93717869e-01 -1.06059767e-01 3.57228559e-02 2.01239544e+01] [ 1.05968119e-01 9.94359550e-01 4.45452851e-03 1.79023978e+00] [-3.59938092e-02 -6.41060716e-04 9.99351807e-01 -7.12905234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121858063999998 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:20.18, Y:1.80, Z:-0.72 [[ 9.93831938e-01 -1.04985932e-01 3.57216140e-02 2.01815430e+01] [ 1.04893234e-01 9.94473468e-01 4.46446583e-03 1.79798449e+00] [-3.59929034e-02 -6.89973122e-04 9.99351807e-01 -7.15242042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181858064 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:20.24, Y:1.80, Z:-0.72 [[ 9.93655348e-01 -1.06644780e-01 3.57203139e-02 2.02388660e+01] [ 1.06552780e-01 9.94296978e-01 4.47484362e-03 1.80266991e+00] [-3.59938189e-02 -6.40353538e-04 9.99351807e-01 -7.19827635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241858064 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:20.30, Y:1.81, Z:-0.72 [[ 9.93139265e-01 -1.11348499e-01 3.57199151e-02 2.02964757e+01] [ 1.11259424e-01 9.93781308e-01 4.47802457e-03 1.80709369e+00] [-3.59964053e-02 -4.73124840e-04 9.99351807e-01 -7.23391724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301858064 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:1.81, Z:-0.73 [[ 9.92895589e-01 -1.13500945e-01 3.57195390e-02 2.03539151e+01] [ 1.13413154e-01 9.93537809e-01 4.48102325e-03 1.81242457e+00] [-3.59973128e-02 -3.98122651e-04 9.99351807e-01 -7.25444779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:1.82, Z:-0.73 [[ 9.92657658e-01 -1.15563755e-01 3.57182388e-02 2.04113478e+01] [ 1.15476926e-01 9.93300009e-01 4.49136269e-03 1.81581738e+00] [-3.59979657e-02 -3.33753150e-04 9.99351807e-01 -7.27722762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421858064 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:1.82, Z:-0.73 [[ 9.91950753e-01 -1.21482309e-01 3.57176795e-02 2.04708059e+01] [ 1.21399153e-01 9.92593589e-01 4.49580614e-03 1.81743739e+00] [-3.59993006e-02 -1.23522256e-04 9.99351807e-01 -7.31664530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481858064 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:1.82, Z:-0.73 [[ 9.91509700e-01 -1.25031406e-01 3.57164163e-02 2.05296063e+01] [ 1.24950191e-01 9.92152784e-01 4.50581959e-03 1.81961712e+00] [-3.59995108e-02 -4.79080589e-06 9.99351808e-01 -7.30123965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541858064 meters Centerline goodness : 0.998665 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:1.82, Z:-0.73 [[ 9.91276181e-01 -1.26869867e-01 3.57151198e-02 2.05884927e+01] [ 1.26789475e-01 9.91919369e-01 4.51607303e-03 1.81986332e+00] [-3.59994726e-02 5.16256456e-05 9.99351808e-01 -7.33423873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601858063999998 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:1.83, Z:-0.74 [[ 9.91567877e-01 -1.24569960e-01 3.57137326e-02 2.06467336e+01] [ 1.24487682e-01 9.92210826e-01 4.52701615e-03 1.82729283e+00] [-3.59994824e-02 -4.29240074e-05 9.99351808e-01 -7.39702978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:1.83, Z:-0.74 [[ 9.92863514e-01 -1.13783409e-01 3.57124341e-02 2.07052058e+01] [ 1.13693778e-01 9.93505480e-01 4.53723681e-03 1.82999163e+00] [-3.59967613e-02 -4.44575324e-04 9.99351808e-01 -7.39398790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721858064 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:1.84, Z:-0.74 [[ 9.93167020e-01 -1.11103372e-01 3.57114903e-02 2.07631543e+01] [ 1.11011743e-01 9.93808703e-01 4.54465347e-03 1.83655935e+00] [-3.59953162e-02 -5.49205159e-04 9.99351808e-01 -7.37890513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781858063999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:20.82, Y:1.84, Z:-0.74 [[ 9.93319177e-01 -1.09734918e-01 3.57107890e-02 2.08216623e+01] [ 1.09642207e-01 9.93960705e-01 4.55015720e-03 1.83841099e+00] [-3.59944321e-02 -6.04348702e-04 9.99351808e-01 -7.39190245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841858064 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:1.84, Z:-0.74 [[ 9.93586976e-01 -1.07283509e-01 3.57095185e-02 2.08782850e+01] [ 1.07188858e-01 9.94228220e-01 4.56010598e-03 1.84354056e+00] [-3.59926352e-02 -7.03199408e-04 9.99351808e-01 -7.39568683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:1.85, Z:-0.74 [[ 9.93604471e-01 -1.07121554e-01 3.57089261e-02 2.09360759e+01] [ 1.07026632e-01 9.94245675e-01 4.56474091e-03 1.84992619e+00] [-3.59924274e-02 -7.13740891e-04 9.99351808e-01 -7.41984722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:1.86, Z:-0.74 [[ 9.93871170e-01 -1.04618616e-01 3.57077345e-02 2.09935974e+01] [ 1.04521745e-01 9.94512083e-01 4.57404284e-03 1.85738359e+00] [-3.59903034e-02 -8.13774591e-04 9.99351808e-01 -7.44208387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021858064 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:21.05, Y:1.86, Z:-0.75 [[ 9.93823499e-01 -1.05070952e-01 3.57064044e-02 2.10516893e+01] [ 1.04974001e-01 9.94464400e-01 4.58440222e-03 1.86207397e+00] [-3.59904356e-02 -8.07842536e-04 9.99351808e-01 -7.48175529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:1.87, Z:-0.75 [[ 9.93701309e-01 -1.06220753e-01 3.57051764e-02 2.11100331e+01] [ 1.06124200e-01 9.94342270e-01 4.59394683e-03 1.86702113e+00] [-3.59911387e-02 -7.75827691e-04 9.99351808e-01 -7.49541160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:1.87, Z:-0.75 [[ 9.93501222e-01 -1.08076584e-01 3.57039632e-02 2.11683068e+01] [ 1.07980890e-01 9.94142312e-01 4.60335688e-03 1.87256937e+00] [-3.59923356e-02 -7.18094952e-04 9.99351808e-01 -7.50683622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201858064 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:1.88, Z:-0.76 [[ 9.92480298e-01 -1.17081929e-01 3.57026530e-02 2.12255735e+01] [ 1.16991689e-01 9.93122178e-01 4.61349573e-03 1.88498246e+00] [-3.59972535e-02 -4.01889929e-04 9.99351808e-01 -7.61565296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:1.88, Z:-0.76 [[ 9.92991376e-01 -1.12665568e-01 3.57014967e-02 2.12841489e+01] [ 1.12572153e-01 9.93632801e-01 4.62242629e-03 1.88193509e+00] [-3.59949665e-02 -5.71035104e-04 9.99351808e-01 -7.63490973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321858064 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:1.89, Z:-0.76 [[ 9.92707403e-01 -1.15140946e-01 3.57011699e-02 2.13422483e+01] [ 1.15049039e-01 9.93349047e-01 4.62494895e-03 1.88906919e+00] [-3.59962441e-02 -4.83835748e-04 9.99351808e-01 -7.61791351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:1.90, Z:-0.76 [[ 9.92150896e-01 -1.19842065e-01 3.56998396e-02 2.14004889e+01] [ 1.19752830e-01 9.92792916e-01 4.63519554e-03 1.89671827e+00] [-3.59980392e-02 -3.23656584e-04 9.99351808e-01 -7.60673987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441858063999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:1.90, Z:-0.76 [[ 9.91373659e-01 -1.26110547e-01 3.56987095e-02 2.14587538e+01] [ 1.26025059e-01 9.92016189e-01 4.64388243e-03 1.90160853e+00] [-3.59993403e-02 -1.04890754e-04 9.99351808e-01 -7.58846189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:1.91, Z:-0.76 [[ 9.90638875e-01 -1.31758552e-01 3.56973903e-02 2.15172880e+01] [ 1.31676363e-01 9.91281835e-01 4.65400106e-03 1.90899222e+00] [-3.59993790e-02 9.00681415e-05 9.99351808e-01 -7.61976560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561858064 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:1.92, Z:-0.77 [[ 9.89343346e-01 -1.41157790e-01 3.56962386e-02 2.15750215e+01] [ 1.41081390e-01 9.89987020e-01 4.66281799e-03 1.91899249e+00] [-3.59970060e-02 4.22946999e-04 9.99351808e-01 -7.66843618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621858063999998 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:1.93, Z:-0.77 [[ 9.87898443e-01 -1.50938817e-01 3.56951016e-02 2.16325432e+01] [ 1.50868475e-01 9.88542806e-01 4.67150591e-03 1.92819540e+00] [-3.59912475e-02 7.70292134e-04 9.99351808e-01 -7.68167024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681858064 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:1.94, Z:-0.77 [[ 9.86998829e-01 -1.56713962e-01 3.56937891e-02 2.16902418e+01] [ 1.56647029e-01 9.87643555e-01 4.68151275e-03 1.93714618e+00] [-3.59863992e-02 9.70678402e-04 9.99351808e-01 -7.68888658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741858064 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:1.95, Z:-0.77 [[ 9.86024533e-01 -1.62731688e-01 3.56933779e-02 2.17477193e+01] [ 1.62668575e-01 9.86669645e-01 4.68464610e-03 1.94923729e+00] [-3.59799129e-02 1.18701493e-03 9.99351808e-01 -7.70222554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801858064 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:1.97, Z:-0.78 [[ 9.85158596e-01 -1.67894612e-01 3.56922917e-02 2.18034474e+01] [ 1.67834581e-01 9.85804002e-01 4.69290727e-03 1.97096472e+00] [-3.59735178e-02 1.36714287e-03 9.99351808e-01 -7.79238736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861858064 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:1.98, Z:-0.78 [[ 9.85810252e-01 -1.64025115e-01 3.56918616e-02 2.18609488e+01] [ 1.63962432e-01 9.86455405e-01 4.69617600e-03 1.98248204e+00] [-3.59787206e-02 1.22258599e-03 9.99351808e-01 -7.79026075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:2.00, Z:-0.78 [[ 9.86986116e-01 -1.56794760e-01 3.56904683e-02 2.19179369e+01] [ 1.56726968e-01 9.87630753e-01 4.70674089e-03 1.99802760e+00] [-3.59869964e-02 9.48170963e-04 9.99351808e-01 -7.78164872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981858064 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:2.02, Z:-0.78 [[ 9.88022190e-01 -1.50128096e-01 3.56890203e-02 2.19733810e+01] [ 1.50055558e-01 9.88666310e-01 4.71769502e-03 2.01595504e+00] [-3.59927906e-02 6.94148472e-04 9.99351809e-01 -7.78689167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041858064 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:2.03, Z:-0.78 [[ 9.88902873e-01 -1.44213199e-01 3.56883983e-02 2.20309377e+01] [ 1.44136638e-01 9.89546527e-01 4.72239589e-03 2.02642340e+00] [-3.59963624e-02 4.74014902e-04 9.99351809e-01 -7.75289351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101858063999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:2.04, Z:-0.78 [[ 9.89577888e-01 -1.39506176e-01 3.56879626e-02 2.20865240e+01] [ 1.39426434e-01 9.90221156e-01 4.72568584e-03 2.03989479e+00] [-3.59982380e-02 2.99411163e-04 9.99351809e-01 -7.77853194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161858064 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:22.14, Y:2.05, Z:-0.78 [[ 9.90337219e-01 -1.34009716e-01 3.56873723e-02 2.21432641e+01] [ 1.33926244e-01 9.90980013e-01 4.73013948e-03 2.05403949e+00] [-3.59993574e-02 9.50425675e-05 9.99351809e-01 -7.82029229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221858064 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:22.20, Y:2.06, Z:-0.79 [[ 9.90846772e-01 -1.30189028e-01 3.56860214e-02 2.22004185e+01] [ 1.30102711e-01 9.91489190e-01 4.74030991e-03 2.06488404e+00] [-3.59994408e-02 -5.40726453e-05 9.99351809e-01 -7.86162982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281858063999998 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:22.26, Y:2.08, Z:-0.79 [[ 9.91420390e-01 -1.25746421e-01 3.56853949e-02 2.22582630e+01] [ 1.25657056e-01 9.92062392e-01 4.74502153e-03 2.07648010e+00] [-3.59988077e-02 -2.20189447e-04 9.99351809e-01 -7.86934470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:2.08, Z:-0.79 [[ 9.91469746e-01 -1.25357005e-01 3.56842257e-02 2.23157085e+01] [ 1.25267072e-01 9.92111668e-01 4.75379807e-03 2.08492604e+00] [-3.59986586e-02 -2.43188494e-04 9.99351809e-01 -7.88771983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401858064 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:2.09, Z:-0.79 [[ 9.91553162e-01 -1.24695870e-01 3.56828717e-02 2.23726287e+01] [ 1.24605144e-01 9.92194972e-01 4.76394002e-03 2.09359127e+00] [-3.59984095e-02 -2.77430430e-04 9.99351809e-01 -7.91770558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461858064 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:22.43, Y:2.10, Z:-0.79 [[ 9.91434293e-01 -1.25637867e-01 3.56814830e-02 2.24291983e+01] [ 1.25547377e-01 9.92076137e-01 4.77431828e-03 2.10360494e+00] [-3.59985830e-02 -2.53706260e-04 9.99351809e-01 -7.93906518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521858064 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:22.49, Y:2.11, Z:-0.79 [[ 9.91366513e-01 -1.26171706e-01 3.56810576e-02 2.24876979e+01] [ 1.26081447e-01 9.92008389e-01 4.77749577e-03 2.11339873e+00] [-3.59986932e-02 -2.37529952e-04 9.99351809e-01 -7.94394795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581858064 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:2.12, Z:-0.80 [[ 9.91080100e-01 -1.28402419e-01 3.56798791e-02 2.25456773e+01] [ 1.28313288e-01 9.91722134e-01 4.78628107e-03 2.12141556e+00] [-3.59990959e-02 -1.65385320e-04 9.99351809e-01 -7.95810104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641858064 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:22.60, Y:2.13, Z:-0.80 [[ 9.90628159e-01 -1.31844202e-01 3.56785268e-02 2.26027684e+01] [ 1.31756940e-01 9.91270449e-01 4.79633993e-03 2.12924818e+00] [-3.59994389e-02 -5.04958744e-05 9.99351809e-01 -7.97140538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:22.66, Y:2.14, Z:-0.80 [[ 9.89923942e-01 -1.37031853e-01 3.56771582e-02 2.26598028e+01] [ 1.36947591e-01 9.90566633e-01 4.80649908e-03 2.13658873e+00] [-3.59992459e-02 1.27832355e-04 9.99351809e-01 -7.97331427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761858064 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:22.72, Y:2.15, Z:-0.81 [[ 9.88873293e-01 -1.44418807e-01 3.56765693e-02 2.27160750e+01] [ 1.44339188e-01 9.89516576e-01 4.81086588e-03 2.15417007e+00] [-3.59973362e-02 3.92190265e-04 9.99351809e-01 -8.09548264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821858064 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:2.16, Z:-0.81 [[ 9.89463292e-01 -1.40319859e-01 3.56753534e-02 2.27745557e+01] [ 1.40237250e-01 9.90106198e-01 4.81986559e-03 2.15898648e+00] [-3.59987114e-02 2.33933385e-04 9.99351809e-01 -8.06640858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881858064 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:22.83, Y:2.17, Z:-0.81 [[ 9.89905724e-01 -1.37163988e-01 3.56748994e-02 2.28314386e+01] [ 1.37079209e-01 9.90548347e-01 4.82322380e-03 2.16698688e+00] [-3.59992852e-02 1.15750163e-04 9.99351809e-01 -8.05589794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941858063999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:22.89, Y:2.18, Z:-0.81 [[ 9.89955941e-01 -1.36801343e-01 3.56739156e-02 2.28877512e+01] [ 1.36716067e-01 9.90598498e-01 4.83048915e-03 2.17678033e+00] [-3.59993446e-02 9.52260054e-05 9.99351809e-01 -8.08271725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001858064 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:2.19, Z:-0.81 [[ 9.90197124e-01 -1.35044788e-01 3.56729670e-02 2.29447856e+01] [ 1.34958119e-01 9.90839495e-01 4.83748462e-03 2.18544124e+00] [-3.59994617e-02 2.42931800e-05 9.99351809e-01 -8.06865807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061858064 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:2.20, Z:-0.82 [[ 9.90086586e-01 -1.35853190e-01 3.56715975e-02 2.30024096e+01] [ 1.35766684e-01 9.90728978e-01 4.84756253e-03 2.20007609e+00] [-3.59994421e-02 4.35078472e-05 9.99351809e-01 -8.17584864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121858063999998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:23.06, Y:2.21, Z:-0.81 [[ 9.90917460e-01 -1.29654189e-01 3.56704062e-02 2.30599126e+01] [ 1.29563349e-01 9.91559254e-01 4.85631269e-03 2.20674410e+00] [-3.59989626e-02 -1.90627768e-04 9.99351809e-01 -8.12877919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:23.12, Y:2.22, Z:-0.83 [[ 9.90512175e-01 -1.32715055e-01 3.56699544e-02 2.31172622e+01] [ 1.32626079e-01 9.91154230e-01 4.85962899e-03 2.22203676e+00] [-3.59993721e-02 -8.27555097e-05 9.99351809e-01 -8.27167385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241858064 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:23.18, Y:2.23, Z:-0.82 [[ 9.90942612e-01 -1.29462132e-01 3.56692601e-02 2.31754660e+01] [ 1.29370865e-01 9.91584345e-01 4.86471952e-03 2.22618413e+00] [-3.59988769e-02 -2.06094850e-04 9.99351809e-01 -8.17353375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301858064 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:2.23, Z:-0.82 [[ 9.90481954e-01 -1.32940722e-01 3.56688010e-02 2.32329711e+01] [ 1.32851587e-01 9.91123987e-01 4.86808348e-03 2.23432116e+00] [-3.59993708e-02 -8.30920185e-05 9.99351809e-01 -8.19429220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:2.24, Z:-0.82 [[ 9.89501627e-01 -1.40051302e-01 3.56673846e-02 2.32906201e+01] [ 1.39966408e-01 9.90144235e-01 4.87843943e-03 2.24067292e+00] [-3.59990870e-02 1.65011942e-04 9.99351809e-01 -8.21845559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421858064 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:2.25, Z:-0.84 [[ 9.88049214e-01 -1.49955620e-01 3.56659879e-02 2.33467733e+01] [ 1.49876799e-01 9.88692594e-01 4.88862932e-03 2.25325300e+00] [-3.59957755e-02 5.15297742e-04 9.99351809e-01 -8.37170110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481858064 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:2.26, Z:-0.83 [[ 9.88255301e-01 -1.48591718e-01 3.56645728e-02 2.34059223e+01] [ 1.48511637e-01 9.88898526e-01 4.89893117e-03 2.25595987e+00] [-3.59965840e-02 4.55209387e-04 9.99351809e-01 -8.26954066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541858064 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:2.26, Z:-0.83 [[ 9.88115749e-01 -1.49517203e-01 3.56633136e-02 2.34622117e+01] [ 1.49437394e-01 9.88759008e-01 4.90808099e-03 2.26356463e+00] [-3.59962651e-02 4.79680516e-04 9.99351809e-01 -8.30090820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601858063999998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:2.27, Z:-0.83 [[ 9.88333847e-01 -1.48068831e-01 3.56627005e-02 2.35201568e+01] [ 1.47987919e-01 9.88976968e-01 4.91253155e-03 2.27139995e+00] [-3.59969822e-02 4.22427613e-04 9.99351809e-01 -8.32405110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661858064 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:2.28, Z:-0.83 [[ 9.88620864e-01 -1.46140537e-01 3.56613271e-02 2.35775991e+01] [ 1.46058012e-01 9.89263780e-01 4.92248093e-03 2.27805989e+00] [-3.59978333e-02 3.42155185e-04 9.99351809e-01 -8.33584925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721858064 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:2.29, Z:-0.84 [[ 9.89090101e-01 -1.42930550e-01 3.56599331e-02 2.36353865e+01] [ 1.42845574e-01 9.89732697e-01 4.93255917e-03 2.28724675e+00] [-3.59988152e-02 2.15118181e-04 9.99351809e-01 -8.36632018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781858063999998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:2.29, Z:-0.84 [[ 9.89425597e-01 -1.40589674e-01 3.56585362e-02 2.36928436e+01] [ 1.40502815e-01 9.90067942e-01 4.94263702e-03 2.29435733e+00] [-3.59992573e-02 1.19753129e-04 9.99351809e-01 -8.38300291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841858064 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:2.30, Z:-0.84 [[ 9.89426564e-01 -1.40582978e-01 3.56581072e-02 2.37514538e+01] [ 1.40496003e-01 9.90068893e-01 4.94572996e-03 2.29955558e+00] [-3.59992682e-02 1.16384952e-04 9.99351809e-01 -8.37811419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901858064 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:2.31, Z:-0.84 [[ 9.89464635e-01 -1.40315081e-01 3.56568927e-02 2.38090116e+01] [ 1.40227618e-01 9.90106897e-01 4.95447051e-03 2.30545828e+00] [-3.59993224e-02 9.78077736e-05 9.99351810e-01 -8.39453468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961858064 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:2.31, Z:-0.84 [[ 9.89763407e-01 -1.38192194e-01 3.56555125e-02 2.38667277e+01] [ 1.38102996e-01 9.90405431e-01 4.96438351e-03 2.30931585e+00] [-3.59994523e-02 1.05679840e-05 9.99351810e-01 -8.42337862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:2.31, Z:-0.84 [[ 9.90048463e-01 -1.36135310e-01 3.56541423e-02 2.39242245e+01] [ 1.36044424e-01 9.90690250e-01 4.97420492e-03 2.31321509e+00] [-3.59993761e-02 -7.41566698e-05 9.99351810e-01 -8.41513068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081858064 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:2.32, Z:-0.84 [[ 9.90032968e-01 -1.36248060e-01 3.56537214e-02 2.39814324e+01] [ 1.36157139e-01 9.90674750e-01 4.97722007e-03 2.32114297e+00] [-3.59993781e-02 -7.31032555e-05 9.99351810e-01 -8.43430835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141858064 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:2.33, Z:-0.85 [[ 9.89976202e-01 -1.36660263e-01 3.56523873e-02 2.40391473e+01] [ 1.36569266e-01 9.90617973e-01 4.98675827e-03 2.32750269e+00] [-3.59993873e-02 -6.77516492e-05 9.99351810e-01 -8.48535971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201858064 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:2.33, Z:-0.85 [[ 9.89923348e-01 -1.37042945e-01 3.56510241e-02 2.40967814e+01] [ 1.36951845e-01 9.90565105e-01 4.99648464e-03 2.33412886e+00] [-3.59993934e-02 -6.36632692e-05 9.99351810e-01 -8.51199170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261858064 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:2.36, Z:-0.87 [[ 9.87782869e-01 -1.51703787e-01 3.56506050e-02 2.41530253e+01] [ 1.51622103e-01 9.88425892e-01 4.99947370e-03 2.35673611e+00] [-3.59964201e-02 4.67025240e-04 9.99351810e-01 -8.74531871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:2.35, Z:-0.87 [[ 9.88562256e-01 -1.46539122e-01 3.56504203e-02 2.42140543e+01] [ 1.46454032e-01 9.89204837e-01 5.00079056e-03 2.35494379e+00] [-3.59983796e-02 2.77554971e-04 9.99351810e-01 -8.66948182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:2.35, Z:-0.86 [[ 9.89838524e-01 -1.37654463e-01 3.56503257e-02 2.42736869e+01] [ 1.37563581e-01 9.90480311e-01 5.00146463e-03 2.35175336e+00] [-3.59994196e-02 -4.64558971e-05 9.99351810e-01 -8.57551674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441858063999998 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:2.36, Z:-0.86 [[ 9.89786460e-01 -1.38028503e-01 3.56496264e-02 2.43312020e+01] [ 1.37937684e-01 9.90428256e-01 5.00644386e-03 2.35824762e+00] [-3.59994293e-02 -3.78834281e-05 9.99351810e-01 -8.61336746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501858064 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:2.36, Z:-0.86 [[ 9.89364149e-01 -1.41023815e-01 3.56491819e-02 2.43891116e+01] [ 1.40934825e-01 9.90006201e-01 5.00960725e-03 2.36134844e+00] [-3.59993851e-02 6.78853937e-05 9.99351810e-01 -8.60870620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561858064 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:2.37, Z:-0.86 [[ 9.89109176e-01 -1.42801530e-01 3.56477344e-02 2.44460401e+01] [ 1.42713324e-01 9.89751336e-01 5.01988629e-03 2.36848696e+00] [-3.59992402e-02 1.22191073e-04 9.99351810e-01 -8.63263111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621858063999998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:24.50, Y:2.37, Z:-0.86 [[ 9.88553913e-01 -1.46596195e-01 3.56471120e-02 2.45035491e+01] [ 1.46510294e-01 9.89196386e-01 5.02430254e-03 2.37462397e+00] [-3.59985380e-02 2.55874930e-04 9.99351810e-01 -8.64503520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:24.56, Y:2.39, Z:-0.88 [[ 9.86858116e-01 -1.57608520e-01 3.56456741e-02 2.45601349e+01] [ 1.57529419e-01 9.87501461e-01 5.03448293e-03 2.38583621e+00] [-3.59936327e-02 6.46922010e-04 9.99351810e-01 -8.75821355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:24.62, Y:2.39, Z:-0.87 [[ 9.87389393e-01 -1.54245273e-01 3.56452321e-02 2.46191056e+01] [ 1.54163868e-01 9.88032451e-01 5.03761045e-03 2.38912443e+00] [-3.59956737e-02 5.21123748e-04 9.99351810e-01 -8.70475492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:24.68, Y:2.40, Z:-0.87 [[ 9.87229002e-01 -1.55268811e-01 3.56439896e-02 2.46768726e+01] [ 1.55187756e-01 9.87872104e-01 5.04638692e-03 2.39641531e+00] [-3.59952495e-02 5.49571230e-04 9.99351810e-01 -8.73338114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:2.41, Z:-0.88 [[ 9.86386331e-01 -1.60535178e-01 3.56435574e-02 2.47343122e+01] [ 1.60457446e-01 9.87029843e-01 5.04943789e-03 2.41016985e+00] [-3.59918672e-02 7.38577665e-04 9.99351810e-01 -8.83535169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921858064 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:2.42, Z:-0.89 [[ 9.85782665e-01 -1.64201592e-01 3.56423136e-02 2.47914359e+01] [ 1.64125937e-01 9.86426425e-01 5.05820218e-03 2.42183476e+00] [-3.59890848e-02 8.63540079e-04 9.99351810e-01 -8.91851318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.85, Y:2.43, Z:-0.89 [[ 9.85277436e-01 -1.67206758e-01 3.56409026e-02 2.48489981e+01] [ 1.67132707e-01 9.85921382e-01 5.06812428e-03 2.42837112e+00] [-3.59865526e-02 9.63252055e-04 9.99351810e-01 -8.94379801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041858064 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:24.91, Y:2.44, Z:-0.90 [[ 9.85372379e-01 -1.66646631e-01 3.56395089e-02 2.49060685e+01] [ 1.66571861e-01 9.86016242e-01 5.07790651e-03 2.43660615e+00] [-3.59873506e-02 9.32910508e-04 9.99351810e-01 -8.95750444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101858063999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:2.45, Z:-0.90 [[ 9.86063666e-01 -1.62506520e-01 3.56381349e-02 2.49637839e+01] [ 1.62428698e-01 9.86707168e-01 5.08753142e-03 2.44606681e+00] [-3.59911602e-02 7.72025978e-04 9.99351810e-01 -8.95459855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:2.45, Z:-0.89 [[ 9.87167633e-01 -1.55660180e-01 3.56366817e-02 2.50218352e+01] [ 1.55577528e-01 9.87810532e-01 5.09769032e-03 2.45413551e+00] [-3.59957969e-02 5.11991964e-04 9.99351810e-01 -8.91218960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221858064 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:25.08, Y:2.46, Z:-0.89 [[ 9.87943428e-01 -1.50658288e-01 3.56351479e-02 2.50790667e+01] [ 1.50571995e-01 9.88585848e-01 5.10838997e-03 2.46309747e+00] [-3.59980242e-02 3.18855017e-04 9.99351810e-01 -8.90564366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281858063999998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:2.47, Z:-0.89 [[ 9.88387133e-01 -1.47719742e-01 3.56335987e-02 2.51376427e+01] [ 1.47631151e-01 9.89029240e-01 5.11917337e-03 2.47014377e+00] [-3.59988740e-02 2.00904087e-04 9.99351810e-01 -8.89159619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341858064 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:2.48, Z:-0.89 [[ 9.88325184e-01 -1.48133838e-01 3.56328151e-02 2.51953591e+01] [ 1.48045319e-01 9.88967301e-01 5.12462210e-03 2.47825982e+00] [-3.59988189e-02 2.10478406e-04 9.99351810e-01 -8.90018275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:25.25, Y:2.49, Z:-0.89 [[ 9.87598577e-01 -1.52903483e-01 3.56311106e-02 2.52520063e+01] [ 1.52817638e-01 9.88241057e-01 5.13644631e-03 2.49142185e+00] [-3.59975069e-02 3.72315104e-04 9.99351810e-01 -8.90263799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461858063999998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:25.31, Y:2.50, Z:-0.89 [[ 9.87069695e-01 -1.56281400e-01 3.56306295e-02 2.53091018e+01] [ 1.56197634e-01 9.87712449e-01 5.13978116e-03 2.49983319e+00] [-3.59960685e-02 4.92097795e-04 9.99351810e-01 -8.92517353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.37, Y:2.50, Z:-0.89 [[ 9.87397071e-01 -1.54199826e-01 3.56291824e-02 2.53684876e+01] [ 1.54114343e-01 9.88039599e-01 5.14979311e-03 2.49899612e+00] [-3.59971403e-02 4.06077411e-04 9.99351810e-01 -8.92041019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581858064 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:2.52, Z:-0.90 [[ 9.85814994e-01 -1.64010528e-01 3.56278473e-02 2.54245207e+01] [ 1.63931105e-01 9.86458300e-01 5.15901307e-03 2.51526052e+00] [-3.59915181e-02 7.54679955e-04 9.99351810e-01 -8.98180532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:25.48, Y:2.52, Z:-0.90 [[ 9.85326616e-01 -1.66919603e-01 3.56273340e-02 2.54818243e+01] [ 1.66841951e-01 9.85970137e-01 5.16255518e-03 2.52468063e+00] [-3.59892191e-02 8.57330915e-04 9.99351810e-01 -9.00350680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:2.53, Z:-0.90 [[ 9.85180711e-01 -1.67778939e-01 3.56257489e-02 2.55393444e+01] [ 1.67701455e-01 9.85824253e-01 5.17347097e-03 2.53209007e+00] [-3.59887267e-02 8.77686101e-04 9.99351811e-01 -9.01456481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761858064 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:2.54, Z:-0.90 [[ 9.85253348e-01 -1.67352176e-01 3.56242891e-02 2.55970098e+01] [ 1.67274050e-01 9.85896812e-01 5.18350351e-03 2.54079670e+00] [-3.59893436e-02 8.51954932e-04 9.99351811e-01 -9.01577651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:25.65, Y:2.55, Z:-0.90 [[ 9.85851302e-01 -1.63793014e-01 3.56238410e-02 2.56544396e+01] [ 1.63712454e-01 9.86494466e-01 5.18658125e-03 2.55170300e+00] [-3.59922478e-02 7.18868566e-04 9.99351811e-01 -9.03248607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881858064 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:25.71, Y:2.56, Z:-0.90 [[ 9.86408852e-01 -1.60401429e-01 3.56224416e-02 2.57120613e+01] [ 1.60318311e-01 9.87051690e-01 5.19617492e-03 2.56044356e+00] [-3.59946651e-02 5.85376713e-04 9.99351811e-01 -9.04698626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941858063999998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:2.57, Z:-0.91 [[ 9.87413524e-01 -1.54096341e-01 3.56209366e-02 2.57687684e+01] [ 1.54008747e-01 9.88055767e-01 5.20647197e-03 2.57124419e+00] [-3.59977701e-02 3.44994961e-04 9.99351811e-01 -9.11187385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:2.58, Z:-0.91 [[ 9.88714010e-01 -1.45519263e-01 3.56195256e-02 2.58261347e+01] [ 1.45425750e-01 9.89355418e-01 5.21610713e-03 2.58245589e+00] [-3.59994147e-02 2.27580116e-05 9.99351811e-01 -9.12315711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061858064 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:25.88, Y:2.59, Z:-0.92 [[ 9.89367163e-01 -1.41010600e-01 3.56177859e-02 2.58831060e+01] [ 1.40913737e-01 9.90008074e-01 5.22795944e-03 2.59057803e+00] [-3.59990933e-02 -1.53336098e-04 9.99351811e-01 -9.15189857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121858063999998 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:25.94, Y:2.60, Z:-0.92 [[ 9.89556388e-01 -1.39676633e-01 3.56173041e-02 2.59410004e+01] [ 1.39578788e-01 9.90197150e-01 5.23123969e-03 2.59812797e+00] [-3.59988350e-02 -2.05186509e-04 9.99351811e-01 -9.16263634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181858064 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:26.00, Y:2.60, Z:-0.92 [[ 9.89361308e-01 -1.41052207e-01 3.56156992e-02 2.59975431e+01] [ 1.40954861e-01 9.90002145e-01 5.24214364e-03 2.60495761e+00] [-3.59990346e-02 -1.66168169e-04 9.99351811e-01 -9.17975864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241858064 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:26.06, Y:2.61, Z:-0.92 [[ 9.89246450e-01 -1.41855678e-01 3.56150080e-02 2.60553380e+01] [ 1.41758683e-01 9.89887340e-01 5.24683534e-03 2.61130401e+00] [-3.59991390e-02 -1.41676612e-04 9.99351811e-01 -9.19984598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:2.62, Z:-0.92 [[ 9.88971078e-01 -1.43763292e-01 3.56135188e-02 2.61129108e+01] [ 1.43667170e-01 9.89612100e-01 5.25692405e-03 2.61817029e+00] [-3.59993219e-02 -8.24523691e-05 9.99351811e-01 -9.23538872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361858064 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:2.62, Z:-0.93 [[ 9.88857265e-01 -1.44544428e-01 3.56120379e-02 2.61708512e+01] [ 1.44448451e-01 9.89498309e-01 5.26693721e-03 2.62102609e+00] [-3.59993577e-02 -6.41453976e-05 9.99351811e-01 -9.26257147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421858064 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:2.62, Z:-0.93 [[ 9.88840072e-01 -1.44662362e-01 3.56105630e-02 2.62297080e+01] [ 1.44566104e-01 9.89481074e-01 5.27689054e-03 2.62362844e+00] [-3.59993456e-02 -6.99204718e-05 9.99351811e-01 -9.26330155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481858064 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:2.63, Z:-0.93 [[ 9.88798877e-01 -1.44943997e-01 3.56092480e-02 2.62876176e+01] [ 1.44847602e-01 9.89439858e-01 5.28574968e-03 2.63229421e+00] [-3.59993470e-02 -6.86291592e-05 9.99351811e-01 -9.28435976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541858064 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:2.64, Z:-0.94 [[ 9.89020793e-01 -1.43422315e-01 3.56077403e-02 2.63466348e+01] [ 1.43324569e-01 9.89661569e-01 5.29588654e-03 2.63576122e+00] [-3.59991605e-02 -1.34277855e-04 9.99351811e-01 -9.35473931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601858063999998 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:26.41, Y:2.64, Z:-0.94 [[ 9.89194878e-01 -1.42217003e-01 3.56064345e-02 2.64059944e+01] [ 1.42118161e-01 9.89835486e-01 5.30465181e-03 2.63620489e+00] [-3.59989241e-02 -1.87013415e-04 9.99351811e-01 -9.35837303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661858064 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:26.46, Y:2.64, Z:-0.94 [[ 9.89090073e-01 -1.42944412e-01 3.56050879e-02 2.64645981e+01] [ 1.42845716e-01 9.89730704e-01 5.31367516e-03 2.63700585e+00] [-3.59990088e-02 -1.69669082e-04 9.99351811e-01 -9.37445723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:26.52, Y:2.64, Z:-0.94 [[ 9.88364408e-01 -1.47878752e-01 3.56043863e-02 2.65234643e+01] [ 1.47783086e-01 9.89005498e-01 5.31837198e-03 2.64186505e+00] [-3.59994080e-02 5.23649228e-06 9.99351811e-01 -9.42454895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781858063999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.58, Y:2.64, Z:-0.94 [[ 9.88304681e-01 -1.48277588e-01 3.56035846e-02 2.65828265e+01] [ 1.48181987e-01 9.88945780e-01 5.32373299e-03 2.63893522e+00] [-3.59994051e-02 1.43396871e-05 9.99351811e-01 -9.38196567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.64, Y:2.64, Z:-0.94 [[ 9.88055582e-01 -1.49928666e-01 3.56028332e-02 2.66407249e+01] [ 1.49833955e-01 9.88696814e-01 5.32875329e-03 2.64213277e+00] [-3.59993407e-02 6.94088697e-05 9.99351811e-01 -9.40835726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901858064 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:26.70, Y:2.65, Z:-0.94 [[ 9.88178728e-01 -1.49115216e-01 3.56013297e-02 2.66971588e+01] [ 1.49019616e-01 9.88819828e-01 5.33877936e-03 2.64727196e+00] [-3.59993940e-02 2.96282747e-05 9.99351811e-01 -9.43481679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961858063999998 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:26.75, Y:2.65, Z:-0.95 [[ 9.88374870e-01 -1.47809703e-01 3.56006800e-02 2.67547781e+01] [ 1.47713100e-01 9.89015820e-01 5.34310840e-03 2.65168008e+00] [-3.59993990e-02 -2.23072573e-05 9.99351811e-01 -9.45329618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021858064 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:2.66, Z:-0.95 [[ 9.88515068e-01 -1.46869521e-01 3.55992260e-02 2.68127391e+01] [ 1.46771960e-01 9.89155872e-01 5.35277826e-03 2.65903512e+00] [-3.59993435e-02 -6.63337763e-05 9.99351811e-01 -9.47451973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:26.87, Y:2.66, Z:-0.95 [[ 9.88663982e-01 -1.45864096e-01 3.55977042e-02 2.68705922e+01] [ 1.45765520e-01 9.89304631e-01 5.36287978e-03 2.66497862e+00] [-3.59992252e-02 -1.13168224e-04 9.99351811e-01 -9.52549196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:2.67, Z:-0.95 [[ 9.89109555e-01 -1.42811737e-01 3.55962950e-02 2.69284629e+01] [ 1.42710848e-01 9.89749844e-01 5.37221712e-03 2.67164018e+00] [-3.59986431e-02 -2.33733846e-04 9.99351811e-01 -9.50298484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201858064 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:26.99, Y:2.68, Z:-0.95 [[ 9.89217308e-01 -1.42063624e-01 3.55955741e-02 2.69853879e+01] [ 1.41962079e-01 9.89857493e-01 5.37698976e-03 2.68052428e+00] [-3.59984204e-02 -2.65789623e-04 9.99351811e-01 -9.51811916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:27.04, Y:2.69, Z:-0.95 [[ 9.89551293e-01 -1.39718626e-01 3.55941574e-02 2.70423926e+01] [ 1.39615228e-01 9.90191181e-01 5.38635163e-03 2.69077927e+00] [-3.59975944e-02 -3.60584836e-04 9.99351812e-01 -9.52787119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.10, Y:2.70, Z:-0.95 [[ 9.89667336e-01 -1.38894669e-01 3.55926232e-02 2.70993178e+01] [ 1.38790374e-01 9.90307079e-01 5.39647044e-03 2.70001371e+00] [-3.59971677e-02 -4.00797052e-04 9.99351812e-01 -9.53476919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.16, Y:2.71, Z:-0.96 [[ 9.89597052e-01 -1.39394935e-01 3.55910944e-02 2.71575014e+01] [ 1.39290602e-01 9.90236789e-01 5.40653420e-03 2.71139407e+00] [-3.59972545e-02 -3.92785353e-04 9.99351812e-01 -9.55215661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441858063999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:2.72, Z:-0.96 [[ 9.89514886e-01 -1.39977352e-01 3.55897581e-02 2.72154474e+01] [ 1.39873079e-01 9.90154632e-01 5.41531700e-03 2.72338790e+00] [-3.59973855e-02 -3.80487754e-04 9.99351812e-01 -9.60334781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.27, Y:2.73, Z:-0.96 [[ 9.89233941e-01 -1.41949550e-01 3.55884055e-02 2.72726833e+01] [ 1.41846233e-01 9.89873843e-01 5.42419097e-03 2.73315111e+00] [-3.59979932e-02 -3.17712536e-04 9.99351812e-01 -9.64655151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:2.74, Z:-0.96 [[ 9.88523346e-01 -1.46816532e-01 3.55879308e-02 2.73303704e+01] [ 1.46716254e-01 9.89163730e-01 5.42730384e-03 2.74252284e+00] [-3.59991083e-02 -1.43688664e-04 9.99351812e-01 -9.64019866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621858063999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:27.39, Y:2.76, Z:-0.97 [[ 9.87378846e-01 -1.54326351e-01 3.55864040e-02 2.73886158e+01] [ 1.54230583e-01 9.88019920e-01 5.43729639e-03 2.75565324e+00] [-3.59991942e-02 1.19840418e-04 9.99351812e-01 -9.71375314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:2.76, Z:-0.97 [[ 9.87970333e-01 -1.50493309e-01 3.55863024e-02 2.74469086e+01] [ 1.50395030e-01 9.88611027e-01 5.43796167e-03 2.75871519e+00] [-3.59993878e-02 -2.05417903e-05 9.99351812e-01 -9.67252890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741858064 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:2.77, Z:-0.97 [[ 9.87798697e-01 -1.51615912e-01 3.55857933e-02 2.75045493e+01] [ 1.51518242e-01 9.88439485e-01 5.44129087e-03 2.76892482e+00] [-3.59993895e-02 1.69967985e-05 9.99351812e-01 -9.70408659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801858063999997 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:2.78, Z:-0.98 [[ 9.87861836e-01 -1.51204287e-01 3.55845045e-02 2.75622052e+01] [ 1.51106046e-01 9.88502536e-01 5.44970613e-03 2.78292658e+00] [-3.59993919e-02 -6.52291553e-06 9.99351812e-01 -9.75357174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:2.79, Z:-0.98 [[ 9.87831122e-01 -1.51405097e-01 3.55833039e-02 2.76195969e+01] [ 1.51306704e-01 9.88471799e-01 5.45753441e-03 2.79311954e+00] [-3.59993909e-02 -7.12991171e-06 9.99351812e-01 -9.77563370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.68, Y:2.80, Z:-0.98 [[ 9.87839589e-01 -1.51349953e-01 3.55828423e-02 2.76779952e+01] [ 1.51251416e-01 9.88480243e-01 5.46054237e-03 2.80392480e+00] [-3.59993894e-02 -1.21846436e-05 9.99351812e-01 -9.76443827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:2.82, Z:-0.98 [[ 9.87825540e-01 -1.51441929e-01 3.55815354e-02 2.77355685e+01] [ 1.51343145e-01 9.88466156e-01 5.46904465e-03 2.81670036e+00] [-3.59993862e-02 -1.74404921e-05 9.99351812e-01 -9.79356448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:2.83, Z:-0.98 [[ 9.87769037e-01 -1.51810329e-01 3.55802320e-02 2.77921434e+01] [ 1.51711479e-01 9.88409644e-01 5.47751169e-03 2.82824580e+00] [-3.59993873e-02 -1.25868225e-05 9.99351812e-01 -9.82130745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101858063999998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:2.84, Z:-0.98 [[ 9.87257364e-01 -1.55103372e-01 3.55786701e-02 2.78495421e+01] [ 1.55006295e-01 9.87898241e-01 5.48763775e-03 2.83772428e+00] [-3.59992568e-02 9.72070413e-05 9.99351812e-01 -9.83644350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:27.91, Y:2.85, Z:-0.99 [[ 9.86304275e-01 -1.61053245e-01 3.55771004e-02 2.79063263e+01] [ 1.60959667e-01 9.86945672e-01 5.49779602e-03 2.84812643e+00] [-3.59981031e-02 3.03978506e-04 9.99351812e-01 -9.85567564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221858064 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:2.86, Z:-0.99 [[ 9.85353928e-01 -1.66769122e-01 3.55766175e-02 2.79640536e+01] [ 1.66679151e-01 9.85995842e-01 5.50091912e-03 2.85898003e+00] [-3.59957803e-02 5.09528143e-04 9.99351812e-01 -9.86193048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281858063999998 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:2.87, Z:-0.99 [[ 9.85005412e-01 -1.68815691e-01 3.55752765e-02 2.80208872e+01] [ 1.68726742e-01 9.85647468e-01 5.50957788e-03 2.86845793e+00] [-3.59947844e-02 5.75536448e-04 9.99351812e-01 -9.88120403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341858064 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:2.88, Z:-0.99 [[ 9.84853049e-01 -1.69702621e-01 3.55737552e-02 2.80775277e+01] [ 1.69613895e-01 9.85495136e-01 5.51938295e-03 2.88049650e+00] [-3.59944164e-02 5.98022063e-04 9.99351812e-01 -9.92378246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401858064 meters Centerline goodness : 0.996319 with order 1 Centerline is valid? [True, True] Translation: X:28.13, Y:2.89, Z:-1.00 [[ 9.84652148e-01 -1.70864755e-01 3.55722200e-02 2.81343679e+01] [ 1.70776431e-01 9.85294290e-01 5.52925969e-03 2.89232769e+00] [-3.59938608e-02 6.30499344e-04 9.99351812e-01 -9.98438002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461858063999998 meters Centerline goodness : 0.994516 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:2.90, Z:-1.00 [[ 9.84767435e-01 -1.70199445e-01 3.55703254e-02 2.81914803e+01] [ 1.70110247e-01 9.85409456e-01 5.54142095e-03 2.90328706e+00] [-3.59944818e-02 5.93865959e-04 9.99351812e-01 -9.99898474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:2.92, Z:-1.01 [[ 9.84191229e-01 -1.73500740e-01 3.55684923e-02 2.82477966e+01] [ 1.73413272e-01 9.84833488e-01 5.55316189e-03 2.92038219e+00] [-3.59925201e-02 7.02675390e-04 9.99351812e-01 -1.00654305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.31, Y:2.93, Z:-1.00 [[ 9.85419136e-01 -1.66385544e-01 3.55665213e-02 2.83059995e+01] [ 1.66292983e-01 9.86060681e-01 5.56575714e-03 2.92937713e+00] [-3.59968097e-02 4.29859339e-04 9.99351812e-01 -1.00311334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641858064 meters Centerline goodness : 0.993904 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:2.94, Z:-1.01 [[ 9.85687822e-01 -1.64786632e-01 3.55651864e-02 2.83623640e+01] [ 1.64692724e-01 9.86329171e-01 5.57427404e-03 2.94148870e+00] [-3.59975467e-02 3.62833396e-04 9.99351812e-01 -1.00971486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701858064 meters Centerline goodness : 0.996232 with order 1 Centerline is valid? [True, True] Translation: X:28.42, Y:2.95, Z:-1.01 [[ 9.85504321e-01 -1.65880940e-01 3.55632765e-02 2.84188026e+01] [ 1.65787305e-01 9.86145710e-01 5.58643289e-03 2.95454105e+00] [-3.59972553e-02 3.90486019e-04 9.99351812e-01 -1.01308086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761858064 meters Centerline goodness : 0.995767 with order 1 Centerline is valid? [True, True] Translation: X:28.48, Y:2.96, Z:-1.02 [[ 9.85638607e-01 -1.65081585e-01 3.55613148e-02 2.84760151e+01] [ 1.64986981e-01 9.86279853e-01 5.59889225e-03 2.96493097e+00] [-3.59976824e-02 3.48669609e-04 9.99351813e-01 -1.01721734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:2.98, Z:-1.01 [[ 9.85494657e-01 -1.65938887e-01 3.55607437e-02 2.85326442e+01] [ 1.65844709e-01 9.86135966e-01 5.60251750e-03 2.98032189e+00] [-3.59974039e-02 3.76310130e-04 9.99351813e-01 -1.01440419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881858064 meters Centerline goodness : 0.996305 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:2.99, Z:-1.02 [[ 9.85314544e-01 -1.67005219e-01 3.55599065e-02 2.85903552e+01] [ 1.66911544e-01 9.85955926e-01 5.60782643e-03 2.99244419e+00] [-3.59970368e-02 4.09885963e-04 9.99351813e-01 -1.02252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941858063999998 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:3.01, Z:-1.01 [[ 9.85210132e-01 -1.67620389e-01 3.55584188e-02 2.86484426e+01] [ 1.67526774e-01 9.85851524e-01 5.61724358e-03 3.00610985e+00] [-3.59968859e-02 4.22821906e-04 9.99351813e-01 -1.01423996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:3.02, Z:-1.03 [[ 9.84769620e-01 -1.70189638e-01 3.55567639e-02 2.87042725e+01] [ 1.70097319e-01 9.85411199e-01 5.62769982e-03 3.02256247e+00] [-3.59958095e-02 5.06122395e-04 9.99351813e-01 -1.02657388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061858064 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:3.03, Z:-1.02 [[ 9.84775946e-01 -1.70153318e-01 3.55553841e-02 2.87626880e+01] [ 1.70060662e-01 9.85417476e-01 5.63640385e-03 3.03271560e+00] [-3.59959496e-02 4.95977214e-04 9.99351813e-01 -1.01775605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121858063999998 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:3.05, Z:-1.02 [[ 9.84584046e-01 -1.71260551e-01 3.55538921e-02 2.88175159e+01] [ 1.71168277e-01 9.85225632e-01 5.64579949e-03 3.04684524e+00] [-3.59955085e-02 5.26934321e-04 9.99351813e-01 -1.02449379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181858064 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:3.06, Z:-1.02 [[ 9.84006010e-01 -1.74551260e-01 3.55531930e-02 2.88748719e+01] [ 1.74460972e-01 9.84647878e-01 5.65019861e-03 3.05841656e+00] [-3.59936253e-02 6.42815225e-04 9.99351813e-01 -1.02470554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241858064 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:3.07, Z:-1.03 [[ 9.83901942e-01 -1.75137236e-01 3.55516088e-02 2.89317461e+01] [ 1.75046971e-01 9.84543813e-01 5.66014872e-03 3.06980902e+00] [-3.59934193e-02 6.54170125e-04 9.99351813e-01 -1.02675713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301858063999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:28.99, Y:3.09, Z:-1.03 [[ 9.83598018e-01 -1.76836466e-01 3.55499994e-02 2.89889991e+01] [ 1.76746946e-01 9.84239994e-01 5.67023922e-03 3.08582150e+00] [-3.59924362e-02 7.06117752e-04 9.99351813e-01 -1.03224291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361858064 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:3.10, Z:-1.04 [[ 9.83987322e-01 -1.74657499e-01 3.55486818e-02 2.90459491e+01] [ 1.74566258e-01 9.84629055e-01 5.67848784e-03 3.09561427e+00] [-3.59940554e-02 6.18040329e-04 9.99351813e-01 -1.03639192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421858064 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:3.11, Z:-1.03 [[ 9.84995244e-01 -1.68880717e-01 3.55481751e-02 2.91025428e+01] [ 1.68785598e-01 9.85636414e-01 5.68165781e-03 3.11088181e+00] [-3.59970983e-02 4.03614075e-04 9.99351813e-01 -1.03465601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481858064 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:3.12, Z:-1.04 [[ 9.86526066e-01 -1.59695869e-01 3.55464440e-02 2.91594225e+01] [ 1.59594391e-01 9.87166261e-01 5.69246738e-03 3.12267845e+00] [-3.59993138e-02 5.72456405e-05 9.99351813e-01 -1.03551292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541858064 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:29.21, Y:3.14, Z:-1.04 [[ 9.85799734e-01 -1.64119994e-01 3.55459274e-02 2.92144824e+01] [ 1.64021273e-01 9.86440359e-01 5.69569151e-03 3.14076191e+00] [-3.59987143e-02 2.15477073e-04 9.99351813e-01 -1.04305012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601858063999998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:29.27, Y:3.15, Z:-1.04 [[ 9.86029613e-01 -1.62733313e-01 3.55453284e-02 2.92717266e+01] [ 1.62633557e-01 9.86670078e-01 5.69942765e-03 3.15156631e+00] [-3.59989987e-02 1.61058729e-04 9.99351813e-01 -1.04157654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661858064 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:29.33, Y:3.16, Z:-1.05 [[ 9.85992623e-01 -1.62957638e-01 3.55437205e-02 2.93286325e+01] [ 1.62857667e-01 9.86633054e-01 5.70943750e-03 3.16055553e+00] [-3.59990059e-02 1.59104122e-04 9.99351813e-01 -1.04687466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721858064 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:29.39, Y:3.16, Z:-1.04 [[ 9.87208211e-01 -1.55424303e-01 3.55420063e-02 2.93867981e+01] [ 1.55319060e-01 9.87847797e-01 5.72008834e-03 3.16222443e+00] [-3.59991334e-02 -1.26567152e-04 9.99351813e-01 -1.04374680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781858063999998 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:3.17, Z:-1.05 [[ 9.88054856e-01 -1.49948068e-01 3.55412334e-02 2.94444949e+01] [ 1.49839109e-01 9.88693819e-01 5.72488689e-03 3.17185645e+00] [-3.59978335e-02 -3.31035555e-04 9.99351813e-01 -1.04789093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841858064 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:3.18, Z:-1.05 [[ 9.88600959e-01 -1.46304703e-01 3.55398060e-02 2.95023248e+01] [ 1.46193070e-01 9.89239461e-01 5.73373472e-03 3.17918381e+00] [-3.59962508e-02 -4.72702292e-04 9.99351813e-01 -1.04961581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901858064 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:29.56, Y:3.18, Z:-1.05 [[ 9.89178486e-01 -1.42348031e-01 3.55381770e-02 2.95602189e+01] [ 1.42233482e-01 9.89816470e-01 5.74381321e-03 3.18479278e+00] [-3.59938935e-02 -6.26937782e-04 9.99351813e-01 -1.05129541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961858063999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.62, Y:3.19, Z:-1.05 [[ 9.89781913e-01 -1.38090253e-01 3.55365657e-02 2.96187864e+01] [ 1.37972603e-01 9.90419333e-01 5.75376510e-03 3.19293949e+00] [-3.59906406e-02 -7.91900140e-04 9.99351813e-01 -1.05391405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021858064 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:3.20, Z:-1.06 [[ 9.90305346e-01 -1.34285419e-01 3.55351588e-02 2.96765278e+01] [ 1.34165009e-01 9.90942251e-01 5.76244101e-03 3.19886731e+00] [-3.59871021e-02 -9.39001229e-04 9.99351813e-01 -1.05530485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081858064 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:3.21, Z:-1.06 [[ 9.90401181e-01 -1.33576899e-01 3.55346660e-02 2.97348130e+01] [ 1.33455925e-01 9.91037979e-01 5.76547869e-03 3.20651090e+00] [-3.59863383e-02 -9.67825183e-04 9.99351813e-01 -1.05572883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:3.21, Z:-1.06 [[ 9.90315635e-01 -1.34210029e-01 3.55332534e-02 2.97933880e+01] [ 1.34089150e-01 9.90952450e-01 5.77417146e-03 3.21032006e+00] [-3.59867162e-02 -9.53628525e-04 9.99351813e-01 -1.05772695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:3.21, Z:-1.06 [[ 9.90267837e-01 -1.34562671e-01 3.55316443e-02 2.98514214e+01] [ 1.34441665e-01 9.90904629e-01 5.78405592e-03 3.21318705e+00] [-3.59867888e-02 -9.50831131e-04 9.99351813e-01 -1.05908370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.91, Y:3.22, Z:-1.06 [[ 9.90242362e-01 -1.34750144e-01 3.55311496e-02 2.99100134e+01] [ 1.34629149e-01 9.90879156e-01 5.78709330e-03 3.22157513e+00] [-3.59868872e-02 -9.47096506e-04 9.99351813e-01 -1.05941255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:3.23, Z:-1.06 [[ 9.90183506e-01 -1.35182335e-01 3.55297264e-02 2.99671842e+01] [ 1.35061305e-01 9.90820293e-01 5.79581820e-03 3.22847873e+00] [-3.59870661e-02 -9.40232377e-04 9.99351813e-01 -1.06230642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:3.23, Z:-1.07 [[ 9.89741880e-01 -1.38379063e-01 3.55281126e-02 3.00253448e+01] [ 1.38259736e-01 9.90378988e-01 5.80569338e-03 3.23041679e+00] [-3.59896826e-02 -8.34030405e-04 9.99351813e-01 -1.06518431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441858063999998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:3.23, Z:-1.07 [[ 9.88659265e-01 -1.45913144e-01 3.55276167e-02 3.00833859e+01] [ 1.45798564e-01 9.89297244e-01 5.80872650e-03 3.23390494e+00] [-3.59949429e-02 -5.62975762e-04 9.99351813e-01 -1.06561284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:30.14, Y:3.24, Z:-1.07 [[ 9.87483622e-01 -1.53668483e-01 3.55259526e-02 3.01412898e+01] [ 1.53558549e-01 9.88122418e-01 5.81888654e-03 3.24008185e+00] [-3.59981696e-02 -2.90741441e-04 9.99351814e-01 -1.06879252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:30.20, Y:3.25, Z:-1.08 [[ 9.85737324e-01 -1.64499095e-01 3.55243044e-02 3.01984713e+01] [ 1.64395817e-01 9.86377229e-01 5.82893142e-03 3.25101637e+00] [-3.59992189e-02 9.42517940e-05 9.99351814e-01 -1.07831937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621858063999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.26, Y:3.25, Z:-1.07 [[ 9.85948764e-01 -1.63227346e-01 3.55227859e-02 3.02571388e+01] [ 1.63122910e-01 9.86588482e-01 5.83817066e-03 3.25145497e+00] [-3.59993205e-02 3.84430686e-05 9.99351814e-01 -1.07034510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:30.31, Y:3.26, Z:-1.07 [[ 9.85745839e-01 -1.64448516e-01 3.55222019e-02 3.03138418e+01] [ 1.64344745e-01 9.86385665e-01 5.84172182e-03 3.26165787e+00] [-3.59992533e-02 7.94342258e-05 9.99351814e-01 -1.07379691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:30.37, Y:3.27, Z:-1.08 [[ 9.85406879e-01 -1.66467927e-01 3.55205841e-02 3.03721608e+01] [ 1.66365113e-01 9.86046859e-01 5.85154280e-03 3.27029674e+00] [-3.59990546e-02 1.43235441e-04 9.99351814e-01 -1.08155081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801858063999997 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:3.28, Z:-1.08 [[ 9.85856582e-01 -1.63783974e-01 3.55191558e-02 3.04310140e+01] [ 1.63679106e-01 9.86496228e-01 5.86019939e-03 3.27500983e+00] [-3.59993200e-02 3.64275170e-05 9.99351814e-01 -1.07673726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:30.49, Y:3.28, Z:-1.08 [[ 9.86237591e-01 -1.61474164e-01 3.55177075e-02 3.04871394e+01] [ 1.61367482e-01 9.86876938e-01 5.86896441e-03 3.28477249e+00] [-3.59992926e-02 -5.67903079e-05 9.99351814e-01 -1.08112127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:3.30, Z:-1.09 [[ 9.86024045e-01 -1.62773235e-01 3.55169953e-02 3.05442775e+01] [ 1.62667240e-01 9.86663506e-01 5.87327142e-03 3.29717012e+00] [-3.59993345e-02 -1.37352527e-05 9.99351814e-01 -1.09089033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:3.30, Z:-1.09 [[ 9.86628306e-01 -1.59069918e-01 3.55154596e-02 3.06018832e+01] [ 1.58961189e-01 9.87267307e-01 5.88254328e-03 3.30244045e+00] [-3.59989878e-02 -1.58304053e-04 9.99351814e-01 -1.09060576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:3.31, Z:-1.09 [[ 9.87177982e-01 -1.55622643e-01 3.55137264e-02 3.06591206e+01] [ 1.55511306e-01 9.87816535e-01 5.89298814e-03 3.31049608e+00] [-3.59981285e-02 -2.94642159e-04 9.99351814e-01 -1.08859446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:3.33, Z:-1.10 [[ 9.86439230e-01 -1.60238768e-01 3.55131492e-02 3.07161275e+01] [ 1.60130294e-01 9.87078275e-01 5.89646410e-03 3.32659222e+00] [-3.59991002e-02 -1.29772463e-04 9.99351814e-01 -1.10238726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:3.33, Z:-1.09 [[ 9.87839491e-01 -1.51367010e-01 3.55129311e-02 3.07752043e+01] [ 1.51252751e-01 9.88477527e-01 5.89777739e-03 3.32729494e+00] [-3.59964633e-02 -4.54628885e-04 9.99351814e-01 -1.09211196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221858063999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:3.34, Z:-1.10 [[ 9.87948989e-01 -1.50650808e-01 3.55123851e-02 3.08329949e+01] [ 1.50535969e-01 9.88586921e-01 5.90106361e-03 3.33543643e+00] [-3.59960794e-02 -4.84058542e-04 9.99351814e-01 -1.09583107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:3.34, Z:-1.10 [[ 9.87963219e-01 -1.50557798e-01 3.55109530e-02 3.08904322e+01] [ 1.50442588e-01 9.88601084e-01 5.90966866e-03 3.34157238e+00] [-3.59959134e-02 -4.96175581e-04 9.99351814e-01 -1.10075862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:3.35, Z:-1.11 [[ 9.87668505e-01 -1.52479285e-01 3.55104498e-02 3.09479952e+01] [ 1.52365208e-01 9.88306574e-01 5.91269121e-03 3.34816646e+00] [-3.59967739e-02 -4.29221823e-04 9.99351814e-01 -1.10928303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.01, Y:3.36, Z:-1.11 [[ 9.86931783e-01 -1.57177265e-01 3.55100465e-02 3.10063251e+01] [ 1.57066139e-01 9.87570372e-01 5.91511243e-03 3.35901266e+00] [-3.59983910e-02 -2.60386564e-04 9.99351814e-01 -1.11376709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:31.07, Y:3.36, Z:-1.11 [[ 9.86186883e-01 -1.61785327e-01 3.55097259e-02 3.10662262e+01] [ 1.61677115e-01 9.86825972e-01 5.91703586e-03 3.36035189e+00] [-3.59992094e-02 -9.41931127e-05 9.99351814e-01 -1.10547854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52185806399999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:31.12, Y:3.37, Z:-1.10 [[ 9.85072643e-01 -1.68437091e-01 3.55082406e-02 3.11234919e+01] [ 1.68332874e-01 9.85712396e-01 5.92593626e-03 3.36637698e+00] [-3.59990603e-02 1.39726484e-04 9.99351814e-01 -1.10471903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:3.37, Z:-1.11 [[ 9.84804255e-01 -1.69999377e-01 3.55076247e-02 3.11811908e+01] [ 1.69896042e-01 9.85444151e-01 5.92962404e-03 3.37454687e+00] [-3.59988135e-02 1.93085916e-04 9.99351814e-01 -1.10546189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.24, Y:3.39, Z:-1.11 [[ 9.85248183e-01 -1.67407707e-01 3.55060256e-02 3.12386044e+01] [ 1.67302344e-01 9.85887748e-01 5.93918411e-03 3.38604352e+00] [-3.59992208e-02 8.86709459e-05 9.99351814e-01 -1.10951445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.30, Y:3.40, Z:-1.11 [[ 9.85699568e-01 -1.64729442e-01 3.55045387e-02 3.12964661e+01] [ 1.64622021e-01 9.86338791e-01 5.94805931e-03 3.39699556e+00] [-3.59993243e-02 -1.81705647e-05 9.99351814e-01 -1.11216724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761858063999995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:3.41, Z:-1.11 [[ 9.86208369e-01 -1.61655765e-01 3.55030380e-02 3.13543632e+01] [ 1.61546030e-01 9.86847199e-01 5.95700325e-03 3.40816755e+00] [-3.59990576e-02 -1.39471607e-04 9.99351814e-01 -1.11440038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:3.42, Z:-1.11 [[ 9.86410912e-01 -1.60415556e-01 3.55015865e-02 3.14119252e+01] [ 1.60304707e-01 9.87049549e-01 5.96564118e-03 3.41926304e+00] [-3.59988066e-02 -1.93502111e-04 9.99351814e-01 -1.11277970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:3.43, Z:-1.11 [[ 9.86509138e-01 -1.59810731e-01 3.55000147e-02 3.14690116e+01] [ 1.59699155e-01 9.87147648e-01 5.97497997e-03 3.42924173e+00] [-3.59986220e-02 -2.25049995e-04 9.99351814e-01 -1.11484948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:3.44, Z:-1.12 [[ 9.86461245e-01 -1.60106460e-01 3.54983516e-02 3.15266553e+01] [ 1.59994721e-01 9.87099727e-01 5.98484448e-03 3.43935481e+00] [-3.59986255e-02 -2.24268290e-04 9.99351814e-01 -1.11511773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:3.45, Z:-1.12 [[ 9.86303834e-01 -1.61073642e-01 3.54968775e-02 3.15842245e+01] [ 1.60962214e-01 9.86942370e-01 5.99357494e-03 3.45106490e+00] [-3.59987794e-02 -1.97829939e-04 9.99351814e-01 -1.11503711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.64, Y:3.46, Z:-1.12 [[ 9.86308615e-01 -1.61044696e-01 3.54953919e-02 3.16415513e+01] [ 1.60932933e-01 9.86947092e-01 6.00236006e-03 3.46112184e+00] [-3.59987221e-02 -2.07801896e-04 9.99351814e-01 -1.11675424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121858063999994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:31.70, Y:3.47, Z:-1.12 [[ 9.86622159e-01 -1.59112896e-01 3.54936761e-02 3.16994614e+01] [ 1.58999519e-01 9.87260352e-01 6.01248944e-03 3.47225792e+00] [-3.59981637e-02 -2.88577902e-04 9.99351814e-01 -1.12002838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:3.48, Z:-1.12 [[ 9.86480268e-01 -1.59990583e-01 3.54921647e-02 3.17572355e+01] [ 1.59877452e-01 9.87118505e-01 6.02139798e-03 3.48214696e+00] [-3.59983395e-02 -2.65593428e-04 9.99351814e-01 -1.12434954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:3.49, Z:-1.13 [[ 9.86301387e-01 -1.61089991e-01 3.54906912e-02 3.18146463e+01] [ 1.60977261e-01 9.86939694e-01 6.03007044e-03 3.49291999e+00] [-3.59985559e-02 -2.34272592e-04 9.99351814e-01 -1.12631533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:3.51, Z:-1.14 [[ 9.85413906e-01 -1.66433092e-01 3.54888717e-02 3.18719206e+01] [ 1.66323437e-01 9.86052749e-01 6.04075961e-03 3.50515986e+00] [-3.59992818e-02 -5.00173825e-05 9.99351815e-01 -1.13668435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:3.51, Z:-1.13 [[ 9.84991363e-01 -1.68916155e-01 3.54872794e-02 3.19300061e+01] [ 1.68807774e-01 9.85630423e-01 6.05009949e-03 3.51017028e+00] [-3.59993018e-02 3.12329003e-05 9.99351815e-01 -1.12842876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:3.52, Z:-1.13 [[ 9.84375841e-01 -1.72467089e-01 3.54867180e-02 3.19868208e+01] [ 1.72360895e-01 9.85015268e-01 6.05339086e-03 3.52045386e+00] [-3.59989697e-02 1.57710765e-04 9.99351815e-01 -1.12837214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481858063999994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:3.53, Z:-1.13 [[ 9.84129652e-01 -1.73866498e-01 3.54861889e-02 3.20445447e+01] [ 1.73761102e-01 9.84769211e-01 6.05649068e-03 3.52960214e+00] [-3.59987271e-02 2.05747209e-04 9.99351815e-01 -1.12942558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:3.54, Z:-1.13 [[ 9.84159261e-01 -1.73699161e-01 3.54845112e-02 3.21023246e+01] [ 1.73593302e-01 9.84798744e-01 6.06630406e-03 3.53738969e+00] [-3.59988140e-02 1.89664145e-04 9.99351815e-01 -1.12992377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:3.55, Z:-1.13 [[ 9.84388173e-01 -1.72397489e-01 3.54828228e-02 3.21591947e+01] [ 1.72290429e-01 9.85027456e-01 6.07616426e-03 3.54844706e+00] [-3.59990701e-02 1.32046524e-04 9.99351815e-01 -1.13331309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.22, Y:3.55, Z:-1.13 [[ 9.85433854e-01 -1.66316575e-01 3.54811991e-02 3.22183080e+01] [ 1.66205229e-01 9.86072405e-01 6.08563092e-03 3.55242512e+00] [-3.59991726e-02 -9.98259213e-05 9.99351815e-01 -1.13489639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:3.56, Z:-1.14 [[ 9.85821095e-01 -1.64005985e-01 3.54796613e-02 3.22762767e+01] [ 1.63892820e-01 9.86459325e-01 6.09458331e-03 3.56024820e+00] [-3.59987908e-02 -1.93307043e-04 9.99351815e-01 -1.13570454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:3.58, Z:-1.14 [[ 9.85843221e-01 -1.63873256e-01 3.54781421e-02 3.23326997e+01] [ 1.63759688e-01 9.86481380e-01 6.10341380e-03 3.57852473e+00] [-3.59987129e-02 -2.07119639e-04 9.99351815e-01 -1.13826457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:3.58, Z:-1.14 [[ 9.86722918e-01 -1.58490656e-01 3.54766944e-02 3.23914643e+01] [ 1.58373305e-01 9.87360391e-01 6.11181750e-03 3.58466301e+00] [-3.59969488e-02 -4.12109069e-04 9.99351815e-01 -1.13719721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:3.60, Z:-1.14 [[ 9.86656132e-01 -1.58906278e-01 3.54749386e-02 3.24496547e+01] [ 1.58788829e-01 9.87293588e-01 6.12199133e-03 3.59596412e+00] [-3.59970023e-02 -4.07276325e-04 9.99351815e-01 -1.13802328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:3.61, Z:-1.14 [[ 9.85322714e-01 -1.66975432e-01 3.54732992e-02 3.25060125e+01] [ 1.66862862e-01 9.85961049e-01 6.13147626e-03 3.61478750e+00] [-3.59990972e-02 -1.22306592e-04 9.99351815e-01 -1.14475640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:3.62, Z:-1.14 [[ 9.85169805e-01 -1.67875639e-01 3.54714784e-02 3.25648036e+01] [ 1.67763274e-01 9.85808176e-01 6.14199175e-03 3.62404933e+00] [-3.59991642e-02 -1.00093464e-04 9.99351815e-01 -1.14469956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:3.64, Z:-1.15 [[ 9.84613308e-01 -1.71109652e-01 3.54699889e-02 3.26217572e+01] [ 1.70999075e-01 9.85251992e-01 6.15058136e-03 3.63560693e+00] [-3.59993011e-02 9.39102508e-06 9.99351815e-01 -1.14850843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:3.65, Z:-1.16 [[ 9.83300772e-01 -1.78497933e-01 3.54694208e-02 3.26783276e+01] [ 1.78392036e-01 9.83940248e-01 6.15385578e-03 3.65342428e+00] [-3.59982413e-02 2.76371061e-04 9.99351815e-01 -1.15708740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:3.66, Z:-1.15 [[ 9.83557489e-01 -1.77078217e-01 3.54678761e-02 3.27371979e+01] [ 1.76971076e-01 9.84196758e-01 6.16274606e-03 3.66240190e+00] [-3.59986568e-02 2.15373175e-04 9.99351815e-01 -1.15305943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261858063999995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:32.79, Y:3.68, Z:-1.16 [[ 9.82777602e-01 -1.81356639e-01 3.54676512e-02 3.27944283e+01] [ 1.81252235e-01 9.83417323e-01 6.16403997e-03 3.67767820e+00] [-3.59973922e-02 3.70710635e-04 9.99351815e-01 -1.15690552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:3.69, Z:-1.16 [[ 9.82946426e-01 -1.80439689e-01 3.54660656e-02 3.28506888e+01] [ 1.80334359e-01 9.83585996e-01 6.17314982e-03 3.69308102e+00] [-3.59978067e-02 3.27874670e-04 9.99351815e-01 -1.15637824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:3.71, Z:-1.16 [[ 9.83561063e-01 -1.77059102e-01 3.54642057e-02 3.29063486e+01] [ 1.76951190e-01 9.84200202e-01 6.18381623e-03 3.70751099e+00] [-3.59987794e-02 1.93272525e-04 9.99351815e-01 -1.16157124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:3.72, Z:-1.16 [[ 9.83993860e-01 -1.74637952e-01 3.54636354e-02 3.29640472e+01] [ 1.74528348e-01 9.84632711e-01 6.18708550e-03 3.72095331e+00] [-3.59991554e-02 1.01355559e-04 9.99351815e-01 -1.16283861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:3.74, Z:-1.17 [[ 9.84629562e-01 -1.71017755e-01 3.54619990e-02 3.30192858e+01] [ 1.70905466e-01 9.85267946e-01 6.19645007e-03 3.73687327e+00] [-3.59992739e-02 -4.05584498e-05 9.99351815e-01 -1.16712181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:3.75, Z:-1.17 [[ 9.84636294e-01 -1.70979381e-01 3.54601241e-02 3.30756976e+01] [ 1.70866681e-01 9.85274606e-01 6.20716137e-03 3.75212406e+00] [-3.59992564e-02 -5.28426594e-05 9.99351815e-01 -1.16993202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621858063999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:3.77, Z:-1.17 [[ 9.84720659e-01 -1.70493225e-01 3.54582104e-02 3.31311852e+01] [ 1.70379817e-01 9.85358845e-01 6.21807370e-03 3.76587704e+00] [-3.59992007e-02 -8.17022215e-05 9.99351815e-01 -1.17274976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:3.78, Z:-1.17 [[ 9.84804614e-01 -1.70007777e-01 3.54574159e-02 3.31896790e+01] [ 1.69893892e-01 9.85442715e-01 6.22260104e-03 3.77674832e+00] [-3.59991428e-02 -1.04047839e-04 9.99351815e-01 -1.16987721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:3.79, Z:-1.18 [[ 9.83842193e-01 -1.75491918e-01 3.54559838e-02 3.32456786e+01] [ 1.75381296e-01 9.84480868e-01 6.23075041e-03 3.79340909e+00] [-3.59991841e-02 8.82412361e-05 9.99351815e-01 -1.17795231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801858063999994 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:3.81, Z:-1.19 [[ 9.82090441e-01 -1.85043988e-01 3.54554414e-02 3.33016503e+01] [ 1.84939465e-01 9.82730143e-01 6.23383520e-03 3.81452655e+00] [-3.59966648e-02 4.34920417e-04 9.99351815e-01 -1.19141931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861858063999996 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:3.81, Z:-1.18 [[ 9.83475005e-01 -1.77538389e-01 3.54547029e-02 3.33604666e+01] [ 1.77428833e-01 9.84113863e-01 6.23803294e-03 3.81479386e+00] [-3.59989549e-02 1.55737071e-04 9.99351815e-01 -1.17776327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921858064 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:3.83, Z:-1.18 [[ 9.83620617e-01 -1.76729974e-01 3.54541594e-02 3.34174169e+01] [ 1.76619782e-01 9.84259367e-01 6.24112015e-03 3.82754639e+00] [-3.59990815e-02 1.23011451e-04 9.99351815e-01 -1.17989689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981858063999994 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:33.47, Y:3.85, Z:-1.19 [[ 9.82939068e-01 -1.80482455e-01 3.54523879e-02 3.34737272e+01] [ 1.80374338e-01 9.83578172e-01 6.25116684e-03 3.84587876e+00] [-3.59984209e-02 2.50184908e-04 9.99351815e-01 -1.18879514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041858063999996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:3.85, Z:-1.18 [[ 9.84267397e-01 -1.73092254e-01 3.54508412e-02 3.35321244e+01] [ 1.72979024e-01 9.84905615e-01 6.25992623e-03 3.85252621e+00] [-3.59992773e-02 -2.91893964e-05 9.99351816e-01 -1.18335045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101858064 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:3.87, Z:-1.19 [[ 9.83762403e-01 -1.75940017e-01 3.54491728e-02 3.35877753e+01] [ 1.75828294e-01 9.84400887e-01 6.26935992e-03 3.86905496e+00] [-3.59992284e-02 6.54070085e-05 9.99351816e-01 -1.19101344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16185806399999 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:3.88, Z:-1.19 [[ 9.84551217e-01 -1.71470980e-01 3.54486188e-02 3.36467134e+01] [ 1.71356246e-01 9.85189166e-01 6.27249117e-03 3.87732485e+00] [-3.59991453e-02 -1.01246569e-04 9.99351816e-01 -1.18702465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221858063999996 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:3.90, Z:-1.21 [[ 9.82014928e-01 -1.85445909e-01 3.54470722e-02 3.37015323e+01] [ 1.85339939e-01 9.82654392e-01 6.28121915e-03 3.90425169e+00] [-3.59970475e-02 4.01507199e-04 9.99351816e-01 -1.20839585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:3.90, Z:-1.19 [[ 9.83768231e-01 -1.75907902e-01 3.54468351e-02 3.37620460e+01] [ 1.75795683e-01 9.84406627e-01 6.28255679e-03 3.90267866e+00] [-3.59992507e-02 5.08207980e-05 9.99351816e-01 -1.19376317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34185806399999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:3.91, Z:-1.20 [[ 9.83598486e-01 -1.76854642e-01 3.54464858e-02 3.38183450e+01] [ 1.76742966e-01 9.84236978e-01 6.28452651e-03 3.91418054e+00] [-3.59991898e-02 8.34662827e-05 9.99351816e-01 -1.19561078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401858063999995 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:3.93, Z:-1.21 [[ 9.82359042e-01 -1.83614581e-01 3.54457013e-02 3.38733593e+01] [ 1.83507139e-01 9.82998260e-01 6.28894813e-03 3.93280751e+00] [-3.59978053e-02 3.26534199e-04 9.99351816e-01 -1.20643707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461858064 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:3.94, Z:-1.21 [[ 9.82577167e-01 -1.82444093e-01 3.54438039e-02 3.39295333e+01] [ 1.82335505e-01 9.83216191e-01 6.29962373e-03 3.94450176e+00] [-3.59982510e-02 2.72797451e-04 9.99351816e-01 -1.21312321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52185806399999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:3.95, Z:-1.21 [[ 9.83381855e-01 -1.78055962e-01 3.54429373e-02 3.39890198e+01] [ 1.77944347e-01 9.84020357e-01 6.30449557e-03 3.94836371e+00] [-3.59991249e-02 1.07143778e-04 9.99351816e-01 -1.20517099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581858063999995 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:3.96, Z:-1.21 [[ 9.83408647e-01 -1.77908210e-01 3.54415212e-02 3.40460607e+01] [ 1.77796212e-01 9.84047082e-01 6.31244635e-03 3.95936623e+00] [-3.59991616e-02 9.36538993e-05 9.99351816e-01 -1.20570592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641858064 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:3.97, Z:-1.21 [[ 9.83303673e-01 -1.78487841e-01 3.54397722e-02 3.41035213e+01] [ 1.78375866e-01 9.83942112e-01 6.32225081e-03 3.97406807e+00] [-3.59991292e-02 1.04907598e-04 9.99351816e-01 -1.21259351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70185806399999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:3.98, Z:-1.21 [[ 9.84326067e-01 -1.72760919e-01 3.54381014e-02 3.41612148e+01] [ 1.72644893e-01 9.84963782e-01 6.33160237e-03 3.98222914e+00] [-3.59990998e-02 -1.14154042e-04 9.99351816e-01 -1.20934720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761858063999995 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:3.99, Z:-1.21 [[ 9.84992527e-01 -1.68919818e-01 3.54375141e-02 3.42179795e+01] [ 1.68801186e-01 9.85629762e-01 6.33488773e-03 3.99310435e+00] [-3.59983566e-02 -2.57922663e-04 9.99351816e-01 -1.21335498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821858064 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:4.00, Z:-1.22 [[ 9.85297738e-01 -1.67130724e-01 3.54356899e-02 3.42752998e+01] [ 1.67010570e-01 9.85934688e-01 6.34507502e-03 4.00389063e+00] [-3.59977329e-02 -3.33653307e-04 9.99351816e-01 -1.21687756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88185806399999 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:4.01, Z:-1.22 [[ 9.85393918e-01 -1.66563103e-01 3.54338708e-02 3.43328373e+01] [ 1.66442217e-01 9.86030730e-01 6.35521750e-03 4.01213445e+00] [-3.59974303e-02 -3.64700658e-04 9.99351816e-01 -1.21794987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941858063999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:4.02, Z:-1.22 [[ 9.85062885e-01 -1.68509919e-01 3.54333120e-02 3.43906239e+01] [ 1.68390180e-01 9.85699913e-01 6.35833188e-03 4.01974739e+00] [-3.59980545e-02 -2.96734984e-04 9.99351816e-01 -1.21914349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001858064 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:34.45, Y:4.03, Z:-1.23 [[ 9.84222733e-01 -1.73350000e-01 3.54314866e-02 3.44483004e+01] [ 1.73233028e-01 9.84860275e-01 6.36848755e-03 4.03061519e+00] [-3.59990409e-02 -1.30106522e-04 9.99351816e-01 -1.22771654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06185806399999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:4.04, Z:-1.22 [[ 9.83622262e-01 -1.76725701e-01 3.54298275e-02 3.45064452e+01] [ 1.76610584e-01 9.84260142e-01 6.37770429e-03 4.03518563e+00] [-3.59992713e-02 -1.59693743e-05 9.99351816e-01 -1.22438119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121858063999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:4.04, Z:-1.23 [[ 9.83038655e-01 -1.79943862e-01 3.54289436e-02 3.45637630e+01] [ 1.79830657e-01 9.83676876e-01 6.38261084e-03 4.04342302e+00] [-3.59991442e-02 9.68570240e-05 9.99351816e-01 -1.22587269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:4.05, Z:-1.23 [[ 9.82644890e-01 -1.82082221e-01 3.54271657e-02 3.46207340e+01] [ 1.81970050e-01 9.83283295e-01 6.39246385e-03 4.05240432e+00] [-3.59988942e-02 1.65161170e-04 9.99351816e-01 -1.22905762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:4.06, Z:-1.23 [[ 9.82487016e-01 -1.82932509e-01 3.54254130e-02 3.46780111e+01] [ 1.82820540e-01 9.83125456e-01 6.40216191e-03 4.06303107e+00] [-3.59987889e-02 1.86452191e-04 9.99351816e-01 -1.23171366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301858063999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:4.07, Z:-1.23 [[ 9.82482087e-01 -1.82959327e-01 3.54236265e-02 3.47356393e+01] [ 1.82847020e-01 9.83120467e-01 6.41203183e-03 4.07267970e+00] [-3.59988333e-02 1.77398109e-04 9.99351816e-01 -1.23262205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.79, Y:4.08, Z:-1.23 [[ 9.83010181e-01 -1.80100745e-01 3.54218223e-02 3.47910996e+01] [ 1.79986223e-01 9.83648168e-01 6.42198306e-03 4.08359368e+00] [-3.59992146e-02 6.25652688e-05 9.99351816e-01 -1.23449113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:4.09, Z:-1.24 [[ 9.83493175e-01 -1.77444424e-01 3.54210461e-02 3.48477415e+01] [ 1.77328024e-01 9.84130822e-01 6.42626146e-03 4.09455372e+00] [-3.59992475e-02 -3.90401589e-05 9.99351816e-01 -1.23692647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481858063999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:4.11, Z:-1.24 [[ 9.84187149e-01 -1.73554402e-01 3.54192815e-02 3.49045453e+01] [ 1.73435132e-01 9.84824265e-01 6.43597286e-03 4.10643748e+00] [-3.59987593e-02 -1.91254008e-04 9.99351816e-01 -1.24006328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541858063999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:4.12, Z:-1.24 [[ 9.84360714e-01 -1.72567618e-01 3.54175385e-02 3.49603483e+01] [ 1.72447365e-01 9.84997645e-01 6.44555053e-03 4.11603105e+00] [-3.59984853e-02 -2.37085534e-04 9.99351816e-01 -1.24126553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:4.12, Z:-1.24 [[ 9.84129961e-01 -1.73878985e-01 3.54163620e-02 3.50175129e+01] [ 1.73759349e-01 9.84767008e-01 6.45200824e-03 4.12472467e+00] [-3.59987335e-02 -1.95690616e-04 9.99351816e-01 -1.24211010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66185806399999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:4.13, Z:-1.24 [[ 9.84443587e-01 -1.72094815e-01 3.54146684e-02 3.50753474e+01] [ 1.71973690e-01 9.85080353e-01 6.46129106e-03 4.13033204e+00] [-3.59982487e-02 -2.70385326e-04 9.99351816e-01 -1.23883508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721858063999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:35.13, Y:4.14, Z:-1.25 [[ 9.83561197e-01 -1.77068659e-01 3.54127229e-02 3.51310769e+01] [ 1.76950372e-01 9.84198496e-01 6.47193638e-03 4.14385439e+00] [-3.59991257e-02 -9.92510229e-05 9.99351816e-01 -1.24736307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:4.14, Z:-1.24 [[ 9.84750950e-01 -1.70327767e-01 3.54121245e-02 3.51911354e+01] [ 1.70204999e-01 9.85387401e-01 6.47520870e-03 4.14409538e+00] [-3.59975692e-02 -3.49147296e-04 9.99351816e-01 -1.24450850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84185806399999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:4.16, Z:-1.25 [[ 9.84256639e-01 -1.73161716e-01 3.54103022e-02 3.52482061e+01] [ 1.73040423e-01 9.84893372e-01 6.48515910e-03 4.16016617e+00] [-3.59983532e-02 -2.55647237e-04 9.99351817e-01 -1.25211491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901858063999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.30, Y:4.17, Z:-1.26 [[ 9.84277530e-01 -1.73043313e-01 3.54084148e-02 3.53041931e+01] [ 1.72921573e-01 9.84914178e-01 6.49544802e-03 4.17166209e+00] [-3.59982436e-02 -2.70444764e-04 9.99351817e-01 -1.25931225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.36, Y:4.18, Z:-1.26 [[ 9.84451135e-01 -1.72053187e-01 3.54071122e-02 3.53616620e+01] [ 1.71930552e-01 9.85087612e-01 6.50254056e-03 4.18067850e+00] [-3.59978904e-02 -3.13869094e-04 9.99351817e-01 -1.26046894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.42, Y:4.19, Z:-1.26 [[ 9.84636662e-01 -1.70988641e-01 3.54052037e-02 3.54180309e+01] [ 1.70864945e-01 9.85272933e-01 6.51291574e-03 4.19207070e+00] [-3.59974235e-02 -3.63347444e-04 9.99351817e-01 -1.26238536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:4.20, Z:-1.27 [[ 9.84161713e-01 -1.73701573e-01 3.54046099e-02 3.54762078e+01] [ 1.73579515e-01 9.84798300e-01 6.51614184e-03 4.19725405e+00] [-3.59982637e-02 -2.67422294e-04 9.99351817e-01 -1.26642188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.53, Y:4.20, Z:-1.27 [[ 9.84109285e-01 -1.73998744e-01 3.54027169e-02 3.55341522e+01] [ 1.73876508e-01 9.84745838e-01 6.52641032e-03 4.20461978e+00] [-3.59982654e-02 -2.67000187e-04 9.99351817e-01 -1.26526662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:4.21, Z:-1.27 [[ 9.84067432e-01 -1.74235554e-01 3.54014295e-02 3.55903641e+01] [ 1.74113221e-01 9.84703966e-01 6.53338648e-03 4.21468628e+00] [-3.59982762e-02 -2.65435943e-04 9.99351817e-01 -1.26845781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:4.22, Z:-1.27 [[ 9.84237108e-01 -1.73274794e-01 3.54000136e-02 3.56471138e+01] [ 1.73151564e-01 9.84873469e-01 6.54104901e-03 4.22026403e+00] [-3.59979332e-02 -3.08375448e-04 9.99351817e-01 -1.27122888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:4.23, Z:-1.27 [[ 9.84153576e-01 -1.73748774e-01 3.53991960e-02 3.57050615e+01] [ 1.73625691e-01 9.84789965e-01 6.54547085e-03 4.22772237e+00] [-3.59980406e-02 -2.95538660e-04 9.99351817e-01 -1.27274530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:4.23, Z:-1.27 [[ 9.83697435e-01 -1.76313312e-01 3.53973508e-02 3.57620092e+01] [ 1.76191529e-01 9.84334075e-01 6.55543457e-03 4.23463552e+00] [-3.59986289e-02 -2.11850806e-04 9.99351817e-01 -1.27488701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:4.24, Z:-1.28 [[ 9.83141921e-01 -1.79385281e-01 3.53961055e-02 3.58201263e+01] [ 1.79265246e-01 9.83778893e-01 6.56215135e-03 4.24209288e+00] [-3.59990949e-02 -1.06234508e-04 9.99351817e-01 -1.27998639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:4.25, Z:-1.28 [[ 9.83055404e-01 -1.79859106e-01 3.53945556e-02 3.58788906e+01] [ 1.79739078e-01 9.83692377e-01 6.57050075e-03 4.24895918e+00] [-3.59991189e-02 -9.73814807e-05 9.99351817e-01 -1.27852804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56185806399999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:4.26, Z:-1.28 [[ 9.83057286e-01 -1.79849168e-01 3.53927748e-02 3.59362362e+01] [ 1.79728788e-01 9.83694193e-01 6.58007925e-03 4.25528584e+00] [-3.59990888e-02 -1.07494340e-04 9.99351817e-01 -1.28294719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:4.26, Z:-1.28 [[ 9.83356262e-01 -1.78207613e-01 3.53908077e-02 3.59940041e+01] [ 1.78085790e-01 9.83992894e-01 6.59064223e-03 4.26430861e+00] [-3.59988059e-02 -1.78349355e-04 9.99351817e-01 -1.28392133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:4.28, Z:-1.30 [[ 9.82707631e-01 -1.81750771e-01 3.53888370e-02 3.60509520e+01] [ 1.81630863e-01 9.83344626e-01 6.60120738e-03 4.28107699e+00] [-3.59991972e-02 -5.93518818e-05 9.99351817e-01 -1.29564098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:4.29, Z:-1.30 [[ 9.83244891e-01 -1.78821774e-01 3.53872450e-02 3.61086621e+01] [ 1.78699661e-01 9.83881468e-01 6.60973035e-03 4.29079616e+00] [-3.59988183e-02 -1.75294895e-04 9.99351817e-01 -1.30157485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.17, Y:4.30, Z:-1.30 [[ 9.83268625e-01 -1.78691564e-01 3.53855305e-02 3.61665276e+01] [ 1.78569037e-01 9.83905122e-01 6.61889655e-03 4.30054695e+00] [-3.59987457e-02 -1.89393203e-04 9.99351817e-01 -1.30398550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.23, Y:4.30, Z:-1.29 [[ 9.84965329e-01 -1.69089581e-01 3.53838083e-02 3.62279085e+01] [ 1.68960520e-01 9.85600533e-01 6.62809044e-03 4.29568344e+00] [-3.59950413e-02 -5.49972631e-04 9.99351817e-01 -1.28980067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:4.31, Z:-1.30 [[ 9.83533324e-01 -1.77229297e-01 3.53832918e-02 3.62845259e+01] [ 1.77105394e-01 9.84169554e-01 6.63084633e-03 4.31320701e+00] [-3.59983388e-02 -2.55086491e-04 9.99351817e-01 -1.30174450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.34, Y:4.32, Z:-1.30 [[ 9.83913127e-01 -1.75108664e-01 3.53824131e-02 3.63439917e+01] [ 1.74983222e-01 9.84549055e-01 6.63553184e-03 4.31520022e+00] [-3.59976605e-02 -3.37458250e-04 9.99351817e-01 -1.29974732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.40, Y:4.32, Z:-1.30 [[ 9.83784403e-01 -1.75830761e-01 3.53806747e-02 3.64017993e+01] [ 1.75705453e-01 9.84420358e-01 6.64478833e-03 4.32083043e+00] [-3.59978146e-02 -3.20461658e-04 9.99351817e-01 -1.30034427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.46, Y:4.33, Z:-1.30 [[ 9.83414255e-01 -1.77889725e-01 3.53786577e-02 3.64605535e+01] [ 1.77765362e-01 9.84050395e-01 6.65551006e-03 4.32590719e+00] [-3.59983289e-02 -2.56023564e-04 9.99351817e-01 -1.29974768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.52, Y:4.33, Z:-1.30 [[ 9.82833789e-01 -1.81069653e-01 3.53768956e-02 3.65175038e+01] [ 1.80947012e-01 9.83470263e-01 6.66486339e-03 4.33184620e+00] [-3.59989293e-02 -1.49109387e-04 9.99351817e-01 -1.30376602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:4.34, Z:-1.31 [[ 9.81731748e-01 -1.86952699e-01 3.53760306e-02 3.65758868e+01] [ 1.86833707e-01 9.82368915e-01 6.66945110e-03 4.33826162e+00] [-3.59991847e-02 6.18230568e-05 9.99351817e-01 -1.30522384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:4.35, Z:-1.31 [[ 9.80777826e-01 -1.91894572e-01 3.53741419e-02 3.66331459e+01] [ 1.91778429e-01 9.81415518e-01 6.67945351e-03 4.34857663e+00] [-3.59984827e-02 2.32937483e-04 9.99351817e-01 -1.30799974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:4.36, Z:-1.31 [[ 9.81003743e-01 -1.90736639e-01 3.53721616e-02 3.66899695e+01] [ 1.90619366e-01 9.81641229e-01 6.68992419e-03 4.35649089e+00] [-3.59987859e-02 1.79778360e-04 9.99351817e-01 -1.30993375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401858063999995 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:4.37, Z:-1.31 [[ 9.81078267e-01 -1.90353105e-01 3.53713128e-02 3.67463796e+01] [ 1.90235421e-01 9.81715676e-01 6.69440930e-03 4.36801656e+00] [-3.59988738e-02 1.61137116e-04 9.99351817e-01 -1.31266664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:4.38, Z:-1.32 [[ 9.81892796e-01 -1.86106288e-01 3.53692943e-02 3.68034236e+01] [ 1.85985464e-01 9.82529618e-01 6.70505685e-03 4.38091097e+00] [-3.59992324e-02 -5.47242356e-06 9.99351818e-01 -1.31647338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:4.39, Z:-1.32 [[ 9.82332408e-01 -1.83772130e-01 3.53672708e-02 3.68588134e+01] [ 1.83649409e-01 9.82968867e-01 6.71571349e-03 4.39259589e+00] [-3.59990870e-02 -1.01884637e-04 9.99351818e-01 -1.31972772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581858063999995 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:4.40, Z:-1.32 [[ 9.82735242e-01 -1.81605787e-01 3.53663997e-02 3.69154326e+01] [ 1.81481498e-01 9.83371397e-01 6.72029747e-03 4.40345087e+00] [-3.59987508e-02 -1.85925972e-04 9.99351818e-01 -1.32115822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:4.42, Z:-1.32 [[ 9.82625859e-01 -1.82197066e-01 3.53645295e-02 3.69719539e+01] [ 1.82072806e-01 9.83262019e-01 6.73012479e-03 4.41555531e+00] [-3.59988077e-02 -1.74275533e-04 9.99351818e-01 -1.32372044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.03, Y:4.43, Z:-1.32 [[ 9.82379163e-01 -1.83522915e-01 3.53626796e-02 3.70290870e+01] [ 1.83399164e-01 9.83015423e-01 6.73983104e-03 4.42599009e+00] [-3.59989729e-02 -1.35583704e-04 9.99351818e-01 -1.32228093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.08, Y:4.44, Z:-1.33 [[ 9.81628886e-01 -1.87494939e-01 3.53606705e-02 3.70839666e+01] [ 1.87373384e-01 9.82265569e-01 6.75035505e-03 4.44024879e+00] [-3.59992266e-02 -6.95020557e-07 9.99351818e-01 -1.32897584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:4.45, Z:-1.33 [[ 9.81179544e-01 -1.89832758e-01 3.53585273e-02 3.71397412e+01] [ 1.89712316e-01 9.81816438e-01 6.76156286e-03 4.45119132e+00] [-3.59991495e-02 7.36409212e-05 9.99351818e-01 -1.33081821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88185806399999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:4.46, Z:-1.33 [[ 9.80603232e-01 -1.92787903e-01 3.53571290e-02 3.71980416e+01] [ 1.92669117e-01 9.81240436e-01 6.76886695e-03 4.46204303e+00] [-3.59988003e-02 1.74653994e-04 9.99351818e-01 -1.33446279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941858063999994 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:4.48, Z:-1.34 [[ 9.78818493e-01 -2.01653999e-01 3.53556569e-02 3.72541948e+01] [ 2.01540706e-01 9.79456697e-01 6.77654745e-03 4.47868819e+00] [-3.59958528e-02 4.92594100e-04 9.99351818e-01 -1.34461998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:4.49, Z:-1.34 [[ 9.79447416e-01 -1.98577094e-01 3.53538870e-02 3.73114225e+01] [ 1.98461463e-01 9.80085201e-01 6.78576843e-03 4.48638313e+00] [-3.59973196e-02 3.70080802e-04 9.99351818e-01 -1.34088936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06185806399999 meters Centerline goodness : 0.996980 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:4.50, Z:-1.34 [[ 9.78654323e-01 -2.02449881e-01 3.53519691e-02 3.73673649e+01] [ 2.02336414e-01 9.79292496e-01 6.79574577e-03 4.49671239e+00] [-3.59957160e-02 5.02304677e-04 9.99351818e-01 -1.34239127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121858063999994 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:4.51, Z:-1.34 [[ 9.77079411e-01 -2.09919540e-01 3.53498562e-02 3.74245519e+01] [ 2.09810554e-01 9.77718364e-01 6.80671848e-03 4.50901383e+00] [-3.59910668e-02 7.66068435e-04 9.99351818e-01 -1.34130505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:4.52, Z:-1.34 [[ 9.76554473e-01 -2.12348560e-01 3.53475581e-02 3.74820136e+01] [ 2.12240733e-01 9.77193623e-01 6.81863221e-03 4.52335627e+00] [-3.59893351e-02 8.43425834e-04 9.99351818e-01 -1.34223189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:4.54, Z:-1.35 [[ 9.76700737e-01 -2.11675062e-01 3.53459736e-02 3.75378339e+01] [ 2.11566497e-01 9.77339763e-01 6.82683552e-03 4.53795033e+00] [-3.59900963e-02 8.10248548e-04 9.99351818e-01 -1.34624100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:4.55, Z:-1.35 [[ 9.77052181e-01 -2.10046996e-01 3.53453643e-02 3.75948124e+01] [ 2.09937252e-01 9.77691005e-01 6.82998873e-03 4.55108837e+00] [-3.59914634e-02 7.47053260e-04 9.99351818e-01 -1.34919462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361858063999996 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:4.57, Z:-1.35 [[ 9.77934449e-01 -2.05900627e-01 3.53432576e-02 3.76497166e+01] [ 2.05787781e-01 9.78572732e-01 6.84087288e-03 4.56708397e+00] [-3.59944882e-02 5.83285332e-04 9.99351818e-01 -1.35489684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:4.58, Z:-1.35 [[ 9.78293937e-01 -2.04186070e-01 3.53415100e-02 3.77054709e+01] [ 2.04071780e-01 9.78931963e-01 6.84988980e-03 4.58327415e+00] [-3.59955858e-02 5.10999208e-04 9.99351818e-01 -1.35406078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.76, Y:4.60, Z:-1.36 [[ 9.77930346e-01 -2.05920821e-01 3.53391389e-02 3.77607707e+01] [ 2.05807221e-01 9.78568495e-01 6.86210052e-03 4.60152023e+00] [-3.59948174e-02 5.62393651e-04 9.99351818e-01 -1.36163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:4.61, Z:-1.36 [[ 9.79587010e-01 -1.97890331e-01 3.53370336e-02 3.78182945e+01] [ 1.97771109e-01 9.80224133e-01 6.87292495e-03 4.61343607e+00] [-3.59982985e-02 2.56016340e-04 9.99351818e-01 -1.35624559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.87, Y:4.63, Z:-1.36 [[ 9.79880815e-01 -1.96430654e-01 3.53353423e-02 3.78744186e+01] [ 1.96310170e-01 9.80517700e-01 6.88160929e-03 4.62914782e+00] [-3.59986876e-02 1.93530144e-04 9.99351818e-01 -1.36092083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:37.93, Y:4.64, Z:-1.36 [[ 9.80673432e-01 -1.92434919e-01 3.53330066e-02 3.79317674e+01] [ 1.92311409e-01 9.81309737e-01 6.89358103e-03 4.64214218e+00] [-3.59991892e-02 3.45885135e-05 9.99351819e-01 -1.35852756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721858063999996 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:37.99, Y:4.66, Z:-1.36 [[ 9.80365444e-01 -1.93998203e-01 3.53311951e-02 3.79882765e+01] [ 1.93875373e-01 9.81001881e-01 6.90285322e-03 4.65730112e+00] [-3.59991099e-02 8.25298481e-05 9.99351819e-01 -1.36398803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:4.67, Z:-1.37 [[ 9.80170626e-01 -1.94980454e-01 3.53293888e-02 3.80441594e+01] [ 1.94857929e-01 9.80807122e-01 6.91208529e-03 4.67272005e+00] [-3.59990377e-02 1.09188558e-04 9.99351819e-01 -1.36698268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:4.69, Z:-1.37 [[ 9.79499268e-01 -1.98325705e-01 3.53284389e-02 3.80996754e+01] [ 1.98205179e-01 9.80136145e-01 6.91693688e-03 4.68556747e+00] [-3.59984863e-02 2.27144961e-04 9.99351819e-01 -1.36978467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:4.70, Z:-1.37 [[ 9.78372653e-01 -2.03811060e-01 3.53271108e-02 3.81560412e+01] [ 2.03693859e-01 9.79010150e-01 6.92371357e-03 4.69776797e+00] [-3.59967294e-02 4.21943513e-04 9.99351819e-01 -1.37000953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:4.71, Z:-1.37 [[ 9.77161672e-01 -2.09540451e-01 3.53251612e-02 3.82128179e+01] [ 2.09426629e-01 9.77799781e-01 6.93364608e-03 4.70881967e+00] [-3.59938142e-02 6.22736257e-04 9.99351819e-01 -1.37123972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:4.72, Z:-1.37 [[ 9.77095069e-01 -2.09851128e-01 3.53232271e-02 3.82693762e+01] [ 2.09737154e-01 9.77733151e-01 6.94348563e-03 4.72463216e+00] [-3.59937884e-02 6.24147542e-04 9.99351819e-01 -1.37440444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:4.74, Z:-1.38 [[ 9.77480237e-01 -2.08049956e-01 3.53214020e-02 3.83252180e+01] [ 2.07934471e-01 9.78118048e-01 6.95275744e-03 4.73934809e+00] [-3.59950216e-02 5.48354044e-04 9.99351819e-01 -1.37565143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:4.75, Z:-1.38 [[ 9.77868445e-01 -2.06217719e-01 3.53207616e-02 3.83819197e+01] [ 2.06100921e-01 9.78506016e-01 6.95600897e-03 4.75328504e+00] [-3.59960301e-02 4.77579844e-04 9.99351819e-01 -1.38122406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:4.77, Z:-1.38 [[ 9.78899019e-01 -2.01269155e-01 3.53190836e-02 3.84378042e+01] [ 2.01148827e-01 9.79535933e-01 6.96451881e-03 4.77082737e+00] [-3.59980543e-02 2.86831592e-04 9.99351819e-01 -1.38139874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:4.79, Z:-1.38 [[ 9.79412748e-01 -1.98754546e-01 3.53171316e-02 3.84938985e+01] [ 1.98632226e-01 9.80049283e-01 6.97440330e-03 4.78590494e+00] [-3.59987239e-02 1.84300953e-04 9.99351819e-01 -1.38342422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:4.80, Z:-1.39 [[ 9.79364158e-01 -1.98994187e-01 3.53151369e-02 3.85494837e+01] [ 1.98871659e-01 9.80000653e-01 6.98448929e-03 4.80174352e+00] [-3.59987299e-02 1.82821396e-04 9.99351819e-01 -1.38506639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:4.82, Z:-1.38 [[ 9.78396777e-01 -2.03697401e-01 3.53145238e-02 3.86070626e+01] [ 2.03577821e-01 9.79033832e-01 6.98758779e-03 4.81628590e+00] [-3.59974670e-02 3.52620423e-04 9.99351819e-01 -1.38399380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.66, Y:4.83, Z:-1.38 [[ 9.77835557e-01 -2.06374990e-01 3.53126971e-02 3.86636271e+01] [ 2.06256822e-01 9.78472876e-01 6.99680672e-03 4.82806867e+00] [-3.59964822e-02 4.41758277e-04 9.99351819e-01 -1.38297288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:4.85, Z:-1.39 [[ 9.77598811e-01 -2.07493911e-01 3.53106362e-02 3.87200736e+01] [ 2.07376097e-01 9.78236195e-01 7.00719243e-03 4.84501041e+00] [-3.59960921e-02 4.72358897e-04 9.99351819e-01 -1.38900170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:4.86, Z:-1.39 [[ 9.78825106e-01 -2.01630099e-01 3.53088478e-02 3.87757001e+01] [ 2.01508141e-01 9.79461710e-01 7.01619252e-03 4.85984017e+00] [-3.59983400e-02 2.47394899e-04 9.99351819e-01 -1.39239340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:4.87, Z:-1.39 [[ 9.79466133e-01 -1.98492882e-01 3.53082204e-02 3.88322882e+01] [ 1.98368772e-01 9.80102321e-01 7.01934836e-03 4.87199575e+00] [-3.59989594e-02 1.28834313e-04 9.99351819e-01 -1.39207262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:4.89, Z:-1.39 [[ 9.80141517e-01 -1.95130943e-01 3.53061055e-02 3.88897212e+01] [ 1.95004268e-01 9.80777200e-01 7.02996995e-03 4.88764404e+00] [-3.59991879e-02 -5.52416888e-06 9.99351819e-01 -1.39459064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:4.90, Z:-1.39 [[ 9.80556685e-01 -1.93034159e-01 3.53044102e-02 3.89475513e+01] [ 1.92905818e-01 9.81192033e-01 7.03847296e-03 4.89855312e+00] [-3.59990718e-02 -9.11955757e-05 9.99351819e-01 -1.39365376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:4.91, Z:-1.40 [[ 9.80546397e-01 -1.93086752e-01 3.53025473e-02 3.90051641e+01] [ 1.92958109e-01 9.81181684e-01 7.04780441e-03 4.90988678e+00] [-3.59990505e-02 -9.87864284e-05 9.99351819e-01 -1.39533724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:4.92, Z:-1.40 [[ 9.80903129e-01 -1.91266606e-01 3.53006797e-02 3.90629491e+01] [ 1.91136448e-01 9.81538107e-01 7.05714659e-03 4.92307969e+00] [-3.59987588e-02 -1.75130641e-04 9.99351819e-01 -1.39755954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:4.94, Z:-1.40 [[ 9.81129187e-01 -1.90103953e-01 3.52988118e-02 3.91194422e+01] [ 1.89972708e-01 9.81763941e-01 7.06647705e-03 4.93687349e+00] [-3.59984658e-02 -2.27316022e-04 9.99351819e-01 -1.40429300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:4.94, Z:-1.40 [[ 9.82215182e-01 -1.84410893e-01 3.52981564e-02 3.91787151e+01] [ 1.84275851e-01 9.82849139e-01 7.06974950e-03 4.94306747e+00] [-3.59965014e-02 -4.39417496e-04 9.99351819e-01 -1.40403661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:4.95, Z:-1.41 [[ 9.82691557e-01 -1.81855643e-01 3.52963170e-02 3.92360876e+01] [ 1.81718623e-01 9.83325089e-01 7.07892065e-03 4.95314383e+00] [-3.59950958e-02 -5.42397435e-04 9.99351819e-01 -1.40847342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101858064 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:39.29, Y:4.96, Z:-1.41 [[ 9.83049584e-01 -1.79910341e-01 3.52956595e-02 3.92932628e+01] [ 1.79771950e-01 9.83682819e-01 7.08219750e-03 4.96269437e+00] [-3.59938944e-02 -6.16981759e-04 9.99351819e-01 -1.41298241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.35, Y:4.97, Z:-1.41 [[ 9.83201779e-01 -1.79077149e-01 3.52935799e-02 3.93517817e+01] [ 1.78937850e-01 9.83834814e-01 7.09254591e-03 4.96707572e+00] [-3.59931656e-02 -6.58046444e-04 9.99351819e-01 -1.41149620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.41, Y:4.98, Z:-1.42 [[ 9.82327463e-01 -1.83812862e-01 3.52928829e-02 3.94091395e+01] [ 1.83676491e-01 9.82961135e-01 7.09601266e-03 4.97828808e+00] [-3.59958706e-02 -4.88135242e-04 9.99351819e-01 -1.41777341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.47, Y:4.98, Z:-1.41 [[ 9.82730225e-01 -1.81647594e-01 3.52910333e-02 3.94682508e+01] [ 1.81509496e-01 9.83363523e-01 7.10519977e-03 4.97928085e+00] [-3.59945572e-02 -5.76836911e-04 9.99351819e-01 -1.41306141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.53, Y:4.98, Z:-1.42 [[ 9.82260877e-01 -1.84168830e-01 3.52903862e-02 3.95264333e+01] [ 1.84032243e-01 9.82894503e-01 7.10841237e-03 4.98396947e+00] [-3.59958746e-02 -4.87746453e-04 9.99351819e-01 -1.41574262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401858063999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:4.99, Z:-1.42 [[ 9.81413673e-01 -1.88631742e-01 3.52883629e-02 3.95840309e+01] [ 1.88497676e-01 9.82047837e-01 7.11844219e-03 4.99338091e+00] [-3.59976246e-02 -3.34362100e-04 9.99351820e-01 -1.42321170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:5.00, Z:-1.42 [[ 9.81297482e-01 -1.89235606e-01 3.52864932e-02 3.96441870e+01] [ 1.89101597e-01 9.81931659e-01 7.12769826e-03 4.99505030e+00] [-3.59977391e-02 -3.21660136e-04 9.99351820e-01 -1.42296416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52185806399999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:5.00, Z:-1.43 [[ 9.80234154e-01 -1.94668925e-01 3.52847473e-02 3.97021758e+01] [ 1.94538120e-01 9.80868999e-01 7.13633086e-03 5.00302118e+00] [-3.59989366e-02 -1.31046824e-04 9.99351820e-01 -1.42724167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:5.01, Z:-1.42 [[ 9.80109732e-01 -1.95294756e-01 3.52827314e-02 3.97597166e+01] [ 1.95163998e-01 9.80744587e-01 7.14628359e-03 5.00887412e+00] [-3.59989796e-02 -1.18223148e-04 9.99351820e-01 -1.42458805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:5.01, Z:-1.43 [[ 9.79597107e-01 -1.97850162e-01 3.52820378e-02 3.98191702e+01] [ 1.97720937e-01 9.80232275e-01 7.14970662e-03 5.01276937e+00] [-3.59991628e-02 -2.78343358e-05 9.99351820e-01 -1.42843405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:5.02, Z:-1.43 [[ 9.79579530e-01 -1.97937493e-01 3.52801987e-02 3.98753295e+01] [ 1.97807999e-01 9.80214644e-01 7.15876987e-03 5.02207646e+00] [-3.59991564e-02 -3.38789172e-05 9.99351820e-01 -1.42696206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:5.03, Z:-1.43 [[ 9.79989913e-01 -1.95895759e-01 3.52792087e-02 3.99330141e+01] [ 1.95764766e-01 9.80624719e-01 7.16364585e-03 5.03045506e+00] [-3.59989919e-02 -1.13874652e-04 9.99351820e-01 -1.42972420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:5.04, Z:-1.44 [[ 9.80025864e-01 -1.95716188e-01 3.52771785e-02 3.99903559e+01] [ 1.95584719e-01 9.80660572e-01 7.17362938e-03 5.03763698e+00] [-3.59989334e-02 -1.30665279e-04 9.99351820e-01 -1.43784536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:5.05, Z:-1.44 [[ 9.80499359e-01 -1.93330482e-01 3.52750719e-02 4.00481395e+01] [ 1.93197097e-01 9.81133667e-01 7.18397308e-03 5.04690406e+00] [-3.59984417e-02 -2.28839499e-04 9.99351820e-01 -1.43695714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:5.05, Z:-1.44 [[ 9.80885952e-01 -1.91359758e-01 3.52731048e-02 4.01062038e+01] [ 1.91224752e-01 9.81519916e-01 7.19361885e-03 5.05432946e+00] [-3.59978240e-02 -3.11028964e-04 9.99351820e-01 -1.43991580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.16, Y:5.06, Z:-1.44 [[ 9.81042240e-01 -1.90557277e-01 3.52710540e-02 4.01634401e+01] [ 1.90421390e-01 9.81676016e-01 7.20365986e-03 5.06274986e+00] [-3.59974576e-02 -3.50731458e-04 9.99351820e-01 -1.44124721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.22, Y:5.07, Z:-1.44 [[ 9.81422272e-01 -1.88590618e-01 3.52689976e-02 4.02210178e+01] [ 1.88453101e-01 9.82055697e-01 7.21371395e-03 5.07141116e+00] [-3.59965588e-02 -4.33147558e-04 9.99351820e-01 -1.44283594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.28, Y:5.08, Z:-1.45 [[ 9.81720712e-01 -1.87031242e-01 3.52669638e-02 4.02777124e+01] [ 1.86892362e-01 9.82353839e-01 7.22364341e-03 5.08181887e+00] [-3.59956843e-02 -5.00474183e-04 9.99351820e-01 -1.44581050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.34, Y:5.09, Z:-1.45 [[ 9.81909176e-01 -1.86039657e-01 3.52649398e-02 4.03357226e+01] [ 1.85899783e-01 9.82542084e-01 7.23351088e-03 5.09006053e+00] [-3.59950073e-02 -5.46906043e-04 9.99351820e-01 -1.44857208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:5.10, Z:-1.45 [[ 9.81517469e-01 -1.88095676e-01 3.52629350e-02 4.03928533e+01] [ 1.87956777e-01 9.82150592e-01 7.24327114e-03 5.09828076e+00] [-3.59959404e-02 -4.81489548e-04 9.99351820e-01 -1.45191905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:5.11, Z:-1.46 [[ 9.80442886e-01 -1.93619252e-01 3.52609265e-02 4.04488615e+01] [ 1.93483569e-01 9.81076705e-01 7.25303557e-03 5.11225061e+00] [-3.59980009e-02 -2.88777214e-04 9.99351820e-01 -1.45745471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:5.12, Z:-1.46 [[ 9.80718636e-01 -1.92218052e-01 3.52587144e-02 4.05076484e+01] [ 1.92081078e-01 9.81352178e-01 7.26377323e-03 5.11641212e+00] [-3.59974445e-02 -3.51185905e-04 9.99351820e-01 -1.45902425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:5.13, Z:-1.46 [[ 9.80054447e-01 -1.95576674e-01 3.52568458e-02 4.05647910e+01] [ 1.95441545e-01 9.80688385e-01 7.27283144e-03 5.12653429e+00] [-3.59983754e-02 -2.37118374e-04 9.99351820e-01 -1.46133893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481858063999994 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:5.14, Z:-1.46 [[ 9.78758557e-01 -2.01962340e-01 3.52547832e-02 4.06219610e+01] [ 2.01830988e-01 9.79393288e-01 7.28281605e-03 5.13636578e+00] [-3.59991527e-02 -1.26108097e-05 9.99351820e-01 -1.46417245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:5.15, Z:-1.46 [[ 9.77905133e-01 -2.06055320e-01 3.52527572e-02 4.06786985e+01] [ 2.05926271e-01 9.78540336e-01 7.29260993e-03 5.14714179e+00] [-3.59989260e-02 1.27988146e-04 9.99351820e-01 -1.46482113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.74, Y:5.16, Z:-1.47 [[ 9.76215501e-01 -2.13917470e-01 3.52506867e-02 4.07356027e+01] [ 2.13793176e-01 9.76851652e-01 7.30260441e-03 5.16361070e+00] [-3.59968462e-02 4.07440630e-04 9.99351820e-01 -1.46753174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66185806399999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:5.17, Z:-1.47 [[ 9.75835468e-01 -2.15644763e-01 3.52487660e-02 4.07914546e+01] [ 2.15521260e-01 9.76471773e-01 7.31186383e-03 5.17337195e+00] [-3.59961902e-02 4.61682398e-04 9.99351821e-01 -1.47041061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721858063999996 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:5.19, Z:-1.47 [[ 9.75629230e-01 -2.16576162e-01 3.52472887e-02 4.08478955e+01] [ 2.16453009e-01 9.76265603e-01 7.31897829e-03 5.18557498e+00] [-3.59958318e-02 4.88772558e-04 9.99351821e-01 -1.47300190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.90, Y:5.20, Z:-1.48 [[ 9.75704531e-01 -2.16237007e-01 3.52452074e-02 4.09036455e+01] [ 2.16113272e-01 9.76340791e-01 7.32898725e-03 5.19863606e+00] [-3.59961320e-02 4.66031031e-04 9.99351821e-01 -1.47602008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.96, Y:5.21, Z:-1.48 [[ 9.76282974e-01 -2.13610462e-01 3.52438036e-02 4.09595809e+01] [ 2.13484772e-01 9.76918850e-01 7.33573164e-03 5.21411423e+00] [-3.59973251e-02 3.62265468e-04 9.99351821e-01 -1.47840496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901858063999995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:41.02, Y:5.23, Z:-1.48 [[ 9.76279741e-01 -2.13625581e-01 3.52417261e-02 4.10166135e+01] [ 2.13499541e-01 9.76915547e-01 7.34569908e-03 5.23078910e+00] [-3.59974193e-02 3.52635140e-04 9.99351821e-01 -1.47850823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.07, Y:5.24, Z:-1.47 [[ 9.77018605e-01 -2.10220835e-01 3.52398334e-02 4.10743273e+01] [ 2.10092252e-01 9.77653902e-01 7.35476773e-03 5.23964506e+00] [-3.59984860e-02 2.17871049e-04 9.99351821e-01 -1.47462165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:5.26, Z:-1.48 [[ 9.76936800e-01 -2.10600781e-01 3.52391733e-02 4.11310396e+01] [ 2.10472331e-01 9.77572124e-01 7.35792901e-03 5.25624109e+00] [-3.59984191e-02 2.28639336e-04 9.99351821e-01 -1.47758529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:5.27, Z:-1.48 [[ 9.77713607e-01 -2.06964802e-01 3.52373760e-02 4.11877675e+01] [ 2.06833680e-01 9.78348385e-01 7.36652646e-03 5.27114627e+00] [-3.59990416e-02 8.59229667e-05 9.99351821e-01 -1.47872918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:5.28, Z:-1.48 [[ 9.77963943e-01 -2.05778986e-01 3.52354357e-02 4.12441817e+01] [ 2.05646760e-01 9.78598492e-01 7.37579566e-03 5.28376572e+00] [-3.59991279e-02 3.27909812e-05 9.99351821e-01 -1.48329828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.30, Y:5.30, Z:-1.48 [[ 9.78311470e-01 -2.04120501e-01 3.52347557e-02 4.13007358e+01] [ 2.03987083e-01 9.78945770e-01 7.37904242e-03 5.29797261e+00] [-3.59991289e-02 -3.15668193e-05 9.99351821e-01 -1.48474727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.36, Y:5.31, Z:-1.49 [[ 9.78426796e-01 -2.03567367e-01 3.52325363e-02 4.13576060e+01] [ 2.03433208e-01 9.79060940e-01 7.38962397e-03 5.31227660e+00] [-3.59990864e-02 -6.27382033e-05 9.99351821e-01 -1.48621032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.42, Y:5.33, Z:-1.49 [[ 9.77531183e-01 -2.07825877e-01 3.52305578e-02 4.14151535e+01] [ 2.07694141e-01 9.78165834e-01 7.39904503e-03 5.32543567e+00] [-3.59990409e-02 8.43831934e-05 9.99351821e-01 -1.49104152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.47, Y:5.34, Z:-1.50 [[ 9.76313566e-01 -2.13473112e-01 3.52285557e-02 4.14711662e+01] [ 2.13344704e-01 9.76948899e-01 7.40856504e-03 5.33949981e+00] [-3.59980281e-02 2.82743245e-04 9.99351821e-01 -1.49811104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.53, Y:5.35, Z:-1.50 [[ 9.75302081e-01 -2.18047816e-01 3.52278516e-02 4.15281797e+01] [ 2.17922267e-01 9.75937984e-01 7.41191151e-03 5.35339380e+00] [-3.59963496e-02 4.48080581e-04 9.99351821e-01 -1.50023784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.59, Y:5.36, Z:-1.50 [[ 9.75584813e-01 -2.16779628e-01 3.52259105e-02 4.15868205e+01] [ 2.16652920e-01 9.76220487e-01 7.42112532e-03 5.36122456e+00] [-3.59970043e-02 3.91859195e-04 9.99351821e-01 -1.49552264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.64, Y:5.37, Z:-1.50 [[ 9.75692098e-01 -2.16296559e-01 3.52239638e-02 4.16445822e+01] [ 2.16169203e-01 9.76327643e-01 7.43035397e-03 5.37476663e+00] [-3.59972895e-02 3.64598516e-04 9.99351821e-01 -1.49845479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.70, Y:5.39, Z:-1.50 [[ 9.76040936e-01 -2.14717259e-01 3.52220197e-02 4.16997798e+01] [ 2.14588542e-01 9.76676206e-01 7.43955799e-03 5.38812590e+00] [-3.59979101e-02 2.96928710e-04 9.99351821e-01 -1.50202840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:5.40, Z:-1.51 [[ 9.75670018e-01 -2.16396608e-01 3.52210625e-02 4.17567219e+01] [ 2.16268821e-01 9.76305476e-01 7.44408716e-03 5.40334311e+00] [-3.59973914e-02 3.54245009e-04 9.99351821e-01 -1.50959446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:5.42, Z:-1.52 [[ 9.75151867e-01 -2.18720024e-01 3.52191418e-02 4.18127964e+01] [ 2.18593424e-01 9.75787562e-01 7.45316322e-03 5.42208645e+00] [-3.59965565e-02 4.30706751e-04 9.99351821e-01 -1.51782265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:5.44, Z:-1.52 [[ 9.75972473e-01 -2.15029025e-01 3.52171862e-02 4.18704399e+01] [ 2.14899687e-01 9.76607617e-01 7.46239228e-03 5.43607233e+00] [-3.59980032e-02 2.85072849e-04 9.99351821e-01 -1.51953469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.93, Y:5.45, Z:-1.52 [[ 9.76885386e-01 -2.10843140e-01 3.52152494e-02 4.19270671e+01] [ 2.10710752e-01 9.77519900e-01 7.47152078e-03 5.44865246e+00] [-3.59989260e-02 1.21412209e-04 9.99351821e-01 -1.51908158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.98, Y:5.46, Z:-1.52 [[ 9.77248654e-01 -2.09153320e-01 3.52130220e-02 4.19842523e+01] [ 2.09019456e-01 9.77882859e-01 7.48200358e-03 5.46065801e+00] [-3.59990965e-02 4.84287981e-05 9.99351821e-01 -1.51656428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.04, Y:5.47, Z:-1.52 [[ 9.77919206e-01 -2.05995430e-01 3.52123413e-02 4.20410319e+01] [ 2.05859403e-01 9.78552951e-01 7.48520599e-03 5.47186908e+00] [-3.59990587e-02 -7.11351480e-05 9.99351821e-01 -1.51736478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.10, Y:5.49, Z:-1.52 [[ 9.77437105e-01 -2.08271349e-01 3.52100879e-02 4.20958375e+01] [ 2.08136416e-01 9.78071084e-01 7.49579092e-03 5.49053120e+00] [-3.59991273e-02 1.83732737e-06 9.99351821e-01 -1.51888387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.15, Y:5.50, Z:-1.52 [[ 9.77424742e-01 -2.08329492e-01 3.52093381e-02 4.21523262e+01] [ 2.08194470e-01 9.78058701e-01 7.49931120e-03 5.50448325e+00] [-3.59991272e-02 3.77176320e-07 9.99351821e-01 -1.52099813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.21, Y:5.52, Z:-1.52 [[ 9.77356157e-01 -2.08651370e-01 3.52072066e-02 4.22079292e+01] [ 2.08516198e-01 9.77990085e-01 7.50930439e-03 5.51804825e+00] [-3.59991257e-02 2.00797870e-06 9.99351821e-01 -1.52425940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221858063999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:5.53, Z:-1.53 [[ 9.77238978e-01 -2.09199658e-01 3.52062893e-02 4.22642063e+01] [ 2.09064686e-01 9.77872948e-01 7.51360258e-03 5.53173793e+00] [-3.59991210e-02 1.78065195e-05 9.99351821e-01 -1.52698628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:5.55, Z:-1.53 [[ 9.77081665e-01 -2.09933280e-01 3.52056534e-02 4.23202789e+01] [ 2.09798677e-01 9.77715713e-01 7.51658103e-03 5.54596082e+00] [-3.59991011e-02 4.17860158e-05 9.99351821e-01 -1.52843190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:5.56, Z:-1.53 [[ 9.76841449e-01 -2.11048560e-01 3.52035281e-02 4.23771876e+01] [ 2.10914322e-01 9.77475575e-01 7.52652179e-03 5.55837905e+00] [-3.59990505e-02 7.27098100e-05 9.99351821e-01 -1.53006458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:5.57, Z:-1.53 [[ 9.76659231e-01 -2.11890552e-01 3.52014250e-02 4.24336006e+01] [ 2.11756507e-01 9.77293398e-01 7.53634525e-03 5.57157773e+00] [-3.59990006e-02 9.36896531e-05 9.99351822e-01 -1.53218112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:5.59, Z:-1.54 [[ 9.76724819e-01 -2.11588360e-01 3.51993381e-02 4.24905748e+01] [ 2.11453768e-01 9.77358870e-01 7.54607977e-03 5.58561054e+00] [-3.59990479e-02 7.25892635e-05 9.99351822e-01 -1.53573484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:5.60, Z:-1.54 [[ 9.76734747e-01 -2.11542831e-01 3.51975195e-02 4.25467915e+01] [ 2.11407904e-01 9.77368726e-01 7.55455288e-03 5.59866947e+00] [-3.59990663e-02 6.22395339e-05 9.99351822e-01 -1.53822548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:5.61, Z:-1.54 [[ 9.76652033e-01 -2.11924729e-01 3.51954024e-02 4.26037722e+01] [ 2.11789695e-01 9.77285989e-01 7.56440330e-03 5.61070549e+00] [-3.59990577e-02 6.62336771e-05 9.99351822e-01 -1.53961862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:5.62, Z:-1.54 [[ 9.76414837e-01 -2.13015263e-01 3.51932383e-02 4.26608782e+01] [ 2.12880575e-01 9.77048867e-01 7.57445813e-03 5.62246710e+00] [-3.59989888e-02 9.61435169e-05 9.99351822e-01 -1.54062172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:5.64, Z:-1.54 [[ 9.76257320e-01 -2.13736362e-01 3.51910972e-02 4.27171019e+01] [ 2.13601784e-01 9.76891373e-01 7.58439293e-03 5.63522010e+00] [-3.59989398e-02 1.12562016e-04 9.99351822e-01 -1.54211261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761858063999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:5.65, Z:-1.54 [[ 9.76077786e-01 -2.14555099e-01 3.51889840e-02 4.27738509e+01] [ 2.14420699e-01 9.76711878e-01 7.59418445e-03 5.64652794e+00] [-3.59988697e-02 1.32731823e-04 9.99351822e-01 -1.54422614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:5.66, Z:-1.55 [[ 9.75930605e-01 -2.15223934e-01 3.51868104e-02 4.28293417e+01] [ 2.15089607e-01 9.76564712e-01 7.60424247e-03 5.65823217e+00] [-3.59988123e-02 1.47104262e-04 9.99351822e-01 -1.54666168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:5.67, Z:-1.55 [[ 9.75834245e-01 -2.15660569e-01 3.51858761e-02 4.28857438e+01] [ 2.15526370e-01 9.76468378e-01 7.60856295e-03 5.66939435e+00] [-3.59987624e-02 1.58787866e-04 9.99351822e-01 -1.54944883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941858063999994 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:5.69, Z:-1.57 [[ 9.73520752e-01 -2.25874745e-01 3.51844328e-02 4.29416506e+01] [ 2.25746957e-01 9.74156209e-01 7.61523158e-03 5.69014907e+00] [-3.59952222e-02 5.29192672e-04 9.99351822e-01 -1.56790444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:5.69, Z:-1.55 [[ 9.75751141e-01 -2.16036541e-01 3.51841538e-02 4.30017601e+01] [ 2.15902299e-01 9.76385265e-01 7.61652045e-03 5.69193937e+00] [-3.59987361e-02 1.64511166e-04 9.99351822e-01 -1.55355649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06185806399999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:5.70, Z:-1.56 [[ 9.75689200e-01 -2.16316178e-01 3.51837411e-02 4.30595067e+01] [ 2.16182049e-01 9.76323349e-01 7.61842622e-03 5.70177664e+00] [-3.59986968e-02 1.72877073e-04 9.99351822e-01 -1.55527728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121858063999994 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:5.71, Z:-1.56 [[ 9.75453697e-01 -2.17375992e-01 3.51818530e-02 4.31161737e+01] [ 2.17242238e-01 9.76087925e-01 7.62713568e-03 5.71235535e+00] [-3.59985381e-02 2.03066777e-04 9.99351822e-01 -1.55940174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:43.17, Y:5.72, Z:-1.56 [[ 9.75194608e-01 -2.18535540e-01 3.51808701e-02 4.31742791e+01] [ 2.18402377e-01 9.75828960e-01 7.63166666e-03 5.72354031e+00] [-3.59983023e-02 2.41225466e-04 9.99351822e-01 -1.56036110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:5.73, Z:-1.56 [[ 9.74795618e-01 -2.20308740e-01 3.51790010e-02 4.32312601e+01] [ 2.20176419e-01 9.75430146e-01 7.64027277e-03 5.73220162e+00] [-3.59978770e-02 2.97882061e-04 9.99351822e-01 -1.56017675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:5.75, Z:-1.56 [[ 9.74749651e-01 -2.20512136e-01 3.51783479e-02 4.32891831e+01] [ 2.20379840e-01 9.75384184e-01 7.64327878e-03 5.74520935e+00] [-3.59978399e-02 3.02315355e-04 9.99351822e-01 -1.56086202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361858063999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:5.76, Z:-1.57 [[ 9.75907491e-01 -2.15330403e-01 3.51765091e-02 4.33465601e+01] [ 2.15194433e-01 9.76541247e-01 7.65173206e-03 5.75777080e+00] [-3.59989626e-02 1.02406289e-04 9.99351822e-01 -1.56567765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:5.77, Z:-1.57 [[ 9.77157215e-01 -2.09586545e-01 3.51746695e-02 4.34046139e+01] [ 2.09446546e-01 9.77790093e-01 7.66017933e-03 5.76907433e+00] [-3.59989139e-02 -1.17986474e-04 9.99351822e-01 -1.56508789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481858063999994 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:5.79, Z:-1.57 [[ 9.77010466e-01 -2.10269884e-01 3.51727769e-02 4.34595906e+01] [ 2.10130015e-01 9.77643373e-01 7.66885937e-03 5.78592151e+00] [-3.59989625e-02 -1.01699734e-04 9.99351822e-01 -1.56889620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:5.80, Z:-1.57 [[ 9.77409263e-01 -2.08408420e-01 3.51719035e-02 4.35159394e+01] [ 2.08267202e-01 9.78041870e-01 7.67286315e-03 5.79860955e+00] [-3.59986836e-02 -1.74373595e-04 9.99351822e-01 -1.57255329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:5.81, Z:-1.58 [[ 9.77833439e-01 -2.06409428e-01 3.51697738e-02 4.35722498e+01] [ 2.06266565e-01 9.78465677e-01 7.68261287e-03 5.81026643e+00] [-3.59981802e-02 -2.57967326e-04 9.99351822e-01 -1.57542677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:5.82, Z:-1.58 [[ 9.77830197e-01 -2.06425120e-01 3.51678272e-02 4.36294574e+01] [ 2.06281948e-01 9.78462364e-01 7.69151310e-03 5.82214082e+00] [-3.59981169e-02 -2.66505874e-04 9.99351822e-01 -1.57793104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:5.83, Z:-1.58 [[ 9.77624040e-01 -2.07399626e-01 3.51657818e-02 4.36868075e+01] [ 2.07256748e-01 9.78256274e-01 7.70085324e-03 5.83350241e+00] [-3.59983008e-02 -2.40193673e-04 9.99351822e-01 -1.57718073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:5.84, Z:-1.58 [[ 9.77518728e-01 -2.07895608e-01 3.51646609e-02 4.37444901e+01] [ 2.07752866e-01 9.78150993e-01 7.70596820e-03 5.84439630e+00] [-3.59983849e-02 -2.27169138e-04 9.99351822e-01 -1.57835297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:5.85, Z:-1.58 [[ 9.78592996e-01 -2.02779017e-01 3.51627546e-02 4.38041395e+01] [ 2.02632658e-01 9.79224433e-01 7.71465732e-03 5.84946649e+00] [-3.59965990e-02 -4.24387206e-04 9.99351822e-01 -1.57987004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:5.87, Z:-1.58 [[ 9.77582817e-01 -2.07594405e-01 3.51624629e-02 4.38593588e+01] [ 2.07451108e-01 9.78214957e-01 7.71598637e-03 5.86575154e+00] [-3.59982427e-02 -2.48523793e-04 9.99351822e-01 -1.58395949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:5.87, Z:-1.59 [[ 9.77677001e-01 -2.07150510e-01 3.51617328e-02 4.39167514e+01] [ 2.07006807e-01 9.78309048e-01 7.71931208e-03 5.87482989e+00] [-3.59981008e-02 -2.68275856e-04 9.99351822e-01 -1.58748304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:5.89, Z:-1.59 [[ 9.77112200e-01 -2.09798838e-01 3.51595827e-02 4.39746079e+01] [ 2.09656496e-01 9.77744555e-01 7.72909304e-03 5.88739589e+00] [-3.59986452e-02 -1.80756216e-04 9.99351822e-01 -1.59047475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.03, Y:5.89, Z:-1.58 [[ 9.77033874e-01 -2.10163343e-01 3.51593143e-02 4.40343273e+01] [ 2.10021193e-01 9.77666273e-01 7.73031346e-03 5.89328439e+00] [-3.59987043e-02 -1.68576975e-04 9.99351822e-01 -1.58414024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:5.90, Z:-1.59 [[ 9.76372235e-01 -2.13216352e-01 3.51574527e-02 4.40925730e+01] [ 2.13075875e-01 9.77005007e-01 7.73877097e-03 5.90368293e+00] [-3.59990398e-02 -6.47161074e-05 9.99351822e-01 -1.58508385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:5.92, Z:-1.59 [[ 9.74267104e-01 -2.22638041e-01 3.51555557e-02 4.41487528e+01] [ 2.22503373e-01 9.74901137e-01 7.74737902e-03 5.91998076e+00] [-3.59980525e-02 2.74213187e-04 9.99351822e-01 -1.59400579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:5.93, Z:-1.60 [[ 9.73473362e-01 -2.26083454e-01 3.51551655e-02 4.42052731e+01] [ 2.25950965e-01 9.74107854e-01 7.74914935e-03 5.93055482e+00] [-3.59968773e-02 3.99753088e-04 9.99351822e-01 -1.59614230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:5.94, Z:-1.60 [[ 9.73298632e-01 -2.26834714e-01 3.51537282e-02 4.42617235e+01] [ 2.26702480e-01 9.73933178e-01 7.75566412e-03 5.94395608e+00] [-3.59966360e-02 4.20860076e-04 9.99351822e-01 -1.59918154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.32, Y:5.96, Z:-1.60 [[ 9.73276398e-01 -2.26930416e-01 3.51516668e-02 4.43176930e+01] [ 2.26797907e-01 9.73910886e-01 7.76499600e-03 5.95755814e+00] [-3.59967047e-02 4.14837130e-04 9.99351823e-01 -1.59966770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:5.97, Z:-1.60 [[ 9.73671788e-01 -2.25228190e-01 3.51498360e-02 4.43750461e+01] [ 2.25094273e-01 9.74305981e-01 7.77327467e-03 5.97051170e+00] [-3.59974560e-02 3.43408535e-04 9.99351823e-01 -1.60006195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:5.98, Z:-1.59 [[ 9.75292178e-01 -2.18105008e-01 3.51478587e-02 4.44346910e+01] [ 2.17966137e-01 9.75925305e-01 7.78220478e-03 5.97689376e+00] [-3.59990226e-02 7.11195443e-05 9.99351823e-01 -1.59292106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:6.00, Z:-1.60 [[ 9.74123613e-01 -2.23266286e-01 3.51475712e-02 4.44884829e+01] [ 2.23130722e-01 9.74757456e-01 7.78350329e-03 6.00018541e+00] [-3.59981509e-02 2.60408598e-04 9.99351823e-01 -1.60212196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:6.01, Z:-1.60 [[ 9.75872754e-01 -2.15492613e-01 3.51468513e-02 4.45464043e+01] [ 2.15351883e-01 9.76505470e-01 7.78675251e-03 6.00808195e+00] [-3.59990802e-02 -2.99390090e-05 9.99351823e-01 -1.59684077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.60, Y:6.03, Z:-1.61 [[ 9.74735716e-01 -2.20578913e-01 3.51457993e-02 4.46016161e+01] [ 2.20441314e-01 9.75369120e-01 7.79149767e-03 6.02980518e+00] [-3.59987675e-02 1.52935138e-04 9.99351823e-01 -1.60734808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:44.66, Y:6.05, Z:-1.61 [[ 9.74444967e-01 -2.21860155e-01 3.51436876e-02 4.46581862e+01] [ 2.21723045e-01 9.75078477e-01 7.80101108e-03 6.04556636e+00] [-3.59985869e-02 1.90509450e-04 9.99351823e-01 -1.61189642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801858063999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:44.72, Y:6.06, Z:-1.61 [[ 9.74426467e-01 -2.21941732e-01 3.51415458e-02 4.47169079e+01] [ 2.21804328e-01 9.75059913e-01 7.81064724e-03 6.05678494e+00] [-3.59986212e-02 1.83645549e-04 9.99351823e-01 -1.60683438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:6.07, Z:-1.61 [[ 9.73427646e-01 -2.26282366e-01 3.51412744e-02 4.47747349e+01] [ 2.26147743e-01 9.74061689e-01 7.81186846e-03 6.06926522e+00] [-3.59974571e-02 3.42831157e-04 9.99351823e-01 -1.60792358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:6.08, Z:-1.61 [[ 9.72413606e-01 -2.30601192e-01 3.51406943e-02 4.48324986e+01] [ 2.30469290e-01 9.73048221e-01 7.81447709e-03 6.08309648e+00] [-3.59956178e-02 4.99947006e-04 9.99351823e-01 -1.60740742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:6.10, Z:-1.61 [[ 9.72284930e-01 -2.31143447e-01 3.51386021e-02 4.48891119e+01] [ 2.31011560e-01 9.72919548e-01 7.82387356e-03 6.09810455e+00] [-3.59954699e-02 5.10388919e-04 9.99351823e-01 -1.60628825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041858063999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:6.11, Z:-1.61 [[ 9.72244716e-01 -2.31312903e-01 3.51362022e-02 4.49451124e+01] [ 2.31180737e-01 9.72879276e-01 7.83463647e-03 6.11046365e+00] [-3.59955354e-02 5.05629196e-04 9.99351823e-01 -1.60715816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:6.12, Z:-1.61 [[ 9.72483172e-01 -2.30308488e-01 3.51351696e-02 4.50005389e+01] [ 2.30175500e-01 9.73117560e-01 7.83926446e-03 6.12341151e+00] [-3.59960996e-02 4.63702457e-04 9.99351823e-01 -1.61016298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:6.14, Z:-1.61 [[ 9.73028869e-01 -2.27992129e-01 3.51341675e-02 4.50578120e+01] [ 2.27857468e-01 9.73662904e-01 7.84375293e-03 6.13729043e+00] [-3.59971495e-02 3.73384423e-04 9.99351823e-01 -1.60607404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:6.15, Z:-1.61 [[ 9.73549979e-01 -2.25756661e-01 3.51335736e-02 4.51134510e+01] [ 2.25620448e-01 9.74183682e-01 7.84641233e-03 6.15345387e+00] [-3.59979340e-02 2.87978071e-04 9.99351823e-01 -1.60901713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:6.17, Z:-1.62 [[ 9.74288564e-01 -2.22547949e-01 3.51312386e-02 4.51697509e+01] [ 2.22409273e-01 9.74921733e-01 7.85685323e-03 6.17146321e+00] [-3.59987346e-02 1.58670990e-04 9.99351823e-01 -1.61721990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.22, Y:6.19, Z:-1.62 [[ 9.74910762e-01 -2.19806334e-01 3.51309250e-02 4.52246004e+01] [ 2.19665827e-01 9.75543527e-01 7.85825506e-03 6.18549465e+00] [-3.59990407e-02 5.59662653e-05 9.99351823e-01 -1.62318441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401858063999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:45.28, Y:6.20, Z:-1.62 [[ 9.75643467e-01 -2.16531349e-01 3.51283439e-02 4.52807637e+01] [ 2.16388303e-01 9.76275662e-01 7.86977650e-03 6.20364127e+00] [-3.59990005e-02 -7.67332966e-05 9.99351823e-01 -1.62056226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.34, Y:6.22, Z:-1.62 [[ 9.76093233e-01 -2.14495129e-01 3.51260626e-02 4.53383865e+01] [ 2.14350398e-01 9.76725045e-01 7.87994570e-03 6.21771052e+00] [-3.59987150e-02 -1.62276159e-04 9.99351823e-01 -1.62210409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52185806399999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:45.39, Y:6.23, Z:-1.63 [[ 9.76049496e-01 -2.14694248e-01 3.51249357e-02 4.53942177e+01] [ 2.14549466e-01 9.76681296e-01 7.88496576e-03 6.23301834e+00] [-3.59987245e-02 -1.60080675e-04 9.99351823e-01 -1.62522260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581858063999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.45, Y:6.25, Z:-1.63 [[ 9.75922901e-01 -2.15269092e-01 3.51241960e-02 4.54519478e+01] [ 2.15124563e-01 9.76554759e-01 7.88825938e-03 6.24532536e+00] [-3.59987992e-02 -1.42255681e-04 9.99351823e-01 -1.62623225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.51, Y:6.26, Z:-1.63 [[ 9.75499378e-01 -2.17180548e-01 3.51222631e-02 4.55096771e+01] [ 2.17036947e-01 9.76131448e-01 7.89685604e-03 6.25821446e+00] [-3.59989891e-02 -8.05493868e-05 9.99351823e-01 -1.62734551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.57, Y:6.27, Z:-1.63 [[ 9.75108372e-01 -2.18929751e-01 3.51201693e-02 4.55666585e+01] [ 2.18786949e-01 9.75740623e-01 7.90615713e-03 6.27057990e+00] [-3.59990689e-02 -2.55253111e-05 9.99351823e-01 -1.62774320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761858063999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:6.28, Z:-1.63 [[ 9.74668549e-01 -2.20879702e-01 3.51194539e-02 4.56238665e+01] [ 2.20738050e-01 9.75301059e-01 7.90933378e-03 6.28287626e+00] [-3.59990518e-02 4.32208912e-05 9.99351823e-01 -1.62837903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:6.30, Z:-1.65 [[ 9.72822984e-01 -2.28871586e-01 3.51174866e-02 4.56797947e+01] [ 2.28734816e-01 9.73456567e-01 7.91805874e-03 6.30425948e+00] [-3.59975666e-02 3.29722304e-04 9.99351823e-01 -1.64664090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:6.31, Z:-1.64 [[ 9.73354904e-01 -2.26598750e-01 3.51174866e-02 4.57381117e+01] [ 2.26460500e-01 9.73988165e-01 7.91805874e-03 6.31202152e+00] [-3.59982386e-02 2.45642280e-04 9.99351823e-01 -1.64397797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:6.32, Z:-1.63 [[ 9.74060957e-01 -2.23544595e-01 3.51150393e-02 4.57974205e+01] [ 2.23403969e-01 9.74693695e-01 7.92889729e-03 6.31847157e+00] [-3.59988695e-02 1.21609852e-04 9.99351823e-01 -1.63465148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:6.34, Z:-1.65 [[ 9.72576487e-01 -2.29917231e-01 3.51147344e-02 4.58540960e+01] [ 2.29780702e-01 9.73210121e-01 7.93024722e-03 6.33765581e+00] [-3.59973154e-02 3.55916361e-04 9.99351823e-01 -1.65495123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.91, Y:6.34, Z:-1.64 [[ 9.74191900e-01 -2.22973341e-01 3.51145305e-02 4.59144466e+01] [ 2.22832263e-01 9.74824538e-01 7.93115009e-03 6.34178388e+00] [-3.59989410e-02 9.81881134e-05 9.99351823e-01 -1.63981524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.97, Y:6.35, Z:-1.64 [[ 9.74044905e-01 -2.23614654e-01 3.51142427e-02 4.59726246e+01] [ 2.23473946e-01 9.74677625e-01 7.93242393e-03 6.35347053e+00] [-3.59988729e-02 1.20581275e-04 9.99351823e-01 -1.63977800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.03, Y:6.36, Z:-1.64 [[ 9.73436482e-01 -2.26248858e-01 3.51122508e-02 4.60296040e+01] [ 2.26109545e-01 9.74069510e-01 7.94123112e-03 6.36351786e+00] [-3.59984675e-02 2.08930978e-04 9.99351823e-01 -1.64287730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:6.37, Z:-1.65 [[ 9.72305349e-01 -2.31061652e-01 3.51115513e-02 4.60882124e+01] [ 2.30925361e-01 9.72939035e-01 7.94432297e-03 6.37214156e+00] [-3.59970272e-02 3.83839929e-04 9.99351823e-01 -1.64713469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.14, Y:6.38, Z:-1.65 [[ 9.71990163e-01 -2.32384249e-01 3.51095886e-02 4.61446348e+01] [ 2.32248507e-01 9.72623967e-01 7.95298741e-03 6.38320511e+00] [-3.59965764e-02 4.23923991e-04 9.99351823e-01 -1.64793275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.20, Y:6.39, Z:-1.65 [[ 9.71515359e-01 -2.34361423e-01 3.51088343e-02 4.62023529e+01] [ 2.34226851e-01 9.72149412e-01 7.95631625e-03 6.39386210e+00] [-3.59956862e-02 4.93748236e-04 9.99351823e-01 -1.65125653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:46.26, Y:6.41, Z:-1.65 [[ 9.71233444e-01 -2.35527291e-01 3.51068598e-02 4.62590145e+01] [ 2.35393165e-01 9.71867592e-01 7.96501889e-03 6.40585348e+00] [-3.59951986e-02 5.28022100e-04 9.99351823e-01 -1.65359014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.32, Y:6.42, Z:-1.66 [[ 9.70495501e-01 -2.38550095e-01 3.51046229e-02 4.63168516e+01] [ 2.38417588e-01 9.71129989e-01 7.97486539e-03 6.41663073e+00] [-3.59935570e-02 6.29988539e-04 9.99351823e-01 -1.65692645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541858063999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:46.37, Y:6.43, Z:-1.66 [[ 9.69825944e-01 -2.41258036e-01 3.51026755e-02 4.63747353e+01] [ 2.41126990e-01 9.70460736e-01 7.98342808e-03 6.42802939e+00] [-3.59918345e-02 7.21666819e-04 9.99351823e-01 -1.66234124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.43, Y:6.44, Z:-1.67 [[ 9.69122128e-01 -2.44070177e-01 3.51005654e-02 4.64319285e+01] [ 2.43940638e-01 9.69757228e-01 7.99269499e-03 6.43852295e+00] [-3.59898055e-02 8.16556745e-04 9.99351824e-01 -1.66738413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.49, Y:6.45, Z:-1.67 [[ 9.69154973e-01 -2.43939951e-01 3.50989890e-02 4.64889824e+01] [ 2.43810077e-01 9.69790004e-01 7.99961156e-03 6.44974499e+00] [-3.59900735e-02 8.04623875e-04 9.99351824e-01 -1.66631667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:6.47, Z:-1.67 [[ 9.68229820e-01 -2.47586855e-01 3.50965106e-02 4.65446734e+01] [ 2.47458979e-01 9.68865257e-01 8.01047013e-03 6.46886880e+00] [-3.59870769e-02 9.28970625e-04 9.99351824e-01 -1.67276080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:6.48, Z:-1.67 [[ 9.69203432e-01 -2.43748042e-01 3.50941525e-02 4.66014189e+01] [ 2.43617275e-01 9.69838280e-01 8.02078759e-03 6.48182410e+00] [-3.59907038e-02 7.75766946e-04 9.99351824e-01 -1.66965400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:6.50, Z:-1.67 [[ 9.69263273e-01 -2.43510134e-01 3.50930400e-02 4.66581662e+01] [ 2.43379036e-01 9.69898053e-01 8.02565221e-03 6.49896377e+00] [-3.59909989e-02 7.61940302e-04 9.99351824e-01 -1.67423166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.71, Y:6.51, Z:-1.68 [[ 9.69946454e-01 -2.40774662e-01 3.50918601e-02 4.67141650e+01] [ 2.40641587e-01 9.70580822e-01 8.03080818e-03 6.51469556e+00] [-3.59931015e-02 6.55106972e-04 9.99351824e-01 -1.67519661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.77, Y:6.53, Z:-1.68 [[ 9.70788315e-01 -2.37357725e-01 3.50907027e-02 4.67699296e+01] [ 2.37222234e-01 9.71422172e-01 8.03586206e-03 6.53015430e+00] [-3.59952606e-02 5.23173906e-04 9.99351824e-01 -1.67723329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:46.83, Y:6.54, Z:-1.68 [[ 9.71673302e-01 -2.33708785e-01 3.50884252e-02 4.68261767e+01] [ 2.33570555e-01 9.72306567e-01 8.04579464e-03 6.54404538e+00] [-3.59970791e-02 3.77739097e-04 9.99351824e-01 -1.67662850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.88, Y:6.56, Z:-1.68 [[ 9.72427112e-01 -2.30552562e-01 3.50860150e-02 4.68800945e+01] [ 2.30411898e-01 9.73059841e-01 8.05629107e-03 6.56336205e+00] [-3.59981908e-02 2.50079458e-04 9.99351824e-01 -1.68065440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.94, Y:6.58, Z:-1.68 [[ 9.73529165e-01 -2.25854190e-01 3.50834620e-02 4.69368767e+01] [ 2.25710072e-01 9.74161116e-01 8.06739366e-03 6.57750666e+00] [-3.59989992e-02 6.48477286e-05 9.99351824e-01 -1.68154857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.99, Y:6.59, Z:-1.68 [[ 9.74178343e-01 -2.23037873e-01 3.50807990e-02 4.69925425e+01] [ 2.22891512e-01 9.74809779e-01 8.07895711e-03 6.59281753e+00] [-3.59990193e-02 -5.11327282e-05 9.99351824e-01 -1.68470506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261858063999995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:47.05, Y:6.61, Z:-1.69 [[ 9.75253397e-01 -2.18289535e-01 3.50783596e-02 4.70476519e+01] [ 2.18139719e-01 9.75884021e-01 8.08953505e-03 6.60916190e+00] [-3.59982715e-02 -2.37363029e-04 9.99351824e-01 -1.69007657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:6.62, Z:-1.69 [[ 9.75633417e-01 -2.16584849e-01 3.50776111e-02 4.71043875e+01] [ 2.16433815e-01 9.76263751e-01 8.09277928e-03 6.62132751e+00] [-3.59977736e-02 -3.03604724e-04 9.99351824e-01 -1.69156472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:6.63, Z:-1.70 [[ 9.75688133e-01 -2.16338605e-01 3.50752898e-02 4.71610993e+01] [ 2.16187050e-01 9.76318341e-01 8.10282781e-03 6.63466717e+00] [-3.59976032e-02 -3.23009506e-04 9.99351824e-01 -1.69533093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441858063999994 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:6.65, Z:-1.70 [[ 9.75591528e-01 -2.16774226e-01 3.50728723e-02 4.72182088e+01] [ 2.16622576e-01 9.76221714e-01 8.11327829e-03 6.64686517e+00] [-3.59976491e-02 -3.17669599e-04 9.99351824e-01 -1.69926567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:6.66, Z:-1.70 [[ 9.75199467e-01 -2.18531603e-01 3.50704790e-02 4.72751434e+01] [ 2.18380718e-01 9.75829836e-01 8.12361053e-03 6.65776622e+00] [-3.59980854e-02 -2.63424272e-04 9.99351824e-01 -1.70201714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.33, Y:6.67, Z:-1.70 [[ 9.74859816e-01 -2.20042195e-01 3.50681108e-02 4.73313934e+01] [ 2.19891920e-01 9.75490330e-01 8.13382077e-03 6.66721887e+00] [-3.59983868e-02 -2.18140819e-04 9.99351824e-01 -1.70379186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.39, Y:6.67, Z:-1.71 [[ 9.74256936e-01 -2.22696477e-01 3.50670966e-02 4.73893569e+01] [ 2.22547762e-01 9.74887821e-01 8.13819105e-03 6.67426318e+00] [-3.59988318e-02 -1.24585214e-04 9.99351824e-01 -1.70659506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.45, Y:6.68, Z:-1.71 [[ 9.74641545e-01 -2.21007513e-01 3.50647769e-02 4.74460438e+01] [ 2.20857345e-01 9.75272085e-01 8.14817334e-03 6.68296856e+00] [-3.59985056e-02 -1.97234702e-04 9.99351824e-01 -1.70850187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:6.69, Z:-1.71 [[ 9.75157508e-01 -2.18719835e-01 3.50637777e-02 4.75031762e+01] [ 2.18568034e-01 9.75787657e-01 8.15247087e-03 6.69308541e+00] [-3.59979086e-02 -2.86122224e-04 9.99351824e-01 -1.71046739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:6.70, Z:-1.71 [[ 9.75405617e-01 -2.17611091e-01 3.50613012e-02 4.75601330e+01] [ 2.17458191e-01 9.76035501e-01 8.16310770e-03 6.70263819e+00] [-3.59974575e-02 -3.37973973e-04 9.99351824e-01 -1.71270111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:6.71, Z:-1.72 [[ 9.74565548e-01 -2.21343336e-01 3.50588113e-02 4.76158798e+01] [ 2.21192464e-01 9.75195920e-01 8.17378732e-03 6.71301437e+00] [-3.59984231e-02 -2.11146660e-04 9.99351824e-01 -1.71616043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.67, Y:6.73, Z:-1.72 [[ 9.73864486e-01 -2.24408020e-01 3.50571366e-02 4.76730391e+01] [ 2.24258874e-01 9.74495269e-01 8.18096395e-03 6.72505764e+00] [-3.59988877e-02 -1.05276276e-04 9.99351824e-01 -1.71567242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981858063999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:6.74, Z:-1.72 [[ 9.72350045e-01 -2.30882135e-01 3.50546771e-02 4.77301581e+01] [ 2.30736809e-01 9.72981718e-01 8.19148932e-03 6.73752431e+00] [-3.59988285e-02 1.23409335e-04 9.99351824e-01 -1.71652168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:6.75, Z:-1.72 [[ 9.71427324e-01 -2.34734525e-01 3.50522008e-02 4.77865338e+01] [ 2.34591323e-01 9.72059482e-01 8.20207181e-03 6.74821212e+00] [-3.59981336e-02 2.55225471e-04 9.99351825e-01 -1.71614746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:6.76, Z:-1.72 [[ 9.70791329e-01 -2.37351243e-01 3.50511410e-02 4.78421367e+01] [ 2.37209580e-01 9.71423835e-01 8.20659818e-03 6.76428322e+00] [-3.59973601e-02 3.47572092e-04 9.99351825e-01 -1.72162397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.90, Y:6.78, Z:-1.72 [[ 9.71661458e-01 -2.33763979e-01 3.50487190e-02 4.78978355e+01] [ 2.33619609e-01 9.72293351e-01 8.21692933e-03 6.77820451e+00] [-3.59984585e-02 2.03994474e-04 9.99351825e-01 -1.72035814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:6.79, Z:-1.72 [[ 9.72894734e-01 -2.28577112e-01 3.50476793e-02 4.79552559e+01] [ 2.28429213e-01 9.73525811e-01 8.22136160e-03 6.79126637e+00] [-3.59990354e-02 7.39438187e-06 9.99351825e-01 -1.72417665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:6.81, Z:-1.73 [[ 9.74052644e-01 -2.23591703e-01 3.50456482e-02 4.80102210e+01] [ 2.23440263e-01 9.74682880e-01 8.23001027e-03 6.80927042e+00] [-3.59985553e-02 -1.85854411e-04 9.99351825e-01 -1.73008312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:6.82, Z:-1.73 [[ 9.74136663e-01 -2.23225489e-01 3.50448676e-02 4.80673883e+01] [ 2.23073693e-01 9.74766813e-01 8.23333304e-03 6.82382589e+00] [-3.59984637e-02 -2.02803547e-04 9.99351825e-01 -1.72844253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:6.84, Z:-1.73 [[ 9.74686926e-01 -2.20810781e-01 3.50427764e-02 4.81241370e+01] [ 2.20657104e-01 9.75316620e-01 8.24222413e-03 6.84044694e+00] [-3.59977741e-02 -3.01150567e-04 9.99351825e-01 -1.73333402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:6.85, Z:-1.73 [[ 9.75166102e-01 -2.18685226e-01 3.50406329e-02 4.81809936e+01] [ 2.18529850e-01 9.75795378e-01 8.25132671e-03 6.85112148e+00] [-3.59969309e-02 -3.88989871e-04 9.99351825e-01 -1.73179366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:6.87, Z:-1.73 [[ 9.75347163e-01 -2.17876384e-01 3.50398800e-02 4.82370291e+01] [ 2.17720371e-01 9.75976282e-01 8.25452265e-03 6.86516545e+00] [-3.59965574e-02 -4.22129576e-04 9.99351825e-01 -1.73251732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:6.88, Z:-1.73 [[ 9.75465429e-01 -2.17346657e-01 3.50375197e-02 4.82936697e+01] [ 2.17189942e-01 9.76094374e-01 8.26452935e-03 6.87834898e+00] [-3.59961936e-02 -4.51965798e-04 9.99351825e-01 -1.73337558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:6.89, Z:-1.73 [[ 9.75433562e-01 -2.17490031e-01 3.50350272e-02 4.83518484e+01] [ 2.17333030e-01 9.76062435e-01 8.27508183e-03 6.89017770e+00] [-3.59961218e-02 -4.57523900e-04 9.99351825e-01 -1.73415499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:6.90, Z:-1.74 [[ 9.74240314e-01 -2.22774580e-01 3.50328140e-02 4.84077295e+01] [ 2.22620653e-01 9.74869947e-01 8.28444088e-03 6.90498700e+00] [-3.59980004e-02 -2.72008334e-04 9.99351825e-01 -1.74113914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:6.92, Z:-1.74 [[ 9.73535371e-01 -2.25835483e-01 3.50316453e-02 4.84655093e+01] [ 2.25683359e-01 9.74165442e-01 8.28938016e-03 6.91690946e+00] [-3.59986544e-02 -1.63945420e-04 9.99351825e-01 -1.74242836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:6.93, Z:-1.74 [[ 9.71536928e-01 -2.34283875e-01 3.50294507e-02 4.85237000e+01] [ 2.34136896e-01 9.72168219e-01 8.29864384e-03 6.92767691e+00] [-3.59987571e-02 1.39247905e-04 9.99351825e-01 -1.74270007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:6.94, Z:-1.74 [[ 9.69355660e-01 -2.43151586e-01 3.50272869e-02 4.85813318e+01] [ 2.43010052e-01 9.69988194e-01 8.30776666e-03 6.94141977e+00] [-3.59961014e-02 4.58802168e-04 9.99351825e-01 -1.74433668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:6.96, Z:-1.75 [[ 9.68500661e-01 -2.46535412e-01 3.50251346e-02 4.86378947e+01] [ 2.46395760e-01 9.69133613e-01 8.31683095e-03 6.95502233e+00] [-3.59944286e-02 5.75188392e-04 9.99351825e-01 -1.74601140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:48.69, Y:6.97, Z:-1.75 [[ 9.67830945e-01 -2.49151912e-01 3.50226725e-02 4.86933954e+01] [ 2.49013596e-01 9.68464190e-01 8.32718622e-03 6.97116171e+00] [-3.59929385e-02 6.61813113e-04 9.99351825e-01 -1.74808169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:48.75, Y:6.99, Z:-1.75 [[ 9.67703032e-01 -2.49648620e-01 3.50201235e-02 4.87480748e+01] [ 2.49510242e-01 9.68336263e-01 8.33789219e-03 6.98711879e+00] [-3.59927988e-02 6.69275952e-04 9.99351825e-01 -1.75030833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121858063999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:48.80, Y:7.01, Z:-1.76 [[ 9.67447119e-01 -2.50638661e-01 3.50190355e-02 4.88030442e+01] [ 2.50500766e-01 9.68080456e-01 8.34245944e-03 7.00835137e+00] [-3.59921867e-02 7.01406839e-04 9.99351825e-01 -1.75867026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.86, Y:7.02, Z:-1.76 [[ 9.68700362e-01 -2.45750744e-01 3.50168716e-02 4.88584815e+01] [ 2.45609325e-01 9.69332921e-01 8.35153227e-03 7.02482342e+00] [-3.59954017e-02 5.10337868e-04 9.99351825e-01 -1.76147350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:7.04, Z:-1.76 [[ 9.69245439e-01 -2.43592183e-01 3.50161131e-02 4.89141789e+01] [ 2.43449241e-01 9.69877655e-01 8.35471107e-03 7.04218141e+00] [-3.59964880e-02 4.26880560e-04 9.99351825e-01 -1.76289304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:7.06, Z:-1.76 [[ 9.69922207e-01 -2.40883682e-01 3.50137675e-02 4.89691573e+01] [ 2.40738620e-01 9.70553941e-01 8.36452967e-03 7.06285161e+00] [-3.59976288e-02 3.16222998e-04 9.99351825e-01 -1.76406817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:7.08, Z:-1.77 [[ 9.70552350e-01 -2.38332427e-01 3.50112869e-02 4.90234250e+01] [ 2.38185330e-01 9.71183613e-01 8.37490011e-03 7.08055444e+00] [-3.59983983e-02 2.10895917e-04 9.99351825e-01 -1.76773299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42185806399999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:7.10, Z:-1.77 [[ 9.71117191e-01 -2.36020518e-01 3.50102229e-02 4.90787927e+01] [ 2.35871757e-01 9.71748064e-01 8.37934559e-03 7.09998280e+00] [-3.59988138e-02 1.20596240e-04 9.99351825e-01 -1.77097192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:7.11, Z:-1.77 [[ 9.71798725e-01 -2.33198838e-01 3.50077266e-02 4.91360283e+01] [ 2.33047871e-01 9.72429073e-01 8.38976185e-03 7.11134002e+00] [-3.59990138e-02 5.31627261e-06 9.99351825e-01 -1.77052402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:7.13, Z:-1.77 [[ 9.71712018e-01 -2.33559987e-01 3.50069611e-02 4.91922278e+01] [ 2.33409139e-01 9.72342395e-01 8.39295478e-03 7.12789500e+00] [-3.59990108e-02 1.54096062e-05 9.99351825e-01 -1.77261436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:7.15, Z:-1.78 [[ 9.71763627e-01 -2.33345520e-01 3.50046073e-02 4.92490378e+01] [ 2.33194179e-01 9.72393885e-01 8.40276010e-03 7.14520830e+00] [-3.59990126e-02 -2.62595793e-06 9.99351825e-01 -1.77572877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:7.16, Z:-1.78 [[ 9.71548390e-01 -2.34240360e-01 3.50025551e-02 4.93056329e+01] [ 2.34089292e-01 9.72178715e-01 8.41130026e-03 7.15945569e+00] [-3.59990050e-02 2.17381195e-05 9.99351826e-01 -1.77702658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721858063999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:49.36, Y:7.17, Z:-1.78 [[ 9.70729351e-01 -2.37612130e-01 3.50000493e-02 4.93619009e+01] [ 2.37462876e-01 9.71360107e-01 8.42171423e-03 7.17319378e+00] [-3.59987531e-02 1.36007190e-04 9.99351826e-01 -1.78211471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:49.42, Y:7.19, Z:-1.78 [[ 9.69755151e-01 -2.41557440e-01 3.49992802e-02 4.94193434e+01] [ 2.41410637e-01 9.70386483e-01 8.42490921e-03 7.18756523e+00] [-3.59979279e-02 2.79099408e-04 9.99351826e-01 -1.78302625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.48, Y:7.20, Z:-1.78 [[ 9.68823735e-01 -2.45266748e-01 3.49970535e-02 4.94773959e+01] [ 2.45122028e-01 9.69455546e-01 8.43414879e-03 7.20041504e+00] [-3.59967039e-02 4.07345207e-04 9.99351826e-01 -1.78342065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901858063999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:7.22, Z:-1.79 [[ 9.67660393e-01 -2.49817361e-01 3.49949964e-02 4.95334462e+01] [ 2.49675304e-01 9.68292809e-01 8.44267564e-03 7.21509680e+00] [-3.59945303e-02 5.67743537e-04 9.99351826e-01 -1.78748594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:49.59, Y:7.23, Z:-1.79 [[ 9.67143082e-01 -2.51812754e-01 3.49942159e-02 4.95898503e+01] [ 2.51671885e-01 9.67775764e-01 8.44590934e-03 7.22863581e+00] [-3.59933417e-02 6.38657493e-04 9.99351826e-01 -1.78936206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:7.24, Z:-1.79 [[ 9.66664640e-01 -2.53643531e-01 3.49918853e-02 4.96461487e+01] [ 2.53503511e-01 9.67297510e-01 8.45555403e-03 7.24348287e+00] [-3.59922602e-02 6.96880704e-04 9.99351826e-01 -1.79460617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081858063999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.70, Y:7.26, Z:-1.80 [[ 9.66821220e-01 -2.53046147e-01 3.49910956e-02 4.97024513e+01] [ 2.52905618e-01 9.67453977e-01 8.45882113e-03 7.25848791e+00] [-3.59927466e-02 6.71276869e-04 9.99351826e-01 -1.79720239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:49.76, Y:7.27, Z:-1.79 [[ 9.67504880e-01 -2.50419861e-01 3.49885772e-02 4.97588535e+01] [ 2.50277238e-01 9.68137168e-01 8.46922504e-03 7.27027421e+00] [-3.59946042e-02 5.62827915e-04 9.99351826e-01 -1.79335720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.82, Y:7.28, Z:-1.79 [[ 9.67588361e-01 -2.50097344e-01 3.49868836e-02 4.98151971e+01] [ 2.49954257e-01 9.68220545e-01 8.47621573e-03 7.28427857e+00] [-3.59948985e-02 5.43632818e-04 9.99351826e-01 -1.79411848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261858063999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:7.30, Z:-1.80 [[ 9.67494035e-01 -2.50462325e-01 3.49845140e-02 4.98707009e+01] [ 2.50319123e-01 9.68126193e-01 8.48598452e-03 7.30024871e+00] [-3.59948438e-02 5.47153479e-04 9.99351826e-01 -1.80125659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:7.31, Z:-1.80 [[ 9.68456735e-01 -2.46714028e-01 3.49819967e-02 4.99263806e+01] [ 2.46568006e-01 9.69088247e-01 8.49634897e-03 7.31214317e+00] [-3.59968104e-02 3.97094788e-04 9.99351826e-01 -1.79826846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.98, Y:7.33, Z:-1.80 [[ 9.69344225e-01 -2.43203844e-01 3.49809062e-02 4.99822788e+01] [ 2.43055373e-01 9.69975165e-01 8.50083661e-03 7.32593870e+00] [-3.59980464e-02 2.62060331e-04 9.99351826e-01 -1.80111721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441858063999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:50.04, Y:7.34, Z:-1.80 [[ 9.70423862e-01 -2.38859861e-01 3.49784932e-02 5.00391317e+01] [ 2.38708208e-01 9.71054045e-01 8.51075392e-03 7.33913576e+00] [-3.59988848e-02 9.06147224e-05 9.99351826e-01 -1.80311572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:7.35, Z:-1.81 [[ 9.70657671e-01 -2.37908300e-01 3.49760910e-02 5.00952844e+01] [ 2.37755674e-01 9.71287619e-01 8.52061474e-03 7.35258399e+00] [-3.59989691e-02 4.51640119e-05 9.99351826e-01 -1.80940831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56185806399999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:50.15, Y:7.36, Z:-1.81 [[ 9.71602397e-01 -2.34020564e-01 3.49736627e-02 5.01509177e+01] [ 2.33865059e-01 9.72231641e-01 8.53057027e-03 7.36386855e+00] [-3.59988303e-02 -1.09204858e-04 9.99351826e-01 -1.80634143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:7.38, Z:-1.81 [[ 9.71623346e-01 -2.33933742e-01 3.49725308e-02 5.02076640e+01] [ 2.33778013e-01 9.72252534e-01 8.53520810e-03 7.37672979e+00] [-3.59988049e-02 -1.17198696e-04 9.99351826e-01 -1.80923579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.26, Y:7.39, Z:-1.81 [[ 9.71482146e-01 -2.34519786e-01 3.49701320e-02 5.02642165e+01] [ 2.34364083e-01 9.72111341e-01 8.54502520e-03 7.38811697e+00] [-3.59988393e-02 -1.05596493e-04 9.99351826e-01 -1.81112747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.32, Y:7.40, Z:-1.81 [[ 9.71195179e-01 -2.35705712e-01 3.49677136e-02 5.03211163e+01] [ 2.35550422e-01 9.71824476e-01 8.55491025e-03 7.40052814e+00] [-3.59989211e-02 -7.18278998e-05 9.99351826e-01 -1.81270155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.38, Y:7.41, Z:-1.81 [[ 9.71215736e-01 -2.35621354e-01 3.49652995e-02 5.03780214e+01] [ 2.35465655e-01 9.71844931e-01 8.56476559e-03 7.41277852e+00] [-3.59988907e-02 -8.51079654e-05 9.99351826e-01 -1.81417810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.43, Y:7.42, Z:-1.82 [[ 9.71547608e-01 -2.34249531e-01 3.49628657e-02 5.04333271e+01] [ 2.34092586e-01 9.72176494e-01 8.57468943e-03 7.42466769e+00] [-3.59986931e-02 -1.46171365e-04 9.99351826e-01 -1.81775594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92185806399999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:50.49, Y:7.44, Z:-1.82 [[ 9.71724364e-01 -2.33515376e-01 3.49618193e-02 5.04899007e+01] [ 2.33357803e-01 9.72353093e-01 8.57895385e-03 7.43826209e+00] [-3.59985507e-02 -1.77765147e-04 9.99351826e-01 -1.82160206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:7.45, Z:-1.83 [[ 9.70981246e-01 -2.36586687e-01 3.49593945e-02 5.05475008e+01] [ 2.36430747e-01 9.71610382e-01 8.58882323e-03 7.45116448e+00] [-3.59989119e-02 -7.41105099e-05 9.99351826e-01 -1.82927318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041858063999996 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:7.46, Z:-1.83 [[ 9.71270878e-01 -2.35395011e-01 3.49581394e-02 5.06058901e+01] [ 2.35238115e-01 9.71899776e-01 8.59392907e-03 7.45656596e+00] [-3.59987758e-02 -1.23546228e-04 9.99351826e-01 -1.82560182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:7.47, Z:-1.83 [[ 9.70998485e-01 -2.36516294e-01 3.49569032e-02 5.06632206e+01] [ 2.36359943e-01 9.71627519e-01 8.59895445e-03 7.46817017e+00] [-3.59988819e-02 -8.71600866e-05 9.99351826e-01 -1.82767348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:50.72, Y:7.48, Z:-1.83 [[ 9.70885238e-01 -2.36981098e-01 3.49544611e-02 5.07201340e+01] [ 2.36824692e-01 9.71514258e-01 8.60886986e-03 7.47812867e+00] [-3.59988968e-02 -8.01451665e-05 9.99351826e-01 -1.83172615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.78, Y:7.49, Z:-1.83 [[ 9.70865072e-01 -2.37064063e-01 3.49519901e-02 5.07767053e+01] [ 2.36907349e-01 9.71494016e-01 8.61889060e-03 7.48944810e+00] [-3.59988784e-02 -8.73965189e-05 9.99351826e-01 -1.83476562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.83, Y:7.50, Z:-1.84 [[ 9.70449890e-01 -2.38758332e-01 3.49495330e-02 5.08339051e+01] [ 2.38602359e-01 9.71079017e-01 8.62884256e-03 7.49967156e+00] [-3.59989662e-02 -3.48183031e-05 9.99351827e-01 -1.83884318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.89, Y:7.51, Z:-1.84 [[ 9.69753826e-01 -2.41570316e-01 3.49470909e-02 5.08911219e+01] [ 2.41415811e-01 9.70383315e-01 8.63872178e-03 7.50909611e+00] [-3.59989327e-02 5.93467965e-05 9.99351827e-01 -1.84287669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:7.52, Z:-1.85 [[ 9.69095754e-01 -2.44197244e-01 3.49446030e-02 5.09486506e+01] [ 2.44044082e-01 9.69725572e-01 8.64877410e-03 7.51957211e+00] [-3.59986819e-02 1.46533314e-04 9.99351827e-01 -1.84574112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:7.53, Z:-1.85 [[ 9.67935810e-01 -2.48755534e-01 3.49421199e-02 5.10049044e+01] [ 2.48604976e-01 9.68566255e-01 8.65879452e-03 7.52852702e+00] [-3.59976813e-02 3.05627598e-04 9.99351827e-01 -1.84941928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:7.54, Z:-1.85 [[ 9.67225151e-01 -2.51504733e-01 3.49410537e-02 5.10619536e+01] [ 2.51355813e-01 9.67855984e-01 8.66309468e-03 7.53897615e+00] [-3.59967173e-02 4.03473898e-04 9.99351827e-01 -1.85116513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:7.55, Z:-1.85 [[ 9.66698928e-01 -2.53520172e-01 3.49386020e-02 5.11196368e+01] [ 2.53372209e-01 9.67329987e-01 8.67297150e-03 7.54723957e+00] [-3.59959306e-02 4.68318513e-04 9.99351827e-01 -1.85364664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.18, Y:7.56, Z:-1.86 [[ 9.66344735e-01 -2.54867258e-01 3.49361368e-02 5.11757197e+01] [ 2.54719817e-01 9.66975916e-01 8.68289022e-03 7.55979745e+00] [-3.59953873e-02 5.08261119e-04 9.99351827e-01 -1.86198107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:7.57, Z:-1.86 [[ 9.66873039e-01 -2.52856034e-01 3.49335495e-02 5.12318035e+01] [ 2.52706904e-01 9.67503823e-01 8.69328711e-03 7.56997812e+00] [-3.59964928e-02 4.22644213e-04 9.99351827e-01 -1.85965015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:7.58, Z:-1.86 [[ 9.67789365e-01 -2.49326033e-01 3.49324359e-02 5.12891801e+01] [ 2.49174440e-01 9.68419562e-01 8.69775988e-03 7.57993237e+00] [-3.59978322e-02 2.86670642e-04 9.99351827e-01 -1.86141188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:7.59, Z:-1.86 [[ 9.68657580e-01 -2.45931676e-01 3.49299850e-02 5.13456649e+01] [ 2.45777521e-01 9.69287155e-01 8.70759151e-03 7.59361191e+00] [-3.59986583e-02 1.50330580e-04 9.99351827e-01 -1.86248520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:7.61, Z:-1.86 [[ 9.69683746e-01 -2.41854329e-01 3.49273019e-02 5.14011281e+01] [ 2.41697139e-01 9.70312570e-01 8.71834045e-03 7.60709500e+00] [-3.59989684e-02 -1.22040855e-05 9.99351827e-01 -1.86461412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:7.62, Z:-1.86 [[ 9.70047651e-01 -2.40390751e-01 3.49262313e-02 5.14580895e+01] [ 2.40232458e-01 9.70676198e-01 8.72262727e-03 7.62001069e+00] [-3.59989003e-02 -7.09497048e-05 9.99351827e-01 -1.86499966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.51, Y:7.63, Z:-1.87 [[ 9.69998652e-01 -2.40588750e-01 3.49237493e-02 5.15129648e+01] [ 2.40430228e-01 9.70627142e-01 8.73255346e-03 7.63392787e+00] [-3.59988930e-02 -7.38400836e-05 9.99351827e-01 -1.86763594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.57, Y:7.65, Z:-1.87 [[ 9.69737627e-01 -2.41638952e-01 3.49220789e-02 5.15690464e+01] [ 2.41480870e-01 9.70366227e-01 8.73922823e-03 7.64789024e+00] [-3.59989439e-02 -4.17444497e-05 9.99351827e-01 -1.86886277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.63, Y:7.66, Z:-1.87 [[ 9.69232874e-01 -2.43655886e-01 3.49205489e-02 5.16255611e+01] [ 2.43498892e-01 9.69861747e-01 8.74533752e-03 7.66213958e+00] [-3.59989575e-02 2.68463672e-05 9.99351827e-01 -1.87226247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:51.68, Y:7.68, Z:-1.87 [[ 9.68323408e-01 -2.47245846e-01 3.49180441e-02 5.16814674e+01] [ 2.47090823e-01 9.68952769e-01 8.75532734e-03 7.67648862e+00] [-3.59986538e-02 1.49939846e-04 9.99351827e-01 -1.87388459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.74, Y:7.69, Z:-1.88 [[ 9.67601800e-01 -2.50055302e-01 3.49156352e-02 5.17362417e+01] [ 2.49901761e-01 9.68231525e-01 8.76492346e-03 7.69073999e+00] [-3.59981343e-02 2.44522990e-04 9.99351827e-01 -1.87665677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301858063999994 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:7.71, Z:-1.88 [[ 9.66069821e-01 -2.55910282e-01 3.49146017e-02 5.17925687e+01] [ 2.55760408e-01 9.66700428e-01 8.76903810e-03 7.70560543e+00] [-3.59960475e-02 4.58269718e-04 9.99351827e-01 -1.87807172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.85, Y:7.72, Z:-1.88 [[ 9.65234309e-01 -2.59044153e-01 3.49121161e-02 5.18479469e+01] [ 2.58895970e-01 9.65865315e-01 8.77892321e-03 7.72089249e+00] [-3.59945307e-02 5.64888257e-04 9.99351827e-01 -1.88042686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.90, Y:7.74, Z:-1.88 [[ 9.64317643e-01 -2.62436091e-01 3.49110476e-02 5.19040465e+01] [ 2.62289972e-01 9.64949131e-01 8.78317013e-03 7.73753371e+00] [-3.59924059e-02 6.87051788e-04 9.99351827e-01 -1.88123511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:7.75, Z:-1.88 [[ 9.63923549e-01 -2.63880242e-01 3.49085773e-02 5.19585510e+01] [ 2.63734715e-01 9.64555174e-01 8.79297717e-03 7.75295361e+00] [-3.59915418e-02 7.30845916e-04 9.99351827e-01 -1.88244026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:7.77, Z:-1.89 [[ 9.63708030e-01 -2.64666389e-01 3.49075156e-02 5.20132411e+01] [ 2.64521225e-01 9.64339738e-01 8.79719012e-03 7.77183781e+00] [-3.59910250e-02 7.55856016e-04 9.99351827e-01 -1.88906635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.07, Y:7.79, Z:-1.89 [[ 9.64558289e-01 -2.61551056e-01 3.49048950e-02 5.20693015e+01] [ 2.61403476e-01 9.65189437e-01 8.80757578e-03 7.78797421e+00] [-3.59934667e-02 6.28840642e-04 9.99351827e-01 -1.88828634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.12, Y:7.81, Z:-1.89 [[ 9.65100154e-01 -2.59544596e-01 3.49040813e-02 5.21236652e+01] [ 2.59395586e-01 9.65730967e-01 8.81079941e-03 7.80574038e+00] [-3.59947475e-02 5.50660746e-04 9.99351827e-01 -1.89154237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721858063999996 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:52.18, Y:7.83, Z:-1.90 [[ 9.64294231e-01 -2.62523252e-01 3.49024141e-02 5.21783620e+01] [ 2.62375952e-01 9.64925444e-01 8.81739878e-03 7.82542687e+00] [-3.59929996e-02 6.54987351e-04 9.99351827e-01 -1.90144395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.24, Y:7.84, Z:-1.89 [[ 9.65052453e-01 -2.59722470e-01 3.48998861e-02 5.22351246e+01] [ 2.59572976e-01 9.65683150e-01 8.82739341e-03 7.84030256e+00] [-3.59949043e-02 5.40169636e-04 9.99351827e-01 -1.89438899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:7.86, Z:-1.89 [[ 9.64271879e-01 -2.62605835e-01 3.48986988e-02 5.22915495e+01] [ 2.62458058e-01 9.64902981e-01 8.83208488e-03 7.85604579e+00] [-3.59932155e-02 6.42913603e-04 9.99351827e-01 -1.89401848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.35, Y:7.87, Z:-1.90 [[ 9.63812903e-01 -2.64285722e-01 3.48961940e-02 5.23470694e+01] [ 2.64138688e-01 9.64444178e-01 8.84197038e-03 7.87319470e+00] [-3.59922377e-02 6.95429734e-04 9.99351828e-01 -1.89608690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:7.89, Z:-1.90 [[ 9.63120895e-01 -2.66796871e-01 3.48937112e-02 5.24022750e+01] [ 2.66651128e-01 9.63752470e-01 8.85175772e-03 7.89163749e+00] [-3.59905216e-02 7.79134612e-04 9.99351828e-01 -1.89940946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.46, Y:7.91, Z:-1.91 [[ 9.61276716e-01 -2.73367298e-01 3.48911993e-02 5.24559435e+01] [ 2.73225512e-01 9.61909190e-01 8.86164782e-03 7.91373408e+00] [-3.59846500e-02 1.01467008e-03 9.99351828e-01 -1.91469261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081858063999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:7.92, Z:-1.90 [[ 9.61903580e-01 -2.71153391e-01 3.48904284e-02 5.25145789e+01] [ 2.71010039e-01 9.62535701e-01 8.86468192e-03 7.92465810e+00] [-3.59869715e-02 9.28687100e-04 9.99351828e-01 -1.90429918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:7.94, Z:-1.91 [[ 9.61252908e-01 -2.73451378e-01 3.48882639e-02 5.25695387e+01] [ 2.73309229e-01 9.61885301e-01 8.87319231e-03 7.94376338e+00] [-3.59848949e-02 1.00590260e-03 9.99351828e-01 -1.90864028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.62, Y:7.96, Z:-1.91 [[ 9.60730048e-01 -2.75283037e-01 3.48858784e-02 5.26245475e+01] [ 2.75141754e-01 9.61362635e-01 8.88256153e-03 7.96134927e+00] [-3.59831985e-02 1.06481799e-03 9.99351828e-01 -1.91064751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261858063999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.68, Y:7.98, Z:-1.91 [[ 9.60042807e-01 -2.77670608e-01 3.48832674e-02 5.26789920e+01] [ 2.77530526e-01 9.60675661e-01 8.89280333e-03 7.97925282e+00] [-3.59807761e-02 1.14369968e-03 9.99351828e-01 -1.91327550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.73, Y:8.00, Z:-1.92 [[ 9.59684228e-01 -2.78907617e-01 3.48815644e-02 5.27339619e+01] [ 2.78768108e-01 9.60317209e-01 8.89947841e-03 7.99783765e+00] [-3.59794989e-02 1.18317865e-03 9.99351828e-01 -1.91664427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:8.02, Z:-1.92 [[ 9.59687061e-01 -2.78898175e-01 3.48791250e-02 5.27890371e+01] [ 2.78758313e-01 9.60319963e-01 8.90902858e-03 8.01747879e+00] [-3.59798319e-02 1.17296661e-03 9.99351828e-01 -1.91704715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441858063999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.84, Y:8.03, Z:-1.92 [[ 9.59959578e-01 -2.77959057e-01 3.48765179e-02 5.28445123e+01] [ 2.77818206e-01 9.60592261e-01 8.91922294e-03 8.03479665e+00] [-3.59812920e-02 1.12723816e-03 9.99351828e-01 -1.91849072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.90, Y:8.06, Z:-1.92 [[ 9.61025798e-01 -2.74250276e-01 3.48740777e-02 5.28982374e+01] [ 2.74106637e-01 9.61657854e-01 8.92875430e-03 8.05603874e+00] [-3.59856440e-02 9.78452919e-04 9.99351828e-01 -1.92138232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:8.08, Z:-1.92 [[ 9.62145773e-01 -2.70294995e-01 3.48730276e-02 5.29533783e+01] [ 2.70148609e-01 9.62777198e-01 8.93285350e-03 8.07585111e+00] [-3.59894614e-02 8.26192685e-04 9.99351828e-01 -1.92461149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.01, Y:8.09, Z:-1.93 [[ 9.62556217e-01 -2.68830018e-01 3.48704921e-02 5.30084494e+01] [ 2.68682314e-01 9.63187335e-01 8.94274018e-03 8.09345338e+00] [-3.59908934e-02 7.61194344e-04 9.99351828e-01 -1.92622812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:8.11, Z:-1.93 [[ 9.62717187e-01 -2.68253316e-01 3.48679721e-02 5.30634936e+01] [ 2.68104878e-01 9.63348134e-01 8.95255489e-03 8.11162035e+00] [-3.59915484e-02 7.29494941e-04 9.99351828e-01 -1.92687830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:8.13, Z:-1.93 [[ 9.62611228e-01 -2.68633618e-01 3.48654960e-02 5.31193461e+01] [ 2.68485080e-01 9.63242151e-01 8.96218776e-03 8.12910736e+00] [-3.59914603e-02 7.33762927e-04 9.99351828e-01 -1.92843644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:8.15, Z:-1.93 [[ 9.62891828e-01 -2.67626418e-01 3.48629801e-02 5.31735878e+01] [ 2.67476866e-01 9.63522511e-01 8.97196408e-03 8.14717161e+00] [-3.59924007e-02 6.86009759e-04 9.99351828e-01 -1.92970802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861858063999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:8.16, Z:-1.93 [[ 9.63111791e-01 -2.66833974e-01 3.48612844e-02 5.32286803e+01] [ 2.66683666e-01 9.63742293e-01 8.97854782e-03 8.16424206e+00] [-3.59930758e-02 6.49589848e-04 9.99351828e-01 -1.93241319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92185806399999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:8.18, Z:-1.94 [[ 9.63651858e-01 -2.64877240e-01 3.48589181e-02 5.32840381e+01] [ 2.64725320e-01 9.64281974e-01 8.98772572e-03 8.18233734e+00] [-3.59944703e-02 5.66999637e-04 9.99351828e-01 -1.93616952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.34, Y:8.20, Z:-1.94 [[ 9.64144365e-01 -2.63079209e-01 3.48564704e-02 5.33395775e+01] [ 2.62925770e-01 9.64774113e-01 8.99720837e-03 8.19923064e+00] [-3.59955988e-02 4.90056586e-04 9.99351828e-01 -1.93961422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:8.22, Z:-1.94 [[ 9.64548852e-01 -2.61592657e-01 3.48538881e-02 5.33952688e+01] [ 2.61437887e-01 9.65178275e-01 9.00720098e-03 8.21512992e+00] [-3.59964332e-02 4.24241476e-04 9.99351828e-01 -1.94229157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.45, Y:8.23, Z:-1.94 [[ 9.64824967e-01 -2.60572770e-01 3.48513153e-02 5.34507582e+01] [ 2.60416975e-01 9.65454137e-01 9.01714456e-03 8.22967670e+00] [-3.59969689e-02 3.75907903e-04 9.99351828e-01 -1.94436004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16185806399999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:8.24, Z:-1.95 [[ 9.65155190e-01 -2.59347192e-01 3.48495801e-02 5.35075703e+01] [ 2.59190356e-01 9.65784101e-01 9.02384590e-03 8.24334796e+00] [-3.59974795e-02 3.23263364e-04 9.99351828e-01 -1.94708826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:8.26, Z:-1.95 [[ 9.65558911e-01 -2.57840404e-01 3.48470320e-02 5.35635545e+01] [ 2.57682232e-01 9.66187487e-01 9.03367518e-03 8.25693317e+00] [-3.59980127e-02 2.56915423e-04 9.99351828e-01 -1.95029677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:8.27, Z:-1.95 [[ 9.65895280e-01 -2.56577803e-01 3.48444864e-02 5.36192753e+01] [ 2.56418455e-01 9.66523560e-01 9.04348328e-03 8.27126957e+00] [-3.59983741e-02 1.99711563e-04 9.99351829e-01 -1.95354276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:8.28, Z:-1.96 [[ 9.66264344e-01 -2.55184758e-01 3.48418866e-02 5.36756587e+01] [ 2.55024144e-01 9.66892300e-01 9.05348865e-03 8.28410548e+00] [-3.59986642e-02 1.37459025e-04 9.99351829e-01 -1.95510304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.73, Y:8.30, Z:-1.96 [[ 9.66869067e-01 -2.52884227e-01 3.48392659e-02 5.37320548e+01] [ 2.52721756e-01 9.67496546e-01 9.06356228e-03 8.29586894e+00] [-3.59989013e-02 4.13624374e-05 9.99351829e-01 -1.95687722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.79, Y:8.31, Z:-1.96 [[ 9.67103337e-01 -2.51986938e-01 3.48384714e-02 5.37886726e+01] [ 2.51823775e-01 9.67730635e-01 9.06661493e-03 8.30910583e+00] [-3.59989246e-02 4.80184274e-06 9.99351829e-01 -1.96092685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.85, Y:8.32, Z:-1.97 [[ 9.66928906e-01 -2.52655801e-01 3.48358614e-02 5.38453067e+01] [ 2.52492711e-01 9.67556224e-01 9.07663229e-03 8.32006057e+00] [-3.59989183e-02 1.93429466e-05 9.99351829e-01 -1.96639969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.90, Y:8.33, Z:-1.97 [[ 9.67127697e-01 -2.51894160e-01 3.48331601e-02 5.39022843e+01] [ 2.51730203e-01 9.67754789e-01 9.08698729e-03 8.32972281e+00] [-3.59989165e-02 -1.97186547e-05 9.99351829e-01 -1.96637807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:53.96, Y:8.34, Z:-1.97 [[ 9.67141893e-01 -2.51839767e-01 3.48323325e-02 5.39592451e+01] [ 2.51675660e-01 9.67768945e-01 9.09015820e-03 8.34129824e+00] [-3.59989130e-02 -2.50225113e-05 9.99351829e-01 -1.97038446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.02, Y:8.35, Z:-1.98 [[ 9.66107547e-01 -2.55779145e-01 3.48315548e-02 5.40165726e+01] [ 2.55617488e-01 9.66735235e-01 9.09313726e-03 8.35022034e+00] [-3.59987262e-02 1.18606017e-04 9.99351829e-01 -1.97507036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761858063999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:54.07, Y:8.36, Z:-1.98 [[ 9.65266929e-01 -2.58933778e-01 3.48289247e-02 5.40736630e+01] [ 2.58773809e-01 9.65895050e-01 9.10320027e-03 8.36139343e+00] [-3.59982120e-02 2.25795316e-04 9.99351829e-01 -1.97564159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:54.13, Y:8.37, Z:-1.98 [[ 9.63902454e-01 -2.63968177e-01 3.48261539e-02 5.41292794e+01] [ 2.63811106e-01 9.64531305e-01 9.11378799e-03 8.37274516e+00] [-3.59966657e-02 4.02723583e-04 9.99351829e-01 -1.97995538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.19, Y:8.38, Z:-1.98 [[ 9.62639038e-01 -2.68539203e-01 3.48249659e-02 5.41868168e+01] [ 2.68384953e-01 9.63268588e-01 9.11832547e-03 8.38328942e+00] [-3.59944236e-02 5.68840775e-04 9.99351829e-01 -1.98363629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941858063999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.24, Y:8.40, Z:-1.99 [[ 9.61790688e-01 -2.71562284e-01 3.48223917e-02 5.42430867e+01] [ 2.71409658e-01 9.62420633e-01 9.12814537e-03 8.39666765e+00] [-3.59926483e-02 6.71768199e-04 9.99351829e-01 -1.98587897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.30, Y:8.41, Z:-1.98 [[ 9.61102848e-01 -2.73987033e-01 3.48198451e-02 5.43013079e+01] [ 2.73835645e-01 9.61733092e-01 9.13784943e-03 8.40931254e+00] [-3.59910495e-02 7.52501614e-04 9.99351829e-01 -1.98122958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.36, Y:8.42, Z:-1.99 [[ 9.60849182e-01 -2.74875585e-01 3.48175619e-02 5.43567183e+01] [ 2.74724465e-01 9.61479490e-01 9.14654063e-03 8.42252551e+00] [-3.59905324e-02 7.76789977e-04 9.99351829e-01 -1.99107269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.41, Y:8.44, Z:-1.99 [[ 9.61189058e-01 -2.73684864e-01 3.48165263e-02 5.44131461e+01] [ 2.73532820e-01 9.61819144e-01 9.15048113e-03 8.43679484e+00] [-3.59915497e-02 7.28120298e-04 9.99351829e-01 -1.99340838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.47, Y:8.45, Z:-2.00 [[ 9.61947046e-01 -2.71008975e-01 3.48140108e-02 5.44695263e+01] [ 2.70854832e-01 9.62576622e-01 9.16004137e-03 8.45197760e+00] [-3.59936064e-02 6.18068321e-04 9.99351829e-01 -1.99567788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.53, Y:8.47, Z:-1.99 [[ 9.63354097e-01 -2.65964362e-01 3.48115039e-02 5.45271447e+01] [ 2.65806579e-01 9.63982771e-01 9.16955894e-03 8.46507892e+00] [-3.59964658e-02 4.19594568e-04 9.99351829e-01 -1.98804155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:8.48, Z:-1.99 [[ 9.63794925e-01 -2.64362759e-01 3.48091031e-02 5.45845752e+01] [ 2.64203602e-01 9.64423252e-01 9.17866373e-03 8.47962969e+00] [-3.59972052e-02 3.50340873e-04 9.99351829e-01 -1.99040944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:8.49, Z:-1.99 [[ 9.63733650e-01 -2.64586365e-01 3.48067101e-02 5.46399466e+01] [ 2.64427026e-01 9.64361931e-01 9.18772911e-03 8.49485541e+00] [-3.59972140e-02 3.49311141e-04 9.99351829e-01 -1.99327208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:8.51, Z:-2.00 [[ 9.63704767e-01 -2.64691658e-01 3.48058696e-02 5.46960588e+01] [ 2.64532273e-01 9.64333036e-01 9.19091224e-03 8.50813750e+00] [-3.59972077e-02 3.49949871e-04 9.99351829e-01 -1.99573592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481858063999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:8.52, Z:-2.00 [[ 9.63366725e-01 -2.65919719e-01 3.48031219e-02 5.47520051e+01] [ 2.65760759e-01 9.63995101e-01 9.20130524e-03 8.52141806e+00] [-3.59968475e-02 3.85072785e-04 9.99351829e-01 -1.99931773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:8.54, Z:-2.01 [[ 9.62424850e-01 -2.69308816e-01 3.48018600e-02 5.48075871e+01] [ 2.69151896e-01 9.63053739e-01 9.20607564e-03 8.53756701e+00] [-3.59953387e-02 5.06830636e-04 9.99351829e-01 -2.00803510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60185806399999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:8.55, Z:-2.01 [[ 9.62418712e-01 -2.69330854e-01 3.48010647e-02 5.48647222e+01] [ 2.69173841e-01 9.63047577e-01 9.20908078e-03 8.54924605e+00] [-3.59953707e-02 5.04544596e-04 9.99351829e-01 -2.01032855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:8.57, Z:-2.02 [[ 9.61702125e-01 -2.71878826e-01 3.47983737e-02 5.49207031e+01] [ 2.71723111e-01 9.62331313e-01 9.21923813e-03 8.56574922e+00] [-3.59940803e-02 5.89361455e-04 9.99351829e-01 -2.02020005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:8.58, Z:-2.02 [[ 9.62769789e-01 -2.68073821e-01 3.47959782e-02 5.49772779e+01] [ 2.67915293e-01 9.63398274e-01 9.22827071e-03 8.57644506e+00] [-3.59962431e-02 4.37674444e-04 9.99351829e-01 -2.02064950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:8.59, Z:-2.02 [[ 9.63100419e-01 -2.66883730e-01 3.47945016e-02 5.50340338e+01] [ 2.66724224e-01 9.63728657e-01 9.23383455e-03 8.58840856e+00] [-3.59968186e-02 3.87426541e-04 9.99351829e-01 -2.02365132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84185806399999 meters Centerline goodness : 0.997152 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:8.59, Z:-2.02 [[ 9.65061534e-01 -2.59703221e-01 3.47918368e-02 5.50925787e+01] [ 2.59538679e-01 9.65688472e-01 9.24386426e-03 8.59409363e+00] [-3.59987371e-02 1.08929563e-04 9.99351829e-01 -2.02076973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901858063999995 meters Centerline goodness : 0.997316 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:8.61, Z:-2.02 [[ 9.65510791e-01 -2.58028353e-01 3.47890845e-02 5.51495994e+01] [ 2.57862351e-01 9.66137344e-01 9.25421090e-03 8.60565442e+00] [-3.59988825e-02 3.57546319e-05 9.99351830e-01 -2.02414136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.21, Y:8.62, Z:-2.03 [[ 9.65535009e-01 -2.57938133e-01 3.47859932e-02 5.52061395e+01] [ 2.57771654e-01 9.66161435e-01 9.26581653e-03 8.61943200e+00] [-3.59988925e-02 2.03727449e-05 9.99351830e-01 -2.02528948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.26, Y:8.63, Z:-2.03 [[ 9.64955021e-01 -2.60099903e-01 3.47828822e-02 5.52636814e+01] [ 2.59934406e-01 9.65581707e-01 9.27748022e-03 8.62950176e+00] [-3.59987865e-02 8.89167136e-05 9.99351830e-01 -2.02700533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:8.64, Z:-2.03 [[ 9.64874551e-01 -2.60398628e-01 3.47801086e-02 5.53216114e+01] [ 2.60232951e-01 9.65501189e-01 9.28786635e-03 8.63707198e+00] [-3.59987839e-02 8.93044373e-05 9.99351830e-01 -2.02762940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:8.65, Z:-2.03 [[ 9.63409771e-01 -2.65766847e-01 3.47792593e-02 5.53786325e+01] [ 2.65604547e-01 9.64037292e-01 9.29104568e-03 8.64889275e+00] [-3.59977549e-02 2.86445225e-04 9.99351830e-01 -2.02986562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.43, Y:8.66, Z:-2.03 [[ 9.63357322e-01 -2.65957127e-01 3.47775385e-02 5.54348299e+01] [ 2.65794719e-01 9.63984815e-01 9.29748247e-03 8.66121878e+00] [-3.59977507e-02 2.86888247e-04 9.99351830e-01 -2.03104367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261858063999995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:55.49, Y:8.68, Z:-2.03 [[ 9.62221891e-01 -2.70036455e-01 3.47756459e-02 5.54911336e+01] [ 2.69876451e-01 9.62850002e-01 9.30455580e-03 8.67955663e+00] [-3.59963000e-02 4.32080639e-04 9.99351830e-01 -2.03227750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.55, Y:8.69, Z:-2.04 [[ 9.61575523e-01 -2.72329441e-01 3.47734011e-02 5.55467477e+01] [ 2.72170632e-01 9.62203937e-01 9.31293782e-03 8.69477686e+00] [-3.59952906e-02 5.09205514e-04 9.99351830e-01 -2.03833035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.60, Y:8.71, Z:-2.04 [[ 9.61907861e-01 -2.71153595e-01 3.47705944e-02 5.56035033e+01] [ 2.70993639e-01 9.62535985e-01 9.32340513e-03 8.70763661e+00] [-3.59960231e-02 4.54353223e-04 9.99351830e-01 -2.03757954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.66, Y:8.73, Z:-2.04 [[ 9.61988627e-01 -2.70867028e-01 3.47697353e-02 5.56579894e+01] [ 2.70706770e-01 9.62616673e-01 9.32660766e-03 8.72577263e+00] [-3.59961975e-02 4.40312252e-04 9.99351830e-01 -2.04146505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:8.74, Z:-2.04 [[ 9.62813510e-01 -2.67920399e-01 3.47678775e-02 5.57132705e+01] [ 2.67757968e-01 9.63440998e-01 9.33352839e-03 8.74283023e+00] [-3.59974412e-02 3.22928989e-04 9.99351830e-01 -2.04459964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:8.76, Z:-2.05 [[ 9.63480228e-01 -2.65513130e-01 3.47653239e-02 5.57689575e+01] [ 2.65348789e-01 9.64107218e-01 9.34303003e-03 8.75867384e+00] [-3.59981969e-02 2.23111898e-04 9.99351830e-01 -2.04656153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621858063999994 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:55.82, Y:8.77, Z:-2.05 [[ 9.64484947e-01 -2.61840287e-01 3.47627703e-02 5.58248303e+01] [ 2.61673216e-01 9.65111215e-01 9.35252189e-03 8.77430679e+00] [-3.59988065e-02 7.61193122e-05 9.99351830e-01 -2.04850648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:8.79, Z:-2.05 [[ 9.64843822e-01 -2.60515125e-01 3.47601547e-02 5.58810894e+01] [ 2.60346844e-01 9.65469766e-01 9.36223277e-03 8.78980279e+00] [-3.59988817e-02 1.66041431e-05 9.99351830e-01 -2.05007675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74185806399999 meters Centerline goodness : 0.998450 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:8.81, Z:-2.05 [[ 9.65076928e-01 -2.59650612e-01 3.47574873e-02 5.59358292e+01] [ 2.59481414e-01 9.65702625e-01 9.37212512e-03 8.80644625e+00] [-3.59988748e-02 -2.58997510e-05 9.99351830e-01 -2.05470735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.99, Y:8.82, Z:-2.05 [[ 9.64838962e-01 -2.60533893e-01 3.47543992e-02 5.59912710e+01] [ 2.60364856e-01 9.65464702e-01 9.38356299e-03 8.82143825e+00] [-3.59988818e-02 -4.80304741e-06 9.99351830e-01 -2.05470666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.05, Y:8.84, Z:-2.06 [[ 9.64366223e-01 -2.62278451e-01 3.47534593e-02 5.60474852e+01] [ 2.62110420e-01 9.64992234e-01 9.38704260e-03 8.83617457e+00] [-3.59988373e-02 5.66970079e-05 9.99351830e-01 -2.05687397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.10, Y:8.85, Z:-2.06 [[ 9.63124487e-01 -2.66802553e-01 3.47508329e-02 5.61036472e+01] [ 2.66637112e-01 9.63751187e-01 9.39675563e-03 8.84922905e+00] [-3.59982348e-02 2.15616280e-04 9.99351830e-01 -2.05976135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981858063999994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:56.16, Y:8.86, Z:-2.06 [[ 9.61938205e-01 -2.71048568e-01 3.47500262e-02 5.61597740e+01] [ 2.70885786e-01 9.62565601e-01 9.39973791e-03 8.86269297e+00] [-3.59969653e-02 3.71321144e-04 9.99351830e-01 -2.06258272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.22, Y:8.88, Z:-2.07 [[ 9.60992802e-01 -2.74381935e-01 3.47474803e-02 5.62151523e+01] [ 2.74220989e-01 9.61620672e-01 9.40913985e-03 8.87763082e+00] [-3.59955933e-02 4.86372738e-04 9.99351830e-01 -2.06602943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:8.89, Z:-2.07 [[ 9.60367592e-01 -2.76562388e-01 3.47466987e-02 5.62701044e+01] [ 2.76402764e-01 9.60995799e-01 9.41202498e-03 8.89318409e+00] [-3.59944436e-02 5.65079792e-04 9.99351830e-01 -2.06962307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:8.91, Z:-2.07 [[ 9.59854390e-01 -2.78338447e-01 3.47456272e-02 5.63262529e+01] [ 2.78179842e-01 9.60482855e-01 9.41597897e-03 8.90988932e+00] [-3.59934082e-02 6.27564327e-04 9.99351830e-01 -2.07000297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:8.93, Z:-2.07 [[ 9.59178515e-01 -2.80659041e-01 3.47430463e-02 5.63827341e+01] [ 2.80501611e-01 9.59807276e-01 9.42549251e-03 8.92644634e+00] [-3.59919783e-02 7.04750561e-04 9.99351830e-01 -2.07220688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:8.94, Z:-2.07 [[ 9.59906258e-01 -2.78160113e-01 3.47408452e-02 5.64387850e+01] [ 2.78000754e-01 9.60534533e-01 9.43359852e-03 8.94200305e+00] [-3.59938323e-02 6.02610884e-04 9.99351830e-01 -2.07208121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:8.96, Z:-2.07 [[ 9.60652398e-01 -2.75572359e-01 3.47396785e-02 5.64940240e+01] [ 2.75411151e-01 9.61280200e-01 9.43789287e-03 8.95925917e+00] [-3.59953875e-02 5.01160436e-04 9.99351830e-01 -2.07407557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:8.98, Z:-2.08 [[ 9.61746331e-01 -2.71730234e-01 3.47372268e-02 5.65493079e+01] [ 2.71566193e-01 9.62373399e-01 9.44690792e-03 8.97684786e+00] [-3.59971936e-02 3.47927402e-04 9.99351830e-01 -2.07517748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:56.60, Y:9.00, Z:-2.08 [[ 9.60836066e-01 -2.74931686e-01 3.47364713e-02 5.66041935e+01] [ 2.74769634e-01 9.61463651e-01 9.44968521e-03 8.99823106e+00] [-3.59958724e-02 4.64929128e-04 9.99351830e-01 -2.08299202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52185806399999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:56.66, Y:9.01, Z:-2.08 [[ 9.60747292e-01 -2.75242034e-01 3.47341819e-02 5.66596479e+01] [ 2.75079881e-01 9.61374851e-01 9.45809277e-03 9.01408494e+00] [-3.59958337e-02 4.67837599e-04 9.99351830e-01 -2.08220388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.72, Y:9.03, Z:-2.08 [[ 9.60845765e-01 -2.74898436e-01 3.47313486e-02 5.67161389e+01] [ 2.74735682e-01 9.61473168e-01 9.46848581e-03 9.02788143e+00] [-3.59961317e-02 4.44186242e-04 9.99351831e-01 -2.08151229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.77, Y:9.04, Z:-2.08 [[ 9.60388466e-01 -2.76491931e-01 3.47304774e-02 5.67716483e+01] [ 2.76330103e-01 9.61016109e-01 9.47168023e-03 9.04436694e+00] [-3.59953914e-02 5.00583934e-04 9.99351831e-01 -2.08261028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.83, Y:9.07, Z:-2.10 [[ 9.58245732e-01 -2.83829330e-01 3.47279135e-02 5.68255347e+01] [ 2.83671967e-01 9.58874509e-01 9.48107141e-03 9.06967725e+00] [-3.59907172e-02 7.66139304e-04 9.99351831e-01 -2.09539853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761858063999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:9.08, Z:-2.09 [[ 9.59277107e-01 -2.80324031e-01 3.47256180e-02 5.68835440e+01] [ 2.80164067e-01 9.59905227e-01 9.48947138e-03 9.07929745e+00] [-3.59934292e-02 6.25837705e-04 9.99351831e-01 -2.08959751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:9.10, Z:-2.10 [[ 9.57036068e-01 -2.87882405e-01 3.47229901e-02 5.69373989e+01] [ 2.87727052e-01 9.57665344e-01 9.49907754e-03 9.10291649e+00] [-3.59876216e-02 8.99783762e-04 9.99351831e-01 -2.10182395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:9.12, Z:-2.11 [[ 9.57050445e-01 -2.87834905e-01 3.47205079e-02 5.69927136e+01] [ 2.87679192e-01 9.57679632e-01 9.50814187e-03 9.12109310e+00] [-3.59878983e-02 8.88596244e-04 9.99351831e-01 -2.10642702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:9.14, Z:-2.10 [[ 9.58751966e-01 -2.82115839e-01 3.47177179e-02 5.70499447e+01] [ 2.81956004e-01 9.59380119e-01 9.51831820e-03 9.13596115e+00] [-3.59927567e-02 6.63162723e-04 9.99351831e-01 -2.10371757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:9.15, Z:-2.10 [[ 9.61089031e-01 -2.74048762e-01 3.47152764e-02 5.71069000e+01] [ 2.73883332e-01 9.61715734e-01 9.52721440e-03 9.14614788e+00] [-3.59971489e-02 3.51434340e-04 9.99351831e-01 -2.09773725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.16, Y:9.16, Z:-2.10 [[ 9.61978399e-01 -2.70910491e-01 3.47140627e-02 5.71618458e+01] [ 2.70742857e-01 9.62604516e-01 9.53163497e-03 9.16226405e+00] [-3.59981334e-02 2.29357538e-04 9.99351831e-01 -2.10078114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121858063999994 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:57.22, Y:9.18, Z:-2.10 [[ 9.62395321e-01 -2.69425796e-01 3.47129046e-02 5.72177791e+01] [ 2.69257044e-01 9.63021138e-01 9.53585047e-03 9.17862261e+00] [-3.59984650e-02 1.69436211e-04 9.99351831e-01 -2.10390706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:57.27, Y:9.19, Z:-2.10 [[ 9.62565154e-01 -2.68818757e-01 3.47102207e-02 5.72735650e+01] [ 2.68649258e-01 9.63190769e-01 9.54561007e-03 9.19432209e+00] [-3.59986032e-02 1.36603405e-04 9.99351831e-01 -2.10426393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.33, Y:9.21, Z:-2.11 [[ 9.61115225e-01 -2.73957868e-01 3.47075128e-02 5.73276791e+01] [ 2.73791359e-01 9.61741641e-01 9.55544567e-03 9.21447069e+00] [-3.59974498e-02 3.18732796e-04 9.99351831e-01 -2.11295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301858063999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:57.38, Y:9.23, Z:-2.11 [[ 9.61707616e-01 -2.71871374e-01 3.47047175e-02 5.73838673e+01] [ 2.71703141e-01 9.62333572e-01 9.56558722e-03 9.22903405e+00] [-3.59981241e-02 2.30082661e-04 9.99351831e-01 -2.11403105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.44, Y:9.24, Z:-2.11 [[ 9.61624623e-01 -2.72164889e-01 3.47038631e-02 5.74412861e+01] [ 2.71996735e-01 9.62250600e-01 9.56868611e-03 9.24112867e+00] [-3.59980734e-02 2.37853270e-04 9.99351831e-01 -2.10934090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.50, Y:9.26, Z:-2.11 [[ 9.60941400e-01 -2.74567768e-01 3.47011131e-02 5.74962828e+01] [ 2.74400819e-01 9.61567699e-01 9.57864856e-03 9.25594055e+00] [-3.59974576e-02 3.17493904e-04 9.99351831e-01 -2.11149885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:9.28, Z:-2.12 [[ 9.58632708e-01 -2.82523002e-01 3.46999307e-02 5.75508657e+01] [ 2.82361095e-01 9.59260329e-01 9.58293011e-03 9.27650338e+00] [-3.59936651e-02 6.11400185e-04 9.99351831e-01 -2.12262961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:9.29, Z:-2.13 [[ 9.58232053e-01 -2.83879273e-01 3.46971344e-02 5.76065342e+01] [ 2.83717888e-01 9.58859809e-01 9.59304382e-03 9.29457206e+00] [-3.59929540e-02 6.51835643e-04 9.99351831e-01 -2.12599283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:9.31, Z:-2.12 [[ 9.60399048e-01 -2.76459715e-01 3.46943012e-02 5.76639861e+01] [ 2.76293110e-01 9.61025439e-01 9.60327962e-03 9.30607556e+00] [-3.59970260e-02 3.62815793e-04 9.99351831e-01 -2.12116141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:9.33, Z:-2.13 [[ 9.59317033e-01 -2.80191357e-01 3.46934348e-02 5.77191558e+01] [ 2.80027075e-01 9.59944037e-01 9.60640877e-03 9.32729817e+00] [-3.59953885e-02 4.99509514e-04 9.99351831e-01 -2.13152914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:9.34, Z:-2.13 [[ 9.60108088e-01 -2.77468904e-01 3.46910186e-02 5.77755710e+01] [ 2.77302529e-01 9.60734540e-01 9.61512618e-03 9.34207245e+00] [-3.59967583e-02 3.88346785e-04 9.99351831e-01 -2.12931661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.83, Y:9.35, Z:-2.12 [[ 9.61838107e-01 -2.71411468e-01 3.46881861e-02 5.78321862e+01] [ 2.71240780e-01 9.62463398e-01 9.62533407e-03 9.35452597e+00] [-3.59985355e-02 1.50837542e-04 9.99351831e-01 -2.12480102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:57.89, Y:9.37, Z:-2.13 [[ 9.61360530e-01 -2.73098373e-01 3.46873152e-02 5.78881027e+01] [ 2.72928669e-01 9.61986088e-01 9.62847163e-03 9.37330317e+00] [-3.59982346e-02 2.10730177e-04 9.99351831e-01 -2.12778784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:9.39, Z:-2.13 [[ 9.62200801e-01 -2.70123273e-01 3.46848170e-02 5.79447112e+01] [ 2.69951311e-01 9.62825742e-01 9.63746264e-03 9.38630436e+00] [-3.59987376e-02 9.00375401e-05 9.99351831e-01 -2.12754590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:9.40, Z:-2.13 [[ 9.62166487e-01 -2.70245789e-01 3.46823346e-02 5.80011826e+01] [ 2.70073585e-01 9.62791362e-01 9.64638782e-03 9.40353653e+00] [-3.59987478e-02 8.53513395e-05 9.99351831e-01 -2.12840795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02185806399999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:58.06, Y:9.42, Z:-2.13 [[ 9.61629354e-01 -2.72151211e-01 3.46800134e-02 5.80581752e+01] [ 2.71979944e-01 9.62254486e-01 9.65472541e-03 9.41855225e+00] [-3.59985437e-02 1.48000752e-04 9.99351831e-01 -2.13353461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081858063999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:9.43, Z:-2.13 [[ 9.60941033e-01 -2.74571983e-01 3.46779202e-02 5.81146234e+01] [ 2.74402019e-01 9.61566520e-01 9.66223802e-03 9.43390775e+00] [-3.59981069e-02 2.30850347e-04 9.99351831e-01 -2.13483331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:9.45, Z:-2.14 [[ 9.60093133e-01 -2.77522606e-01 3.46753294e-02 5.81715869e+01] [ 2.77354229e-01 9.60719050e-01 9.67152668e-03 9.45007629e+00] [-3.59973168e-02 3.31782911e-04 9.99351831e-01 -2.14098686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:9.47, Z:-2.14 [[ 9.59305063e-01 -2.80234720e-01 3.46741550e-02 5.82284879e+01] [ 2.80067961e-01 9.59931413e-01 9.67573553e-03 9.46653544e+00] [-3.59962876e-02 4.29137806e-04 9.99351831e-01 -2.14025128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.28, Y:9.48, Z:-2.14 [[ 9.59609971e-01 -2.79189163e-01 3.46715338e-02 5.82840348e+01] [ 2.79021382e-01 9.60236047e-01 9.68511884e-03 9.48167887e+00] [-3.59968368e-02 3.80162693e-04 9.99351832e-01 -2.14182203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.34, Y:9.50, Z:-2.15 [[ 9.59629328e-01 -2.79122731e-01 3.46706449e-02 5.83405871e+01] [ 2.78954792e-01 9.60255362e-01 9.68830019e-03 9.49800863e+00] [-3.59968974e-02 3.74365532e-04 9.99351832e-01 -2.14639368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.40, Y:9.52, Z:-2.15 [[ 9.59207866e-01 -2.80567966e-01 3.46682414e-02 5.83961982e+01] [ 2.80400660e-01 9.59834069e-01 9.69689308e-03 9.51568604e+00] [-3.59963968e-02 4.19661635e-04 9.99351832e-01 -2.14919078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.45, Y:9.53, Z:-2.15 [[ 9.60057224e-01 -2.77647813e-01 3.46672691e-02 5.84523597e+01] [ 2.77478476e-01 9.60682881e-01 9.70036774e-03 9.52972313e+00] [-3.59975379e-02 3.06512883e-04 9.99351832e-01 -2.14632436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.51, Y:9.55, Z:-2.15 [[ 9.60451820e-01 -2.76279832e-01 3.46663469e-02 5.85079978e+01] [ 2.76109485e-01 9.61077203e-01 9.70366234e-03 9.54604396e+00] [-3.59979619e-02 2.51807046e-04 9.99351832e-01 -2.14801817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:9.56, Z:-2.15 [[ 9.60630073e-01 -2.75659746e-01 3.46636217e-02 5.85629396e+01] [ 2.75488645e-01 9.61255250e-01 9.71338753e-03 9.56207622e+00] [-3.59981783e-02 2.18462017e-04 9.99351832e-01 -2.15142521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:9.58, Z:-2.15 [[ 9.61560689e-01 -2.72395956e-01 3.46624494e-02 5.86191437e+01] [ 2.72222582e-01 9.62185239e-01 9.71756920e-03 9.57533999e+00] [-3.59987237e-02 9.18689433e-05 9.99351832e-01 -2.15432508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.67, Y:9.59, Z:-2.16 [[ 9.61659245e-01 -2.72048228e-01 3.46591827e-02 5.86737379e+01] [ 2.71874208e-01 9.62283616e-01 9.72920663e-03 9.59321625e+00] [-3.59987770e-02 6.67563482e-05 9.99351832e-01 -2.15569489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74185806399999 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:58.73, Y:9.61, Z:-2.16 [[ 9.61595156e-01 -2.72274802e-01 3.46581640e-02 5.87306733e+01] [ 2.72100799e-01 9.62219532e-01 9.73283411e-03 9.60835254e+00] [-3.59987678e-02 7.14679627e-05 9.99351832e-01 -2.16028542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801858063999994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:9.62, Z:-2.16 [[ 9.61796452e-01 -2.71563272e-01 3.46550713e-02 5.87865209e+01] [ 2.71388411e-01 9.62420588e-01 9.74383374e-03 9.62241531e+00] [-3.59988214e-02 3.34000032e-05 9.99351832e-01 -2.16069454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.84, Y:9.64, Z:-2.16 [[ 9.61904975e-01 -2.71178763e-01 3.46539681e-02 5.88421704e+01] [ 2.71003511e-01 9.62529001e-01 9.74775538e-03 9.63737379e+00] [-3.59988336e-02 1.49326544e-05 9.99351832e-01 -2.16218414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92185806399999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:9.65, Z:-2.16 [[ 9.61447776e-01 -2.72795661e-01 3.46511443e-02 5.88993881e+01] [ 2.72621097e-01 9.62071995e-01 9.75778338e-03 9.65288348e+00] [-3.59987764e-02 6.50338374e-05 9.99351832e-01 -2.16397042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.96, Y:9.67, Z:-2.17 [[ 9.60604786e-01 -2.75749728e-01 3.46487156e-02 5.89559214e+01] [ 2.75576773e-01 9.61229452e-01 9.76639961e-03 9.66660963e+00] [-3.59984480e-02 1.66731023e-04 9.99351832e-01 -2.16626340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.01, Y:9.68, Z:-2.17 [[ 9.59304748e-01 -2.80239286e-01 3.46459785e-02 5.90127006e+01] [ 2.80068904e-01 9.59930121e-01 9.77609972e-03 9.68000298e+00] [-3.59973656e-02 3.25002351e-04 9.99351832e-01 -2.16796636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.07, Y:9.70, Z:-2.17 [[ 9.57588295e-01 -2.86049823e-01 3.46432651e-02 5.90690173e+01] [ 2.85882888e-01 9.58214597e-01 9.78570580e-03 9.69696329e+00] [-3.59948817e-02 5.33239348e-04 9.99351832e-01 -2.17456369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.13, Y:9.71, Z:-2.17 [[ 9.58081271e-01 -2.84394625e-01 3.46406654e-02 5.91261397e+01] [ 2.84226276e-01 9.58707194e-01 9.79489986e-03 9.70815101e+00] [-3.59958720e-02 4.61477217e-04 9.99351832e-01 -2.17285896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221858063999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:9.72, Z:-2.17 [[ 9.58172846e-01 -2.84086050e-01 3.46397557e-02 5.91831096e+01] [ 2.83917382e-01 9.58798684e-01 9.79811582e-03 9.72134230e+00] [-3.59960602e-02 4.46540257e-04 9.99351832e-01 -2.17402781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:9.74, Z:-2.18 [[ 9.58997824e-01 -2.81288916e-01 3.46369705e-02 5.92380435e+01] [ 2.81118068e-01 9.59623070e-01 9.80795204e-03 9.73612630e+00] [-3.59973041e-02 3.31273547e-04 9.99351832e-01 -2.17645187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:9.75, Z:-2.18 [[ 9.59460810e-01 -2.79705771e-01 3.46357700e-02 5.92939389e+01] [ 2.79533738e-01 9.60085731e-01 9.81218970e-03 9.75022491e+00] [-3.59978346e-02 2.67454770e-04 9.99351832e-01 -2.17781118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:9.76, Z:-2.18 [[ 9.60038204e-01 -2.77717845e-01 3.46330194e-02 5.93506143e+01] [ 2.77544169e-01 9.60662670e-01 9.82188855e-03 9.76374930e+00] [-3.59983626e-02 1.82804329e-04 9.99351832e-01 -2.17903041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:9.78, Z:-2.18 [[ 9.60301381e-01 -2.76806802e-01 3.46302305e-02 5.94060533e+01] [ 2.76632179e-01 9.60925583e-01 9.83171199e-03 9.77866708e+00] [-3.59985591e-02 1.38429499e-04 9.99351832e-01 -2.18157313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:9.79, Z:-2.18 [[ 9.60626404e-01 -2.75676967e-01 3.46283478e-02 5.94626384e+01] [ 2.75501370e-01 9.61250333e-01 9.83833861e-03 9.79452077e+00] [-3.59987141e-02 8.91894148e-05 9.99351832e-01 -2.18157376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:9.81, Z:-2.18 [[ 9.60811047e-01 -2.75033050e-01 3.46258935e-02 5.95188232e+01] [ 2.74856725e-01 9.61434771e-01 9.84696869e-03 9.80922087e+00] [-3.59987798e-02 5.60833836e-05 9.99351832e-01 -2.18279723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:9.82, Z:-2.18 [[ 9.60764691e-01 -2.75195289e-01 3.46231214e-02 5.95734928e+01] [ 2.75018718e-01 9.61388345e-01 9.85670620e-03 9.82444680e+00] [-3.59987845e-02 5.20311605e-05 9.99351832e-01 -2.18467300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70185806399999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:9.84, Z:-2.19 [[ 9.60373061e-01 -2.76559046e-01 3.46219250e-02 5.96296239e+01] [ 2.76383209e-01 9.60996922e-01 9.86090680e-03 9.84060166e+00] [-3.59986863e-02 9.87694994e-05 9.99351832e-01 -2.18718644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:9.86, Z:-2.19 [[ 9.59102617e-01 -2.80933603e-01 3.46190788e-02 5.96855158e+01] [ 2.80760251e-01 9.59727173e-01 9.87088904e-03 9.85760035e+00] [-3.59979350e-02 2.52465742e-04 9.99351832e-01 -2.19166074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:9.87, Z:-2.19 [[ 9.58121237e-01 -2.84262911e-01 3.46163641e-02 5.97404135e+01] [ 2.84091385e-01 9.58746297e-01 9.88040012e-03 9.87283602e+00] [-3.59969422e-02 3.67589639e-04 9.99351832e-01 -2.19488068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:9.89, Z:-2.20 [[ 9.56554839e-01 -2.89490289e-01 3.46151933e-02 5.97967801e+01] [ 2.89322031e-01 9.57180787e-01 9.88450016e-03 9.88820746e+00] [-3.59944648e-02 5.59871557e-04 9.99351832e-01 -2.19696351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:9.90, Z:-2.20 [[ 9.56093625e-01 -2.91010227e-01 3.46125315e-02 5.98515365e+01] [ 2.90842626e-01 9.56719750e-01 9.89381208e-03 9.90358270e+00] [-3.59936930e-02 6.07388913e-04 9.99351833e-01 -2.19859007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.91, Y:9.92, Z:-2.20 [[ 9.56192202e-01 -2.90686301e-01 3.46113871e-02 5.99067239e+01] [ 2.90518344e-01 9.56818230e-01 9.89781383e-03 9.92008945e+00] [-3.59939651e-02 5.91030469e-04 9.99351833e-01 -2.20015170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:9.94, Z:-2.20 [[ 9.56225380e-01 -2.90577471e-01 3.46086237e-02 5.99623302e+01] [ 2.90409094e-01 9.56851295e-01 9.90746715e-03 9.93687713e+00] [-3.59941931e-02 5.76887497e-04 9.99351833e-01 -2.20319557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:9.95, Z:-2.21 [[ 9.56228474e-01 -2.90567614e-01 3.46058751e-02 6.00183883e+01] [ 2.90398883e-01 9.56854294e-01 9.91705821e-03 9.95236185e+00] [-3.59943562e-02 5.66534053e-04 9.99351833e-01 -2.20516093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.07, Y:9.97, Z:-2.21 [[ 9.55902823e-01 -2.91637479e-01 3.46030796e-02 6.00740758e+01] [ 2.91469096e-01 9.56528737e-01 9.92680316e-03 9.96897883e+00] [-3.59938678e-02 5.96669149e-04 9.99351833e-01 -2.20756185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.13, Y:9.99, Z:-2.21 [[ 9.55333552e-01 -2.93497227e-01 3.46003197e-02 6.01293201e+01] [ 2.93329714e-01 9.55959699e-01 9.93641345e-03 9.98527990e+00] [-3.59928210e-02 6.56712741e-04 9.99351833e-01 -2.20985643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:10.00, Z:-2.21 [[ 9.54914920e-01 -2.94856756e-01 3.45975217e-02 6.01851249e+01] [ 2.94689782e-01 9.55541211e-01 9.94614614e-03 1.00011842e+01] [-3.59920462e-02 6.97812787e-04 9.99351833e-01 -2.21189899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:10.02, Z:-2.21 [[ 9.54939387e-01 -2.94777840e-01 3.45946860e-02 6.02396902e+01] [ 2.94610457e-01 9.55565569e-01 9.95599951e-03 1.00177414e+01] [-3.59922989e-02 6.84580208e-04 9.99351833e-01 -2.21497840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:60.29, Y:10.03, Z:-2.22 [[ 9.55645306e-01 -2.92481350e-01 3.45934695e-02 6.02947198e+01] [ 2.92312310e-01 9.56271043e-01 9.96022462e-03 1.00347821e+01] [-3.59939131e-02 5.93655083e-04 9.99351833e-01 -2.21801623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481858063999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:10.05, Z:-2.22 [[ 9.56120386e-01 -2.90924663e-01 3.45926144e-02 6.03504180e+01] [ 2.90754496e-01 9.56745817e-01 9.96319368e-03 1.00501590e+01] [-3.59948779e-02 5.31945589e-04 9.99351833e-01 -2.21856095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:10.07, Z:-2.22 [[ 9.57228544e-01 -2.87257828e-01 3.45898034e-02 6.04058922e+01] [ 2.87084914e-01 9.57853221e-01 9.97294318e-03 1.00662549e+01] [-3.59967606e-02 3.83824850e-04 9.99351833e-01 -2.22111352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.46, Y:10.08, Z:-2.23 [[ 9.58075866e-01 -2.84419370e-01 3.45869615e-02 6.04620821e+01] [ 2.84244249e-01 9.58699927e-01 9.98278945e-03 1.00827569e+01] [-3.59978162e-02 2.66875258e-04 9.99351833e-01 -2.22563611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.52, Y:10.10, Z:-2.23 [[ 9.58231443e-01 -2.83895080e-01 3.45844780e-02 6.05167729e+01] [ 2.83719307e-01 9.58855321e-01 9.99138584e-03 1.00979253e+01] [-3.59980161e-02 2.38224089e-04 9.99351833e-01 -2.22857482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721858063999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:10.11, Z:-2.23 [[ 9.58175978e-01 -2.84082370e-01 3.45832611e-02 6.05726410e+01] [ 2.83906567e-01 9.58799848e-01 9.99559633e-03 1.01111413e+01] [-3.59979982e-02 2.40874652e-04 9.99351833e-01 -2.23010986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:10.13, Z:-2.23 [[ 9.57984005e-01 -2.84729215e-01 3.45820720e-02 6.06289609e+01] [ 2.84553685e-01 9.58607952e-01 9.99970839e-03 1.01263677e+01] [-3.59978584e-02 2.60895351e-04 9.99351833e-01 -2.23153944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:10.14, Z:-2.23 [[ 9.57528346e-01 -2.86258169e-01 3.45793030e-02 6.06848196e+01] [ 2.86083290e-01 9.58152475e-01 1.00092748e-02 1.01400052e+01] [-3.59974814e-02 3.08396419e-04 9.99351833e-01 -2.23374643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901858063999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:10.15, Z:-2.23 [[ 9.57033043e-01 -2.87909898e-01 3.45781102e-02 6.07415805e+01] [ 2.87735948e-01 9.57657432e-01 1.00133938e-02 1.01541586e+01] [-3.59969393e-02 3.66216587e-04 9.99351833e-01 -2.23418286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:10.17, Z:-2.24 [[ 9.56662636e-01 -2.89138628e-01 3.45753555e-02 6.07978382e+01] [ 2.88965136e-01 9.57287152e-01 1.00228964e-02 1.01687386e+01] [-3.59965501e-02 4.02541841e-04 9.99351833e-01 -2.23566550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:10.18, Z:-2.24 [[ 9.56698025e-01 -2.89021843e-01 3.45725830e-02 6.08548240e+01] [ 2.88847930e-01 9.57322424e-01 1.00324506e-02 1.01846690e+01] [-3.59967063e-02 3.88193328e-04 9.99351833e-01 -2.23833055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.91, Y:10.20, Z:-2.24 [[ 9.56646175e-01 -2.89193716e-01 3.45700883e-02 6.09102202e+01] [ 2.89019604e-01 9.57270519e-01 1.00410396e-02 1.02006170e+01] [-3.59967319e-02 3.85711138e-04 9.99351833e-01 -2.24070556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:10.22, Z:-2.24 [[ 9.56182595e-01 -2.90723150e-01 3.45672623e-02 6.09665934e+01] [ 2.90549685e-01 9.56807119e-01 1.00507590e-02 1.02163053e+01] [-3.59961909e-02 4.33146377e-04 9.99351833e-01 -2.24262463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.02, Y:10.23, Z:-2.24 [[ 9.55533993e-01 -2.92848231e-01 3.45644636e-02 6.10230985e+01] [ 2.92675808e-01 9.56158805e-01 1.00603744e-02 1.02331312e+01] [-3.59952791e-02 5.03152606e-04 9.99351833e-01 -2.24384213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.08, Y:10.25, Z:-2.24 [[ 9.54491105e-01 -2.96229972e-01 3.45620430e-02 6.10792173e+01] [ 2.96059461e-01 9.55116442e-01 1.00686836e-02 1.02502325e+01] [-3.59934213e-02 6.21950871e-04 9.99351833e-01 -2.24497585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.13, Y:10.27, Z:-2.25 [[ 9.53698910e-01 -2.98770847e-01 3.45596460e-02 6.11346261e+01] [ 2.98601705e-01 9.54324619e-01 1.00769043e-02 1.02676194e+01] [-3.59918062e-02 7.09236599e-04 9.99351833e-01 -2.24660484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.19, Y:10.29, Z:-2.25 [[ 9.53306893e-01 -3.00019638e-01 3.45569725e-02 6.11893789e+01] [ 2.99850983e-01 9.53932733e-01 1.00860643e-02 1.02873003e+01] [-3.59910446e-02 7.46827542e-04 9.99351833e-01 -2.24953124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:10.31, Z:-2.25 [[ 9.52751116e-01 -3.01780260e-01 3.45541086e-02 6.12447576e+01] [ 3.01612406e-01 9.53377171e-01 1.00958661e-02 1.03055848e+01] [-3.59898314e-02 8.03100103e-04 9.99351833e-01 -2.25196057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:10.33, Z:-2.26 [[ 9.52261280e-01 -3.03322702e-01 3.45512960e-02 6.12994343e+01] [ 3.03155514e-01 9.52887514e-01 1.01054826e-02 1.03251772e+01] [-3.59887208e-02 8.51356143e-04 9.99351834e-01 -2.25575524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:10.35, Z:-2.26 [[ 9.52302684e-01 -3.03193006e-01 3.45485031e-02 6.13533024e+01] [ 3.03025387e-01 9.52928802e-01 1.01150220e-02 1.03457636e+01] [-3.59890676e-02 8.36510936e-04 9.99351834e-01 -2.25730023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:10.36, Z:-2.26 [[ 9.52723575e-01 -3.01867986e-01 3.45472018e-02 6.14087109e+01] [ 3.01699335e-01 9.53349415e-01 1.01194645e-02 1.03648615e+01] [-3.59902970e-02 7.81815411e-04 9.99351834e-01 -2.25912223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:10.38, Z:-2.26 [[ 9.53216842e-01 -3.00307075e-01 3.45443499e-02 6.14644612e+01] [ 3.00137047e-01 9.53842310e-01 1.01291905e-02 1.03848051e+01] [-3.59917301e-02 7.12724171e-04 9.99351834e-01 -2.26035792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:10.40, Z:-2.26 [[ 9.54148260e-01 -2.97334757e-01 3.45418660e-02 6.15191362e+01] [ 2.97162474e-01 9.54773110e-01 1.01376539e-02 1.04047799e+01] [-3.59939217e-02 5.91721504e-04 9.99351834e-01 -2.26222262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.57, Y:10.42, Z:-2.26 [[ 9.54686765e-01 -2.95601253e-01 3.45409934e-02 6.15745812e+01] [ 2.95427727e-01 9.55311272e-01 1.01406261e-02 1.04236760e+01] [-3.59949821e-02 5.23245707e-04 9.99351834e-01 -2.26401003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:10.44, Z:-2.27 [[ 9.55152478e-01 -2.94093293e-01 3.45380735e-02 6.16281313e+01] [ 2.93918422e-01 9.55776609e-01 1.01505614e-02 1.04425214e+01] [-3.59958948e-02 4.56042176e-04 9.99351834e-01 -2.26562371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.68, Y:10.46, Z:-2.27 [[ 9.55140097e-01 -2.94133647e-01 3.45368188e-02 6.16830299e+01] [ 2.93958649e-01 9.55764193e-01 1.01548286e-02 1.04609972e+01] [-3.59959315e-02 4.53112626e-04 9.99351834e-01 -2.26705597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98185806400001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:61.74, Y:10.48, Z:-2.27 [[ 9.54955764e-01 -2.94731900e-01 3.45339891e-02 6.17366695e+01] [ 2.94556945e-01 9.55579871e-01 1.01644425e-02 1.04814151e+01] [-3.59957704e-02 4.65633334e-04 9.99351834e-01 -2.26963739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:10.50, Z:-2.27 [[ 9.54207033e-01 -2.97147226e-01 3.45320774e-02 6.17909721e+01] [ 2.96973616e-01 9.54831516e-01 1.01709332e-02 1.05014786e+01] [-3.59945804e-02 5.49939921e-04 9.99351834e-01 -2.27168241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.85, Y:10.52, Z:-2.27 [[ 9.53349527e-01 -2.99887325e-01 3.45293029e-02 6.18464565e+01] [ 2.99715169e-01 9.53974412e-01 1.01803435e-02 1.05191104e+01] [-3.59930274e-02 6.43530177e-04 9.99351834e-01 -2.27361485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:10.54, Z:-2.28 [[ 9.51900376e-01 -3.04456237e-01 3.45264301e-02 6.19014702e+01] [ 3.04286727e-01 9.52525984e-01 1.01900776e-02 1.05393562e+01] [-3.59897544e-02 8.05995727e-04 9.99351834e-01 -2.27642359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:10.56, Z:-2.28 [[ 9.50339939e-01 -3.09292939e-01 3.45235964e-02 6.19556434e+01] [ 3.09126264e-01 9.50966308e-01 1.01996689e-02 1.05592080e+01] [-3.59854626e-02 9.78997688e-04 9.99351834e-01 -2.27892667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:10.58, Z:-2.28 [[ 9.49579254e-01 -3.11620856e-01 3.45207518e-02 6.20103805e+01] [ 3.11455367e-01 9.50205938e-01 1.02092872e-02 1.05788305e+01] [-3.59832502e-02 1.05714609e-03 9.99351834e-01 -2.28080445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34185806400001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:10.60, Z:-2.28 [[ 9.49152646e-01 -3.12918152e-01 3.45179008e-02 6.20644859e+01] [ 3.12753170e-01 9.49779463e-01 1.02189176e-02 1.06015247e+01] [-3.59820781e-02 1.09627022e-03 9.99351834e-01 -2.28206247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:10.63, Z:-2.28 [[ 9.49444387e-01 -3.12032166e-01 3.45149802e-02 6.21175331e+01] [ 3.11866241e-01 9.50070955e-01 1.02287726e-02 1.06257095e+01] [-3.59833863e-02 1.05240642e-03 9.99351834e-01 -2.28478069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:10.65, Z:-2.29 [[ 9.50407430e-01 -3.09086770e-01 3.45121039e-02 6.21717369e+01] [ 3.08918551e-01 9.51033387e-01 1.02384682e-02 1.06480054e+01] [-3.59867381e-02 9.30712829e-04 9.99351834e-01 -2.28521735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:10.67, Z:-2.29 [[ 9.51260263e-01 -3.06452318e-01 3.45092485e-02 6.22256482e+01] [ 3.06282017e-01 9.51885657e-01 1.02480834e-02 1.06701628e+01] [-3.59894075e-02 8.20967707e-04 9.99351834e-01 -2.28739631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:10.69, Z:-2.29 [[ 9.51539046e-01 -3.05585915e-01 3.45064144e-02 6.22807125e+01] [ 3.05414699e-01 9.52164189e-01 1.02576171e-02 1.06899869e+01] [-3.59903554e-02 7.78243018e-04 9.99351834e-01 -2.28949271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:10.71, Z:-2.30 [[ 9.52767670e-01 -3.01733785e-01 3.45034875e-02 6.23335846e+01] [ 3.01559686e-01 9.53392016e-01 1.02674529e-02 1.07143815e+01] [-3.59933869e-02 6.22363658e-04 9.99351834e-01 -2.29559828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:10.74, Z:-2.29 [[ 9.53303914e-01 -3.00035362e-01 3.45025904e-02 6.23890356e+01] [ 2.99860040e-01 9.53927919e-01 1.02704668e-02 1.07352921e+01] [-3.59944874e-02 5.55071913e-04 9.99351834e-01 -2.29334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:10.76, Z:-2.30 [[ 9.53856821e-01 -2.98273216e-01 3.45000554e-02 6.24427235e+01] [ 2.98096434e-01 9.54480413e-01 1.02789749e-02 1.07579377e+01] [-3.59955701e-02 4.79673149e-04 9.99351834e-01 -2.29509547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:10.78, Z:-2.30 [[ 9.54413042e-01 -2.96488949e-01 3.44970860e-02 6.24964143e+01] [ 2.96310641e-01 9.55036199e-01 1.02889309e-02 1.07770608e+01] [-3.59965202e-02 4.01963888e-04 9.99351834e-01 -2.29708851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:10.80, Z:-2.30 [[ 9.55101133e-01 -2.94264956e-01 3.44958090e-02 6.25512667e+01] [ 2.94085043e-01 9.55723829e-01 1.02932107e-02 1.07970906e+01] [-3.59973978e-02 3.13644262e-04 9.99351834e-01 -2.29938221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:10.82, Z:-2.30 [[ 9.55052709e-01 -2.94422419e-01 3.44929254e-02 6.26065069e+01] [ 2.94242260e-01 9.55675334e-01 1.03028645e-02 1.08155651e+01] [-3.59974323e-02 3.09497686e-04 9.99351834e-01 -2.30289143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:10.83, Z:-2.31 [[ 9.54634100e-01 -2.95777238e-01 3.44900102e-02 6.26617871e+01] [ 2.95597611e-01 9.55256878e-01 1.03126145e-02 1.08333066e+01] [-3.59970561e-02 3.50391118e-04 9.99351835e-01 -2.30502185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:10.85, Z:-2.31 [[ 9.53860958e-01 -2.98261490e-01 3.44870580e-02 6.27173201e+01] [ 2.98083128e-01 9.54484099e-01 1.03224774e-02 1.08495555e+01] [-3.59961460e-02 4.33801899e-04 9.99351835e-01 -2.30703225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.77, Y:10.87, Z:-2.31 [[ 9.53350200e-01 -2.99890149e-01 3.44861517e-02 6.27734578e+01] [ 2.99712742e-01 9.53973614e-01 1.03255045e-02 1.08652227e+01] [-3.59953959e-02 4.92117272e-04 9.99351835e-01 -2.30902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.83, Y:10.88, Z:-2.31 [[ 9.53543173e-01 -2.99276339e-01 3.44831730e-02 6.28284560e+01] [ 2.99098171e-01 9.54166370e-01 1.03354427e-02 1.08814824e+01] [-3.59958375e-02 4.58563107e-04 9.99351835e-01 -2.31142671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:10.90, Z:-2.31 [[ 9.53911506e-01 -2.98100382e-01 3.44818937e-02 6.28834979e+01] [ 2.97921292e-01 9.54534438e-01 1.03397089e-02 1.08985675e+01] [-3.59964262e-02 4.09723064e-04 9.99351835e-01 -2.31482242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:10.91, Z:-2.32 [[ 9.53760830e-01 -2.98582446e-01 3.44790077e-02 6.29398021e+01] [ 2.98403323e-01 9.54383753e-01 1.03493237e-02 1.09127727e+01] [-3.59963312e-02 4.17870930e-04 9.99351835e-01 -2.31755540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:10.93, Z:-2.32 [[ 9.53099054e-01 -3.00688540e-01 3.44760147e-02 6.29964474e+01] [ 3.00510433e-01 9.53722268e-01 1.03592847e-02 1.09255558e+01] [-3.59954611e-02 4.86977588e-04 9.99351835e-01 -2.32068794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.05, Y:10.94, Z:-2.32 [[ 9.51995835e-01 -3.04163647e-01 3.44732634e-02 6.30536443e+01] [ 3.03987484e-01 9.52619601e-01 1.03684322e-02 1.09394174e+01] [-3.59936066e-02 6.08736368e-04 9.99351835e-01 -2.31761091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:10.95, Z:-2.32 [[ 9.51863293e-01 -3.04578494e-01 3.44704693e-02 6.31098086e+01] [ 3.04402266e-01 9.52487041e-01 1.03777132e-02 1.09543220e+01] [-3.59935035e-02 6.14724727e-04 9.99351835e-01 -2.32048613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:10.97, Z:-2.32 [[ 9.52283132e-01 -3.03263620e-01 3.44675550e-02 6.31666274e+01] [ 3.03086182e-01 9.52906537e-01 1.03873834e-02 1.09670974e+01] [-3.59944740e-02 5.54909678e-04 9.99351835e-01 -2.32458096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:10.98, Z:-2.33 [[ 9.52145074e-01 -3.03696911e-01 3.44665559e-02 6.32229968e+01] [ 3.03519636e-01 9.52768526e-01 1.03906974e-02 1.09826493e+01] [-3.59942724e-02 5.67825124e-04 9.99351835e-01 -2.32515253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:10.99, Z:-2.33 [[ 9.52337374e-01 -3.03093728e-01 3.44632769e-02 6.32802406e+01] [ 3.02915665e-01 9.52960601e-01 1.04015618e-02 1.09949209e+01] [-3.59947932e-02 5.33670397e-04 9.99351835e-01 -2.32829862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:11.01, Z:-2.33 [[ 9.52933105e-01 -3.01215854e-01 3.44602284e-02 6.33365501e+01] [ 3.01036198e-01 9.53555874e-01 1.04116515e-02 1.10072318e+01] [-3.59959077e-02 4.52168790e-04 9.99351835e-01 -2.33193054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781858064 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:63.39, Y:11.02, Z:-2.33 [[ 9.53835413e-01 -2.98346389e-01 3.44592136e-02 6.33938806e+01] [ 2.98164739e-01 9.54457603e-01 1.04150092e-02 1.10219346e+01] [-3.59971388e-02 3.40317778e-04 9.99351835e-01 -2.32986202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84185806400001 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:63.45, Y:11.03, Z:-2.33 [[ 9.55924888e-01 -2.91582528e-01 3.44563116e-02 6.34509345e+01] [ 2.91396129e-01 9.56545673e-01 1.04246009e-02 1.10328636e+01] [-3.59986673e-02 7.53003662e-05 9.99351835e-01 -2.32940693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.901858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.51, Y:11.05, Z:-2.33 [[ 9.56930152e-01 -2.88266637e-01 3.44532994e-02 6.35081674e+01] [ 2.88077729e-01 9.57550177e-01 1.04345467e-02 1.10469406e+01] [-3.59986947e-02 -5.99041113e-05 9.99351835e-01 -2.33142258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.961858064 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:63.56, Y:11.06, Z:-2.33 [[ 9.57887061e-01 -2.85071106e-01 3.44505807e-02 6.35640017e+01] [ 2.84879807e-01 9.58506353e-01 1.04435150e-02 1.10610085e+01] [-3.59982449e-02 -1.89433143e-04 9.99351835e-01 -2.33363089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021858064 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:63.62, Y:11.07, Z:-2.34 [[ 9.58428334e-01 -2.83246155e-01 3.44491419e-02 6.36217034e+01] [ 2.83053506e-01 9.59047208e-01 1.04482590e-02 1.10722589e+01] [-3.59977826e-02 -2.62957027e-04 9.99351835e-01 -2.33598629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081858064 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:63.68, Y:11.08, Z:-2.34 [[ 9.58461527e-01 -2.83134189e-01 3.44460689e-02 6.36784921e+01] [ 2.82941104e-01 9.59080265e-01 1.04583805e-02 1.10838827e+01] [-3.59976699e-02 -2.77746622e-04 9.99351835e-01 -2.33541072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:11.10, Z:-2.34 [[ 9.57787937e-01 -2.85404711e-01 3.44444373e-02 6.37363033e+01] [ 2.85212900e-01 9.58407070e-01 1.04637512e-02 1.10967157e+01] [-3.59981961e-02 -1.98056839e-04 9.99351835e-01 -2.34289988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.79, Y:11.11, Z:-2.35 [[ 9.57321501e-01 -2.86965698e-01 3.44417251e-02 6.37936973e+01] [ 2.86774576e-01 9.57940847e-01 1.04726709e-02 1.11060395e+01] [-3.59984327e-02 -1.48701860e-04 9.99351835e-01 -2.34807072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.85, Y:11.12, Z:-2.34 [[ 9.56895815e-01 -2.88382095e-01 3.44407698e-02 6.38526846e+01] [ 2.88191776e-01 9.57515409e-01 1.04758118e-02 1.11161357e+01] [-3.59986043e-02 -9.87139049e-05 9.99351835e-01 -2.34439634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.91, Y:11.13, Z:-2.35 [[ 9.56694496e-01 -2.89049535e-01 3.44384535e-02 6.39109843e+01] [ 2.88859374e-01 9.57314139e-01 1.04834208e-02 1.11276019e+01] [-3.59986464e-02 -8.15608265e-05 9.99351835e-01 -2.34617147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.97, Y:11.14, Z:-2.35 [[ 9.55750760e-01 -2.92155202e-01 3.44357697e-02 6.39682769e+01] [ 2.91966738e-01 9.56370920e-01 1.04922293e-02 1.11352703e+01] [-3.59987281e-02 2.61432184e-05 9.99351835e-01 -2.34798464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:11.15, Z:-2.35 [[ 9.55077172e-01 -2.94350140e-01 3.44324131e-02 6.40244282e+01] [ 2.94162705e-01 9.55697643e-01 1.05032329e-02 1.11509522e+01] [-3.59986042e-02 9.73338422e-05 9.99351835e-01 -2.34804932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:11.16, Z:-2.35 [[ 9.54333365e-01 -2.96753207e-01 3.44290864e-02 6.40815466e+01] [ 2.96566940e-01 9.54954189e-01 1.05141266e-02 1.11620440e+01] [-3.59983010e-02 1.76547008e-04 9.99351836e-01 -2.34721142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:11.18, Z:-2.35 [[ 9.54089880e-01 -2.97535215e-01 3.44281447e-02 6.41391882e+01] [ 2.97349347e-01 9.54710822e-01 1.05172093e-02 1.11758428e+01] [-3.59981624e-02 2.02823408e-04 9.99351836e-01 -2.34915575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62185806400001 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:11.19, Z:-2.36 [[ 9.53849511e-01 -2.98305202e-01 3.44255384e-02 6.41963178e+01] [ 2.98119526e-01 9.54470511e-01 1.05257334e-02 1.11900324e+01] [-3.59980422e-02 2.22959556e-04 9.99351836e-01 -2.36086073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.681858064 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:64.25, Y:11.20, Z:-2.36 [[ 9.53913690e-01 -2.98100237e-01 3.44226857e-02 6.42525370e+01] [ 2.97914092e-01 9.54534550e-01 1.05350545e-02 1.12044653e+01] [-3.59981450e-02 2.05470420e-04 9.99351836e-01 -2.36217645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:11.22, Z:-2.36 [[ 9.53694195e-01 -2.98802117e-01 3.44191465e-02 6.43077519e+01] [ 2.98616012e-01 9.54315067e-01 1.05466046e-02 1.12236089e+01] [-3.59980579e-02 2.19872750e-04 9.99351836e-01 -2.36379095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.36, Y:11.24, Z:-2.36 [[ 9.54207170e-01 -2.97160020e-01 3.44180114e-02 6.43623255e+01] [ 2.96972713e-01 9.54827680e-01 1.05503075e-02 1.12423024e+01] [-3.59983996e-02 1.54031155e-04 9.99351836e-01 -2.36021728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.42, Y:11.26, Z:-2.36 [[ 9.54513246e-01 -2.96175514e-01 3.44169783e-02 6.44176850e+01] [ 2.95987446e-01 9.55133526e-01 1.05536766e-02 1.12626075e+01] [-3.59985505e-02 1.13369439e-04 9.99351836e-01 -2.36321063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:11.28, Z:-2.37 [[ 9.53988299e-01 -2.97862342e-01 3.44144076e-02 6.44727112e+01] [ 2.97675068e-01 9.54608819e-01 1.05620528e-02 1.12826182e+01] [-3.59983348e-02 1.68236369e-04 9.99351836e-01 -2.37127123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.53, Y:11.30, Z:-2.37 [[ 9.53035123e-01 -3.00898516e-01 3.44113003e-02 6.45286259e+01] [ 3.00712853e-01 9.53656127e-01 1.05721668e-02 1.12991145e+01] [-3.59976967e-02 2.72274007e-04 9.99351836e-01 -2.37001962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:11.32, Z:-2.37 [[ 9.52028004e-01 -3.04070088e-01 3.44101922e-02 6.45850153e+01] [ 3.03886364e-01 9.52649585e-01 1.05757723e-02 1.13150069e+01] [-3.59966313e-02 3.88356768e-04 9.99351836e-01 -2.37341514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101858064 meters Centerline goodness : 0.996607 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:11.34, Z:-2.38 [[ 9.49924088e-01 -3.10580655e-01 3.44076200e-02 6.46387628e+01] [ 3.10400888e-01 9.50546824e-01 1.05841339e-02 1.13361009e+01] [-3.59932812e-02 6.26032043e-04 9.99351836e-01 -2.37827385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:11.36, Z:-2.38 [[ 9.49097492e-01 -3.13097929e-01 3.44040209e-02 6.46943841e+01] [ 3.12919390e-01 9.49720582e-01 1.05958202e-02 1.13558104e+01] [-3.59917361e-02 7.09218872e-04 9.99351836e-01 -2.38258281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.75, Y:11.37, Z:-2.38 [[ 9.49563122e-01 -3.11683277e-01 3.44007689e-02 6.47507227e+01] [ 3.11503428e-01 9.50185834e-01 1.06063679e-02 1.13740468e+01] [-3.59929507e-02 6.44541603e-04 9.99351836e-01 -2.38349396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:11.39, Z:-2.38 [[ 9.50290989e-01 -3.09457286e-01 3.43980378e-02 6.48055149e+01] [ 3.09275658e-01 9.50913185e-01 1.06152179e-02 1.13919377e+01] [-3.59945041e-02 5.50929870e-04 9.99351836e-01 -2.38435534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.86, Y:11.41, Z:-2.39 [[ 9.50277387e-01 -3.09499384e-01 3.43950470e-02 6.48606283e+01] [ 3.09317433e-01 9.50899488e-01 1.06248995e-02 1.14119869e+01] [-3.59946325e-02 5.42385974e-04 9.99351836e-01 -2.38549871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.92, Y:11.43, Z:-2.39 [[ 9.50285520e-01 -3.09474706e-01 3.43923837e-02 6.49152383e+01] [ 3.09292427e-01 9.50907526e-01 1.06335137e-02 1.14311062e+01] [-3.59947800e-02 5.32429743e-04 9.99351836e-01 -2.38617926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.97, Y:11.45, Z:-2.39 [[ 9.50648493e-01 -3.08358288e-01 3.43890779e-02 6.49685917e+01] [ 3.08174893e-01 9.51270170e-01 1.06441940e-02 1.14508667e+01] [-3.59955294e-02 4.78963437e-04 9.99351836e-01 -2.39170638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.02, Y:11.47, Z:-2.39 [[ 9.50439922e-01 -3.09000703e-01 3.43877985e-02 6.50237215e+01] [ 3.08817578e-01 9.51061679e-01 1.06483258e-02 1.14688239e+01] [-3.59952575e-02 4.98962707e-04 9.99351836e-01 -2.39451987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.08, Y:11.49, Z:-2.40 [[ 9.50023168e-01 -3.10279970e-01 3.43849007e-02 6.50791076e+01] [ 3.10097344e-01 9.50645071e-01 1.06576747e-02 1.14858716e+01] [-3.59946994e-02 5.37628519e-04 9.99351836e-01 -2.39623176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:11.50, Z:-2.40 [[ 9.50086164e-01 -3.10087353e-01 3.43818803e-02 6.51342290e+01] [ 3.09904249e-01 9.50707927e-01 1.06674097e-02 1.15034336e+01] [-3.59949550e-02 5.20132471e-04 9.99351836e-01 -2.39928455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:11.52, Z:-2.40 [[ 9.49868657e-01 -3.10753202e-01 3.43799485e-02 6.51895529e+01] [ 3.10570309e-01 9.50490482e-01 1.06736322e-02 1.15209027e+01] [-3.59946792e-02 5.38842554e-04 9.99351836e-01 -2.40039180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.761858064 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:11.54, Z:-2.41 [[ 9.49899595e-01 -3.10658966e-01 3.43768237e-02 6.52450991e+01] [ 3.10475647e-01 9.50521295e-01 1.06836868e-02 1.15366767e+01] [-3.59948861e-02 5.24736835e-04 9.99351836e-01 -2.40638985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.30, Y:11.56, Z:-2.40 [[ 9.49963595e-01 -3.10463583e-01 3.43734203e-02 6.52993496e+01] [ 3.10279741e-01 9.50585140e-01 1.06946257e-02 1.15563022e+01] [-3.59951543e-02 5.05870863e-04 9.99351836e-01 -2.40475234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.36, Y:11.57, Z:-2.41 [[ 9.50476630e-01 -3.08889548e-01 3.43718346e-02 6.53552592e+01] [ 3.08704492e-01 9.51097814e-01 1.06997194e-02 1.15728211e+01] [-3.59960083e-02 4.40906485e-04 9.99351836e-01 -2.40748995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:11.59, Z:-2.41 [[ 9.51468653e-01 -3.05820420e-01 3.43696492e-02 6.54094751e+01] [ 3.05633106e-01 9.52089161e-01 1.07067351e-02 1.15923824e+01] [-3.59973086e-02 3.17379849e-04 9.99351836e-01 -2.40800887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.46, Y:11.61, Z:-2.41 [[ 9.52852207e-01 -3.01482277e-01 3.43672480e-02 6.54638600e+01] [ 3.01291861e-01 9.53471770e-01 1.07144370e-02 1.16113528e+01] [-3.59984136e-02 1.45297133e-04 9.99351836e-01 -2.41026766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.52, Y:11.63, Z:-2.41 [[ 9.53682606e-01 -2.98845411e-01 3.43643436e-02 6.55189621e+01] [ 2.98652946e-01 9.54301535e-01 1.07237441e-02 1.16299057e+01] [-3.59986875e-02 3.59642415e-05 9.99351837e-01 -2.41314230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12185806400001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:11.65, Z:-2.41 [[ 9.54666489e-01 -2.95687668e-01 3.43612853e-02 6.55740544e+01] [ 2.95492803e-01 9.55284667e-01 1.07335345e-02 1.16472507e+01] [-3.59985828e-02 -9.34332024e-05 9.99351837e-01 -2.41415861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.181858064 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:11.67, Z:-2.42 [[ 9.54403294e-01 -2.96536448e-01 3.43582136e-02 6.56293665e+01] [ 2.96341780e-01 9.55021534e-01 1.07433582e-02 1.16651973e+01] [-3.59986311e-02 -7.17222368e-05 9.99351837e-01 -2.41734482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:11.68, Z:-2.42 [[ 9.53509569e-01 -2.99398156e-01 3.43547048e-02 6.56848061e+01] [ 2.99204939e-01 9.54128264e-01 1.07545668e-02 1.16819469e+01] [-3.59986923e-02 2.45150163e-05 9.99351837e-01 -2.41876257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.74, Y:11.70, Z:-2.43 [[ 9.51491928e-01 -3.05750076e-01 3.43511470e-02 6.57403361e+01] [ 3.05560580e-01 9.52111772e-01 1.07659189e-02 1.17020062e+01] [-3.59978120e-02 2.52671450e-04 9.99351837e-01 -2.42700682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:11.72, Z:-2.42 [[ 9.51404343e-01 -3.06022823e-01 3.43483347e-02 6.57968808e+01] [ 3.05833180e-01 9.52024142e-01 1.07748840e-02 1.17171171e+01] [-3.59978043e-02 2.53589039e-04 9.99351837e-01 -2.42247596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:11.74, Z:-2.42 [[ 9.50828859e-01 -3.07806337e-01 3.43473517e-02 6.58518318e+01] [ 3.07617744e-01 9.51448978e-01 1.07780164e-02 1.17351142e+01] [-3.59972945e-02 3.17805819e-04 9.99351837e-01 -2.42481588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:11.76, Z:-2.43 [[ 9.48111385e-01 -3.16077950e-01 3.43442890e-02 6.59061985e+01] [ 3.15894414e-01 9.48733020e-01 1.07877671e-02 1.17577248e+01] [-3.59933363e-02 6.21164226e-04 9.99351837e-01 -2.43483265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.96, Y:11.77, Z:-2.43 [[ 9.47270764e-01 -3.18588565e-01 3.43427552e-02 6.59628005e+01] [ 3.18406499e-01 9.47892832e-01 1.07926478e-02 1.17718193e+01] [-3.59916656e-02 7.11396727e-04 9.99351837e-01 -2.42988779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.02, Y:11.79, Z:-2.43 [[ 9.47111308e-01 -3.19062461e-01 3.43411922e-02 6.60159800e+01] [ 3.18880526e-01 9.47733413e-01 1.07976186e-02 1.17912965e+01] [-3.59914101e-02 7.24190725e-04 9.99351837e-01 -2.43188032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:11.82, Z:-2.45 [[ 9.45242278e-01 -3.24557877e-01 3.43397862e-02 6.60688989e+01] [ 3.24379396e-01 9.45865383e-01 1.08020885e-02 1.18169524e+01] [-3.59867179e-02 9.28528341e-04 9.99351837e-01 -2.44527835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.13, Y:11.83, Z:-2.44 [[ 9.46491770e-01 -3.20895879e-01 3.43389651e-02 6.61255371e+01] [ 3.20714892e-01 9.47114152e-01 1.08046979e-02 1.18318260e+01] [-3.59901029e-02 7.86459840e-04 9.99351837e-01 -2.43647122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:66.18, Y:11.85, Z:-2.44 [[ 9.47010940e-01 -3.19360806e-01 3.43359317e-02 6.61796389e+01] [ 3.19178461e-01 9.47632925e-01 1.08143292e-02 1.18517775e+01] [-3.59915323e-02 7.18001772e-04 9.99351837e-01 -2.43894316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.23, Y:11.87, Z:-2.44 [[ 9.47791091e-01 -3.17038355e-01 3.43326286e-02 6.62328246e+01] [ 3.16854107e-01 9.48412515e-01 1.08248056e-02 1.18735821e+01] [-3.59933732e-02 6.18780014e-04 9.99351837e-01 -2.44208686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:11.90, Z:-2.44 [[ 9.48697379e-01 -3.14316164e-01 3.43312109e-02 6.62873190e+01] [ 3.14129970e-01 9.49318223e-01 1.08292999e-02 1.18955085e+01] [-3.59950681e-02 5.10733819e-04 9.99351837e-01 -2.44237501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:11.92, Z:-2.45 [[ 9.48712242e-01 -3.14271655e-01 3.43279533e-02 6.63410649e+01] [ 3.14085058e-01 9.49332965e-01 1.08396164e-02 1.19185743e+01] [-3.59952419e-02 4.98220382e-04 9.99351837e-01 -2.44918044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:11.94, Z:-2.45 [[ 9.48716293e-01 -3.14259770e-01 3.43248004e-02 6.63946724e+01] [ 3.14072805e-01 9.49336905e-01 1.08495913e-02 1.19411066e+01] [-3.59953898e-02 4.87302250e-04 9.99351837e-01 -2.45437045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:11.96, Z:-2.45 [[ 9.49840203e-01 -3.10846614e-01 3.43215803e-02 6.64494268e+01] [ 3.10657051e-01 9.50460027e-01 1.08597680e-02 1.19586234e+01] [-3.59970123e-02 3.47196667e-04 9.99351837e-01 -2.45214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:11.98, Z:-2.46 [[ 9.48952025e-01 -3.13547752e-01 3.43199968e-02 6.65028783e+01] [ 3.13359772e-01 9.49572330e-01 1.08647702e-02 1.19809064e+01] [-3.59959436e-02 4.44360726e-04 9.99351837e-01 -2.45785242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:12.00, Z:-2.46 [[ 9.48951201e-01 -3.13550627e-01 3.43165052e-02 6.65563546e+01] [ 3.13362251e-01 9.49571386e-01 1.08757871e-02 1.20016824e+01] [-3.59960813e-02 4.32906088e-04 9.99351837e-01 -2.45963597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.261858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:12.02, Z:-2.46 [[ 9.49274922e-01 -3.12569345e-01 3.43151236e-02 6.66123552e+01] [ 3.12380171e-01 9.49894863e-01 1.08801448e-02 1.20198010e+01] [-3.59965594e-02 3.91115583e-04 9.99351837e-01 -2.45987069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.321858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:12.04, Z:-2.46 [[ 9.49046418e-01 -3.13262748e-01 3.43125085e-02 6.66662127e+01] [ 3.13073728e-01 9.49666407e-01 1.08883856e-02 1.20404162e+01] [-3.59963623e-02 4.08761645e-04 9.99351837e-01 -2.46224471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381858064 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:12.06, Z:-2.46 [[ 9.48950746e-01 -3.13552670e-01 3.43104151e-02 6.67205966e+01] [ 3.13363602e-01 9.49570720e-01 1.08949781e-02 1.20616835e+01] [-3.59963151e-02 4.12837650e-04 9.99351837e-01 -2.46385536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:12.08, Z:-2.47 [[ 9.49023416e-01 -3.13333027e-01 3.43069851e-02 6.67761634e+01] [ 3.13143425e-01 9.49643228e-01 1.09057680e-02 1.20814022e+01] [-3.59965334e-02 3.93177594e-04 9.99351837e-01 -2.46759860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.83, Y:12.10, Z:-2.47 [[ 9.49069389e-01 -3.13193917e-01 3.43054681e-02 6.68302043e+01] [ 3.13004052e-01 9.49689119e-01 1.09105381e-02 1.21006478e+01] [-3.59966439e-02 3.82892747e-04 9.99351837e-01 -2.46841635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.89, Y:12.12, Z:-2.47 [[ 9.49173673e-01 -3.12877969e-01 3.43032894e-02 6.68858822e+01] [ 3.12687650e-01 9.49793264e-01 1.09173836e-02 1.21205006e+01] [-3.59968420e-02 3.63721898e-04 9.99351837e-01 -2.47021537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:12.15, Z:-2.49 [[ 9.46195151e-01 -3.21773504e-01 3.43008630e-02 6.69374968e+01] [ 3.21588733e-01 9.46816419e-01 1.09250017e-02 1.21464101e+01] [-3.59919964e-02 6.93587470e-04 9.99351838e-01 -2.48748612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:12.16, Z:-2.48 [[ 9.46357660e-01 -3.21295338e-01 3.42999301e-02 6.69938034e+01] [ 3.21110148e-01 9.46978803e-01 1.09279300e-02 1.21611177e+01] [-3.59923997e-02 6.72325368e-04 9.99351838e-01 -2.48429240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:12.17, Z:-2.48 [[ 9.48874356e-01 -3.13785008e-01 3.42990413e-02 6.70517283e+01] [ 3.13594800e-01 9.49493982e-01 1.09307189e-02 1.21726500e+01] [-3.59966290e-02 3.84122098e-04 9.99351838e-01 -2.47619670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:12.19, Z:-2.48 [[ 9.49416871e-01 -3.12140016e-01 3.42959968e-02 6.71076387e+01] [ 3.11948389e-01 9.50036059e-01 1.09402628e-02 1.21898318e+01] [-3.59973275e-02 3.11710849e-04 9.99351838e-01 -2.47841732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:12.21, Z:-2.48 [[ 9.50773537e-01 -3.07983270e-01 3.42926755e-02 6.71631918e+01] [ 3.07788561e-01 9.51391762e-01 1.09506637e-02 1.22051550e+01] [-3.59983902e-02 1.43291982e-04 9.99351838e-01 -2.48055050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:12.23, Z:-2.49 [[ 9.50547409e-01 -3.08680712e-01 3.42905388e-02 6.72158468e+01] [ 3.08486215e-01 9.51165701e-01 1.09573505e-02 1.22296408e+01] [-3.59983071e-02 1.62677358e-04 9.99351838e-01 -2.49367644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.27, Y:12.24, Z:-2.49 [[ 9.51521087e-01 -3.05666523e-01 3.42869988e-02 6.72737620e+01] [ 3.05469669e-01 9.52138632e-01 1.09684165e-02 1.22418538e+01] [-3.59986538e-02 3.69585961e-05 9.99351838e-01 -2.48951817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:12.26, Z:-2.49 [[ 9.51919678e-01 -3.04423275e-01 3.42840689e-02 6.73287246e+01] [ 3.04225284e-01 9.52536860e-01 1.09775667e-02 1.22558880e+01] [-3.59986662e-02 -1.96811214e-05 9.99351838e-01 -2.49263164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:12.27, Z:-2.49 [[ 9.52487148e-01 -3.02643246e-01 3.42826251e-02 6.73859542e+01] [ 3.02443940e-01 9.53103907e-01 1.09820739e-02 1.22688314e+01] [-3.59985544e-02 -9.17120367e-05 9.99351838e-01 -2.49177420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161858064 meters Centerline goodness : 0.996164 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:12.28, Z:-2.49 [[ 9.52166926e-01 -3.03649584e-01 3.42793758e-02 6.74415132e+01] [ 3.03450565e-01 9.52783777e-01 1.09922068e-02 1.22849524e+01] [-3.59986122e-02 -6.43197633e-05 9.99351838e-01 -2.49466583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:12.30, Z:-2.50 [[ 9.51641787e-01 -3.05291775e-01 3.42759709e-02 6.74987024e+01] [ 3.05093438e-01 9.52258858e-01 1.10028137e-02 1.22979864e+01] [-3.59986655e-02 -1.33634886e-05 9.99351838e-01 -2.49530883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:12.31, Z:-2.50 [[ 9.51304203e-01 -3.06342517e-01 3.42720780e-02 6.75544476e+01] [ 3.06144426e-01 9.51921353e-01 1.10149263e-02 1.23126247e+01] [-3.59986631e-02 1.36599084e-05 9.99351838e-01 -2.49958839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:12.33, Z:-2.50 [[ 9.49659365e-01 -3.11404447e-01 3.42689472e-02 6.76117088e+01] [ 3.11209294e-01 9.50277450e-01 1.10246581e-02 1.23276775e+01] [-3.59981353e-02 1.95145077e-04 9.99351838e-01 -2.50429002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:12.34, Z:-2.50 [[ 9.48684508e-01 -3.14362103e-01 3.42661867e-02 6.76686010e+01] [ 3.14168567e-01 9.49303102e-01 1.10332315e-02 1.23398564e+01] [-3.59974271e-02 2.98302944e-04 9.99351838e-01 -2.50467397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.461858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:12.35, Z:-2.51 [[ 9.47798371e-01 -3.17024082e-01 3.42633851e-02 6.77247659e+01] [ 3.16831969e-01 9.48417408e-01 1.10419249e-02 1.23548228e+01] [-3.59965470e-02 3.90217354e-04 9.99351838e-01 -2.50584337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:12.37, Z:-2.51 [[ 9.46503739e-01 -3.20869001e-01 3.42601427e-02 6.77824616e+01] [ 3.20679039e-01 9.47123439e-01 1.10519760e-02 1.23684294e+01] [-3.59948207e-02 5.25773048e-04 9.99351838e-01 -2.51041059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:12.38, Z:-2.51 [[ 9.44830665e-01 -3.25762843e-01 3.42576245e-02 6.78400272e+01] [ 3.25575807e-01 9.45451255e-01 1.10597762e-02 1.23822028e+01] [-3.59917782e-02 7.03838044e-04 9.99351838e-01 -2.51170261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:12.40, Z:-2.51 [[ 9.44933354e-01 -3.25465157e-01 3.42547633e-02 6.78969763e+01] [ 3.25277606e-01 9.45553787e-01 1.10686307e-02 1.23964503e+01] [-3.59921748e-02 6.83189086e-04 9.99351838e-01 -2.51299100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:12.41, Z:-2.52 [[ 9.45203992e-01 -3.24678631e-01 3.42520168e-02 6.79521877e+01] [ 3.24490255e-01 9.45824176e-01 1.10771233e-02 1.24111567e+01] [-3.59928908e-02 6.44304504e-04 9.99351838e-01 -2.51517142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:12.43, Z:-2.52 [[ 9.45745368e-01 -3.23098424e-01 3.42506682e-02 6.80086176e+01] [ 3.22908861e-01 9.46365190e-01 1.10812916e-02 1.24257207e+01] [-3.59939880e-02 5.79764054e-04 9.99351838e-01 -2.51674657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.821858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.06, Y:12.44, Z:-2.52 [[ 9.46802205e-01 -3.19988572e-01 3.42476081e-02 6.80643806e+01] [ 3.19796631e-01 9.47421295e-01 1.10907413e-02 1.24428895e+01] [-3.59958236e-02 4.51531356e-04 9.99351838e-01 -2.51676935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:68.12, Y:12.46, Z:-2.52 [[ 9.47545782e-01 -3.17780046e-01 3.42466642e-02 6.81204571e+01] [ 3.17586557e-01 9.48164390e-01 1.10936551e-02 1.24589845e+01] [-3.59968097e-02 3.64534037e-04 9.99351838e-01 -2.52055311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.18, Y:12.47, Z:-2.52 [[ 9.48222723e-01 -3.15754731e-01 3.42434951e-02 6.81759826e+01] [ 3.15559568e-01 9.48840805e-01 1.11034287e-02 1.24746811e+01] [-3.59975856e-02 2.77339146e-04 9.99351838e-01 -2.52394607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:12.49, Z:-2.52 [[ 9.48392345e-01 -3.15245009e-01 3.42424405e-02 6.82321646e+01] [ 3.15049396e-01 9.49010284e-01 1.11066801e-02 1.24931107e+01] [-3.59977537e-02 2.54569845e-04 9.99351838e-01 -2.52459999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:12.51, Z:-2.52 [[ 9.48472494e-01 -3.15004071e-01 3.42397898e-02 6.82876415e+01] [ 3.14808007e-01 9.49090290e-01 1.11148458e-02 1.25090390e+01] [-3.59978737e-02 2.36834428e-04 9.99351838e-01 -2.52440123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.121858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:12.52, Z:-2.53 [[ 9.49560752e-01 -3.11708588e-01 3.42364533e-02 6.83453427e+01] [ 3.11510009e-01 9.50177744e-01 1.11251135e-02 1.25193583e+01] [-3.59985094e-02 1.01026752e-04 9.99351839e-01 -2.52579604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.181858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.40, Y:12.55, Z:-2.53 [[ 9.48420740e-01 -3.15160539e-01 3.42335194e-02 6.83979753e+01] [ 3.14963881e-01 9.49038347e-01 1.11341342e-02 1.25457173e+01] [-3.59979624e-02 2.22478321e-04 9.99351839e-01 -2.53011677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.45, Y:12.56, Z:-2.53 [[ 9.47463897e-01 -3.18025634e-01 3.42324526e-02 6.84535533e+01] [ 3.17830724e-01 9.48082058e-01 1.11374132e-02 1.25639310e+01] [-3.59971570e-02 3.27828303e-04 9.99351839e-01 -2.53287591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301858064 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:68.51, Y:12.58, Z:-2.53 [[ 9.45175450e-01 -3.24764110e-01 3.42292515e-02 6.85088261e+01] [ 3.24573251e-01 9.45794874e-01 1.11472426e-02 1.25809295e+01] [-3.59940749e-02 5.73799373e-04 9.99351839e-01 -2.53363863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:12.60, Z:-2.53 [[ 9.43357693e-01 -3.30007105e-01 3.42282687e-02 6.85636995e+01] [ 3.29819579e-01 9.43978134e-01 1.11502595e-02 1.25991722e+01] [-3.59904021e-02 7.70470098e-04 9.99351839e-01 -2.53273267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:12.62, Z:-2.53 [[ 9.42792139e-01 -3.31619696e-01 3.42251453e-02 6.86189231e+01] [ 3.31432884e-01 9.43412795e-01 1.11598384e-02 1.26186251e+01] [-3.59892622e-02 8.21930741e-04 9.99351839e-01 -2.53294565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48185806400001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:12.64, Z:-2.54 [[ 9.43061860e-01 -3.30852205e-01 3.42220151e-02 6.86729574e+01] [ 3.30664539e-01 9.43682259e-01 1.11694292e-02 1.26408419e+01] [-3.59901387e-02 7.82544203e-04 9.99351839e-01 -2.53570824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.541858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:12.66, Z:-2.54 [[ 9.44320252e-01 -3.27243533e-01 3.42188905e-02 6.87261443e+01] [ 3.27053150e-01 9.44939822e-01 1.11789935e-02 1.26643890e+01] [-3.59930456e-02 6.34845983e-04 9.99351839e-01 -2.53853149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:12.69, Z:-2.54 [[ 9.45310358e-01 -3.24372637e-01 3.42157648e-02 6.87803988e+01] [ 3.24180027e-01 9.45929240e-01 1.11885523e-02 1.26862661e+01] [-3.59949526e-02 5.15413157e-04 9.99351839e-01 -2.54067096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:12.71, Z:-2.54 [[ 9.46725470e-01 -3.20219274e-01 3.42125725e-02 6.88345112e+01] [ 3.20023596e-01 9.47343389e-01 1.11983052e-02 1.27081980e+01] [-3.59969675e-02 3.47109698e-04 9.99351839e-01 -2.54236868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:12.73, Z:-2.54 [[ 9.48815125e-01 -3.13973846e-01 3.42094041e-02 6.88913126e+01] [ 3.13773751e-01 9.49431627e-01 1.12079759e-02 1.27251667e+01] [-3.59985015e-02 9.97159945e-05 9.99351839e-01 -2.54297714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.94, Y:12.75, Z:-2.55 [[ 9.48597809e-01 -3.14629967e-01 3.42079102e-02 6.89440456e+01] [ 3.14430135e-01 9.49214396e-01 1.12125337e-02 1.27485654e+01] [-3.59984399e-02 1.19812922e-04 9.99351839e-01 -2.54755987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84185806400001 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:69.00, Y:12.77, Z:-2.55 [[ 9.49289284e-01 -3.12537644e-01 3.42063654e-02 6.89978425e+01] [ 3.12336283e-01 9.49905374e-01 1.12172444e-02 1.27702985e+01] [-3.59986214e-02 3.54791628e-05 9.99351839e-01 -2.54821296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.901858064 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:12.79, Z:-2.55 [[ 9.49068883e-01 -3.13206630e-01 3.42032352e-02 6.90527969e+01] [ 3.13005360e-01 9.49685003e-01 1.12267808e-02 1.27889950e+01] [-3.59986017e-02 5.08076458e-05 9.99351839e-01 -2.54959145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.961858064 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:12.81, Z:-2.55 [[ 9.48196182e-01 -3.15839129e-01 3.42000835e-02 6.91073207e+01] [ 3.15639223e-01 9.48812745e-01 1.12363736e-02 1.28093570e+01] [-3.59983615e-02 1.40601269e-04 9.99351839e-01 -2.55189994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:12.83, Z:-2.55 [[ 9.47243384e-01 -3.18685654e-01 3.41968724e-02 6.91608619e+01] [ 3.18487248e-01 9.47860431e-01 1.12461377e-02 1.28279518e+01] [-3.59978450e-02 2.38438233e-04 9.99351839e-01 -2.55473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081858064 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:12.85, Z:-2.56 [[ 9.45925844e-01 -3.22575518e-01 3.41954941e-02 6.92155448e+01] [ 3.22379499e-01 9.46543654e-01 1.12503271e-02 1.28467885e+01] [-3.59966080e-02 3.81951074e-04 9.99351839e-01 -2.55720782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141858064 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:12.87, Z:-2.56 [[ 9.45443498e-01 -3.23986846e-01 3.41923308e-02 6.92689730e+01] [ 3.23791401e-01 9.46061490e-01 1.12599329e-02 1.28660458e+01] [-3.59961176e-02 4.25552328e-04 9.99351839e-01 -2.56006286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201858064 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:12.89, Z:-2.56 [[ 9.45276752e-01 -3.24473173e-01 3.41909719e-02 6.93232734e+01] [ 3.24277897e-01 9.45894797e-01 1.12640577e-02 1.28865206e+01] [-3.59959470e-02 4.39724579e-04 9.99351839e-01 -2.56266593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.261858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:69.38, Y:12.91, Z:-2.57 [[ 9.45420359e-01 -3.24054842e-01 3.41877870e-02 6.93782456e+01] [ 3.23858943e-01 9.46038207e-01 1.12737161e-02 1.29065573e+01] [-3.59962550e-02 4.13619834e-04 9.99351839e-01 -2.56571754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.321858064 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:69.43, Y:12.93, Z:-2.57 [[ 9.45915342e-01 -3.22607466e-01 3.41846186e-02 6.94330974e+01] [ 3.22410275e-01 9.46532779e-01 1.12833150e-02 1.29271252e+01] [-3.59969438e-02 3.48411488e-04 9.99351839e-01 -2.56813716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381858064 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:69.49, Y:12.95, Z:-2.57 [[ 9.45933815e-01 -3.22553609e-01 3.41816738e-02 6.94874779e+01] [ 3.22356060e-01 9.46551138e-01 1.12922292e-02 1.29473524e+01] [-3.59970515e-02 3.36968267e-04 9.99351839e-01 -2.56911218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441858064 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:12.97, Z:-2.57 [[ 9.46041806e-01 -3.22237074e-01 3.41784917e-02 6.95423080e+01] [ 3.22038971e-01 9.46658951e-01 1.13018522e-02 1.29665723e+01] [-3.59972509e-02 3.14781673e-04 9.99351839e-01 -2.57010849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501858064 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:12.99, Z:-2.57 [[ 9.47250297e-01 -3.18667428e-01 3.41752263e-02 6.95965094e+01] [ 3.18466643e-01 9.47866574e-01 1.13117177e-02 1.29880445e+01] [-3.59982307e-02 1.68641657e-04 9.99351839e-01 -2.57341528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561858064 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:69.65, Y:13.01, Z:-2.58 [[ 9.48855850e-01 -3.13854822e-01 3.41720049e-02 6.96506220e+01] [ 3.13650562e-01 9.49470984e-01 1.13214410e-02 1.30084904e+01] [-3.59986160e-02 -2.43469856e-05 9.99351839e-01 -2.57505265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.621858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:69.71, Y:13.03, Z:-2.58 [[ 9.49994451e-01 -3.10391749e-01 3.41687696e-02 6.97054030e+01] [ 3.10184895e-01 9.50608718e-01 1.13311971e-02 1.30263722e+01] [-3.59982403e-02 -1.65938217e-04 9.99351840e-01 -2.57662715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.681858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:13.05, Z:-2.58 [[ 9.50520971e-01 -3.08775971e-01 3.41655454e-02 6.97606280e+01] [ 3.08567724e-01 9.51134766e-01 1.13409102e-02 1.30462639e+01] [-3.59978386e-02 -2.37388440e-04 9.99351840e-01 -2.58198384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.82, Y:13.06, Z:-2.59 [[ 9.49891200e-01 -3.10708249e-01 3.41627433e-02 6.98162237e+01] [ 3.10500947e-01 9.50505315e-01 1.13493448e-02 1.30644897e+01] [-3.59982041e-02 -1.73078596e-04 9.99351840e-01 -2.58517923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.87, Y:13.08, Z:-2.58 [[ 9.48652589e-01 -3.14470020e-01 3.41594975e-02 6.98712714e+01] [ 3.14264802e-01 9.49267404e-01 1.13591058e-02 1.30788952e+01] [-3.59985957e-02 -4.07174015e-05 9.99351840e-01 -2.58412788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:13.10, Z:-2.59 [[ 9.47907518e-01 -3.16708972e-01 3.41579339e-02 6.99269007e+01] [ 3.16505037e-01 9.48522760e-01 1.13638055e-02 1.30956958e+01] [-3.59985969e-02 3.93214529e-05 9.99351840e-01 -2.58641006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.98, Y:13.11, Z:-2.59 [[ 9.47126462e-01 -3.19037496e-01 3.41546748e-02 6.99822672e+01] [ 3.18834721e-01 9.47742086e-01 1.13735928e-02 1.31124699e+01] [-3.59984253e-02 1.17465510e-04 9.99351840e-01 -2.58974348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.04, Y:13.13, Z:-2.59 [[ 9.46414699e-01 -3.21143147e-01 3.41510879e-02 7.00386345e+01] [ 3.20941353e-01 9.47030646e-01 1.13843528e-02 1.31287887e+01] [-3.59981337e-02 1.86177571e-04 9.99351840e-01 -2.58922114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:13.14, Z:-2.59 [[ 9.46108119e-01 -3.22045566e-01 3.41479321e-02 7.00948024e+01] [ 3.21844018e-01 9.46724146e-01 1.13938108e-02 1.31449909e+01] [-3.59979981e-02 2.10530793e-04 9.99351840e-01 -2.59223399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101858064 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:13.16, Z:-2.59 [[ 9.46039136e-01 -3.22248488e-01 3.41447583e-02 7.01509469e+01] [ 3.22046729e-01 9.46655095e-01 1.14033141e-02 1.31607712e+01] [-3.59980102e-02 2.08226367e-04 9.99351840e-01 -2.59467559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161858064 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:13.18, Z:-2.60 [[ 9.45964099e-01 -3.22469034e-01 3.41415477e-02 7.02072693e+01] [ 3.22267072e-01 9.46579991e-01 1.14129185e-02 1.31772333e+01] [-3.59980188e-02 2.06485466e-04 9.99351840e-01 -2.59573908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:13.19, Z:-2.60 [[ 9.46016870e-01 -3.22314483e-01 3.41387617e-02 7.02618578e+01] [ 3.22112120e-01 9.46632631e-01 1.14212461e-02 1.31928463e+01] [-3.59980988e-02 1.91817464e-04 9.99351840e-01 -2.59916698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:13.21, Z:-2.60 [[ 9.45142647e-01 -3.24869417e-01 3.41355837e-02 7.03179180e+01] [ 3.24668376e-01 9.45758840e-01 1.14307365e-02 1.32098283e+01] [-3.59975268e-02 2.79068001e-04 9.99351840e-01 -2.59904298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34185806400001 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:70.37, Y:13.23, Z:-2.60 [[ 9.44793686e-01 -3.25883174e-01 3.41328106e-02 7.03743102e+01] [ 3.25682495e-01 9.45409997e-01 1.14390112e-02 1.32251407e+01] [-3.59972816e-02 3.08953357e-04 9.99351840e-01 -2.59868185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:13.24, Z:-2.60 [[ 9.44815742e-01 -3.25819563e-01 3.41295498e-02 7.04294316e+01] [ 3.25618492e-01 9.45431925e-01 1.14487321e-02 1.32432617e+01] [-3.59973868e-02 2.96270214e-04 9.99351840e-01 -2.60137192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.461858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:70.48, Y:13.26, Z:-2.61 [[ 9.45554643e-01 -3.23669057e-01 3.41285490e-02 7.04847209e+01] [ 3.23466477e-01 9.46170332e-01 1.14517145e-02 1.32601111e+01] [-3.59979862e-02 2.11219635e-04 9.99351840e-01 -2.60679552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:70.54, Y:13.28, Z:-2.61 [[ 9.45847322e-01 -3.22813118e-01 3.41252817e-02 7.05410550e+01] [ 3.22609629e-01 9.46462710e-01 1.14614427e-02 1.32750096e+01] [-3.59982106e-02 1.68369615e-04 9.99351840e-01 -2.60848035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.60, Y:13.29, Z:-2.61 [[ 9.46183026e-01 -3.21828194e-01 3.41217615e-02 7.05958798e+01] [ 3.21623687e-01 9.46798077e-01 1.14719130e-02 1.32927477e+01] [-3.59984032e-02 1.19837412e-04 9.99351840e-01 -2.61143895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:13.30, Z:-2.61 [[ 9.47846356e-01 -3.16896215e-01 3.41185221e-02 7.06525672e+01] [ 3.16688161e-01 9.48460217e-01 1.14815391e-02 1.33049012e+01] [-3.59985172e-02 -7.78029829e-05 9.99351840e-01 -2.61341160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.71, Y:13.33, Z:-2.62 [[ 9.47312734e-01 -3.18488193e-01 3.41153215e-02 7.07063339e+01] [ 3.18280828e-01 9.47926827e-01 1.14910414e-02 1.33263775e+01] [-3.59985895e-02 -2.73570581e-05 9.99351840e-01 -2.61539598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.761858064 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:13.34, Z:-2.62 [[ 9.47691648e-01 -3.17359035e-01 3.41142563e-02 7.07628785e+01] [ 3.17150825e-01 9.48305456e-01 1.14942027e-02 1.33425443e+01] [-3.59985245e-02 -7.35953511e-05 9.99351840e-01 -2.62097795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:13.36, Z:-2.62 [[ 9.46756361e-01 -3.20138740e-01 3.41112930e-02 7.08189733e+01] [ 3.19932015e-01 9.47370670e-01 1.15029901e-02 1.33604581e+01] [-3.59985913e-02 2.27656476e-05 9.99351840e-01 -2.62065250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:13.38, Z:-2.62 [[ 9.46834334e-01 -3.19908402e-01 3.41080447e-02 7.08749318e+01] [ 3.19701181e-01 9.47448476e-01 1.15126140e-02 1.33761665e+01] [-3.59985969e-02 3.84399700e-06 9.99351840e-01 -2.62490699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.93, Y:13.39, Z:-2.63 [[ 9.47131809e-01 -3.19026724e-01 3.41069811e-02 7.09308069e+01] [ 3.18818818e-01 9.47745719e-01 1.15157640e-02 1.33925331e+01] [-3.59985818e-02 -3.29989513e-05 9.99351840e-01 -2.62555144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:13.41, Z:-2.63 [[ 9.46384523e-01 -3.21237123e-01 3.41034575e-02 7.09871163e+01] [ 3.21030275e-01 9.46998791e-01 1.15261897e-02 1.34085363e+01] [-3.59985730e-02 4.00347936e-05 9.99351841e-01 -2.62614776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061858064 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:71.04, Y:13.43, Z:-2.63 [[ 9.45835638e-01 -3.22850032e-01 3.40998966e-02 7.10427211e+01] [ 3.22643852e-01 9.46450130e-01 1.15367149e-02 1.34261856e+01] [-3.59984803e-02 9.02858820e-05 9.99351841e-01 -2.63132135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.121858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:71.10, Y:13.44, Z:-2.63 [[ 9.45235009e-01 -3.24604666e-01 3.40967525e-02 7.10993567e+01] [ 3.24399292e-01 9.45849771e-01 1.15459998e-02 1.34429524e+01] [-3.59982909e-02 1.47279178e-04 9.99351841e-01 -2.62949396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.181858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.15, Y:13.46, Z:-2.63 [[ 9.44832893e-01 -3.25773606e-01 3.40934280e-02 7.11543160e+01] [ 3.25568639e-01 9.45447791e-01 1.15558081e-02 1.34591066e+01] [-3.59981335e-02 1.81443388e-04 9.99351841e-01 -2.63124375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241858064 meters Centerline goodness : 0.997064 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:13.48, Z:-2.64 [[ 9.44553885e-01 -3.26581916e-01 3.40912100e-02 7.12091176e+01] [ 3.26377239e-01 9.45168879e-01 1.15623477e-02 1.34774618e+01] [-3.59980044e-02 2.05334567e-04 9.99351841e-01 -2.63561113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.27, Y:13.50, Z:-2.64 [[ 9.44650899e-01 -3.26301597e-01 3.40873487e-02 7.12653779e+01] [ 3.26096327e-01 9.45265695e-01 1.15737202e-02 1.34960102e+01] [-3.59981248e-02 1.82634005e-04 9.99351841e-01 -2.63544167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361858064 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:71.32, Y:13.51, Z:-2.64 [[ 9.45697177e-01 -3.23257075e-01 3.40839156e-02 7.13197915e+01] [ 3.23049462e-01 9.46311186e-01 1.15838217e-02 1.35133101e+01] [-3.59985429e-02 5.60031623e-05 9.99351841e-01 -2.63901985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.38, Y:13.53, Z:-2.64 [[ 9.46573861e-01 -3.20681130e-01 3.40813506e-02 7.13752302e+01] [ 3.20471574e-01 9.47187210e-01 1.15913636e-02 1.35320246e+01] [-3.59985509e-02 -4.99777239e-05 9.99351841e-01 -2.64051028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48185806400001 meters Centerline goodness : 0.997711 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:13.55, Z:-2.64 [[ 9.46725151e-01 -3.20234564e-01 3.40780442e-02 7.14300785e+01] [ 3.20024369e-01 9.47338281e-01 1.16010760e-02 1.35513117e+01] [-3.59985013e-02 -7.72258665e-05 9.99351841e-01 -2.64435700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.541858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:13.56, Z:-2.63 [[ 9.48149989e-01 -3.15991373e-01 3.40741983e-02 7.14900261e+01] [ 3.15778029e-01 9.48762030e-01 1.16123609e-02 1.35628742e+01] [-3.59977115e-02 -2.50376710e-04 9.99351841e-01 -2.63351865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601858064 meters Centerline goodness : 0.997957 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:13.59, Z:-2.64 [[ 9.45446102e-01 -3.23992004e-01 3.40712537e-02 7.15432177e+01] [ 3.23783528e-01 9.46059818e-01 1.16209941e-02 1.35877493e+01] [-3.59985533e-02 4.46871191e-05 9.99351841e-01 -2.64435881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661858064 meters Centerline goodness : 0.997432 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:13.61, Z:-2.65 [[ 9.44152603e-01 -3.27742358e-01 3.40706544e-02 7.15981585e+01] [ 3.27536257e-01 9.44767121e-01 1.16227509e-02 1.36070682e+01] [-3.59981019e-02 1.85724057e-04 9.99351841e-01 -2.64747227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721858064 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:71.65, Y:13.63, Z:-2.65 [[ 9.43728338e-01 -3.28962423e-01 3.40668278e-02 7.16529057e+01] [ 3.28756711e-01 9.44342986e-01 1.16339561e-02 1.36256864e+01] [-3.59979043e-02 2.20404239e-04 9.99351841e-01 -2.64798765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.71, Y:13.64, Z:-2.63 [[ 9.46093414e-01 -3.22097779e-01 3.40627826e-02 7.17132361e+01] [ 3.21887182e-01 9.46706405e-01 1.16457879e-02 1.36364578e+01] [-3.59985369e-02 -5.36301225e-05 9.99351841e-01 -2.62891621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84185806400001 meters Centerline goodness : 0.994770 with order 1 Centerline is valid? [True, True] Translation: X:71.76, Y:13.67, Z:-2.66 [[ 9.43062100e-01 -3.30868006e-01 3.40622698e-02 7.17641077e+01] [ 3.30663055e-01 9.43677002e-01 1.16472875e-02 1.36663369e+01] [-3.59974955e-02 2.79018784e-04 9.99351841e-01 -2.65501830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.82, Y:13.68, Z:-2.64 [[ 9.46652957e-01 -3.20449682e-01 3.40614240e-02 7.18240907e+01] [ 3.20237874e-01 9.47265531e-01 1.16497604e-02 1.36758953e+01] [-3.59983750e-02 -1.20522135e-04 9.99351841e-01 -2.63552186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.961858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:71.88, Y:13.71, Z:-2.66 [[ 9.44198152e-01 -3.27612157e-01 3.40606083e-02 7.18756654e+01] [ 3.27404911e-01 9.44812284e-01 1.16521448e-02 1.37078422e+01] [-3.59982655e-02 1.49676813e-04 9.99351841e-01 -2.65793184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021858064 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:13.73, Z:-2.66 [[ 9.43846845e-01 -3.28622925e-01 3.40603450e-02 7.19309072e+01] [ 3.28416308e-01 9.44461189e-01 1.16529145e-02 1.37292648e+01] [-3.59980888e-02 1.87406203e-04 9.99351841e-01 -2.66181175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:13.75, Z:-2.66 [[ 9.43996976e-01 -3.28191735e-01 3.40572261e-02 7.19851391e+01] [ 3.27984509e-01 9.44611115e-01 1.16620230e-02 1.37507977e+01] [-3.59982138e-02 1.61328151e-04 9.99351841e-01 -2.66038798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:72.04, Y:13.77, Z:-2.66 [[ 9.43871062e-01 -3.28554086e-01 3.40533427e-02 7.20386222e+01] [ 3.28346687e-01 9.44485143e-01 1.16733514e-02 1.37733685e+01] [-3.59982036e-02 1.63163670e-04 9.99351841e-01 -2.66257099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.10, Y:13.79, Z:-2.65 [[ 9.46133224e-01 -3.21982163e-01 3.40500946e-02 7.20981146e+01] [ 3.21770158e-01 9.46745730e-01 1.16828181e-02 1.37854287e+01] [-3.59984407e-02 -9.71979965e-05 9.99351841e-01 -2.64553255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.261858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:13.82, Z:-2.66 [[ 9.43155915e-01 -3.30601785e-01 3.40496589e-02 7.21488085e+01] [ 3.30395331e-01 9.43770315e-01 1.16840879e-02 1.38179145e+01] [-3.59978376e-02 2.29931726e-04 9.99351841e-01 -2.66357596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.321858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:13.84, Z:-2.67 [[ 9.42894342e-01 -3.31347131e-01 3.40490709e-02 7.22027451e+01] [ 3.31141102e-01 9.43508883e-01 1.16858011e-02 1.38396254e+01] [-3.59976576e-02 2.56571075e-04 9.99351841e-01 -2.66533608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:13.86, Z:-2.67 [[ 9.42732285e-01 -3.31808252e-01 3.40458901e-02 7.22573465e+01] [ 3.31602189e-01 9.43346815e-01 1.16950611e-02 1.38608085e+01] [-3.59975997e-02 2.64380033e-04 9.99351841e-01 -2.66574127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.31, Y:13.88, Z:-2.67 [[ 9.42197855e-01 -3.33323076e-01 3.40430397e-02 7.23119836e+01] [ 3.33117701e-01 9.42812616e-01 1.17033523e-02 1.38810672e+01] [-3.59972047e-02 3.13465677e-04 9.99351841e-01 -2.66706559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501858064 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:72.37, Y:13.90, Z:-2.67 [[ 9.43753420e-01 -3.28893333e-01 3.40390692e-02 7.23678373e+01] [ 3.28684657e-01 9.44367067e-01 1.17148890e-02 1.38979159e+01] [-3.59983249e-02 1.32153197e-04 9.99351842e-01 -2.67037518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561858064 meters Centerline goodness : 0.998166 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:13.92, Z:-2.67 [[ 9.43640280e-01 -3.29218172e-01 3.40355333e-02 7.24220032e+01] [ 3.29009336e-01 9.44253873e-01 1.17251531e-02 1.39202009e+01] [-3.59983176e-02 1.33681443e-04 9.99351842e-01 -2.67311715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.621858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:72.47, Y:13.96, Z:-2.69 [[ 9.40262984e-01 -3.38743778e-01 3.40319609e-02 7.24721373e+01] [ 3.38540783e-01 9.40878534e-01 1.17355126e-02 1.39556868e+01] [-3.59952734e-02 4.86738589e-04 9.99351842e-01 -2.68849528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.681858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:72.53, Y:13.97, Z:-2.68 [[ 9.43613848e-01 -3.29294636e-01 3.40286442e-02 7.25292135e+01] [ 3.29085130e-01 9.44227213e-01 1.17451220e-02 1.39701435e+01] [-3.59983775e-02 1.15461037e-04 9.99351842e-01 -2.67882103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:14.00, Z:-2.70 [[ 9.40487444e-01 -3.38120528e-01 3.40275947e-02 7.25798725e+01] [ 3.37916667e-01 9.41102708e-01 1.17481618e-02 1.40020422e+01] [-3.59957562e-02 4.49492747e-04 9.99351842e-01 -2.69773337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:72.63, Y:14.02, Z:-2.70 [[ 9.41379427e-01 -3.35629414e-01 3.40245521e-02 7.26344392e+01] [ 3.35423607e-01 9.41994043e-01 1.17569671e-02 1.40209260e+01] [-3.59969094e-02 3.44871000e-04 9.99351842e-01 -2.69652640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.69, Y:14.04, Z:-2.70 [[ 9.41581326e-01 -3.35062747e-01 3.40229562e-02 7.26886831e+01] [ 3.34856403e-01 9.42195762e-01 1.17615835e-02 1.40402760e+01] [-3.59971536e-02 3.18317341e-04 9.99351842e-01 -2.69570263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.75, Y:14.05, Z:-2.69 [[ 9.42964807e-01 -3.31149332e-01 3.40219322e-02 7.27452799e+01] [ 3.30940332e-01 9.43578345e-01 1.17645448e-02 1.40540455e+01] [-3.59981796e-02 1.65677807e-04 9.99351842e-01 -2.68562319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:14.08, Z:-2.69 [[ 9.42910881e-01 -3.31302951e-01 3.40209409e-02 7.27996732e+01] [ 3.31093948e-01 9.43524417e-01 1.17674108e-02 1.40761402e+01] [-3.59981664e-02 1.68507966e-04 9.99351842e-01 -2.69042193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.041858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:14.10, Z:-2.69 [[ 9.43545990e-01 -3.29490116e-01 3.40180691e-02 7.28545233e+01] [ 3.29279634e-01 9.44159020e-01 1.17757071e-02 1.40962919e+01] [-3.59984458e-02 9.05361627e-05 9.99351842e-01 -2.68982381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:72.91, Y:14.12, Z:-2.70 [[ 9.42531345e-01 -3.32381566e-01 3.40170211e-02 7.29074281e+01] [ 3.32172855e-01 9.43144981e-01 1.17787335e-02 1.41198297e+01] [-3.59980166e-02 1.97705475e-04 9.99351842e-01 -2.69735681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:14.14, Z:-2.69 [[ 9.43421454e-01 -3.29846979e-01 3.40137005e-02 7.29629459e+01] [ 3.29636274e-01 9.44034407e-01 1.17883149e-02 1.41370076e+01] [-3.59984436e-02 9.08003561e-05 9.99351842e-01 -2.69427844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:14.16, Z:-2.70 [[ 9.43143872e-01 -3.30640185e-01 3.40103718e-02 7.30149648e+01] [ 3.30429650e-01 9.43756884e-01 1.17979105e-02 1.41606952e+01] [-3.59983858e-02 1.10908273e-04 9.99351842e-01 -2.70304449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:14.18, Z:-2.70 [[ 9.43322199e-01 -3.30131219e-01 3.40089425e-02 7.30706496e+01] [ 3.29920205e-01 9.43935046e-01 1.18020292e-02 1.41778113e+01] [-3.59984510e-02 8.71211471e-05 9.99351842e-01 -2.70244190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:14.20, Z:-2.70 [[ 9.44992431e-01 -3.25319757e-01 3.40053188e-02 7.31259298e+01] [ 3.25105247e-01 9.45604063e-01 1.18124609e-02 1.41963552e+01] [-3.59983946e-02 -1.07378584e-04 9.99351842e-01 -2.70427459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:14.21, Z:-2.70 [[ 9.45588399e-01 -3.23583519e-01 3.40042077e-02 7.31813097e+01] [ 3.23367770e-01 9.46199596e-01 1.18156587e-02 1.42147090e+01] [-3.59981200e-02 -1.76884961e-04 9.99351842e-01 -2.70496510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.461858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:73.24, Y:14.23, Z:-2.70 [[ 9.45734701e-01 -3.23156032e-01 3.40008070e-02 7.32387501e+01] [ 3.22939656e-01 9.46345676e-01 1.18254365e-02 1.42300067e+01] [-3.59979778e-02 -2.03516702e-04 9.99351842e-01 -2.70406192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.30, Y:14.25, Z:-2.71 [[ 9.45826010e-01 -3.22889028e-01 3.39975699e-02 7.32959081e+01] [ 3.22672145e-01 9.46436805e-01 1.18347357e-02 1.42458081e+01] [-3.59978577e-02 -2.23532070e-04 9.99351842e-01 -2.70959800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:14.27, Z:-2.72 [[ 9.44255050e-01 -3.27454973e-01 3.39947369e-02 7.33499582e+01] [ 3.27240751e-01 9.44866783e-01 1.18428677e-02 1.42659396e+01] [-3.59985036e-02 -5.82243796e-05 9.99351842e-01 -2.71870521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:14.28, Z:-2.71 [[ 9.45079189e-01 -3.25068842e-01 3.39937411e-02 7.34081325e+01] [ 3.24852972e-01 9.45690343e-01 1.18457254e-02 1.42789796e+01] [-3.59982289e-02 -1.52180736e-04 9.99351842e-01 -2.71184193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.46, Y:14.29, Z:-2.71 [[ 9.44779432e-01 -3.25939325e-01 3.39909009e-02 7.34637521e+01] [ 3.25723726e-01 9.45390681e-01 1.18538696e-02 1.42922988e+01] [-3.59983232e-02 -1.27649253e-04 9.99351842e-01 -2.71339064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:14.31, Z:-2.72 [[ 9.44675004e-01 -3.26242025e-01 3.39893719e-02 7.35198920e+01] [ 3.26026464e-01 9.45286267e-01 1.18582522e-02 1.43077076e+01] [-3.59983467e-02 -1.20759700e-04 9.99351842e-01 -2.71506769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:14.32, Z:-2.72 [[ 9.44705227e-01 -3.26154849e-01 3.39860145e-02 7.35781858e+01] [ 3.25938886e-01 9.45316347e-01 1.18678669e-02 1.43201872e+01] [-3.59982974e-02 -1.34272133e-04 9.99351842e-01 -2.71759872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:14.33, Z:-2.72 [[ 9.43939837e-01 -3.28363617e-01 3.39841089e-02 7.36339844e+01] [ 3.28148887e-01 9.44551392e-01 1.18733210e-02 1.43342604e+01] [-3.59985040e-02 -5.58531353e-05 9.99351842e-01 -2.72193987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:14.35, Z:-2.72 [[ 9.44287494e-01 -3.27362697e-01 3.39822547e-02 7.36900744e+01] [ 3.27147128e-01 9.44898754e-01 1.18786255e-02 1.43478824e+01] [-3.59984090e-02 -9.96404141e-05 9.99351842e-01 -2.72321402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:14.36, Z:-2.73 [[ 9.44957744e-01 -3.25423014e-01 3.39812187e-02 7.37472622e+01] [ 3.25206084e-01 9.45568522e-01 1.18815887e-02 1.43632805e+01] [-3.59981131e-02 -1.76700157e-04 9.99351842e-01 -2.72616804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:14.38, Z:-2.73 [[ 9.45226946e-01 -3.24640559e-01 3.39783388e-02 7.38056889e+01] [ 3.24422827e-01 9.45837439e-01 1.18898187e-02 1.43753128e+01] [-3.59979023e-02 -2.15228312e-04 9.99351842e-01 -2.72891789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.86, Y:14.39, Z:-2.73 [[ 9.44776113e-01 -3.25950561e-01 3.39753966e-02 7.38612728e+01] [ 3.25733374e-01 9.45386800e-01 1.18982200e-02 1.43926841e+01] [-3.59981230e-02 -1.74233504e-04 9.99351842e-01 -2.73224176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.92, Y:14.40, Z:-2.73 [[ 9.45515933e-01 -3.23798345e-01 3.39742719e-02 7.39186130e+01] [ 3.23579653e-01 9.46126083e-01 1.19014306e-02 1.44031866e+01] [-3.59976083e-02 -2.59609121e-04 9.99351842e-01 -2.73040783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.98, Y:14.42, Z:-2.73 [[ 9.45197443e-01 -3.24726988e-01 3.39731786e-02 7.39757032e+01] [ 3.24508782e-01 9.45807767e-01 1.19045506e-02 1.44179365e+01] [-3.59978251e-02 -2.27555984e-04 9.99351842e-01 -2.73101058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.03, Y:14.44, Z:-2.73 [[ 9.45174066e-01 -3.24795328e-01 3.39702868e-02 7.40322344e+01] [ 3.24576871e-01 9.45784299e-01 1.19127969e-02 1.44357653e+01] [-3.59977847e-02 -2.33697239e-04 9.99351842e-01 -2.73235474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:74.09, Y:14.46, Z:-2.74 [[ 9.46082411e-01 -3.22140170e-01 3.39673685e-02 7.40860228e+01] [ 3.21919701e-01 9.46691921e-01 1.19211121e-02 1.44555843e+01] [-3.59969024e-02 -3.43589393e-04 9.99351842e-01 -2.73568786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:14.47, Z:-2.74 [[ 9.46393055e-01 -3.21226642e-01 3.39651186e-02 7.41407864e+01] [ 3.21005356e-01 9.47002268e-01 1.19275190e-02 1.44745906e+01] [-3.59964813e-02 -3.85136164e-04 9.99351842e-01 -2.73977765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:14.49, Z:-2.74 [[ 9.46525890e-01 -3.20835125e-01 3.39641247e-02 7.41957220e+01] [ 3.20613485e-01 9.47134974e-01 1.19303486e-02 1.44949205e+01] [-3.59962853e-02 -4.03027385e-04 9.99351842e-01 -2.74101695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:14.52, Z:-2.75 [[ 9.44642095e-01 -3.26340210e-01 3.39614323e-02 7.42509021e+01] [ 3.26121844e-01 9.45252361e-01 1.19380081e-02 1.45152001e+01] [-3.59979761e-02 -2.01580023e-04 9.99351842e-01 -2.74514115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:14.53, Z:-2.75 [[ 9.43427044e-01 -3.29836678e-01 3.39584702e-02 7.43054292e+01] [ 3.29620271e-01 9.44038008e-01 1.19464279e-02 1.45344891e+01] [-3.59984567e-02 -7.71830174e-05 9.99351843e-01 -2.74757410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.36, Y:14.55, Z:-2.75 [[ 9.41409581e-01 -3.35551851e-01 3.39552026e-02 7.43613836e+01] [ 3.35338818e-01 9.42021729e-01 1.19557081e-02 1.45536616e+01] [-3.59982987e-02 1.31279315e-04 9.99351843e-01 -2.74789702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:14.57, Z:-2.75 [[ 9.40686594e-01 -3.37573649e-01 3.39523679e-02 7.44171829e+01] [ 3.37361641e-01 9.41299098e-01 1.19637530e-02 1.45737457e+01] [-3.59979810e-02 2.00084475e-04 9.99351843e-01 -2.75085621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.47, Y:14.59, Z:-2.75 [[ 9.40279239e-01 -3.38706918e-01 3.39496056e-02 7.44718853e+01] [ 3.38495366e-01 9.40891900e-01 1.19715862e-02 1.45931423e+01] [-3.59977681e-02 2.35150197e-04 9.99351843e-01 -2.75241710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:14.61, Z:-2.75 [[ 9.40215645e-01 -3.38883743e-01 3.39462747e-02 7.45267152e+01] [ 3.38671965e-01 9.40828228e-01 1.19810240e-02 1.46136400e+01] [-3.59977877e-02 2.31905311e-04 9.99351843e-01 -2.75393436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.58, Y:14.63, Z:-2.76 [[ 9.39861259e-01 -3.39865639e-01 3.39435047e-02 7.45811585e+01] [ 3.39654218e-01 9.40473965e-01 1.19888665e-02 1.46332056e+01] [-3.59975862e-02 2.61183411e-04 9.99351843e-01 -2.75602061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.961858064 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:74.64, Y:14.65, Z:-2.76 [[ 9.39913130e-01 -3.39722502e-01 3.39400720e-02 7.46367103e+01] [ 3.39510638e-01 9.40525683e-01 1.19985765e-02 1.46535696e+01] [-3.59976958e-02 2.45395880e-04 9.99351843e-01 -2.75671243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:74.69, Y:14.67, Z:-2.76 [[ 9.39800424e-01 -3.40034462e-01 3.39371222e-02 7.46911706e+01] [ 3.39822500e-01 9.40412943e-01 1.20069140e-02 1.46729206e+01] [-3.59976735e-02 2.48494826e-04 9.99351843e-01 -2.75769050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.74, Y:14.69, Z:-2.76 [[ 9.40403868e-01 -3.38362326e-01 3.39337721e-02 7.47441355e+01] [ 3.38148933e-01 9.41015890e-01 1.20163745e-02 1.46931969e+01] [-3.59981072e-02 1.74423742e-04 9.99351843e-01 -2.75976164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141858064 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:74.80, Y:14.71, Z:-2.76 [[ 9.41065107e-01 -3.36519119e-01 3.39315123e-02 7.47993629e+01] [ 3.36304297e-01 9.41676629e-01 1.20227523e-02 1.47123717e+01] [-3.59983981e-02 9.71207392e-05 9.99351843e-01 -2.76142424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201858064 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:14.73, Z:-2.77 [[ 9.42073856e-01 -3.33685080e-01 3.39281229e-02 7.48546586e+01] [ 3.33468074e-01 9.42684606e-01 1.20323095e-02 1.47325669e+01] [-3.59985214e-02 -2.13783877e-05 9.99351843e-01 -2.76513440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.261858064 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:14.75, Z:-2.77 [[ 9.42282699e-01 -3.33095176e-01 3.39252001e-02 7.49099982e+01] [ 3.32877491e-01 9.42893208e-01 1.20405448e-02 1.47526973e+01] [-3.59984881e-02 -5.26615414e-05 9.99351843e-01 -2.76928664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.321858064 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:74.97, Y:14.77, Z:-2.77 [[ 9.41701878e-01 -3.34734001e-01 3.39222792e-02 7.49660316e+01] [ 3.34517083e-01 9.42312660e-01 1.20487685e-02 1.47721934e+01] [-3.59985256e-02 1.23396218e-06 9.99351843e-01 -2.77131434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381858064 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:14.79, Z:-2.77 [[ 9.40459251e-01 -3.38209811e-01 3.39193348e-02 7.50214541e+01] [ 3.37994851e-01 9.41070724e-01 1.20570517e-02 1.47895761e+01] [-3.59983061e-02 1.25394708e-04 9.99351843e-01 -2.77049722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441858064 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:75.08, Y:14.81, Z:-2.77 [[ 9.39470924e-01 -3.40945641e-01 3.39183144e-02 7.50762664e+01] [ 3.40732359e-01 9.40082985e-01 1.20599215e-02 1.48084675e+01] [-3.59978079e-02 2.27121653e-04 9.99351843e-01 -2.77016837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501858064 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:14.83, Z:-2.76 [[ 9.38806816e-01 -3.42770386e-01 3.39149678e-02 7.51326272e+01] [ 3.42557953e-01 9.39419172e-01 1.20693257e-02 1.48251457e+01] [-3.59973783e-02 2.87076754e-04 9.99351843e-01 -2.76405027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561858064 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:14.85, Z:-2.77 [[ 9.36928872e-01 -3.47871106e-01 3.39113939e-02 7.51852923e+01] [ 3.47661644e-01 9.37542250e-01 1.20793587e-02 1.48500809e+01] [-3.59954245e-02 4.72191014e-04 9.99351843e-01 -2.77246335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.621858064 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:14.87, Z:-2.78 [[ 9.38377574e-01 -3.43944214e-01 3.39102806e-02 7.52396865e+01] [ 3.43732072e-01 9.38990030e-01 1.20824834e-02 1.48700087e+01] [-3.59971157e-02 3.18119498e-04 9.99351843e-01 -2.77569695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.681858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:14.89, Z:-2.78 [[ 9.38656182e-01 -3.43183242e-01 3.39092058e-02 7.52942146e+01] [ 3.42970494e-01 9.39268429e-01 1.20854990e-02 1.48918024e+01] [-3.59973872e-02 2.85728670e-04 9.99351843e-01 -2.77821098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741858064 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:14.91, Z:-2.78 [[ 9.39344659e-01 -3.41294548e-01 3.39063739e-02 7.53483540e+01] [ 3.41080283e-01 9.39956376e-01 1.20934390e-02 1.49146711e+01] [-3.59979371e-02 2.04888250e-04 9.99351843e-01 -2.78080746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:14.94, Z:-2.78 [[ 9.39810229e-01 -3.40010710e-01 3.39035497e-02 7.54021682e+01] [ 3.39795324e-01 9.40421552e-01 1.21013513e-02 1.49371968e+01] [-3.59982178e-02 1.47293898e-04 9.99351843e-01 -2.78377357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:14.96, Z:-2.79 [[ 9.40387660e-01 -3.38410500e-01 3.39025568e-02 7.54563556e+01] [ 3.38193973e-01 9.40998580e-01 1.21041322e-02 1.49615421e+01] [-3.59984232e-02 8.30638587e-05 9.99351843e-01 -2.78666722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:14.98, Z:-2.79 [[ 9.40605586e-01 -3.37804580e-01 3.38998100e-02 7.55103399e+01] [ 3.37587383e-01 9.41216268e-01 1.21118202e-02 1.49824586e+01] [-3.59984810e-02 5.17024255e-05 9.99351843e-01 -2.78818469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.56, Y:15.01, Z:-2.79 [[ 9.40305792e-01 -3.38638283e-01 3.38988453e-02 7.55643052e+01] [ 3.38421529e-01 9.40916631e-01 1.21145196e-02 1.50057483e+01] [-3.59984275e-02 8.07461260e-05 9.99351843e-01 -2.78866912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:15.03, Z:-2.79 [[ 9.39811384e-01 -3.40008285e-01 3.38958415e-02 7.56183105e+01] [ 3.39792119e-01 9.40422432e-01 1.21229183e-02 1.50297929e+01] [-3.59983024e-02 1.24283195e-04 9.99351843e-01 -2.79125187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.67, Y:15.05, Z:-2.80 [[ 9.40125265e-01 -3.39139735e-01 3.38928552e-02 7.56721245e+01] [ 3.38922704e-01 9.40736006e-01 1.21312617e-02 1.50512261e+01] [-3.59984221e-02 8.21524485e-05 9.99351843e-01 -2.79964908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:15.07, Z:-2.80 [[ 9.39372402e-01 -3.41219820e-01 3.38898966e-02 7.57270314e+01] [ 3.41003844e-01 9.39983516e-01 1.21395212e-02 1.50741723e+01] [-3.59981894e-02 1.53053764e-04 9.99351843e-01 -2.79563376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.78, Y:15.10, Z:-2.80 [[ 9.39128795e-01 -3.41890022e-01 3.38868716e-02 7.57807359e+01] [ 3.41674177e-01 9.39739956e-01 1.21479595e-02 1.50973623e+01] [-3.59981133e-02 1.69770420e-04 9.99351843e-01 -2.79832279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.83, Y:15.12, Z:-2.80 [[ 9.37919677e-01 -3.45193559e-01 3.38834199e-02 7.58349316e+01] [ 3.44979519e-01 9.38531472e-01 1.21575793e-02 1.51196497e+01] [-3.59973741e-02 2.86253062e-04 9.99351844e-01 -2.80067663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.89, Y:15.14, Z:-2.81 [[ 9.35835128e-01 -3.50805874e-01 3.38799757e-02 7.58889844e+01] [ 3.50595156e-01 9.36448075e-01 1.21671698e-02 1.51413646e+01] [-3.59951527e-02 4.91690464e-04 9.99351844e-01 -2.80539965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.94, Y:15.16, Z:-2.81 [[ 9.34238952e-01 -3.55035151e-01 3.38765728e-02 7.59427996e+01] [ 3.54826864e-01 9.34852730e-01 1.21766371e-02 1.51624799e+01] [-3.59927408e-02 6.44429385e-04 9.99351844e-01 -2.80701732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:15.18, Z:-2.81 [[ 9.32686922e-01 -3.59092934e-01 3.38728496e-02 7.59963849e+01] [ 3.58886941e-01 9.33301474e-01 1.21869856e-02 1.51837582e+01] [-3.59898408e-02 7.89881320e-04 9.99351844e-01 -2.81318247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:15.21, Z:-2.81 [[ 9.32231832e-01 -3.60273081e-01 3.38691478e-02 7.60495885e+01] [ 3.60067493e-01 9.32846519e-01 1.21972647e-02 1.52056954e+01] [-3.59890627e-02 8.24500724e-04 9.99351844e-01 -2.81308657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:15.23, Z:-2.82 [[ 9.32112682e-01 -3.60581387e-01 3.38675580e-02 7.61033040e+01] [ 3.60375842e-01 9.32727383e-01 1.22016774e-02 1.52274311e+01] [-3.59888965e-02 8.31711439e-04 9.99351844e-01 -2.81739570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:15.25, Z:-2.82 [[ 9.32531459e-01 -3.59497308e-01 3.38639037e-02 7.61557262e+01] [ 3.59290680e-01 9.33145797e-01 1.22118109e-02 1.52508680e+01] [-3.59900725e-02 7.79087173e-04 9.99351844e-01 -2.81880139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:15.27, Z:-2.82 [[ 9.33061422e-01 -3.58119707e-01 3.38623299e-02 7.62095612e+01] [ 3.57912015e-01 9.33675401e-01 1.22161733e-02 1.52724022e+01] [-3.59912769e-02 7.21294633e-04 9.99351844e-01 -2.82173131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:15.30, Z:-2.82 [[ 9.33931113e-01 -3.55845850e-01 3.38586459e-02 7.62632595e+01] [ 3.55636293e-01 9.34544458e-01 1.22263754e-02 1.52955385e+01] [-3.59931148e-02 6.22770908e-04 9.99351844e-01 -2.82441706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.32, Y:15.32, Z:-2.83 [[ 9.34744239e-01 -3.53704748e-01 3.38549790e-02 7.63157781e+01] [ 3.53493418e-01 9.35356975e-01 1.22365207e-02 1.53200465e+01] [-3.59946062e-02 5.29495015e-04 9.99351844e-01 -2.82893345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.37, Y:15.34, Z:-2.83 [[ 9.36825228e-01 -3.48155969e-01 3.38513599e-02 7.63700728e+01] [ 3.47940648e-01 9.37436573e-01 1.22465245e-02 1.53399970e+01] [-3.59972034e-02 3.05411016e-04 9.99351844e-01 -2.82971042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:15.37, Z:-2.83 [[ 9.38459280e-01 -3.43727261e-01 3.38489307e-02 7.64209722e+01] [ 3.43508813e-01 9.39069515e-01 1.22532351e-02 1.53661064e+01] [-3.59982699e-02 1.28243832e-04 9.99351844e-01 -2.83360588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:15.39, Z:-2.83 [[ 9.39985604e-01 -3.39531288e-01 3.38462586e-02 7.64747206e+01] [ 3.39309851e-01 9.40594760e-01 1.22606117e-02 1.53880429e+01] [-3.59984747e-02 -4.04295465e-05 9.99351844e-01 -2.83181923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:15.41, Z:-2.83 [[ 9.40383676e-01 -3.38427565e-01 3.38426426e-02 7.65285255e+01] [ 3.38205054e-01 9.40992441e-01 1.22705848e-02 1.54082560e+01] [-3.59983750e-02 -9.33048656e-05 9.99351844e-01 -2.83322652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.58, Y:15.43, Z:-2.83 [[ 9.40002547e-01 -3.39484891e-01 3.38411169e-02 7.65823263e+01] [ 3.39262913e-01 9.40611506e-01 1.22747908e-02 1.54290591e+01] [-3.59984500e-02 -5.72987224e-05 9.99351844e-01 -2.83418127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.64, Y:15.45, Z:-2.84 [[ 9.39161906e-01 -3.41803935e-01 3.38376228e-02 7.66366592e+01] [ 3.41583114e-01 9.39771286e-01 1.22844155e-02 1.54502152e+01] [-3.59984878e-02 2.13055193e-05 9.99351844e-01 -2.84190752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:76.69, Y:15.47, Z:-2.84 [[ 9.39864931e-01 -3.39866404e-01 3.38339956e-02 7.66911795e+01] [ 3.39643967e-01 9.40473723e-01 1.22943975e-02 1.54701428e+01] [-3.59984365e-02 -6.35605400e-05 9.99351844e-01 -2.84000078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.75, Y:15.49, Z:-2.84 [[ 9.39971604e-01 -3.39571376e-01 3.38328833e-02 7.67463821e+01] [ 3.39348638e-01 9.40580286e-01 1.22974577e-02 1.54909683e+01] [-3.59984077e-02 -7.81182412e-05 9.99351844e-01 -2.84042077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.80, Y:15.51, Z:-2.84 [[ 9.40141173e-01 -3.39101933e-01 3.38297824e-02 7.68004769e+01] [ 3.38878584e-01 9.40749631e-01 1.23059821e-02 1.55108365e+01] [-3.59983377e-02 -1.05171666e-04 9.99351844e-01 -2.84330446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.86, Y:15.53, Z:-2.85 [[ 9.40327418e-01 -3.38585486e-01 3.38262564e-02 7.68550466e+01] [ 3.38361455e-01 9.40935625e-01 1.23156668e-02 1.55315184e+01] [-3.59982357e-02 -1.35257880e-04 9.99351844e-01 -2.84646196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.91, Y:15.55, Z:-2.85 [[ 9.39531142e-01 -3.40789165e-01 3.38227437e-02 7.69093906e+01] [ 3.40566213e-01 9.40139746e-01 1.23253062e-02 1.55533502e+01] [-3.59984365e-02 -6.11253094e-05 9.99351844e-01 -2.85498139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.541858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:76.97, Y:15.57, Z:-2.85 [[ 9.39431683e-01 -3.41063541e-01 3.38197150e-02 7.69652946e+01] [ 3.40840468e-01 9.40040242e-01 1.23336112e-02 1.55704964e+01] [-3.59984382e-02 -5.94576706e-05 9.99351844e-01 -2.84901967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:77.02, Y:15.59, Z:-2.85 [[ 9.38299701e-01 -3.44165862e-01 3.38161239e-02 7.70202070e+01] [ 3.43944447e-01 9.38908865e-01 1.23434494e-02 1.55877091e+01] [-3.59984524e-02 4.90130967e-05 9.99351844e-01 -2.84966187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661858064 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:77.08, Y:15.61, Z:-2.85 [[ 9.37395616e-01 -3.46620834e-01 3.38150208e-02 7.70752225e+01] [ 3.46400905e-01 9.38005319e-01 1.23464705e-02 1.56066210e+01] [-3.59982133e-02 1.40026450e-04 9.99351844e-01 -2.85103850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:15.63, Z:-2.85 [[ 9.37754362e-01 -3.45649207e-01 3.38139463e-02 7.71298637e+01] [ 3.45428540e-01 9.38363797e-01 1.23494125e-02 1.56265561e+01] [-3.59983477e-02 9.95866758e-05 9.99351844e-01 -2.85155177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:15.65, Z:-2.85 [[ 9.38281353e-01 -3.44216435e-01 3.38104836e-02 7.71848779e+01] [ 3.43994496e-01 9.38890326e-01 1.23588857e-02 1.56465287e+01] [-3.59984675e-02 3.45083170e-05 9.99351845e-01 -2.85373748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84185806400001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:15.67, Z:-2.86 [[ 9.38771947e-01 -3.42876535e-01 3.38070135e-02 7.72397979e+01] [ 3.42653385e-01 9.39380477e-01 1.23683705e-02 1.56662396e+01] [-3.59984725e-02 -2.69916379e-05 9.99351845e-01 -2.85569520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:15.69, Z:-2.86 [[ 9.38736863e-01 -3.42972915e-01 3.38035648e-02 7.72937741e+01] [ 3.42749488e-01 9.39345293e-01 1.23777890e-02 1.56867156e+01] [-3.59984658e-02 -3.33323327e-05 9.99351845e-01 -2.85778762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:15.71, Z:-2.86 [[ 9.38508434e-01 -3.43597835e-01 3.38001163e-02 7.73492364e+01] [ 3.43374474e-01 9.39116887e-01 1.23871987e-02 1.57052057e+01] [-3.59984746e-02 -1.93932718e-05 9.99351845e-01 -2.86009414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.40, Y:15.72, Z:-2.86 [[ 9.38034331e-01 -3.44890390e-01 3.37966391e-02 7.74035958e+01] [ 3.44667527e-01 9.38642966e-01 1.23966783e-02 1.57248107e+01] [-3.59984728e-02 2.00942032e-05 9.99351845e-01 -2.86272879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:15.74, Z:-2.86 [[ 9.37321919e-01 -3.46822205e-01 3.37931724e-02 7.74586121e+01] [ 3.46600255e-01 9.37930888e-01 1.24061213e-02 1.57440084e+01] [-3.59983786e-02 8.41927257e-05 9.99351845e-01 -2.86409637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:77.51, Y:15.76, Z:-2.87 [[ 9.37371538e-01 -3.46688426e-01 3.37895793e-02 7.75130670e+01] [ 3.46466037e-01 9.37980347e-01 1.24159000e-02 1.57632306e+01] [-3.59984101e-02 6.86303360e-05 9.99351845e-01 -2.86595652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.57, Y:15.78, Z:-2.87 [[ 9.37138858e-01 -3.47317003e-01 3.37884723e-02 7.75685597e+01] [ 3.47094914e-01 9.37747776e-01 1.24189118e-02 1.57817595e+01] [-3.59983640e-02 8.95620699e-05 9.99351845e-01 -2.86706057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.261858064 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:15.80, Z:-2.87 [[ 9.36848697e-01 -3.48099248e-01 3.37851020e-02 7.76227872e+01] [ 3.47877337e-01 9.37457680e-01 1.24280738e-02 1.58002181e+01] [-3.59983065e-02 1.09846535e-04 9.99351845e-01 -2.87050295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:15.82, Z:-2.87 [[ 9.36682651e-01 -3.48545946e-01 3.37836518e-02 7.76771655e+01] [ 3.48324183e-01 9.37291688e-01 1.24320147e-02 1.58190094e+01] [-3.59982643e-02 1.22810441e-04 9.99351845e-01 -2.87356558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.73, Y:15.84, Z:-2.88 [[ 9.36423824e-01 -3.49241057e-01 3.37802531e-02 7.77320566e+01] [ 3.49019414e-01 9.37032905e-01 1.24412427e-02 1.58377215e+01] [-3.59982015e-02 1.39688109e-04 9.99351845e-01 -2.87679532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.79, Y:15.86, Z:-2.88 [[ 9.36315344e-01 -3.49532114e-01 3.37768827e-02 7.77873528e+01] [ 3.49310330e-01 9.36924373e-01 1.24503863e-02 1.58566706e+01] [-3.59981945e-02 1.41126310e-04 9.99351845e-01 -2.87890248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:15.88, Z:-2.88 [[ 9.36898699e-01 -3.47965768e-01 3.37735494e-02 7.78420986e+01] [ 3.47742640e-01 9.37507237e-01 1.24594219e-02 1.58751495e+01] [-3.59983993e-02 7.12870947e-05 9.99351845e-01 -2.88044869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:15.89, Z:-2.88 [[ 9.37836021e-01 -3.45431876e-01 3.37700558e-02 7.78959966e+01] [ 3.45206763e-01 9.38443828e-01 1.24688837e-02 1.58943519e+01] [-3.59984504e-02 -3.61165922e-05 9.99351845e-01 -2.88322642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.95, Y:15.91, Z:-2.89 [[ 9.38242348e-01 -3.44326936e-01 3.37677026e-02 7.79511501e+01] [ 3.44100878e-01 9.38849804e-01 1.24752533e-02 1.59135841e+01] [-3.59983667e-02 -8.53148308e-05 9.99351845e-01 -2.88563829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.681858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:15.93, Z:-2.89 [[ 9.38318576e-01 -3.44119504e-01 3.37641484e-02 7.80056987e+01] [ 3.43892966e-01 9.38925852e-01 1.24848653e-02 1.59326765e+01] [-3.59983175e-02 -1.03527922e-04 9.99351845e-01 -2.88779141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741858064 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:15.95, Z:-2.89 [[ 9.38691238e-01 -3.43101997e-01 3.37606268e-02 7.80606195e+01] [ 3.42874458e-01 9.39298140e-01 1.24943811e-02 1.59512961e+01] [-3.59981410e-02 -1.52709489e-04 9.99351845e-01 -2.88880259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:78.12, Y:15.97, Z:-2.89 [[ 9.38825537e-01 -3.42734695e-01 3.37570776e-02 7.81154288e+01] [ 3.42506574e-01 9.39432221e-01 1.25039627e-02 1.59704118e+01] [-3.59980283e-02 -1.77018481e-04 9.99351845e-01 -2.89097470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:15.99, Z:-2.89 [[ 9.39206609e-01 -3.41689395e-01 3.37535545e-02 7.81705503e+01] [ 3.41460257e-01 9.39812910e-01 1.25134661e-02 1.59882176e+01] [-3.59977449e-02 -2.27232652e-04 9.99351845e-01 -2.89460345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:16.01, Z:-2.90 [[ 9.39371877e-01 -3.41234886e-01 3.37524727e-02 7.82260444e+01] [ 3.41005351e-01 9.39978027e-01 1.25163833e-02 1.60064123e+01] [-3.59976093e-02 -2.47764726e-04 9.99351845e-01 -2.89759099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98185806400001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:16.02, Z:-2.90 [[ 9.39244749e-01 -3.41585001e-01 3.37489195e-02 7.82815352e+01] [ 3.41355347e-01 9.39850854e-01 1.25259568e-02 1.60222799e+01] [-3.59976297e-02 -2.44565004e-04 9.99351845e-01 -2.90252126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.041858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:16.04, Z:-2.90 [[ 9.38992346e-01 -3.42278542e-01 3.37457311e-02 7.83378021e+01] [ 3.42049028e-01 9.39598504e-01 1.25345406e-02 1.60408528e+01] [-3.59977427e-02 -2.27143131e-04 9.99351845e-01 -2.90082154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:78.39, Y:16.06, Z:-2.90 [[ 9.38602811e-01 -3.43345617e-01 3.37424243e-02 7.83931615e+01] [ 3.43116472e-01 9.39209108e-01 1.25434361e-02 1.60578385e+01] [-3.59979260e-02 -1.95722806e-04 9.99351845e-01 -2.90427796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.45, Y:16.08, Z:-2.91 [[ 9.37992352e-01 -3.45010005e-01 3.37408418e-02 7.84486296e+01] [ 3.44781782e-01 9.38598997e-01 1.25476912e-02 1.60751000e+01] [-3.59981993e-02 -1.36410802e-04 9.99351845e-01 -2.90693449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:16.09, Z:-2.91 [[ 9.36861741e-01 -3.48068758e-01 3.37375015e-02 7.85043156e+01] [ 3.47842193e-01 9.37469007e-01 1.25566661e-02 1.60920469e+01] [-3.59984452e-02 -2.85335986e-05 9.99351846e-01 -2.90767020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281858064 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:16.11, Z:-2.91 [[ 9.36242072e-01 -3.49732470e-01 3.37339862e-02 7.85595629e+01] [ 3.49506644e-01 9.36849614e-01 1.25661029e-02 1.61091987e+01] [-3.59984462e-02 2.53380827e-05 9.99351846e-01 -2.91143413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:16.13, Z:-2.91 [[ 9.35240931e-01 -3.52401285e-01 3.37303205e-02 7.86156672e+01] [ 3.52176838e-01 9.35848984e-01 1.25759349e-02 1.61270898e+01] [-3.59982618e-02 1.17508516e-04 9.99351846e-01 -2.91030253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.67, Y:16.15, Z:-2.91 [[ 9.34900805e-01 -3.53302966e-01 3.37268382e-02 7.86709771e+01] [ 3.53078769e-01 9.35508949e-01 1.25852669e-02 1.61457025e+01] [-3.59981711e-02 1.42254371e-04 9.99351846e-01 -2.91301582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.73, Y:16.16, Z:-2.91 [[ 9.34669122e-01 -3.53915763e-01 3.37233447e-02 7.87281856e+01] [ 3.53691628e-01 9.35277289e-01 1.25946212e-02 1.61628608e+01] [-3.59981134e-02 1.55861114e-04 9.99351846e-01 -2.90761376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:78.78, Y:16.18, Z:-2.92 [[ 9.34725081e-01 -3.53768103e-01 3.37216897e-02 7.87835075e+01] [ 3.53543711e-01 9.35333154e-01 1.25990508e-02 1.61818107e+01] [-3.59981567e-02 1.45442524e-04 9.99351846e-01 -2.91502169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:16.20, Z:-2.92 [[ 9.35266400e-01 -3.52334580e-01 3.37209963e-02 7.88383206e+01] [ 3.52109189e-01 9.35874103e-01 1.26009065e-02 1.62017059e+01] [-3.59983422e-02 8.82682123e-05 9.99351846e-01 -2.91530285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.89, Y:16.22, Z:-2.92 [[ 9.36445122e-01 -3.49190022e-01 3.37173849e-02 7.88921953e+01] [ 3.48962243e-01 9.37051934e-01 1.26105625e-02 1.62210759e+01] [-3.59984233e-02 -4.30054768e-05 9.99351846e-01 -2.91758010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:16.24, Z:-2.92 [[ 9.37059056e-01 -3.47539389e-01 3.37149498e-02 7.89466859e+01] [ 3.47310307e-01 9.37665378e-01 1.26170693e-02 1.62405747e+01] [-3.59982697e-02 -1.13389486e-04 9.99351846e-01 -2.91912828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.00, Y:16.26, Z:-2.92 [[ 9.37808586e-01 -3.45512080e-01 3.37114130e-02 7.90016628e+01] [ 3.45281348e-01 9.38414281e-01 1.26265124e-02 1.62603735e+01] [-3.59978839e-02 -2.01329623e-04 9.99351846e-01 -2.92146610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.06, Y:16.28, Z:-2.92 [[ 9.37964753e-01 -3.45088254e-01 3.37078496e-02 7.90555467e+01] [ 3.44856907e-01 9.38570213e-01 1.26360180e-02 1.62796176e+01] [-3.59977250e-02 -2.27754745e-04 9.99351846e-01 -2.92410665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.11, Y:16.30, Z:-2.93 [[ 9.37542604e-01 -3.46233663e-01 3.37063079e-02 7.91107085e+01] [ 3.46002908e-01 9.38148290e-01 1.26401293e-02 1.62988100e+01] [-3.59979534e-02 -1.88179180e-04 9.99351846e-01 -2.92614630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.17, Y:16.32, Z:-2.93 [[ 9.36853964e-01 -3.48093049e-01 3.37028050e-02 7.91656318e+01] [ 3.47863160e-01 9.37459979e-01 1.26494622e-02 1.63168189e+01] [-3.59982207e-02 -1.26734592e-04 9.99351846e-01 -2.92765739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.22, Y:16.34, Z:-2.93 [[ 9.36163002e-01 -3.49947415e-01 3.36992560e-02 7.92207621e+01] [ 3.49718386e-01 9.36769343e-01 1.26589099e-02 1.63356005e+01] [-3.59983827e-02 -6.55536742e-05 9.99351846e-01 -2.93105962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.28, Y:16.35, Z:-2.93 [[ 9.35751562e-01 -3.51046407e-01 3.36961946e-02 7.92754026e+01] [ 3.50817797e-01 9.36358061e-01 1.26670537e-02 1.63542487e+01] [-3.59984272e-02 -3.19904901e-05 9.99351846e-01 -2.93197570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.33, Y:16.37, Z:-2.94 [[ 9.33795585e-01 -3.56217093e-01 3.36925512e-02 7.93301567e+01] [ 3.55991491e-01 9.34403210e-01 1.26767374e-02 1.63725186e+01] [-3.59980985e-02 1.56780122e-04 9.99351846e-01 -2.93545734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.39, Y:16.39, Z:-2.93 [[ 9.32185931e-01 -3.60408732e-01 3.36888265e-02 7.93860470e+01] [ 3.60185505e-01 9.32794431e-01 1.26866281e-02 1.63904842e+01] [-3.59971213e-02 3.07930734e-04 9.99351846e-01 -2.93492113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:16.41, Z:-2.94 [[ 9.30782037e-01 -3.64019423e-01 3.36847007e-02 7.94408185e+01] [ 3.63798160e-01 9.31391255e-01 1.26975733e-02 1.64097675e+01] [-3.59957989e-02 4.35758988e-04 9.99351846e-01 -2.93679755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:16.43, Z:-2.94 [[ 9.29425584e-01 -3.67469049e-01 3.36835650e-02 7.94958168e+01] [ 3.67249938e-01 9.30035579e-01 1.27005852e-02 1.64297098e+01] [-3.59939858e-02 5.66038357e-04 9.99351846e-01 -2.93862173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.55, Y:16.45, Z:-2.94 [[ 9.28891794e-01 -3.68816608e-01 3.36800462e-02 7.95496522e+01] [ 3.68598044e-01 9.29501985e-01 1.27099096e-02 1.64503620e+01] [-3.59932956e-02 6.08268450e-04 9.99351846e-01 -2.94099844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.60, Y:16.47, Z:-2.94 [[ 9.29027485e-01 -3.68474994e-01 3.36765617e-02 7.96046170e+01] [ 3.68255872e-01 9.29637476e-01 1.27191355e-02 1.64712726e+01] [-3.59936772e-02 5.85165122e-04 9.99351846e-01 -2.94374971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.66, Y:16.49, Z:-2.95 [[ 9.29986557e-01 -3.66047946e-01 3.36735053e-02 7.96582202e+01] [ 3.65826940e-01 9.30595867e-01 1.27272223e-02 1.64935292e+01] [-3.59951984e-02 4.82529747e-04 9.99351846e-01 -2.94607649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:16.52, Z:-2.95 [[ 9.30242661e-01 -3.65396938e-01 3.36700140e-02 7.97106349e+01] [ 3.65175171e-01 9.30851695e-01 1.27364519e-02 1.65156348e+01] [-3.59956501e-02 4.47462248e-04 9.99351846e-01 -2.94828589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.76, Y:16.54, Z:-2.95 [[ 9.30485640e-01 -3.64777967e-01 3.36676217e-02 7.97646732e+01] [ 3.64555566e-01 9.31094443e-01 1.27427725e-02 1.65365970e+01] [-3.59960181e-02 4.16752026e-04 9.99351846e-01 -2.95011150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:79.82, Y:16.56, Z:-2.95 [[ 9.30962319e-01 -3.63560009e-01 3.36642302e-02 7.98188758e+01] [ 3.63336488e-01 9.31570711e-01 1.27517259e-02 1.65596900e+01] [-3.59966285e-02 3.60066910e-04 9.99351846e-01 -2.95064746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.87, Y:16.58, Z:-2.95 [[ 9.31249765e-01 -3.62823374e-01 3.36611673e-02 7.98738280e+01] [ 3.62599080e-01 9.31857873e-01 1.27598062e-02 1.65820611e+01] [-3.59969797e-02 3.22941801e-04 9.99351847e-01 -2.95186868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:16.61, Z:-2.95 [[ 9.31792222e-01 -3.61428266e-01 3.36580486e-02 7.99275817e+01] [ 3.61202764e-01 9.32399882e-01 1.27680274e-02 1.66066268e+01] [-3.59974866e-02 2.60231571e-04 9.99351847e-01 -2.95420670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84185806400001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:79.98, Y:16.63, Z:-2.96 [[ 9.32217148e-01 -3.60331147e-01 3.36549293e-02 7.99807932e+01] [ 3.60104633e-01 9.32824432e-01 1.27762442e-02 1.66288600e+01] [-3.59978190e-02 2.09061995e-04 9.99351847e-01 -2.95669985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:16.65, Z:-2.96 [[ 9.32839312e-01 -3.58717488e-01 3.36538383e-02 8.00348985e+01] [ 3.58489820e-01 9.33446165e-01 1.27791174e-02 1.66513788e+01] [-3.59981392e-02 1.43695354e-04 9.99351847e-01 -2.95682806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.961858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:16.67, Z:-2.96 [[ 9.33352428e-01 -3.57380617e-01 3.36502512e-02 8.00879983e+01] [ 3.57151739e-01 9.33958826e-01 1.27885559e-02 1.66737943e+01] [-3.59983311e-02 8.20159986e-05 9.99351847e-01 -2.95948530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.14, Y:16.70, Z:-2.96 [[ 9.34218703e-01 -3.55110286e-01 3.36466940e-02 8.01413075e+01] [ 3.54879598e-01 9.34824414e-01 1.27979082e-02 1.66981704e+01] [-3.59984198e-02 -1.55199334e-05 9.99351847e-01 -2.96254828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:16.72, Z:-2.96 [[ 9.34598400e-01 -3.54110109e-01 3.36431320e-02 8.01948589e+01] [ 3.53878436e-01 9.35203735e-01 1.28072650e-02 1.67204199e+01] [-3.59983648e-02 -6.40704369e-05 9.99351847e-01 -2.96269219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:16.74, Z:-2.96 [[ 9.34535304e-01 -3.54276943e-01 3.36394602e-02 8.02492370e+01] [ 3.54045031e-01 9.35140547e-01 1.28169022e-02 1.67416874e+01] [-3.59983561e-02 -6.79638728e-05 9.99351847e-01 -2.96402081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.30, Y:16.76, Z:-2.97 [[ 9.34401891e-01 -3.54629017e-01 3.36357819e-02 8.03027569e+01] [ 3.54396986e-01 9.35007089e-01 1.28265480e-02 1.67630516e+01] [-3.59983606e-02 -6.47309766e-05 9.99351847e-01 -2.96527020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.36, Y:16.78, Z:-2.97 [[ 9.34389163e-01 -3.54662900e-01 3.36321077e-02 8.03555313e+01] [ 3.54430545e-01 9.34994236e-01 1.28361747e-02 1.67840340e+01] [-3.59983418e-02 -7.37363165e-05 9.99351847e-01 -2.96779468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.321858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:80.41, Y:16.80, Z:-2.97 [[ 9.34867823e-01 -3.53399407e-01 3.36305262e-02 8.04108064e+01] [ 3.53166084e-01 9.35472524e-01 1.28403170e-02 1.68048719e+01] [-3.59981936e-02 -1.26838020e-04 9.99351847e-01 -2.97246324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381858064 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:16.83, Z:-2.98 [[ 9.35183192e-01 -3.52564319e-01 3.36273404e-02 8.04647929e+01] [ 3.52330157e-01 9.35787568e-01 1.28486548e-02 1.68259313e+01] [-3.59980243e-02 -1.67919894e-04 9.99351847e-01 -2.97577682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:16.85, Z:-2.97 [[ 9.35361265e-01 -3.52092004e-01 3.36232838e-02 8.05197754e+01] [ 3.51857155e-01 9.35965374e-01 1.28592615e-02 1.68466819e+01] [-3.59978726e-02 -1.97462123e-04 9.99351847e-01 -2.97478188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:16.87, Z:-2.98 [[ 9.34801579e-01 -3.53575632e-01 3.36196575e-02 8.05744636e+01] [ 3.53341401e-01 9.35405928e-01 1.28687354e-02 1.68653593e+01] [-3.59980982e-02 -1.50497249e-04 9.99351847e-01 -2.97518376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:16.89, Z:-2.98 [[ 9.34109030e-01 -3.55401583e-01 3.36159831e-02 8.06287334e+01] [ 3.55168189e-01 9.34713703e-01 1.28783265e-02 1.68853360e+01] [-3.59982977e-02 -9.04332225e-05 9.99351847e-01 -2.97679571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.621858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:16.90, Z:-2.98 [[ 9.33372546e-01 -3.57331637e-01 3.36123713e-02 8.06828440e+01] [ 3.57099154e-01 9.33977569e-01 1.28877464e-02 1.69045424e+01] [-3.59984004e-02 -2.61193494e-05 9.99351847e-01 -2.97974621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.681858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:16.92, Z:-2.98 [[ 9.32739613e-01 -3.58980637e-01 3.36112630e-02 8.07370173e+01] [ 3.58749119e-01 9.33345006e-01 1.28906362e-02 1.69240785e+01] [-3.59983933e-02 3.44039636e-05 9.99351847e-01 -2.98283329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:16.94, Z:-2.99 [[ 9.32136912e-01 -3.60543062e-01 3.36077159e-02 8.07920219e+01] [ 3.60312226e-01 9.32742565e-01 1.28998773e-02 1.69436550e+01] [-3.59983085e-02 8.48191252e-05 9.99351847e-01 -2.98682587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:16.96, Z:-2.99 [[ 9.31532111e-01 -3.62103102e-01 3.36046013e-02 8.08474595e+01] [ 3.61872987e-01 9.32138040e-01 1.29079860e-02 1.69647207e+01] [-3.59981489e-02 1.36394048e-04 9.99351847e-01 -2.98951056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:16.99, Z:-2.99 [[ 9.32332691e-01 -3.60037107e-01 3.36011183e-02 8.09009817e+01] [ 3.59805323e-01 9.32937982e-01 1.29170462e-02 1.69866608e+01] [-3.59983755e-02 4.68768271e-05 9.99351847e-01 -2.99000126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:17.01, Z:-2.99 [[ 9.32577789e-01 -3.59401881e-01 3.35999228e-02 8.09542354e+01] [ 3.59169573e-01 9.33182880e-01 1.29201554e-02 1.70087838e+01] [-3.59984008e-02 1.90199033e-05 9.99351847e-01 -2.99180128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.981858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:17.03, Z:-2.99 [[ 9.32656829e-01 -3.59197055e-01 3.35963573e-02 8.10084156e+01] [ 3.58964280e-01 9.33261740e-01 1.29294199e-02 1.70314557e+01] [-3.59984045e-02 1.18041942e-06 9.99351847e-01 -2.99180994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.041858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:81.06, Y:17.05, Z:-2.99 [[ 9.32577442e-01 -3.59403407e-01 3.35932565e-02 8.10620792e+01] [ 3.59170476e-01 9.33182293e-01 1.29374716e-02 1.70531751e+01] [-3.59984035e-02 5.11689765e-07 9.99351847e-01 -2.99307773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:17.08, Z:-3.00 [[ 9.33565581e-01 -3.56829143e-01 3.35897041e-02 8.11141062e+01] [ 3.56594212e-01 9.34169659e-01 1.29466880e-02 1.70759451e+01] [-3.59982380e-02 -1.08688249e-04 9.99351847e-01 -2.99703092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161858064 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:81.17, Y:17.10, Z:-3.00 [[ 9.34193761e-01 -3.55181434e-01 3.35881767e-02 8.11676303e+01] [ 3.54945296e-01 9.34797367e-01 1.29506495e-02 1.70994926e+01] [-3.59979694e-02 -1.76450653e-04 9.99351847e-01 -2.99864836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.22, Y:17.12, Z:-3.00 [[ 9.34175290e-01 -3.55230350e-01 3.35846149e-02 8.12216560e+01] [ 3.54993911e-01 9.34778778e-01 1.29598798e-02 1.71222634e+01] [-3.59979279e-02 -1.84465682e-04 9.99351848e-01 -3.00223716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:17.14, Z:-3.00 [[ 9.32932301e-01 -3.58482365e-01 3.35814759e-02 8.12758537e+01] [ 3.58247737e-01 9.33536496e-01 1.29680083e-02 1.71422725e+01] [-3.59983356e-02 -6.77861099e-05 9.99351848e-01 -3.00195699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34185806400001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:17.16, Z:-3.00 [[ 9.31388656e-01 -3.62474179e-01 3.35803728e-02 8.13302982e+01] [ 3.62242038e-01 9.31993810e-01 1.29708640e-02 1.71637306e+01] [-3.59983029e-02 8.33070666e-05 9.99351848e-01 -3.00265897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.401858064 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:17.18, Z:-3.00 [[ 9.29194629e-01 -3.68062412e-01 3.35768177e-02 8.13845674e+01] [ 3.67833578e-01 9.29801042e-01 1.29800604e-02 1.71831337e+01] [-3.59972324e-02 2.89678547e-04 9.99351848e-01 -3.00448954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.461858064 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:17.20, Z:-3.01 [[ 9.27838885e-01 -3.71467155e-01 3.35731466e-02 8.14402280e+01] [ 3.71240203e-01 9.28446005e-01 1.29895489e-02 1.72031921e+01] [-3.59960446e-02 4.11493168e-04 9.99351848e-01 -3.00667441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521858064 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:17.22, Z:-3.01 [[ 9.27284557e-01 -3.72849043e-01 3.35699383e-02 8.14952708e+01] [ 3.72622696e-01 9.27891902e-01 1.29978351e-02 1.72241666e+01] [-3.59955043e-02 4.56229138e-04 9.99351848e-01 -3.00957648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581858064 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:81.55, Y:17.25, Z:-3.01 [[ 9.27172741e-01 -3.73127299e-01 3.35667416e-02 8.15498756e+01] [ 3.72900835e-01 9.27780043e-01 1.30060854e-02 1.72457947e+01] [-3.59954785e-02 4.58178160e-04 9.99351848e-01 -3.01113018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641858064 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:17.27, Z:-3.01 [[ 9.28012874e-01 -3.71033147e-01 3.35635205e-02 8.16034950e+01] [ 3.70805013e-01 9.28619550e-01 1.30143923e-02 1.72663865e+01] [-3.59965123e-02 3.67998028e-04 9.99351848e-01 -3.01329528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701858064 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:81.66, Y:17.29, Z:-3.01 [[ 9.28453024e-01 -3.69930465e-01 3.35623880e-02 8.16585677e+01] [ 3.69701504e-01 9.29059389e-01 1.30173124e-02 1.72880558e+01] [-3.59969521e-02 3.22102214e-04 9.99351848e-01 -3.01323595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.761858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:17.31, Z:-3.01 [[ 9.27932721e-01 -3.71233952e-01 3.35591807e-02 8.17121826e+01] [ 3.71005544e-01 9.28539294e-01 1.30255756e-02 1.73137278e+01] [-3.59965539e-02 3.63784320e-04 9.99351848e-01 -3.01184811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.821858064 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:81.77, Y:17.33, Z:-3.01 [[ 9.29404753e-01 -3.67533174e-01 3.35584588e-02 8.17679617e+01] [ 3.67302284e-01 9.30010386e-01 1.30274351e-02 1.73320808e+01] [-3.59977298e-02 2.18338471e-04 9.99351848e-01 -3.01380042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.82, Y:17.35, Z:-3.01 [[ 9.29585079e-01 -3.67076905e-01 3.35578203e-02 8.18236275e+01] [ 3.66845658e-01 9.30190575e-01 1.30290798e-02 1.73521585e+01] [-3.59978424e-02 1.98902473e-04 9.99351848e-01 -3.00508017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:17.38, Z:-3.01 [[ 9.29289778e-01 -3.67824151e-01 3.35544752e-02 8.18768897e+01] [ 3.67593080e-01 9.29895342e-01 1.30376888e-02 1.73757023e+01] [-3.59977270e-02 2.18602017e-04 9.99351848e-01 -3.01223996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:81.93, Y:17.40, Z:-3.01 [[ 9.30221671e-01 -3.65461328e-01 3.35508698e-02 8.19299073e+01] [ 3.65228384e-01 9.30826517e-01 1.30469604e-02 1.73985820e+01] [-3.59981987e-02 1.17164697e-04 9.99351848e-01 -3.01378677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:17.42, Z:-3.02 [[ 9.31352200e-01 -3.62570676e-01 3.35497483e-02 8.19845160e+01] [ 3.62335751e-01 9.31956279e-01 1.30498437e-02 1.74217399e+01] [-3.59983892e-02 2.27260648e-06 9.99351848e-01 -3.01521982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.121858064 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:17.45, Z:-3.02 [[ 9.33181948e-01 -3.57835265e-01 3.35466055e-02 8.20382813e+01] [ 3.57596985e-01 9.33784711e-01 1.30579176e-02 1.74463993e+01] [-3.59978908e-02 -1.89248032e-04 9.99351848e-01 -3.01707290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.181858064 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:82.09, Y:17.47, Z:-3.02 [[ 9.33415155e-01 -3.57226579e-01 3.35457928e-02 8.20902922e+01] [ 3.56987830e-01 9.34017733e-01 1.30600052e-02 1.74703097e+01] [-3.59977463e-02 -2.14966982e-04 9.99351848e-01 -3.02425160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:17.49, Z:-3.02 [[ 9.33281633e-01 -3.57575459e-01 3.35437620e-02 8.21442311e+01] [ 3.57336749e-01 9.33884226e-01 1.30652191e-02 1.74920794e+01] [-3.59977919e-02 -2.07110209e-04 9.99351848e-01 -3.02177340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301858064 meters Centerline goodness : 0.996451 with order 1 Centerline is valid? [True, True] Translation: X:82.20, Y:17.52, Z:-3.03 [[ 9.32503461e-01 -3.59600328e-01 3.35395197e-02 8.21978337e+01] [ 3.59362534e-01 9.33106417e-01 1.30761002e-02 1.75160205e+01] [-3.59981110e-02 -1.40661939e-04 9.99351848e-01 -3.02907853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.25, Y:17.54, Z:-3.03 [[ 9.31795297e-01 -3.61431683e-01 3.35359980e-02 8.22521720e+01] [ 3.61194750e-01 9.32398591e-01 1.30851261e-02 1.75396772e+01] [-3.59982964e-02 -7.96325237e-05 9.99351848e-01 -3.02657200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.31, Y:17.56, Z:-3.03 [[ 9.31038688e-01 -3.63376616e-01 3.35320184e-02 8.23057267e+01] [ 3.63140576e-01 9.31642332e-01 1.30953165e-02 1.75636924e+01] [-3.59983796e-02 -1.54097804e-05 9.99351848e-01 -3.03221248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.481858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:17.59, Z:-3.04 [[ 9.30003828e-01 -3.66017240e-01 3.35299993e-02 8.23595197e+01] [ 3.65782727e-01 9.30608067e-01 1.31004841e-02 1.75869833e+01] [-3.59982909e-02 8.11942834e-05 9.99351848e-01 -3.03593037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:17.61, Z:-3.04 [[ 9.27803556e-01 -3.71559606e-01 3.35264268e-02 8.24123066e+01] [ 3.71328373e-01 9.28409057e-01 1.31096204e-02 1.76124331e+01] [-3.59972437e-02 2.86161064e-04 9.99351848e-01 -3.03770777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:17.65, Z:-3.06 [[ 9.20990764e-01 -3.88139443e-01 3.35229196e-02 8.24596920e+01] [ 3.87918780e-01 9.21600197e-01 1.31185827e-02 1.76507852e+01] [-3.59865687e-02 9.22076595e-04 9.99351848e-01 -3.06284280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:82.51, Y:17.67, Z:-3.06 [[ 9.17173439e-01 -3.97075761e-01 3.35219853e-02 8.25139729e+01] [ 3.96860947e-01 9.17784958e-01 1.31209697e-02 1.76749207e+01] [-3.59759929e-02 1.26936197e-03 9.99351848e-01 -3.06377666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:82.57, Y:17.69, Z:-3.05 [[ 9.19457772e-01 -3.91757457e-01 3.35186602e-02 8.25736889e+01] [ 3.91538796e-01 9.20067926e-01 1.31294584e-02 1.76859472e+01] [-3.59830074e-02 1.05187327e-03 9.99351848e-01 -3.04503163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.62, Y:17.72, Z:-3.06 [[ 9.14757810e-01 -4.02609909e-01 3.35173051e-02 8.26225508e+01] [ 4.02398357e-01 9.15370465e-01 1.31329169e-02 1.77214135e+01] [-3.59681936e-02 1.47387016e-03 9.99351848e-01 -3.06406175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84185806400001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:82.68, Y:17.74, Z:-3.05 [[ 9.18278502e-01 -3.94513940e-01 3.35163386e-02 8.26779779e+01] [ 3.94296894e-01 9.18889232e-01 1.31353829e-02 1.77409467e+01] [-3.59798943e-02 1.15344845e-03 9.99351848e-01 -3.04906655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:17.77, Z:-3.06 [[ 9.20117928e-01 -3.90204711e-01 3.35154077e-02 8.27306226e+01] [ 3.89984719e-01 9.20727603e-01 1.31377577e-02 1.77680712e+01] [-3.59849760e-02 9.82210419e-04 9.99351848e-01 -3.05653505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.961858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:82.78, Y:17.82, Z:-3.08 [[ 9.16766884e-01 -3.98014225e-01 3.35135421e-02 8.27753932e+01] [ 3.97799251e-01 9.17378346e-01 1.31425150e-02 1.78162063e+01] [-3.59755058e-02 1.28303939e-03 9.99351848e-01 -3.08382332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.84, Y:17.83, Z:-3.06 [[ 9.24130358e-01 -3.80604764e-01 3.35126029e-02 8.28363909e+01] [ 3.80378177e-01 9.24737613e-01 1.31449094e-02 1.78255164e+01] [-3.59933796e-02 5.99852967e-04 9.99351848e-01 -3.06130875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081858064 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:17.85, Z:-3.06 [[ 9.25130411e-01 -3.78167544e-01 3.35116760e-02 8.28893874e+01] [ 3.77939271e-01 9.25737034e-01 1.31472720e-02 1.78514813e+01] [-3.59948712e-02 5.02437269e-04 9.99351848e-01 -3.06261881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:17.89, Z:-3.08 [[ 9.22639855e-01 -3.84204115e-01 3.35096512e-02 8.29381575e+01] [ 3.83979623e-01 9.23247888e-01 1.31524308e-02 1.78887247e+01] [-3.59909328e-02 7.32066414e-04 9.99351848e-01 -3.07699832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:17.91, Z:-3.07 [[ 9.26492680e-01 -3.74817914e-01 3.35088891e-02 8.29953576e+01] [ 3.74587192e-01 9.27098376e-01 1.31543721e-02 1.79059715e+01] [-3.59965310e-02 3.64571177e-04 9.99351848e-01 -3.06765557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:17.93, Z:-3.07 [[ 9.26571086e-01 -3.74624084e-01 3.35084748e-02 8.30485077e+01] [ 3.74393197e-01 9.27176719e-01 1.31554275e-02 1.79296222e+01] [-3.59966177e-02 3.55906225e-04 9.99351848e-01 -3.07006193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.10, Y:17.95, Z:-3.07 [[ 9.26883824e-01 -3.73849946e-01 3.35051436e-02 8.31020514e+01] [ 3.73618246e-01 9.27489147e-01 1.31639062e-02 1.79535494e+01] [-3.59969827e-02 3.16721288e-04 9.99351848e-01 -3.06959206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.15, Y:17.97, Z:-3.07 [[ 9.27051877e-01 -3.73433321e-01 3.35018336e-02 8.31545768e+01] [ 3.73201045e-01 9.27656979e-01 1.31723248e-02 1.79745255e+01] [-3.59971947e-02 2.91490899e-04 9.99351848e-01 -3.07052914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.21, Y:18.00, Z:-3.07 [[ 9.27095353e-01 -3.73325601e-01 3.34992901e-02 8.32088874e+01] [ 3.73093021e-01 9.27700338e-01 1.31787900e-02 1.79959252e+01] [-3.59972824e-02 2.80356411e-04 9.99351848e-01 -3.07126667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.26, Y:18.02, Z:-3.07 [[ 9.26620680e-01 -3.74502546e-01 3.34956438e-02 8.32626163e+01] [ 3.74270400e-01 9.27225832e-01 1.31880511e-02 1.80184591e+01] [-3.59969849e-02 3.16107122e-04 9.99351849e-01 -3.07444341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.32, Y:18.04, Z:-3.08 [[ 9.25962828e-01 -3.76126478e-01 3.34920111e-02 8.33161187e+01] [ 3.75895059e-01 9.26568258e-01 1.31972702e-02 1.80400498e+01] [-3.59964771e-02 3.69299808e-04 9.99351849e-01 -3.07720323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.37, Y:18.06, Z:-3.09 [[ 9.24374169e-01 -3.80014392e-01 3.34881847e-02 8.33698854e+01] [ 3.79785168e-01 9.24980433e-01 1.32069726e-02 1.80637374e+01] [-3.59947552e-02 5.10131491e-04 9.99351849e-01 -3.08712125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:18.09, Z:-3.10 [[ 9.22519801e-01 -3.84494447e-01 3.34848849e-02 8.34232813e+01] [ 3.84267864e-01 9.23127057e-01 1.32153335e-02 1.80912997e+01] [-3.59920256e-02 6.75758403e-04 9.99351849e-01 -3.09668354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:18.11, Z:-3.09 [[ 9.25668017e-01 -3.76852231e-01 3.34831089e-02 8.34801661e+01] [ 3.76620471e-01 9.26273316e-01 1.32198318e-02 1.81065741e+01] [-3.59964334e-02 3.73248738e-04 9.99351849e-01 -3.08717767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:18.13, Z:-3.09 [[ 9.26530847e-01 -3.74725959e-01 3.34820109e-02 8.35325188e+01] [ 3.74492709e-01 9.27135574e-01 1.32226120e-02 1.81294997e+01] [-3.59972194e-02 2.87611078e-04 9.99351849e-01 -3.09244353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.59, Y:18.16, Z:-3.10 [[ 9.25663881e-01 -3.76862645e-01 3.34802371e-02 8.35855152e+01] [ 3.76630629e-01 9.26269082e-01 1.32271019e-02 1.81567227e+01] [-3.59965091e-02 3.65832283e-04 9.99351849e-01 -3.10065483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:83.64, Y:18.17, Z:-3.10 [[ 9.28098188e-01 -3.70827266e-01 3.34797323e-02 8.36427616e+01] [ 3.70591269e-01 9.28701848e-01 1.32283794e-02 1.81729370e+01] [-3.59981331e-02 1.30061532e-04 9.99351849e-01 -3.09816737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.981858064 meters Centerline goodness : 0.994958 with order 1 Centerline is valid? [True, True] Translation: X:83.70, Y:18.19, Z:-3.10 [[ 9.28563919e-01 -3.69659574e-01 3.34790676e-02 8.36970739e+01] [ 3.69422756e-01 9.29167258e-01 1.32300615e-02 1.81946443e+01] [-3.59982723e-02 8.29716438e-05 9.99351849e-01 -3.09938953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.75, Y:18.21, Z:-3.10 [[ 9.30050460e-01 -3.65903796e-01 3.34746733e-02 8.37509105e+01] [ 3.65664143e-01 9.30652678e-01 1.32411706e-02 1.82145002e+01] [-3.59982890e-02 -7.44690550e-05 9.99351849e-01 -3.10425689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.81, Y:18.23, Z:-3.10 [[ 9.30778812e-01 -3.64047231e-01 3.34726255e-02 8.38053399e+01] [ 3.63806190e-01 9.31380476e-01 1.32463453e-02 1.82347244e+01] [-3.59980452e-02 -1.51869230e-04 9.99351849e-01 -3.10206417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:18.25, Z:-3.11 [[ 9.31836903e-01 -3.61330601e-01 3.34691355e-02 8.38590354e+01] [ 3.61087490e-01 9.32437733e-01 1.32551576e-02 1.82544664e+01] [-3.59973789e-02 -2.66358873e-04 9.99351849e-01 -3.10941022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:18.27, Z:-3.11 [[ 9.31688212e-01 -3.61713934e-01 3.34679738e-02 8.39137391e+01] [ 3.61470964e-01 9.32289099e-01 1.32580901e-02 1.82727731e+01] [-3.59974631e-02 -2.54705541e-04 9.99351849e-01 -3.11018238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:18.29, Z:-3.11 [[ 9.30162515e-01 -3.65619789e-01 3.34643898e-02 8.39685320e+01] [ 3.65379017e-01 9.30764287e-01 1.32671301e-02 1.82911194e+01] [-3.59981842e-02 -1.13401262e-04 9.99351849e-01 -3.11177999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:18.31, Z:-3.11 [[ 9.29183987e-01 -3.68099851e-01 3.34606987e-02 8.40219942e+01] [ 3.67860351e-01 9.29786265e-01 1.32764329e-02 1.83106499e+01] [-3.59983511e-02 -2.73844968e-05 9.99351849e-01 -3.11461816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.08, Y:18.33, Z:-3.12 [[ 9.27885579e-01 -3.71360794e-01 3.34591194e-02 8.40770657e+01] [ 3.71123266e-01 9.28488638e-01 1.32804118e-02 1.83277890e+01] [-3.59982365e-02 9.47550715e-05 9.99351849e-01 -3.11767623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:18.35, Z:-3.12 [[ 9.26983187e-01 -3.73607946e-01 3.34555649e-02 8.41318523e+01] [ 3.73371557e-01 9.27586693e-01 1.32893602e-02 1.83465552e+01] [-3.59979474e-02 1.72342887e-04 9.99351849e-01 -3.11980832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:18.36, Z:-3.12 [[ 9.25915983e-01 -3.76245344e-01 3.34519547e-02 8.41860847e+01] [ 3.76010346e-01 9.26520033e-01 1.32984415e-02 1.83640147e+01] [-3.59973829e-02 2.65041546e-04 9.99351849e-01 -3.12310774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.24, Y:18.38, Z:-3.13 [[ 9.25170479e-01 -3.78074933e-01 3.34504018e-02 8.42406755e+01] [ 3.77840989e-01 9.25774937e-01 1.33023465e-02 1.83825889e+01] [-3.59968274e-02 3.31994581e-04 9.99351849e-01 -3.12640909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.30, Y:18.40, Z:-3.13 [[ 9.24201825e-01 -3.80436987e-01 3.34467542e-02 8.42966054e+01] [ 3.80204256e-01 9.24806751e-01 1.33115117e-02 1.83985486e+01] [-3.59959755e-02 4.14074875e-04 9.99351849e-01 -3.12837051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:18.42, Z:-3.13 [[ 9.23603385e-01 -3.81887867e-01 3.34431575e-02 8.43518471e+01] [ 3.81655759e-01 9.24208550e-01 1.33205417e-02 1.84164133e+01] [-3.59954054e-02 4.60876293e-04 9.99351849e-01 -3.12935723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:18.43, Z:-3.13 [[ 9.23431739e-01 -3.82303044e-01 3.34395897e-02 8.44083479e+01] [ 3.82070884e-01 9.24036885e-01 1.33294921e-02 1.84325706e+01] [-3.59953197e-02 4.67417582e-04 9.99351849e-01 -3.13118785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.46, Y:18.45, Z:-3.13 [[ 9.22500600e-01 -3.84544754e-01 3.34361372e-02 8.44630805e+01] [ 3.84313751e-01 9.23106188e-01 1.33381469e-02 1.84505779e+01] [-3.59942196e-02 5.45518820e-04 9.99351849e-01 -3.12995935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:18.47, Z:-3.13 [[ 9.23256661e-01 -3.82726063e-01 3.34349878e-02 8.45188321e+01] [ 3.82493763e-01 9.23861753e-01 1.33410276e-02 1.84680716e+01] [-3.59952654e-02 4.71481688e-04 9.99351849e-01 -3.13040889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:84.57, Y:18.49, Z:-3.13 [[ 9.25124118e-01 -3.78190054e-01 3.34312581e-02 8.45741329e+01] [ 3.77954450e-01 9.25727931e-01 1.33503672e-02 1.84851970e+01] [-3.59972255e-02 2.84746039e-04 9.99351849e-01 -3.13410048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.63, Y:18.50, Z:-3.13 [[ 9.28062118e-01 -3.70922003e-01 3.34301126e-02 8.46324767e+01] [ 3.70681566e-01 9.28664023e-01 1.33532351e-02 1.84983027e+01] [-3.59983515e-02 -7.05157756e-07 9.99351849e-01 -3.13054985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.69, Y:18.52, Z:-3.14 [[ 9.27143633e-01 -3.73212176e-01 3.34268662e-02 8.46856701e+01] [ 3.72972933e-01 9.27746013e-01 1.33613566e-02 1.85221097e+01] [-3.59982629e-02 7.94196539e-05 9.99351849e-01 -3.14067698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:18.54, Z:-3.14 [[ 9.27187417e-01 -3.73103456e-01 3.34261176e-02 8.47408961e+01] [ 3.72864075e-01 9.27789742e-01 1.33632291e-02 1.85402884e+01] [-3.59982760e-02 7.31805444e-05 9.99351849e-01 -3.14252523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:18.56, Z:-3.14 [[ 9.27230550e-01 -3.72996593e-01 3.34222813e-02 8.47952931e+01] [ 3.72756797e-01 9.27832710e-01 1.33728172e-02 1.85572015e+01] [-3.59983011e-02 5.86978915e-05 9.99351849e-01 -3.14344358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:18.57, Z:-3.14 [[ 9.29036602e-01 -3.68475393e-01 3.34196960e-02 8.48528637e+01] [ 3.68232434e-01 9.29637494e-01 1.33792749e-02 1.85714466e+01] [-3.59981360e-02 -1.23620099e-04 9.99351849e-01 -3.13972962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:84.90, Y:18.60, Z:-3.15 [[ 9.27833557e-01 -3.71494614e-01 3.34162075e-02 8.49046451e+01] [ 3.71253297e-01 9.28435109e-01 1.33879822e-02 1.85963145e+01] [-3.59983435e-02 -1.59419727e-05 9.99351849e-01 -3.14667346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:84.96, Y:18.62, Z:-3.15 [[ 9.27892009e-01 -3.71348704e-01 3.34149799e-02 8.49594875e+01] [ 3.71107182e-01 9.28493479e-01 1.33910454e-02 1.86150781e+01] [-3.59983383e-02 -2.49049890e-05 9.99351849e-01 -3.14800228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:85.01, Y:18.63, Z:-3.15 [[ 9.27348095e-01 -3.72705243e-01 3.34112719e-02 8.50140548e+01] [ 3.72464268e-01 9.27949784e-01 1.34002906e-02 1.86345661e+01] [-3.59983411e-02 1.77709540e-05 9.99351850e-01 -3.15089114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.07, Y:18.65, Z:-3.15 [[ 9.29037263e-01 -3.68474859e-01 3.34072174e-02 8.50710248e+01] [ 3.68230781e-01 9.29637700e-01 1.34103910e-02 1.86500193e+01] [-3.59980007e-02 -1.57187227e-04 9.99351850e-01 -3.14916113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.13, Y:18.67, Z:-3.16 [[ 9.28962088e-01 -3.68664659e-01 3.34037125e-02 8.51256622e+01] [ 3.68420389e-01 9.29562448e-01 1.34191158e-02 1.86697127e+01] [-3.59979904e-02 -1.59241064e-04 9.99351850e-01 -3.15634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.18, Y:18.69, Z:-3.16 [[ 9.28364913e-01 -3.70166002e-01 3.34023867e-02 8.51802372e+01] [ 3.69922584e-01 9.28965618e-01 1.34224151e-02 1.86925430e+01] [-3.59981905e-02 -1.04602027e-04 9.99351850e-01 -3.15721704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:85.23, Y:18.71, Z:-3.16 [[ 9.26950320e-01 -3.73694603e-01 3.33983347e-02 8.52344915e+01] [ 3.73453109e-01 9.27551801e-01 1.34324898e-02 1.87138328e+01] [-3.59983344e-02 2.14612564e-05 9.99351850e-01 -3.15800693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.29, Y:18.73, Z:-3.16 [[ 9.26361413e-01 -3.75152402e-01 3.33947412e-02 8.52886104e+01] [ 3.74911533e-01 9.26963144e-01 1.34414178e-02 1.87343940e+01] [-3.59982745e-02 6.84628630e-05 9.99351850e-01 -3.16062080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:85.34, Y:18.75, Z:-3.16 [[ 9.24381908e-01 -3.80004116e-01 3.33910044e-02 8.53429833e+01] [ 3.79766070e-01 9.24984762e-01 1.34506943e-02 1.87536940e+01] [-3.59974895e-02 2.47192061e-04 9.99351850e-01 -3.16145874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84185806400001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:18.77, Z:-3.16 [[ 9.23393821e-01 -3.82399217e-01 3.33869822e-02 8.53973686e+01] [ 3.82162374e-01 9.23997148e-01 1.34606708e-02 1.87745020e+01] [-3.59968263e-02 3.29748108e-04 9.99351850e-01 -3.16454888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:18.80, Z:-3.17 [[ 9.22192060e-01 -3.85288683e-01 3.33831543e-02 8.54518157e+01] [ 3.85053387e-01 9.22795993e-01 1.34701574e-02 1.87951995e+01] [-3.59957402e-02 4.32224388e-04 9.99351850e-01 -3.16652606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.961858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:85.51, Y:18.81, Z:-3.17 [[ 9.23549063e-01 -3.82024833e-01 3.33789574e-02 8.55074767e+01] [ 3.81787027e-01 9.24152012e-01 1.34805492e-02 1.88116785e+01] [-3.59971352e-02 2.93704389e-04 9.99351850e-01 -3.16984576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.56, Y:18.84, Z:-3.17 [[ 9.21788606e-01 -3.86253466e-01 3.33770265e-02 8.55599959e+01] [ 3.86018253e-01 9.22392571e-01 1.34853284e-02 1.88390065e+01] [-3.59954761e-02 4.53519399e-04 9.99351850e-01 -3.17141543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:85.61, Y:18.86, Z:-3.17 [[ 9.20942693e-01 -3.88266383e-01 3.33732071e-02 8.56136974e+01] [ 3.88032148e-01 9.21547038e-01 1.34947739e-02 1.88611219e+01] [-3.59945472e-02 5.21963797e-04 9.99351850e-01 -3.17148833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:85.67, Y:18.88, Z:-3.17 [[ 9.21120880e-01 -3.87843822e-01 3.33690763e-02 8.56681826e+01] [ 3.87608939e-01 9.21724973e-01 1.35049806e-02 1.88836506e+01] [-3.59949342e-02 4.94432648e-04 9.99351850e-01 -3.17205634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.72, Y:18.91, Z:-3.17 [[ 9.21966934e-01 -3.85828583e-01 3.33658004e-02 8.57207475e+01] [ 3.85592088e-01 9.22570398e-01 1.35130694e-02 1.89076178e+01] [-3.59960281e-02 4.06985470e-04 9.99351850e-01 -3.17458261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:18.93, Z:-3.18 [[ 9.22821866e-01 -3.83779597e-01 3.33620236e-02 8.57738515e+01] [ 3.83541425e-01 9.23424670e-01 1.35223874e-02 1.89305626e+01] [-3.59969320e-02 3.16963281e-04 9.99351850e-01 -3.17671640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:18.95, Z:-3.18 [[ 9.24603711e-01 -3.79467006e-01 3.33581808e-02 8.58263189e+01] [ 3.79225680e-01 9.25205260e-01 1.35318605e-02 1.89529858e+01] [-3.59980589e-02 1.38670377e-04 9.99351850e-01 -3.17959277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:85.88, Y:18.98, Z:-3.18 [[ 9.25856128e-01 -3.76401078e-01 3.33565269e-02 8.58800236e+01] [ 3.76157614e-01 9.26456814e-01 1.35359362e-02 1.89753949e+01] [-3.59983226e-02 1.49820854e-05 9.99351850e-01 -3.18134108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:18.99, Z:-3.18 [[ 9.29039759e-01 -3.68473511e-01 3.33526390e-02 8.59354918e+01] [ 3.68224577e-01 9.29638198e-01 1.35455091e-02 1.89943358e+01] [-3.59970486e-02 -3.03055086e-04 9.99351850e-01 -3.18184031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:19.02, Z:-3.19 [[ 9.28202358e-01 -3.70578221e-01 3.33491412e-02 8.59868497e+01] [ 3.70330335e-01 9.28801232e-01 1.35541152e-02 1.90210204e+01] [-3.59975834e-02 -2.30763060e-04 9.99351850e-01 -3.18828475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561858064 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:19.04, Z:-3.19 [[ 9.28357917e-01 -3.70188469e-01 3.33477968e-02 8.60411726e+01] [ 3.69940212e-01 9.28956638e-01 1.35574222e-02 1.90411233e+01] [-3.59974586e-02 -2.49449198e-04 9.99351850e-01 -3.18972998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.10, Y:19.06, Z:-3.19 [[ 9.28337229e-01 -3.70240703e-01 3.33438357e-02 8.60955976e+01] [ 3.69992131e-01 9.28935819e-01 1.35671575e-02 1.90617723e+01] [-3.59973972e-02 -2.57940548e-04 9.99351850e-01 -3.19168852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.15, Y:19.08, Z:-3.19 [[ 9.28531443e-01 -3.69753472e-01 3.33426184e-02 8.61500559e+01] [ 3.69504478e-01 9.29129857e-01 1.35701483e-02 1.90822718e+01] [-3.59972317e-02 -2.80062553e-04 9.99351850e-01 -3.19362368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.20, Y:19.10, Z:-3.20 [[ 9.28282770e-01 -3.70377681e-01 3.33387621e-02 8.62040212e+01] [ 3.70128750e-01 9.28881210e-01 1.35796159e-02 1.91023621e+01] [-3.59973363e-02 -2.66089107e-04 9.99351850e-01 -3.19588201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.26, Y:19.12, Z:-3.20 [[ 9.27416905e-01 -3.72540826e-01 3.33349300e-02 8.62583111e+01] [ 3.72292953e-01 9.28015784e-01 1.35890163e-02 1.91218652e+01] [-3.59978045e-02 -1.92323928e-04 9.99351850e-01 -3.19723988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:19.14, Z:-3.20 [[ 9.26123898e-01 -3.75743779e-01 3.33337543e-02 8.63129028e+01] [ 3.75497873e-01 9.26723588e-01 1.35918997e-02 1.91410384e+01] [-3.59982481e-02 -7.10293184e-05 9.99351850e-01 -3.19891810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:19.16, Z:-3.20 [[ 9.25226849e-01 -3.77947596e-01 3.33300598e-02 8.63676541e+01] [ 3.77702793e-01 9.25826990e-01 1.36009532e-02 1.91608736e+01] [-3.59983165e-02 4.88961381e-06 9.99351851e-01 -3.20090771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.981858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:86.42, Y:19.18, Z:-3.21 [[ 9.23768029e-01 -3.81499655e-01 3.33263045e-02 8.64219480e+01] [ 3.81256827e-01 9.24368971e-01 1.36101487e-02 1.91811916e+01] [-3.59980688e-02 1.33260898e-04 9.99351851e-01 -3.20612618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.48, Y:19.20, Z:-3.21 [[ 9.24219625e-01 -3.80404617e-01 3.33228428e-02 8.64782549e+01] [ 3.80160772e-01 9.24820156e-01 1.36186190e-02 1.91979468e+01] [-3.59982222e-02 8.14427071e-05 9.99351851e-01 -3.20729255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:19.22, Z:-3.21 [[ 9.22254181e-01 -3.85145484e-01 3.33193797e-02 8.65313346e+01] [ 3.84904420e-01 9.22855834e-01 1.36270865e-02 1.92239318e+01] [-3.59973948e-02 2.57139021e-04 9.99351851e-01 -3.20965029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:19.24, Z:-3.21 [[ 9.21454382e-01 -3.87055393e-01 3.33158409e-02 8.65841747e+01] [ 3.86815263e-01 9.22056408e-01 1.36357328e-02 1.92442785e+01] [-3.59968685e-02 3.22370007e-04 9.99351851e-01 -3.21140676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:19.27, Z:-3.21 [[ 9.21295393e-01 -3.87433890e-01 3.33133649e-02 8.66386754e+01] [ 3.87193789e-01 9.21897430e-01 1.36417792e-02 1.92667930e+01] [-3.59967931e-02 3.30619603e-04 9.99351851e-01 -3.21447964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.69, Y:19.29, Z:-3.22 [[ 9.21098255e-01 -3.87902607e-01 3.33102430e-02 8.66923855e+01] [ 3.87662537e-01 9.21700304e-01 1.36493979e-02 1.92889371e+01] [-3.59966981e-02 3.40696679e-04 9.99351851e-01 -3.21615761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34185806400001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:19.31, Z:-3.22 [[ 9.21255494e-01 -3.87529343e-01 3.33065038e-02 8.67462373e+01] [ 3.87288699e-01 9.21857315e-01 1.36585159e-02 1.93114478e+01] [-3.59969199e-02 3.16249682e-04 9.99351851e-01 -3.21805131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:19.33, Z:-3.22 [[ 9.20911886e-01 -3.88345474e-01 3.33030146e-02 8.68002537e+01] [ 3.88105056e-01 9.21513797e-01 1.36670184e-02 1.93340163e+01] [-3.59967121e-02 3.38948658e-04 9.99351851e-01 -3.21972666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.461858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:19.36, Z:-3.22 [[ 9.20398032e-01 -3.89562103e-01 3.32991192e-02 8.68535105e+01] [ 3.89322138e-01 9.21000123e-01 1.36765027e-02 1.93561091e+01] [-3.59963400e-02 3.76258057e-04 9.99351851e-01 -3.22099416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:19.38, Z:-3.22 [[ 9.19776665e-01 -3.91027028e-01 3.32979053e-02 8.69070982e+01] [ 3.90787915e-01 9.20379095e-01 1.36794575e-02 1.93783533e+01] [-3.59957336e-02 4.30373191e-04 9.99351851e-01 -3.22232324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.96, Y:19.40, Z:-3.23 [[ 9.19276021e-01 -3.92202889e-01 3.32940030e-02 8.69602652e+01] [ 3.91964202e-01 9.19878621e-01 1.36889486e-02 1.94016781e+01] [-3.59952867e-02 4.66135163e-04 9.99351851e-01 -3.22503214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.01, Y:19.42, Z:-3.23 [[ 9.18417073e-01 -3.94210415e-01 3.32900595e-02 8.70132352e+01] [ 3.93972698e-01 9.19020056e-01 1.36985322e-02 1.94241641e+01] [-3.59943364e-02 5.34408730e-04 9.99351851e-01 -3.22704037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:87.07, Y:19.45, Z:-3.23 [[ 9.17341899e-01 -3.96706099e-01 3.32883124e-02 8.70674004e+01] [ 3.96469868e-01 9.17945465e-01 1.37027764e-02 1.94473080e+01] [-3.59928304e-02 6.27681948e-04 9.99351851e-01 -3.23331803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:19.46, Z:-3.23 [[ 9.18944717e-01 -3.92979174e-01 3.32862769e-02 8.71233920e+01] [ 3.92740317e-01 9.19547248e-01 1.37077190e-02 1.94646016e+01] [-3.59951525e-02 4.76226973e-04 9.99351851e-01 -3.23005906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:19.49, Z:-3.24 [[ 9.18055947e-01 -3.95051320e-01 3.32826282e-02 8.71749624e+01] [ 3.94813502e-01 9.18658889e-01 1.37165726e-02 1.94937213e+01] [-3.59941323e-02 5.47849896e-04 9.99351851e-01 -3.23710600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:19.52, Z:-3.24 [[ 9.19135893e-01 -3.92532444e-01 3.32789720e-02 8.72277288e+01] [ 3.92292652e-01 9.19738054e-01 1.37254373e-02 1.95170863e+01] [-3.59956164e-02 4.39554120e-04 9.99351851e-01 -3.24151324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.28, Y:19.54, Z:-3.24 [[ 9.20383982e-01 -3.89597127e-01 3.32776834e-02 8.72817494e+01] [ 3.89355302e-01 9.20985328e-01 1.37285609e-02 1.95394579e+01] [-3.59968661e-02 3.21294976e-04 9.99351851e-01 -3.24033689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:87.34, Y:19.56, Z:-3.24 [[ 9.20241445e-01 -3.89933793e-01 3.32764110e-02 8.73362128e+01] [ 3.89692077e-01 9.20842835e-01 1.37316445e-02 1.95632293e+01] [-3.59967768e-02 3.31125285e-04 9.99351851e-01 -3.23994029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:19.58, Z:-3.24 [[ 9.21784069e-01 -3.86273269e-01 3.32729896e-02 8.73898817e+01] [ 3.86028865e-01 9.22384372e-01 1.37399299e-02 1.95849488e+01] [-3.59978532e-02 1.79085922e-04 9.99351851e-01 -3.23984310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.44, Y:19.61, Z:-3.24 [[ 9.22420371e-01 -3.84751408e-01 3.32717945e-02 8.74430249e+01] [ 3.84505910e-01 9.23020227e-01 1.37428232e-02 1.96083503e+01] [-3.59981099e-02 1.16541497e-04 9.99351851e-01 -3.24209780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.181858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.50, Y:19.63, Z:-3.25 [[ 9.23033007e-01 -3.83279672e-01 3.32680162e-02 8.74956699e+01] [ 3.83032887e-01 9.23632335e-01 1.37519633e-02 1.96318629e+01] [-3.59982635e-02 4.92282642e-05 9.99351851e-01 -3.24526723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:87.55, Y:19.65, Z:-3.25 [[ 9.22597534e-01 -3.84327056e-01 3.32641666e-02 8.75496278e+01] [ 3.84080616e-01 9.23197004e-01 1.37612687e-02 1.96528848e+01] [-3.59982069e-02 8.00090908e-05 9.99351851e-01 -3.24666784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:19.67, Z:-3.25 [[ 9.21665378e-01 -3.86557477e-01 3.32603009e-02 8.76032912e+01] [ 3.86312151e-01 9.22265305e-01 1.37706058e-02 1.96740349e+01] [-3.59979521e-02 1.56967803e-04 9.99351851e-01 -3.24854064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361858064 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:87.66, Y:19.70, Z:-3.25 [[ 9.20353587e-01 -3.89670731e-01 3.32565100e-02 8.76569242e+01] [ 3.89427104e-01 9.20954206e-01 1.37797547e-02 1.96957723e+01] [-3.59972899e-02 2.68739720e-04 9.99351851e-01 -3.25132954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421858064 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:87.71, Y:19.72, Z:-3.25 [[ 9.19610402e-01 -3.91421735e-01 3.32525630e-02 8.77119633e+01] [ 3.91178908e-01 9.20211344e-01 1.37892728e-02 1.97169162e+01] [-3.59968068e-02 3.26942570e-04 9.99351851e-01 -3.25200318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.481858064 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:87.76, Y:19.74, Z:-3.25 [[ 9.19043697e-01 -3.92750785e-01 3.32491093e-02 8.77648446e+01] [ 3.92508525e-01 9.19644869e-01 1.37975955e-02 1.97385950e+01] [-3.59963892e-02 3.69965609e-04 9.99351851e-01 -3.25377395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.541858064 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:19.76, Z:-3.25 [[ 9.18589741e-01 -3.93811501e-01 3.32474100e-02 8.78188576e+01] [ 3.93569787e-01 9.19191131e-01 1.38016890e-02 1.97607516e+01] [-3.59959883e-02 4.07086201e-04 9.99351852e-01 -3.25466874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:87.87, Y:19.78, Z:-3.26 [[ 9.18477618e-01 -3.94073257e-01 3.32435423e-02 8.78721590e+01] [ 3.93831377e-01 9.19078943e-01 1.38109987e-02 1.97830568e+01] [-3.59959849e-02 4.07256853e-04 9.99351852e-01 -3.25667178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661858064 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:87.93, Y:19.81, Z:-3.26 [[ 9.18676651e-01 -3.93609368e-01 3.32396668e-02 8.79257548e+01] [ 3.93366848e-01 9.19277717e-01 1.38203198e-02 1.98056179e+01] [-3.59962924e-02 3.78977836e-04 9.99351852e-01 -3.25927655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:19.83, Z:-3.26 [[ 9.18668437e-01 -3.93628865e-01 3.32358228e-02 8.79788078e+01] [ 3.93386023e-01 9.19269373e-01 1.38295578e-02 1.98296320e+01] [-3.59963872e-02 3.69729889e-04 9.99351852e-01 -3.26097128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781858064 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:88.03, Y:19.85, Z:-3.26 [[ 9.18346284e-01 -3.94380210e-01 3.32318143e-02 8.80311392e+01] [ 3.94137512e-01 9.18947278e-01 1.38391835e-02 1.98516982e+01] [-3.59961853e-02 3.88741839e-04 9.99351852e-01 -3.26321695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84185806400001 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:19.87, Z:-3.27 [[ 9.16995842e-01 -3.97510427e-01 3.32277918e-02 8.80835005e+01] [ 3.97269430e-01 9.17597520e-01 1.38488347e-02 1.98749859e+01] [-3.59947956e-02 5.01062086e-04 9.99351852e-01 -3.26537783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.901858064 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:19.90, Z:-3.27 [[ 9.16395301e-01 -3.98893149e-01 3.32251113e-02 8.81364620e+01] [ 3.98652828e-01 9.16997249e-01 1.38552627e-02 1.98981366e+01] [-3.59941050e-02 5.48386978e-04 9.99351852e-01 -3.26589634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.961858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:88.19, Y:19.92, Z:-3.27 [[ 9.15573334e-01 -4.00776525e-01 3.32211952e-02 8.81891488e+01] [ 4.00537101e-01 9.16175639e-01 1.38646460e-02 1.99227142e+01] [-3.59930744e-02 6.12221099e-04 9.99351852e-01 -3.26789312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:88.24, Y:19.95, Z:-3.27 [[ 9.15028000e-01 -4.02020361e-01 3.32172890e-02 8.82423110e+01] [ 4.01781416e-01 9.15630496e-01 1.38739983e-02 1.99466804e+01] [-3.59923926e-02 6.50992454e-04 9.99351852e-01 -3.27074176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:88.30, Y:19.97, Z:-3.27 [[ 9.14386930e-01 -4.03476655e-01 3.32134146e-02 8.82952801e+01] [ 4.03238333e-01 9.14989673e-01 1.38832670e-02 1.99707914e+01] [-3.59915055e-02 6.98244055e-04 9.99351852e-01 -3.27136288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.35, Y:19.99, Z:-3.27 [[ 9.14181135e-01 -4.03942819e-01 3.32122259e-02 8.83487954e+01] [ 4.03704702e-01 9.14783958e-01 1.38861101e-02 1.99938812e+01] [-3.59912060e-02 7.13511826e-04 9.99351852e-01 -3.27294104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:88.40, Y:20.02, Z:-3.28 [[ 9.14342824e-01 -4.03577005e-01 3.32084626e-02 8.83999889e+01] [ 4.03338320e-01 9.14945422e-01 1.38951042e-02 2.00182980e+01] [-3.59916754e-02 6.89356747e-04 9.99351852e-01 -3.27646310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:20.04, Z:-3.28 [[ 9.15756138e-01 -4.00359840e-01 3.32068421e-02 8.84543248e+01] [ 4.00118898e-01 9.16357837e-01 1.38989758e-02 2.00413855e+01] [-3.59939418e-02 5.58612637e-04 9.99351852e-01 -3.28363186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.51, Y:20.06, Z:-3.28 [[ 9.18863299e-01 -3.93176490e-01 3.32037051e-02 8.85089621e+01] [ 3.92930572e-01 9.19462982e-01 1.39064660e-02 2.00634052e+01] [-3.59972732e-02 2.68609630e-04 9.99351852e-01 -3.28146829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:20.09, Z:-3.28 [[ 9.18534965e-01 -3.93943224e-01 3.32002191e-02 8.85603079e+01] [ 3.93697506e-01 9.19134730e-01 1.39147835e-02 2.00921632e+01] [-3.59971091e-02 2.89628272e-04 9.99351852e-01 -3.28139038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:20.12, Z:-3.29 [[ 9.19401179e-01 -3.91917732e-01 3.31958341e-02 8.86116022e+01] [ 3.91670315e-01 9.20000246e-01 1.39252368e-02 2.01174981e+01] [-3.59977227e-02 1.98943692e-04 9.99351852e-01 -3.29208193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:88.67, Y:20.14, Z:-3.29 [[ 9.19995659e-01 -3.90520299e-01 3.31946229e-02 8.86661379e+01] [ 3.90271869e-01 9.20594306e-01 1.39281234e-02 2.01390719e+01] [-3.59979957e-02 1.41114453e-04 9.99351852e-01 -3.28736281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:20.16, Z:-3.29 [[ 9.19653993e-01 -3.91324585e-01 3.31903793e-02 8.87193397e+01] [ 3.91076314e-01 9.20252706e-01 1.39382285e-02 2.01615757e+01] [-3.59979078e-02 1.61623707e-04 9.99351852e-01 -3.28810382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.621858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:88.77, Y:20.18, Z:-3.29 [[ 9.18049214e-01 -3.95075092e-01 3.31860096e-02 8.87727936e+01] [ 3.94828891e-01 9.18648781e-01 1.39486247e-02 2.01830439e+01] [-3.59970414e-02 2.97271374e-04 9.99351852e-01 -3.29358661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.83, Y:20.21, Z:-3.29 [[ 9.17571721e-01 -3.96183191e-01 3.31815566e-02 8.88252018e+01] [ 3.95937330e-01 9.18171428e-01 1.39592095e-02 2.02064153e+01] [-3.59967614e-02 3.29241094e-04 9.99351852e-01 -3.29294898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.88, Y:20.23, Z:-3.30 [[ 9.16241255e-01 -3.99250628e-01 3.31797997e-02 8.88784969e+01] [ 3.99006624e-01 9.16841719e-01 1.39633843e-02 2.02282828e+01] [-3.59955145e-02 4.45131161e-04 9.99351852e-01 -3.29875993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:20.25, Z:-3.30 [[ 9.14857735e-01 -4.02411094e-01 3.31758361e-02 8.89314704e+01] [ 4.02168823e-01 9.15458901e-01 1.39727951e-02 2.02511610e+01] [-3.59939222e-02 5.59167246e-04 9.99351852e-01 -3.30253454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:20.28, Z:-3.30 [[ 9.13828592e-01 -4.04743069e-01 3.31715716e-02 8.89831284e+01] [ 4.04501965e-01 9.14430226e-01 1.39829119e-02 2.02752310e+01] [-3.59925744e-02 6.39981219e-04 9.99351852e-01 -3.30253102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:89.04, Y:20.30, Z:-3.31 [[ 9.12710530e-01 -4.07258304e-01 3.31686966e-02 8.90356903e+01] [ 4.07018611e-01 9.13312727e-01 1.39897283e-02 2.02989876e+01] [-3.59908258e-02 7.31704423e-04 9.99351852e-01 -3.30989279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:20.32, Z:-3.31 [[ 9.12078186e-01 -4.08672837e-01 3.31646795e-02 8.90894230e+01] [ 4.08433731e-01 9.12680617e-01 1.39992449e-02 2.03206809e+01] [-3.59898713e-02 7.77167880e-04 9.99351853e-01 -3.31062555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:20.35, Z:-3.31 [[ 9.10630574e-01 -4.11888730e-01 3.31606949e-02 8.91413363e+01] [ 4.11651408e-01 9.11233710e-01 1.40086770e-02 2.03451302e+01] [-3.59871592e-02 8.93917167e-04 9.99351853e-01 -3.31076702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:20.36, Z:-3.31 [[ 9.12363717e-01 -4.08035531e-01 3.31580129e-02 8.91972259e+01] [ 4.07795431e-01 9.12965753e-01 1.40150223e-02 2.03637507e+01] [-3.59907573e-02 7.34888363e-04 9.99351853e-01 -3.30723812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161858064 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:20.39, Z:-3.31 [[ 9.12856416e-01 -4.06932240e-01 3.31559376e-02 8.92493336e+01] [ 4.06691234e-01 9.13458090e-01 1.40199303e-02 2.03888650e+01] [-3.59917210e-02 6.86045847e-04 9.99351853e-01 -3.30958628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221858064 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:89.30, Y:20.42, Z:-3.32 [[ 9.13959260e-01 -4.04449517e-01 3.31520685e-02 8.92991101e+01] [ 4.04206545e-01 9.14560142e-01 1.40290734e-02 2.04189581e+01] [-3.59936124e-02 5.78281578e-04 9.99351853e-01 -3.31550022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:89.35, Y:20.44, Z:-3.32 [[ 9.15017828e-01 -4.02049247e-01 3.31478239e-02 8.93521005e+01] [ 4.01804336e-01 9.15617922e-01 1.40390953e-02 2.04433504e+01] [-3.59951493e-02 4.72916836e-04 9.99351853e-01 -3.31870578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34185806400001 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:20.47, Z:-3.32 [[ 9.16605303e-01 -3.98417169e-01 3.31433008e-02 8.94046779e+01] [ 3.98169495e-01 9.17204262e-01 1.40497653e-02 2.04662209e+01] [-3.59968445e-02 3.18561911e-04 9.99351853e-01 -3.32166304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.401858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:89.46, Y:20.49, Z:-3.33 [[ 9.17984359e-01 -3.95229552e-01 3.31408729e-02 8.94581899e+01] [ 3.94979591e-01 9.18582368e-01 1.40554899e-02 2.04889028e+01] [-3.59977665e-02 1.87248488e-04 9.99351853e-01 -3.32528540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.461858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:20.51, Z:-3.33 [[ 9.18758509e-01 -3.93426699e-01 3.31396170e-02 8.95118388e+01] [ 3.93175457e-01 9.19355981e-01 1.40584504e-02 2.05111695e+01] [-3.59980748e-02 1.13363137e-04 9.99351853e-01 -3.32889055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:20.53, Z:-3.33 [[ 9.19287529e-01 -3.92189326e-01 3.31356596e-02 8.95647266e+01] [ 3.91936944e-01 9.19884520e-01 1.40677719e-02 2.05321283e+01] [-3.59982103e-02 5.47619218e-05 9.99351853e-01 -3.33099730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:20.55, Z:-3.33 [[ 9.19243219e-01 -3.92293316e-01 3.31339576e-02 8.96180748e+01] [ 3.92040857e-01 9.19840177e-01 1.40717793e-02 2.05515700e+01] [-3.59982104e-02 5.44774563e-05 9.99351853e-01 -3.33144232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:20.57, Z:-3.33 [[ 9.19322391e-01 -3.92107962e-01 3.31313548e-02 8.96727595e+01] [ 3.91855162e-01 9.19919205e-01 1.40779049e-02 2.05723349e+01] [-3.59982282e-02 4.05591867e-05 9.99351853e-01 -3.33412771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:89.73, Y:20.59, Z:-3.34 [[ 9.19542734e-01 -3.91591271e-01 3.31275900e-02 8.97266578e+01] [ 3.91337817e-01 9.20139270e-01 1.40867584e-02 2.05943525e+01] [-3.59982482e-02 1.07024020e-05 9.99351853e-01 -3.33665387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.78, Y:20.61, Z:-3.34 [[ 9.19987177e-01 -3.90546302e-01 3.31237192e-02 8.97807583e+01] [ 3.90291843e-01 9.20583285e-01 1.40958545e-02 2.06144033e+01] [-3.59982261e-02 -4.00879755e-05 9.99351853e-01 -3.33995890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:20.64, Z:-3.35 [[ 9.17836002e-01 -3.95575722e-01 3.31197901e-02 8.98324353e+01] [ 3.95324197e-01 9.18433354e-01 1.41050803e-02 2.06420637e+01] [-3.59979473e-02 1.46903937e-04 9.99351853e-01 -3.35481050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:20.66, Z:-3.35 [[ 9.20061377e-01 -3.90372106e-01 3.31161708e-02 8.98897969e+01] [ 3.90116896e-01 9.20657164e-01 1.41135727e-02 2.06562873e+01] [-3.59981850e-02 -6.61753328e-05 9.99351853e-01 -3.34642333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.94, Y:20.68, Z:-3.35 [[ 9.18709246e-01 -3.93543803e-01 3.31148958e-02 8.99443121e+01] [ 3.93290542e-01 9.19305864e-01 1.41165635e-02 2.06760458e+01] [-3.59982040e-02 5.47578677e-05 9.99351853e-01 -3.34995124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.00, Y:20.70, Z:-3.35 [[ 9.16866119e-01 -3.97819275e-01 3.31110867e-02 8.99992478e+01] [ 3.97568474e-01 9.17463775e-01 1.41254924e-02 2.06950925e+01] [-3.59976157e-02 2.12738852e-04 9.99351853e-01 -3.35172429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.05, Y:20.72, Z:-3.35 [[ 9.15804975e-01 -4.00256367e-01 3.31072195e-02 9.00534364e+01] [ 4.00006829e-01 9.16403160e-01 1.41345505e-02 2.07166532e+01] [-3.59970044e-02 2.98622259e-04 9.99351853e-01 -3.35339471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.121858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:90.11, Y:20.74, Z:-3.35 [[ 9.13316284e-01 -4.05903368e-01 3.31031985e-02 9.01074593e+01] [ 4.05657187e-01 9.13915858e-01 1.41439615e-02 2.07368393e+01] [-3.59946196e-02 5.10639967e-04 9.99351853e-01 -3.35436217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.16, Y:20.76, Z:-3.36 [[ 9.12035762e-01 -4.08772812e-01 3.30991846e-02 9.01609285e+01] [ 4.08528177e-01 9.12635969e-01 1.41533483e-02 2.07560656e+01] [-3.59930104e-02 6.13589698e-04 9.99351853e-01 -3.35532177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:90.22, Y:20.78, Z:-3.36 [[ 9.11983656e-01 -4.08889270e-01 3.30964782e-02 9.02153529e+01] [ 4.08644482e-01 9.12583800e-01 1.41596742e-02 2.07772214e+01] [-3.59930487e-02 6.11301771e-04 9.99351853e-01 -3.35724592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:90.27, Y:20.80, Z:-3.36 [[ 9.13257766e-01 -4.06035883e-01 3.30925209e-02 9.02691272e+01] [ 4.05788885e-01 9.13857003e-01 1.41689169e-02 2.07995204e+01] [-3.59949206e-02 4.88703740e-04 9.99351853e-01 -3.36152924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:20.82, Z:-3.36 [[ 9.14134624e-01 -4.04058212e-01 3.30885270e-02 9.03217288e+01] [ 4.03809580e-01 9.14733185e-01 1.41782376e-02 2.08211896e+01] [-3.59960070e-02 4.00646265e-04 9.99351853e-01 -3.36409962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:90.38, Y:20.84, Z:-3.37 [[ 9.14724004e-01 -4.02722310e-01 3.30868072e-02 9.03759316e+01] [ 4.02472659e-01 9.15322142e-01 1.41822499e-02 2.08432140e+01] [-3.59965957e-02 3.43690779e-04 9.99351853e-01 -3.36612834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:20.87, Z:-3.37 [[ 9.14132685e-01 -4.04063060e-01 3.30828834e-02 9.04298945e+01] [ 4.03813955e-01 9.14731050e-01 1.41913969e-02 2.08650066e+01] [-3.59961600e-02 3.86510209e-04 9.99351853e-01 -3.36937579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:20.89, Z:-3.37 [[ 9.13114197e-01 -4.06359757e-01 3.30788616e-02 9.04835157e+01] [ 4.06111818e-01 9.13713046e-01 1.42007653e-02 2.08873784e+01] [-3.59952069e-02 4.66796207e-04 9.99351854e-01 -3.37129023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:20.91, Z:-3.37 [[ 9.11425198e-01 -4.10134320e-01 3.30748715e-02 9.05374463e+01] [ 4.09888524e-01 9.12024930e-01 1.42100526e-02 2.09100779e+01] [-3.59931376e-02 6.05610202e-04 9.99351854e-01 -3.37453369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:20.93, Z:-3.38 [[ 9.10376217e-01 -4.12457831e-01 3.30708552e-02 9.05905164e+01] [ 4.12213226e-01 9.10976435e-01 1.42193935e-02 2.09327449e+01] [-3.59916700e-02 6.87246270e-04 9.99351854e-01 -3.37705183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:20.96, Z:-3.38 [[ 9.09519841e-01 -4.14343144e-01 3.30668622e-02 9.06431517e+01] [ 4.14099445e-01 9.10120428e-01 1.42286729e-02 2.09565635e+01] [-3.59903799e-02 7.51708951e-04 9.99351854e-01 -3.37992738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:20.98, Z:-3.38 [[ 9.09162056e-01 -4.15127935e-01 3.30628827e-02 9.06958421e+01] [ 4.14884419e-01 9.09762717e-01 1.42379142e-02 2.09809442e+01] [-3.59899339e-02 7.72703554e-04 9.99351854e-01 -3.38377374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84185806400001 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:90.75, Y:21.01, Z:-3.39 [[ 9.08909455e-01 -4.15680803e-01 3.30616599e-02 9.07482699e+01] [ 4.15437549e-01 9.09510222e-01 1.42407530e-02 2.10051208e+01] [-3.59895253e-02 7.91499928e-04 9.99351854e-01 -3.38737001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:21.03, Z:-3.39 [[ 9.08183556e-01 -4.17264684e-01 3.30576967e-02 9.08012996e+01] [ 4.17022144e-01 9.08784612e-01 1.42499470e-02 2.10287886e+01] [-3.59883257e-02 8.44224005e-04 9.99351854e-01 -3.38857697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:90.85, Y:21.05, Z:-3.39 [[ 9.07506825e-01 -4.18734773e-01 3.30537801e-02 9.08536778e+01] [ 4.18492875e-01 9.08108140e-01 1.42590260e-02 2.10528115e+01] [-3.59871568e-02 8.92608026e-04 9.99351854e-01 -3.39439927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:90.91, Y:21.08, Z:-3.39 [[ 9.07008154e-01 -4.19814176e-01 3.30494432e-02 9.09057521e+01] [ 4.19572629e-01 9.07609609e-01 1.42690709e-02 2.10777160e+01] [-3.59863505e-02 9.24478080e-04 9.99351854e-01 -3.39274899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:21.10, Z:-3.40 [[ 9.06677730e-01 -4.20527427e-01 3.30481120e-02 9.09581919e+01] [ 4.20286241e-01 9.07279329e-01 1.42721536e-02 2.11032524e+01] [-3.59857009e-02 9.49422927e-04 9.99351854e-01 -3.39519394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.01, Y:21.13, Z:-3.40 [[ 9.06197452e-01 -4.21561705e-01 3.30440026e-02 9.10098005e+01] [ 4.21320859e-01 9.06799188e-01 1.42816616e-02 2.11286758e+01] [-3.59848764e-02 9.80122240e-04 9.99351854e-01 -3.40230937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:91.06, Y:21.15, Z:-3.40 [[ 9.06872529e-01 -4.20107839e-01 3.30396542e-02 9.10627577e+01] [ 4.19865662e-01 9.07473731e-01 1.42917142e-02 2.11533336e+01] [-3.59866795e-02 9.11453311e-04 9.99351854e-01 -3.40088422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:21.18, Z:-3.41 [[ 9.07337447e-01 -4.19102884e-01 3.30383208e-02 9.11143536e+01] [ 4.18859929e-01 9.07938334e-01 1.42947959e-02 2.11802009e+01] [-3.59877482e-02 8.68225094e-04 9.99351854e-01 -3.40948273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:21.21, Z:-3.41 [[ 9.07849515e-01 -4.17992809e-01 3.30343722e-02 9.11667556e+01] [ 4.17748787e-01 9.08449970e-01 1.43039153e-02 2.12050430e+01] [-3.59890081e-02 8.14266387e-04 9.99351854e-01 -3.40693096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:21.23, Z:-3.41 [[ 9.08168228e-01 -4.17300208e-01 3.30303755e-02 9.12177122e+01] [ 4.17055394e-01 9.08768360e-01 1.43131384e-02 2.12305719e+01] [-3.59898358e-02 7.76758730e-04 9.99351854e-01 -3.40830245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:21.26, Z:-3.41 [[ 9.07915691e-01 -4.17849500e-01 3.30286596e-02 9.12700853e+01] [ 4.17604905e-01 9.08515913e-01 1.43170969e-02 2.12552414e+01] [-3.59894546e-02 7.94213291e-04 9.99351854e-01 -3.40937818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:21.28, Z:-3.41 [[ 9.07587184e-01 -4.18562872e-01 3.30246240e-02 9.13227988e+01] [ 4.18318410e-01 9.08187460e-01 1.43263996e-02 2.12800709e+01] [-3.59890483e-02 8.12351478e-04 9.99351854e-01 -3.41061219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.38, Y:21.31, Z:-3.41 [[ 9.07354997e-01 -4.19066285e-01 3.30205803e-02 9.13755442e+01] [ 4.18821817e-01 9.07955270e-01 1.43357137e-02 2.13051237e+01] [-3.59888242e-02 8.22157976e-04 9.99351854e-01 -3.41375621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:21.33, Z:-3.42 [[ 9.07529129e-01 -4.18689374e-01 3.30164818e-02 9.14274475e+01] [ 4.18444314e-01 9.08129161e-01 1.43451466e-02 2.13294583e+01] [-3.59893904e-02 7.96920642e-04 9.99351854e-01 -3.41666148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:21.36, Z:-3.42 [[ 9.07714594e-01 -4.18287354e-01 3.30137188e-02 9.14798465e+01] [ 4.18041797e-01 9.08314423e-01 1.43515027e-02 2.13553567e+01] [-3.59898890e-02 7.74045922e-04 9.99351854e-01 -3.41954815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:91.53, Y:21.38, Z:-3.42 [[ 9.07241549e-01 -4.19312689e-01 3.30096951e-02 9.15326454e+01] [ 4.19067473e-01 9.07841518e-01 1.43607514e-02 2.13795929e+01] [-3.59892170e-02 8.04619157e-04 9.99351854e-01 -3.42140174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.58, Y:21.40, Z:-3.42 [[ 9.05619183e-01 -4.22805544e-01 3.30055670e-02 9.15841570e+01] [ 4.22562297e-01 9.06219952e-01 1.43702329e-02 2.14036984e+01] [-3.59861175e-02 9.32949596e-04 9.99351854e-01 -3.42361804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:21.43, Z:-3.43 [[ 9.04439535e-01 -4.25323263e-01 3.30037934e-02 9.16349259e+01] [ 4.25081540e-01 9.05040918e-01 1.43743052e-02 2.14290217e+01] [-3.59835099e-02 1.02861339e-03 9.99351854e-01 -3.42596910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:21.45, Z:-3.43 [[ 9.04364592e-01 -4.25482722e-01 3.30020946e-02 9.16872788e+01] [ 4.25240963e-01 9.04965961e-01 1.43782045e-02 2.14534794e+01] [-3.59834498e-02 1.03070344e-03 9.99351854e-01 -3.42875697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:21.48, Z:-3.43 [[ 9.04529258e-01 -4.25132857e-01 3.29981219e-02 9.17400875e+01] [ 4.24890533e-01 9.05130400e-01 1.43873160e-02 2.14771057e+01] [-3.59841240e-02 1.00684132e-03 9.99351854e-01 -3.43070207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:21.50, Z:-3.43 [[ 9.05692722e-01 -4.22648888e-01 3.29941107e-02 9.17927048e+01] [ 4.22404581e-01 9.06293060e-01 1.43965090e-02 2.15026381e+01] [-3.59870021e-02 8.98050046e-04 9.99351855e-01 -3.43325500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:91.84, Y:21.53, Z:-3.45 [[ 9.05616701e-01 -4.22812064e-01 3.29901349e-02 9.18418500e+01] [ 4.22567533e-01 9.06216949e-01 1.44056140e-02 2.15338557e+01] [-3.59870867e-02 8.94595319e-04 9.99351855e-01 -3.44788644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.90, Y:21.55, Z:-3.44 [[ 9.09573284e-01 -4.14232027e-01 3.29889128e-02 9.18979416e+01] [ 4.13981731e-01 9.10171151e-01 1.44084121e-02 2.15528682e+01] [-3.59939824e-02 5.51300518e-04 9.99351855e-01 -3.44020503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:21.58, Z:-3.44 [[ 9.11612621e-01 -4.09724757e-01 3.29856341e-02 9.19499059e+01] [ 4.09471234e-01 9.12209126e-01 1.44159142e-02 2.15767408e+01] [-3.59963534e-02 3.64938934e-04 9.99351855e-01 -3.44118020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.00, Y:21.60, Z:-3.44 [[ 9.12096201e-01 -4.08647261e-01 3.29838691e-02 9.20029778e+01] [ 4.08392887e-01 9.12692344e-01 1.44199514e-02 2.15994891e+01] [-3.59967984e-02 3.17994591e-04 9.99351855e-01 -3.44145431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34185806400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.06, Y:21.62, Z:-3.44 [[ 9.12558548e-01 -4.07614042e-01 3.29801467e-02 9.20565117e+01] [ 4.07358685e-01 9.13154270e-01 1.44284599e-02 2.16215892e+01] [-3.59972046e-02 2.67934798e-04 9.99351855e-01 -3.44266928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:21.64, Z:-3.45 [[ 9.12281912e-01 -4.08233137e-01 3.29760299e-02 9.21100034e+01] [ 4.07977845e-01 9.12877662e-01 1.44378627e-02 2.16439398e+01] [-3.59970951e-02 2.82088638e-04 9.99351855e-01 -3.44509090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.461858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:21.66, Z:-3.45 [[ 9.11757676e-01 -4.09402954e-01 3.29721360e-02 9.21638534e+01] [ 4.09148105e-01 9.12353615e-01 1.44467498e-02 2.16646619e+01] [-3.59967895e-02 3.18551942e-04 9.99351855e-01 -3.45286233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:92.22, Y:21.69, Z:-3.46 [[ 9.10274869e-01 -4.12689691e-01 3.29678975e-02 9.22172563e+01] [ 4.12436643e-01 9.10871576e-01 1.44564157e-02 2.16863827e+01] [-3.59955345e-02 4.37857059e-04 9.99351855e-01 -3.45747869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:21.71, Z:-3.45 [[ 9.09496391e-01 -4.14402847e-01 3.29635511e-02 9.22714230e+01] [ 4.14150565e-01 9.10093421e-01 1.44663196e-02 2.17080910e+01] [-3.59947950e-02 4.94807854e-04 9.99351855e-01 -3.45302694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:21.73, Z:-3.46 [[ 9.07223670e-01 -4.19355325e-01 3.29594281e-02 9.23250767e+01] [ 4.19105961e-01 9.07821925e-01 1.44757072e-02 2.17282640e+01] [-3.59917564e-02 6.80788559e-04 9.99351855e-01 -3.45509380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:21.75, Z:-3.46 [[ 9.05180108e-01 -4.23748469e-01 3.29576612e-02 9.23795927e+01] [ 4.23501861e-01 9.05779505e-01 1.44797288e-02 2.17495342e+01] [-3.59881370e-02 8.50868390e-04 9.99351855e-01 -3.45505346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.761858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:92.43, Y:21.77, Z:-3.46 [[ 9.04352900e-01 -4.25511338e-01 3.29534900e-02 9.24331878e+01] [ 4.25265553e-01 9.04952635e-01 1.44892155e-02 2.17703278e+01] [-3.59866731e-02 9.10620102e-04 9.99351855e-01 -3.45673495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.821858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:21.79, Z:-3.46 [[ 9.04296307e-01 -4.25631736e-01 3.29517008e-02 9.24868866e+01] [ 4.25385882e-01 9.04896014e-01 1.44932835e-02 2.17917474e+01] [-3.59866641e-02 9.10965630e-04 9.99351855e-01 -3.45915372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:21.81, Z:-3.46 [[ 9.04980615e-01 -4.24175129e-01 3.29476221e-02 9.25401386e+01] [ 4.23927973e-01 9.05579786e-01 1.45025497e-02 2.18147846e+01] [-3.59883215e-02 8.42892273e-04 9.99351855e-01 -3.46160770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:21.84, Z:-3.46 [[ 9.07185596e-01 -4.19438931e-01 3.29435397e-02 9.25929973e+01] [ 4.19188311e-01 9.07783326e-01 1.45118172e-02 2.18379780e+01] [-3.59924172e-02 6.44635282e-04 9.99351855e-01 -3.46384045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:21.86, Z:-3.47 [[ 9.08673608e-01 -4.16205800e-01 3.29394282e-02 9.26450728e+01] [ 4.15952715e-01 9.09270298e-01 1.45211437e-02 2.18608349e+01] [-3.59946279e-02 5.06264526e-04 9.99351855e-01 -3.46624543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:21.88, Z:-3.47 [[ 9.10108514e-01 -4.13058837e-01 3.29376589e-02 9.26987759e+01] [ 4.12803543e-01 9.10704263e-01 1.45251559e-02 2.18839136e+01] [-3.59962103e-02 3.77314215e-04 9.99351855e-01 -3.46751741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:21.91, Z:-3.47 [[ 9.11058408e-01 -4.10959795e-01 3.29336447e-02 9.27514921e+01] [ 4.10702799e-01 9.11653424e-01 1.45342518e-02 2.19070597e+01] [-3.59970631e-02 2.84387731e-04 9.99351855e-01 -3.46778201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.181858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:92.80, Y:21.93, Z:-3.47 [[ 9.11495726e-01 -4.09989073e-01 3.29317787e-02 9.28045844e+01] [ 4.09731291e-01 9.12090402e-01 1.45384785e-02 2.19303649e+01] [-3.59973766e-02 2.41419248e-04 9.99351855e-01 -3.47014075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:92.86, Y:21.95, Z:-3.47 [[ 9.11771528e-01 -4.09375677e-01 3.29277273e-02 9.28576321e+01] [ 4.09117164e-01 9.12365887e-01 1.45476485e-02 2.19533441e+01] [-3.59975886e-02 2.07166727e-04 9.99351855e-01 -3.47492837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:21.98, Z:-3.48 [[ 9.11197227e-01 -4.10652704e-01 3.29236992e-02 9.29109538e+01] [ 4.10394694e-01 9.11791805e-01 1.45567591e-02 2.19759469e+01] [-3.59973316e-02 2.47632977e-04 9.99351855e-01 -3.47753983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:22.00, Z:-3.48 [[ 9.09555140e-01 -4.14277378e-01 3.29196320e-02 9.29640623e+01] [ 4.14021405e-01 9.10150597e-01 1.45659513e-02 2.19980192e+01] [-3.59961668e-02 3.80896420e-04 9.99351855e-01 -3.48165397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.02, Y:22.02, Z:-3.48 [[ 9.07432430e-01 -4.18906847e-01 3.29156186e-02 9.30174182e+01] [ 4.18653583e-01 9.08029045e-01 1.45750148e-02 2.20198213e+01] [-3.59939112e-02 5.54400603e-04 9.99351855e-01 -3.48488056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:22.04, Z:-3.49 [[ 9.05330281e-01 -4.23430898e-01 3.29143868e-02 9.30711211e+01] [ 4.23180514e-01 9.05928110e-01 1.45777961e-02 2.20427212e+01] [-3.59907575e-02 7.31006922e-04 9.99351855e-01 -3.48642566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.541858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:22.07, Z:-3.49 [[ 9.01875755e-01 -4.30740085e-01 3.29105083e-02 9.31251827e+01] [ 4.30494226e-01 9.02475459e-01 1.45865469e-02 2.20663970e+01] [-3.59839365e-02 1.01253076e-03 9.99351856e-01 -3.48973169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601858064 meters Centerline goodness : 0.993887 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:22.09, Z:-3.49 [[ 9.00998183e-01 -4.32573020e-01 3.29067846e-02 9.31787264e+01] [ 4.32328075e-01 9.01598261e-01 1.45949425e-02 2.20881384e+01] [-3.59820781e-02 1.07651014e-03 9.99351856e-01 -3.49163373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:22.11, Z:-3.49 [[ 9.01737779e-01 -4.31029498e-01 3.29021233e-02 9.32338539e+01] [ 4.30783143e-01 9.02337279e-01 1.46054433e-02 2.21095389e+01] [-3.59841893e-02 1.00340007e-03 9.99351856e-01 -3.48620107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:93.28, Y:22.14, Z:-3.50 [[ 9.00985915e-01 -4.32599314e-01 3.28970281e-02 9.32837450e+01] [ 4.32353585e-01 9.01585672e-01 1.46169105e-02 2.21378722e+01] [-3.59827547e-02 1.05351755e-03 9.99351856e-01 -3.49550799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:22.16, Z:-3.49 [[ 9.04542152e-01 -4.25113393e-01 3.28952703e-02 9.33401148e+01] [ 4.24862555e-01 9.05139790e-01 1.46208653e-02 2.21577894e+01] [-3.59903438e-02 7.50779589e-04 9.99351856e-01 -3.49144006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84185806400001 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:93.39, Y:22.19, Z:-3.49 [[ 9.04760898e-01 -4.24647932e-01 3.28915169e-02 9.33922220e+01] [ 4.24396480e-01 9.05358278e-01 1.46293042e-02 2.21851605e+01] [-3.59909109e-02 7.23021604e-04 9.99351856e-01 -3.49182168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.901858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:93.44, Y:22.21, Z:-3.50 [[ 9.04886439e-01 -4.24380664e-01 3.28874472e-02 9.34428851e+01] [ 4.24128704e-01 9.05483605e-01 1.46384476e-02 2.22130840e+01] [-3.59913183e-02 7.02377633e-04 9.99351856e-01 -3.49903180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.50, Y:22.24, Z:-3.50 [[ 9.05633672e-01 -4.22783867e-01 3.28854695e-02 9.34957494e+01] [ 4.22530692e-01 9.06230324e-01 1.46428890e-02 2.22376431e+01] [-3.59925869e-02 6.34026825e-04 9.99351856e-01 -3.50082011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.55, Y:22.26, Z:-3.50 [[ 9.05881004e-01 -4.22253975e-01 3.28814023e-02 9.35492016e+01] [ 4.22000120e-01 9.06477367e-01 1.46520165e-02 2.22613092e+01] [-3.59931192e-02 6.02972362e-04 9.99351856e-01 -3.50308051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:22.29, Z:-3.50 [[ 9.05301378e-01 -4.23495563e-01 3.28774124e-02 9.36018011e+01] [ 4.23242201e-01 9.05897950e-01 1.46609640e-02 2.22857142e+01] [-3.59924337e-02 6.42517438e-04 9.99351856e-01 -3.50398277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:22.31, Z:-3.51 [[ 9.04389944e-01 -4.25438605e-01 3.28758785e-02 9.36541763e+01] [ 4.25186400e-01 9.04987006e-01 1.46644029e-02 2.23116128e+01] [-3.59910459e-02 7.16037921e-04 9.99351856e-01 -3.51094027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:22.33, Z:-3.51 [[ 9.05200344e-01 -4.23711883e-01 3.28721391e-02 9.37081148e+01] [ 4.23458235e-01 9.05796795e-01 1.46727804e-02 2.23340847e+01] [-3.59925096e-02 6.38172123e-04 9.99351856e-01 -3.50983366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.261858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:22.36, Z:-3.51 [[ 9.05013297e-01 -4.24111364e-01 3.28707024e-02 9.37616943e+01] [ 4.23857863e-01 9.05609810e-01 1.46759981e-02 2.23574354e+01] [-3.59922882e-02 6.50532276e-04 9.99351856e-01 -3.51392254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.321858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:22.38, Z:-3.52 [[ 9.05044153e-01 -4.24045827e-01 3.28666514e-02 9.38145011e+01] [ 4.23791953e-01 9.05640508e-01 1.46850648e-02 2.23824402e+01] [-3.59925113e-02 6.37990313e-04 9.99351856e-01 -3.51629414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:93.87, Y:22.41, Z:-3.52 [[ 9.04850044e-01 -4.24460224e-01 3.28620683e-02 9.38674100e+01] [ 4.24206251e-01 9.05446356e-01 1.46953136e-02 2.24060660e+01] [-3.59924161e-02 6.43239584e-04 9.99351856e-01 -3.52082271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:22.43, Z:-3.52 [[ 9.04269249e-01 -4.25696428e-01 3.28584234e-02 9.39221459e+01] [ 4.25442974e-01 9.04865782e-01 1.47034589e-02 2.24292068e+01] [-3.59916730e-02 6.83499633e-04 9.99351856e-01 -3.52070013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:93.97, Y:22.46, Z:-3.53 [[ 9.01845242e-01 -4.30808229e-01 3.28546595e-02 9.39743514e+01] [ 4.30557850e-01 9.02443073e-01 1.47118646e-02 2.24569981e+01] [-3.59874522e-02 8.78006418e-04 9.99351856e-01 -3.52955429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:22.48, Z:-3.52 [[ 9.02621807e-01 -4.29179090e-01 3.28509021e-02 9.40302498e+01] [ 4.28927326e-01 9.03219056e-01 1.47202498e-02 2.24771127e+01] [-3.59891842e-02 8.03831096e-04 9.99351856e-01 -3.52474286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.621858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.08, Y:22.50, Z:-3.53 [[ 9.02143815e-01 -4.30183214e-01 3.28472044e-02 9.40836507e+01] [ 4.29931816e-01 9.02741217e-01 1.47284964e-02 2.25002335e+01] [-3.59884772e-02 8.34836327e-04 9.99351856e-01 -3.52711390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.14, Y:22.52, Z:-3.53 [[ 9.01887433e-01 -4.30720564e-01 3.28459044e-02 9.41362686e+01] [ 4.30469416e-01 9.02484941e-01 1.47313950e-02 2.25244676e+01] [-3.59880488e-02 8.53097246e-04 9.99351856e-01 -3.52947176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:22.55, Z:-3.53 [[ 9.01839689e-01 -4.30820668e-01 3.28439829e-02 9.41894017e+01] [ 4.30569431e-01 9.02437159e-01 1.47356778e-02 2.25477631e+01] [-3.59880652e-02 8.52395900e-04 9.99351856e-01 -3.53227364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:22.57, Z:-3.54 [[ 9.01917536e-01 -4.30657984e-01 3.28399169e-02 9.42429423e+01] [ 4.30406309e-01 9.02514821e-01 1.47447337e-02 2.25711768e+01] [-3.59884490e-02 8.35973485e-04 9.99351856e-01 -3.53685935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:22.59, Z:-3.54 [[ 9.02593444e-01 -4.29239832e-01 3.28365816e-02 9.42971050e+01] [ 4.28986948e-01 9.03190219e-01 1.47521577e-02 2.25947219e+01] [-3.59898930e-02 7.71264095e-04 9.99351856e-01 -3.54015144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.35, Y:22.62, Z:-3.54 [[ 9.00976302e-01 -4.32624202e-01 3.28329570e-02 9.43497377e+01] [ 4.32373266e-01 9.01573899e-01 1.47602204e-02 2.26197135e+01] [-3.59869656e-02 8.97484077e-04 9.99351856e-01 -3.54178504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.40, Y:22.64, Z:-3.54 [[ 9.00413812e-01 -4.33793835e-01 3.28310248e-02 9.44026758e+01] [ 4.33543520e-01 9.01011668e-01 1.47645168e-02 2.26449506e+01] [-3.59858928e-02 9.39503255e-04 9.99351856e-01 -3.54126137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.46, Y:22.67, Z:-3.54 [[ 9.00843125e-01 -4.32901869e-01 3.28273760e-02 9.44560571e+01] [ 4.32650666e-01 9.01440608e-01 1.47726251e-02 2.26677523e+01] [-3.59870268e-02 8.94968368e-04 9.99351856e-01 -3.54297135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.51, Y:22.69, Z:-3.55 [[ 9.00308372e-01 -4.34013228e-01 3.28230453e-02 9.45064499e+01] [ 4.33762412e-01 9.00906019e-01 1.47822411e-02 2.26949246e+01] [-3.59861673e-02 9.28827879e-04 9.99351856e-01 -3.54567612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.56, Y:22.72, Z:-3.55 [[ 9.00446463e-01 -4.33726984e-01 3.28187490e-02 9.45584154e+01] [ 4.33475631e-01 9.01043884e-01 1.47917735e-02 2.27198789e+01] [-3.59867244e-02 9.06927782e-04 9.99351857e-01 -3.54730500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:22.74, Z:-3.55 [[ 9.01512121e-01 -4.31507943e-01 3.28144891e-02 9.46120264e+01] [ 4.31254776e-01 9.02108775e-01 1.48012178e-02 2.27424002e+01] [-3.59890816e-02 8.07927856e-04 9.99351857e-01 -3.55126654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:22.77, Z:-3.55 [[ 9.02346080e-01 -4.29761434e-01 3.28125201e-02 9.46643567e+01] [ 4.29506953e-01 9.02942175e-01 1.48055814e-02 2.27687069e+01] [-3.59906762e-02 7.33447151e-04 9.99351857e-01 -3.55184550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:22.80, Z:-3.56 [[ 9.00878169e-01 -4.32830391e-01 3.28081900e-02 9.47144575e+01] [ 4.32577591e-01 9.01474979e-01 1.48151704e-02 2.27981142e+01] [-3.59882184e-02 8.45424191e-04 9.99351857e-01 -3.55515602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.401858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:22.82, Z:-3.55 [[ 8.99325357e-01 -4.36047733e-01 3.28066449e-02 9.47663577e+01] [ 4.35796944e-01 8.99923015e-01 1.48185911e-02 2.28241081e+01] [-3.59850679e-02 9.70300856e-04 9.99351857e-01 -3.55460526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.82, Y:22.85, Z:-3.55 [[ 8.98143506e-01 -4.38477189e-01 3.28023983e-02 9.48200828e+01] [ 4.38227673e-01 8.98741697e-01 1.48279854e-02 2.28466319e+01] [-3.59826165e-02 1.05725989e-03 9.99351857e-01 -3.55256126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:22.87, Z:-3.55 [[ 8.97598246e-01 -4.39592653e-01 3.27976923e-02 9.48730725e+01] [ 4.39343501e-01 8.98196588e-01 1.48383873e-02 2.28727492e+01] [-3.59816213e-02 1.09054260e-03 9.99351857e-01 -3.55346910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:22.90, Z:-3.55 [[ 8.97618907e-01 -4.39550744e-01 3.27939202e-02 9.49245704e+01] [ 4.39301260e-01 8.98217110e-01 1.48467193e-02 2.29004366e+01] [-3.59819467e-02 1.07971451e-03 9.99351857e-01 -3.55304031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:22.93, Z:-3.56 [[ 8.96434443e-01 -4.41961689e-01 3.27895505e-02 9.49732778e+01] [ 4.41713461e-01 8.97033169e-01 1.48563635e-02 2.29333471e+01] [-3.59792579e-02 1.16582992e-03 9.99351857e-01 -3.56212129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.03, Y:22.96, Z:-3.56 [[ 9.01321248e-01 -4.31908487e-01 3.27882115e-02 9.50280378e+01] [ 4.31653471e-01 9.01917115e-01 1.48593183e-02 2.29566667e+01] [-3.59901147e-02 7.60125965e-04 9.99351857e-01 -3.55842882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.08, Y:22.98, Z:-3.56 [[ 9.01311272e-01 -4.31929420e-01 3.27866879e-02 9.50786053e+01] [ 4.31674296e-01 9.01907092e-01 1.48626793e-02 2.29840660e+01] [-3.59901748e-02 7.57270032e-04 9.99351857e-01 -3.56131753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.13, Y:23.02, Z:-3.57 [[ 9.01767873e-01 -4.30975446e-01 3.27852002e-02 9.51258562e+01] [ 4.30719572e-01 9.02363371e-01 1.48659603e-02 2.30197345e+01] [-3.59910276e-02 7.15582007e-04 9.99351857e-01 -3.57017453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:23.05, Z:-3.57 [[ 9.02698187e-01 -4.29023543e-01 3.27838626e-02 9.51762696e+01] [ 4.28766275e-01 9.03293085e-01 1.48689094e-02 2.30472000e+01] [-3.59925486e-02 6.34477116e-04 9.99351857e-01 -3.57192927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:23.08, Z:-3.57 [[ 9.02294691e-01 -4.29871637e-01 3.27820918e-02 9.52267554e+01] [ 4.29614787e-01 9.02889769e-01 1.48728125e-02 2.30765182e+01] [-3.59920156e-02 6.64011645e-04 9.99351857e-01 -3.57415213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.28, Y:23.10, Z:-3.58 [[ 9.00677294e-01 -4.33250532e-01 3.27778745e-02 9.52772668e+01] [ 4.32995575e-01 9.01273185e-01 1.48821012e-02 2.31049500e+01] [-3.59894976e-02 7.88703939e-04 9.99351857e-01 -3.57655131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.33, Y:23.13, Z:-3.58 [[ 8.99696165e-01 -4.35284614e-01 3.27737123e-02 9.53293390e+01] [ 4.35030671e-01 9.00292489e-01 1.48912617e-02 2.31313431e+01] [-3.59878641e-02 8.59959053e-04 9.99351857e-01 -3.57852515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.38, Y:23.16, Z:-3.58 [[ 8.98943341e-01 -4.36837528e-01 3.27695586e-02 9.53793267e+01] [ 4.36584283e-01 8.99539961e-01 1.49003965e-02 2.31599826e+01] [-3.59865799e-02 9.12062030e-04 9.99351857e-01 -3.58190923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.43, Y:23.19, Z:-3.59 [[ 8.98509471e-01 -4.37729373e-01 3.27677770e-02 9.54306843e+01] [ 4.37476577e-01 8.99106282e-01 1.49043136e-02 2.31859636e+01] [-3.59857700e-02 9.43468030e-04 9.99351857e-01 -3.58572920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:23.22, Z:-3.60 [[ 8.96144002e-01 -4.42552218e-01 3.27637263e-02 9.54806460e+01] [ 4.42302308e-01 8.96742028e-01 1.49132128e-02 2.32178239e+01] [-3.59804857e-02 1.12708556e-03 9.99351857e-01 -3.59542367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:23.24, Z:-3.59 [[ 8.98326708e-01 -4.38104893e-01 3.27601755e-02 9.55348123e+01] [ 4.37851738e-01 8.98923367e-01 1.49210088e-02 2.32387690e+01] [-3.59858542e-02 9.40159106e-04 9.99351857e-01 -3.58980040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:23.27, Z:-3.59 [[ 8.98064584e-01 -4.38642058e-01 3.27589406e-02 9.55857405e+01] [ 4.38389162e-01 8.98661352e-01 1.49237196e-02 2.32658838e+01] [-3.59853649e-02 9.58700472e-04 9.99351857e-01 -3.59165848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:23.29, Z:-3.60 [[ 8.96663656e-01 -4.41499064e-01 3.27546129e-02 9.56371330e+01] [ 4.41247722e-01 8.97261081e-01 1.49332119e-02 2.32915960e+01] [-3.59824385e-02 1.06283002e-03 9.99351857e-01 -3.59608623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.69, Y:23.32, Z:-3.60 [[ 8.97889482e-01 -4.39001040e-01 3.27500489e-02 9.56890188e+01] [ 4.38747671e-01 8.98486050e-01 1.49432146e-02 2.33175586e+01] [-3.59855488e-02 9.51652456e-04 9.99351857e-01 -3.59516112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.74, Y:23.34, Z:-3.60 [[ 8.97682241e-01 -4.39424991e-01 3.27455474e-02 9.57408495e+01] [ 4.39171545e-01 8.98278776e-01 1.49530723e-02 2.33446658e+01] [-3.59853839e-02 9.57805203e-04 9.99351857e-01 -3.59736138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.79, Y:23.37, Z:-3.60 [[ 8.99032070e-01 -4.36657008e-01 3.27413213e-02 9.57924313e+01] [ 4.36401388e-01 8.99627677e-01 1.49623201e-02 2.33711733e+01] [-3.59884008e-02 8.36752494e-04 9.99351857e-01 -3.59941430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.84, Y:23.40, Z:-3.61 [[ 8.98267605e-01 -4.38227794e-01 3.27369956e-02 9.58412757e+01] [ 4.37972872e-01 8.98863510e-01 1.49717787e-02 2.33995694e+01] [-3.59871403e-02 8.89252201e-04 9.99351857e-01 -3.61013061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:23.43, Z:-3.61 [[ 8.98306584e-01 -4.38148024e-01 3.27351601e-02 9.58926799e+01] [ 4.37892902e-01 8.98902404e-01 1.49757908e-02 2.34252197e+01] [-3.59873272e-02 8.81642804e-04 9.99351857e-01 -3.61406852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:23.45, Z:-3.62 [[ 8.98954179e-01 -4.36818014e-01 3.27323374e-02 9.59456954e+01] [ 4.36561787e-01 8.99549525e-01 1.49819578e-02 2.34486957e+01] [-3.59887476e-02 8.21594138e-04 9.99351857e-01 -3.61548624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.841858064 meters Centerline goodness : 0.995599 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:23.47, Z:-3.61 [[ 9.00310011e-01 -4.34016988e-01 3.27282529e-02 9.59998489e+01] [ 4.33758584e-01 9.00904415e-01 1.49908751e-02 2.34698452e+01] [-3.59913220e-02 6.99725666e-04 9.99351858e-01 -3.61104265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.901858064 meters Centerline goodness : 0.995893 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:23.49, Z:-3.61 [[ 8.99863687e-01 -4.34941853e-01 3.27250570e-02 9.60526335e+01] [ 4.34683807e-01 9.00458246e-01 1.49978485e-02 2.34929875e+01] [-3.59907395e-02 7.29033117e-04 9.99351858e-01 -3.61161094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.961858064 meters Centerline goodness : 0.996553 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:23.52, Z:-3.61 [[ 8.97953664e-01 -4.38872003e-01 3.27197376e-02 9.61058229e+01] [ 4.38616136e-01 8.98549165e-01 1.50094444e-02 2.35163896e+01] [-3.59875179e-02 8.73619276e-04 9.99351858e-01 -3.61228917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:23.54, Z:-3.62 [[ 8.94605010e-01 -4.45658660e-01 3.27144410e-02 9.61569480e+01] [ 4.45406889e-01 8.95202253e-01 1.50209800e-02 2.35426183e+01] [-3.59802711e-02 1.13339346e-03 9.99351858e-01 -3.61891727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.21, Y:23.57, Z:-3.62 [[ 8.95616519e-01 -4.43622497e-01 3.27128440e-02 9.62112288e+01] [ 4.43369241e-01 8.96213134e-01 1.50244573e-02 2.35663144e+01] [-3.59828677e-02 1.04771664e-03 9.99351858e-01 -3.61606325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141858064 meters Centerline goodness : 0.995279 with order 1 Centerline is valid? [True, True] Translation: X:96.26, Y:23.59, Z:-3.62 [[ 8.97898699e-01 -4.38985123e-01 3.27106830e-02 9.62629283e+01] [ 4.38728613e-01 8.98493922e-01 1.50291606e-02 2.35914652e+01] [-3.59879278e-02 8.56448865e-04 9.99351858e-01 -3.62220465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201858064 meters Centerline goodness : 0.995705 with order 1 Centerline is valid? [True, True] Translation: X:96.32, Y:23.62, Z:-3.63 [[ 9.02577380e-01 -4.29283345e-01 3.27090710e-02 9.63153634e+01] [ 4.29020308e-01 9.03169748e-01 1.50326682e-02 2.36166302e+01] [-3.59951175e-02 4.64709463e-04 9.99351858e-01 -3.62645098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.37, Y:23.64, Z:-3.63 [[ 9.06482202e-01 -4.20975629e-01 3.27037856e-02 9.63675758e+01] [ 4.20706749e-01 9.07071940e-01 1.50441577e-02 2.36431956e+01] [-3.59979101e-02 1.21442082e-04 9.99351858e-01 -3.63027009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.42, Y:23.67, Z:-3.63 [[ 9.08214817e-01 -4.17224893e-01 3.26991465e-02 9.64220603e+01] [ 4.16953215e-01 9.08803272e-01 1.50542343e-02 2.36657848e+01] [-3.59980926e-02 -3.84643581e-05 9.99351858e-01 -3.63057211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.48, Y:23.69, Z:-3.64 [[ 9.07431721e-01 -4.18925633e-01 3.26953398e-02 9.64757553e+01] [ 4.18654759e-01 9.08020547e-01 1.50624974e-02 2.36884408e+01] [-3.59981066e-02 1.98717074e-05 9.99351858e-01 -3.63992795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:23.71, Z:-3.63 [[ 9.08649635e-01 -4.16277675e-01 3.26915536e-02 9.65332307e+01] [ 4.16004790e-01 9.09237531e-01 1.50707105e-02 2.37059549e+01] [-3.59979878e-02 -9.41526913e-05 9.99351858e-01 -3.63041282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:23.72, Z:-3.63 [[ 9.07459183e-01 -4.18866721e-01 3.26879424e-02 9.65876041e+01] [ 4.18595231e-01 9.08047725e-01 1.50785390e-02 2.37245039e+01] [-3.59981099e-02 -1.41905167e-07 9.99351858e-01 -3.63150969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:23.75, Z:-3.65 [[ 9.03175252e-01 -4.28025804e-01 3.26859993e-02 9.66395772e+01] [ 4.27760130e-01 9.03766442e-01 1.50827499e-02 2.37534307e+01] [-3.59963154e-02 3.59400831e-04 9.99351858e-01 -3.64974598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:23.76, Z:-3.64 [[ 9.05249999e-01 -4.23620414e-01 3.26830933e-02 9.66999901e+01] [ 4.23351635e-01 9.05839784e-01 1.50890443e-02 2.37640922e+01] [-3.59976734e-02 1.77083653e-04 9.99351858e-01 -3.63799818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:23.78, Z:-3.64 [[ 9.03585027e-01 -4.27160396e-01 3.26817274e-02 9.67545934e+01] [ 4.26893821e-01 9.04175811e-01 1.50920021e-02 2.37846776e+01] [-3.59967330e-02 3.14720381e-04 9.99351858e-01 -3.64025835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:23.80, Z:-3.64 [[ 9.02348700e-01 -4.29766245e-01 3.26771889e-02 9.68081034e+01] [ 4.29501020e-01 9.02940091e-01 1.51018225e-02 2.38036887e+01] [-3.59957975e-02 4.07776049e-04 9.99351858e-01 -3.64252371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.86, Y:23.83, Z:-3.65 [[ 8.99707100e-01 -4.35269407e-01 3.26753530e-02 9.68614595e+01] [ 4.35007655e-01 9.00300036e-01 1.51057938e-02 2.38271519e+01] [-3.59927114e-02 6.23238711e-04 9.99351858e-01 -3.65359690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.92, Y:23.84, Z:-3.65 [[ 9.00011010e-01 -4.34640937e-01 3.26716727e-02 9.69199255e+01] [ 4.34378482e-01 9.00603636e-01 1.51137494e-02 2.38408164e+01] [-3.59932815e-02 5.89330729e-04 9.99351858e-01 -3.64805505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:96.97, Y:23.86, Z:-3.65 [[ 8.99050347e-01 -4.36624871e-01 3.26679731e-02 9.69745561e+01] [ 4.36363434e-01 8.99643422e-01 1.51217418e-02 2.38606754e+01] [-3.59920557e-02 6.59901706e-04 9.99351858e-01 -3.64896216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:23.88, Z:-3.65 [[ 8.98672721e-01 -4.37401934e-01 3.26632635e-02 9.70286389e+01] [ 4.37140640e-01 8.99265860e-01 1.51319080e-02 2.38816468e+01] [-3.59916835e-02 6.79806999e-04 9.99351858e-01 -3.64900814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.041858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:23.90, Z:-3.66 [[ 8.98991770e-01 -4.36746147e-01 3.26588410e-02 9.70821476e+01] [ 4.36484074e-01 8.99584565e-01 1.51414468e-02 2.39024112e+01] [-3.59923579e-02 6.43027960e-04 9.99351858e-01 -3.65524456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.14, Y:23.92, Z:-3.66 [[ 9.00721480e-01 -4.33167792e-01 3.26569929e-02 9.71363336e+01] [ 4.32903219e-01 9.01313163e-01 1.51454317e-02 2.39235372e+01] [-3.59946908e-02 4.95501717e-04 9.99351858e-01 -3.65602061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.19, Y:23.95, Z:-3.66 [[ 9.01274569e-01 -4.32016150e-01 3.26526915e-02 9.71895559e+01] [ 4.31750485e-01 9.01865762e-01 1.51546997e-02 2.39466026e+01] [-3.59954195e-02 4.39269969e-04 9.99351858e-01 -3.65739495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.24, Y:23.97, Z:-3.66 [[ 9.01244351e-01 -4.32079576e-01 3.26475233e-02 9.72430832e+01] [ 4.31813550e-01 9.01835382e-01 1.51658254e-02 2.39686482e+01] [-3.59955350e-02 4.29528485e-04 9.99351858e-01 -3.65508116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:97.30, Y:23.99, Z:-3.67 [[ 8.99355934e-01 -4.35996715e-01 3.26461076e-02 9.72957737e+01] [ 4.35733153e-01 8.99948068e-01 1.51688722e-02 2.39946259e+01] [-3.59933799e-02 5.82776164e-04 9.99351858e-01 -3.66656584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.35, Y:24.01, Z:-3.66 [[ 9.00132854e-01 -4.34390742e-01 3.26424396e-02 9.73511887e+01] [ 4.34125837e-01 9.00724388e-01 1.51767613e-02 2.40145787e+01] [-3.59944861e-02 5.09824998e-04 9.99351858e-01 -3.65904841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.401858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:97.40, Y:24.04, Z:-3.66 [[ 8.99559896e-01 -4.35576299e-01 3.26386507e-02 9.74047688e+01] [ 4.35311879e-01 9.00151647e-01 1.51849053e-02 2.40360953e+01] [-3.59939200e-02 5.48260508e-04 9.99351859e-01 -3.65924136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.46, Y:24.06, Z:-3.66 [[ 9.01021554e-01 -4.32544983e-01 3.26342825e-02 9.74594788e+01] [ 4.32278231e-01 9.01612258e-01 1.51942872e-02 2.40560270e+01] [-3.59956819e-02 4.16709642e-04 9.99351859e-01 -3.66238583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:97.51, Y:24.08, Z:-3.67 [[ 9.02126730e-01 -4.30235587e-01 3.26297958e-02 9.75123946e+01] [ 4.29966975e-01 9.02716590e-01 1.52039164e-02 2.40797017e+01] [-3.59967239e-02 3.13875189e-04 9.99351859e-01 -3.66698089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:97.56, Y:24.10, Z:-3.67 [[ 9.02187575e-01 -4.30108332e-01 3.26251681e-02 9.75640390e+01] [ 4.29839278e-01 9.02777234e-01 1.52138403e-02 2.41031892e+01] [-3.59968585e-02 2.97841015e-04 9.99351859e-01 -3.67296784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:97.62, Y:24.13, Z:-3.67 [[ 9.01846440e-01 -4.30823531e-01 3.26202880e-02 9.76161541e+01] [ 4.30554567e-01 9.02436140e-01 1.52242966e-02 2.41288431e+01] [-3.59967120e-02 3.14836210e-04 9.99351859e-01 -3.67217181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701858064 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:97.67, Y:24.15, Z:-3.67 [[ 9.01865230e-01 -4.30784309e-01 3.26187944e-02 9.76691589e+01] [ 4.30515204e-01 9.02454865e-01 1.52274959e-02 2.41508717e+01] [-3.59967560e-02 3.09737806e-04 9.99351859e-01 -3.67387952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.761858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:97.72, Y:24.17, Z:-3.67 [[ 9.01771951e-01 -4.30979676e-01 3.26169864e-02 9.77224116e+01] [ 4.30710558e-01 9.02361580e-01 1.52313678e-02 2.41742199e+01] [-3.59967253e-02 3.13260200e-04 9.99351859e-01 -3.67469084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.821858064 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:24.20, Z:-3.68 [[ 9.01723620e-01 -4.31081111e-01 3.26127105e-02 9.77752715e+01] [ 4.30811728e-01 9.02313128e-01 1.52405175e-02 2.41976826e+01] [-3.59967761e-02 3.07203535e-04 9.99351859e-01 -3.67524580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881858064 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:97.83, Y:24.22, Z:-3.68 [[ 9.01465825e-01 -4.31620271e-01 3.26084112e-02 9.78285649e+01] [ 4.31350908e-01 9.02055342e-01 1.52497108e-02 2.42213159e+01] [-3.59966758e-02 3.18574620e-04 9.99351859e-01 -3.67766424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941858064 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:97.88, Y:24.24, Z:-3.68 [[ 9.01494722e-01 -4.31560227e-01 3.26042380e-02 9.78829961e+01] [ 4.31290502e-01 9.02084074e-01 1.52586279e-02 2.42444727e+01] [-3.59967808e-02 3.06325707e-04 9.99351859e-01 -3.68143406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001858064 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:24.27, Z:-3.68 [[ 9.02500603e-01 -4.29453022e-01 3.26000453e-02 9.79364629e+01] [ 4.29181599e-01 9.03089174e-01 1.52675805e-02 2.42676487e+01] [-3.59974565e-02 2.12338908e-04 9.99351859e-01 -3.68263631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061858064 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:24.29, Z:-3.69 [[ 9.02820727e-01 -4.28779740e-01 3.25986187e-02 9.79886171e+01] [ 4.28507768e-01 9.03409044e-01 1.52706259e-02 2.42921249e+01] [-3.59976219e-02 1.82123746e-04 9.99351859e-01 -3.68571220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:24.31, Z:-3.69 [[ 9.02820786e-01 -4.28779944e-01 3.25943003e-02 9.80422247e+01] [ 4.28507639e-01 9.03408949e-01 1.52798377e-02 2.43143930e+01] [-3.59976705e-02 1.71951549e-04 9.99351859e-01 -3.68667074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.181858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:24.34, Z:-3.69 [[ 9.02599985e-01 -4.29244869e-01 3.25900233e-02 9.80955698e+01] [ 4.28972538e-01 9.03188136e-01 1.52889545e-02 2.43391019e+01] [-3.59976277e-02 1.80414902e-04 9.99351859e-01 -3.68712734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241858064 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:24.36, Z:-3.69 [[ 9.02796466e-01 -4.28831753e-01 3.25863272e-02 9.81486529e+01] [ 4.28558868e-01 9.03384361e-01 1.52968283e-02 2.43642168e+01] [-3.59977440e-02 1.55236946e-04 9.99351859e-01 -3.68796092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301858064 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:98.20, Y:24.39, Z:-3.69 [[ 9.03483132e-01 -4.27383436e-01 3.25826364e-02 9.82005017e+01] [ 4.27109325e-01 9.04070457e-01 1.53046857e-02 2.43894960e+01] [-3.59979681e-02 8.88224925e-05 9.99351859e-01 -3.69047725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361858064 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:24.41, Z:-3.69 [[ 9.03753666e-01 -4.26811392e-01 3.25783216e-02 9.82527305e+01] [ 4.26536578e-01 9.04340662e-01 1.53138649e-02 2.44133075e+01] [-3.59980329e-02 5.58842366e-05 9.99351859e-01 -3.69346734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421858064 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:24.44, Z:-3.70 [[ 9.03562717e-01 -4.27215584e-01 3.25769972e-02 9.83045382e+01] [ 4.26940932e-01 9.04149788e-01 1.53166817e-02 2.44387863e+01] [-3.59980103e-02 6.88709882e-05 9.99351859e-01 -3.69608885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.481858064 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:98.36, Y:24.46, Z:-3.70 [[ 9.03659022e-01 -4.27012166e-01 3.25727086e-02 9.83566044e+01] [ 4.26737053e-01 9.04245878e-01 1.53257966e-02 2.44635075e+01] [-3.59980391e-02 5.06873474e-05 9.99351859e-01 -3.69717881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.541858064 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:98.41, Y:24.49, Z:-3.70 [[ 9.02592472e-01 -4.29262270e-01 3.25688972e-02 9.84095643e+01] [ 4.28988328e-01 9.03179875e-01 1.53338920e-02 2.44882474e+01] [-3.59978337e-02 1.31421282e-04 9.99351859e-01 -3.70003279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601858064 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:24.51, Z:-3.70 [[ 9.01932107e-01 -4.30648341e-01 3.25650269e-02 9.84624520e+01] [ 4.30375005e-01 9.02519792e-01 1.53421070e-02 2.45128138e+01] [-3.59976342e-02 1.77634677e-04 9.99351859e-01 -3.70134081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661858064 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:24.54, Z:-3.70 [[ 9.01402678e-01 -4.31755731e-01 3.25607393e-02 9.85140269e+01] [ 4.31482788e-01 9.01990545e-01 1.53512013e-02 2.45374253e+01] [-3.59974481e-02 2.11784655e-04 9.99351859e-01 -3.70320259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721858064 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:24.56, Z:-3.70 [[ 9.01976107e-01 -4.30556640e-01 3.25588965e-02 9.85667206e+01] [ 4.30282775e-01 9.02563546e-01 1.53551086e-02 2.45620220e+01] [-3.59977171e-02 1.59591284e-04 9.99351859e-01 -3.70404275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:24.59, Z:-3.70 [[ 9.03706475e-01 -4.26913111e-01 3.25546032e-02 9.86191359e+01] [ 4.26636550e-01 9.04292649e-01 1.53642055e-02 2.45875928e+01] [-3.59980692e-02 4.25155927e-06 9.99351859e-01 -3.70443355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.841858064 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:24.61, Z:-3.71 [[ 9.04423956e-01 -4.25391338e-01 3.25502218e-02 9.86720984e+01] [ 4.25113457e-01 9.05009505e-01 1.53734823e-02 2.46141204e+01] [-3.59980063e-02 -6.66083384e-05 9.99351860e-01 -3.71009677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.901858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:98.73, Y:24.64, Z:-3.71 [[ 9.06622549e-01 -4.20685400e-01 3.25476424e-02 9.87257698e+01] [ 4.20404283e-01 9.07206552e-01 1.53789413e-02 2.46397067e+01] [-3.59971305e-02 -2.59726732e-04 9.99351860e-01 -3.70984322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:24.66, Z:-3.71 [[ 9.07115802e-01 -4.19621058e-01 3.25436613e-02 9.87785244e+01] [ 4.19338954e-01 9.07699328e-01 1.53873612e-02 2.46645287e+01] [-3.59967203e-02 -3.11293575e-04 9.99351860e-01 -3.71076616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021858064 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:98.83, Y:24.70, Z:-3.72 [[ 9.04319713e-01 -4.25613733e-01 3.25393125e-02 9.88286583e+01] [ 4.25335165e-01 9.04904936e-01 1.53965519e-02 2.46967398e+01] [-3.59979685e-02 -8.32915123e-05 9.99351860e-01 -3.72000353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081858064 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:98.89, Y:24.72, Z:-3.71 [[ 9.06582980e-01 -4.20771373e-01 3.25384652e-02 9.88850175e+01] [ 4.20489615e-01 9.07166674e-01 1.53983425e-02 2.47150530e+01] [-3.59969929e-02 -2.77788502e-04 9.99351860e-01 -3.71351694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:24.74, Z:-3.72 [[ 9.05242589e-01 -4.23647475e-01 3.25372361e-02 9.89396309e+01] [ 4.23367479e-01 9.05827130e-01 1.54009390e-02 2.47385186e+01] [-3.59976802e-02 -1.66378276e-04 9.99351860e-01 -3.71503712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:24.76, Z:-3.72 [[ 9.02925345e-01 -4.28564325e-01 3.25336865e-02 9.89936694e+01] [ 4.28287241e-01 9.03511272e-01 1.54084338e-02 2.47624463e+01] [-3.59980575e-02 2.10974244e-05 9.99351860e-01 -3.71689933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.261858064 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:24.79, Z:-3.73 [[ 8.98607940e-01 -4.37544942e-01 3.25298846e-02 9.90445950e+01] [ 4.37273424e-01 8.99196467e-01 1.54164561e-02 2.47942420e+01] [-3.59961497e-02 3.71104189e-04 9.99351860e-01 -3.72853857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.10, Y:24.82, Z:-3.73 [[ 8.96195874e-01 -4.42464548e-01 3.25281385e-02 9.90964662e+01] [ 4.42196126e-01 8.96785819e-01 1.54201395e-02 2.48186417e+01] [-3.59936384e-02 5.64351422e-04 9.99351860e-01 -3.73130175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:99.15, Y:24.85, Z:-3.73 [[ 8.96033491e-01 -4.42793399e-01 3.25267319e-02 9.91483509e+01] [ 4.42525086e-01 8.96623486e-01 1.54231059e-02 2.48457098e+01] [-3.59934812e-02 5.74275369e-04 9.99351860e-01 -3.73346231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.20, Y:24.86, Z:-3.72 [[ 8.99739522e-01 -4.35213854e-01 3.25222107e-02 9.92043694e+01] [ 4.34940226e-01 9.00327070e-01 1.54326338e-02 2.48644381e+01] [-3.59971227e-02 2.59867080e-04 9.99351860e-01 -3.72191787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.26, Y:24.89, Z:-3.72 [[ 9.00934177e-01 -4.32735469e-01 3.25211099e-02 9.92557164e+01] [ 4.32460141e-01 9.01520931e-01 1.54349531e-02 2.48905332e+01] [-3.59977129e-02 1.58206981e-04 9.99351860e-01 -3.72298840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:99.31, Y:24.92, Z:-3.73 [[ 9.01817540e-01 -4.30891672e-01 3.25191072e-02 9.93079438e+01] [ 4.30614992e-01 9.02403657e-01 1.54391712e-02 2.49168195e+01] [-3.59979716e-02 7.98996767e-05 9.99351860e-01 -3.72624756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.36, Y:24.94, Z:-3.73 [[ 9.02251176e-01 -4.29983219e-01 3.25153475e-02 9.93594468e+01] [ 4.29705663e-01 9.02836879e-01 1.54470852e-02 2.49422406e+01] [-3.59980423e-02 3.48781597e-05 9.99351860e-01 -3.72992991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.41, Y:24.97, Z:-3.73 [[ 9.01956843e-01 -4.30600385e-01 3.25140284e-02 9.94112635e+01] [ 4.30323130e-01 9.02542689e-01 1.54498613e-02 2.49682630e+01] [-3.59980149e-02 5.64303254e-05 9.99351860e-01 -3.73271331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:24.99, Z:-3.73 [[ 9.01394086e-01 -4.31777513e-01 3.25097201e-02 9.94641863e+01] [ 4.31500696e-01 9.01980139e-01 1.54589216e-02 2.49942183e+01] [-3.59979366e-02 9.33863737e-05 9.99351860e-01 -3.73468663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:25.02, Z:-3.73 [[ 9.00011656e-01 -4.34652023e-01 3.25059631e-02 9.95168467e+01] [ 4.34376793e-01 9.00598456e-01 1.54668176e-02 2.50209468e+01] [-3.59975037e-02 1.99519872e-04 9.99351860e-01 -3.73488515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:25.04, Z:-3.73 [[ 9.01879756e-01 -4.30762713e-01 3.25021672e-02 9.95746908e+01] [ 4.30484665e-01 9.02465226e-01 1.54747901e-02 2.50382923e+01] [-3.59980383e-02 3.52846282e-05 9.99351860e-01 -3.73073630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.63, Y:25.07, Z:-3.74 [[ 8.98649260e-01 -4.37462408e-01 3.24984653e-02 9.96250097e+01] [ 4.37188443e-01 8.99236651e-01 1.54825607e-02 2.50661469e+01] [-3.59968493e-02 2.94561753e-04 9.99351860e-01 -3.73575525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.981858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:99.67, Y:25.10, Z:-3.74 [[ 8.94554838e-01 -4.45775261e-01 3.24970568e-02 9.96733588e+01] [ 4.45506647e-01 8.95144695e-01 1.54855165e-02 2.50989293e+01] [-3.59926281e-02 6.25011157e-04 9.99351860e-01 -3.74241435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.73, Y:25.12, Z:-3.74 [[ 8.93458240e-01 -4.47969201e-01 3.24956713e-02 9.97283187e+01] [ 4.47701930e-01 8.94048707e-01 1.54884234e-02 2.51196723e+01] [-3.59910495e-02 7.10115259e-04 9.99351860e-01 -3.74431220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.78, Y:25.14, Z:-3.74 [[ 8.93857993e-01 -4.47171174e-01 3.24935376e-02 9.97828007e+01] [ 4.46903213e-01 8.94448147e-01 1.54928982e-02 2.51431616e+01] [-3.59917620e-02 6.73015489e-04 9.99351860e-01 -3.74174205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:25.17, Z:-3.75 [[ 8.94749444e-01 -4.45385064e-01 3.24896551e-02 9.98349665e+01] [ 4.45115630e-01 8.95338927e-01 1.55010359e-02 2.51691683e+01] [-3.59931828e-02 5.92110087e-04 9.99351860e-01 -3.74671218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:25.20, Z:-3.75 [[ 8.97017577e-01 -4.40799436e-01 3.24857484e-02 9.98879493e+01] [ 4.40526691e-01 8.97605536e-01 1.55092188e-02 2.51953707e+01] [-3.59958426e-02 3.98797371e-04 9.99351860e-01 -3.74581171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:99.94, Y:25.22, Z:-3.75 [[ 8.97533585e-01 -4.39748113e-01 3.24817029e-02 9.99391988e+01] [ 4.39474374e-01 8.98121081e-01 1.55176870e-02 2.52218961e+01] [-3.59963757e-02 3.47230809e-04 9.99351860e-01 -3.74862773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.341858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:25.25, Z:-3.75 [[ 8.99658565e-01 -4.35384320e-01 3.24801487e-02 9.99919392e+01] [ 4.35107613e-01 9.00244670e-01 1.55209394e-02 2.52501075e+01] [-3.59976544e-02 1.68813936e-04 9.99351860e-01 -3.75086423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.401858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:100.04, Y:25.28, Z:-3.75 [[ 9.01612788e-01 -4.31323130e-01 3.24767232e-02 1.00043702e+02] [ 4.31043525e-01 9.02197516e-01 1.55281037e-02 2.52769439e+01] [-3.59980493e-02 -1.45561471e-06 9.99351860e-01 -3.75361670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:25.30, Z:-3.76 [[ 9.02767851e-01 -4.28900412e-01 3.24752758e-02 1.00095185e+02] [ 4.28619129e-01 9.03351773e-01 1.55311302e-02 2.53026886e+01] [-3.59979061e-02 -1.01480653e-04 9.99351860e-01 -3.75675966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.15, Y:25.33, Z:-3.76 [[ 9.04933687e-01 -4.24311762e-01 3.24738504e-02 1.00147900e+02] [ 4.24027411e-01 9.05516121e-01 1.55341100e-02 2.53280946e+01] [-3.59969007e-02 -2.87536732e-04 9.99351860e-01 -3.75595021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:25.36, Z:-3.76 [[ 9.07057819e-01 -4.19752081e-01 3.24700572e-02 1.00198578e+02] [ 4.19464518e-01 9.07638674e-01 1.55420347e-02 2.53550829e+01] [-3.59948811e-02 -4.77487230e-04 9.99351860e-01 -3.76107972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:25.38, Z:-3.76 [[ 9.08126699e-01 -4.17434653e-01 3.24685989e-02 1.00252459e+02] [ 4.17145500e-01 9.08706764e-01 1.55450807e-02 2.53794941e+01] [-3.59934908e-02 -5.72772906e-04 9.99351860e-01 -3.75842568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:25.40, Z:-3.76 [[ 9.07276617e-01 -4.19279354e-01 3.24648201e-02 1.00306124e+02] [ 4.18991098e-01 9.07857128e-01 1.55529685e-02 2.54048412e+01] [-3.59944569e-02 -5.08374007e-04 9.99351860e-01 -3.75829649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:25.43, Z:-3.76 [[ 9.05625562e-01 -4.22834092e-01 3.24603241e-02 1.00356821e+02] [ 4.22547779e-01 9.06207034e-01 1.55623462e-02 2.54323052e+01] [-3.59960646e-02 -3.77620664e-04 9.99351860e-01 -3.76238867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.821858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:25.46, Z:-3.76 [[ 9.03869824e-01 -4.26574464e-01 3.24587239e-02 1.00409008e+02] [ 4.26290437e-01 9.04452416e-01 1.55656832e-02 2.54573588e+01] [-3.59972942e-02 -2.32507721e-04 9.99351860e-01 -3.76291439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.46, Y:25.48, Z:-3.76 [[ 9.05037770e-01 -4.24091196e-01 3.24544693e-02 1.00462875e+02] [ 4.23805253e-01 9.05619424e-01 1.55745490e-02 2.54820933e+01] [-3.59964269e-02 -3.41180545e-04 9.99351860e-01 -3.75985611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.51, Y:25.51, Z:-3.77 [[ 9.02771345e-01 -4.28894949e-01 3.24502818e-02 1.00512528e+02] [ 4.28611787e-01 9.03354359e-01 1.55832690e-02 2.55122169e+01] [-3.59976888e-02 -1.59555408e-04 9.99351860e-01 -3.76845694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.57, Y:25.54, Z:-3.77 [[ 9.03682467e-01 -4.26971938e-01 3.24493879e-02 1.00565753e+02] [ 4.26687469e-01 9.04264844e-01 1.55851300e-02 2.55370375e+01] [-3.59972539e-02 -2.38261557e-04 9.99351860e-01 -3.77178024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:25.56, Z:-3.77 [[ 9.01009432e-01 -4.32584310e-01 3.24471476e-02 1.00618162e+02] [ 4.32303301e-01 9.01593486e-01 1.55897927e-02 2.55629182e+01] [-3.59980367e-02 -1.95412670e-05 9.99351860e-01 -3.76562008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:25.59, Z:-3.77 [[ 9.00413201e-01 -4.33824300e-01 3.24429499e-02 1.00671086e+02] [ 4.33543781e-01 9.00997490e-01 1.55985235e-02 2.55878573e+01] [-3.59980349e-02 2.03226677e-05 9.99351860e-01 -3.76626091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:25.61, Z:-3.78 [[ 8.99432133e-01 -4.35854985e-01 3.24387156e-02 1.00723985e+02] [ 4.35575468e-01 9.00016902e-01 1.56073242e-02 2.56138609e+01] [-3.59979224e-02 9.17797956e-05 9.99351861e-01 -3.77587758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:25.64, Z:-3.77 [[ 8.97537820e-01 -4.39742708e-01 3.24378071e-02 1.00776996e+02] [ 4.39465655e-01 8.98123761e-01 1.56092122e-02 2.56402164e+01] [-3.59972025e-02 2.45443854e-04 9.99351861e-01 -3.76958364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:100.83, Y:25.67, Z:-3.78 [[ 8.95957222e-01 -4.42954538e-01 3.24335255e-02 1.00827911e+02] [ 4.42679264e-01 8.96544000e-01 1.56181036e-02 2.56692206e+01] [-3.59961926e-02 3.64496492e-04 9.99351861e-01 -3.78190825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:100.88, Y:25.70, Z:-3.78 [[ 8.95659955e-01 -4.43555620e-01 3.24292775e-02 1.00879281e+02] [ 4.43280420e-01 8.96246768e-01 1.56269191e-02 2.56961376e+01] [-3.59960429e-02 3.78858097e-04 9.99351861e-01 -3.78334620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:25.72, Z:-3.78 [[ 8.96410852e-01 -4.42036426e-01 3.24250318e-02 1.00933594e+02] [ 4.41759913e-01 8.96997048e-01 1.56357237e-02 2.57199090e+01] [-3.59967172e-02 3.08046826e-04 9.99351861e-01 -3.77841931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.481858064 meters Centerline goodness : 0.996273 with order 1 Centerline is valid? [True, True] Translation: X:100.99, Y:25.75, Z:-3.78 [[ 8.96083880e-01 -4.42699160e-01 3.24211999e-02 1.00985567e+02] [ 4.42422794e-01 8.96670144e-01 1.56436654e-02 2.57463121e+01] [-3.59965595e-02 3.25841476e-04 9.99351861e-01 -3.78153458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.541858064 meters Centerline goodness : 0.995423 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:25.77, Z:-3.78 [[ 8.95708030e-01 -4.43459482e-01 3.24162423e-02 1.01037010e+02] [ 4.43183241e-01 8.96294354e-01 1.56539315e-02 2.57724912e+01] [-3.59963793e-02 3.44983159e-04 9.99351861e-01 -3.78393762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:25.80, Z:-3.79 [[ 8.96648979e-01 -4.41553964e-01 3.24145930e-02 1.01088322e+02] [ 4.41276354e-01 8.97234656e-01 1.56573460e-02 2.58019827e+01] [-3.59970594e-02 2.64650065e-04 9.99351861e-01 -3.79064755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:101.14, Y:25.83, Z:-3.79 [[ 8.97627639e-01 -4.39561433e-01 3.24093761e-02 1.01138175e+02] [ 4.39282134e-01 8.98212512e-01 1.56681372e-02 2.58285798e+01] [-3.59976159e-02 1.72706846e-04 9.99351861e-01 -3.79461770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:25.86, Z:-3.80 [[ 8.96948172e-01 -4.40946414e-01 3.24073722e-02 1.01189829e+02] [ 4.40667867e-01 8.97533404e-01 1.56722809e-02 2.58551852e+01] [-3.59973351e-02 2.23663890e-04 9.99351861e-01 -3.79718592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:25.88, Z:-3.80 [[ 8.96838861e-01 -4.41168795e-01 3.24060443e-02 1.01241414e+02] [ 4.40890295e-01 8.97424115e-01 1.56750260e-02 2.58809757e+01] [-3.59972980e-02 2.29537933e-04 9.99351861e-01 -3.79790227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.29, Y:25.91, Z:-3.80 [[ 8.96224564e-01 -4.42415712e-01 3.24016917e-02 1.01294650e+02] [ 4.42137701e-01 8.96810050e-01 1.56840181e-02 2.59060234e+01] [-3.59970188e-02 2.69607207e-04 9.99351861e-01 -3.79869789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.901858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:101.35, Y:25.93, Z:-3.80 [[ 8.94866126e-01 -4.45157266e-01 3.23979258e-02 1.01347226e+02] [ 4.44880767e-01 8.95452327e-01 1.56917935e-02 2.59321177e+01] [-3.59961139e-02 3.71159650e-04 9.99351861e-01 -3.80049689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.961858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:25.96, Z:-3.80 [[ 8.93181163e-01 -4.48528750e-01 3.23939806e-02 1.01399139e+02] [ 4.48254169e-01 8.93768265e-01 1.56999337e-02 2.59565919e+01] [-3.59945834e-02 4.97851822e-04 9.99351861e-01 -3.80213836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.45, Y:25.98, Z:-3.81 [[ 8.92120122e-01 -4.50635678e-01 3.23909419e-02 1.01450776e+02] [ 4.50362256e-01 8.92707765e-01 1.57062002e-02 2.59841488e+01] [-3.59934196e-02 5.75840412e-04 9.99351861e-01 -3.80667399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:26.01, Z:-3.81 [[ 8.92683434e-01 -4.49519032e-01 3.23871383e-02 1.01503188e+02] [ 4.49244590e-01 8.93270601e-01 1.57140397e-02 2.60089096e+01] [-3.59942384e-02 5.22083782e-04 9.99351861e-01 -3.80713767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:101.55, Y:26.03, Z:-3.81 [[ 8.93622456e-01 -4.47649710e-01 3.23827669e-02 1.01554486e+02] [ 4.47373713e-01 8.94208894e-01 1.57230428e-02 2.60339973e+01] [-3.59953738e-02 4.36734592e-04 9.99351861e-01 -3.80964611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.61, Y:26.06, Z:-3.81 [[ 8.94779095e-01 -4.45333414e-01 3.23808838e-02 1.01607300e+02] [ 4.45055759e-01 8.95364750e-01 1.57269202e-02 2.60591098e+01] [-3.59964249e-02 3.39179420e-04 9.99351861e-01 -3.81134160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.261858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:101.66, Y:26.08, Z:-3.81 [[ 8.97558210e-01 -4.39705599e-01 3.23766350e-02 1.01661183e+02] [ 4.39423956e-01 8.98141958e-01 1.57356622e-02 2.60817519e+01] [-3.59978731e-02 1.03396270e-04 9.99351861e-01 -3.81291622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:26.11, Z:-3.82 [[ 8.98478922e-01 -4.37821508e-01 3.23721085e-02 1.01713095e+02] [ 4.37538306e-01 8.99061915e-01 1.57449687e-02 2.61084230e+01] [-3.59980158e-02 1.75150061e-05 9.99351861e-01 -3.81557573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:101.77, Y:26.13, Z:-3.82 [[ 8.99539652e-01 -4.35638284e-01 3.23682035e-02 1.01767239e+02] [ 4.35353378e-01 9.00121814e-01 1.57529925e-02 2.61315542e+01] [-3.59979326e-02 -7.88346032e-05 9.99351861e-01 -3.81617796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:101.82, Y:26.16, Z:-3.82 [[ 8.99264965e-01 -4.36205338e-01 3.23639619e-02 1.01819964e+02] [ 4.35920486e-01 8.99847153e-01 1.57617020e-02 2.61567233e+01] [-3.59979575e-02 -6.58323956e-05 9.99351861e-01 -3.82075737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:101.87, Y:26.18, Z:-3.82 [[ 9.00068481e-01 -4.34545255e-01 3.23597095e-02 1.01872700e+02] [ 4.34259015e-01 9.00649988e-01 1.57704275e-02 2.61802197e+01] [-3.59977364e-02 -1.41969135e-04 9.99351861e-01 -3.82295672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:26.20, Z:-3.83 [[ 8.99878629e-01 -4.34938385e-01 3.23582240e-02 1.01925927e+02] [ 4.34652290e-01 9.00460207e-01 1.57734748e-02 2.62039046e+01] [-3.59977828e-02 -1.29636713e-04 9.99351861e-01 -3.82676532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.98, Y:26.23, Z:-3.83 [[ 9.01419978e-01 -4.31735180e-01 3.23536323e-02 1.01979585e+02] [ 4.31446680e-01 9.02000367e-01 1.57828875e-02 2.62259090e+01] [-3.59970160e-02 -2.68142902e-04 9.99351861e-01 -3.82902575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.681858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:102.03, Y:26.25, Z:-3.83 [[ 9.00179476e-01 -4.34315834e-01 3.23522265e-02 1.02033365e+02] [ 4.34028895e-01 9.00760638e-01 1.57857686e-02 2.62473346e+01] [-3.59976215e-02 -1.68223768e-04 9.99351861e-01 -3.83299171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:102.09, Y:26.27, Z:-3.84 [[ 8.99877445e-01 -4.34941618e-01 3.23476953e-02 1.02087777e+02] [ 4.34654750e-01 9.00458641e-01 1.57950484e-02 2.62705977e+01] [-3.59976857e-02 -1.53528383e-04 9.99351861e-01 -3.83748813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.14, Y:26.29, Z:-3.84 [[ 8.99100365e-01 -4.36546008e-01 3.23437242e-02 1.02142854e+02] [ 4.36259884e-01 8.99681929e-01 1.58031760e-02 2.62898873e+01] [-3.59978775e-02 -9.83719106e-05 9.99351862e-01 -3.83769101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:102.20, Y:26.31, Z:-3.84 [[ 8.98543484e-01 -4.37691424e-01 3.23392104e-02 1.02195286e+02] [ 4.37405709e-01 8.99125249e-01 1.58124074e-02 2.63117671e+01] [-3.59979557e-02 -6.27803971e-05 9.99351862e-01 -3.83922104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.25, Y:26.33, Z:-3.84 [[ 8.97165635e-01 -4.40508937e-01 3.23372727e-02 1.02249337e+02] [ 4.40224906e-01 8.97748224e-01 1.58163691e-02 2.63343030e+01] [-3.59979811e-02 4.57699782e-05 9.99351862e-01 -3.84173410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:26.36, Z:-3.84 [[ 8.93548538e-01 -4.47800846e-01 3.23328338e-02 1.02302338e+02] [ 4.47521241e-01 8.94133264e-01 1.58254382e-02 2.63578850e+01] [-3.59965068e-02 3.28832770e-04 9.99351862e-01 -3.84374619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:26.38, Z:-3.85 [[ 8.93412447e-01 -4.48072643e-01 3.23281021e-02 1.02356551e+02] [ 4.47792866e-01 8.93997091e-01 1.58350983e-02 2.63779265e+01] [-3.59965035e-02 3.29019590e-04 9.99351862e-01 -3.84553519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:26.40, Z:-3.85 [[ 8.91615294e-01 -4.51638341e-01 3.23260822e-02 1.02409891e+02] [ 4.51360753e-01 8.92200980e-01 1.58392205e-02 2.64009356e+01] [-3.59949615e-02 4.68233610e-04 9.99351862e-01 -3.84848201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:26.42, Z:-3.85 [[ 8.91442879e-01 -4.51978879e-01 3.23215960e-02 1.02463174e+02] [ 4.51701184e-01 8.92028514e-01 1.58483698e-02 2.64237279e+01] [-3.59949137e-02 4.71786732e-04 9.99351862e-01 -3.85146683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.51, Y:26.45, Z:-3.86 [[ 8.90281219e-01 -4.54262869e-01 3.23202211e-02 1.02514058e+02] [ 4.53986574e-01 8.90867516e-01 1.58511733e-02 2.64517219e+01] [-3.59936345e-02 5.60944598e-04 9.99351862e-01 -3.85697211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.57, Y:26.47, Z:-3.86 [[ 8.93789705e-01 -4.47320547e-01 3.23154939e-02 1.02567842e+02] [ 4.47039349e-01 8.94373667e-01 1.58608046e-02 2.64715599e+01] [-3.59969906e-02 2.70073441e-04 9.99351862e-01 -3.85746532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:26.50, Z:-3.86 [[ 8.95443851e-01 -4.44000168e-01 3.23134719e-02 1.02620166e+02] [ 4.43716656e-01 8.96026693e-01 1.58649230e-02 2.64954085e+01] [-3.59977618e-02 1.31877887e-04 9.99351862e-01 -3.85866183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.67, Y:26.52, Z:-3.86 [[ 8.96557260e-01 -4.41747792e-01 3.23104888e-02 1.02673305e+02] [ 4.41462597e-01 8.97139279e-01 1.58709961e-02 2.65195458e+01] [-3.59979861e-02 3.46155066e-05 9.99351862e-01 -3.86070584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.73, Y:26.54, Z:-3.86 [[ 8.98373576e-01 -4.38042503e-01 3.23060887e-02 1.02725834e+02] [ 4.37754585e-01 8.98954254e-01 1.58799476e-02 2.65421968e+01] [-3.59977879e-02 -1.23986878e-04 9.99351862e-01 -3.86364019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.78, Y:26.57, Z:-3.87 [[ 8.99103774e-01 -4.36541914e-01 3.23041959e-02 1.02778624e+02] [ 4.36252889e-01 8.99683901e-01 1.58837973e-02 2.65661181e+01] [-3.59975082e-02 -1.88383292e-04 9.99351862e-01 -3.86550973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.83, Y:26.59, Z:-3.87 [[ 8.99499550e-01 -4.35726158e-01 3.22997548e-02 1.02831900e+02] [ 4.35436283e-01 9.00079253e-01 1.58928230e-02 2.65902404e+01] [-3.59972579e-02 -2.31101970e-04 9.99351862e-01 -3.86758500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:26.61, Z:-3.87 [[ 8.99176487e-01 -4.36392777e-01 3.22953498e-02 1.02884456e+02] [ 4.36103010e-01 8.99756244e-01 1.59017694e-02 2.66140919e+01] [-3.59973599e-02 -2.14397865e-04 9.99351862e-01 -3.86848967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:26.64, Z:-3.87 [[ 8.98536329e-01 -4.37709685e-01 3.22908090e-02 1.02936806e+02] [ 4.37420437e-01 8.99116345e-01 1.59109847e-02 2.66383633e+01] [-3.59975863e-02 -1.71938008e-04 9.99351862e-01 -3.87152500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:26.66, Z:-3.87 [[ 8.97841274e-01 -4.39133964e-01 3.22863398e-02 1.02988431e+02] [ 4.38845310e-01 8.98421586e-01 1.59200484e-02 2.66625723e+01] [-3.59977786e-02 -1.24967733e-04 9.99351862e-01 -3.87486126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:26.69, Z:-3.88 [[ 8.96241830e-01 -4.42389306e-01 3.22844230e-02 1.03041258e+02] [ 4.42102620e-01 8.96823116e-01 1.59239345e-02 2.66868468e+01] [-3.59979952e-02 1.33177337e-06 9.99351862e-01 -3.87609416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:26.71, Z:-3.88 [[ 8.94362420e-01 -4.46176942e-01 3.22799992e-02 1.03093029e+02] [ 4.45892394e-01 8.94944756e-01 1.59328972e-02 2.67119535e+01] [-3.59977073e-02 1.43621637e-04 9.99351862e-01 -3.87668069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.14, Y:26.74, Z:-3.88 [[ 8.91986152e-01 -4.50908854e-01 3.22786451e-02 1.03144815e+02] [ 4.50627296e-01 8.92569939e-01 1.59356400e-02 2.67379075e+01] [-3.59964694e-02 3.31268383e-04 9.99351862e-01 -3.87808786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:26.76, Z:-3.88 [[ 8.90096343e-01 -4.54628272e-01 3.22743685e-02 1.03196542e+02] [ 4.54348839e-01 8.90681150e-01 1.59442965e-02 2.67633165e+01] [-3.59948997e-02 4.71861856e-04 9.99351862e-01 -3.87943781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.25, Y:26.79, Z:-3.88 [[ 8.87479811e-01 -4.59715391e-01 3.22698708e-02 1.03247842e+02] [ 4.59438980e-01 8.88066052e-01 1.59533944e-02 2.67908035e+01] [-3.59917977e-02 6.67721081e-04 9.99351862e-01 -3.88092038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.30, Y:26.82, Z:-3.88 [[ 8.86219330e-01 -4.62140938e-01 3.22653644e-02 1.03298437e+02] [ 4.61865799e-01 8.86806170e-01 1.59625032e-02 2.68185590e+01] [-3.59900504e-02 7.55989410e-04 9.99351862e-01 -3.88275047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.181858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:26.85, Z:-3.88 [[ 8.85928406e-01 -4.62698706e-01 3.22609203e-02 1.03349369e+02] [ 4.62423610e-01 8.86515266e-01 1.59714800e-02 2.68466744e+01] [-3.59897815e-02 7.68623411e-04 9.99351862e-01 -3.88287789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:26.88, Z:-3.89 [[ 8.86663417e-01 -4.61288961e-01 3.22564758e-02 1.03399915e+02] [ 4.61012606e-01 8.87249684e-01 1.59804512e-02 2.68761591e+01] [-3.59911537e-02 7.01360527e-04 9.99351862e-01 -3.88514536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:26.90, Z:-3.89 [[ 8.87248253e-01 -4.60163390e-01 3.22520256e-02 1.03451100e+02] [ 4.59885964e-01 8.87834015e-01 1.59894277e-02 2.69032270e+01] [-3.59921946e-02 6.45662139e-04 9.99351862e-01 -3.88759050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:26.93, Z:-3.89 [[ 8.89548890e-01 -4.55700418e-01 3.22474979e-02 1.03501096e+02] [ 4.55419723e-01 8.90133092e-01 1.59985538e-02 2.69336919e+01] [-3.59951127e-02 4.54650826e-04 9.99351863e-01 -3.89032590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:26.96, Z:-3.89 [[ 8.90973585e-01 -4.52908890e-01 3.22429543e-02 1.03551419e+02] [ 4.52626033e-01 8.91556744e-01 1.60077056e-02 2.69626050e+01] [-3.59964556e-02 3.31557666e-04 9.99351863e-01 -3.89257161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.60, Y:26.99, Z:-3.89 [[ 8.92259663e-01 -4.50370266e-01 3.22384376e-02 1.03600847e+02] [ 4.50085421e-01 8.92841854e-01 1.60167968e-02 2.69904951e+01] [-3.59973154e-02 2.18909007e-04 9.99351863e-01 -3.89449241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:27.02, Z:-3.90 [[ 8.92241733e-01 -4.50405925e-01 3.22364982e-02 1.03651852e+02] [ 4.50120963e-01 8.92823866e-01 1.60206993e-02 2.70177958e+01] [-3.59973328e-02 2.15987095e-04 9.99351863e-01 -3.89758709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:27.05, Z:-3.90 [[ 8.93041882e-01 -4.48817649e-01 3.22321901e-02 1.03702470e+02] [ 4.48531339e-01 8.93623353e-01 1.60293620e-02 2.70466644e+01] [-3.59976984e-02 1.42255753e-04 9.99351863e-01 -3.89854396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:27.07, Z:-3.90 [[ 8.93411718e-01 -4.48081109e-01 3.22307560e-02 1.03753057e+02] [ 4.47794215e-01 8.93992902e-01 1.60322452e-02 2.70743267e+01] [-3.59978133e-02 1.09350307e-04 9.99351863e-01 -3.90176144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.80, Y:27.10, Z:-3.90 [[ 8.94265117e-01 -4.46375802e-01 3.22264615e-02 1.03803416e+02] [ 4.46087489e-01 8.94845597e-01 1.60408729e-02 2.71028640e+01] [-3.59979647e-02 3.10281684e-05 9.99351863e-01 -3.90469581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.85, Y:27.13, Z:-3.91 [[ 8.94160786e-01 -4.46585061e-01 3.22222199e-02 1.03854113e+02] [ 4.46296577e-01 8.94741182e-01 1.60493887e-02 2.71301139e+01] [-3.59979644e-02 2.99324089e-05 9.99351863e-01 -3.90725110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.91, Y:27.16, Z:-3.91 [[ 8.93075106e-01 -4.48752552e-01 3.22180413e-02 1.03905397e+02] [ 4.48465174e-01 8.93656050e-01 1.60577727e-02 2.71564895e+01] [-3.59978140e-02 1.07872483e-04 9.99351863e-01 -3.90946464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:27.18, Z:-3.91 [[ 8.92007483e-01 -4.50871079e-01 3.22167618e-02 1.03957076e+02] [ 4.50584989e-01 8.92589062e-01 1.60603393e-02 2.71833170e+01] [-3.59974717e-02 1.90446368e-04 9.99351863e-01 -3.91081205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.961858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:27.21, Z:-3.91 [[ 8.89475163e-01 -4.55846799e-01 3.22122855e-02 1.04008204e+02] [ 4.55563636e-01 8.90058173e-01 1.60693123e-02 2.72098406e+01] [-3.59959526e-02 3.81491755e-04 9.99351863e-01 -3.91317279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.06, Y:27.24, Z:-3.91 [[ 8.86988888e-01 -4.60666223e-01 3.22078068e-02 1.04060306e+02] [ 4.60385902e-01 8.87573270e-01 1.60782840e-02 2.72355656e+01] [-3.59935108e-02 5.66760927e-04 9.99351863e-01 -3.91436541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:27.26, Z:-3.92 [[ 8.83489602e-01 -4.67342565e-01 3.22032641e-02 1.04112518e+02] [ 4.67066329e-01 8.84075925e-01 1.60873776e-02 2.72613515e+01] [-3.59884468e-02 8.28029512e-04 9.99351863e-01 -3.91634351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.16, Y:27.29, Z:-3.92 [[ 8.81786468e-01 -4.70548471e-01 3.21987722e-02 1.04164545e+02] [ 4.70274038e-01 8.82373638e-01 1.60963631e-02 2.72872234e+01] [-3.59854668e-02 9.48691421e-04 9.99351863e-01 -3.91814433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.22, Y:27.31, Z:-3.92 [[ 8.80782119e-01 -4.72426070e-01 3.21942243e-02 1.04216339e+02] [ 4.72152556e-01 8.81369717e-01 1.61054541e-02 2.73135241e+01] [-3.59836507e-02 1.01518931e-03 9.99351863e-01 -3.92018335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.261858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:104.27, Y:27.34, Z:-3.92 [[ 8.81619380e-01 -4.70862075e-01 3.21896604e-02 1.04267596e+02] [ 4.70587186e-01 8.82206337e-01 1.61145706e-02 2.73414311e+01] [-3.59856626e-02 9.41123969e-04 9.99351863e-01 -3.92206159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:104.32, Y:27.37, Z:-3.93 [[ 8.82608654e-01 -4.69005418e-01 3.21851280e-02 1.04319056e+02] [ 4.68728965e-01 8.83194874e-01 1.61236180e-02 2.73693445e+01] [-3.59878043e-02 8.55256962e-04 9.99351863e-01 -3.92548442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:104.37, Y:27.40, Z:-3.93 [[ 8.83537159e-01 -4.67254154e-01 3.21814296e-02 1.04369906e+02] [ 4.66976271e-01 8.84122703e-01 1.61309964e-02 2.73967517e+01] [-3.59896076e-02 7.75629293e-04 9.99351863e-01 -3.92571775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.42, Y:27.43, Z:-3.93 [[ 8.84442811e-01 -4.65537712e-01 3.21800077e-02 1.04421740e+02] [ 4.65258589e-01 8.85027765e-01 1.61338324e-02 2.74255302e+01] [-3.59911078e-02 7.02572898e-04 9.99351863e-01 -3.92682443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:27.45, Z:-3.93 [[ 8.85274844e-01 -4.63953823e-01 3.21760842e-02 1.04472199e+02] [ 4.63673369e-01 8.85859161e-01 1.61416535e-02 2.74536482e+01] [-3.59924608e-02 6.29393617e-04 9.99351863e-01 -3.92817878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:27.48, Z:-3.93 [[ 8.87112738e-01 -4.60430216e-01 3.21715196e-02 1.04521992e+02] [ 4.60147112e-01 8.87695775e-01 1.61507458e-02 2.74827033e+01] [-3.59948135e-02 4.76099516e-04 9.99351863e-01 -3.92970237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.621858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:27.51, Z:-3.93 [[ 8.88097347e-01 -4.58528282e-01 3.21701174e-02 1.04573001e+02] [ 4.58243828e-01 8.88679727e-01 1.61535385e-02 2.75110758e+01] [-3.59957854e-02 3.95843044e-04 9.99351863e-01 -3.93119880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:27.54, Z:-3.93 [[ 8.88814161e-01 -4.57137580e-01 3.21655286e-02 1.04623323e+02] [ 4.56851883e-01 8.89395932e-01 1.61626706e-02 2.75411581e+01] [-3.59964544e-02 3.29271830e-04 9.99351863e-01 -3.93492100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:104.67, Y:27.57, Z:-3.94 [[ 8.88290535e-01 -4.58154556e-01 3.21609877e-02 1.04673148e+02] [ 4.57869198e-01 8.88872473e-01 1.61717013e-02 2.75697521e+01] [-3.59961553e-02 3.60356438e-04 9.99351863e-01 -3.93684808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.72, Y:27.60, Z:-3.94 [[ 8.87390270e-01 -4.59895972e-01 3.21590362e-02 1.04724179e+02] [ 4.59611616e-01 8.87972698e-01 1.61755810e-02 2.75977515e+01] [-3.59954307e-02 4.26613468e-04 9.99351863e-01 -3.93795084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.77, Y:27.63, Z:-3.94 [[ 8.86330059e-01 -4.61936263e-01 3.21545529e-02 1.04774910e+02] [ 4.61652925e-01 8.86912983e-01 1.61844883e-02 2.76270207e+01] [-3.59944924e-02 4.99444885e-04 9.99351863e-01 -3.94017197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:27.65, Z:-3.94 [[ 8.85560930e-01 -4.63409337e-01 3.21500567e-02 1.04825825e+02] [ 4.63126644e-01 8.86144167e-01 1.61934149e-02 2.76542634e+01] [-3.59937649e-02 5.49292312e-04 9.99351864e-01 -3.94333794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.88, Y:27.68, Z:-3.95 [[ 8.84903118e-01 -4.64664544e-01 3.21454899e-02 1.04877219e+02] [ 4.64382350e-01 8.85486597e-01 1.62024754e-02 2.76812716e+01] [-3.59931163e-02 5.90177087e-04 9.99351864e-01 -3.94549214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.93, Y:27.71, Z:-3.95 [[ 8.85823294e-01 -4.62908257e-01 3.21408974e-02 1.04928555e+02] [ 4.62624575e-01 8.86406051e-01 1.62115804e-02 2.77091763e+01] [-3.59943604e-02 5.08573432e-04 9.99351864e-01 -3.94735996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:104.98, Y:27.74, Z:-3.95 [[ 8.87925309e-01 -4.58863709e-01 3.21362996e-02 1.04979899e+02] [ 4.58577043e-01 8.88506604e-01 1.62206896e-02 2.77370508e+01] [-3.59964002e-02 3.34208361e-04 9.99351864e-01 -3.94986841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.03, Y:27.76, Z:-3.95 [[ 8.88670224e-01 -4.57419703e-01 3.21317351e-02 1.05031891e+02] [ 4.57131766e-01 8.89250890e-01 1.62297264e-02 2.77634784e+01] [-3.59969706e-02 2.65562153e-04 9.99351864e-01 -3.95224773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221858064 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:105.08, Y:27.79, Z:-3.95 [[ 8.90212817e-01 -4.54410591e-01 3.21271825e-02 1.05083388e+02] [ 4.54120365e-01 8.90792342e-01 1.62387334e-02 2.77893831e+01] [-3.59977006e-02 1.33679277e-04 9.99351864e-01 -3.95446982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281858064 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:27.81, Z:-3.96 [[ 8.90969643e-01 -4.52925196e-01 3.21226068e-02 1.05134971e+02] [ 4.52633679e-01 8.91548519e-01 1.62477798e-02 2.78148553e+01] [-3.59978914e-02 6.34951414e-05 9.99351864e-01 -3.95752408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.341858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.19, Y:27.84, Z:-3.96 [[ 8.92146355e-01 -4.50603270e-01 3.21181274e-02 1.05187730e+02] [ 4.50309927e-01 8.92724309e-01 1.62566298e-02 2.78391985e+01] [-3.59979236e-02 -4.01814080e-05 9.99351864e-01 -3.96067663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.401858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:105.24, Y:27.86, Z:-3.96 [[ 8.92754613e-01 -4.49397310e-01 3.21132248e-02 1.05241377e+02] [ 4.49102838e-01 8.93331992e-01 1.62663085e-02 2.78644699e+01] [-3.59978064e-02 -9.96815226e-05 9.99351864e-01 -3.96038004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.461858064 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:105.29, Y:27.89, Z:-3.96 [[ 8.94023955e-01 -4.46867075e-01 3.21089435e-02 1.05293043e+02] [ 4.46570666e-01 8.94600342e-01 1.62747552e-02 2.78886339e+01] [-3.59973241e-02 -2.11108735e-04 9.99351864e-01 -3.96268423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.35, Y:27.91, Z:-3.96 [[ 8.94574004e-01 -4.45765066e-01 3.21069640e-02 1.05346193e+02] [ 4.45467806e-01 8.95149953e-01 1.62786594e-02 2.79113724e+01] [-3.59970050e-02 -2.59846698e-04 9.99351864e-01 -3.96419443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.40, Y:27.93, Z:-3.97 [[ 8.94366094e-01 -4.46182399e-01 3.21022914e-02 1.05399831e+02] [ 4.45885078e-01 8.94942011e-01 1.62878688e-02 2.79341137e+01] [-3.59970496e-02 -2.53384905e-04 9.99351864e-01 -3.96635420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:27.96, Z:-3.97 [[ 8.93062794e-01 -4.48785723e-01 3.20970459e-02 1.05454169e+02] [ 4.48489709e-01 8.93639384e-01 1.62981991e-02 2.79560123e+01] [-3.59975834e-02 -1.60120404e-04 9.99351864e-01 -3.96803818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.51, Y:27.98, Z:-3.97 [[ 8.92153751e-01 -4.50590511e-01 3.20916917e-02 1.05508380e+02] [ 4.50295285e-01 8.92730744e-01 1.63087350e-02 2.79760039e+01] [-3.59978010e-02 -9.91616488e-05 9.99351864e-01 -3.96884616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.761858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:105.56, Y:28.00, Z:-3.97 [[ 8.91409572e-01 -4.52061052e-01 3.20901977e-02 1.05561982e+02] [ 4.51766672e-01 8.91986997e-01 1.63116742e-02 2.79981917e+01] [-3.59979116e-02 -4.31006794e-05 9.99351864e-01 -3.97090770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.821858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:28.02, Z:-3.98 [[ 8.90520618e-01 -4.53810031e-01 3.20855765e-02 1.05616782e+02] [ 4.53516457e-01 8.91098455e-01 1.63207590e-02 2.80194987e+01] [-3.59979318e-02 1.73646382e-05 9.99351864e-01 -3.97641370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:28.04, Z:-3.98 [[ 8.90344274e-01 -4.54156194e-01 3.20815460e-02 1.05670950e+02] [ 4.53862560e-01 8.90922079e-01 1.63286779e-02 2.80428567e+01] [-3.59979279e-02 2.24677071e-05 9.99351864e-01 -3.97642125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:28.06, Z:-3.98 [[ 8.90566697e-01 -4.53720202e-01 3.20770504e-02 1.05725134e+02] [ 4.53425967e-01 8.91144196e-01 1.63375045e-02 2.80637695e+01] [-3.59979332e-02 -5.06983226e-06 9.99351864e-01 -3.98256337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:105.78, Y:28.09, Z:-3.98 [[ 8.90681301e-01 -4.53495491e-01 3.20727235e-02 1.05779559e+02] [ 4.53200804e-01 8.91258570e-01 1.63459945e-02 2.80873323e+01] [-3.59979245e-02 -2.36875427e-05 9.99351864e-01 -3.98236198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.83, Y:28.11, Z:-3.98 [[ 8.90604237e-01 -4.53647127e-01 3.20683060e-02 1.05834205e+02] [ 4.53352227e-01 8.91181397e-01 1.63546563e-02 2.81106398e+01] [-3.59979206e-02 -2.72881824e-05 9.99351864e-01 -3.98298579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.89, Y:28.13, Z:-3.98 [[ 8.90163128e-01 -4.54512361e-01 3.20643085e-02 1.05886985e+02] [ 4.54217740e-01 8.90740430e-01 1.63624899e-02 2.81340077e+01] [-3.59979299e-02 -1.10747557e-06 9.99351864e-01 -3.98469610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.94, Y:28.16, Z:-3.99 [[ 8.90397677e-01 -4.54053028e-01 3.20597204e-02 1.05940799e+02] [ 4.53757785e-01 8.90974661e-01 1.63714747e-02 2.81576764e+01] [-3.59979162e-02 -2.97753758e-05 9.99351865e-01 -3.98509918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.99, Y:28.18, Z:-3.99 [[ 8.90171083e-01 -4.54497387e-01 3.20557134e-02 1.05993049e+02] [ 4.54202150e-01 8.90748070e-01 1.63793168e-02 2.81822433e+01] [-3.59979215e-02 -2.06202220e-05 9.99351865e-01 -3.98584186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:106.05, Y:28.21, Z:-3.99 [[ 8.89294658e-01 -4.56210190e-01 3.20510958e-02 1.06046276e+02] [ 4.55915739e-01 8.89872047e-01 1.63883475e-02 2.82071712e+01] [-3.59979054e-02 3.85291527e-05 9.99351865e-01 -3.98993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:28.23, Z:-3.99 [[ 8.88329036e-01 -4.58087767e-01 3.20487454e-02 1.06098875e+02] [ 4.57794370e-01 8.88906961e-01 1.63929425e-02 2.82312678e+01] [-3.59977593e-02 1.09408387e-04 9.99351865e-01 -3.99108542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.15, Y:28.26, Z:-3.99 [[ 8.87291503e-01 -4.60094536e-01 3.20438230e-02 1.06150623e+02] [ 4.59802100e-01 8.87869915e-01 1.64025588e-02 2.82575715e+01] [-3.59974741e-02 1.79966050e-04 9.99351865e-01 -3.99350025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.481858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:106.20, Y:28.28, Z:-4.00 [[ 8.86255954e-01 -4.62086437e-01 3.20391625e-02 1.06202045e+02] [ 4.61794971e-01 8.86834856e-01 1.64116573e-02 2.82838487e+01] [-3.59970503e-02 2.50595085e-04 9.99351865e-01 -3.99574172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.25, Y:28.31, Z:-4.00 [[ 8.86089847e-01 -4.62405206e-01 3.20344791e-02 1.06252124e+02] [ 4.62113619e-01 8.86668687e-01 1.64207939e-02 2.83101790e+01] [-3.59970301e-02 2.53270291e-04 9.99351865e-01 -3.99854595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:28.34, Z:-4.00 [[ 8.86480392e-01 -4.61656188e-01 3.20324650e-02 1.06303197e+02] [ 4.61363969e-01 8.87058914e-01 1.64247219e-02 2.83376556e+01] [-3.59972581e-02 2.18431275e-04 9.99351865e-01 -4.00057696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:28.36, Z:-4.00 [[ 8.87117736e-01 -4.60430609e-01 3.20277493e-02 1.06353223e+02] [ 4.60137259e-01 8.87695685e-01 1.64339122e-02 2.83647498e+01] [-3.59975711e-02 1.58345770e-04 9.99351865e-01 -4.00392999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:28.39, Z:-4.01 [[ 8.87464146e-01 -4.59762782e-01 3.20245687e-02 1.06404835e+02] [ 4.59468774e-01 8.88041761e-01 1.64401079e-02 2.83919715e+01] [-3.59977041e-02 1.24282970e-04 9.99351865e-01 -4.00533402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:28.42, Z:-4.01 [[ 8.86805184e-01 -4.61032854e-01 3.20198772e-02 1.06455706e+02] [ 4.60739344e-01 8.87383051e-01 1.64492403e-02 2.84201721e+01] [-3.59975365e-02 1.65545590e-04 9.99351865e-01 -4.00666771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:28.45, Z:-4.01 [[ 8.85351768e-01 -4.63818147e-01 3.20152085e-02 1.06506071e+02] [ 4.63526126e-01 8.85930389e-01 1.64583220e-02 2.84483934e+01] [-3.59969145e-02 2.68481110e-04 9.99351865e-01 -4.00870406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.56, Y:28.48, Z:-4.01 [[ 8.82494550e-01 -4.69232026e-01 3.20105321e-02 1.06557361e+02] [ 4.68943224e-01 8.83074785e-01 1.64674123e-02 2.84768046e+01] [-3.59947310e-02 4.78720475e-04 9.99351865e-01 -4.00927395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.961858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:106.61, Y:28.51, Z:-4.01 [[ 8.79241757e-01 -4.75299439e-01 3.20058720e-02 1.06607664e+02] [ 4.75014311e-01 8.79823806e-01 1.64764646e-02 2.85057580e+01] [-3.59907825e-02 7.16451592e-04 9.99351865e-01 -4.01067283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:28.53, Z:-4.01 [[ 8.77832212e-01 -4.77898029e-01 3.20012765e-02 1.06658288e+02] [ 4.77614299e-01 8.78414944e-01 1.64853853e-02 2.85345792e+01] [-3.59887327e-02 8.12865035e-04 9.99351865e-01 -4.01351812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:106.71, Y:28.56, Z:-4.02 [[ 8.77406534e-01 -4.78679417e-01 3.19967183e-02 1.06708581e+02] [ 4.78395884e-01 8.77989361e-01 1.64942277e-02 2.85637565e+01] [-3.59882256e-02 8.34955179e-04 9.99351865e-01 -4.01643953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141858064 meters Centerline goodness : 0.995838 with order 1 Centerline is valid? [True, True] Translation: X:106.76, Y:28.59, Z:-4.02 [[ 8.77586280e-01 -4.78350101e-01 3.19922042e-02 1.06758604e+02] [ 4.78066031e-01 8.78168846e-01 1.65029787e-02 2.85933056e+01] [-3.59887585e-02 8.11598420e-04 9.99351865e-01 -4.02092209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:106.81, Y:28.62, Z:-4.02 [[ 8.79686653e-01 -4.74476552e-01 3.19905353e-02 1.06809086e+02] [ 4.74189798e-01 8.80267903e-01 1.65062132e-02 2.86239793e+01] [-3.59920525e-02 6.49290004e-04 9.99351865e-01 -4.02144787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.261858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:28.65, Z:-4.02 [[ 8.81567418e-01 -4.70973240e-01 3.19858622e-02 1.06859244e+02] [ 4.70683848e-01 8.82147358e-01 1.65152638e-02 2.86527694e+01] [-3.59944911e-02 4.95910244e-04 9.99351865e-01 -4.02163862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.321858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:28.69, Z:-4.03 [[ 8.84186759e-01 -4.66037526e-01 3.19812397e-02 1.06908627e+02] [ 4.65744573e-01 8.84764909e-01 1.65242103e-02 2.86850034e+01] [-3.59967807e-02 2.84600906e-04 9.99351865e-01 -4.02614078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:28.71, Z:-4.02 [[ 8.88563334e-01 -4.57638149e-01 3.19769672e-02 1.06960324e+02] [ 4.57339433e-01 8.89138527e-01 1.65324740e-02 2.87124606e+01] [-3.59978443e-02 -6.58221891e-05 9.99351865e-01 -4.02079559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:28.74, Z:-4.02 [[ 8.89615283e-01 -4.55590019e-01 3.19747068e-02 1.07011465e+02] [ 4.55289822e-01 8.90189705e-01 1.65368446e-02 2.87398235e+01] [-3.59975762e-02 -1.53671099e-04 9.99351865e-01 -4.02219506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.06, Y:28.77, Z:-4.02 [[ 8.89663894e-01 -4.55495420e-01 3.19699525e-02 1.07062380e+02] [ 4.55194831e-01 8.90238111e-01 1.65460309e-02 2.87668141e+01] [-3.59975114e-02 -1.67849171e-04 9.99351865e-01 -4.02429283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:28.79, Z:-4.03 [[ 8.88709395e-01 -4.57355265e-01 3.19651656e-02 1.07112205e+02] [ 4.57055546e-01 8.89284066e-01 1.65552735e-02 2.87935615e+01] [-3.59977539e-02 -1.02970899e-04 9.99351866e-01 -4.02829150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.621858064 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:107.16, Y:28.82, Z:-4.03 [[ 8.87409878e-01 -4.59871796e-01 3.19631083e-02 1.07163888e+02] [ 4.59573563e-01 8.87985322e-01 1.65592445e-02 2.88195072e+01] [-3.59979005e-02 -5.43754102e-06 9.99351866e-01 -4.03352206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.681858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.22, Y:28.85, Z:-4.03 [[ 8.85219490e-01 -4.64074540e-01 3.19574152e-02 1.07215435e+02] [ 4.63778643e-01 8.85796138e-01 1.65702242e-02 2.88461289e+01] [-3.59975741e-02 1.52881193e-04 9.99351866e-01 -4.03261307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.27, Y:28.88, Z:-4.04 [[ 8.83344255e-01 -4.67634221e-01 3.19556399e-02 1.07265201e+02] [ 4.67340524e-01 8.83922027e-01 1.65736472e-02 2.88755140e+01] [-3.59966986e-02 2.93929504e-04 9.99351866e-01 -4.03530550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:28.90, Z:-4.04 [[ 8.82888209e-01 -4.68494988e-01 3.19508354e-02 1.07315637e+02] [ 4.68201519e-01 8.83466097e-01 1.65829041e-02 2.89015432e+01] [-3.59964873e-02 3.18579152e-04 9.99351866e-01 -4.03762529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:28.93, Z:-4.04 [[ 8.81133834e-01 -4.71786640e-01 3.19457750e-02 1.07367140e+02] [ 4.71494977e-01 8.81712635e-01 1.65926470e-02 2.89278502e+01] [-3.59951826e-02 4.41929743e-04 9.99351866e-01 -4.03858694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:107.42, Y:28.96, Z:-4.04 [[ 8.80280692e-01 -4.73376904e-01 3.19407189e-02 1.07419511e+02] [ 4.73085933e-01 8.80859842e-01 1.66023742e-02 2.89552534e+01] [-3.59944771e-02 4.95955335e-04 9.99351866e-01 -4.04064412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.981858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:107.47, Y:28.99, Z:-4.04 [[ 8.79469657e-01 -4.74882289e-01 3.19364072e-02 1.07469783e+02] [ 4.74592009e-01 8.80049152e-01 1.66106641e-02 2.89865968e+01] [-3.59937183e-02 5.48188598e-04 9.99351866e-01 -4.04171577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.041858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:107.52, Y:29.01, Z:-4.04 [[ 8.79654088e-01 -4.74540898e-01 3.19315000e-02 1.07519812e+02] [ 4.74250051e-01 8.80233300e-01 1.66200921e-02 2.90141815e+01] [-3.59940830e-02 5.23583523e-04 9.99351866e-01 -4.04304676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:29.05, Z:-4.05 [[ 8.79771696e-01 -4.74322981e-01 3.19291789e-02 1.07568333e+02] [ 4.74031828e-01 8.80350754e-01 1.66245500e-02 2.90451075e+01] [-3.59942828e-02 5.09638438e-04 9.99351866e-01 -4.04590025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:107.62, Y:29.07, Z:-4.05 [[ 8.79949286e-01 -4.73993584e-01 3.19270285e-02 1.07618703e+02] [ 4.73702065e-01 8.80528160e-01 1.66286788e-02 2.90747875e+01] [-3.59945347e-02 4.91505300e-04 9.99351866e-01 -4.04705137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:29.10, Z:-4.05 [[ 8.81361332e-01 -4.71363093e-01 3.19223754e-02 1.07671950e+02] [ 4.71069522e-01 8.81939168e-01 1.66376066e-02 2.91011660e+01] [-3.59959469e-02 3.73915018e-04 9.99351866e-01 -4.04613228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:29.13, Z:-4.05 [[ 8.80733061e-01 -4.72536251e-01 3.19181332e-02 1.07721250e+02] [ 4.72243156e-01 8.81311137e-01 1.66457410e-02 2.91321555e+01] [-3.59955223e-02 4.12665534e-04 9.99351866e-01 -4.05064790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.341858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.77, Y:29.16, Z:-4.05 [[ 8.81259220e-01 -4.71554370e-01 3.19165035e-02 1.07771861e+02] [ 4.71260518e-01 8.81836912e-01 1.66488653e-02 2.91607702e+01] [-3.59959960e-02 3.69021920e-04 9.99351866e-01 -4.05368186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.401858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:107.82, Y:29.19, Z:-4.06 [[ 8.81690357e-01 -4.70748070e-01 3.19118890e-02 1.07822646e+02] [ 4.70453369e-01 8.82267617e-01 1.66577054e-02 2.91886242e+01] [-3.59964089e-02 3.26117438e-04 9.99351866e-01 -4.05683170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.461858064 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:107.87, Y:29.22, Z:-4.06 [[ 8.81266143e-01 -4.71542053e-01 3.19073128e-02 1.07873277e+02] [ 4.71247555e-01 8.81843507e-01 1.66664663e-02 2.92170887e+01] [-3.59961964e-02 3.48650669e-04 9.99351866e-01 -4.05940573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:29.24, Z:-4.06 [[ 8.80192974e-01 -4.73542580e-01 3.19022650e-02 1.07924603e+02] [ 4.73249044e-01 8.80770827e-01 1.66761231e-02 2.92432539e+01] [-3.59954387e-02 4.19510028e-04 9.99351866e-01 -4.06249883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:29.27, Z:-4.06 [[ 8.81602527e-01 -4.70913526e-01 3.18972609e-02 1.07977081e+02] [ 4.70617921e-01 8.82179324e-01 1.66856892e-02 2.92682674e+01] [-3.59966208e-02 3.01276801e-04 9.99351866e-01 -4.06277225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:29.29, Z:-4.06 [[ 8.83874642e-01 -4.66635062e-01 3.18957239e-02 1.08029056e+02] [ 4.66336558e-01 8.84449944e-01 1.66886267e-02 2.92947663e+01] [-3.59976696e-02 1.23488139e-04 9.99351866e-01 -4.06495419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:29.32, Z:-4.07 [[ 8.85928343e-01 -4.62724467e-01 3.18910552e-02 1.08080066e+02] [ 4.62423103e-01 8.86502152e-01 1.66975436e-02 2.93220701e+01] [-3.59978510e-02 -4.56664294e-05 9.99351866e-01 -4.06774349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:29.35, Z:-4.07 [[ 8.88211637e-01 -4.58326685e-01 3.18863173e-02 1.08131301e+02] [ 4.58022156e-01 8.88783773e-01 1.67065865e-02 2.93490249e+01] [-3.59971158e-02 -2.34344734e-04 9.99351866e-01 -4.07038895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.18, Y:29.37, Z:-4.07 [[ 8.88206162e-01 -4.58337627e-01 3.18815445e-02 1.08183324e+02] [ 4.58032778e-01 8.88778127e-01 1.67156895e-02 2.93745608e+01] [-3.59970489e-02 -2.44186049e-04 9.99351866e-01 -4.07099292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:108.23, Y:29.40, Z:-4.07 [[ 8.87952169e-01 -4.58829861e-01 3.18763958e-02 1.08234864e+02] [ 4.58524977e-01 8.88524115e-01 1.67255022e-02 2.93987315e+01] [-3.59971062e-02 -2.35322283e-04 9.99351866e-01 -4.07358963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:29.42, Z:-4.08 [[ 8.86261982e-01 -4.62086285e-01 3.18741931e-02 1.08288363e+02] [ 4.61783352e-01 8.86834964e-01 1.67296988e-02 2.94227486e+01] [-3.59977133e-02 -1.07924268e-04 9.99351866e-01 -4.07554046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:108.34, Y:29.45, Z:-4.08 [[ 8.85539106e-01 -4.63470419e-01 3.18694728e-02 1.08340117e+02] [ 4.63168058e-01 8.86112390e-01 1.67386860e-02 2.94487394e+01] [-3.59978205e-02 -6.18391714e-05 9.99351867e-01 -4.07765608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:108.39, Y:29.47, Z:-4.08 [[ 8.83331416e-01 -4.67664677e-01 3.18647180e-02 1.08393471e+02] [ 4.67364711e-01 8.83905957e-01 1.67477327e-02 2.94724383e+01] [-3.59977370e-02 9.86462906e-05 9.99351867e-01 -4.07953320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.121858064 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:29.50, Z:-4.08 [[ 8.81966507e-01 -4.70234004e-01 3.18600293e-02 1.08445753e+02] [ 4.69935390e-01 8.82541752e-01 1.67566474e-02 2.94973577e+01] [-3.59973515e-02 1.93353502e-04 9.99351867e-01 -4.08259355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.181858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:108.50, Y:29.52, Z:-4.08 [[ 8.80147000e-01 -4.73631179e-01 3.18553592e-02 1.08500091e+02] [ 4.73334464e-01 8.80723227e-01 1.67655210e-02 2.95199604e+01] [-3.59964282e-02 3.22116365e-04 9.99351867e-01 -4.08444909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241858064 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:108.55, Y:29.54, Z:-4.09 [[ 8.79034173e-01 -4.75693623e-01 3.18512162e-02 1.08552711e+02] [ 4.75397975e-01 8.79610948e-01 1.67733882e-02 2.95442797e+01] [-3.59956722e-02 3.97622238e-04 9.99351867e-01 -4.08569151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:108.60, Y:29.57, Z:-4.09 [[ 8.78540323e-01 -4.76605396e-01 3.18464708e-02 1.08604285e+02] [ 4.76310021e-01 8.79117237e-01 1.67823931e-02 2.95699727e+01] [-3.59953605e-02 4.24784075e-04 9.99351867e-01 -4.08821879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361858064 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:29.59, Z:-4.09 [[ 8.78018747e-01 -4.77565676e-01 3.18450150e-02 1.08657702e+02] [ 4.77270831e-01 8.78595933e-01 1.67851550e-02 2.95945078e+01] [-3.59949145e-02 4.61015940e-04 9.99351867e-01 -4.08935238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:108.71, Y:29.62, Z:-4.09 [[ 8.77972594e-01 -4.77650792e-01 3.18409367e-02 1.08708908e+02] [ 4.77355723e-01 8.78549664e-01 1.67928878e-02 2.96199209e+01] [-3.59949804e-02 4.55758074e-04 9.99351867e-01 -4.09236142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.481858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:29.65, Z:-4.10 [[ 8.79185627e-01 -4.75414544e-01 3.18377867e-02 1.08762368e+02] [ 4.75117790e-01 8.79761834e-01 1.67988579e-02 2.96454495e+01] [-3.59960909e-02 3.57384440e-04 9.99351867e-01 -4.09505006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.81, Y:29.67, Z:-4.10 [[ 8.80046104e-01 -4.73820090e-01 3.18335959e-02 1.08814520e+02] [ 4.73522005e-01 8.80621623e-01 1.68067956e-02 2.96716675e+01] [-3.59967503e-02 2.83153176e-04 9.99351867e-01 -4.09624452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.87, Y:29.70, Z:-4.10 [[ 8.81342528e-01 -4.71404353e-01 3.18321164e-02 1.08866711e+02] [ 4.71104590e-01 8.81917175e-01 1.68095972e-02 2.96964700e+01] [-3.59974075e-02 1.81243234e-04 9.99351867e-01 -4.09887522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:108.92, Y:29.73, Z:-4.11 [[ 8.79281443e-01 -4.75238003e-01 3.18274296e-02 1.08917024e+02] [ 4.74940424e-01 8.79857223e-01 1.68184666e-02 2.97266617e+01] [-3.59963683e-02 3.27967298e-04 9.99351867e-01 -4.10651216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:29.75, Z:-4.10 [[ 8.81385377e-01 -4.71324853e-01 3.18229581e-02 1.08971774e+02] [ 4.71024412e-01 8.81959669e-01 1.68269231e-02 2.97469629e+01] [-3.59975127e-02 1.58386234e-04 9.99351867e-01 -4.10063662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:29.77, Z:-4.10 [[ 8.81510790e-01 -4.71090563e-01 3.18183729e-02 1.09024973e+02] [ 4.70789656e-01 8.82084839e-01 1.68355890e-02 2.97707235e+01] [-3.59975914e-02 1.39007485e-04 9.99351867e-01 -4.10184098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.841858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:29.80, Z:-4.11 [[ 8.81335132e-01 -4.71419413e-01 3.18138817e-02 1.09078415e+02] [ 4.71118415e-01 8.81909132e-01 1.68440716e-02 2.97964241e+01] [-3.59975751e-02 1.42833391e-04 9.99351867e-01 -4.10511900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.901858064 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:29.82, Z:-4.11 [[ 8.82504353e-01 -4.69227290e-01 3.18090747e-02 1.09131843e+02] [ 4.68924538e-01 8.83077431e-01 1.68531445e-02 2.98212132e+01] [-3.59978313e-02 4.30822476e-05 9.99351867e-01 -4.10973067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.961858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:29.85, Z:-4.11 [[ 8.82504995e-01 -4.69226236e-01 3.18068108e-02 1.09184417e+02] [ 4.68923330e-01 8.83077991e-01 1.68574159e-02 2.98469635e+01] [-3.59978364e-02 3.82019072e-05 9.99351867e-01 -4.11210954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:29.87, Z:-4.11 [[ 8.81724724e-01 -4.70691131e-01 3.18020417e-02 1.09236493e+02] [ 4.70388853e-01 8.82298051e-01 1.68664083e-02 2.98727831e+01] [-3.59977482e-02 8.77967212e-05 9.99351867e-01 -4.11496716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:109.29, Y:29.90, Z:-4.12 [[ 8.79687501e-01 -4.74487961e-01 3.17974076e-02 1.09288206e+02] [ 4.74187842e-01 8.80261961e-01 1.68751402e-02 2.98977923e+01] [-3.59970992e-02 2.33094233e-04 9.99351867e-01 -4.11536450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:29.92, Z:-4.12 [[ 8.78441408e-01 -4.76791073e-01 3.17956991e-02 1.09339898e+02] [ 4.76492343e-01 8.79016591e-01 1.68783587e-02 2.99248509e+01] [-3.59963978e-02 3.23758034e-04 9.99351867e-01 -4.11711960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.39, Y:29.95, Z:-4.12 [[ 8.75978895e-01 -4.81300643e-01 3.17909730e-02 1.09391018e+02] [ 4.81004551e-01 8.76555442e-01 1.68872558e-02 2.99518555e+01] [-3.59943974e-02 4.98723047e-04 9.99351867e-01 -4.11695680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:29.98, Z:-4.12 [[ 8.74876169e-01 -4.83302553e-01 3.17857032e-02 1.09442369e+02] [ 4.83007420e-01 8.75453207e-01 1.68971689e-02 2.99797537e+01] [-3.59933407e-02 5.69800116e-04 9.99351867e-01 -4.11940216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.321858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:109.49, Y:30.01, Z:-4.12 [[ 8.74706611e-01 -4.83609638e-01 3.17814841e-02 1.09492797e+02] [ 4.83314420e-01 8.75283605e-01 1.69051008e-02 3.00076642e+01] [-3.59932817e-02 5.73446105e-04 9.99351867e-01 -4.12316987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.54, Y:30.04, Z:-4.13 [[ 8.74778486e-01 -4.83479712e-01 3.17800071e-02 1.09543242e+02] [ 4.83184308e-01 8.75355384e-01 1.69078769e-02 3.00373051e+01] [-3.59934158e-02 5.64953786e-04 9.99351867e-01 -4.12578974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.59, Y:30.07, Z:-4.13 [[ 8.75102052e-01 -4.82894125e-01 3.17752001e-02 1.09593900e+02] [ 4.82598006e-01 8.75678584e-01 1.69169060e-02 3.00665376e+01] [-3.59939368e-02 5.30629125e-04 9.99351867e-01 -4.12710606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:109.64, Y:30.10, Z:-4.13 [[ 8.75285202e-01 -4.82562343e-01 3.17710533e-02 1.09644074e+02] [ 4.82265723e-01 8.75861477e-01 1.69246905e-02 3.00954704e+01] [-3.59942599e-02 5.08158882e-04 9.99351867e-01 -4.12795501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:30.13, Z:-4.13 [[ 8.76478656e-01 -4.80391582e-01 3.17662326e-02 1.09693662e+02] [ 4.80093207e-01 8.77054024e-01 1.69337337e-02 3.01253009e+01] [-3.59955252e-02 4.08696311e-04 9.99351868e-01 -4.12984256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:30.15, Z:-4.13 [[ 8.78471208e-01 -4.76738446e-01 3.17614844e-02 1.09743592e+02] [ 4.76437356e-01 8.79045160e-01 1.69426349e-02 3.01546958e+01] [-3.59969845e-02 2.48740661e-04 9.99351868e-01 -4.13303721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:30.18, Z:-4.14 [[ 8.79768412e-01 -4.74340429e-01 3.17600243e-02 1.09793937e+02] [ 4.74037677e-01 8.80341488e-01 1.69453714e-02 3.01826171e+01] [-3.59975418e-02 1.47445684e-04 9.99351868e-01 -4.13562816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:30.21, Z:-4.14 [[ 8.81006223e-01 -4.72037742e-01 3.17554027e-02 1.09845147e+02] [ 4.71733180e-01 8.81578339e-01 1.69540278e-02 3.02107039e+01] [-3.59978162e-02 4.34731253e-05 9.99351868e-01 -4.13622470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:30.24, Z:-4.14 [[ 8.83101002e-01 -4.68107208e-01 3.17531535e-02 1.09895617e+02] [ 4.67799948e-01 8.83671674e-01 1.69582393e-02 3.02374418e+01] [-3.59976364e-02 -1.21714521e-04 9.99351868e-01 -4.13826797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:30.26, Z:-4.14 [[ 8.84873143e-01 -4.64748738e-01 3.17510855e-02 1.09948019e+02] [ 4.64439173e-01 8.85442568e-01 1.69621105e-02 3.02634519e+01] [-3.59968821e-02 -2.62868132e-04 9.99351868e-01 -4.13934099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:30.29, Z:-4.14 [[ 8.85605136e-01 -4.63352688e-01 3.17463383e-02 1.09999746e+02] [ 4.63041907e-01 8.86173898e-01 1.69709907e-02 3.02907717e+01] [-3.59963305e-02 -3.29711462e-04 9.99351868e-01 -4.13975786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:30.32, Z:-4.14 [[ 8.85127918e-01 -4.64263965e-01 3.17417566e-02 1.10051592e+02] [ 4.63953463e-01 8.85696832e-01 1.69795558e-02 3.03158697e+01] [-3.59965691e-02 -3.02380998e-04 9.99351868e-01 -4.14232496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:110.10, Y:30.34, Z:-4.14 [[ 8.84790502e-01 -4.64906800e-01 3.17401220e-02 1.10103890e+02] [ 4.64596602e-01 8.85359582e-01 1.69826108e-02 3.03418692e+01] [-3.59967524e-02 -2.79699960e-04 9.99351868e-01 -4.14491185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:30.37, Z:-4.15 [[ 8.84193302e-01 -4.66041922e-01 3.17353368e-02 1.10155123e+02] [ 4.65732133e-01 8.84762605e-01 1.69915482e-02 3.03670991e+01] [-3.59970130e-02 -2.43646973e-04 9.99351868e-01 -4.14794882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:110.21, Y:30.39, Z:-4.15 [[ 8.83421054e-01 -4.67504268e-01 3.17332802e-02 1.10208166e+02] [ 4.67195283e-01 8.83990794e-01 1.69953881e-02 3.03927957e+01] [-3.59973441e-02 -1.88444843e-04 9.99351868e-01 -4.15092542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.26, Y:30.42, Z:-4.15 [[ 8.81583494e-01 -4.70960515e-01 3.17291252e-02 1.10261229e+02] [ 4.70653485e-01 8.82154289e-01 1.70031416e-02 3.04164574e+01] [-3.59977923e-02 -5.62656339e-05 9.99351868e-01 -4.15114462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:30.44, Z:-4.15 [[ 8.79727857e-01 -4.74418034e-01 3.17242247e-02 1.10313778e+02] [ 4.74112918e-01 8.80299678e-01 1.70122801e-02 3.04427941e+01] [-3.59977573e-02 7.46880264e-05 9.99351868e-01 -4.15228895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:30.47, Z:-4.15 [[ 8.77194485e-01 -4.79086296e-01 3.17199604e-02 1.10366412e+02] [ 4.78783936e-01 8.77767768e-01 1.70202273e-02 3.04690312e+01] [-3.59969165e-02 2.56957919e-04 9.99351868e-01 -4.15320580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:30.50, Z:-4.15 [[ 8.75864668e-01 -4.81513443e-01 3.17157431e-02 1.10418245e+02] [ 4.81212386e-01 8.76438637e-01 1.70280823e-02 3.04970294e+01] [-3.59961531e-02 3.47712804e-04 9.99351868e-01 -4.15446159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:30.53, Z:-4.16 [[ 8.75460809e-01 -4.82247602e-01 3.17115550e-02 1.10468725e+02] [ 4.81946745e-01 8.76034882e-01 1.70358783e-02 3.05250381e+01] [-3.59959398e-02 3.69036942e-04 9.99351868e-01 -4.15641844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521858064 meters Centerline goodness : 0.996482 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:30.56, Z:-4.16 [[ 8.76073113e-01 -4.81134681e-01 3.17067572e-02 1.10519878e+02] [ 4.80832772e-01 8.76646634e-01 1.70448031e-02 3.05550938e+01] [-3.59964679e-02 3.13154176e-04 9.99351868e-01 -4.16071957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.57, Y:30.59, Z:-4.16 [[ 8.76699127e-01 -4.79993372e-01 3.17018003e-02 1.10570945e+02] [ 4.79690382e-01 8.77272077e-01 1.70540174e-02 3.05853843e+01] [-3.59969196e-02 2.55806547e-04 9.99351868e-01 -4.16377168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641858064 meters Centerline goodness : 0.994727 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:30.61, Z:-4.17 [[ 8.78149341e-01 -4.77335363e-01 3.16967825e-02 1.10620691e+02] [ 4.77030302e-01 8.78721192e-01 1.70633386e-02 3.06146025e+01] [-3.59975694e-02 1.36166229e-04 9.99351868e-01 -4.16859491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.67, Y:30.65, Z:-4.16 [[ 8.80453156e-01 -4.73072797e-01 3.16917632e-02 1.10670846e+02] [ 4.72764633e-01 8.81023340e-01 1.70726557e-02 3.06463168e+01] [-3.59977921e-02 -4.89288106e-05 9.99351868e-01 -4.16499540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:30.68, Z:-4.17 [[ 8.79939492e-01 -4.74027889e-01 3.16867786e-02 1.10721257e+02] [ 4.73720010e-01 8.80509830e-01 1.70819022e-02 3.06756663e+01] [-3.59978181e-02 -2.03792897e-05 9.99351868e-01 -4.16774938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.821858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:30.71, Z:-4.17 [[ 8.80271723e-01 -4.73410989e-01 3.16816873e-02 1.10770621e+02] [ 4.73102371e-01 8.80841661e-01 1.70913398e-02 3.07057457e+01] [-3.59977782e-02 -5.63417508e-05 9.99351868e-01 -4.16952022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:110.82, Y:30.74, Z:-4.17 [[ 8.79880534e-01 -4.74137986e-01 3.16767496e-02 1.10819497e+02] [ 4.73829510e-01 8.80450549e-01 1.71004864e-02 3.07373368e+01] [-3.59978017e-02 -3.70063722e-05 9.99351868e-01 -4.17267026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:30.77, Z:-4.18 [[ 8.79555325e-01 -4.74741320e-01 3.16718998e-02 1.10869522e+02] [ 4.74432912e-01 8.80125377e-01 1.71094640e-02 3.07667919e+01] [-3.59978123e-02 -2.25285018e-05 9.99351868e-01 -4.17561521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.92, Y:30.80, Z:-4.18 [[ 8.79189319e-01 -4.75419126e-01 3.16669606e-02 1.10919558e+02] [ 4.75110828e-01 8.79759430e-01 1.71186008e-02 3.07953852e+01] [-3.59978174e-02 -5.17511218e-06 9.99351869e-01 -4.17745728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:110.97, Y:30.83, Z:-4.18 [[ 8.78671193e-01 -4.76376371e-01 3.16620955e-02 1.10969061e+02] [ 4.76068370e-01 8.79241464e-01 1.71275945e-02 3.08253025e+01] [-3.59978085e-02 2.37983328e-05 9.99351869e-01 -4.18054382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.02, Y:30.86, Z:-4.18 [[ 8.77833769e-01 -4.77918076e-01 3.16573156e-02 1.11019448e+02] [ 4.77610758e-01 8.78404409e-01 1.71364246e-02 3.08568557e+01] [-3.59977327e-02 7.69423121e-05 9.99351869e-01 -4.18085724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.07, Y:30.89, Z:-4.18 [[ 8.76160803e-01 -4.80978531e-01 3.16527979e-02 1.11069561e+02] [ 4.80672905e-01 8.76732351e-01 1.71447653e-02 3.08852573e+01] [-3.59972959e-02 1.93071003e-04 9.99351869e-01 -4.18074724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241858064 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:30.92, Z:-4.18 [[ 8.74850287e-01 -4.83358221e-01 3.16513139e-02 1.11119476e+02] [ 4.83054051e-01 8.75422610e-01 1.71475046e-02 3.09153597e+01] [-3.59966631e-02 2.87796112e-04 9.99351869e-01 -4.18232160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:30.95, Z:-4.18 [[ 8.73671671e-01 -4.85485675e-01 3.16460210e-02 1.11168972e+02] [ 4.85182545e-01 8.74244546e-01 1.71572671e-02 3.09461325e+01] [-3.59959687e-02 3.64278790e-04 9.99351869e-01 -4.18445951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:30.98, Z:-4.19 [[ 8.73494001e-01 -4.85805657e-01 3.16400773e-02 1.11217256e+02] [ 4.85502339e-01 8.74066777e-01 1.71682210e-02 3.09770283e+01] [-3.59959593e-02 3.64993452e-04 9.99351869e-01 -4.18604158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:31.01, Z:-4.19 [[ 8.74167794e-01 -4.84592527e-01 3.16346434e-02 1.11267027e+02] [ 4.84288052e-01 8.74739956e-01 1.71782278e-02 3.10074555e+01] [-3.59965274e-02 3.03626344e-04 9.99351869e-01 -4.18773587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:31.04, Z:-4.19 [[ 8.75915635e-01 -4.81426407e-01 3.16293318e-02 1.11316463e+02] [ 4.81119512e-01 8.76486502e-01 1.71880022e-02 3.10384416e+01] [-3.59974405e-02 1.62248801e-04 9.99351869e-01 -4.18933845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.541858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:31.07, Z:-4.19 [[ 8.76526560e-01 -4.80313543e-01 3.16241976e-02 1.11365167e+02] [ 4.80005582e-01 8.77096853e-01 1.71974434e-02 3.10677193e+01] [-3.59976492e-02 1.05775442e-04 9.99351869e-01 -4.19063438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:111.41, Y:31.10, Z:-4.19 [[ 8.77787244e-01 -4.78005944e-01 3.16207383e-02 1.11414428e+02] [ 4.77696255e-01 8.78356600e-01 1.72038016e-02 3.10979360e+01] [-3.59978037e-02 3.83064834e-06 9.99351869e-01 -4.19140796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.46, Y:31.13, Z:-4.19 [[ 8.78925698e-01 -4.75909712e-01 3.16158671e-02 1.11463609e+02] [ 4.75598342e-01 8.79494138e-01 1.72127490e-02 3.11297436e+01] [-3.59976842e-02 -9.22734551e-05 9.99351869e-01 -4.19292477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:31.16, Z:-4.19 [[ 8.78834313e-01 -4.76078767e-01 3.16110571e-02 1.11513759e+02] [ 4.75767189e-01 8.79402637e-01 1.72215780e-02 3.11596643e+01] [-3.59976746e-02 -9.54098423e-05 9.99351869e-01 -4.19428908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.56, Y:31.19, Z:-4.20 [[ 8.77809622e-01 -4.77965804e-01 3.16062826e-02 1.11563549e+02] [ 4.77655133e-01 8.78378443e-01 1.72303361e-02 3.11894303e+01] [-3.59977887e-02 -2.80516859e-05 9.99351869e-01 -4.19762840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:31.22, Z:-4.20 [[ 8.77117240e-01 -4.79235566e-01 3.16009312e-02 1.11614011e+02] [ 4.78925365e-01 8.77686318e-01 1.72401451e-02 3.12183292e+01] [-3.59977956e-02 1.28590115e-05 9.99351869e-01 -4.20172748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.901858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:31.25, Z:-4.20 [[ 8.75670337e-01 -4.81874655e-01 3.15955302e-02 1.11663904e+02] [ 4.81565812e-01 8.76240152e-01 1.72500377e-02 3.12483843e+01] [-3.59976281e-02 1.09980842e-04 9.99351869e-01 -4.20335153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.961858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:111.71, Y:31.28, Z:-4.20 [[ 8.72409798e-01 -4.87753211e-01 3.15903446e-02 1.11714158e+02] [ 4.87447864e-01 8.72981494e-01 1.72595290e-02 3.12779082e+01] [-3.59961769e-02 3.41263788e-04 9.99351869e-01 -4.20493076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.77, Y:31.30, Z:-4.21 [[ 8.70639012e-01 -4.90907392e-01 3.15854808e-02 1.11766458e+02] [ 4.90603794e-01 8.71211639e-01 1.72684253e-02 3.13032558e+01] [-3.59948361e-02 4.61391935e-04 9.99351869e-01 -4.20554304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:111.81, Y:31.34, Z:-4.21 [[ 8.67429797e-01 -4.96556146e-01 3.15838626e-02 1.11814936e+02] [ 4.96256168e-01 8.68004329e-01 1.72713843e-02 3.13377573e+01] [-3.59911415e-02 6.91973244e-04 9.99351869e-01 -4.21033136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:31.37, Z:-4.22 [[ 8.66264245e-01 -4.98587019e-01 3.15791290e-02 1.11863201e+02] [ 4.98288073e-01 8.66839314e-01 1.72800350e-02 3.13699884e+01] [-3.59896317e-02 7.66426875e-04 9.99351869e-01 -4.21609335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.91, Y:31.40, Z:-4.22 [[ 8.66604029e-01 -4.97996521e-01 3.15740754e-02 1.11911847e+02] [ 4.97696847e-01 8.67178718e-01 1.72892640e-02 3.13993406e+01] [-3.59903596e-02 7.31371909e-04 9.99351870e-01 -4.21762786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.96, Y:31.43, Z:-4.22 [[ 8.67227872e-01 -4.96909662e-01 3.15690636e-02 1.11960487e+02] [ 4.96608934e-01 8.67802012e-01 1.72984104e-02 3.14304991e+01] [-3.59914442e-02 6.75815376e-04 9.99351870e-01 -4.21827447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:31.46, Z:-4.22 [[ 8.67806665e-01 -4.95898258e-01 3.15675407e-02 1.12009887e+02] [ 4.95596760e-01 8.68380400e-01 1.73011890e-02 3.14610908e+01] [-3.59922632e-02 6.30683772e-04 9.99351870e-01 -4.22028544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.06, Y:31.49, Z:-4.22 [[ 8.68935967e-01 -4.93917075e-01 3.15627533e-02 1.12061111e+02] [ 4.93613952e-01 8.69508846e-01 1.73099184e-02 3.14898326e+01] [-3.59937575e-02 5.38604667e-04 9.99351870e-01 -4.21907904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:31.52, Z:-4.23 [[ 8.69500072e-01 -4.92923649e-01 3.15579163e-02 1.12109775e+02] [ 4.92619551e-01 8.70072433e-01 1.73187323e-02 3.15215885e+01] [-3.59944857e-02 4.87407615e-04 9.99351870e-01 -4.22581825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:31.55, Z:-4.23 [[ 8.70851455e-01 -4.90532304e-01 3.15563284e-02 1.12160259e+02] [ 4.90226530e-01 8.71422923e-01 1.73216251e-02 3.15506677e+01] [-3.59957246e-02 3.85187006e-04 9.99351870e-01 -4.22853091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:31.58, Z:-4.23 [[ 8.74004541e-01 -4.84892300e-01 3.15518683e-02 1.12210424e+02] [ 4.84582545e-01 8.74573860e-01 1.73297456e-02 3.15794641e+01] [-3.59974994e-02 1.43208287e-04 9.99351870e-01 -4.23216741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:31.61, Z:-4.23 [[ 8.75945121e-01 -4.81378145e-01 3.15472148e-02 1.12261087e+02] [ 4.81065801e-01 8.76513024e-01 1.73382127e-02 3.16075922e+01] [-3.59977813e-02 -1.10366097e-05 9.99351870e-01 -4.23323432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.681858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.31, Y:31.64, Z:-4.24 [[ 8.77192690e-01 -4.79101338e-01 3.15418994e-02 1.12311251e+02] [ 4.78787173e-01 8.77759588e-01 1.73478772e-02 3.16360622e+01] [-3.59975958e-02 -1.15574197e-04 9.99351870e-01 -4.23549669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741858064 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:112.36, Y:31.66, Z:-4.24 [[ 8.77425760e-01 -4.78674689e-01 3.15369163e-02 1.12362455e+02] [ 4.78359923e-01 8.77992324e-01 1.73569312e-02 3.16629486e+01] [-3.59974941e-02 -1.43421668e-04 9.99351870e-01 -4.23724993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:112.41, Y:31.69, Z:-4.24 [[ 8.76356431e-01 -4.80629946e-01 3.15319070e-02 1.12414351e+02] [ 4.80316117e-01 8.76923514e-01 1.73660268e-02 3.16896173e+01] [-3.59977032e-02 -7.35460938e-05 9.99351870e-01 -4.23965943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.47, Y:31.71, Z:-4.24 [[ 8.74261786e-01 -4.84429959e-01 3.15268774e-02 1.12466496e+02] [ 4.84118265e-01 8.74830046e-01 1.73751529e-02 3.17146786e+01] [-3.59977042e-02 7.23049509e-05 9.99351870e-01 -4.24132120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.52, Y:31.74, Z:-4.24 [[ 8.72480083e-01 -4.87631909e-01 3.15218382e-02 1.12518213e+02] [ 4.87321970e-01 8.73049302e-01 1.73842902e-02 3.17396533e+01] [-3.59972534e-02 1.93837286e-04 9.99351870e-01 -4.24475333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.981858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:112.57, Y:31.77, Z:-4.25 [[ 8.69095429e-01 -4.93639185e-01 3.15196741e-02 1.12567997e+02] [ 4.93333038e-01 8.69666697e-01 1.73882131e-02 3.17699760e+01] [-3.59951142e-02 4.37680070e-04 9.99351870e-01 -4.25320419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.62, Y:31.79, Z:-4.25 [[ 8.70695720e-01 -4.90811328e-01 3.15151260e-02 1.12622426e+02] [ 4.90503028e-01 8.71265828e-01 1.73964523e-02 3.17908534e+01] [-3.59964282e-02 3.11248140e-04 9.99351870e-01 -4.24768877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:112.67, Y:31.82, Z:-4.25 [[ 8.70631755e-01 -4.90924886e-01 3.15135392e-02 1.12673655e+02] [ 4.90616556e-01 8.71201847e-01 1.73993263e-02 3.18179890e+01] [-3.59964158e-02 3.12658032e-04 9.99351870e-01 -4.25105248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:31.84, Z:-4.25 [[ 8.71052958e-01 -4.90177471e-01 3.15085876e-02 1.12723950e+02] [ 4.89868327e-01 8.71622610e-01 1.74082885e-02 3.18443611e+01] [-3.59967482e-02 2.71517897e-04 9.99351870e-01 -4.25425293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:112.78, Y:31.87, Z:-4.26 [[ 8.70459955e-01 -4.91229896e-01 3.15064592e-02 1.12775263e+02] [ 4.90921301e-01 8.71029904e-01 1.74121398e-02 3.18708443e+01] [-3.59964317e-02 3.10621581e-04 9.99351870e-01 -4.25729071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.82, Y:31.90, Z:-4.27 [[ 8.66882070e-01 -4.97516968e-01 3.15014727e-02 1.12822451e+02] [ 4.97212179e-01 8.67454063e-01 1.74211566e-02 3.19047798e+01] [-3.59934015e-02 5.60827543e-04 9.99351870e-01 -4.26595821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.341858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.88, Y:31.93, Z:-4.26 [[ 8.68699939e-01 -4.94336137e-01 3.14991967e-02 1.12875949e+02] [ 4.94029105e-01 8.69270731e-01 1.74252708e-02 3.19298177e+01] [-3.59952708e-02 4.24188266e-04 9.99351870e-01 -4.26326027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.401858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:31.95, Z:-4.26 [[ 8.70663381e-01 -4.90869999e-01 3.14947969e-02 1.12929058e+02] [ 4.90560406e-01 8.71232788e-01 1.74332195e-02 3.19532136e+01] [-3.59967441e-02 2.71634501e-04 9.99351870e-01 -4.26018371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.461858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.98, Y:31.98, Z:-4.26 [[ 8.73427833e-01 -4.85934347e-01 3.14901844e-02 1.12980389e+02] [ 4.85621236e-01 8.73995313e-01 1.74415472e-02 3.19813693e+01] [-3.59977204e-02 5.83694778e-05 9.99351870e-01 -4.26233687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:32.01, Z:-4.27 [[ 8.74856706e-01 -4.83357468e-01 3.14849508e-02 1.13031323e+02] [ 4.83042347e-01 8.75423072e-01 1.74509897e-02 3.20084723e+01] [-3.59977185e-02 -5.85508916e-05 9.99351870e-01 -4.26503344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:113.08, Y:32.04, Z:-4.27 [[ 8.76175725e-01 -4.80962692e-01 3.14799649e-02 1.13080940e+02] [ 4.80645700e-01 8.76741045e-01 1.74599791e-02 3.20369372e+01] [-3.59973759e-02 -1.67300057e-04 9.99351870e-01 -4.26974314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:113.13, Y:32.06, Z:-4.27 [[ 8.78007584e-01 -4.77610553e-01 3.14776412e-02 1.13133805e+02] [ 4.77291252e-01 8.78571604e-01 1.74641674e-02 3.20613279e+01] [-3.59964324e-02 -3.09668675e-04 9.99351870e-01 -4.27016399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.18, Y:32.09, Z:-4.27 [[ 8.77929401e-01 -4.77754599e-01 3.14723581e-02 1.13184630e+02] [ 4.77435050e-01 8.78493280e-01 1.74736829e-02 3.20883299e+01] [-3.59963875e-02 -3.14653042e-04 9.99351871e-01 -4.27300404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.761858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:113.24, Y:32.11, Z:-4.28 [[ 8.76952443e-01 -4.79545625e-01 3.14707303e-02 1.13236722e+02] [ 4.79227122e-01 8.77516914e-01 1.74766142e-02 3.21139542e+01] [-3.59969320e-02 -2.44531998e-04 9.99351871e-01 -4.27626386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.29, Y:32.14, Z:-4.28 [[ 8.75006918e-01 -4.83086730e-01 3.14659287e-02 1.13289149e+02] [ 4.82770200e-01 8.75572498e-01 1.74852550e-02 3.21367625e+01] [-3.59975965e-02 -1.08906430e-04 9.99351871e-01 -4.27726930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:113.34, Y:32.16, Z:-4.28 [[ 8.73366956e-01 -4.86045532e-01 3.14626985e-02 1.13341881e+02] [ 4.85730709e-01 8.73933488e-01 1.74910654e-02 3.21623928e+01] [-3.59977600e-02 6.28037001e-06 9.99351871e-01 -4.27905243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:32.19, Z:-4.28 [[ 8.71286547e-01 -4.89765391e-01 3.14581586e-02 1.13394318e+02] [ 4.89452692e-01 8.71854254e-01 1.74992267e-02 3.21869394e+01] [-3.59974450e-02 1.50439600e-04 9.99351871e-01 -4.28324353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.45, Y:32.21, Z:-4.28 [[ 8.70957723e-01 -4.90350203e-01 3.14535138e-02 1.13446848e+02] [ 4.90037584e-01 8.71525473e-01 1.75075715e-02 3.22126455e+01] [-3.59973797e-02 1.65049366e-04 9.99351871e-01 -4.28492460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:32.24, Z:-4.29 [[ 8.68767049e-01 -4.94221397e-01 3.14487826e-02 1.13499303e+02] [ 4.93911000e-01 8.69336017e-01 1.75160661e-02 3.22384889e+01] [-3.59963740e-02 3.15518644e-04 9.99351871e-01 -4.28672586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:32.27, Z:-4.29 [[ 8.67519794e-01 -4.96407816e-01 3.14433875e-02 1.13550380e+02] [ 4.96098503e-01 8.68089353e-01 1.75257454e-02 3.22650172e+01] [-3.59955869e-02 3.95086408e-04 9.99351871e-01 -4.29005539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.60, Y:32.29, Z:-4.29 [[ 8.66336487e-01 -4.98470380e-01 3.14383864e-02 1.13601373e+02] [ 4.98162097e-01 8.66906604e-01 1.75347120e-02 3.22905347e+01] [-3.59946794e-02 4.70451726e-04 9.99351871e-01 -4.29312120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:113.66, Y:32.31, Z:-4.29 [[ 8.65909864e-01 -4.99211321e-01 3.14350738e-02 1.13655881e+02] [ 4.98903311e-01 8.66480128e-01 1.75406487e-02 3.23142550e+01] [-3.59943572e-02 4.94441681e-04 9.99351871e-01 -4.29234489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:113.71, Y:32.34, Z:-4.30 [[ 8.65448409e-01 -5.00011170e-01 3.14305882e-02 1.13708452e+02] [ 4.99703395e-01 8.66018799e-01 1.75486825e-02 3.23413535e+01] [-3.59940176e-02 5.18492259e-04 9.99351871e-01 -4.29638615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:32.37, Z:-4.30 [[ 8.65704677e-01 -4.99567640e-01 3.14258634e-02 1.13758179e+02] [ 4.99259266e-01 8.66274744e-01 1.75571396e-02 3.23708508e+01] [-3.59944106e-02 4.90355618e-04 9.99351871e-01 -4.30104626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.81, Y:32.40, Z:-4.30 [[ 8.68909917e-01 -4.93971973e-01 3.14204651e-02 1.13809711e+02] [ 4.93659578e-01 8.69477791e-01 1.75667951e-02 3.23954433e+01] [-3.59969011e-02 2.47051049e-04 9.99351871e-01 -4.29903922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.481858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:113.86, Y:32.42, Z:-4.30 [[ 8.70261637e-01 -4.91586885e-01 3.14168348e-02 1.13861236e+02] [ 4.91272699e-01 8.70828522e-01 1.75732852e-02 3.24229240e+01] [-3.59974724e-02 1.40877260e-04 9.99351871e-01 -4.30347784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.541858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:32.45, Z:-4.31 [[ 8.71755025e-01 -4.88934020e-01 3.14117896e-02 1.13912728e+02] [ 4.88617785e-01 8.72320769e-01 1.75822988e-02 3.24480733e+01] [-3.59977405e-02 2.09017252e-05 9.99351871e-01 -4.30528091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.97, Y:32.47, Z:-4.31 [[ 8.72111929e-01 -4.88297473e-01 3.14063865e-02 1.13965169e+02] [ 4.87980477e-01 8.72677247e-01 1.75919448e-02 3.24739376e+01] [-3.59977411e-02 -1.64414429e-05 9.99351871e-01 -4.30724928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:32.50, Z:-4.31 [[ 8.72211985e-01 -4.88119079e-01 3.14009163e-02 1.14017391e+02] [ 4.87801616e-01 8.72777041e-01 1.76017036e-02 3.24999010e+01] [-3.59977261e-02 -3.49991178e-05 9.99351871e-01 -4.31055646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:32.52, Z:-4.31 [[ 8.71472753e-01 -4.89438005e-01 3.13955295e-02 1.14070176e+02] [ 4.89121052e-01 8.72038095e-01 1.76113066e-02 3.25239867e+01] [-3.59977405e-02 8.44053303e-06 9.99351871e-01 -4.31204273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:32.55, Z:-4.31 [[ 8.70148661e-01 -4.91788551e-01 3.13899424e-02 1.14121867e+02] [ 4.91472766e-01 8.70714656e-01 1.76212592e-02 3.25501173e+01] [-3.59976164e-02 9.41866803e-05 9.99351871e-01 -4.31383878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:32.57, Z:-4.32 [[ 8.67146580e-01 -4.97063194e-01 3.13845667e-02 1.14173138e+02] [ 4.96750504e-01 8.67714291e-01 1.76308284e-02 3.25747280e+01] [-3.59964729e-02 3.01786801e-04 9.99351871e-01 -4.31645622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.22, Y:32.61, Z:-4.33 [[ 8.62741879e-01 -5.04669861e-01 3.13812200e-02 1.14223235e+02] [ 5.04361960e-01 8.63312201e-01 1.76367833e-02 3.26060269e+01] [-3.59925431e-02 6.11502022e-04 9.99351871e-01 -4.32621337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.28, Y:32.63, Z:-4.32 [[ 8.62511921e-01 -5.05063059e-01 3.13766352e-02 1.14275781e+02] [ 5.04755121e-01 8.63082223e-01 1.76449360e-02 3.26302200e+01] [-3.59924214e-02 6.18549676e-04 9.99351871e-01 -4.32098220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.33, Y:32.66, Z:-4.32 [[ 8.61357152e-01 -5.07030117e-01 3.13738213e-02 1.14325721e+02] [ 5.06723299e-01 8.61928058e-01 1.76499380e-02 3.26585789e+01] [-3.59910270e-02 6.94945849e-04 9.99351871e-01 -4.32287657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:32.69, Z:-4.33 [[ 8.60698105e-01 -5.08148272e-01 3.13704628e-02 1.14376092e+02] [ 5.07841979e-01 8.61269292e-01 1.76559052e-02 3.26880881e+01] [-3.59902340e-02 7.34833775e-04 9.99351872e-01 -4.32509722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:32.72, Z:-4.33 [[ 8.60256573e-01 -5.08895706e-01 3.13654203e-02 1.14424647e+02] [ 5.08589583e-01 8.60827851e-01 1.76648587e-02 3.27180776e+01] [-3.59897980e-02 7.55815230e-04 9.99351872e-01 -4.32763479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.47, Y:32.75, Z:-4.33 [[ 8.61026665e-01 -5.07591793e-01 3.13632487e-02 1.14472800e+02] [ 5.07284664e-01 8.61597404e-01 1.76687133e-02 3.27510227e+01] [-3.59909875e-02 6.96861760e-04 9.99351872e-01 -4.32843192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.52, Y:32.78, Z:-4.33 [[ 8.61696283e-01 -5.06454513e-01 3.13582958e-02 1.14522259e+02] [ 5.06146311e-01 8.62266442e-01 1.76774994e-02 3.27817407e+01] [-3.59920555e-02 6.39250199e-04 9.99351872e-01 -4.33003366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:32.81, Z:-4.33 [[ 8.62618256e-01 -5.04882872e-01 3.13533003e-02 1.14570654e+02] [ 5.04573310e-01 8.63187678e-01 1.76863551e-02 3.28133612e+01] [-3.59933202e-02 5.63465654e-04 9.99351872e-01 -4.32928209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:114.62, Y:32.85, Z:-4.33 [[ 8.62669767e-01 -5.04795149e-01 3.13485381e-02 1.14619619e+02] [ 5.04485222e-01 8.63238991e-01 1.76947919e-02 3.28450728e+01] [-3.59935255e-02 5.50112181e-04 9.99351872e-01 -4.33117494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.67, Y:32.88, Z:-4.33 [[ 8.63126478e-01 -5.04014169e-01 3.13432601e-02 1.14667760e+02] [ 5.03703388e-01 8.63695236e-01 1.77041360e-02 3.28781816e+01] [-3.59941598e-02 5.06797799e-04 9.99351872e-01 -4.33299616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.72, Y:32.91, Z:-4.34 [[ 8.62360575e-01 -5.05323813e-01 3.13381912e-02 1.14715511e+02] [ 5.05013570e-01 8.62929627e-01 1.77131041e-02 3.29109197e+01] [-3.59935069e-02 5.51129157e-04 9.99351872e-01 -4.33691907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:32.94, Z:-4.34 [[ 8.60955639e-01 -5.07714150e-01 3.13325788e-02 1.14764512e+02] [ 5.07405125e-01 8.61525353e-01 1.77230263e-02 3.29422212e+01] [-3.59920422e-02 6.39571655e-04 9.99351872e-01 -4.33997721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.81, Y:32.97, Z:-4.34 [[ 8.59472023e-01 -5.10221953e-01 3.13272938e-02 1.14813467e+02] [ 5.09914251e-01 8.60042452e-01 1.77323631e-02 3.29727318e+01] [-3.59902435e-02 7.33763528e-04 9.99351872e-01 -4.34376732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.681858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:114.86, Y:33.00, Z:-4.35 [[ 8.59020699e-01 -5.10981770e-01 3.13220298e-02 1.14861868e+02] [ 5.10674234e-01 8.59591217e-01 1.77416563e-02 3.30036123e+01] [-3.59898047e-02 7.54903562e-04 9.99351872e-01 -4.34854911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:33.03, Z:-4.35 [[ 8.57350628e-01 -5.13779109e-01 3.13197691e-02 1.14910859e+02] [ 5.13473288e-01 8.57922068e-01 1.77456464e-02 3.30341236e+01] [-3.59872634e-02 8.67623738e-04 9.99351872e-01 -4.35015600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:33.07, Z:-4.35 [[ 8.56816905e-01 -5.14668995e-01 3.13148000e-02 1.14959860e+02] [ 5.14363447e-01 8.57388491e-01 1.77544107e-02 3.30659565e+01] [-3.59865939e-02 8.94909254e-04 9.99351872e-01 -4.35229809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:33.10, Z:-4.35 [[ 8.57515008e-01 -5.13505308e-01 3.13098911e-02 1.15008548e+02] [ 5.13198669e-01 8.58086009e-01 1.77630633e-02 3.30978246e+01] [-3.59880068e-02 8.36101089e-04 9.99351872e-01 -4.35486109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:33.13, Z:-4.36 [[ 8.62255150e-01 -5.05505762e-01 3.13046303e-02 1.15056647e+02] [ 5.05193488e-01 8.62823089e-01 1.77723299e-02 3.31292438e+01] [-3.59943730e-02 4.90612360e-04 9.99351872e-01 -4.35638175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.981858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:115.11, Y:33.16, Z:-4.36 [[ 8.64707448e-01 -5.01299503e-01 3.13023635e-02 1.15105346e+02] [ 5.00984322e-01 8.65273778e-01 1.77763216e-02 3.31602295e+01] [-3.59963755e-02 3.10675655e-04 9.99351872e-01 -4.35784018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.041858064 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:115.15, Y:33.19, Z:-4.36 [[ 8.66225698e-01 -4.98671748e-01 3.12974027e-02 1.15153831e+02] [ 4.98354533e-01 8.66790892e-01 1.77850513e-02 3.31927415e+01] [-3.59972062e-02 1.91334018e-04 9.99351872e-01 -4.35842849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101858064 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:115.20, Y:33.22, Z:-4.36 [[ 8.65757320e-01 -4.99484779e-01 3.12924491e-02 1.15202695e+02] [ 4.99167780e-01 8.66322636e-01 1.77937628e-02 3.32244760e+01] [-3.59970707e-02 2.15101909e-04 9.99351872e-01 -4.36029848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161858064 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:33.26, Z:-4.36 [[ 8.64043710e-01 -5.02443595e-01 3.12873854e-02 1.15251338e+02] [ 5.02128209e-01 8.64609927e-01 1.78026621e-02 3.32551626e+01] [-3.59962175e-02 3.28000547e-04 9.99351872e-01 -4.36249718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221858064 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:33.29, Z:-4.37 [[ 8.62081366e-01 -5.05803275e-01 3.12852088e-02 1.15300925e+02] [ 5.05489958e-01 8.62648730e-01 1.78064863e-02 3.32855389e+01] [-3.59947247e-02 4.63718801e-04 9.99351872e-01 -4.36541505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281858064 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:115.35, Y:33.31, Z:-4.37 [[ 8.58954185e-01 -5.11096138e-01 3.12801137e-02 1.15350782e+02] [ 5.10785991e-01 8.59523288e-01 1.78154321e-02 3.33148291e+01] [-3.59913847e-02 6.74803922e-04 9.99351872e-01 -4.36628517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.341858064 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:115.40, Y:33.34, Z:-4.37 [[ 8.57591764e-01 -5.13379233e-01 3.12750532e-02 1.15400841e+02] [ 5.13070277e-01 8.58161515e-01 1.78243114e-02 3.33444824e+01] [-3.59896784e-02 7.60317559e-04 9.99351872e-01 -4.36745489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.401858064 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:115.45, Y:33.37, Z:-4.37 [[ 8.57918772e-01 -5.12832888e-01 3.12699531e-02 1.15448889e+02] [ 5.12523243e-01 8.58488148e-01 1.78332543e-02 3.33748472e+01] [-3.59903634e-02 7.27094170e-04 9.99351873e-01 -4.36912765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.461858064 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:33.41, Z:-4.38 [[ 8.57571643e-01 -5.13413288e-01 3.12677640e-02 1.15494541e+02] [ 5.13103889e-01 8.58141152e-01 1.78370917e-02 3.34133367e+01] [-3.59899549e-02 7.47027315e-04 9.99351873e-01 -4.37901314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521858064 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:33.44, Z:-4.37 [[ 8.62797173e-01 -5.04582655e-01 3.12631185e-02 1.15547448e+02] [ 5.04267130e-01 8.63363312e-01 1.78452302e-02 3.34381453e+01] [-3.59958232e-02 3.68148854e-04 9.99351873e-01 -4.37183884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581858064 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:33.47, Z:-4.37 [[ 8.64541399e-01 -5.01588366e-01 3.12614930e-02 1.15595411e+02] [ 5.01270777e-01 8.65106383e-01 1.78480773e-02 3.34707124e+01] [-3.59969051e-02 2.40071203e-04 9.99351873e-01 -4.37404577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:115.64, Y:33.50, Z:-4.38 [[ 8.65137035e-01 -5.00560630e-01 3.12564789e-02 1.15643415e+02] [ 5.00242053e-01 8.65701462e-01 1.78568540e-02 3.35032588e+01] [-3.59972175e-02 1.87179446e-04 9.99351873e-01 -4.37593794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70185806399999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:115.69, Y:33.53, Z:-4.38 [[ 8.65095964e-01 -5.00631919e-01 3.12514690e-02 1.15693131e+02] [ 5.00313072e-01 8.65660239e-01 1.78656176e-02 3.35335654e+01] [-3.59972525e-02 1.80044783e-04 9.99351873e-01 -4.37811417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.761858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:115.74, Y:33.56, Z:-4.38 [[ 8.64859991e-01 -5.01039773e-01 3.12464578e-02 1.15742887e+02] [ 5.00720876e-01 8.65424238e-01 1.78743776e-02 3.35632796e+01] [-3.59972160e-02 1.86919687e-04 9.99351873e-01 -4.38067173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:33.59, Z:-4.39 [[ 8.64154626e-01 -5.02255662e-01 3.12415300e-02 1.15794354e+02] [ 5.01937247e-01 8.64719144e-01 1.78829865e-02 3.35919062e+01] [-3.59969803e-02 2.27622057e-04 9.99351873e-01 -4.38702474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:33.62, Z:-4.39 [[ 8.64266914e-01 -5.02062663e-01 3.12375359e-02 1.15845165e+02] [ 5.01743871e-01 8.64831219e-01 1.78899606e-02 3.36193038e+01] [-3.59970775e-02 2.11541096e-04 9.99351873e-01 -4.38979774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.90, Y:33.65, Z:-4.39 [[ 8.64194358e-01 -5.02187850e-01 3.12325961e-02 1.15897591e+02] [ 5.01868828e-01 8.64758533e-01 1.78985805e-02 3.36452829e+01] [-3.59971036e-02 2.06814094e-04 9.99351873e-01 -4.39430368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.95, Y:33.67, Z:-4.40 [[ 8.63794538e-01 -5.02875550e-01 3.12278429e-02 1.15950167e+02] [ 5.02556677e-01 8.64358797e-01 1.79068696e-02 3.36715795e+01] [-3.59969876e-02 2.25904841e-04 9.99351873e-01 -4.39624424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.00, Y:33.70, Z:-4.40 [[ 8.63781334e-01 -5.02898499e-01 3.12235038e-02 1.16003735e+02] [ 5.02579368e-01 8.64345447e-01 1.79144324e-02 3.36952595e+01] [-3.59970345e-02 2.18136519e-04 9.99351873e-01 -4.39866953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.121858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:116.06, Y:33.72, Z:-4.40 [[ 8.64436917e-01 -5.01771086e-01 3.12184655e-02 1.16056911e+02] [ 5.01450903e-01 8.65000434e-01 1.79232080e-02 3.37205040e+01] [-3.59973337e-02 1.61045004e-04 9.99351873e-01 -4.40444754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.181858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:33.74, Z:-4.40 [[ 8.66973140e-01 -4.97376398e-01 3.12136540e-02 1.16109687e+02] [ 4.97053057e-01 8.67534851e-01 1.79315834e-02 3.37439823e+01] [-3.59976790e-02 -3.13590300e-05 9.99351873e-01 -4.40309499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:33.77, Z:-4.41 [[ 8.68505186e-01 -4.94696470e-01 3.12112868e-02 1.16162403e+02] [ 4.94371246e-01 8.69065810e-01 1.79357027e-02 3.37692424e+01] [-3.59973910e-02 -1.47288059e-04 9.99351873e-01 -4.40559303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.22, Y:33.79, Z:-4.41 [[ 8.68987498e-01 -4.93849103e-01 3.12056443e-02 1.16215050e+02] [ 4.93522981e-01 8.69547599e-01 1.79455145e-02 3.37948327e+01] [-3.59971693e-02 -1.93725160e-04 9.99351873e-01 -4.40832784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:33.82, Z:-4.41 [[ 8.70092908e-01 -4.91899271e-01 3.11999583e-02 1.16269682e+02] [ 4.91571540e-01 8.70652069e-01 1.79553947e-02 3.38179956e+01] [-3.59965538e-02 -2.85850029e-04 9.99351873e-01 -4.41085408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.32, Y:33.84, Z:-4.42 [[ 8.66443962e-01 -4.98298862e-01 3.11946327e-02 1.16320497e+02] [ 4.97974927e-01 8.67005331e-01 1.79646423e-02 3.38447613e+01] [-3.59976737e-02 -3.12108928e-05 9.99351873e-01 -4.41633316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.481858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:116.37, Y:33.87, Z:-4.42 [[ 8.63973850e-01 -5.02569597e-01 3.11927330e-02 1.16372748e+02] [ 5.02248319e-01 8.64536743e-01 1.79679403e-02 3.38705114e+01] [-3.59974043e-02 1.42667096e-04 9.99351873e-01 -4.41804991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.541858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:116.42, Y:33.90, Z:-4.42 [[ 8.61842445e-01 -5.06216275e-01 3.11878706e-02 1.16424871e+02] [ 5.05897073e-01 8.62406517e-01 1.79763762e-02 3.38969970e+01] [-3.59965571e-02 2.85048431e-04 9.99351873e-01 -4.42013227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:116.48, Y:33.92, Z:-4.42 [[ 8.59710363e-01 -5.09829113e-01 3.11828056e-02 1.16476790e+02] [ 5.09511962e-01 8.60275592e-01 1.79851579e-02 3.39236189e+01] [-3.59951637e-02 4.25985807e-04 9.99351873e-01 -4.42243823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:116.53, Y:33.95, Z:-4.42 [[ 8.58136904e-01 -5.12473412e-01 3.11778096e-02 1.16527783e+02] [ 5.12157689e-01 8.58702931e-01 1.79938146e-02 3.39516388e+01] [-3.59938280e-02 5.26798575e-04 9.99351873e-01 -4.42426626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:33.98, Z:-4.42 [[ 8.58885083e-01 -5.11218805e-01 3.11728748e-02 1.16582216e+02] [ 5.10901945e-01 8.59450474e-01 1.80023596e-02 3.39762372e+01] [-3.59946868e-02 4.64324248e-04 9.99351873e-01 -4.42195433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.63, Y:34.01, Z:-4.42 [[ 8.57777461e-01 -5.13075408e-01 3.11681504e-02 1.16631364e+02] [ 5.12759474e-01 8.58343371e-01 1.80105354e-02 3.40094572e+01] [-3.59937381e-02 5.32733113e-04 9.99351873e-01 -4.42435755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.841858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.68, Y:34.05, Z:-4.43 [[ 8.55409852e-01 -5.17013401e-01 3.11629391e-02 1.16676915e+02] [ 5.16699744e-01 8.55977027e-01 1.80195478e-02 3.40450699e+01] [-3.59911077e-02 6.87783938e-04 9.99351874e-01 -4.42920587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:34.08, Z:-4.43 [[ 8.56206332e-01 -5.15693420e-01 3.11610806e-02 1.16726134e+02] [ 5.15378772e-01 8.56772958e-01 1.80227611e-02 3.40756149e+01] [-3.59921905e-02 6.28557300e-04 9.99351874e-01 -4.43300359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.961858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:34.11, Z:-4.44 [[ 8.56280011e-01 -5.15571405e-01 3.11555702e-02 1.16773590e+02] [ 5.15256330e-01 8.56846399e-01 1.80322819e-02 3.41068050e+01] [-3.59924670e-02 6.12422161e-04 9.99351874e-01 -4.43559368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:34.14, Z:-4.44 [[ 8.56687485e-01 -5.14894196e-01 3.11531633e-02 1.16822468e+02] [ 5.14578522e-01 8.57253540e-01 1.80364392e-02 3.41376153e+01] [-3.59930173e-02 5.79156989e-04 9.99351874e-01 -4.43961041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.87, Y:34.17, Z:-4.44 [[ 8.55113883e-01 -5.17503667e-01 3.11480587e-02 1.16872506e+02] [ 5.17189399e-01 8.55680720e-01 1.80452502e-02 3.41668269e+01] [-3.59912765e-02 6.78701823e-04 9.99351874e-01 -4.44016890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:34.20, Z:-4.44 [[ 8.52363564e-01 -5.22021321e-01 3.11463605e-02 1.16921637e+02] [ 5.21709950e-01 8.52931997e-01 1.80481808e-02 3.41980090e+01] [-3.59872627e-02 8.65754507e-04 9.99351874e-01 -4.43946623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.97, Y:34.23, Z:-4.44 [[ 8.51044227e-01 -5.24169762e-01 3.11413651e-02 1.16971694e+02] [ 5.23859511e-01 8.51613272e-01 1.80567961e-02 3.42268764e+01] [-3.59852263e-02 9.46568240e-04 9.99351874e-01 -4.43848974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:34.26, Z:-4.44 [[ 8.49545398e-01 -5.26595828e-01 3.11360008e-02 1.17020442e+02] [ 5.26286864e-01 8.50115142e-01 1.80660413e-02 3.42585508e+01] [-3.59826877e-02 1.03854593e-03 9.99351874e-01 -4.43950406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.321858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.07, Y:34.29, Z:-4.44 [[ 8.49314332e-01 -5.26968742e-01 3.11305422e-02 1.17067218e+02] [ 5.26659683e-01 8.49884025e-01 1.80754423e-02 3.42907534e+01] [-3.59825436e-02 1.04346929e-03 9.99351874e-01 -4.44266216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.12, Y:34.32, Z:-4.45 [[ 8.49334888e-01 -5.26935827e-01 3.11268644e-02 1.17115620e+02] [ 5.26626515e-01 8.49904444e-01 1.80817735e-02 3.43222934e+01] [-3.59827947e-02 1.03475106e-03 9.99351874e-01 -4.44615031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:34.36, Z:-4.45 [[ 8.50171157e-01 -5.25585804e-01 3.11218025e-02 1.17163402e+02] [ 5.25275269e-01 8.50740046e-01 1.80904817e-02 3.43557172e+01] [-3.59846641e-02 9.67507461e-04 9.99351874e-01 -4.44651697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:34.39, Z:-4.45 [[ 8.50929721e-01 -5.24357118e-01 3.11162838e-02 1.17210398e+02] [ 5.24045414e-01 8.51497971e-01 1.80999691e-02 3.43887889e+01] [-3.59863002e-02 9.04544228e-04 9.99351874e-01 -4.45215836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:34.42, Z:-4.45 [[ 8.52292443e-01 -5.22139365e-01 3.11139196e-02 1.17258532e+02] [ 5.21826034e-01 8.52859797e-01 1.81040323e-02 3.44210511e+01] [-3.59886391e-02 8.06123297e-04 9.99351874e-01 -4.44953224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.621858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:117.31, Y:34.46, Z:-4.45 [[ 8.50302093e-01 -5.25374732e-01 3.11085592e-02 1.17305216e+02] [ 5.25063223e-01 8.50870450e-01 1.81132385e-02 3.44562810e+01] [-3.59855916e-02 9.32235701e-04 9.99351874e-01 -4.45223379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.681858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:34.49, Z:-4.45 [[ 8.50083363e-01 -5.25728672e-01 3.11069100e-02 1.17352383e+02] [ 5.25417297e-01 8.50651793e-01 1.81160703e-02 3.44899715e+01] [-3.59852863e-02 9.43938591e-04 9.99351874e-01 -4.45264839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.40, Y:34.53, Z:-4.46 [[ 8.52159565e-01 -5.22356921e-01 3.11018097e-02 1.17398709e+02] [ 5.22042977e-01 8.52726581e-01 1.81248223e-02 3.45261366e+01] [-3.59889662e-02 7.91240689e-04 9.99351874e-01 -4.45634017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:34.56, Z:-4.46 [[ 8.55400925e-01 -5.17032182e-01 3.10963140e-02 1.17445786e+02] [ 5.16714365e-01 8.55965779e-01 1.81342462e-02 3.45612783e+01] [-3.59933695e-02 5.55861199e-04 9.99351874e-01 -4.46265316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.49, Y:34.60, Z:-4.46 [[ 8.56872975e-01 -5.14589205e-01 3.10910752e-02 1.17493121e+02] [ 5.14269452e-01 8.57436735e-01 1.81432237e-02 3.45959010e+01] [-3.59949371e-02 4.42752187e-04 9.99351874e-01 -4.46426552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.54, Y:34.63, Z:-4.47 [[ 8.57833297e-01 -5.12987035e-01 3.10859426e-02 1.17539394e+02] [ 5.12665911e-01 8.58396277e-01 1.81520135e-02 3.46319986e+01] [-3.59958050e-02 3.65301411e-04 9.99351874e-01 -4.46887777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.59, Y:34.66, Z:-4.47 [[ 8.57383794e-01 -5.13738057e-01 3.10843665e-02 1.17588260e+02] [ 5.13417328e-01 8.57946999e-01 1.81547120e-02 3.46642235e+01] [-3.59955055e-02 3.93696574e-04 9.99351874e-01 -4.47378619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.64, Y:34.70, Z:-4.47 [[ 8.55057973e-01 -5.17600152e-01 3.10796794e-02 1.17635241e+02] [ 5.17281675e-01 8.55622454e-01 1.81627326e-02 3.46973826e+01] [-3.59935047e-02 5.46759317e-04 9.99351874e-01 -4.47264916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101858064 meters Centerline goodness : 0.995158 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:34.73, Z:-4.48 [[ 8.53967141e-01 -5.19398036e-01 3.10773724e-02 1.17682873e+02] [ 5.19080604e-01 8.54532210e-01 1.81666791e-02 3.47302322e+01] [-3.59923532e-02 6.17914260e-04 9.99351874e-01 -4.47876558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.73, Y:34.76, Z:-4.48 [[ 8.54749087e-01 -5.18110590e-01 3.10711206e-02 1.17730374e+02] [ 5.17791919e-01 8.55313458e-01 1.81773654e-02 3.47640774e+01] [-3.59934332e-02 5.51288663e-04 9.99351874e-01 -4.47813750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:34.80, Z:-4.48 [[ 8.57036734e-01 -5.14317746e-01 3.10691720e-02 1.17777040e+02] [ 5.13996455e-01 8.57599619e-01 1.81806955e-02 3.47977814e+01] [-3.59955644e-02 3.87920409e-04 9.99351874e-01 -4.48414452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.82, Y:34.83, Z:-4.49 [[ 8.58389559e-01 -5.12056862e-01 3.10666442e-02 1.17823610e+02] [ 5.11733933e-01 8.58951505e-01 1.81850138e-02 3.48335247e+01] [-3.59965019e-02 2.88030025e-04 9.99351874e-01 -4.49204575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.87, Y:34.86, Z:-4.49 [[ 8.62035346e-01 -5.05895492e-01 3.10614467e-02 1.17873949e+02] [ 5.05568226e-01 8.62594778e-01 1.81938873e-02 3.48600838e+01] [-3.59976473e-02 1.99066120e-05 9.99351874e-01 -4.48670042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:34.89, Z:-4.49 [[ 8.62854871e-01 -5.04496579e-01 3.10591738e-02 1.17924160e+02] [ 5.04168267e-01 8.63413690e-01 1.81977666e-02 3.48882959e+01] [-3.59976268e-02 -4.29817045e-05 9.99351874e-01 -4.48897368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:34.92, Z:-4.49 [[ 8.62922365e-01 -5.04381437e-01 3.10541157e-02 1.17973964e+02] [ 5.04052740e-01 8.63480956e-01 1.82063940e-02 3.49161558e+01] [-3.59976047e-02 -5.77924387e-05 9.99351875e-01 -4.49133519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.03, Y:34.94, Z:-4.50 [[ 8.62001401e-01 -5.05953912e-01 3.10519391e-02 1.18025622e+02] [ 5.05626100e-01 8.62560513e-01 1.82101056e-02 3.49441192e+01] [-3.59976507e-02 3.53437538e-06 9.99351875e-01 -4.49624946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581858064 meters Centerline goodness : 0.997410 with order 1 Centerline is valid? [True, True] Translation: X:118.08, Y:34.97, Z:-4.50 [[ 8.62706859e-01 -5.04750378e-01 3.10472508e-02 1.18076276e+02] [ 5.04421499e-01 8.63265343e-01 1.82180953e-02 3.49705256e+01] [-3.59976061e-02 -5.59749392e-05 9.99351875e-01 -4.49556617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.13, Y:35.00, Z:-4.50 [[ 8.62849327e-01 -5.04507183e-01 3.10409730e-02 1.18129503e+02] [ 5.04177761e-01 8.63407492e-01 1.82287856e-02 3.49950310e+01] [-3.59975619e-02 -7.85271381e-05 9.99351875e-01 -4.49504105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.18, Y:35.02, Z:-4.50 [[ 8.63865030e-01 -5.02766404e-01 3.10346998e-02 1.18182837e+02] [ 5.02435475e-01 8.64422302e-01 1.82394594e-02 3.50188773e+01] [-3.59972741e-02 -1.63497040e-04 9.99351875e-01 -4.49700769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.24, Y:35.04, Z:-4.50 [[ 8.65076592e-01 -5.00679193e-01 3.10295882e-02 1.18235119e+02] [ 5.00346607e-01 8.65632877e-01 1.82481513e-02 3.50443365e+01] [-3.59967014e-02 -2.60499349e-04 9.99351875e-01 -4.49891858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.29, Y:35.07, Z:-4.50 [[ 8.66740378e-01 -4.97793725e-01 3.10245730e-02 1.18288065e+02] [ 4.97458982e-01 8.67295368e-01 1.82566740e-02 3.50673601e+01] [-3.59955262e-02 -3.90344025e-04 9.99351875e-01 -4.50162921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:35.08, Z:-4.50 [[ 8.68441368e-01 -4.94820341e-01 3.10229038e-02 1.18345499e+02] [ 4.94483596e-01 8.68995146e-01 1.82595099e-02 3.50849554e+01] [-3.59939297e-02 -5.16996733e-04 9.99351875e-01 -4.50150217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941858064 meters Centerline goodness : 0.996556 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:35.11, Z:-4.51 [[ 8.66916086e-01 -4.97488046e-01 3.10184439e-02 1.18396202e+02] [ 4.97152735e-01 8.67470732e-01 1.82670831e-02 3.51120190e+01] [-3.59952477e-02 -4.15123930e-04 9.99351875e-01 -4.50702523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:35.13, Z:-4.51 [[ 8.64796695e-01 -5.01163295e-01 3.10165697e-02 1.18451709e+02] [ 5.00830227e-01 8.65352692e-01 1.82702649e-02 3.51343773e+01] [-3.59966582e-02 -2.66029047e-04 9.99351875e-01 -4.50826527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:35.15, Z:-4.51 [[ 8.63211590e-01 -5.03888953e-01 3.10108695e-02 1.18507751e+02] [ 5.03557293e-01 8.63768428e-01 1.82799349e-02 3.51520109e+01] [-3.59972672e-02 -1.63702176e-04 9.99351875e-01 -4.50610176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:35.18, Z:-4.51 [[ 8.61690994e-01 -5.06485120e-01 3.10073188e-02 1.18561065e+02] [ 5.06154921e-01 8.62248699e-01 1.82859558e-02 3.51765939e+01] [-3.59975848e-02 -6.23364623e-05 9.99351875e-01 -4.50758427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:35.20, Z:-4.51 [[ 8.61361205e-01 -5.07046002e-01 3.10036479e-02 1.18616034e+02] [ 5.06715943e-01 8.61918993e-01 1.82921777e-02 3.51961522e+01] [-3.59976085e-02 -4.61295730e-05 9.99351875e-01 -4.50905863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.67, Y:35.22, Z:-4.51 [[ 8.60029824e-01 -5.09301213e-01 3.09996154e-02 1.18668566e+02] [ 5.08972370e-01 8.60588329e-01 1.82990090e-02 3.52186687e+01] [-3.59976147e-02 4.02541776e-05 9.99351875e-01 -4.51313232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:118.72, Y:35.24, Z:-4.52 [[ 8.59149778e-01 -5.10784518e-01 3.09973598e-02 1.18721645e+02] [ 5.10456501e-01 8.59708769e-01 1.83028290e-02 3.52427381e+01] [-3.59975037e-02 9.79323909e-05 9.99351875e-01 -4.51583731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:118.78, Y:35.26, Z:-4.52 [[ 8.57267316e-01 -5.13937967e-01 3.09921877e-02 1.18776353e+02] [ 5.13611690e-01 8.57827324e-01 1.83115827e-02 3.52649662e+01] [-3.59969630e-02 2.20028554e-04 9.99351875e-01 -4.51767906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421858064 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:35.29, Z:-4.52 [[ 8.56504876e-01 -5.15207916e-01 3.09870845e-02 1.18827660e+02] [ 5.14882158e-01 8.57065186e-01 1.83202144e-02 3.52911294e+01] [-3.59966708e-02 2.63343962e-04 9.99351875e-01 -4.52107301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.88, Y:35.32, Z:-4.52 [[ 8.58408203e-01 -5.12030768e-01 3.09814284e-02 1.18878172e+02] [ 5.11702591e-01 8.58967099e-01 1.83297745e-02 3.53199425e+01] [-3.59974362e-02 1.18848394e-04 9.99351875e-01 -4.52101343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:118.93, Y:35.35, Z:-4.52 [[ 8.58112723e-01 -5.12526155e-01 3.09757342e-02 1.18927005e+02] [ 5.12197952e-01 8.58671604e-01 1.83393921e-02 3.53513079e+01] [-3.59974015e-02 1.28442002e-04 9.99351875e-01 -4.52317715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:35.38, Z:-4.53 [[ 8.56629440e-01 -5.15001554e-01 3.09742003e-02 1.18974928e+02] [ 5.14674873e-01 8.57189213e-01 1.83419824e-02 3.53842328e+01] [-3.59968998e-02 2.29360506e-04 9.99351875e-01 -4.53101256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:35.41, Z:-4.53 [[ 8.58175124e-01 -5.12422073e-01 3.09689378e-02 1.19024673e+02] [ 5.12093389e-01 8.58733723e-01 1.83508634e-02 3.54134807e+01] [-3.59974587e-02 1.10733802e-04 9.99351875e-01 -4.53015759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721858064 meters Centerline goodness : 0.995818 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:35.44, Z:-4.54 [[ 8.58528552e-01 -5.11830023e-01 3.09637337e-02 1.19074325e+02] [ 5.11500637e-01 8.59086737e-01 1.83596403e-02 3.54430769e+01] [-3.59975480e-02 7.56941221e-05 9.99351875e-01 -4.53572311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:119.12, Y:35.48, Z:-4.54 [[ 8.57065058e-01 -5.14277283e-01 3.09574155e-02 1.19122720e+02] [ 5.13949106e-01 8.57623955e-01 1.83702875e-02 3.54758498e+01] [-3.59972427e-02 1.66004497e-04 9.99351875e-01 -4.53756100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.17, Y:35.51, Z:-4.55 [[ 8.54970877e-01 -5.17751761e-01 3.09501787e-02 1.19169226e+02] [ 5.17425414e-01 8.55530844e-01 1.83824721e-02 3.55093095e+01] [-3.59963898e-02 2.97930746e-04 9.99351876e-01 -4.54800121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:119.22, Y:35.53, Z:-4.54 [[ 8.56165803e-01 -5.15773509e-01 3.09484372e-02 1.19223309e+02] [ 5.15445763e-01 8.56724952e-01 1.83854035e-02 3.55346669e+01] [-3.59970025e-02 2.11287068e-04 9.99351876e-01 -4.54289706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:35.56, Z:-4.54 [[ 8.56004903e-01 -5.16040787e-01 3.09436961e-02 1.19272647e+02] [ 5.15712927e-01 8.56563985e-01 1.83933796e-02 3.55636710e+01] [-3.59969897e-02 2.13240908e-04 9.99351876e-01 -4.54437519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02185806399999 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:119.32, Y:35.59, Z:-4.54 [[ 8.58422053e-01 -5.12010051e-01 3.09400564e-02 1.19324010e+02] [ 5.11679345e-01 8.58979457e-01 1.83995000e-02 3.55914166e+01] [-3.59976018e-02 3.68512204e-05 9.99351876e-01 -4.54343715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.37, Y:35.62, Z:-4.55 [[ 8.59200207e-01 -5.10703514e-01 3.09342229e-02 1.19374175e+02] [ 5.10371607e-01 8.59756896e-01 1.84093023e-02 3.56207561e+01] [-3.59976069e-02 -2.93273053e-05 9.99351876e-01 -4.54530962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.42, Y:35.65, Z:-4.55 [[ 8.59533323e-01 -5.10143055e-01 3.09278372e-02 1.19424146e+02] [ 5.09810399e-01 8.60089565e-01 1.84200242e-02 3.56501970e+01] [-3.59975575e-02 -6.52915619e-05 9.99351876e-01 -4.54645731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.47, Y:35.68, Z:-4.55 [[ 8.58525516e-01 -5.11837602e-01 3.09226025e-02 1.19473819e+02] [ 5.11505728e-01 8.59082225e-01 1.84288078e-02 3.56800083e+01] [-3.59976149e-02 -4.51343753e-06 9.99351876e-01 -4.54673189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.52, Y:35.71, Z:-4.55 [[ 8.56710839e-01 -5.14869333e-01 3.09209961e-02 1.19523151e+02] [ 5.14539332e-01 8.57268660e-01 1.84315028e-02 3.57127027e+01] [-3.59974164e-02 1.19600457e-04 9.99351876e-01 -4.55069400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:35.74, Z:-4.55 [[ 8.56277630e-01 -5.15589750e-01 3.09165002e-02 1.19574717e+02] [ 5.15259946e-01 8.56835568e-01 1.84390410e-02 3.57418283e+01] [-3.59973375e-02 1.41095887e-04 9.99351876e-01 -4.55089714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:35.77, Z:-4.55 [[ 8.53721873e-01 -5.19810939e-01 3.09119964e-02 1.19624191e+02] [ 5.19483620e-01 8.54281272e-01 1.84465881e-02 3.57727178e+01] [-3.59962779e-02 3.10020029e-04 9.99351876e-01 -4.55334478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:35.80, Z:-4.55 [[ 8.52095784e-01 -5.22472524e-01 3.09069042e-02 1.19674474e+02] [ 5.22146644e-01 8.52656022e-01 1.84551161e-02 3.58031773e+01] [-3.59952491e-02 4.12409733e-04 9.99351876e-01 -4.55445279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:35.84, Z:-4.56 [[ 8.48470580e-01 -5.28339581e-01 3.09024695e-02 1.19722686e+02] [ 5.28017303e-01 8.49032898e-01 1.84625390e-02 3.58368714e+01] [-3.59917033e-02 6.52117445e-04 9.99351876e-01 -4.55902077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:35.87, Z:-4.56 [[ 8.47505590e-01 -5.29886398e-01 3.08978950e-02 1.19772085e+02] [ 5.29564867e-01 8.48068336e-01 1.84701913e-02 3.58665579e+01] [-3.59906296e-02 7.08849271e-04 9.99351876e-01 -4.56138890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:119.82, Y:35.90, Z:-4.56 [[ 8.49062657e-01 -5.27388136e-01 3.08926884e-02 1.19822653e+02] [ 5.27064634e-01 8.49624271e-01 1.84788956e-02 3.58977901e+01] [-3.59927282e-02 5.92703267e-04 9.99351876e-01 -4.55870485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.87, Y:35.93, Z:-4.56 [[ 8.50744289e-01 -5.24671404e-01 3.08880641e-02 1.19871246e+02] [ 5.24345827e-01 8.51304704e-01 1.84866221e-02 3.59295379e+01] [-3.59945562e-02 4.68639280e-04 9.99351876e-01 -4.55875862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:35.96, Z:-4.56 [[ 8.52358316e-01 -5.22045332e-01 3.08864403e-02 1.19921139e+02] [ 5.21717930e-01 8.52917666e-01 1.84893346e-02 3.59615852e+01] [-3.59958614e-02 3.54471581e-04 9.99351876e-01 -4.55892307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:36.00, Z:-4.56 [[ 8.53460290e-01 -5.20242102e-01 3.08818509e-02 1.19969869e+02] [ 5.19913241e-01 8.54018784e-01 1.84969969e-02 3.59952479e+01] [-3.59965973e-02 2.69430892e-04 9.99351876e-01 -4.56195348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:36.03, Z:-4.56 [[ 8.55262571e-01 -5.17274157e-01 3.08768661e-02 1.20018192e+02] [ 5.16943058e-01 8.55819740e-01 1.85053144e-02 3.60264930e+01] [-3.59973524e-02 1.34678836e-04 9.99351876e-01 -4.56269099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:120.07, Y:36.06, Z:-4.56 [[ 8.56776186e-01 -5.14763339e-01 3.08751171e-02 1.20066533e+02] [ 5.14430502e-01 8.57332319e-01 1.85082320e-02 3.60596337e+01] [-3.59975950e-02 2.56895165e-05 9.99351876e-01 -4.56399298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:120.11, Y:36.10, Z:-4.57 [[ 8.55695945e-01 -5.16557332e-01 3.08702693e-02 1.20110461e+02] [ 5.16225369e-01 8.56252600e-01 1.85163142e-02 3.60993551e+01] [-3.59974862e-02 9.16811749e-05 9.99351876e-01 -4.57119045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:36.13, Z:-4.57 [[ 8.56193007e-01 -5.15733134e-01 3.08685661e-02 1.20159530e+02] [ 5.15400533e-01 8.56749281e-01 1.85191531e-02 3.61308721e+01] [-3.59975627e-02 5.37060435e-05 9.99351876e-01 -4.57396418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101858064 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:120.21, Y:36.16, Z:-4.57 [[ 8.53576947e-01 -5.20051768e-01 3.08634609e-02 1.20208766e+02] [ 5.19721674e-01 8.54134713e-01 1.85276574e-02 3.61606927e+01] [-3.59968943e-02 2.25628335e-04 9.99351876e-01 -4.57408745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161858064 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:36.19, Z:-4.58 [[ 8.51443521e-01 -5.23537510e-01 3.08610815e-02 1.20255813e+02] [ 5.23209555e-01 8.52002547e-01 1.85316199e-02 3.61934060e+01] [-3.59957182e-02 3.68184983e-04 9.99351876e-01 -4.57867312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:120.31, Y:36.22, Z:-4.58 [[ 8.49883526e-01 -5.26066267e-01 3.08589598e-02 1.20305254e+02] [ 5.25739847e-01 8.50443450e-01 1.85351522e-02 3.62243497e+01] [-3.59945186e-02 4.71064336e-04 9.99351876e-01 -4.58236881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.36, Y:36.25, Z:-4.58 [[ 8.51425596e-01 -5.23567101e-01 3.08536114e-02 1.20359628e+02] [ 5.23238715e-01 8.51984369e-01 1.85440510e-02 3.62495649e+01] [-3.59958496e-02 3.54924350e-04 9.99351876e-01 -4.57920010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:120.40, Y:36.29, Z:-4.59 [[ 8.45395882e-01 -5.33248695e-01 3.08485487e-02 1.20404674e+02] [ 5.32926400e-01 8.45958189e-01 1.85524691e-02 3.62866802e+01] [-3.59896623e-02 7.55824989e-04 9.99351876e-01 -4.58786114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.46, Y:36.31, Z:-4.59 [[ 8.45446990e-01 -5.33167943e-01 3.08436730e-02 1.20455921e+02] [ 5.32845299e-01 8.46009097e-01 1.85605714e-02 3.63140208e+01] [-3.59899296e-02 7.42926978e-04 9.99351876e-01 -4.58967185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:120.50, Y:36.35, Z:-4.59 [[ 8.42006012e-01 -5.38586023e-01 3.08378117e-02 1.20501172e+02] [ 5.38266639e-01 8.42569979e-01 1.85703048e-02 3.63500771e+01] [-3.59847209e-02 9.62656984e-04 9.99351877e-01 -4.59304527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.55, Y:36.38, Z:-4.60 [[ 8.40833750e-01 -5.40414658e-01 3.08318409e-02 1.20550186e+02] [ 5.40096138e-01 8.41398204e-01 1.85802126e-02 3.63810228e+01] [-3.59828748e-02 1.02928835e-03 9.99351877e-01 -4.59632195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:36.41, Z:-4.60 [[ 8.38764818e-01 -5.43620559e-01 3.08264115e-02 1.20600150e+02] [ 5.43303865e-01 8.39330299e-01 1.85892162e-02 3.64115057e+01] [-3.59790213e-02 1.15612792e-03 9.99351877e-01 -4.59578786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:36.44, Z:-4.59 [[ 8.40759209e-01 -5.40531173e-01 3.08221207e-02 1.20651741e+02] [ 5.40212141e-01 8.41323374e-01 1.85963278e-02 3.64384703e+01] [-3.59832655e-02 1.01544994e-03 9.99351877e-01 -4.59042780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:36.48, Z:-4.60 [[ 8.39390457e-01 -5.42654590e-01 3.08165116e-02 1.20696299e+02] [ 5.42336643e-01 8.39955235e-01 1.86056182e-02 3.64755232e+01] [-3.59809144e-02 1.09554516e-03 9.99351877e-01 -4.59740137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:36.51, Z:-4.60 [[ 8.43311945e-01 -5.36540407e-01 3.08116174e-02 1.20745451e+02] [ 5.36218069e-01 8.43874228e-01 1.86137197e-02 3.65066624e+01] [-3.59881426e-02 8.24573846e-04 9.99351877e-01 -4.60142834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:36.54, Z:-4.60 [[ 8.45274162e-01 -5.33444108e-01 3.08054432e-02 1.20792944e+02] [ 5.33119338e-01 8.45835043e-01 1.86239322e-02 3.65389814e+01] [-3.59911503e-02 6.80648795e-04 9.99351877e-01 -4.60488614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.84, Y:36.57, Z:-4.61 [[ 8.46414421e-01 -5.31633147e-01 3.08030047e-02 1.20841139e+02] [ 5.31307030e-01 8.46974521e-01 1.86279646e-02 3.65719838e+01] [-3.59926036e-02 5.98875022e-04 9.99351877e-01 -4.60952539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.89, Y:36.60, Z:-4.61 [[ 8.45314099e-01 -5.33381288e-01 3.07973386e-02 1.20888213e+02] [ 5.33055989e-01 8.45874673e-01 1.86373275e-02 3.66036467e+01] [-3.59914905e-02 6.62310042e-04 9.99351877e-01 -4.61458103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.94, Y:36.63, Z:-4.61 [[ 8.46575303e-01 -5.31377390e-01 3.07949063e-02 1.20937784e+02] [ 5.31050617e-01 8.47135020e-01 1.86413456e-02 3.66317500e+01] [-3.59930332e-02 5.72351182e-04 9.99351877e-01 -4.60930870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:36.66, Z:-4.62 [[ 8.44125317e-01 -5.35261145e-01 3.07888867e-02 1.20987251e+02] [ 5.34936585e-01 8.44686320e-01 1.86512826e-02 3.66633062e+01] [-3.59902583e-02 7.26082064e-04 9.99351877e-01 -4.62131464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.04, Y:36.69, Z:-4.61 [[ 8.46237823e-01 -5.31915337e-01 3.07834688e-02 1.21038813e+02] [ 5.31588234e-01 8.46797346e-01 1.86602205e-02 3.66897086e+01] [-3.59930171e-02 5.73145441e-04 9.99351877e-01 -4.61410355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.09, Y:36.72, Z:-4.62 [[ 8.49369622e-01 -5.26900110e-01 3.07817938e-02 1.21088040e+02] [ 5.26569602e-01 8.49927142e-01 1.86629831e-02 3.67187718e+01] [-3.59958099e-02 3.56986058e-04 9.99351877e-01 -4.61758597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.14, Y:36.75, Z:-4.62 [[ 8.49394026e-01 -5.26860902e-01 3.07795109e-02 1.21138701e+02] [ 5.26530232e-01 8.49951450e-01 1.86667474e-02 3.67479642e+01] [-3.59958693e-02 3.50919331e-04 9.99351877e-01 -4.61985038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:36.78, Z:-4.63 [[ 8.50765459e-01 -5.24643765e-01 3.07742470e-02 1.21189438e+02] [ 5.24311329e-01 8.51321831e-01 1.86754214e-02 3.67766778e+01] [-3.59967317e-02 2.46882891e-04 9.99351877e-01 -4.62695636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:36.80, Z:-4.63 [[ 8.51736641e-01 -5.23065884e-01 3.07697088e-02 1.21241226e+02] [ 5.22732148e-01 8.52292234e-01 1.86828957e-02 3.68013018e+01] [-3.59971692e-02 1.71409138e-04 9.99351877e-01 -4.62618148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.29, Y:36.83, Z:-4.63 [[ 8.51701129e-01 -5.23123913e-01 3.07662044e-02 1.21293523e+02] [ 5.22790005e-01 8.52256619e-01 1.86886648e-02 3.68272854e+01] [-3.59971888e-02 1.67107240e-04 9.99351877e-01 -4.62928066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:121.35, Y:36.85, Z:-4.63 [[ 8.51906016e-01 -5.22790498e-01 3.07609555e-02 1.21345584e+02] [ 5.22456061e-01 8.52461187e-01 1.86973003e-02 3.68544501e+01] [-3.59972916e-02 1.42905084e-04 9.99351877e-01 -4.62873079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:36.88, Z:-4.63 [[ 8.53671093e-01 -5.19903597e-01 3.07557276e-02 1.21397549e+02] [ 5.19566973e-01 8.54224941e-01 1.87058959e-02 3.68806507e+01] [-3.59975721e-02 1.09776993e-05 9.99351877e-01 -4.63153983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.45, Y:36.91, Z:-4.63 [[ 8.53750055e-01 -5.19774221e-01 3.07506530e-02 1.21448662e+02] [ 5.19437213e-01 8.54303669e-01 1.87142343e-02 3.69067100e+01] [-3.59975722e-02 -4.24508327e-06 9.99351877e-01 -4.63361380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:121.50, Y:36.93, Z:-4.64 [[ 8.54631532e-01 -5.18323727e-01 3.07482891e-02 1.21502167e+02] [ 5.17985640e-01 8.55184488e-01 1.87181175e-02 3.69307430e+01] [-3.59975043e-02 -6.99212577e-05 9.99351877e-01 -4.63575922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721858064 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:36.96, Z:-4.64 [[ 8.54635140e-01 -5.18318086e-01 3.07431114e-02 1.21554223e+02] [ 5.17979689e-01 8.55187907e-01 1.87266176e-02 3.69577191e+01] [-3.59974817e-02 -8.01181682e-05 9.99351877e-01 -4.63999357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:121.61, Y:36.98, Z:-4.64 [[ 8.55360663e-01 -5.17120241e-01 3.07374775e-02 1.21606059e+02] [ 5.16780738e-01 8.55912750e-01 1.87358604e-02 3.69829393e+01] [-3.59972916e-02 -1.41381679e-04 9.99351877e-01 -4.64185596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.66, Y:37.01, Z:-4.65 [[ 8.54065002e-01 -5.19257446e-01 3.07356039e-02 1.21658709e+02] [ 5.18919214e-01 8.54617869e-01 1.87389334e-02 3.70094876e+01] [-3.59975270e-02 -5.49717708e-05 9.99351877e-01 -4.64929671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:37.03, Z:-4.65 [[ 8.52477781e-01 -5.21859403e-01 3.07310270e-02 1.21712658e+02] [ 5.21522588e-01 8.53031513e-01 1.87464364e-02 3.70322291e+01] [-3.59975386e-02 4.60042232e-05 9.99351878e-01 -4.64802451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:37.06, Z:-4.65 [[ 8.49989858e-01 -5.25902246e-01 3.07257153e-02 1.21763528e+02] [ 5.25567750e-01 8.50544993e-01 1.87551383e-02 3.70590026e+01] [-3.59969727e-02 2.06767710e-04 9.99351878e-01 -4.64999614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:37.09, Z:-4.65 [[ 8.49653095e-01 -5.26446253e-01 3.07239274e-02 1.21813814e+02] [ 5.26112007e-01 8.50208381e-01 1.87580667e-02 3.70892664e+01] [-3.59968545e-02 2.26377645e-04 9.99351878e-01 -4.64892068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:121.86, Y:37.12, Z:-4.65 [[ 8.49616847e-01 -5.26505054e-01 3.07187453e-02 1.21863306e+02] [ 5.26170539e-01 8.50171971e-01 1.87665493e-02 3.71187838e+01] [-3.59968993e-02 2.18922282e-04 9.99351878e-01 -4.65270944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.91, Y:37.15, Z:-4.65 [[ 8.50307086e-01 -5.25389792e-01 3.07152411e-02 1.21912708e+02] [ 5.25054342e-01 8.50861645e-01 1.87722829e-02 3.71497522e+01] [-3.59971864e-02 1.64965566e-04 9.99351878e-01 -4.65446694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201858064 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:121.96, Y:37.19, Z:-4.66 [[ 8.49774120e-01 -5.26251721e-01 3.07094610e-02 1.21958805e+02] [ 5.25916492e-01 8.50328813e-01 1.87817338e-02 3.71850970e+01] [-3.59970592e-02 1.90380713e-04 9.99351878e-01 -4.66383240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261858064 meters Centerline goodness : 0.995815 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:37.21, Z:-4.66 [[ 8.51696381e-01 -5.23135079e-01 3.07077212e-02 1.22010547e+02] [ 5.22797718e-01 8.52249779e-01 1.87845778e-02 3.72140750e+01] [-3.59975202e-02 5.51695995e-05 9.99351878e-01 -4.66017077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321858064 meters Centerline goodness : 0.995357 with order 1 Centerline is valid? [True, True] Translation: X:122.06, Y:37.25, Z:-4.66 [[ 8.51528585e-01 -5.23408488e-01 3.07021812e-02 1.22059876e+02] [ 5.23070978e-01 8.52081892e-01 1.87936283e-02 3.72452620e+01] [-3.59975172e-02 5.61082083e-05 9.99351878e-01 -4.66244157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.11, Y:37.27, Z:-4.66 [[ 8.51313312e-01 -5.23758938e-01 3.06956058e-02 1.22110864e+02] [ 5.23421269e-01 8.51866522e-01 1.88043617e-02 3.72733378e+01] [-3.59975115e-02 5.83295227e-05 9.99351878e-01 -4.66207801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.16, Y:37.31, Z:-4.66 [[ 8.49584882e-01 -5.26558403e-01 3.06883748e-02 1.22158798e+02] [ 5.26222130e-01 8.50138943e-01 1.88161552e-02 3.73066007e+01] [-3.59971871e-02 1.62981010e-04 9.99351878e-01 -4.66404668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:122.21, Y:37.34, Z:-4.67 [[ 8.49066075e-01 -5.27394661e-01 3.06866648e-02 1.22207580e+02] [ 5.27058833e-01 8.49620406e-01 1.88189436e-02 3.73368953e+01] [-3.59970269e-02 1.95151156e-04 9.99351878e-01 -4.66691116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:37.36, Z:-4.67 [[ 8.49080513e-01 -5.27371754e-01 3.06808462e-02 1.22259117e+02] [ 5.27035569e-01 8.49634627e-01 1.88284249e-02 3.73647447e+01] [-3.59970888e-02 1.83048586e-04 9.99351878e-01 -4.66820709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621858064 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:122.31, Y:37.40, Z:-4.67 [[ 8.47371414e-01 -5.30113871e-01 3.06752513e-02 1.22307368e+02] [ 5.29779149e-01 8.47926412e-01 1.88375357e-02 3.73969904e+01] [-3.59963948e-02 2.88719287e-04 9.99351878e-01 -4.67102987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.36, Y:37.43, Z:-4.67 [[ 8.45757172e-01 -5.32685673e-01 3.06721351e-02 1.22356892e+02] [ 5.32352455e-01 8.46313074e-01 1.88426083e-02 3.74268876e+01] [-3.59954164e-02 3.92115342e-04 9.99351878e-01 -4.67186003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.41, Y:37.46, Z:-4.67 [[ 8.43598788e-01 -5.36097654e-01 3.06657966e-02 1.22409080e+02] [ 5.35766309e-01 8.44155809e-01 1.88529184e-02 3.74552509e+01] [-3.59937157e-02 5.25401602e-04 9.99351878e-01 -4.67347031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.46, Y:37.49, Z:-4.68 [[ 8.39578489e-01 -5.42372497e-01 3.06600003e-02 1.22456107e+02] [ 5.42044971e-01 8.40137764e-01 1.88623401e-02 3.74880997e+01] [-3.59890386e-02 7.82683991e-04 9.99351878e-01 -4.68018039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.51, Y:37.52, Z:-4.68 [[ 8.38468233e-01 -5.44087398e-01 3.06582160e-02 1.22506673e+02] [ 5.43760910e-01 8.39028114e-01 1.88652398e-02 3.75173747e+01] [-3.59874444e-02 8.52835107e-04 9.99351878e-01 -4.67936904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921858064 meters Centerline goodness : 0.996219 with order 1 Centerline is valid? [True, True] Translation: X:122.55, Y:37.55, Z:-4.68 [[ 8.37906598e-01 -5.44952254e-01 3.06524815e-02 1.22553138e+02] [ 5.44626003e-01 8.38466617e-01 1.88745526e-02 3.75504424e+01] [-3.59868125e-02 8.79026336e-04 9.99351878e-01 -4.67827396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:37.58, Z:-4.68 [[ 8.38666604e-01 -5.43782067e-01 3.06494858e-02 1.22601230e+02] [ 5.43454857e-01 8.39226064e-01 1.88794159e-02 3.75836582e+01] [-3.59881352e-02 8.23076318e-04 9.99351878e-01 -4.68061914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:37.61, Z:-4.68 [[ 8.41756357e-01 -5.38987237e-01 3.06430044e-02 1.22651815e+02] [ 5.38656457e-01 8.42313714e-01 1.88899300e-02 3.76116827e+01] [-3.59924540e-02 6.05333524e-04 9.99351878e-01 -4.67796693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:37.65, Z:-4.68 [[ 8.40568229e-01 -5.40838393e-01 3.06412303e-02 1.22698297e+02] [ 5.40508735e-01 8.41126250e-01 1.88928074e-02 3.76488809e+01] [-3.59910987e-02 6.81159003e-04 9.99351878e-01 -4.68320140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:37.68, Z:-4.68 [[ 8.42362556e-01 -5.38039706e-01 3.06365493e-02 1.22748600e+02] [ 5.37707919e-01 8.42919314e-01 1.89003950e-02 3.76784389e+01] [-3.59933021e-02 5.52530103e-04 9.99351878e-01 -4.68431609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221858064 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:37.71, Z:-4.69 [[ 8.41857477e-01 -5.38829950e-01 3.06312513e-02 1.22795197e+02] [ 5.38498372e-01 8.42414360e-01 1.89089774e-02 3.77124014e+01] [-3.59929293e-02 5.76214983e-04 9.99351878e-01 -4.68990896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.84, Y:37.74, Z:-4.69 [[ 8.43707313e-01 -5.35929137e-01 3.06256528e-02 1.22844646e+02] [ 5.35595316e-01 8.44262853e-01 1.89180407e-02 3.77429097e+01] [-3.59948302e-02 4.41666892e-04 9.99351879e-01 -4.68834888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.89, Y:37.78, Z:-4.69 [[ 8.42622512e-01 -5.37633434e-01 3.06201267e-02 1.22890057e+02] [ 5.37300412e-01 8.43178532e-01 1.89269807e-02 3.77787655e+01] [-3.59940111e-02 5.03906670e-04 9.99351879e-01 -4.69186386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:37.81, Z:-4.69 [[ 8.42167790e-01 -5.38345779e-01 3.06142904e-02 1.22938695e+02] [ 5.38012885e-01 8.42723886e-01 1.89364162e-02 3.78109766e+01] [-3.59937335e-02 5.23242950e-04 9.99351879e-01 -4.69398180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.99, Y:37.84, Z:-4.70 [[ 8.42341715e-01 -5.38073917e-01 3.06087372e-02 1.22987574e+02] [ 5.37740517e-01 8.42897508e-01 1.89453881e-02 3.78428034e+01] [-3.59940475e-02 5.01067486e-04 9.99351879e-01 -4.69591997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52185806399999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:123.04, Y:37.87, Z:-4.70 [[ 8.42374794e-01 -5.38022418e-01 3.06036434e-02 1.23036265e+02] [ 5.37688686e-01 8.42930387e-01 1.89536128e-02 3.78748221e+01] [-3.59942096e-02 4.89187083e-04 9.99351879e-01 -4.69811084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.09, Y:37.90, Z:-4.70 [[ 8.42980681e-01 -5.37072919e-01 3.05982278e-02 1.23086335e+02] [ 5.36738243e-01 8.43535706e-01 1.89623517e-02 3.79034853e+01] [-3.59948633e-02 4.38342899e-04 9.99351879e-01 -4.70097566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:123.14, Y:37.93, Z:-4.70 [[ 8.42672915e-01 -5.37555996e-01 3.05926436e-02 1.23136525e+02] [ 5.37221311e-01 8.43227935e-01 1.89713567e-02 3.79342817e+01] [-3.59947382e-02 4.48371661e-04 9.99351879e-01 -4.70244362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:123.18, Y:37.97, Z:-4.71 [[ 8.38604995e-01 -5.43880548e-01 3.05877606e-02 1.23182784e+02] [ 5.43549762e-01 8.39162347e-01 1.89792263e-02 3.79684528e+01] [-3.59905290e-02 7.09895959e-04 9.99351879e-01 -4.70592270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:123.23, Y:38.00, Z:-4.71 [[ 8.36748242e-01 -5.46732981e-01 3.05847495e-02 1.23232050e+02] [ 5.46403918e-01 8.37306613e-01 1.89840774e-02 3.79998259e+01] [-3.59880342e-02 8.26733525e-04 9.99351879e-01 -4.70774626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:123.28, Y:38.03, Z:-4.71 [[ 8.35952809e-01 -5.47948701e-01 3.05797724e-02 1.23279599e+02] [ 5.47620156e-01 8.36511485e-01 1.89920912e-02 3.80326712e+01] [-3.59870225e-02 8.69607739e-04 9.99351879e-01 -4.70900309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.33, Y:38.07, Z:-4.71 [[ 8.35857230e-01 -5.48094814e-01 3.05739449e-02 1.23327288e+02] [ 5.47766025e-01 8.36415762e-01 1.90014678e-02 3.80651592e+01] [-3.59871354e-02 8.64854030e-04 9.99351879e-01 -4.71199649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:123.38, Y:38.10, Z:-4.71 [[ 8.35924202e-01 -5.47992866e-01 3.05703663e-02 1.23376580e+02] [ 5.47663798e-01 8.36482570e-01 1.90072235e-02 3.80966755e+01] [-3.59874014e-02 8.53684773e-04 9.99351879e-01 -4.71380236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:38.13, Z:-4.72 [[ 8.35803818e-01 -5.48176755e-01 3.05650580e-02 1.23423665e+02] [ 5.47847497e-01 8.36362075e-01 1.90157557e-02 3.81298942e+01] [-3.59874506e-02 8.51549296e-04 9.99351879e-01 -4.71914374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.47, Y:38.17, Z:-4.72 [[ 8.35886757e-01 -5.48050370e-01 3.05633931e-02 1.23470313e+02] [ 5.47720931e-01 8.36444906e-01 1.90184313e-02 3.81655881e+01] [-3.59876528e-02 8.42955246e-04 9.99351879e-01 -4.72046186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:38.20, Z:-4.72 [[ 8.37249945e-01 -5.45965826e-01 3.05589132e-02 1.23517953e+02] [ 5.45634735e-01 8.37807115e-01 1.90256269e-02 3.82009905e+01] [-3.59898170e-02 7.44799384e-04 9.99351879e-01 -4.71802670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:38.23, Z:-4.72 [[ 8.38131747e-01 -5.44611445e-01 3.05540356e-02 1.23565616e+02] [ 5.44279167e-01 8.38688211e-01 1.90334568e-02 3.82343849e+01] [-3.59911479e-02 6.77380692e-04 9.99351879e-01 -4.71972780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:38.27, Z:-4.72 [[ 8.39967694e-01 -5.41775822e-01 3.05488382e-02 1.23612561e+02] [ 5.41441363e-01 8.40522850e-01 1.90417951e-02 3.82684594e+01] [-3.59933807e-02 5.45911800e-04 9.99351879e-01 -4.72100299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:38.30, Z:-4.72 [[ 8.41775512e-01 -5.38962969e-01 3.05434889e-02 1.23658398e+02] [ 5.38626344e-01 8.42329357e-01 1.90503717e-02 3.83039952e+01] [-3.59951222e-02 4.15391362e-04 9.99351879e-01 -4.72308091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:123.71, Y:38.34, Z:-4.73 [[ 8.43437677e-01 -5.36358375e-01 3.05381702e-02 1.23706627e+02] [ 5.36019730e-01 8.43990289e-01 1.90588938e-02 3.83368884e+01] [-3.59963164e-02 2.94072666e-04 9.99351879e-01 -4.72715561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:38.37, Z:-4.73 [[ 8.44407932e-01 -5.34829880e-01 3.05326626e-02 1.23753782e+02] [ 5.34489916e-01 8.44959734e-01 1.90677129e-02 3.83705218e+01] [-3.59968531e-02 2.18472244e-04 9.99351879e-01 -4.73127212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:38.40, Z:-4.73 [[ 8.44120902e-01 -5.35282890e-01 3.05308298e-02 1.23802357e+02] [ 5.34943116e-01 8.44672820e-01 1.90706473e-02 3.84030116e+01] [-3.59967532e-02 2.34325255e-04 9.99351879e-01 -4.73381666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541858064 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:38.43, Z:-4.73 [[ 8.44997553e-01 -5.33898255e-01 3.05252136e-02 1.23850334e+02] [ 5.33557253e-01 8.45548713e-01 1.90796324e-02 3.84337292e+01] [-3.59971376e-02 1.64706444e-04 9.99351879e-01 -4.73281476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:38.46, Z:-4.73 [[ 8.44722323e-01 -5.34333749e-01 3.05227949e-02 1.23899714e+02] [ 5.33992891e-01 8.45273573e-01 1.90835011e-02 3.84636390e+01] [-3.59970705e-02 1.78696113e-04 9.99351879e-01 -4.73498399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.95, Y:38.49, Z:-4.74 [[ 8.44030390e-01 -5.35426363e-01 3.05173977e-02 1.23949691e+02] [ 5.35085906e-01 8.44581887e-01 1.90921280e-02 3.84937316e+01] [-3.59968700e-02 2.15093115e-04 9.99351880e-01 -4.73776587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:38.53, Z:-4.75 [[ 8.42152663e-01 -5.38375253e-01 3.05119661e-02 1.23998743e+02] [ 5.38036412e-01 8.42705155e-01 1.91008046e-02 3.85258839e+01] [-3.59959916e-02 3.30755308e-04 9.99351880e-01 -4.74826373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:124.05, Y:38.55, Z:-4.75 [[ 8.41883155e-01 -5.38796866e-01 3.05072250e-02 1.24049475e+02] [ 5.38458028e-01 8.42435649e-01 1.91083739e-02 3.85547579e+01] [-3.59959059e-02 3.39842125e-04 9.99351880e-01 -4.74935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:38.58, Z:-4.75 [[ 8.40398751e-01 -5.41109583e-01 3.05017855e-02 1.24099576e+02] [ 5.40771951e-01 8.40951982e-01 1.91170529e-02 3.85827038e+01] [-3.59949574e-02 4.28562701e-04 9.99351880e-01 -4.75265925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:124.15, Y:38.61, Z:-4.75 [[ 8.40310897e-01 -5.41246136e-01 3.04994480e-02 1.24153969e+02] [ 5.40908459e-01 8.40864100e-01 1.91207814e-02 3.86079951e+01] [-3.59949399e-02 4.30008460e-04 9.99351880e-01 -4.75072815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.20, Y:38.64, Z:-4.76 [[ 8.38123083e-01 -5.44627982e-01 3.04968706e-02 1.24202986e+02] [ 5.44292387e-01 8.38677552e-01 1.91248913e-02 3.86394586e+01] [-3.59929917e-02 5.70201683e-04 9.99351880e-01 -4.75742411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.25, Y:38.67, Z:-4.76 [[ 8.37555449e-01 -5.45500672e-01 3.04940320e-02 1.24253008e+02] [ 5.45165490e-01 8.38110168e-01 1.91294163e-02 3.86693259e+01] [-3.59924677e-02 6.02346981e-04 9.99351880e-01 -4.75791846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.31, Y:38.69, Z:-4.75 [[ 8.38831480e-01 -5.43536766e-01 3.04882303e-02 1.24306655e+02] [ 5.43199949e-01 8.39385208e-01 1.91386584e-02 3.86939092e+01] [-3.59939341e-02 5.07095975e-04 9.99351880e-01 -4.75346847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:38.72, Z:-4.75 [[ 8.38708068e-01 -5.43727457e-01 3.04832484e-02 1.24358145e+02] [ 5.43390478e-01 8.39261697e-01 1.91465902e-02 3.87207656e+01] [-3.59939496e-02 5.05907194e-04 9.99351880e-01 -4.75445236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:124.41, Y:38.75, Z:-4.76 [[ 8.38574804e-01 -5.43933268e-01 3.04778087e-02 1.24409975e+02] [ 5.43596111e-01 8.39128324e-01 1.91552453e-02 3.87477592e+01] [-3.59939677e-02 5.04512130e-04 9.99351880e-01 -4.76021849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.46, Y:38.77, Z:-4.76 [[ 8.38363804e-01 -5.44258716e-01 3.04726440e-02 1.24462870e+02] [ 5.43921475e-01 8.38917273e-01 1.91634579e-02 3.87728557e+01] [-3.59939064e-02 5.08775943e-04 9.99351880e-01 -4.76480986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:124.52, Y:38.80, Z:-4.76 [[ 8.40267762e-01 -5.41314765e-01 3.04698560e-02 1.24517679e+02] [ 5.40975424e-01 8.40819946e-01 1.91678898e-02 3.87974813e+01] [-3.59955245e-02 3.77283396e-04 9.99351880e-01 -4.76139751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.57, Y:38.83, Z:-4.76 [[ 8.40596600e-01 -5.40804125e-01 3.04672761e-02 1.24568703e+02] [ 5.40464300e-01 8.41148486e-01 1.91719897e-02 3.88256943e+01] [-3.59957942e-02 3.50565715e-04 9.99351880e-01 -4.76159062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:38.85, Z:-4.76 [[ 8.40700990e-01 -5.40642126e-01 3.04620686e-02 1.24619960e+02] [ 5.40301895e-01 8.41252626e-01 1.91802602e-02 3.88520659e+01] [-3.59959518e-02 3.33849660e-04 9.99351880e-01 -4.76293780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.67, Y:38.88, Z:-4.77 [[ 8.40727744e-01 -5.40600748e-01 3.04580420e-02 1.24674131e+02] [ 5.40260258e-01 8.41279220e-01 1.91866522e-02 3.88772377e+01] [-3.59960364e-02 3.24518830e-04 9.99351880e-01 -4.76656282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:124.73, Y:38.90, Z:-4.77 [[ 8.40705576e-01 -5.40635512e-01 3.04528574e-02 1.24726527e+02] [ 5.40294747e-01 8.41256883e-01 1.91948776e-02 3.89029030e+01] [-3.59961084e-02 3.16278226e-04 9.99351880e-01 -4.76625874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621858064 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:124.78, Y:38.93, Z:-4.77 [[ 8.39455770e-01 -5.42574422e-01 3.04468033e-02 1.24776443e+02] [ 5.42234582e-01 8.40007647e-01 1.92044758e-02 3.89334635e+01] [-3.59954050e-02 3.88001655e-04 9.99351880e-01 -4.77316627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.83, Y:38.96, Z:-4.77 [[ 8.39838179e-01 -5.41982589e-01 3.04418488e-02 1.24829160e+02] [ 5.41642076e-01 8.40389641e-01 1.92123263e-02 3.89607981e+01] [-3.59957607e-02 3.53341007e-04 9.99351880e-01 -4.77280864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.88, Y:38.99, Z:-4.77 [[ 8.40355649e-01 -5.41180172e-01 3.04368991e-02 1.24880994e+02] [ 5.40838848e-01 8.40906609e-01 1.92201645e-02 3.89880774e+01] [-3.59961616e-02 3.09683676e-04 9.99351880e-01 -4.77288200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801858064 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:124.93, Y:39.02, Z:-4.78 [[ 8.41644375e-01 -5.39174033e-01 3.04320341e-02 1.24930924e+02] [ 5.38831118e-01 8.42194346e-01 1.92278644e-02 3.90188530e+01] [-3.59968523e-02 2.14702999e-04 9.99351880e-01 -4.77543847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861858064 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:124.98, Y:39.05, Z:-4.78 [[ 8.42242265e-01 -5.38239883e-01 3.04268907e-02 1.24981611e+02] [ 5.37896063e-01 8.42791671e-01 1.92360001e-02 3.90493829e+01] [-3.59971125e-02 1.65132495e-04 9.99351880e-01 -4.77969221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:125.03, Y:39.08, Z:-4.78 [[ 8.41709671e-01 -5.39072696e-01 3.04213426e-02 1.25031557e+02] [ 5.38729103e-01 8.42259219e-01 1.92447703e-02 3.90802567e+01] [-3.59969865e-02 1.90353293e-04 9.99351880e-01 -4.77614386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:125.08, Y:39.11, Z:-4.77 [[ 8.43207426e-01 -5.36727232e-01 3.04156912e-02 1.25083755e+02] [ 5.36381789e-01 8.43755813e-01 1.92536981e-02 3.91083425e+01] [-3.59974003e-02 7.95616422e-05 9.99351880e-01 -4.77052182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041858064 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:125.13, Y:39.15, Z:-4.78 [[ 8.41175925e-01 -5.39905577e-01 3.04143217e-02 1.25129433e+02] [ 5.39562127e-01 8.41725563e-01 1.92558612e-02 3.91451216e+01] [-3.59968588e-02 2.12849256e-04 9.99351880e-01 -4.78086881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101858064 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:39.18, Z:-4.78 [[ 8.40871303e-01 -5.40379979e-01 3.04126520e-02 1.25178621e+02] [ 5.40036744e-01 8.41421075e-01 1.92584979e-02 3.91753740e+01] [-3.59967530e-02 2.30031346e-04 9.99351880e-01 -4.78067276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:39.21, Z:-4.78 [[ 8.41103544e-01 -5.40018733e-01 3.04071744e-02 1.25226941e+02] [ 5.39674949e-01 8.41652973e-01 1.92671425e-02 3.92077603e+01] [-3.59969066e-02 2.04328483e-04 9.99351880e-01 -4.78292985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221858064 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:39.24, Z:-4.78 [[ 8.41097743e-01 -5.40027862e-01 3.04055032e-02 1.25275498e+02] [ 5.39683989e-01 8.41647116e-01 1.92697796e-02 3.92396945e+01] [-3.59969219e-02 2.01595104e-04 9.99351880e-01 -4.78419656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281858064 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:125.32, Y:39.27, Z:-4.79 [[ 8.41244953e-01 -5.39798817e-01 3.04000912e-02 1.25324807e+02] [ 5.39454486e-01 8.41794039e-01 1.92783137e-02 3.92696159e+01] [-3.59970265e-02 1.81681449e-04 9.99351881e-01 -4.78606752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341858064 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:39.30, Z:-4.79 [[ 8.41017673e-01 -5.40153157e-01 3.03947446e-02 1.25373778e+02] [ 5.39808753e-01 8.41566713e-01 1.92867397e-02 3.93007997e+01] [-3.59969986e-02 1.86860199e-04 9.99351881e-01 -4.78849902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401858064 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:125.42, Y:39.33, Z:-4.79 [[ 8.40695008e-01 -5.40655514e-01 3.03894516e-02 1.25421979e+02] [ 5.40311136e-01 8.41244064e-01 1.92950760e-02 3.93306460e+01] [-3.59969350e-02 1.98485053e-04 9.99351881e-01 -4.78993322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:125.47, Y:39.36, Z:-4.79 [[ 8.40197706e-01 -5.41428144e-01 3.03871696e-02 1.25472255e+02] [ 5.41084141e-01 8.40746997e-01 1.92986692e-02 3.93606177e+01] [-3.59967643e-02 2.27317996e-04 9.99351881e-01 -4.79014886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52185806399999 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:39.39, Z:-4.79 [[ 8.39604584e-01 -5.42347757e-01 3.03817915e-02 1.25522000e+02] [ 5.42004050e-01 8.40154060e-01 1.93071323e-02 3.93902684e+01] [-3.59965653e-02 2.56697259e-04 9.99351881e-01 -4.79174105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581858064 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:39.42, Z:-4.79 [[ 8.39241216e-01 -5.42910179e-01 3.03762852e-02 1.25572725e+02] [ 5.42566526e-01 8.39790727e-01 1.93157916e-02 3.94189908e+01] [-3.59964625e-02 2.70547096e-04 9.99351881e-01 -4.79449435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641858064 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:39.45, Z:-4.80 [[ 8.36377322e-01 -5.47311940e-01 3.03745954e-02 1.25619828e+02] [ 5.46971083e-01 8.36928571e-01 1.93184484e-02 3.94542126e+01] [-3.59945842e-02 4.56513150e-04 9.99351881e-01 -4.80372946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701858064 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:125.67, Y:39.48, Z:-4.80 [[ 8.40004616e-01 -5.41728635e-01 3.03699073e-02 1.25672164e+02] [ 5.41383847e-01 8.40553415e-01 1.93258156e-02 3.94797857e+01] [-3.59968770e-02 2.08002894e-04 9.99351881e-01 -4.79589913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761858064 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:39.51, Z:-4.80 [[ 8.40311417e-01 -5.41252709e-01 3.03681923e-02 1.25720867e+02] [ 5.40907513e-01 8.40859959e-01 1.93285101e-02 3.95089206e+01] [-3.59970054e-02 1.84415607e-04 9.99351881e-01 -4.79735356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821858064 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:125.77, Y:39.54, Z:-4.80 [[ 8.40251935e-01 -5.41345179e-01 3.03658185e-02 1.25771274e+02] [ 5.40999908e-01 8.40800430e-01 1.93322388e-02 3.95394922e+01] [-3.59970075e-02 1.83953991e-04 9.99351881e-01 -4.79886132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.82, Y:39.57, Z:-4.80 [[ 8.39939496e-01 -5.41830087e-01 3.03611445e-02 1.25820396e+02] [ 5.41484868e-01 8.40488024e-01 1.93395765e-02 3.95701229e+01] [-3.59969427e-02 1.96026157e-04 9.99351881e-01 -4.79987026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:125.87, Y:39.60, Z:-4.80 [[ 8.39736986e-01 -5.42144187e-01 3.03558059e-02 1.25868286e+02] [ 5.41798871e-01 8.40285452e-01 1.93479524e-02 3.96008468e+01] [-3.59969220e-02 1.99550161e-04 9.99351881e-01 -4.80164446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:39.63, Z:-4.80 [[ 8.39618827e-01 -5.42327287e-01 3.03535516e-02 1.25917241e+02] [ 5.41981963e-01 8.40167288e-01 1.93514884e-02 3.96333262e+01] [-3.59969013e-02 2.03203409e-04 9.99351881e-01 -4.80245797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:39.67, Z:-4.80 [[ 8.39408731e-01 -5.42652684e-01 3.03487527e-02 1.25965224e+02] [ 5.42307300e-01 8.39957154e-01 1.93590116e-02 3.96655630e+01] [-3.59968715e-02 2.08226763e-04 9.99351881e-01 -4.80495074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.01, Y:39.70, Z:-4.81 [[ 8.38319523e-01 -5.44334154e-01 3.03431419e-02 1.26012287e+02] [ 5.43989552e-01 8.38868438e-01 1.93678018e-02 3.96972432e+01] [-3.59964601e-02 2.69945788e-04 9.99351881e-01 -4.80898189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:126.06, Y:39.73, Z:-4.81 [[ 8.35631499e-01 -5.48451932e-01 3.03393521e-02 1.26060540e+02] [ 5.48109819e-01 8.36181968e-01 1.93737367e-02 3.97302972e+01] [-3.59947825e-02 4.39992173e-04 9.99351881e-01 -4.81330017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:39.76, Z:-4.81 [[ 8.33943195e-01 -5.51015948e-01 3.03343375e-02 1.26110993e+02] [ 5.50675242e-01 8.34494537e-01 1.93815852e-02 3.97595522e+01] [-3.59934014e-02 5.41227534e-04 9.99351881e-01 -4.81226470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.16, Y:39.79, Z:-4.81 [[ 8.32714343e-01 -5.52871375e-01 3.03325865e-02 1.26159203e+02] [ 5.52531797e-01 8.33266380e-01 1.93843251e-02 3.97913144e+01] [-3.59921630e-02 6.18113023e-04 9.99351881e-01 -4.81428132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:126.21, Y:39.82, Z:-4.82 [[ 8.31417500e-01 -5.54819974e-01 3.03271845e-02 1.26206918e+02] [ 5.54481382e-01 8.31970142e-01 1.93927729e-02 3.98238190e+01] [-3.59908098e-02 6.92368392e-04 9.99351881e-01 -4.81825688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:39.86, Z:-4.82 [[ 8.29704670e-01 -5.57378461e-01 3.03217958e-02 1.26254201e+02] [ 5.57041266e-01 8.30258166e-01 1.94011949e-02 3.98550487e+01] [-3.59887267e-02 7.93229526e-04 9.99351881e-01 -4.82210014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:39.89, Z:-4.82 [[ 8.28980061e-01 -5.58455789e-01 3.03181610e-02 1.26302307e+02] [ 5.58119105e-01 8.29533868e-01 1.94068733e-02 3.98871143e+01] [-3.59878221e-02 8.33233922e-04 9.99351881e-01 -4.82466873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:39.92, Z:-4.83 [[ 8.28301000e-01 -5.59462771e-01 3.03127370e-02 1.26350191e+02] [ 5.59126451e-01 8.28855027e-01 1.94153417e-02 3.99205146e+01] [-3.59870253e-02 8.66906137e-04 9.99351881e-01 -4.82926305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:126.40, Y:39.95, Z:-4.83 [[ 8.27209163e-01 -5.61076131e-01 3.03080054e-02 1.26397662e+02] [ 5.60740621e-01 8.27763682e-01 1.94227250e-02 3.99543163e+01] [-3.59854936e-02 9.28273743e-04 9.99351881e-01 -4.83164516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.45, Y:39.99, Z:-4.84 [[ 8.26602011e-01 -5.61970533e-01 3.03024129e-02 1.26445949e+02] [ 5.61635304e-01 8.27156699e-01 1.94314463e-02 3.99884376e+01] [-3.59847440e-02 9.56832313e-04 9.99351881e-01 -4.83749565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:40.02, Z:-4.84 [[ 8.24291783e-01 -5.65353951e-01 3.02979760e-02 1.26492885e+02] [ 5.65020744e-01 8.24847688e-01 1.94383620e-02 4.00224625e+01] [-3.59807702e-02 1.09610288e-03 9.99351881e-01 -4.83850811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.54, Y:40.06, Z:-4.84 [[ 8.23147853e-01 -5.67018297e-01 3.02962709e-02 1.26540905e+02] [ 5.66686116e-01 8.23704372e-01 1.94410191e-02 4.00556325e+01] [-3.59785843e-02 1.16564298e-03 9.99351881e-01 -4.84275004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.59, Y:40.09, Z:-4.84 [[ 8.20237501e-01 -5.71220483e-01 3.02919534e-02 1.26586919e+02] [ 5.70890905e-01 8.20795565e-01 1.94477441e-02 4.00920220e+01] [-3.59724508e-02 1.34163167e-03 9.99351881e-01 -4.84369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.63, Y:40.13, Z:-4.85 [[ 8.20832981e-01 -5.70364550e-01 3.02902274e-02 1.26632099e+02] [ 5.70034291e-01 8.21390643e-01 1.94504320e-02 4.01298222e+01] [-3.59739462e-02 1.30091228e-03 9.99351881e-01 -4.85025191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:126.68, Y:40.16, Z:-4.86 [[ 8.23928263e-01 -5.65884291e-01 3.02850976e-02 1.26678445e+02] [ 5.65550705e-01 8.24483942e-01 1.94584160e-02 4.01647855e+01] [-3.59807886e-02 1.09541938e-03 9.99351881e-01 -4.85756813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:40.20, Z:-4.85 [[ 8.26676833e-01 -5.61861694e-01 3.02795508e-02 1.26723801e+02] [ 5.61525088e-01 8.27230687e-01 1.94670437e-02 4.02037644e+01] [-3.59859597e-02 9.09773415e-04 9.99351881e-01 -4.85490602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.77, Y:40.24, Z:-4.86 [[ 8.30693207e-01 -5.55906719e-01 3.02740102e-02 1.26770626e+02] [ 5.55565829e-01 8.31244434e-01 1.94756563e-02 4.02385387e+01] [-3.59917507e-02 6.40910122e-04 9.99351882e-01 -4.85892615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:40.28, Z:-4.86 [[ 8.34216768e-01 -5.50605296e-01 3.02686595e-02 1.26816043e+02] [ 5.50260601e-01 8.34765623e-01 1.94839687e-02 4.02769392e+01] [-3.59952128e-02 4.01797307e-04 9.99351882e-01 -4.85685229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:40.31, Z:-4.86 [[ 8.36586634e-01 -5.46998126e-01 3.02630692e-02 1.26864370e+02] [ 5.46650750e-01 8.37133797e-01 1.94926479e-02 4.03108704e+01] [-3.59966799e-02 2.36040802e-04 9.99351882e-01 -4.85809589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:40.35, Z:-4.86 [[ 8.37766260e-01 -5.45190001e-01 3.02581778e-02 1.26910456e+02] [ 5.44841170e-01 8.38312496e-01 1.95002378e-02 4.03471457e+01] [-3.59971432e-02 1.49259707e-04 9.99351882e-01 -4.85798679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:126.96, Y:40.38, Z:-4.86 [[ 8.39288614e-01 -5.42843854e-01 3.02518124e-02 1.26957685e+02] [ 5.42493140e-01 8.39833643e-01 1.95101078e-02 4.03794119e+01] [-3.59974319e-02 3.67893507e-05 9.99351882e-01 -4.86139211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:40.41, Z:-4.86 [[ 8.38831102e-01 -5.43550908e-01 3.02455336e-02 1.27003908e+02] [ 5.43200303e-01 8.39376201e-01 1.95198367e-02 4.04136545e+01] [-3.59974060e-02 5.55368721e-05 9.99351882e-01 -4.86355469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:40.44, Z:-4.86 [[ 8.37501366e-01 -5.45597685e-01 3.02428339e-02 1.27053862e+02] [ 5.45248260e-01 8.38047223e-01 1.95240185e-02 4.04449752e+01] [-3.59971822e-02 1.38460382e-04 9.99351882e-01 -4.86293353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:40.48, Z:-4.86 [[ 8.35321725e-01 -5.48929217e-01 3.02379112e-02 1.27103076e+02] [ 5.48581694e-01 8.35868794e-01 1.95316395e-02 4.04756302e+01] [-3.59964140e-02 2.72761711e-04 9.99351882e-01 -4.86438475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.15, Y:40.51, Z:-4.87 [[ 8.33906275e-01 -5.51077432e-01 3.02322548e-02 1.27152027e+02] [ 5.50731000e-01 8.34454036e-01 1.95403909e-02 4.05071506e+01] [-3.59956955e-02 3.54985314e-04 9.99351882e-01 -4.86653392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:40.54, Z:-4.88 [[ 8.29835913e-01 -5.57188215e-01 3.02266682e-02 1.27199574e+02] [ 5.56845502e-01 8.30386008e-01 1.95490290e-02 4.05422743e+01] [-3.59922909e-02 6.09097923e-04 9.99351882e-01 -4.87556971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.25, Y:40.57, Z:-4.87 [[ 8.30706962e-01 -5.55889008e-01 3.02217527e-02 1.27253192e+02] [ 5.55545159e-01 8.31256347e-01 1.95566250e-02 4.05691654e+01] [-3.59933367e-02 5.43723860e-04 9.99351882e-01 -4.86774283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.30, Y:40.60, Z:-4.87 [[ 8.29458192e-01 -5.57750880e-01 3.02169485e-02 1.27302534e+02] [ 5.57407994e-01 8.30008179e-01 1.95640453e-02 4.05985728e+01] [-3.59921778e-02 6.15610992e-04 9.99351882e-01 -4.86871237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:40.63, Z:-4.87 [[ 8.28783525e-01 -5.58753039e-01 3.02143949e-02 1.27352465e+02] [ 5.58410674e-01 8.29333837e-01 1.95679882e-02 4.06291557e+01] [-3.59914929e-02 6.54414330e-04 9.99351882e-01 -4.86872231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:40.66, Z:-4.87 [[ 8.29039971e-01 -5.58372759e-01 3.02090805e-02 1.27400903e+02] [ 5.58029843e-01 8.29589939e-01 1.95761892e-02 4.06609605e+01] [-3.59919600e-02 6.28125130e-04 9.99351882e-01 -4.87107460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:127.45, Y:40.69, Z:-4.87 [[ 8.29742930e-01 -5.57327927e-01 3.02035099e-02 1.27449720e+02] [ 5.56984005e-01 8.30292270e-01 1.95847801e-02 4.06932088e+01] [-3.59928857e-02 5.72539031e-04 9.99351882e-01 -4.87307410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:127.50, Y:40.72, Z:-4.88 [[ 8.29941786e-01 -5.57032063e-01 3.01979015e-02 1.27498576e+02] [ 5.56687631e-01 8.30490806e-01 1.95934239e-02 4.07238712e+01] [-3.59932449e-02 5.49397022e-04 9.99351882e-01 -4.87575742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:40.75, Z:-4.88 [[ 8.30678504e-01 -5.55933019e-01 3.01943882e-02 1.27546356e+02] [ 5.55587664e-01 8.31226944e-01 1.95988365e-02 4.07547968e+01] [-3.59940294e-02 4.95297466e-04 9.99351882e-01 -4.87770408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.59, Y:40.79, Z:-4.89 [[ 8.27436867e-01 -5.60746612e-01 3.01905294e-02 1.27592044e+02] [ 5.60404230e-01 8.27987169e-01 1.96047789e-02 4.07920274e+01] [-3.59906843e-02 6.97183573e-04 9.99351882e-01 -4.88732182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:127.64, Y:40.82, Z:-4.89 [[ 8.27532917e-01 -5.60605129e-01 3.01854454e-02 1.27640599e+02] [ 5.60262368e-01 8.28082982e-01 1.96126036e-02 4.08237290e+01] [-3.59909798e-02 6.81694091e-04 9.99351882e-01 -4.88915739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221858064 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:127.69, Y:40.85, Z:-4.88 [[ 8.31710891e-01 -5.54388116e-01 3.01796320e-02 1.27693321e+02] [ 5.54040918e-01 8.32258167e-01 1.96215452e-02 4.08485051e+01] [-3.59951967e-02 4.01298181e-04 9.99351882e-01 -4.88171550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:127.74, Y:40.88, Z:-4.88 [[ 8.32977864e-01 -5.52482759e-01 3.01774700e-02 1.27741104e+02] [ 5.52134189e-01 8.33524266e-01 1.96248697e-02 4.08800224e+01] [-3.59960557e-02 3.14930929e-04 9.99351882e-01 -4.88346140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:40.91, Z:-4.89 [[ 8.33844366e-01 -5.51174306e-01 3.01738064e-02 1.27789678e+02] [ 5.50824674e-01 8.34390090e-01 1.96305010e-02 4.09123114e+01] [-3.59965528e-02 2.51694366e-04 9.99351882e-01 -4.88583947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:40.94, Z:-4.89 [[ 8.34738042e-01 -5.49820216e-01 3.01683849e-02 1.27838790e+02] [ 5.49469398e-01 8.35283004e-01 1.96388292e-02 4.09438107e+01] [-3.59969645e-02 1.83326472e-04 9.99351882e-01 -4.88843996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.89, Y:40.97, Z:-4.89 [[ 8.35465544e-01 -5.48714426e-01 3.01629482e-02 1.27887253e+02] [ 5.48362586e-01 8.36009846e-01 1.96471759e-02 4.09749344e+01] [-3.59972105e-02 1.25693823e-04 9.99351882e-01 -4.88989502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.93, Y:41.01, Z:-4.90 [[ 8.36141743e-01 -5.47683764e-01 3.01575915e-02 1.27934008e+02] [ 5.47330956e-01 8.36685419e-01 1.96553948e-02 4.10098870e+01] [-3.59973576e-02 7.14873627e-05 9.99351883e-01 -4.89911647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.98, Y:41.04, Z:-4.90 [[ 8.38535692e-01 -5.44011685e-01 3.01526208e-02 1.27984748e+02] [ 5.43656222e-01 8.39077635e-01 1.96630171e-02 4.10381408e+01] [-3.59973008e-02 -9.54817304e-05 9.99351883e-01 -4.89562068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:41.07, Z:-4.90 [[ 8.38716439e-01 -5.43733287e-01 3.01470971e-02 1.28033967e+02] [ 5.43377341e-01 8.39258064e-01 1.96714823e-02 4.10688604e+01] [-3.59972341e-02 -1.17546129e-04 9.99351883e-01 -4.89785574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.08, Y:41.10, Z:-4.90 [[ 8.38757523e-01 -5.43670209e-01 3.01417013e-02 1.28084812e+02] [ 5.43313924e-01 8.39298926e-01 1.96797467e-02 4.10980625e+01] [-3.59971895e-02 -1.30129577e-04 9.99351883e-01 -4.89922896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:41.13, Z:-4.90 [[ 8.38794388e-01 -5.43613629e-01 3.01363243e-02 1.28134445e+02] [ 5.43257012e-01 8.39335572e-01 1.96879773e-02 4.11277096e+01] [-3.59971417e-02 -1.42395380e-04 9.99351883e-01 -4.90121405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:41.16, Z:-4.90 [[ 8.40092656e-01 -5.41605441e-01 3.01309773e-02 1.28184682e+02] [ 5.41247238e-01 8.40632791e-01 1.96961570e-02 4.11562473e+01] [-3.59966333e-02 -2.38288630e-04 9.99351883e-01 -4.90317162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:41.19, Z:-4.91 [[ 8.40822544e-01 -5.40471918e-01 3.01256595e-02 1.28234643e+02] [ 5.40112695e-01 8.41362001e-01 1.97042874e-02 4.11850758e+01] [-3.59961991e-02 -2.96557920e-04 9.99351883e-01 -4.90696394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:41.21, Z:-4.91 [[ 8.40202920e-01 -5.41434962e-01 3.01203531e-02 1.28285271e+02] [ 5.41076067e-01 8.40742595e-01 1.97123955e-02 4.12141954e+01] [-3.59964439e-02 -2.65010018e-04 9.99351883e-01 -4.91174420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:41.24, Z:-4.91 [[ 8.36898706e-01 -5.46528723e-01 3.01149710e-02 1.28338435e+02] [ 5.46172817e-01 8.37440357e-01 1.97206144e-02 4.12404071e+01] [-3.59973743e-02 -5.61781060e-05 9.99351883e-01 -4.91063332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:41.27, Z:-4.91 [[ 8.34659039e-01 -5.49943364e-01 3.01095517e-02 1.28389925e+02] [ 5.49589375e-01 8.35201946e-01 1.97288851e-02 4.12685126e+01] [-3.59973256e-02 8.09974139e-05 9.99351883e-01 -4.91272931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:41.29, Z:-4.92 [[ 8.32389100e-01 -5.53373420e-01 3.01038930e-02 1.28441083e+02] [ 5.53021356e-01 8.32933257e-01 1.97375159e-02 4.12941508e+01] [-3.59967503e-02 2.18802597e-04 9.99351883e-01 -4.91595867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181858064 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:41.32, Z:-4.92 [[ 8.32078689e-01 -5.53840191e-01 3.01014722e-02 1.28493059e+02] [ 5.53488299e-01 8.32622957e-01 1.97412071e-02 4.13206843e+01] [-3.59966507e-02 2.34574871e-04 9.99351883e-01 -4.92079402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24185806399998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:41.35, Z:-4.92 [[ 8.31172872e-01 -5.55199004e-01 3.00952459e-02 1.28543536e+02] [ 5.54847658e-01 8.31717492e-01 1.97506945e-02 4.13484982e+01] [-3.59963083e-02 2.82035263e-04 9.99351883e-01 -4.92103550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:128.59, Y:41.38, Z:-4.92 [[ 8.30639819e-01 -5.55996298e-01 3.00933037e-02 1.28594975e+02] [ 5.55645368e-01 8.31184708e-01 1.97536532e-02 4.13754386e+01] [-3.59960519e-02 3.13033877e-04 9.99351883e-01 -4.92324547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.65, Y:41.40, Z:-4.93 [[ 8.30614317e-01 -5.56034696e-01 3.00877801e-02 1.28645479e+02] [ 5.55683486e-01 8.31159025e-01 1.97620629e-02 4.14047908e+01] [-3.59961226e-02 3.04630189e-04 9.99351883e-01 -4.92587265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.70, Y:41.43, Z:-4.93 [[ 8.31111123e-01 -5.55292134e-01 3.00823497e-02 1.28696307e+02] [ 5.54940138e-01 8.31655324e-01 1.97703258e-02 4.14328605e+01] [-3.59964527e-02 2.62565673e-04 9.99351883e-01 -4.92751568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.75, Y:41.46, Z:-4.93 [[ 8.30903238e-01 -5.55603452e-01 3.00767844e-02 1.28746576e+02] [ 5.55251354e-01 8.31447373e-01 1.97787888e-02 4.14622906e+01] [-3.59964267e-02 2.65915573e-04 9.99351883e-01 -4.92965321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541858064 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:128.80, Y:41.49, Z:-4.93 [[ 8.30238278e-01 -5.56596918e-01 3.00711219e-02 1.28796467e+02] [ 5.56245159e-01 8.30782632e-01 1.97873941e-02 4.14916646e+01] [-3.59961684e-02 2.98663965e-04 9.99351883e-01 -4.93058403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:41.52, Z:-4.93 [[ 8.30166003e-01 -5.56705017e-01 3.00654633e-02 1.28845000e+02] [ 5.56353018e-01 8.30710201e-01 1.97959882e-02 4.15232362e+01] [-3.59962130e-02 2.93054840e-04 9.99351883e-01 -4.93196982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.89, Y:41.56, Z:-4.93 [[ 8.30941409e-01 -5.55547279e-01 3.00598620e-02 1.28892094e+02] [ 5.55194214e-01 8.31484917e-01 1.98044901e-02 4.15562709e+01] [-3.59966524e-02 2.32690567e-04 9.99351883e-01 -4.93419078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:128.94, Y:41.59, Z:-4.94 [[ 8.30723819e-01 -5.55872726e-01 3.00574439e-02 1.28939600e+02] [ 5.55519741e-01 8.31267378e-01 1.98081593e-02 4.15893671e+01] [-3.59965881e-02 2.42393738e-04 9.99351883e-01 -4.93712519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:128.99, Y:41.62, Z:-4.94 [[ 8.30448892e-01 -5.56283668e-01 3.00519179e-02 1.28987333e+02] [ 5.55930649e-01 8.30992430e-01 1.98165396e-02 4.16219768e+01] [-3.59965336e-02 2.50158884e-04 9.99351883e-01 -4.94050950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:41.65, Z:-4.94 [[ 8.29600572e-01 -5.57548203e-01 3.00481642e-02 1.29034796e+02] [ 5.57195806e-01 8.30144513e-01 1.98222297e-02 4.16545476e+01] [-3.59961672e-02 2.98178014e-04 9.99351883e-01 -4.94204866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:41.69, Z:-4.94 [[ 8.27207617e-01 -5.61092608e-01 3.00440412e-02 1.29082843e+02] [ 5.60742315e-01 8.27752915e-01 1.98284769e-02 4.16878549e+01] [-3.59946545e-02 4.44698079e-04 9.99351884e-01 -4.94293596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:41.72, Z:-4.95 [[ 8.26109233e-01 -5.62708844e-01 3.00381736e-02 1.29130459e+02] [ 5.62359295e-01 8.26655008e-01 1.98373617e-02 4.17216837e+01] [-3.59938655e-02 5.04418441e-04 9.99351884e-01 -4.94644572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:41.75, Z:-4.95 [[ 8.25167429e-01 -5.64089313e-01 3.00326561e-02 1.29176356e+02] [ 5.63740373e-01 8.25713594e-01 1.98457115e-02 4.17548398e+01] [-3.59931261e-02 5.54586023e-04 9.99351884e-01 -4.94853725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.22, Y:41.79, Z:-4.95 [[ 8.23796093e-01 -5.66090257e-01 3.00302885e-02 1.29223136e+02] [ 5.65742513e-01 8.24343020e-01 1.98492933e-02 4.17896736e+01] [-3.59917503e-02 6.37640597e-04 9.99351884e-01 -4.95486684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.27, Y:41.82, Z:-4.95 [[ 8.24744841e-01 -5.64707425e-01 3.00244987e-02 1.29270586e+02] [ 5.64358446e-01 8.25290980e-01 1.98580473e-02 4.18207230e+01] [-3.59929347e-02 5.66757389e-04 9.99351884e-01 -4.95239489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:41.85, Z:-4.95 [[ 8.25101386e-01 -5.64186478e-01 3.00220143e-02 1.29318007e+02] [ 5.63837017e-01 8.25647217e-01 1.98618025e-02 4.18542496e+01] [-3.59933530e-02 5.39522200e-04 9.99351884e-01 -4.95452894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:41.89, Z:-4.96 [[ 8.25819354e-01 -5.63135337e-01 3.00164348e-02 1.29365294e+02] [ 5.62784875e-01 8.26364543e-01 1.98702311e-02 4.18874653e+01] [-3.59941467e-02 4.83574154e-04 9.99351884e-01 -4.95679922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.41, Y:41.92, Z:-4.96 [[ 8.26039780e-01 -5.62812252e-01 3.00108530e-02 1.29411641e+02] [ 5.62461271e-01 8.26584635e-01 1.98786580e-02 4.19206331e+01] [-3.59944622e-02 4.59380192e-04 9.99351884e-01 -4.96023381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.46, Y:41.95, Z:-4.96 [[ 8.24687972e-01 -5.64791326e-01 3.00084512e-02 1.29460618e+02] [ 5.64441520e-01 8.25233582e-01 1.98822830e-02 4.19510784e+01] [-3.59933227e-02 5.41336175e-04 9.99351884e-01 -4.96257389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:41.98, Z:-4.96 [[ 8.23837790e-01 -5.66031018e-01 3.00030413e-02 1.29508856e+02] [ 5.65681736e-01 8.24383736e-01 1.98904433e-02 4.19832835e+01] [-3.59926272e-02 5.85673613e-04 9.99351884e-01 -4.96268042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:42.02, Z:-4.97 [[ 8.20349084e-01 -5.71075740e-01 2.99979881e-02 1.29557336e+02] [ 5.70729537e-01 8.20896987e-01 1.98980615e-02 4.20159145e+01] [-3.59885583e-02 7.97381321e-04 9.99351884e-01 -4.96797252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:42.05, Z:-4.97 [[ 8.17671247e-01 -5.74903670e-01 2.99917176e-02 1.29605958e+02] [ 5.74559685e-01 8.18220545e-01 1.99075084e-02 4.20474258e+01] [-3.59847391e-02 9.54234576e-04 9.99351884e-01 -4.97055704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.65, Y:42.08, Z:-4.97 [[ 8.16224665e-01 -5.76955946e-01 2.99855336e-02 1.29653796e+02] [ 5.76613000e-01 8.16774613e-01 1.99168185e-02 4.20791905e+01] [-3.59825495e-02 1.03344999e-03 9.99351884e-01 -4.97301635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:42.11, Z:-4.97 [[ 8.15309503e-01 -5.78248585e-01 2.99831307e-02 1.29701786e+02] [ 5.77906379e-01 8.15859911e-01 1.99204353e-02 4.21125624e+01] [-3.59809979e-02 1.08612224e-03 9.99351884e-01 -4.97288580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74185806399998 meters Centerline goodness : 0.996471 with order 1 Centerline is valid? [True, True] Translation: X:129.75, Y:42.15, Z:-4.98 [[ 8.15343098e-01 -5.78201501e-01 2.99776160e-02 1.29749962e+02] [ 5.77858957e-01 8.15893296e-01 1.99287307e-02 4.21456017e+01] [-3.59813580e-02 1.07408092e-03 9.99351884e-01 -4.97616758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.80, Y:42.18, Z:-4.98 [[ 8.17715097e-01 -5.74842391e-01 2.99707450e-02 1.29796673e+02] [ 5.74497209e-01 8.18263644e-01 1.99390587e-02 4.21781642e+01] [-3.59857872e-02 9.13640065e-04 9.99351884e-01 -4.97623275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:42.21, Z:-4.98 [[ 8.18503677e-01 -5.73719198e-01 2.99668540e-02 1.29843778e+02] [ 5.73373049e-01 8.19051615e-01 1.99449049e-02 4.22116963e+01] [-3.59871750e-02 8.57208411e-04 9.99351884e-01 -4.98031642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.89, Y:42.25, Z:-4.99 [[ 8.20897541e-01 -5.70289029e-01 2.99608123e-02 1.29890636e+02] [ 5.69940260e-01 8.21443814e-01 1.99539764e-02 4.22463044e+01] [-3.59906578e-02 6.95702975e-04 9.99351884e-01 -4.98759733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:42.28, Z:-4.99 [[ 8.24151152e-01 -5.65577158e-01 2.99559146e-02 1.29938203e+02] [ 5.65224998e-01 8.24695245e-01 1.99613264e-02 4.22817819e+01] [-3.59941706e-02 4.80681600e-04 9.99351884e-01 -4.98880814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.99, Y:42.31, Z:-4.99 [[ 8.26157286e-01 -5.62642960e-01 2.99505823e-02 1.29985699e+02] [ 5.62288578e-01 8.26699934e-01 1.99693239e-02 4.23144175e+01] [-3.59957440e-02 3.43067926e-04 9.99351884e-01 -4.99007814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.03, Y:42.35, Z:-4.99 [[ 8.27216520e-01 -5.61084782e-01 2.99448887e-02 1.30032645e+02] [ 5.60729069e-01 8.27758296e-01 1.99778581e-02 4.23461898e+01] [-3.59964022e-02 2.64955308e-04 9.99351884e-01 -4.99140965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.08, Y:42.38, Z:-4.99 [[ 8.30209532e-01 -5.56646731e-01 2.99424385e-02 1.30080803e+02] [ 5.56287989e-01 8.30749307e-01 1.99815298e-02 4.23784959e+01] [-3.59973133e-02 6.77623589e-05 9.99351884e-01 -4.99068227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:42.41, Z:-4.99 [[ 8.28654409e-01 -5.58959427e-01 2.99370953e-02 1.30128511e+02] [ 5.58601902e-01 8.29194991e-01 1.99895319e-02 4.24111045e+01] [-3.59970268e-02 1.58504599e-04 9.99351884e-01 -4.99351852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:42.44, Z:-5.00 [[ 8.29407140e-01 -5.57842207e-01 2.99310457e-02 1.30176281e+02] [ 5.57483627e-01 8.29947024e-01 1.99985861e-02 4.24432267e+01] [-3.59972377e-02 9.90977700e-05 9.99351885e-01 -4.99656395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.22, Y:42.48, Z:-5.00 [[ 8.29548764e-01 -5.57631880e-01 2.99254740e-02 1.30223912e+02] [ 5.57272862e-01 8.30088357e-01 2.00069201e-02 4.24758404e+01] [-3.59972840e-02 7.99387050e-05 9.99351885e-01 -5.00071484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.27, Y:42.51, Z:-5.00 [[ 8.28740614e-01 -5.58832524e-01 2.99199750e-02 1.30272152e+02] [ 5.58473991e-01 8.29280529e-01 2.00151403e-02 4.25076487e+01] [-3.59971641e-02 1.22168152e-04 9.99351885e-01 -5.00332528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:42.54, Z:-5.01 [[ 8.25015512e-01 -5.64317755e-01 2.99144979e-02 1.30320042e+02] [ 5.63962515e-01 8.25557598e-01 2.00233230e-02 4.25419904e+01] [-3.59956577e-02 3.51103459e-04 9.99351885e-01 -5.00982814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.37, Y:42.57, Z:-5.01 [[ 8.22602184e-01 -5.67830031e-01 2.99115975e-02 1.30369516e+02] [ 5.67476948e-01 8.23145678e-01 2.00276548e-02 4.25717580e+01] [-3.59939060e-02 4.99349522e-04 9.99351885e-01 -5.00755011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:42.61, Z:-5.02 [[ 8.16221828e-01 -5.76963947e-01 2.99087321e-02 1.30414447e+02] [ 5.76616787e-01 8.16769124e-01 2.00319330e-02 4.26105199e+01] [-3.59862320e-02 8.95376035e-04 9.99351885e-01 -5.02173386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:130.47, Y:42.64, Z:-5.02 [[ 8.16025348e-01 -5.77242040e-01 2.99041449e-02 1.30466313e+02] [ 5.76894817e-01 8.16572604e-01 2.00387786e-02 4.26382182e+01] [-3.59861309e-02 8.99394891e-04 9.99351885e-01 -5.01693465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.51, Y:42.67, Z:-5.02 [[ 8.14140881e-01 -5.79896949e-01 2.99023963e-02 1.30514243e+02] [ 5.79551414e-01 8.14689205e-01 2.00413875e-02 4.26703843e+01] [-3.59830989e-02 1.01346320e-03 9.99351885e-01 -5.01870723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:130.56, Y:42.70, Z:-5.02 [[ 8.13411078e-01 -5.80920477e-01 2.98967937e-02 1.30563535e+02] [ 5.80575325e-01 8.13959643e-01 2.00497417e-02 4.27036194e+01] [-3.59820890e-02 1.04865868e-03 9.99351885e-01 -5.01625170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:42.74, Z:-5.02 [[ 8.15215106e-01 -5.78386272e-01 2.98940164e-02 1.30611210e+02] [ 5.78039263e-01 8.15762498e-01 2.00538818e-02 4.27364033e+01] [-3.59853074e-02 9.31687868e-04 9.99351885e-01 -5.01795360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:42.77, Z:-5.02 [[ 8.17347589e-01 -5.75369014e-01 2.98900812e-02 1.30661043e+02] [ 5.75019770e-01 8.17893557e-01 2.00597454e-02 4.27686102e+01] [-3.59886608e-02 7.91603091e-04 9.99351885e-01 -5.01785948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:130.70, Y:42.81, Z:-5.02 [[ 8.14480683e-01 -5.79420517e-01 2.98844664e-02 1.30702057e+02] [ 5.79073682e-01 8.15028185e-01 2.00681067e-02 4.28113764e+01] [-3.59845552e-02 9.60222738e-04 9.99351885e-01 -5.02085451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.75, Y:42.85, Z:-5.02 [[ 8.15426625e-01 -5.78088624e-01 2.98824779e-02 1.30746448e+02] [ 5.77740786e-01 8.15973490e-01 2.00710673e-02 4.28488023e+01] [-3.59861655e-02 8.97843629e-04 9.99351885e-01 -5.02128100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.79, Y:42.88, Z:-5.02 [[ 8.16487194e-01 -5.76590008e-01 2.98768458e-02 1.30791533e+02] [ 5.76240859e-01 8.17033223e-01 2.00794474e-02 4.28843289e+01] [-3.59879844e-02 8.21647615e-04 9.99351885e-01 -5.02194362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:42.92, Z:-5.03 [[ 8.18318489e-01 -5.73988199e-01 2.98730481e-02 1.30837030e+02] [ 5.73637108e-01 8.18863272e-01 2.00850959e-02 4.29209999e+01] [-3.59905499e-02 7.00283633e-04 9.99351885e-01 -5.03100741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.88, Y:42.96, Z:-5.03 [[ 8.18550937e-01 -5.73656969e-01 2.98671222e-02 1.30880639e+02] [ 5.73305337e-01 8.19095370e-01 2.00939041e-02 4.29589081e+01] [-3.59910296e-02 6.75096528e-04 9.99351885e-01 -5.03246489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:42.99, Z:-5.04 [[ 8.18746824e-01 -5.73377480e-01 2.98647544e-02 1.30926060e+02] [ 5.73025533e-01 8.19291055e-01 2.00974225e-02 4.29941003e+01] [-3.59913356e-02 6.58565967e-04 9.99351885e-01 -5.03576687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:130.97, Y:43.03, Z:-5.04 [[ 8.17193488e-01 -5.75589300e-01 2.98623643e-02 1.30969954e+02] [ 5.75238696e-01 8.17738585e-01 2.01009734e-02 4.30320251e+01] [-3.59895127e-02 7.51602955e-04 9.99351885e-01 -5.04128847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:131.01, Y:43.07, Z:-5.04 [[ 8.15972069e-01 -5.77319832e-01 2.98562367e-02 1.31014046e+02] [ 5.76970052e-01 8.16517694e-01 2.01100706e-02 4.30690356e+01] [-3.59880881e-02 8.16898535e-04 9.99351885e-01 -5.04455518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:43.11, Z:-5.05 [[ 8.13476591e-01 -5.80831031e-01 2.98521187e-02 1.31058553e+02] [ 5.80483382e-01 8.14023576e-01 2.01161817e-02 4.31067765e+01] [-3.59844310e-02 9.64615907e-04 9.99351885e-01 -5.05218461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:43.14, Z:-5.04 [[ 8.13967859e-01 -5.80142468e-01 2.98503031e-02 1.31107235e+02] [ 5.79794257e-01 8.14514487e-01 2.01188754e-02 4.31386698e+01] [-3.59853184e-02 9.30916363e-04 9.99351885e-01 -5.04481161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.15, Y:43.18, Z:-5.05 [[ 8.13529288e-01 -5.80757449e-01 2.98476698e-02 1.31152437e+02] [ 5.80409508e-01 8.14076088e-01 2.01227814e-02 4.31758877e+01] [-3.59847295e-02 9.53399258e-04 9.99351885e-01 -5.04637420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:131.20, Y:43.21, Z:-5.05 [[ 8.15474234e-01 -5.78023553e-01 2.98420232e-02 1.31197501e+02] [ 5.77673473e-01 8.16019666e-01 2.01311518e-02 4.32125075e+01] [-3.59879577e-02 8.22509547e-04 9.99351885e-01 -5.04831102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.24, Y:43.25, Z:-5.05 [[ 8.17688393e-01 -5.74887364e-01 2.98364091e-02 1.31243751e+02] [ 5.74534888e-01 8.18232280e-01 2.01394691e-02 4.32476270e+01] [-3.59910393e-02 6.74247853e-04 9.99351885e-01 -5.05225180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.29, Y:43.29, Z:-5.05 [[ 8.22268020e-01 -5.68318059e-01 2.98309609e-02 1.31288169e+02] [ 5.67960945e-01 8.22808873e-01 2.01475358e-02 4.32855609e+01] [-3.59953878e-02 3.76146319e-04 9.99351885e-01 -5.05462247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:43.32, Z:-5.06 [[ 8.25068894e-01 -5.64244474e-01 2.98243787e-02 1.31333291e+02] [ 5.63884337e-01 8.25607739e-01 2.01572747e-02 4.33201522e+01] [-3.59968687e-02 1.86359630e-04 9.99351885e-01 -5.05562428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841858064 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:43.35, Z:-5.06 [[ 8.25774208e-01 -5.63211959e-01 2.98202457e-02 1.31379392e+02] [ 5.62850928e-01 8.26312454e-01 2.01633872e-02 4.33540658e+01] [-3.59971012e-02 1.33947848e-04 9.99351885e-01 -5.05609604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901858064 meters Centerline goodness : 0.996466 with order 1 Centerline is valid? [True, True] Translation: X:131.43, Y:43.39, Z:-5.06 [[ 8.26471545e-01 -5.62188380e-01 2.98162856e-02 1.31427501e+02] [ 5.61826471e-01 8.27009201e-01 2.01692414e-02 4.33861157e+01] [-3.59972557e-02 8.22743935e-05 9.99351885e-01 -5.05826966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.47, Y:43.42, Z:-5.06 [[ 8.26751907e-01 -5.61776342e-01 2.98098184e-02 1.31474151e+02] [ 5.61413821e-01 8.27289150e-01 2.01787953e-02 4.34201882e+01] [-3.59973091e-02 5.27865046e-05 9.99351885e-01 -5.06011724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.52, Y:43.45, Z:-5.06 [[ 8.27206407e-01 -5.61107257e-01 2.98028014e-02 1.31521494e+02] [ 5.60743927e-01 8.27743104e-01 2.01891537e-02 4.34540029e+01] [-3.59973439e-02 1.11425696e-05 9.99351886e-01 -5.06355888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:43.49, Z:-5.07 [[ 8.28622255e-01 -5.59014558e-01 2.97973732e-02 1.31569276e+02] [ 5.58649585e-01 8.29157836e-01 2.01971621e-02 4.34867955e+01] [-3.59972330e-02 -8.95278227e-05 9.99351886e-01 -5.06504219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.62, Y:43.52, Z:-5.07 [[ 8.29573588e-01 -5.57602126e-01 2.97914737e-02 1.31617760e+02] [ 5.57235928e-01 8.30108332e-01 2.02058602e-02 4.35183399e+01] [-3.59969811e-02 -1.61368375e-04 9.99351886e-01 -5.06908024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:43.55, Z:-5.07 [[ 8.28599964e-01 -5.59048108e-01 2.97878004e-02 1.31667513e+02] [ 5.58682650e-01 8.29135213e-01 2.02112740e-02 4.35489059e+01] [-3.59971887e-02 -1.05133602e-04 9.99351886e-01 -5.07147877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:43.58, Z:-5.07 [[ 8.27625582e-01 -5.60489911e-01 2.97817965e-02 1.31717299e+02] [ 5.60125067e-01 8.28161250e-01 2.02201171e-02 4.35792787e+01] [-3.59973014e-02 -5.31554254e-05 9.99351886e-01 -5.07324885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.77, Y:43.61, Z:-5.08 [[ 8.26732107e-01 -5.61807274e-01 2.97759998e-02 1.31767018e+02] [ 5.61442976e-01 8.27268147e-01 2.02286496e-02 4.36092045e+01] [-3.59973387e-02 -6.14814413e-06 9.99351886e-01 -5.07511874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:43.64, Z:-5.08 [[ 8.26244293e-01 -5.62524760e-01 2.97701623e-02 1.31817162e+02] [ 5.62160617e-01 8.26780439e-01 2.02372370e-02 4.36376463e+01] [-3.59973347e-02 1.47112417e-05 9.99351886e-01 -5.07685997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441858064 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:43.67, Z:-5.08 [[ 8.26081253e-01 -5.62764294e-01 2.97676546e-02 1.31867104e+02] [ 5.62400174e-01 8.26617414e-01 2.02409248e-02 4.36668661e+01] [-3.59973315e-02 2.06856229e-05 9.99351886e-01 -5.07840039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:43.70, Z:-5.08 [[ 8.25453570e-01 -5.63684867e-01 2.97619597e-02 1.31917876e+02] [ 5.63321043e-01 8.25989932e-01 2.02492952e-02 4.36959616e+01] [-3.59973003e-02 5.06851870e-05 9.99351886e-01 -5.07931616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:131.97, Y:43.72, Z:-5.08 [[ 8.25690041e-01 -5.63338729e-01 2.97562253e-02 1.31968899e+02] [ 5.62974377e-01 8.26226044e-01 2.02577183e-02 4.37245342e+01] [-3.59973256e-02 2.53960922e-05 9.99351886e-01 -5.08079949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.02, Y:43.76, Z:-5.08 [[ 8.26058045e-01 -5.62799273e-01 2.97503745e-02 1.32019265e+02] [ 5.62434261e-01 8.26593599e-01 2.02663071e-02 4.37555823e+01] [-3.59973320e-02 -8.51612222e-06 9.99351886e-01 -5.08130169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681858064 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:43.79, Z:-5.09 [[ 8.24742559e-01 -5.64725555e-01 2.97448889e-02 1.32066368e+02] [ 5.64361504e-01 8.25278767e-01 2.02743551e-02 4.37869194e+01] [-3.59972717e-02 6.57467042e-05 9.99351886e-01 -5.08666892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:43.81, Z:-5.09 [[ 8.26728489e-01 -5.61814470e-01 2.97406608e-02 1.32123570e+02] [ 5.61448308e-01 8.27263257e-01 2.02805555e-02 4.38081824e+01] [-3.59972655e-02 -6.86693771e-05 9.99351886e-01 -5.08621891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:43.84, Z:-5.09 [[ 8.25712474e-01 -5.63306969e-01 2.97349784e-02 1.32175677e+02] [ 5.62941473e-01 8.26247698e-01 2.02888835e-02 4.38367797e+01] [-3.59973269e-02 -1.37316617e-05 9.99351886e-01 -5.09018786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.22, Y:43.87, Z:-5.10 [[ 8.24354307e-01 -5.65292985e-01 2.97290773e-02 1.32223616e+02] [ 5.64928467e-01 8.24890197e-01 2.02975267e-02 4.38697717e+01] [-3.59972739e-02 6.24485219e-05 9.99351886e-01 -5.09622172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:132.28, Y:43.89, Z:-5.09 [[ 8.27277213e-01 -5.61006880e-01 2.97269935e-02 1.32277215e+02] [ 5.60639476e-01 8.27811128e-01 2.03005780e-02 4.38947208e+01] [-3.59971000e-02 -1.28079528e-04 9.99351886e-01 -5.09341736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.33, Y:43.92, Z:-5.10 [[ 8.27663750e-01 -5.60436778e-01 2.97209693e-02 1.32325625e+02] [ 5.60068689e-01 8.28197194e-01 2.03093939e-02 4.39249034e+01] [-3.59969547e-02 -1.63564795e-04 9.99351886e-01 -5.09518562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:43.95, Z:-5.10 [[ 8.27448267e-01 -5.60755090e-01 2.97168999e-02 1.32375564e+02] [ 5.60386993e-01 8.27981706e-01 2.03153466e-02 4.39543459e+01] [-3.59969834e-02 -1.56934211e-04 9.99351886e-01 -5.09778104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:43.98, Z:-5.10 [[ 8.26932853e-01 -5.61515187e-01 2.97111347e-02 1.32427195e+02] [ 5.61147278e-01 8.27466420e-01 2.03237747e-02 4.39823990e+01] [-3.59970744e-02 -1.34074617e-04 9.99351886e-01 -5.10120523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.48, Y:44.01, Z:-5.11 [[ 8.25587171e-01 -5.63492117e-01 2.97061928e-02 1.32477472e+02] [ 5.63125226e-01 8.26121438e-01 2.03309954e-02 4.40135039e+01] [-3.59972784e-02 -5.67023937e-05 9.99351886e-01 -5.10508913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221858064 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:132.53, Y:44.04, Z:-5.11 [[ 8.23895746e-01 -5.65962578e-01 2.97011783e-02 1.32525758e+02] [ 5.65597025e-01 8.24430930e-01 2.03383184e-02 4.40441389e+01] [-3.59972971e-02 4.22440806e-05 9.99351886e-01 -5.10810608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.58, Y:44.07, Z:-5.11 [[ 8.20652411e-01 -5.70655418e-01 2.96987200e-02 1.32576636e+02] [ 5.70292795e-01 8.21189585e-01 2.03419074e-02 4.40734873e+01] [-3.59964992e-02 2.43330659e-04 9.99351886e-01 -5.10822397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.63, Y:44.10, Z:-5.11 [[ 8.20693063e-01 -5.70597213e-01 2.96937318e-02 1.32629852e+02] [ 5.70234288e-01 8.21230033e-01 2.03491862e-02 4.41008285e+01] [-3.59965733e-02 2.31948072e-04 9.99351886e-01 -5.10945190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:44.13, Z:-5.11 [[ 8.21031769e-01 -5.70110033e-01 2.96881226e-02 1.32677401e+02] [ 5.69746494e-01 8.21568324e-01 2.03573664e-02 4.41325195e+01] [-3.59967600e-02 2.00659239e-04 9.99351886e-01 -5.11338888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:44.17, Z:-5.11 [[ 8.19252854e-01 -5.72663560e-01 2.96851502e-02 1.32722781e+02] [ 5.72301536e-01 8.19790432e-01 2.03616999e-02 4.41695458e+01] [-3.59960056e-02 3.07476297e-04 9.99351886e-01 -5.11434004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.77, Y:44.20, Z:-5.12 [[ 8.19961928e-01 -5.71647923e-01 2.96831389e-02 1.32770813e+02] [ 5.71285128e-01 8.20498985e-01 2.03646315e-02 4.42033106e+01] [-3.59963847e-02 2.59313273e-04 9.99351886e-01 -5.11547765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.82, Y:44.24, Z:-5.12 [[ 8.20611544e-01 -5.70715256e-01 2.96781115e-02 1.32818270e+02] [ 5.70351585e-01 8.21148009e-01 2.03719554e-02 4.42364799e+01] [-3.59967080e-02 2.09496146e-04 9.99351887e-01 -5.11742000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:132.87, Y:44.27, Z:-5.12 [[ 8.21938711e-01 -5.68802311e-01 2.96763466e-02 1.32865562e+02] [ 5.68437299e-01 8.22474265e-01 2.03745261e-02 4.42698460e+01] [-3.59971089e-02 1.22530561e-04 9.99351887e-01 -5.11907765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.91, Y:44.30, Z:-5.12 [[ 8.22450680e-01 -5.68062083e-01 2.96706692e-02 1.32912812e+02] [ 5.67696290e-01 8.22985701e-01 2.03827905e-02 4.43030844e+01] [-3.59972270e-02 8.00889327e-05 9.99351887e-01 -5.12270435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:44.34, Z:-5.12 [[ 8.22738170e-01 -5.67645920e-01 2.96650192e-02 1.32962350e+02] [ 5.67279560e-01 8.23272802e-01 2.03910102e-02 4.43351578e+01] [-3.59972773e-02 5.18966104e-05 9.99351887e-01 -5.12422904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.01, Y:44.37, Z:-5.13 [[ 8.21846921e-01 -5.68935793e-01 2.96597686e-02 1.33009189e+02] [ 5.68569998e-01 8.22381939e-01 2.03986447e-02 4.43691622e+01] [-3.59971771e-02 9.90912384e-05 9.99351887e-01 -5.12762459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.06, Y:44.40, Z:-5.13 [[ 8.20245179e-01 -5.71242727e-01 2.96579275e-02 1.33056313e+02] [ 5.70878340e-01 8.20781157e-01 2.04013211e-02 4.44027485e+01] [-3.59967744e-02 1.96983175e-04 9.99351887e-01 -5.12994965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:44.44, Z:-5.13 [[ 8.19053096e-01 -5.72950838e-01 2.96540743e-02 1.33103629e+02] [ 5.72587365e-01 8.19589694e-01 2.04069204e-02 4.44357437e+01] [-3.59963358e-02 2.65196979e-04 9.99351887e-01 -5.12996832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.15, Y:44.47, Z:-5.13 [[ 8.16839667e-01 -5.76102218e-01 2.96511907e-02 1.33151639e+02] [ 5.75740663e-01 8.17377560e-01 2.04111094e-02 4.44686360e+01] [-3.59951033e-02 3.98792351e-04 9.99351887e-01 -5.13209933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:133.20, Y:44.50, Z:-5.13 [[ 8.16626744e-01 -5.76404292e-01 2.96454737e-02 1.33198801e+02] [ 5.76042635e-01 8.17164568e-01 2.04194095e-02 4.45023975e+01] [-3.59950659e-02 4.02020874e-04 9.99351887e-01 -5.13431104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:44.54, Z:-5.14 [[ 8.16506975e-01 -5.76574232e-01 2.96397488e-02 1.33247553e+02] [ 5.76212385e-01 8.17044672e-01 2.04277161e-02 4.45361129e+01] [-3.59950935e-02 3.99417627e-04 9.99351887e-01 -5.13871481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.30, Y:44.57, Z:-5.14 [[ 8.16200279e-01 -5.77008580e-01 2.96344862e-02 1.33295901e+02] [ 5.76646742e-01 8.16737982e-01 2.04353477e-02 4.45689513e+01] [-3.59949814e-02 4.09293456e-04 9.99351887e-01 -5.13954332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24185806399998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:133.34, Y:44.60, Z:-5.14 [[ 8.15448362e-01 -5.78071037e-01 2.96284445e-02 1.33341656e+02] [ 5.77709582e-01 8.15986322e-01 2.04441035e-02 4.46039780e+01] [-3.59945496e-02 4.45525616e-04 9.99351887e-01 -5.13956956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:133.39, Y:44.64, Z:-5.14 [[ 8.16616105e-01 -5.76420449e-01 2.96243739e-02 1.33386915e+02] [ 5.76057693e-01 8.17153188e-01 2.04500004e-02 4.46397424e+01] [-3.59954499e-02 3.65548812e-04 9.99351887e-01 -5.14310681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361858064 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:133.43, Y:44.67, Z:-5.15 [[ 8.17525626e-01 -5.75130064e-01 2.96185940e-02 1.33433733e+02] [ 5.74766156e-01 8.18061930e-01 2.04583682e-02 4.46743878e+01] [-3.59960667e-02 2.98525162e-04 9.99351887e-01 -5.14565491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:133.48, Y:44.71, Z:-5.15 [[ 8.18807901e-01 -5.73303324e-01 2.96128330e-02 1.33481758e+02] [ 5.72937919e-01 8.19343185e-01 2.04667037e-02 4.47076246e+01] [-3.59967021e-02 2.08016227e-04 9.99351887e-01 -5.14732007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481858064 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:133.53, Y:44.74, Z:-5.15 [[ 8.19146292e-01 -5.72820019e-01 2.96070822e-02 1.33530027e+02] [ 5.72453997e-01 8.19681155e-01 2.04750193e-02 4.47417917e+01] [-3.59968683e-02 1.76656433e-04 9.99351887e-01 -5.15203757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541858064 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:133.58, Y:44.78, Z:-5.15 [[ 8.20293815e-01 -5.71175783e-01 2.96020650e-02 1.33577685e+02] [ 5.70808427e-01 8.20827763e-01 2.04822704e-02 4.47772464e+01] [-3.59971737e-02 9.56284683e-05 9.99351887e-01 -5.15151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:133.62, Y:44.81, Z:-5.15 [[ 8.20702952e-01 -5.70588040e-01 2.95964854e-02 1.33624897e+02] [ 5.70220012e-01 8.21236436e-01 2.04903298e-02 4.48114823e+01] [-3.59972493e-02 6.00340762e-05 9.99351887e-01 -5.15335818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:44.85, Z:-5.16 [[ 8.21285848e-01 -5.69749018e-01 2.95907525e-02 1.33671395e+02] [ 5.69380146e-01 8.21818749e-01 2.04986055e-02 4.48465592e+01] [-3.59972955e-02 1.31723306e-05 9.99351887e-01 -5.15564339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.72, Y:44.88, Z:-5.16 [[ 8.21289557e-01 -5.69743967e-01 2.95850717e-02 1.33718141e+02] [ 5.69374796e-01 8.21822251e-01 2.05068011e-02 4.48803731e+01] [-3.59972964e-02 2.97261935e-06 9.99351887e-01 -5.15638780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.76, Y:44.91, Z:-5.16 [[ 8.20677361e-01 -5.70625729e-01 2.95794867e-02 1.33764896e+02] [ 5.70256841e-01 8.21210251e-01 2.05148539e-02 4.49133022e+01] [-3.59972812e-02 3.18285113e-05 9.99351887e-01 -5.15755105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:133.81, Y:44.95, Z:-5.16 [[ 8.19883063e-01 -5.71766595e-01 2.95757191e-02 1.33812552e+02] [ 5.71398252e-01 8.20416330e-01 2.05202841e-02 4.49462148e+01] [-3.59972159e-02 7.52808008e-05 9.99351887e-01 -5.16031283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.86, Y:44.98, Z:-5.16 [[ 8.17888598e-01 -5.74616256e-01 2.95702663e-02 1.33859918e+02] [ 5.74249487e-01 8.18422948e-01 2.05281387e-02 4.49802732e+01] [-3.59967867e-02 1.90979733e-04 9.99351887e-01 -5.16407918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.91, Y:45.01, Z:-5.17 [[ 8.17638370e-01 -5.74972547e-01 2.95646107e-02 1.33910989e+02] [ 5.74605717e-01 8.18172678e-01 2.05362807e-02 4.50107017e+01] [-3.59967543e-02 1.96743280e-04 9.99351887e-01 -5.16691356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:45.05, Z:-5.17 [[ 8.15374835e-01 -5.78178258e-01 2.95597667e-02 1.33956914e+02] [ 5.77813276e-01 8.15910408e-01 2.05432507e-02 4.50463966e+01] [-3.59957822e-02 3.29576021e-04 9.99351887e-01 -5.16954804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.00, Y:45.08, Z:-5.17 [[ 8.13992038e-01 -5.80123513e-01 2.95579321e-02 1.34004654e+02] [ 5.79759715e-01 8.14528415e-01 2.05458901e-02 4.50790132e+01] [-3.59949295e-02 4.12307350e-04 9.99351888e-01 -5.17005807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.05, Y:45.11, Z:-5.17 [[ 8.13731969e-01 -5.80488343e-01 2.95561600e-02 1.34050541e+02] [ 5.80124693e-01 8.14268446e-01 2.05484389e-02 4.51129631e+01] [-3.59947778e-02 4.25336578e-04 9.99351888e-01 -5.17098266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:45.15, Z:-5.17 [[ 8.13745958e-01 -5.80468855e-01 2.95537587e-02 1.34097613e+02] [ 5.80105066e-01 8.14282342e-01 2.05518921e-02 4.51464750e+01] [-3.59948371e-02 4.20266011e-04 9.99351888e-01 -5.17212143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:134.14, Y:45.18, Z:-5.17 [[ 8.14811876e-01 -5.78971950e-01 2.95480391e-02 1.34143250e+02] [ 5.78606878e-01 8.15347387e-01 2.05601120e-02 4.51819945e+01] [-3.59956446e-02 3.44075219e-04 9.99351888e-01 -5.17384045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:45.22, Z:-5.17 [[ 8.16036377e-01 -5.77245081e-01 2.95422958e-02 1.34189776e+02] [ 5.76878577e-01 8.16570909e-01 2.05683612e-02 4.52171574e+01] [-3.59963646e-02 2.57786628e-04 9.99351888e-01 -5.17463329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:45.25, Z:-5.18 [[ 8.17918634e-01 -5.74575235e-01 2.95365473e-02 1.34235637e+02] [ 5.74206688e-01 8.18451759e-01 2.05766127e-02 4.52534144e+01] [-3.59970512e-02 1.30088055e-04 9.99351888e-01 -5.17669131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.28, Y:45.29, Z:-5.18 [[ 8.19921158e-01 -5.71714289e-01 2.95307889e-02 1.34284122e+02] [ 5.71343584e-01 8.20452785e-01 2.05848737e-02 4.52863455e+01] [-3.59972844e-02 -5.74671288e-06 9.99351888e-01 -5.17638925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:45.32, Z:-5.18 [[ 8.19628693e-01 -5.72133780e-01 2.95252848e-02 1.34329191e+02] [ 5.71763064e-01 8.20160312e-01 2.05927653e-02 4.53220491e+01] [-3.59972835e-02 3.04597948e-06 9.99351888e-01 -5.18132802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:45.36, Z:-5.18 [[ 8.19867844e-01 -5.71791125e-01 2.95233444e-02 1.34375796e+02] [ 5.71420086e-01 8.20399238e-01 2.05955469e-02 4.53562436e+01] [-3.59972801e-02 -1.53946712e-05 9.99351888e-01 -5.18227121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:45.39, Z:-5.18 [[ 8.20963082e-01 -5.70217796e-01 2.95175120e-02 1.34424444e+02] [ 5.69845438e-01 8.21493552e-01 2.06039025e-02 4.53896074e+01] [-3.59971576e-02 -9.46237738e-05 9.99351888e-01 -5.18348498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:45.43, Z:-5.19 [[ 8.18628847e-01 -5.73564147e-01 2.95123818e-02 1.34469499e+02] [ 5.73193692e-01 8.19160648e-01 2.06112481e-02 4.54258322e+01] [-3.59972548e-02 4.33488207e-05 9.99351888e-01 -5.18789671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:45.46, Z:-5.18 [[ 8.17283484e-01 -5.75479654e-01 2.95105819e-02 1.34518640e+02] [ 5.75110353e-01 8.17816087e-01 2.06138249e-02 4.54580799e+01] [-3.59970654e-02 1.24502544e-04 9.99351888e-01 -5.18472513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:45.49, Z:-5.19 [[ 8.15323226e-01 -5.78253817e-01 2.95052540e-02 1.34566137e+02] [ 5.77886052e-01 8.15856891e-01 2.06214481e-02 4.54934137e+01] [-3.59964959e-02 2.37529121e-04 9.99351888e-01 -5.18731974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.61, Y:45.53, Z:-5.19 [[ 8.13919813e-01 -5.80227794e-01 2.94999140e-02 1.34609575e+02] [ 5.79861047e-01 8.14454178e-01 2.06290843e-02 4.55299054e+01] [-3.59958963e-02 3.15430590e-04 9.99351888e-01 -5.19101298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.65, Y:45.57, Z:-5.19 [[ 8.11903363e-01 -5.83046173e-01 2.94972866e-02 1.34654227e+02] [ 5.82681144e-01 8.12438903e-01 2.06328406e-02 4.55692273e+01] [-3.59946419e-02 4.35640063e-04 9.99351888e-01 -5.19377058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.70, Y:45.60, Z:-5.20 [[ 8.10902461e-01 -5.84437685e-01 2.94922181e-02 1.34700130e+02] [ 5.84073311e-01 8.11438448e-01 2.06400829e-02 4.56041054e+01] [-3.59939619e-02 4.88523485e-04 9.99351888e-01 -5.19617522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.75, Y:45.64, Z:-5.19 [[ 8.11439426e-01 -5.83692220e-01 2.94864468e-02 1.34749048e+02] [ 5.83327055e-01 8.11974873e-01 2.06483245e-02 4.56366006e+01] [-3.59945202e-02 4.45377617e-04 9.99351888e-01 -5.19277024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:45.67, Z:-5.19 [[ 8.11702733e-01 -5.83326279e-01 2.94809338e-02 1.34796921e+02] [ 5.82960587e-01 8.12237820e-01 2.06561927e-02 4.56720304e+01] [-3.59948294e-02 4.19534365e-04 9.99351888e-01 -5.19135866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:45.71, Z:-5.19 [[ 8.10879596e-01 -5.84470233e-01 2.94758638e-02 1.34842440e+02] [ 5.84105033e-01 8.11415019e-01 2.06634249e-02 4.57096520e+01] [-3.59943154e-02 4.61450723e-04 9.99351888e-01 -5.18939371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:134.88, Y:45.75, Z:-5.20 [[ 8.05706082e-01 -5.91581929e-01 2.94708417e-02 1.34883184e+02] [ 5.91221192e-01 8.06244522e-01 2.06705851e-02 4.57518742e+01] [-3.59890493e-02 7.69370085e-04 9.99351888e-01 -5.20388450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.93, Y:45.79, Z:-5.21 [[ 8.04492444e-01 -5.93231380e-01 2.94692775e-02 1.34927122e+02] [ 5.92871665e-01 8.05031567e-01 2.06728149e-02 4.57905698e+01] [-3.59874612e-02 8.40376212e-04 9.99351888e-01 -5.20662537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.97, Y:45.83, Z:-5.21 [[ 8.04827863e-01 -5.92776533e-01 2.94634282e-02 1.34971909e+02] [ 5.92416208e-01 8.05366579e-01 2.06811481e-02 4.58273615e+01] [-3.59881597e-02 8.09848219e-04 9.99351888e-01 -5.20910325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:45.86, Z:-5.21 [[ 8.05891762e-01 -5.91329618e-01 2.94576045e-02 1.35016947e+02] [ 5.90968024e-01 8.06429626e-01 2.06894399e-02 4.58637976e+01] [-3.59897636e-02 7.35053169e-04 9.99351888e-01 -5.21114411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.07, Y:45.89, Z:-5.20 [[ 8.11736883e-01 -5.83280233e-01 2.94516991e-02 1.35069417e+02] [ 5.82912999e-01 8.12270912e-01 2.06978429e-02 4.58938357e+01] [-3.59954011e-02 3.66575811e-04 9.99351888e-01 -5.20136068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.11, Y:45.94, Z:-5.22 [[ 8.08854542e-01 -5.87270866e-01 2.94492806e-02 1.35107801e+02] [ 5.86906141e-01 8.09390288e-01 2.07012834e-02 4.59393403e+01] [-3.59932224e-02 5.39636493e-04 9.99351888e-01 -5.21642791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:45.97, Z:-5.22 [[ 8.09181977e-01 -5.86819727e-01 2.94471790e-02 1.35154252e+02] [ 5.86454595e-01 8.09717446e-01 2.07042725e-02 4.59746925e+01] [-3.59935701e-02 5.15909219e-04 9.99351888e-01 -5.21905122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.641858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:46.01, Z:-5.22 [[ 8.10190948e-01 -5.85426158e-01 2.94421712e-02 1.35200726e+02] [ 5.85059845e-01 8.10725611e-01 2.07113913e-02 4.60099139e+01] [-3.59945125e-02 4.45250365e-04 9.99351888e-01 -5.22026913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:46.05, Z:-5.22 [[ 8.11304420e-01 -5.83882180e-01 2.94404224e-02 1.35246853e+02] [ 5.83514760e-01 8.11838322e-01 2.07138768e-02 4.60462481e+01] [-3.59953267e-02 3.73661216e-04 9.99351888e-01 -5.21765903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:46.07, Z:-5.20 [[ 8.17447851e-01 -5.75250010e-01 2.94353066e-02 1.35301185e+02] [ 5.74876690e-01 8.17977644e-01 2.07211441e-02 4.60731473e+01] [-3.59972611e-02 -1.67830463e-05 9.99351888e-01 -5.20126043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.34, Y:46.12, Z:-5.22 [[ 8.13607218e-01 -5.80669407e-01 2.94335525e-02 1.35341659e+02] [ 5.80299526e-01 8.14139418e-01 2.07236354e-02 4.61162786e+01] [-3.59965964e-02 2.19377144e-04 9.99351888e-01 -5.22124491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.39, Y:46.15, Z:-5.22 [[ 8.14146214e-01 -5.79913547e-01 2.94316162e-02 1.35387696e+02] [ 5.79543072e-01 8.14678001e-01 2.07263850e-02 4.61511963e+01] [-3.59968017e-02 1.82581420e-04 9.99351888e-01 -5.22211567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.43, Y:46.19, Z:-5.22 [[ 8.15005808e-01 -5.78705154e-01 2.94258110e-02 1.35433956e+02] [ 5.78333593e-01 8.15536836e-01 2.07346235e-02 4.61870384e+01] [-3.59970663e-02 1.19096400e-04 9.99351888e-01 -5.22454844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.48, Y:46.22, Z:-5.23 [[ 8.15118263e-01 -5.78547005e-01 2.94207401e-02 1.35481217e+02] [ 5.78175082e-01 8.15649037e-01 2.07418162e-02 4.62200160e+01] [-3.59971140e-02 1.03305637e-04 9.99351889e-01 -5.22544833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.53, Y:46.25, Z:-5.23 [[ 8.14884629e-01 -5.78876331e-01 2.94148757e-02 1.35527745e+02] [ 5.78504322e-01 8.15415343e-01 2.07501294e-02 4.62545091e+01] [-3.59970998e-02 1.07671204e-04 9.99351889e-01 -5.22704162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.58, Y:46.28, Z:-5.23 [[ 8.17136311e-01 -5.75693806e-01 2.94090326e-02 1.35579140e+02] [ 5.75319432e-01 8.17665359e-01 2.07584076e-02 4.62846524e+01] [-3.59972338e-02 -4.28606480e-05 9.99351889e-01 -5.22893865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:46.33, Z:-5.25 [[ 8.07060840e-01 -5.89735623e-01 2.94056907e-02 1.35619003e+02] [ 5.89370280e-01 8.07596165e-01 2.07631405e-02 4.63293096e+01] [-3.59926866e-02 5.73722586e-04 9.99351889e-01 -5.24800274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:46.35, Z:-5.23 [[ 8.11891764e-01 -5.83067259e-01 2.93995643e-02 1.35673148e+02] [ 5.82697204e-01 8.12423843e-01 2.07718116e-02 4.63528182e+01] [-3.59962702e-02 2.66581196e-04 9.99351889e-01 -5.23095164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.72, Y:46.39, Z:-5.24 [[ 8.12047442e-01 -5.82850562e-01 2.93968356e-02 1.35722262e+02] [ 5.82480225e-01 8.12579324e-01 2.07756726e-02 4.63855960e+01] [-3.59963732e-02 2.52243612e-04 9.99351889e-01 -5.23918947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.77, Y:46.42, Z:-5.24 [[ 8.14493486e-01 -5.79427721e-01 2.93917872e-02 1.35772169e+02] [ 5.79054891e-01 8.15023624e-01 2.07828122e-02 4.64169069e+01] [-3.59971384e-02 9.19930208e-05 9.99351889e-01 -5.23830914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.82, Y:46.45, Z:-5.24 [[ 8.15818479e-01 -5.77560947e-01 2.93864156e-02 1.35819431e+02] [ 5.77186630e-01 8.16347569e-01 2.07904047e-02 4.64497669e+01] [-3.59972548e-02 2.49876714e-07 9.99351889e-01 -5.23735678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.87, Y:46.48, Z:-5.24 [[ 8.18139022e-01 -5.74269179e-01 2.93845288e-02 1.35869909e+02] [ 5.73892638e-01 8.18666531e-01 2.07930711e-02 4.64799679e+01] [-3.59969501e-02 -1.48058111e-04 9.99351889e-01 -5.24098993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.92, Y:46.51, Z:-5.24 [[ 8.19078875e-01 -5.72928148e-01 2.93791419e-02 1.35920167e+02] [ 5.72550471e-01 8.19605570e-01 2.08006796e-02 4.65088090e+01] [-3.59966032e-02 -2.16355751e-04 9.99351889e-01 -5.24210105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.97, Y:46.54, Z:-5.25 [[ 8.17895954e-01 -5.74615903e-01 2.93729781e-02 1.35965525e+02] [ 5.74239000e-01 8.18423204e-01 2.08093800e-02 4.65445623e+01] [-3.59969275e-02 -1.52798132e-04 9.99351889e-01 -5.25024720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:46.58, Z:-5.25 [[ 8.16867082e-01 -5.76077694e-01 2.93710888e-02 1.36015069e+02] [ 5.75701639e-01 8.17394936e-01 2.08120463e-02 4.65752483e+01] [-3.59971349e-02 -9.16916216e-05 9.99351889e-01 -5.25481377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.07, Y:46.60, Z:-5.25 [[ 8.19923390e-01 -5.71719642e-01 2.93647092e-02 1.36067971e+02] [ 5.71340458e-01 8.20449002e-01 2.08210437e-02 4.66019550e+01] [-3.59960460e-02 -2.94414355e-04 9.99351889e-01 -5.24640280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:46.63, Z:-5.26 [[ 8.19538024e-01 -5.72272177e-01 2.93595391e-02 1.36116634e+02] [ 5.71893087e-01 8.20063703e-01 2.08283314e-02 4.66337549e+01] [-3.59961669e-02 -2.79092099e-04 9.99351889e-01 -5.25530619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:46.66, Z:-5.25 [[ 8.20364974e-01 -5.71086191e-01 2.93576454e-02 1.36169905e+02] [ 5.70706246e-01 8.20890035e-01 2.08310002e-02 4.66610162e+01] [-3.59956952e-02 -3.34431343e-04 9.99351889e-01 -5.25469703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.22, Y:46.69, Z:-5.26 [[ 8.18782629e-01 -5.73352806e-01 2.93524541e-02 1.36219841e+02] [ 5.72974053e-01 8.19308550e-01 2.08383127e-02 4.66920341e+01] [-3.59964217e-02 -2.43853857e-04 9.99351889e-01 -5.25730372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.27, Y:46.72, Z:-5.26 [[ 8.17292638e-01 -5.75475024e-01 2.93469186e-02 1.36269732e+02] [ 5.75097355e-01 8.17819339e-01 2.08461054e-02 4.67218799e+01] [-3.59968906e-02 -1.60033215e-04 9.99351889e-01 -5.25962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02185806399999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:136.32, Y:46.75, Z:-5.26 [[ 8.14233233e-01 -5.79795752e-01 2.93449820e-02 1.36320213e+02] [ 5.79420781e-01 8.14761858e-01 2.08488313e-02 4.67516356e+01] [-3.59972359e-02 2.72810315e-05 9.99351889e-01 -5.26312836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.081858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:136.37, Y:46.78, Z:-5.26 [[ 8.13285641e-01 -5.81124468e-01 2.93397098e-02 1.36371758e+02] [ 5.80750093e-01 8.13814688e-01 2.08562480e-02 4.67798642e+01] [-3.59971628e-02 7.69521035e-05 9.99351889e-01 -5.26186118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.141858064 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:46.81, Z:-5.27 [[ 8.09777081e-01 -5.86003943e-01 2.93335627e-02 1.36420336e+02] [ 5.85632442e-01 8.10308151e-01 2.08648901e-02 4.68091751e+01] [-3.59961328e-02 2.82776149e-04 9.99351889e-01 -5.26961397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201858064 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:46.84, Z:-5.26 [[ 8.10872313e-01 -5.84487805e-01 2.93274131e-02 1.36474530e+02] [ 5.84114999e-01 8.11402467e-01 2.08735304e-02 4.68358240e+01] [-3.59966593e-02 2.04814014e-04 9.99351889e-01 -5.26404393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261858064 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:46.87, Z:-5.27 [[ 8.09547318e-01 -5.86321871e-01 2.93224183e-02 1.36521309e+02] [ 5.85950011e-01 8.10078136e-01 2.08805445e-02 4.68700623e+01] [-3.59961699e-02 2.77682484e-04 9.99351889e-01 -5.27107411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321858064 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:136.57, Y:46.90, Z:-5.27 [[ 8.10723305e-01 -5.84694815e-01 2.93205909e-02 1.36574892e+02] [ 5.84321797e-01 8.11253310e-01 2.08831103e-02 4.68968844e+01] [-3.59966727e-02 2.02236196e-04 9.99351889e-01 -5.26865079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381858064 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:46.93, Z:-5.28 [[ 8.10277892e-01 -5.85312176e-01 2.93154286e-02 1.36623525e+02] [ 5.84939300e-01 8.10807997e-01 2.08903544e-02 4.69304089e+01] [-3.59965628e-02 2.20753952e-04 9.99351889e-01 -5.27503534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:136.68, Y:46.96, Z:-5.27 [[ 8.11064419e-01 -5.84222063e-01 2.93102249e-02 1.36675760e+02] [ 5.83848211e-01 8.11593836e-01 2.08976530e-02 4.69596166e+01] [-3.59968678e-02 1.63379558e-04 9.99351889e-01 -5.27237484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501858064 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:136.73, Y:46.99, Z:-5.28 [[ 8.10445564e-01 -5.85080483e-01 2.93055648e-02 1.36725265e+02] [ 5.84706956e-01 8.10975210e-01 2.09041859e-02 4.69905326e+01] [-3.59967178e-02 1.93462871e-04 9.99351889e-01 -5.27565665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561858064 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:136.78, Y:47.02, Z:-5.27 [[ 8.09903598e-01 -5.85830763e-01 2.92997959e-02 1.36776901e+02] [ 5.85457434e-01 8.10433384e-01 2.09122687e-02 4.70199833e+01] [-3.59965831e-02 2.16861666e-04 9.99351889e-01 -5.27473115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621858064 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:47.05, Z:-5.28 [[ 8.09795724e-01 -5.85980146e-01 2.92942741e-02 1.36826565e+02] [ 5.85606634e-01 8.10325381e-01 2.09200008e-02 4.70515956e+01] [-3.59965990e-02 2.13994049e-04 9.99351890e-01 -5.27873190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681858064 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:136.88, Y:47.08, Z:-5.28 [[ 8.09899279e-01 -5.85837164e-01 2.92912197e-02 1.36875833e+02] [ 5.85463405e-01 8.10428761e-01 2.09242766e-02 4.70820947e+01] [-3.59966657e-02 2.02380717e-04 9.99351890e-01 -5.28009523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74185806399998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:136.93, Y:47.11, Z:-5.28 [[ 8.11158352e-01 -5.84092737e-01 2.92882573e-02 1.36925271e+02] [ 5.83717690e-01 8.11686922e-01 2.09284223e-02 4.71129106e+01] [-3.59970349e-02 1.19809319e-04 9.99351890e-01 -5.28164934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.97, Y:47.15, Z:-5.29 [[ 8.09176864e-01 -5.86835015e-01 2.92825501e-02 1.36970455e+02] [ 5.86461469e-01 8.09706497e-01 2.09364047e-02 4.71499288e+01] [-3.59964864e-02 2.31833080e-04 9.99351890e-01 -5.29004039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:47.18, Z:-5.29 [[ 8.12479121e-01 -5.82254697e-01 2.92770615e-02 1.37021491e+02] [ 5.81877889e-01 8.13006438e-01 2.09440770e-02 4.71775863e+01] [-3.59972267e-02 1.90494175e-05 9.99351890e-01 -5.28522643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.07, Y:47.21, Z:-5.29 [[ 8.12389140e-01 -5.82380406e-01 2.92736870e-02 1.37068700e+02] [ 5.82003510e-01 8.12916393e-01 2.09487926e-02 4.72097798e+01] [-3.59972263e-02 1.88169757e-05 9.99351890e-01 -5.28799814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:137.12, Y:47.24, Z:-5.29 [[ 8.13406503e-01 -5.80958742e-01 2.92711516e-02 1.37115553e+02] [ 5.80580797e-01 8.13933006e-01 2.09523346e-02 4.72438601e+01] [-3.59971983e-02 -4.84967253e-05 9.99351890e-01 -5.28926480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.16, Y:47.28, Z:-5.29 [[ 8.13725716e-01 -5.80511837e-01 2.92654318e-02 1.37160623e+02] [ 5.80133316e-01 8.14251804e-01 2.09603208e-02 4.72802924e+01] [-3.59971449e-02 -7.81000432e-05 9.99351890e-01 -5.29130064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.21, Y:47.31, Z:-5.29 [[ 8.13359381e-01 -5.81025293e-01 2.92596189e-02 1.37207115e+02] [ 5.80646812e-01 8.13885498e-01 2.09684321e-02 4.73144091e+01] [-3.59971689e-02 -6.53664759e-05 9.99351890e-01 -5.29349514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.25, Y:47.35, Z:-5.30 [[ 8.11445615e-01 -5.83695329e-01 2.92536781e-02 1.37253664e+02] [ 5.83318280e-01 8.11972759e-01 2.09767171e-02 4.73475775e+01] [-3.59972015e-02 4.27400921e-05 9.99351890e-01 -5.29558370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.30, Y:47.38, Z:-5.30 [[ 8.10579286e-01 -5.84898101e-01 2.92478013e-02 1.37300752e+02] [ 5.84521539e-01 8.11106778e-01 2.09849078e-02 4.73814309e+01] [-3.59971226e-02 8.60382288e-05 9.99351890e-01 -5.29816498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:137.35, Y:47.42, Z:-5.30 [[ 8.09617466e-01 -5.86229025e-01 2.92419272e-02 1.37347179e+02] [ 5.85853034e-01 8.10145365e-01 2.09930900e-02 4.74166943e+01] [-3.59969705e-02 1.35099486e-04 9.99351890e-01 -5.30026531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:47.45, Z:-5.30 [[ 8.07669005e-01 -5.88910873e-01 2.92363061e-02 1.37394552e+02] [ 5.88536352e-01 8.08197948e-01 2.10009154e-02 4.74510231e+01] [-3.59963901e-02 2.44840453e-04 9.99351890e-01 -5.30355726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.44, Y:47.48, Z:-5.30 [[ 8.04546161e-01 -5.93170326e-01 2.92307902e-02 1.37441512e+02] [ 5.92798327e-01 8.05076880e-01 2.10085901e-02 4.74838727e+01] [-3.59947056e-02 4.25583043e-04 9.99351890e-01 -5.30358708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.49, Y:47.52, Z:-5.31 [[ 8.02792366e-01 -5.95541860e-01 2.92285899e-02 1.37489080e+02] [ 5.95171317e-01 8.03324103e-01 2.10116509e-02 4.75170617e+01] [-3.59933484e-02 5.28025387e-04 9.99351890e-01 -5.30585852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:137.54, Y:47.55, Z:-5.31 [[ 8.02652239e-01 -5.95730988e-01 2.92228300e-02 1.37535702e+02] [ 5.95360278e-01 8.03183860e-01 2.10196586e-02 4.75510155e+01] [-3.59933674e-02 5.26636174e-04 9.99351890e-01 -5.30999054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:47.59, Z:-5.31 [[ 8.03277798e-01 -5.94887512e-01 2.92169213e-02 1.37579404e+02] [ 5.94515945e-01 8.03808820e-01 2.10278684e-02 4.75885860e+01] [-3.59940354e-02 4.78705791e-04 9.99351890e-01 -5.31075242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:47.62, Z:-5.31 [[ 8.05275044e-01 -5.92181253e-01 2.92141681e-02 1.37628174e+02] [ 5.91807764e-01 8.05804715e-01 2.10316928e-02 4.76206795e+01] [-3.59954886e-02 3.52874144e-04 9.99351890e-01 -5.31010449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:137.67, Y:47.66, Z:-5.31 [[ 8.04394989e-01 -5.93376436e-01 2.92079909e-02 1.37671383e+02] [ 5.93003422e-01 8.04924996e-01 2.10402680e-02 4.76602722e+01] [-3.59950412e-02 3.95752355e-04 9.99351890e-01 -5.31331542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.72, Y:47.70, Z:-5.32 [[ 8.03317616e-01 -5.94834281e-01 2.92059352e-02 1.37716753e+02] [ 5.94462125e-01 8.03848225e-01 2.10431211e-02 4.76968661e+01] [-3.59943090e-02 4.57512471e-04 9.99351890e-01 -5.31749059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:47.73, Z:-5.32 [[ 8.01826514e-01 -5.96843014e-01 2.92003034e-02 1.37763712e+02] [ 5.96471903e-01 8.02357855e-01 2.10509331e-02 4.77313597e+01] [-3.59931952e-02 5.37964193e-04 9.99351890e-01 -5.31941335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:47.77, Z:-5.32 [[ 8.00413715e-01 -5.98736654e-01 2.91942559e-02 1.37810870e+02] [ 5.98366494e-01 8.00945718e-01 2.10593167e-02 4.77660340e+01] [-3.59919991e-02 6.12698651e-04 9.99351890e-01 -5.32246481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.86, Y:47.80, Z:-5.33 [[ 7.99491693e-01 -5.99967527e-01 2.91890349e-02 1.37856410e+02] [ 5.99597922e-01 8.00024082e-01 2.10665507e-02 4.78042108e+01] [-3.59911772e-02 6.59152351e-04 9.99351890e-01 -5.32692642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.90, Y:47.84, Z:-5.33 [[ 8.01731528e-01 -5.96971422e-01 2.91835292e-02 1.37902550e+02] [ 5.96599550e-01 8.02262336e-01 2.10741750e-02 4.78399652e+01] [-3.59935265e-02 5.15049850e-04 9.99351890e-01 -5.32874734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:47.88, Z:-5.33 [[ 8.02388680e-01 -5.96088159e-01 2.91772562e-02 1.37948299e+02] [ 5.95715387e-01 8.02918857e-01 2.10828565e-02 4.78753163e+01] [-3.59942103e-02 4.64695095e-04 9.99351890e-01 -5.33145848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.00, Y:47.91, Z:-5.33 [[ 8.06014737e-01 -5.91176187e-01 2.91712013e-02 1.37995133e+02] [ 5.90799881e-01 8.06542411e-01 2.10912310e-02 4.79093984e+01] [-3.59964445e-02 2.34499276e-04 9.99351890e-01 -5.32832001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.04, Y:47.95, Z:-5.33 [[ 8.07369303e-01 -5.89325009e-01 2.91691867e-02 1.38040697e+02] [ 5.88947392e-01 8.07896040e-01 2.10940168e-02 4.79455960e+01] [-3.59969020e-02 1.48454776e-04 9.99351890e-01 -5.33046035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:47.98, Z:-5.33 [[ 8.08104681e-01 -5.88316516e-01 2.91633676e-02 1.38086712e+02] [ 5.87937951e-01 8.08630737e-01 2.11020589e-02 4.79815243e+01] [-3.59970852e-02 9.35780412e-05 9.99351891e-01 -5.33292796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:48.02, Z:-5.34 [[ 8.08160845e-01 -5.88239647e-01 2.91576172e-02 1.38133512e+02] [ 5.87860746e-01 8.08686658e-01 2.11100015e-02 4.80156639e+01] [-3.59971158e-02 8.03419616e-05 9.99351891e-01 -5.33852623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.18, Y:48.05, Z:-5.34 [[ 8.07311795e-01 -5.89404666e-01 2.91514202e-02 1.38179973e+02] [ 5.89026215e-01 8.07837932e-01 2.11185556e-02 4.80496172e+01] [-3.59969982e-02 1.21691682e-04 9.99351891e-01 -5.34148134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.23, Y:48.08, Z:-5.34 [[ 8.06290172e-01 -5.90801786e-01 2.91445993e-02 1.38226101e+02] [ 5.90423906e-01 8.06816720e-01 2.11279645e-02 4.80849774e+01] [-3.59967892e-02 1.72398035e-04 9.99351891e-01 -5.33924850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.27, Y:48.12, Z:-5.34 [[ 8.05560240e-01 -5.91796768e-01 2.91424759e-02 1.38272969e+02] [ 5.91419433e-01 8.06087179e-01 2.11308930e-02 4.81191006e+01] [-3.59965704e-02 2.13219327e-04 9.99351891e-01 -5.34050099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:48.15, Z:-5.34 [[ 8.04647826e-01 -5.93037052e-01 2.91364221e-02 1.38318946e+02] [ 5.92660226e-01 8.05175129e-01 2.11392371e-02 4.81524326e+01] [-3.59962732e-02 2.58357304e-04 9.99351891e-01 -5.34285586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.37, Y:48.19, Z:-5.34 [[ 8.02494362e-01 -5.95947998e-01 2.91338659e-02 1.38366958e+02] [ 5.95572957e-01 8.03022936e-01 2.11427593e-02 4.81858963e+01] [-3.59951477e-02 3.84397525e-04 9.99351891e-01 -5.34498151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:138.41, Y:48.22, Z:-5.35 [[ 8.01308208e-01 -5.97542229e-01 2.91279990e-02 1.38414395e+02] [ 5.97167946e-01 8.01837319e-01 2.11508390e-02 4.82188100e+01] [-3.59944361e-02 4.45966492e-04 9.99351891e-01 -5.34609492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.46, Y:48.25, Z:-5.35 [[ 7.99544872e-01 -5.99899909e-01 2.91221143e-02 1.38461068e+02] [ 5.99526891e-01 8.00074875e-01 2.11589384e-02 4.82533560e+01] [-3.59931172e-02 5.41969978e-04 9.99351891e-01 -5.34955765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:48.29, Z:-5.35 [[ 7.98734644e-01 -6.00978539e-01 2.91163891e-02 1.38506991e+02] [ 6.00605950e-01 7.99264949e-01 2.11668138e-02 4.82887477e+01] [-3.59925101e-02 5.80809035e-04 9.99351891e-01 -5.35290693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.55, Y:48.32, Z:-5.36 [[ 7.97411218e-01 -6.02733738e-01 2.91099885e-02 1.38553709e+02] [ 6.02361995e-01 7.97942116e-01 2.11756127e-02 4.83228328e+01] [-3.59913420e-02 6.49079668e-04 9.99351891e-01 -5.35559054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:48.36, Z:-5.36 [[ 7.95418034e-01 -6.05361966e-01 2.91039712e-02 1.38600173e+02] [ 6.04991675e-01 7.95949946e-01 2.11838797e-02 4.83578784e+01] [-3.59892194e-02 7.57620328e-04 9.99351891e-01 -5.35788295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:48.39, Z:-5.36 [[ 7.96907331e-01 -6.03400176e-01 2.91021262e-02 1.38649711e+02] [ 6.03028483e-01 7.97438263e-01 2.11864141e-02 4.83877386e+01] [-3.59910349e-02 6.65802350e-04 9.99351891e-01 -5.36104562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:48.43, Z:-5.36 [[ 7.94863938e-01 -6.06089717e-01 2.90959664e-02 1.38692696e+02] [ 6.05719511e-01 7.95395908e-01 2.11948701e-02 4.84273703e+01] [-3.59888055e-02 7.76956609e-04 9.99351891e-01 -5.36461810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.081858064 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:138.74, Y:48.46, Z:-5.37 [[ 7.97052331e-01 -6.03209246e-01 2.90892893e-02 1.38737833e+02] [ 6.02836784e-01 7.97582724e-01 2.12040302e-02 4.84627769e+01] [-3.59915817e-02 6.35371880e-04 9.99351891e-01 -5.36949987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.141858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:48.50, Z:-5.37 [[ 7.98403098e-01 -6.01420562e-01 2.90826717e-02 1.38784906e+02] [ 6.01046580e-01 7.98932421e-01 2.12131028e-02 4.84971082e+01] [-3.59930855e-02 5.43433354e-04 9.99351891e-01 -5.37131048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:48.53, Z:-5.37 [[ 8.00100832e-01 -5.99160447e-01 2.90760709e-02 1.38831838e+02] [ 5.98784642e-01 8.00628861e-01 2.12221465e-02 4.85309452e+01] [-3.59946123e-02 4.30447691e-04 9.99351891e-01 -5.37048293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.88, Y:48.56, Z:-5.37 [[ 8.04132455e-01 -5.93738808e-01 2.90726983e-02 1.38880356e+02] [ 5.93359275e-01 8.04657812e-01 2.12267657e-02 4.85633061e+01] [-3.59967284e-02 1.81423971e-04 9.99351891e-01 -5.37384643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.93, Y:48.60, Z:-5.38 [[ 8.04151305e-01 -5.93713575e-01 2.90666287e-02 1.38925457e+02] [ 5.93333725e-01 8.04676433e-01 2.12350738e-02 4.85979086e+01] [-3.59967827e-02 1.69998826e-04 9.99351891e-01 -5.37696180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:138.97, Y:48.63, Z:-5.38 [[ 8.05177312e-01 -5.92321527e-01 2.90638011e-02 1.38971631e+02] [ 5.91940630e-01 8.05701680e-01 2.12389431e-02 4.86336651e+01] [-3.59970366e-02 1.02929666e-04 9.99351891e-01 -5.37869500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.02, Y:48.67, Z:-5.39 [[ 8.03948095e-01 -5.93989149e-01 2.90577250e-02 1.39017818e+02] [ 5.93609039e-01 8.04473034e-01 2.12472528e-02 4.86670515e+01] [-3.59967938e-02 1.67239788e-04 9.99351891e-01 -5.38513096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:139.07, Y:48.70, Z:-5.38 [[ 8.04226823e-01 -5.93611852e-01 2.90548933e-02 1.39067274e+02] [ 5.93231356e-01 8.04751482e-01 2.12511244e-02 4.86978723e+01] [-3.59968877e-02 1.45549463e-04 9.99351891e-01 -5.38469730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:48.73, Z:-5.39 [[ 8.01803641e-01 -5.96881021e-01 2.90511293e-02 1.39113769e+02] [ 5.96502478e-01 8.02329711e-01 2.12562687e-02 4.87330370e+01] [-3.59960475e-02 2.85716945e-04 9.99351891e-01 -5.38833042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:48.77, Z:-5.39 [[ 8.00528595e-01 -5.98590315e-01 2.90448394e-02 1.39161604e+02] [ 5.98212583e-01 8.01055248e-01 2.12648597e-02 4.87661128e+01] [-3.59954601e-02 3.51860139e-04 9.99351891e-01 -5.39087020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.21, Y:48.79, Z:-5.39 [[ 8.01783353e-01 -5.96908898e-01 2.90382942e-02 1.39214358e+02] [ 5.96529738e-01 8.02308979e-01 2.12737939e-02 4.87932164e+01] [-3.59962010e-02 2.65232199e-04 9.99351892e-01 -5.38885217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:48.83, Z:-5.39 [[ 8.01486211e-01 -5.97308096e-01 2.90325866e-02 1.39262184e+02] [ 5.96928916e-01 8.02011822e-01 2.12815803e-02 4.88267494e+01] [-3.59961379e-02 2.73497290e-04 9.99351892e-01 -5.39157384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.31, Y:48.86, Z:-5.39 [[ 8.00999472e-01 -5.97960958e-01 2.90265009e-02 1.39309624e+02] [ 5.97581906e-01 8.01525175e-01 2.12898774e-02 4.88612703e+01] [-3.59959867e-02 2.92531200e-04 9.99351892e-01 -5.39434387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.35, Y:48.90, Z:-5.40 [[ 7.97816512e-01 -6.02201461e-01 2.90209361e-02 1.39354334e+02] [ 6.01824927e-01 7.98344021e-01 2.12974603e-02 4.88970400e+01] [-3.59940525e-02 4.74057263e-04 9.99351892e-01 -5.39838879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.40, Y:48.93, Z:-5.40 [[ 7.97161654e-01 -6.03068202e-01 2.90179409e-02 1.39403047e+02] [ 6.02692093e-01 7.97689467e-01 2.13015405e-02 4.89293805e+01] [-3.59935875e-02 5.08112351e-04 9.99351892e-01 -5.39993297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:48.96, Z:-5.40 [[ 7.97698894e-01 -6.02357692e-01 2.90118022e-02 1.39450024e+02] [ 6.01980809e-01 7.98226155e-01 2.13098979e-02 4.89633531e+01] [-3.59941602e-02 4.65666174e-04 9.99351892e-01 -5.40422626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:49.00, Z:-5.41 [[ 7.99522436e-01 -5.99935473e-01 2.90052140e-02 1.39496435e+02] [ 5.99556667e-01 8.00048317e-01 2.13188614e-02 4.89968904e+01] [-3.59955138e-02 3.45361455e-04 9.99351892e-01 -5.40587462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:139.54, Y:49.03, Z:-5.41 [[ 7.99463875e-01 -6.00013719e-01 2.90008598e-02 1.39542773e+02] [ 5.99634750e-01 7.99989638e-01 2.13247829e-02 4.90315132e+01] [-3.59955496e-02 3.41529745e-04 9.99351892e-01 -5.40847154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161858064 meters Centerline goodness : 0.998297 with order 1 Centerline is valid? [True, True] Translation: X:139.59, Y:49.06, Z:-5.41 [[ 7.99535761e-01 -5.99918250e-01 2.89941400e-02 1.39588624e+02] [ 5.99538887e-01 8.00061239e-01 2.13339156e-02 4.90646765e+01] [-3.59956929e-02 3.25886006e-04 9.99351892e-01 -5.41298527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:49.10, Z:-5.41 [[ 7.99204430e-01 -6.00359911e-01 2.89871813e-02 1.39635401e+02] [ 5.99980495e-01 7.99729871e-01 2.13433664e-02 4.90988811e+01] [-3.59956163e-02 3.34030466e-04 9.99351892e-01 -5.41456044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:49.14, Z:-5.42 [[ 7.96767446e-01 -6.03590741e-01 2.89802324e-02 1.39681894e+02] [ 6.03213113e-01 7.97294173e-01 2.13527975e-02 4.91353803e+01] [-3.59941213e-02 4.68042235e-04 9.99351892e-01 -5.41793151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:139.73, Y:49.17, Z:-5.42 [[ 7.96936890e-01 -6.03367266e-01 2.89747265e-02 1.39730095e+02] [ 6.02989219e-01 7.97463316e-01 2.13602661e-02 4.91683976e+01] [-3.59943669e-02 4.48663653e-04 9.99351892e-01 -5.41753755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:139.78, Y:49.20, Z:-5.42 [[ 7.96011335e-01 -6.04587901e-01 2.89728103e-02 1.39776536e+02] [ 6.04210567e-01 7.96538272e-01 2.13628650e-02 4.92022972e+01] [-3.59936820e-02 5.00595427e-04 9.99351892e-01 -5.41965050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.82, Y:49.24, Z:-5.42 [[ 7.95541194e-01 -6.05206523e-01 2.89702214e-02 1.39822924e+02] [ 6.04829470e-01 7.96068333e-01 2.13663753e-02 4.92373049e+01] [-3.59933455e-02 5.24211964e-04 9.99351892e-01 -5.42211663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.87, Y:49.28, Z:-5.43 [[ 7.93587141e-01 -6.07766837e-01 2.89641477e-02 1.39866815e+02] [ 6.07391184e-01 7.94115279e-01 2.13746055e-02 4.92756460e+01] [-3.59916486e-02 6.29955881e-04 9.99351892e-01 -5.42804138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.581858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:139.91, Y:49.31, Z:-5.43 [[ 7.93643314e-01 -6.07693770e-01 2.89581015e-02 1.39914197e+02] [ 6.07317770e-01 7.94171204e-01 2.13827937e-02 4.93089490e+01] [-3.59918809e-02 6.16458336e-04 9.99351892e-01 -5.42907220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:49.35, Z:-5.43 [[ 7.90978017e-01 -6.11159188e-01 2.89520950e-02 1.39958660e+02] [ 6.10785204e-01 7.91507336e-01 2.13909234e-02 4.93460937e+01] [-3.59890550e-02 7.63761064e-04 9.99351892e-01 -5.43468912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:49.38, Z:-5.43 [[ 7.92605546e-01 -6.09047263e-01 2.89461456e-02 1.40004391e+02] [ 6.08671575e-01 7.93133657e-01 2.13989711e-02 4.93795605e+01] [-3.59911471e-02 6.57752897e-04 9.99351892e-01 -5.43435453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:49.42, Z:-5.44 [[ 7.91518582e-01 -6.10459338e-01 2.89435939e-02 1.40049640e+02] [ 6.10084465e-01 7.92047272e-01 2.14024219e-02 4.94154521e+01] [-3.59900029e-02 7.17622326e-04 9.99351892e-01 -5.43825968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:49.45, Z:-5.44 [[ 7.91375956e-01 -6.10644500e-01 2.89377003e-02 1.40095333e+02] [ 6.10269460e-01 7.91904528e-01 2.14103875e-02 4.94523814e+01] [-3.59900313e-02 7.16128905e-04 9.99351892e-01 -5.43761445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.14, Y:49.49, Z:-5.44 [[ 7.90385063e-01 -6.11926766e-01 2.89324268e-02 1.40141214e+02] [ 6.11552322e-01 7.90914058e-01 2.14175114e-02 4.94869350e+01] [-3.59890115e-02 7.65611716e-04 9.99351892e-01 -5.44011826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941858064 meters Centerline goodness : 0.996178 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:49.52, Z:-5.44 [[ 7.90380959e-01 -6.11932366e-01 2.89260803e-02 1.40186210e+02] [ 6.11557613e-01 7.90909735e-01 2.14260794e-02 4.95231053e+01] [-3.59892300e-02 7.55199497e-04 9.99351892e-01 -5.44258643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:49.57, Z:-5.45 [[ 7.86785083e-01 -6.16549213e-01 2.89188692e-02 1.40228463e+02] [ 6.16177205e-01 7.87315793e-01 2.14358078e-02 4.95653624e+01] [-3.59845129e-02 9.53774173e-04 9.99351893e-01 -5.45248240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:49.60, Z:-5.45 [[ 7.85892018e-01 -6.17687472e-01 2.89123386e-02 1.40274431e+02] [ 6.17315909e-01 7.86423039e-01 2.14446127e-02 4.96021756e+01] [-3.59833978e-02 9.94896650e-04 9.99351893e-01 -5.45493221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:49.64, Z:-5.45 [[ 7.85750537e-01 -6.17867695e-01 2.89068335e-02 1.40322351e+02] [ 6.17495981e-01 7.86281453e-01 2.14520308e-02 4.96367289e+01] [-3.59834239e-02 9.93908828e-04 9.99351893e-01 -5.45372845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:49.67, Z:-5.45 [[ 7.85442291e-01 -6.18259734e-01 2.89016992e-02 1.40367718e+02] [ 6.17888031e-01 7.85973215e-01 2.14589458e-02 4.96726202e+01] [-3.59831636e-02 1.00325047e-03 9.99351893e-01 -5.45270115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.41, Y:49.71, Z:-5.45 [[ 7.85270306e-01 -6.18478256e-01 2.88997255e-02 1.40411589e+02] [ 6.18106603e-01 7.85801264e-01 2.14616036e-02 4.97088007e+01] [-3.59829760e-02 1.00995107e-03 9.99351893e-01 -5.45357065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.301858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:140.46, Y:49.74, Z:-5.45 [[ 7.87282682e-01 -6.15914712e-01 2.88971474e-02 1.40458176e+02] [ 6.15541203e-01 7.87812337e-01 2.14650743e-02 4.97445275e+01] [-3.59861843e-02 8.88303553e-04 9.99351893e-01 -5.45295266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:49.78, Z:-5.46 [[ 7.89386783e-01 -6.13215923e-01 2.88918484e-02 1.40500091e+02] [ 6.12840342e-01 7.89914970e-01 2.14722044e-02 4.97846195e+01] [-3.59892012e-02 7.56215939e-04 9.99351893e-01 -5.45701510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.55, Y:49.82, Z:-5.46 [[ 7.93381499e-01 -6.08038795e-01 2.88898123e-02 1.40547649e+02] [ 6.07659667e-01 7.93907146e-01 2.14749435e-02 4.98193865e+01] [-3.59934272e-02 5.17350799e-04 9.99351893e-01 -5.45525980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:49.86, Z:-5.46 [[ 7.95685460e-01 -6.05020934e-01 2.88845693e-02 1.40591435e+02] [ 6.04639556e-01 7.96209477e-01 2.14819932e-02 4.98571143e+01] [-3.59952234e-02 3.71843546e-04 9.99351893e-01 -5.46039472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.64, Y:49.89, Z:-5.46 [[ 7.97712177e-01 -6.02346497e-01 2.88787362e-02 1.40637017e+02] [ 6.01963078e-01 7.98234702e-01 2.14898319e-02 4.98948557e+01] [-3.59963344e-02 2.41232366e-04 9.99351893e-01 -5.46188171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:49.94, Z:-5.47 [[ 7.96535763e-01 -6.03901603e-01 2.88726875e-02 1.40679669e+02] [ 6.03518910e-01 7.97058820e-01 2.14979556e-02 4.99352445e+01] [-3.59958801e-02 3.01322421e-04 9.99351893e-01 -5.46566103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:140.72, Y:49.97, Z:-5.47 [[ 7.97498437e-01 -6.02629851e-01 2.88704932e-02 1.40722679e+02] [ 6.02246217e-01 7.98020805e-01 2.15009020e-02 4.99724052e+01] [-3.59963396e-02 2.40209622e-04 9.99351893e-01 -5.46544112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:50.01, Z:-5.47 [[ 7.97817892e-01 -6.02206997e-01 2.88677032e-02 1.40768072e+02] [ 6.01822951e-01 7.98339957e-01 2.15046473e-02 5.00091438e+01] [-3.59964900e-02 2.16453945e-04 9.99351893e-01 -5.46752642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:50.05, Z:-5.47 [[ 7.99094077e-01 -6.00512835e-01 2.88616023e-02 1.40814804e+02] [ 6.00127386e-01 7.99615107e-01 2.15128323e-02 5.00453425e+01] [-3.59969051e-02 1.29861020e-04 9.99351893e-01 -5.46941898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841858064 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:140.86, Y:50.08, Z:-5.47 [[ 7.97532625e-01 -6.02585178e-01 2.88585373e-02 1.40858871e+02] [ 6.02200935e-01 7.98054544e-01 2.15169430e-02 5.00825673e+01] [-3.59964778e-02 2.18174078e-04 9.99351893e-01 -5.47208886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.90, Y:50.12, Z:-5.47 [[ 7.96271278e-01 -6.04251116e-01 2.88555000e-02 1.40902933e+02] [ 6.03867817e-01 7.96793892e-01 2.15210154e-02 5.01182711e+01] [-3.59959838e-02 2.88341328e-04 9.99351893e-01 -5.47396220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.95, Y:50.15, Z:-5.48 [[ 7.95510954e-01 -6.05251874e-01 2.88529182e-02 1.40949025e+02] [ 6.04869107e-01 7.96033957e-01 2.15244763e-02 5.01535878e+01] [-3.59956323e-02 3.29282199e-04 9.99351893e-01 -5.47568880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.00, Y:50.19, Z:-5.48 [[ 7.94951808e-01 -6.05986371e-01 2.88468572e-02 1.40995738e+02] [ 6.05603793e-01 7.95474948e-01 2.15325962e-02 5.01886480e+01] [-3.59954120e-02 3.52389860e-04 9.99351893e-01 -5.47725149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.04, Y:50.22, Z:-5.48 [[ 7.94440831e-01 -6.06656388e-01 2.88408218e-02 1.41040525e+02] [ 6.06273957e-01 7.94964080e-01 2.15406769e-02 5.02246680e+01] [-3.59952066e-02 3.72645901e-04 9.99351893e-01 -5.47941979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.09, Y:50.26, Z:-5.49 [[ 7.92329270e-01 -6.09411753e-01 2.88382251e-02 1.41085347e+02] [ 6.09031016e-01 7.92853752e-01 2.15441528e-02 5.02633717e+01] [-3.59937549e-02 4.93310685e-04 9.99351893e-01 -5.48594610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:50.30, Z:-5.48 [[ 7.93748767e-01 -6.07561991e-01 2.88326398e-02 1.41132740e+02] [ 6.07179760e-01 7.94272162e-01 2.15516250e-02 5.02961463e+01] [-3.59949114e-02 4.00019511e-04 9.99351893e-01 -5.48318105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.18, Y:50.33, Z:-5.49 [[ 7.93328304e-01 -6.08111005e-01 2.88306639e-02 1.41178183e+02] [ 6.07729040e-01 7.93851893e-01 2.15542680e-02 5.03311328e+01] [-3.59946647e-02 4.21620848e-04 9.99351893e-01 -5.48619762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.22, Y:50.37, Z:-5.49 [[ 7.93522388e-01 -6.07857850e-01 2.88280122e-02 1.41223491e+02] [ 6.07475589e-01 7.94045760e-01 2.15578140e-02 5.03671476e+01] [-3.59948473e-02 4.05705669e-04 9.99351893e-01 -5.48943752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:50.40, Z:-5.49 [[ 7.94181629e-01 -6.06996568e-01 2.88219808e-02 1.41269604e+02] [ 6.06613447e-01 7.94704372e-01 2.15658747e-02 5.04024253e+01] [-3.59953661e-02 3.56579614e-04 9.99351893e-01 -5.49139359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.32, Y:50.44, Z:-5.50 [[ 7.94721527e-01 -6.06289813e-01 2.88159325e-02 1.41317613e+02] [ 6.05905934e-01 7.95243714e-01 2.15739533e-02 5.04369216e+01] [-3.59957573e-02 3.14459373e-04 9.99351893e-01 -5.49548407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:50.47, Z:-5.49 [[ 7.95425684e-01 -6.05365945e-01 2.88106502e-02 1.41364803e+02] [ 6.04981204e-01 7.95947236e-01 2.15810051e-02 5.04719443e+01] [-3.59961630e-02 2.63816115e-04 9.99351893e-01 -5.49440525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.41, Y:50.51, Z:-5.50 [[ 7.95986928e-01 -6.04628065e-01 2.88047303e-02 1.41411137e+02] [ 6.04242555e-01 7.96507912e-01 2.15889037e-02 5.05070528e+01] [-3.59964527e-02 2.20558748e-04 9.99351893e-01 -5.49763896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:141.46, Y:50.54, Z:-5.50 [[ 7.96890766e-01 -6.03436613e-01 2.87986333e-02 1.41459276e+02] [ 6.03050030e-01 7.97410954e-01 2.15970338e-02 5.05401890e+01] [-3.59967866e-02 1.56539850e-04 9.99351893e-01 -5.50032663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:50.57, Z:-5.50 [[ 7.98613019e-01 -6.01155751e-01 2.87925174e-02 1.41505405e+02] [ 6.00767388e-01 7.99131880e-01 2.16051842e-02 5.05736866e+01] [-3.59970993e-02 4.34241405e-05 9.99351893e-01 -5.50369102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.55, Y:50.61, Z:-5.51 [[ 8.00013019e-01 -5.99291508e-01 2.87898877e-02 1.41552245e+02] [ 5.98901810e-01 8.00530878e-01 2.16086879e-02 5.06074554e+01] [-3.59970972e-02 -4.49158111e-05 9.99351893e-01 -5.50694703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.60, Y:50.64, Z:-5.51 [[ 8.00641423e-01 -5.98452011e-01 2.87837139e-02 1.41600162e+02] [ 5.98061475e-01 8.01158650e-01 2.16169085e-02 5.06410761e+01] [-3.59970037e-02 -9.29620082e-05 9.99351894e-01 -5.51400857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.65, Y:50.67, Z:-5.51 [[ 8.02083256e-01 -5.96518467e-01 2.87779453e-02 1.41648746e+02] [ 5.96126408e-01 8.02599329e-01 2.16245854e-02 5.06725633e+01] [-3.59966241e-02 -1.89424698e-04 9.99351894e-01 -5.51276794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.70, Y:50.70, Z:-5.51 [[ 8.01127587e-01 -5.97801598e-01 2.87721788e-02 1.41697666e+02] [ 5.97410091e-01 8.01644079e-01 2.16322552e-02 5.07048804e+01] [-3.59968435e-02 -1.41406460e-04 9.99351894e-01 -5.51316436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:50.74, Z:-5.51 [[ 7.99598617e-01 -5.99845428e-01 2.87665387e-02 1.41747521e+02] [ 5.99454971e-01 8.00115903e-01 2.16397527e-02 5.07360189e+01] [-3.59970718e-02 -5.88716656e-05 9.99351894e-01 -5.51452748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.79, Y:50.77, Z:-5.52 [[ 7.97062954e-01 -6.03210986e-01 2.87602856e-02 1.41794819e+02] [ 6.02822413e-01 7.97581657e-01 2.16480602e-02 5.07673563e+01] [-3.59970240e-02 8.24779817e-05 9.99351894e-01 -5.51748540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.84, Y:50.80, Z:-5.52 [[ 7.94756527e-01 -6.06246701e-01 2.87576019e-02 1.41843523e+02] [ 6.05859980e-01 7.95276613e-01 2.16516248e-02 5.07998262e+01] [-3.59964743e-02 2.15309978e-04 9.99351894e-01 -5.51916862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:50.83, Z:-5.52 [[ 7.91589908e-01 -6.10375924e-01 2.87515235e-02 1.41893270e+02] [ 6.09991623e-01 7.92111784e-01 2.16596932e-02 5.08305644e+01] [-3.59949759e-02 3.92593935e-04 9.99351894e-01 -5.52156376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:50.86, Z:-5.52 [[ 7.88840000e-01 -6.13926011e-01 2.87455462e-02 1.41941119e+02] [ 6.13543770e-01 7.89363387e-01 2.16676231e-02 5.08632081e+01] [-3.59929992e-02 5.44362971e-04 9.99351894e-01 -5.52183909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:50.89, Z:-5.52 [[ 7.88293547e-01 -6.14627814e-01 2.87390766e-02 1.41992359e+02] [ 6.14245726e-01 7.88817045e-01 2.16762008e-02 5.08928876e+01] [-3.59926694e-02 5.65645768e-04 9.99351894e-01 -5.52440266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.04, Y:50.93, Z:-5.53 [[ 7.85738084e-01 -6.17891621e-01 2.87334009e-02 1.42039110e+02] [ 6.17511433e-01 7.86262963e-01 2.16837217e-02 5.09264420e+01] [-3.59901989e-02 7.05477599e-04 9.99351894e-01 -5.52878665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.09, Y:50.96, Z:-5.53 [[ 7.86846422e-01 -6.16479695e-01 2.87314093e-02 1.42088871e+02] [ 6.16098468e-01 7.87370548e-01 2.16863604e-02 5.09560927e+01] [-3.59914663e-02 6.37542145e-04 9.99351894e-01 -5.52871072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461858064 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:142.14, Y:50.99, Z:-5.53 [[ 7.84877246e-01 -6.18984914e-01 2.87295096e-02 1.42135959e+02] [ 6.18605268e-01 7.85402518e-01 2.16888767e-02 5.09912120e+01] [-3.59893167e-02 7.49120177e-04 9.99351894e-01 -5.53220191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52185806399999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:142.18, Y:51.02, Z:-5.53 [[ 7.85598532e-01 -6.18069465e-01 2.87242661e-02 1.42184281e+02] [ 6.17688953e-01 7.86123176e-01 2.16958188e-02 5.10224100e+01] [-3.59903345e-02 6.98458433e-04 9.99351894e-01 -5.53168400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.581858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:142.23, Y:51.06, Z:-5.53 [[ 7.86733863e-01 -6.16623784e-01 2.87217391e-02 1.42230488e+02] [ 6.16242186e-01 7.87257718e-01 2.16991636e-02 5.10573207e+01] [-3.59916312e-02 6.28080455e-04 9.99351894e-01 -5.53432948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.28, Y:51.09, Z:-5.53 [[ 7.90801086e-01 -6.11399260e-01 2.87156453e-02 1.42280278e+02] [ 6.11013908e-01 7.91322185e-01 2.17072249e-02 5.10874981e+01] [-3.59951084e-02 3.79561601e-04 9.99351894e-01 -5.53347896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:51.13, Z:-5.54 [[ 7.90927932e-01 -6.11235406e-01 2.87103649e-02 1.42324697e+02] [ 6.10849693e-01 7.91448764e-01 2.17142067e-02 5.11254161e+01] [-3.59952747e-02 3.63344985e-04 9.99351894e-01 -5.54084586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:51.16, Z:-5.54 [[ 7.90983670e-01 -6.11163530e-01 2.87049486e-02 1.42370914e+02] [ 6.10777509e-01 7.91504274e-01 2.17213643e-02 5.11599098e+01] [-3.59953952e-02 3.51092627e-04 9.99351894e-01 -5.54438702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:51.19, Z:-5.55 [[ 7.90718099e-01 -6.11507370e-01 2.86988619e-02 1.42417222e+02] [ 6.11121284e-01 7.91238655e-01 2.17294032e-02 5.11941162e+01] [-3.59953391e-02 3.56652916e-04 9.99351894e-01 -5.54719759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:142.46, Y:51.23, Z:-5.55 [[ 7.91209293e-01 -6.10871981e-01 2.86928214e-02 1.42463778e+02] [ 6.10485188e-01 7.91729324e-01 2.17373766e-02 5.12294176e+01] [-3.59957024e-02 3.17728093e-04 9.99351894e-01 -5.54978529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:142.51, Y:51.26, Z:-5.55 [[ 7.89933076e-01 -6.12521677e-01 2.86867717e-02 1.42509942e+02] [ 6.12135680e-01 7.90453698e-01 2.17453575e-02 5.12649642e+01] [-3.59950676e-02 3.82819325e-04 9.99351894e-01 -5.55065749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:51.30, Z:-5.55 [[ 7.92488386e-01 -6.09212278e-01 2.86802696e-02 1.42561082e+02] [ 6.08823797e-01 7.93007157e-01 2.17539298e-02 5.12954280e+01] [-3.59964202e-02 2.21493879e-04 9.99351894e-01 -5.54781601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:51.33, Z:-5.55 [[ 7.91150343e-01 -6.10949175e-01 2.86747364e-02 1.42607103e+02] [ 6.10561568e-01 7.91669767e-01 2.17612209e-02 5.13323765e+01] [-3.59959218e-02 2.91294692e-04 9.99351894e-01 -5.54725917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:51.38, Z:-5.56 [[ 7.85955382e-01 -6.17618204e-01 2.86686657e-02 1.42647044e+02] [ 6.17234712e-01 7.86477852e-01 2.17692156e-02 5.13755873e+01] [-3.59923344e-02 5.85663471e-04 9.99351894e-01 -5.55918311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.70, Y:51.41, Z:-5.56 [[ 7.87049119e-01 -6.16223886e-01 2.86671716e-02 1.42696996e+02] [ 6.15839397e-01 7.87570856e-01 2.17711829e-02 5.14077132e+01] [-3.59933518e-02 5.19383342e-04 9.99351894e-01 -5.55530002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24185806399998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:51.45, Z:-5.57 [[ 7.82733202e-01 -6.21697003e-01 2.86630449e-02 1.42739319e+02] [ 6.21315963e-01 7.83257463e-01 2.17766146e-02 5.14478014e+01] [-3.59889999e-02 7.63528047e-04 9.99351894e-01 -5.56596075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.79, Y:51.48, Z:-5.56 [[ 7.85204657e-01 -6.18572878e-01 2.86573102e-02 1.42788329e+02] [ 6.18189476e-01 7.85727193e-01 2.17841587e-02 5.14806829e+01] [-3.59919176e-02 6.10624674e-04 9.99351894e-01 -5.56209847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.361858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:142.83, Y:51.52, Z:-5.57 [[ 7.83235946e-01 -6.21064063e-01 2.86510473e-02 1.42829315e+02] [ 6.20682022e-01 7.83759478e-01 2.17923928e-02 5.15219434e+01] [-3.59900018e-02 7.14604597e-04 9.99351895e-01 -5.56871275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421858064 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:142.88, Y:51.56, Z:-5.56 [[ 7.86127327e-01 -6.17400302e-01 2.86477259e-02 1.42877987e+02] [ 6.17015662e-01 7.86648953e-01 2.17967581e-02 5.15558773e+01] [-3.59930286e-02 5.41068332e-04 9.99351895e-01 -5.56315241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.92, Y:51.59, Z:-5.56 [[ 7.87238064e-01 -6.15983684e-01 2.86414281e-02 1.42922845e+02] [ 6.15597805e-01 7.87758772e-01 2.18050304e-02 5.15915372e+01] [-3.59940792e-02 4.65850308e-04 9.99351895e-01 -5.56481437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.97, Y:51.63, Z:-5.56 [[ 7.88659027e-01 -6.14163467e-01 2.86386739e-02 1.42969089e+02] [ 6.13776255e-01 7.89178745e-01 2.18086472e-02 5.16265317e+01] [-3.59951071e-02 3.78151480e-04 9.99351895e-01 -5.56376297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.02, Y:51.66, Z:-5.56 [[ 7.90167174e-01 -6.12222040e-01 2.86358346e-02 1.43015782e+02] [ 6.11833415e-01 7.90685837e-01 2.18123747e-02 5.16622301e+01] [-3.59959653e-02 2.84938034e-04 9.99351895e-01 -5.56183267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:143.06, Y:51.70, Z:-5.57 [[ 7.87045509e-01 -6.16230216e-01 2.86301838e-02 1.43058369e+02] [ 6.15843963e-01 7.87565940e-01 2.18197892e-02 5.17030158e+01] [-3.59941710e-02 4.58558694e-04 9.99351895e-01 -5.57322079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:51.73, Z:-5.57 [[ 7.90833443e-01 -6.11361502e-01 2.86282799e-02 1.43109455e+02] [ 6.10971954e-01 7.91351413e-01 2.18222868e-02 5.17346345e+01] [-3.59963358e-02 2.33281904e-04 9.99351895e-01 -5.56679481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:143.15, Y:51.77, Z:-5.57 [[ 7.91448616e-01 -6.10565156e-01 2.86230520e-02 1.43154462e+02] [ 6.10174838e-01 7.91966006e-01 2.18291419e-02 5.17714419e+01] [-3.59965976e-02 1.88422015e-04 9.99351895e-01 -5.56939400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:51.81, Z:-5.58 [[ 7.89015610e-01 -6.13706120e-01 2.86210563e-02 1.43198455e+02] [ 6.13317768e-01 7.89534477e-01 2.18317582e-02 5.18098882e+01] [-3.59955943e-02 3.28204284e-04 9.99351895e-01 -5.57704973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.24, Y:51.85, Z:-5.58 [[ 7.86641980e-01 -6.16745945e-01 2.86152863e-02 1.43242026e+02] [ 6.16359323e-01 7.87162137e-01 2.18393184e-02 5.18461183e+01] [-3.59941810e-02 4.57573760e-04 9.99351895e-01 -5.58154446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.29, Y:51.88, Z:-5.58 [[ 7.87754073e-01 -6.15324994e-01 2.86124579e-02 1.43291558e+02] [ 6.14937299e-01 7.88273430e-01 2.18430234e-02 5.18789082e+01] [-3.59949986e-02 3.87936921e-04 9.99351895e-01 -5.57953307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.34, Y:51.92, Z:-5.59 [[ 7.84441164e-01 -6.19543154e-01 2.86066374e-02 1.43336617e+02] [ 6.19157973e-01 7.84962390e-01 2.18506435e-02 5.19172959e+01] [-3.59925511e-02 5.71483433e-04 9.99351895e-01 -5.58545562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.39, Y:51.95, Z:-5.58 [[ 7.84355232e-01 -6.19652213e-01 2.86007937e-02 1.43385069e+02] [ 6.19266825e-01 7.84876305e-01 2.18582898e-02 5.19517995e+01] [-3.59926229e-02 5.66858708e-04 9.99351895e-01 -5.58467881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.43, Y:51.99, Z:-5.59 [[ 7.82714771e-01 -6.21723375e-01 2.85942849e-02 1.43428097e+02] [ 6.21339056e-01 7.83236632e-01 2.18668010e-02 5.19910043e+01] [-3.59911927e-02 6.51277850e-04 9.99351895e-01 -5.58926960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:143.47, Y:52.03, Z:-5.59 [[ 7.82942589e-01 -6.21436616e-01 2.85908158e-02 1.43470036e+02] [ 6.21051940e-01 7.83464187e-01 2.18713360e-02 5.20305142e+01] [-3.59915293e-02 6.32381197e-04 9.99351895e-01 -5.59149142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:52.07, Z:-5.59 [[ 7.84432953e-01 -6.19554483e-01 2.85864391e-02 1.43513859e+02] [ 6.19168347e-01 7.84953471e-01 2.18770550e-02 5.20681593e+01] [-3.59930521e-02 5.38735364e-04 9.99351895e-01 -5.59352678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.56, Y:52.11, Z:-5.60 [[ 7.85350563e-01 -6.18391188e-01 2.85802576e-02 1.43558728e+02] [ 6.18003988e-01 7.85870290e-01 2.18851275e-02 5.21050125e+01] [-3.59939453e-02 4.75215983e-04 9.99351895e-01 -5.59632219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:52.14, Z:-5.60 [[ 7.87670661e-01 -6.15433547e-01 2.85741071e-02 1.43604644e+02] [ 6.15044103e-01 7.88188709e-01 2.18931550e-02 5.21400327e+01] [-3.59955706e-02 3.29740237e-04 9.99351895e-01 -5.59996096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.65, Y:52.18, Z:-5.60 [[ 7.88147569e-01 -6.14822983e-01 2.85676147e-02 1.43646993e+02] [ 6.14432831e-01 7.88665084e-01 2.19016233e-02 5.21789839e+01] [-3.59959016e-02 2.91169186e-04 9.99351895e-01 -5.60319153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:143.69, Y:52.22, Z:-5.60 [[ 7.89265116e-01 -6.13388006e-01 2.85609964e-02 1.43691934e+02] [ 6.12996601e-01 7.89781684e-01 2.19102507e-02 5.22162191e+01] [-3.59964368e-02 2.14797143e-04 9.99351895e-01 -5.60439467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.74, Y:52.25, Z:-5.61 [[ 7.91198072e-01 -6.10893000e-01 2.85543849e-02 1.43738028e+02] [ 6.10499656e-01 7.91713164e-01 2.19188636e-02 5.22515550e+01] [-3.59969628e-02 9.02795831e-05 9.99351895e-01 -5.61172086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.78, Y:52.29, Z:-5.61 [[ 7.90030408e-01 -6.12402616e-01 2.85480512e-02 1.43783135e+02] [ 6.12009957e-01 7.90546023e-01 2.19271098e-02 5.22887159e+01] [-3.59967677e-02 1.48608121e-04 9.99351895e-01 -5.60963746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.83, Y:52.32, Z:-5.61 [[ 7.88828981e-01 -6.13949476e-01 2.85461036e-02 1.43828256e+02] [ 6.13557737e-01 7.89345295e-01 2.19296450e-02 5.23236930e+01] [-3.59964266e-02 2.15943242e-04 9.99351895e-01 -5.61195817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:52.36, Z:-5.62 [[ 7.88228979e-01 -6.14719732e-01 2.85434308e-02 1.43875085e+02] [ 6.14328372e-01 7.88745580e-01 2.19331233e-02 5.23578572e+01] [-3.59962286e-02 2.46715969e-04 9.99351895e-01 -5.61704262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.92, Y:52.39, Z:-5.62 [[ 7.86675138e-01 -6.16707264e-01 2.85373271e-02 1.43921432e+02] [ 6.16316920e-01 7.87192507e-01 2.19410621e-02 5.23926755e+01] [-3.59955824e-02 3.27549531e-04 9.99351895e-01 -5.61741665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.861858064 meters Centerline goodness : 0.995483 with order 1 Centerline is valid? [True, True] Translation: X:143.97, Y:52.43, Z:-5.62 [[ 7.85248800e-01 -6.18522673e-01 2.85311223e-02 1.43966925e+02] [ 6.18133233e-01 7.85766850e-01 2.19491275e-02 5.24285203e+01] [-3.59948431e-02 4.00508786e-04 9.99351895e-01 -5.62040569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:52.46, Z:-5.62 [[ 7.84296918e-01 -6.19729450e-01 2.85263743e-02 1.44013840e+02] [ 6.19340582e-01 7.84815398e-01 2.19552965e-02 5.24626227e+01] [-3.59942816e-02 4.48069888e-04 9.99351895e-01 -5.62213900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:52.50, Z:-5.63 [[ 7.84065503e-01 -6.20022558e-01 2.85186703e-02 1.44060260e+02] [ 6.19633520e-01 7.84583856e-01 2.19652990e-02 5.24980750e+01] [-3.59942692e-02 4.48890865e-04 9.99351896e-01 -5.62518061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041858064 meters Centerline goodness : 0.995471 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:52.53, Z:-5.63 [[ 7.83912387e-01 -6.20216429e-01 2.85122748e-02 1.44106398e+02] [ 6.19827218e-01 7.84430609e-01 2.19735977e-02 5.25328311e+01] [-3.59942874e-02 4.47308490e-04 9.99351896e-01 -5.62888102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101858064 meters Centerline goodness : 0.994480 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:52.57, Z:-5.63 [[ 7.84146670e-01 -6.19920415e-01 2.85075294e-02 1.44153653e+02] [ 6.19530785e-01 7.84664576e-01 2.19797525e-02 5.25674170e+01] [-3.59945457e-02 4.25942335e-04 9.99351896e-01 -5.63141026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.20, Y:52.60, Z:-5.63 [[ 7.85765381e-01 -6.17867722e-01 2.84998912e-02 1.44204789e+02] [ 6.17476380e-01 7.86281995e-01 2.19896520e-02 5.25981361e+01] [-3.59956475e-02 3.19302352e-04 9.99351896e-01 -5.62780341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:52.63, Z:-5.63 [[ 7.85033820e-01 -6.18797252e-01 2.84931985e-02 1.44251069e+02] [ 6.18406206e-01 7.85550659e-01 2.19983207e-02 5.26342852e+01] [-3.59953512e-02 3.50945038e-04 9.99351896e-01 -5.63167905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:144.30, Y:52.67, Z:-5.63 [[ 7.85180904e-01 -6.18610865e-01 2.84876242e-02 1.44299861e+02] [ 6.18219435e-01 7.85697452e-01 2.20055370e-02 5.26663651e+01] [-3.59955180e-02 3.33275532e-04 9.99351896e-01 -5.63045219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341858064 meters Centerline goodness : 0.995465 with order 1 Centerline is valid? [True, True] Translation: X:144.34, Y:52.70, Z:-5.64 [[ 7.82913086e-01 -6.21478659e-01 2.84846786e-02 1.44344674e+02] [ 6.21088982e-01 7.83430958e-01 2.20093491e-02 5.27048747e+01] [-3.59941198e-02 4.60112581e-04 9.99351896e-01 -5.64007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:144.40, Y:52.74, Z:-5.64 [[ 7.84766802e-01 -6.19136529e-01 2.84785021e-02 1.44396376e+02] [ 6.18745016e-01 7.85283287e-01 2.20173382e-02 5.27350742e+01] [-3.59954301e-02 3.42455142e-04 9.99351896e-01 -5.63631997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461858064 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:52.77, Z:-5.64 [[ 7.84841684e-01 -6.19041912e-01 2.84717898e-02 1.44444122e+02] [ 6.18650022e-01 7.85357883e-01 2.20260148e-02 5.27698506e+01] [-3.59955709e-02 3.27138858e-04 9.99351896e-01 -5.64058828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:52.80, Z:-5.65 [[ 7.85095367e-01 -6.18720405e-01 2.84662098e-02 1.44490562e+02] [ 6.18328043e-01 7.85611207e-01 2.20332240e-02 5.28033594e+01] [-3.59957787e-02 3.03273700e-04 9.99351896e-01 -5.64625098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.581858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.54, Y:52.84, Z:-5.65 [[ 7.83703379e-01 -6.20482762e-01 2.84632472e-02 1.44536058e+02] [ 6.20091421e-01 7.84219994e-01 2.20370505e-02 5.28394734e+01] [-3.59950575e-02 3.79304429e-04 9.99351896e-01 -5.65048653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.641858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:52.87, Z:-5.65 [[ 7.83862912e-01 -6.20281499e-01 2.84569355e-02 1.44584295e+02] [ 6.19889730e-01 7.84379202e-01 2.20451980e-02 5.28699866e+01] [-3.59952568e-02 3.59748934e-04 9.99351896e-01 -5.65161456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.63, Y:52.90, Z:-5.66 [[ 7.84624165e-01 -6.19318393e-01 2.84543310e-02 1.44631906e+02] [ 6.18925868e-01 7.85139880e-01 2.20485591e-02 5.29038071e+01] [-3.59957083e-02 3.11289243e-04 9.99351896e-01 -5.65535523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.68, Y:52.94, Z:-5.66 [[ 7.84195607e-01 -6.19861233e-01 2.84482261e-02 1.44678887e+02] [ 6.19468780e-01 7.84711377e-01 2.20564332e-02 5.29380005e+01] [-3.59955746e-02 3.26229936e-04 9.99351896e-01 -5.65814541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:52.97, Z:-5.66 [[ 7.82565847e-01 -6.21917799e-01 2.84419921e-02 1.44726612e+02] [ 6.21526408e-01 7.83082424e-01 2.20644692e-02 5.29733215e+01] [-3.59947102e-02 4.10549169e-04 9.99351896e-01 -5.66007130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:53.01, Z:-5.66 [[ 7.82354998e-01 -6.22183289e-01 2.84360819e-02 1.44772756e+02] [ 6.21791798e-01 7.82871499e-01 2.20720833e-02 5.30081500e+01] [-3.59946795e-02 4.13117796e-04 9.99351896e-01 -5.66341978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:53.04, Z:-5.66 [[ 7.84543421e-01 -6.19421798e-01 2.84298690e-02 1.44819596e+02] [ 6.19028198e-01 7.85058316e-01 2.20800830e-02 5.30423964e+01] [-3.59959898e-02 2.76106785e-04 9.99351896e-01 -5.66305196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:144.86, Y:53.08, Z:-5.66 [[ 7.86174769e-01 -6.17350252e-01 2.84235520e-02 1.44864685e+02] [ 6.16955002e-01 7.86688399e-01 2.20882118e-02 5.30780217e+01] [-3.59966418e-02 1.70857786e-04 9.99351896e-01 -5.66412869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:53.11, Z:-5.67 [[ 7.87088987e-01 -6.16184374e-01 2.84208298e-02 1.44909967e+02] [ 6.15788236e-01 7.87601933e-01 2.20917139e-02 5.31141893e+01] [-3.59968694e-02 1.13068002e-04 9.99351896e-01 -5.66623014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:53.15, Z:-5.67 [[ 7.87130878e-01 -6.16131149e-01 2.84145709e-02 1.44955699e+02] [ 6.15734686e-01 7.87643572e-01 2.20997612e-02 5.31498925e+01] [-3.59969054e-02 1.00432433e-04 9.99351896e-01 -5.66782252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.00, Y:53.19, Z:-5.67 [[ 7.86450584e-01 -6.16999352e-01 2.84126497e-02 1.45001613e+02] [ 6.16603365e-01 7.86963647e-01 2.21022310e-02 5.31859072e+01] [-3.59967846e-02 1.37022918e-04 9.99351896e-01 -5.67163920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:53.22, Z:-5.67 [[ 7.87383269e-01 -6.15808943e-01 2.84065846e-02 1.45048448e+02] [ 6.15411900e-01 7.87895514e-01 2.21100234e-02 5.32210281e+01] [-3.59969707e-02 7.26876896e-05 9.99351896e-01 -5.67469881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.301858064 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:53.26, Z:-5.68 [[ 7.87698968e-01 -6.15405214e-01 2.84034749e-02 1.45094591e+02] [ 6.15007765e-01 7.88210898e-01 2.21140175e-02 5.32563224e+01] [-3.59970101e-02 4.91688577e-05 9.99351896e-01 -5.67761907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:53.29, Z:-5.68 [[ 7.86267004e-01 -6.17234021e-01 2.83965132e-02 1.45140853e+02] [ 6.16837439e-01 7.86779606e-01 2.21229534e-02 5.32916096e+01] [-3.59968369e-02 1.21484167e-04 9.99351896e-01 -5.67782616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.19, Y:53.33, Z:-5.68 [[ 7.85590094e-01 -6.18095685e-01 2.83888816e-02 1.45187006e+02] [ 6.17699311e-01 7.86102857e-01 2.21327421e-02 5.33273745e+01] [-3.59967333e-02 1.48529636e-04 9.99351897e-01 -5.67696207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.23, Y:53.36, Z:-5.68 [[ 7.84934005e-01 -6.18928792e-01 2.83858863e-02 1.45233147e+02] [ 6.18532824e-01 7.85447081e-01 2.21365831e-02 5.33616581e+01] [-3.59965801e-02 1.81845599e-04 9.99351897e-01 -5.67752475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:53.40, Z:-5.68 [[ 7.83776913e-01 -6.20393541e-01 2.83831835e-02 1.45278633e+02] [ 6.19998406e-01 7.84290632e-01 2.21400479e-02 5.33971843e+01] [-3.59962077e-02 2.44670166e-04 9.99351897e-01 -5.68026149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:53.43, Z:-5.68 [[ 7.84941323e-01 -6.18919917e-01 2.83770141e-02 1.45326780e+02] [ 6.18523532e-01 7.85454078e-01 2.21479525e-02 5.34312532e+01] [-3.59966504e-02 1.67007820e-04 9.99351897e-01 -5.68015086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.37, Y:53.47, Z:-5.69 [[ 7.82322359e-01 -6.22227268e-01 2.83716943e-02 1.45369981e+02] [ 6.21832804e-01 7.82836592e-01 2.21547650e-02 5.34703304e+01] [-3.59956994e-02 3.10282203e-04 9.99351897e-01 -5.68555408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:53.50, Z:-5.68 [[ 7.83364859e-01 -6.20914374e-01 2.83696506e-02 1.45419649e+02] [ 6.20518953e-01 7.83878357e-01 2.21573817e-02 5.35030453e+01] [-3.59961920e-02 2.46591687e-04 9.99351897e-01 -5.68454708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:145.47, Y:53.54, Z:-5.69 [[ 7.81678354e-01 -6.23036468e-01 2.83639064e-02 1.45467602e+02] [ 6.22642174e-01 7.82192718e-01 2.21647325e-02 5.35379898e+01] [-3.59954777e-02 3.34872730e-04 9.99351897e-01 -5.68706739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.51, Y:53.58, Z:-5.69 [[ 7.77189121e-01 -6.28627722e-01 2.83594314e-02 1.45509183e+02] [ 6.28236920e-01 7.77706142e-01 2.21704568e-02 5.35781061e+01] [-3.59922677e-02 5.85804007e-04 9.99351897e-01 -5.69208299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.56, Y:53.61, Z:-5.69 [[ 7.79089322e-01 -6.26271268e-01 2.83571568e-02 1.45559665e+02] [ 6.25878795e-01 7.79605077e-01 2.21733658e-02 5.36099984e+01] [-3.59939253e-02 4.73110609e-04 9.99351897e-01 -5.69201196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961858064 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:53.65, Z:-5.69 [[ 7.79070585e-01 -6.26294836e-01 2.83514080e-02 1.45603892e+02] [ 6.25902112e-01 7.79586148e-01 2.21807139e-02 5.36479666e+01] [-3.59940315e-02 4.64864392e-04 9.99351897e-01 -5.69363908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:53.69, Z:-5.70 [[ 7.76553864e-01 -6.29412757e-01 2.83491968e-02 1.45644477e+02] [ 6.29022000e-01 7.77070920e-01 2.21835396e-02 5.36909960e+01] [-3.59919393e-02 6.05555039e-04 9.99351897e-01 -5.69563996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.081858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:53.73, Z:-5.70 [[ 7.76064855e-01 -6.30015928e-01 2.83420342e-02 1.45690229e+02] [ 6.29625239e-01 7.76581962e-01 2.21926869e-02 5.37281095e+01] [-3.59916588e-02 6.21895734e-04 9.99351897e-01 -5.70082925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:53.76, Z:-5.70 [[ 7.75103999e-01 -6.31197837e-01 2.83386934e-02 1.45734469e+02] [ 6.30807780e-01 7.75621583e-01 2.21969521e-02 5.37646784e+01] [-3.59907704e-02 6.71321965e-04 9.99351897e-01 -5.70196872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:145.78, Y:53.80, Z:-5.70 [[ 7.73081489e-01 -6.33673530e-01 2.83349377e-02 1.45778067e+02] [ 6.33284955e-01 7.73600186e-01 2.22017453e-02 5.38039675e+01] [-3.59885714e-02 7.80331384e-04 9.99351897e-01 -5.70113148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:53.84, Z:-5.70 [[ 7.72683881e-01 -6.34158548e-01 2.83294162e-02 1.45822947e+02] [ 6.33770041e-01 7.73202629e-01 2.22087885e-02 5.38409227e+01] [-3.59882722e-02 7.93962312e-04 9.99351897e-01 -5.70249918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:53.88, Z:-5.70 [[ 7.72978160e-01 -6.33800101e-01 2.83230813e-02 1.45865985e+02] [ 6.33411057e-01 7.73496505e-01 2.22168646e-02 5.38783524e+01] [-3.59888554e-02 7.67001750e-04 9.99351897e-01 -5.70427445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.91, Y:53.92, Z:-5.71 [[ 7.74548980e-01 -6.31879603e-01 2.83204130e-02 1.45909944e+02] [ 6.31489149e-01 7.75066264e-01 2.22202654e-02 5.39179412e+01] [-3.59907292e-02 6.73349599e-04 9.99351897e-01 -5.70602473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:145.95, Y:53.96, Z:-5.71 [[ 7.77137316e-01 -6.28693770e-01 2.83149339e-02 1.45953405e+02] [ 6.28300942e-01 7.77652799e-01 2.22272451e-02 5.39563861e+01] [-3.59933181e-02 5.16678053e-04 9.99351897e-01 -5.70788599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.00, Y:53.99, Z:-5.71 [[ 7.78817338e-01 -6.26611664e-01 2.83085953e-02 1.45997841e+02] [ 6.26217164e-01 7.79331543e-01 2.22353150e-02 5.39942047e+01] [-3.59946890e-02 4.10079482e-04 9.99351897e-01 -5.71079717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:54.03, Z:-5.71 [[ 7.81536304e-01 -6.23217445e-01 2.83023342e-02 1.46040680e+02] [ 6.22820423e-01 7.82048564e-01 2.22432816e-02 5.40333646e+01] [-3.59962010e-02 2.43339725e-04 9.99351897e-01 -5.71480990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:54.07, Z:-5.72 [[ 7.83936218e-01 -6.20196207e-01 2.82961210e-02 1.46083289e+02] [ 6.19796926e-01 7.84446720e-01 2.22511828e-02 5.40720162e+01] [-3.59968984e-02 9.43407478e-05 9.99351897e-01 -5.71730903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.13, Y:54.11, Z:-5.72 [[ 7.84775594e-01 -6.19133866e-01 2.82935206e-02 1.46127491e+02] [ 6.18733774e-01 7.85285460e-01 2.22544888e-02 5.41099541e+01] [-3.59969980e-02 4.13770762e-05 9.99351897e-01 -5.72033078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:54.14, Z:-5.72 [[ 7.87555336e-01 -6.15594259e-01 2.82896054e-02 1.46174443e+02] [ 6.15191697e-01 7.88063254e-01 2.22594646e-02 5.41443183e+01] [-3.59967971e-02 -1.27029803e-04 9.99351897e-01 -5.72014530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.801858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:54.19, Z:-5.72 [[ 7.86090168e-01 -6.17464449e-01 2.82825274e-02 1.46214951e+02] [ 6.17062772e-01 7.86598787e-01 2.22684542e-02 5.41854893e+01] [-3.59969806e-02 -5.29181820e-05 9.99351897e-01 -5.72363481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.861858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:54.22, Z:-5.73 [[ 7.86052400e-01 -6.17512644e-01 2.82800128e-02 1.46258465e+02] [ 6.17110884e-01 7.86560952e-01 2.22716472e-02 5.42237422e+01] [-3.59969775e-02 -5.47779832e-05 9.99351897e-01 -5.72580852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.30, Y:54.26, Z:-5.73 [[ 7.84530768e-01 -6.19444970e-01 2.82737200e-02 1.46301879e+02] [ 6.19044174e-01 7.85040081e-01 2.22796331e-02 5.42622702e+01] [-3.59970100e-02 2.36239884e-05 9.99351897e-01 -5.72728014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:146.35, Y:54.30, Z:-5.73 [[ 7.83112238e-01 -6.21237618e-01 2.82673767e-02 1.46346015e+02] [ 6.20837697e-01 7.83622239e-01 2.22876782e-02 5.42982760e+01] [-3.59968891e-02 9.56994298e-05 9.99351897e-01 -5.72845582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.39, Y:54.33, Z:-5.72 [[ 7.83657991e-01 -6.20549162e-01 2.82646541e-02 1.46394041e+02] [ 6.20148669e-01 7.84167542e-01 2.22911304e-02 5.43329015e+01] [-3.59969666e-02 5.96651717e-05 9.99351897e-01 -5.72480987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.44, Y:54.37, Z:-5.72 [[ 7.82697582e-01 -6.21760349e-01 2.82588793e-02 1.46437861e+02] [ 6.21360380e-01 7.83207544e-01 2.22984488e-02 5.43718024e+01] [-3.59968588e-02 1.06006026e-04 9.99351897e-01 -5.72447977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.48, Y:54.41, Z:-5.73 [[ 7.78825060e-01 -6.26604610e-01 2.82522421e-02 1.46477898e+02] [ 6.26207508e-01 7.79337258e-01 2.23068550e-02 5.44138466e+01] [-3.59956031e-02 3.18628423e-04 9.99351898e-01 -5.73098600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.53, Y:54.45, Z:-5.72 [[ 7.81299076e-01 -6.23517185e-01 2.82502047e-02 1.46526261e+02] [ 6.23117965e-01 7.81809626e-01 2.23094350e-02 5.44474288e+01] [-3.59965980e-02 1.72869082e-04 9.99351898e-01 -5.72393195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:54.49, Z:-5.74 [[ 7.77578384e-01 -6.28151348e-01 2.82443170e-02 1.46565496e+02] [ 6.27754900e-01 7.78091088e-01 2.23168865e-02 5.44911261e+01] [-3.59950337e-02 3.77379896e-04 9.99351898e-01 -5.73508375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.61, Y:54.53, Z:-5.74 [[ 7.78811437e-01 -6.26621993e-01 2.82422448e-02 1.46608909e+02] [ 6.26224443e-01 7.79323287e-01 2.23195085e-02 5.45294021e+01] [-3.59957340e-02 3.03295588e-04 9.99351898e-01 -5.73771134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:54.57, Z:-5.74 [[ 7.78696809e-01 -6.26764626e-01 2.82379803e-02 1.46652203e+02] [ 6.26366975e-01 7.79208581e-01 2.23249026e-02 5.45675484e+01] [-3.59957357e-02 3.03007860e-04 9.99351898e-01 -5.73885458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:54.61, Z:-5.74 [[ 7.78868390e-01 -6.26551702e-01 2.82311089e-02 1.46696119e+02] [ 6.26153596e-01 7.79379808e-01 2.23335884e-02 5.46055180e+01] [-3.59959041e-02 2.82084294e-04 9.99351898e-01 -5.74052891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.74, Y:54.64, Z:-5.74 [[ 7.79581199e-01 -6.25664855e-01 2.82248810e-02 1.46740235e+02] [ 6.25265882e-01 7.80091941e-01 2.23414564e-02 5.46427290e+01] [-3.59962663e-02 2.31075722e-04 9.99351898e-01 -5.74149351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.78, Y:54.68, Z:-5.74 [[ 7.79885345e-01 -6.25285981e-01 2.82186038e-02 1.46783961e+02] [ 6.24886474e-01 7.80395669e-01 2.23493821e-02 5.46805517e+01] [-3.59964315e-02 2.03468274e-04 9.99351898e-01 -5.74463438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:54.72, Z:-5.75 [[ 7.79822865e-01 -6.25364196e-01 2.82120778e-02 1.46827223e+02] [ 6.24964441e-01 7.80332996e-01 2.23576169e-02 5.47173368e+01] [-3.59964683e-02 1.96564548e-04 9.99351898e-01 -5.74731670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:54.76, Z:-5.75 [[ 7.80851627e-01 -6.24079301e-01 2.82092734e-02 1.46870417e+02] [ 6.23678579e-01 7.81360998e-01 2.23611547e-02 5.47560902e+01] [-3.59967598e-02 1.32775513e-04 9.99351898e-01 -5.75131161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:54.79, Z:-5.75 [[ 7.81788199e-01 -6.22905938e-01 2.82029280e-02 1.46915591e+02] [ 6.22504163e-01 7.82296739e-01 2.23691550e-02 5.47924870e+01] [-3.59969381e-02 6.84987409e-05 9.99351898e-01 -5.75366361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.96, Y:54.83, Z:-5.76 [[ 7.83033705e-01 -6.21339819e-01 2.81965577e-02 1.46958674e+02] [ 6.20936738e-01 7.83541211e-01 2.23771820e-02 5.48313528e+01] [-3.59969992e-02 -1.38091688e-05 9.99351898e-01 -5.75860329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.00, Y:54.87, Z:-5.76 [[ 7.83531733e-01 -6.20711960e-01 2.81901850e-02 1.47002643e+02] [ 6.20308183e-01 7.84038685e-01 2.23852072e-02 5.48686139e+01] [-3.59969615e-02 -5.29177465e-05 9.99351898e-01 -5.76396297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:54.90, Z:-5.76 [[ 7.86690707e-01 -6.16703663e-01 2.81837417e-02 1.47054296e+02] [ 6.16297013e-01 7.87195358e-01 2.23933167e-02 5.48982595e+01] [-3.59961510e-02 -2.47058368e-04 9.99351898e-01 -5.76073929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.10, Y:54.94, Z:-5.77 [[ 7.79359318e-01 -6.25943194e-01 2.81810540e-02 1.47095381e+02] [ 6.25542404e-01 7.79868635e-01 2.23966986e-02 5.49401180e+01] [-3.59965811e-02 1.73368521e-04 9.99351898e-01 -5.77144170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:54.98, Z:-5.77 [[ 7.76027502e-01 -6.30069419e-01 2.81752314e-02 1.47140842e+02] [ 6.29671072e-01 7.76538731e-01 2.24040210e-02 5.49751254e+01] [-3.59952469e-02 3.54991697e-04 9.99351898e-01 -5.77290265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:55.01, Z:-5.78 [[ 7.73022378e-01 -6.33752897e-01 2.81721394e-02 1.47188210e+02] [ 6.33356844e-01 7.73535387e-01 2.24079083e-02 5.50085681e+01] [-3.59932236e-02 5.21202730e-04 9.99351898e-01 -5.77516250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:55.04, Z:-5.77 [[ 7.75839736e-01 -6.30301033e-01 2.81657980e-02 1.47241521e+02] [ 6.29902408e-01 7.76350749e-01 2.24158765e-02 5.50364520e+01] [-3.59952884e-02 3.50576293e-04 9.99351898e-01 -5.76757548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.28, Y:55.08, Z:-5.78 [[ 7.71942685e-01 -6.35068093e-01 2.81603887e-02 1.47283563e+02] [ 6.34672376e-01 7.72455953e-01 2.24226700e-02 5.50773356e+01] [-3.59925821e-02 5.63604719e-04 9.99351898e-01 -5.77906852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.33, Y:55.11, Z:-5.78 [[ 7.72378898e-01 -6.34537680e-01 2.81561845e-02 1.47329609e+02] [ 6.34141418e-01 7.72891745e-01 2.24279479e-02 5.51117669e+01] [-3.59930606e-02 5.32129078e-04 9.99351898e-01 -5.77967942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:55.15, Z:-5.78 [[ 7.72865035e-01 -6.33945676e-01 2.81517021e-02 1.47375293e+02] [ 6.33548816e-01 7.73377419e-01 2.24335728e-02 5.51463793e+01] [-3.59935572e-02 4.97353472e-04 9.99351898e-01 -5.78235557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:55.18, Z:-5.78 [[ 7.73447357e-01 -6.33235368e-01 2.81452520e-02 1.47421989e+02] [ 6.32837743e-01 7.73959148e-01 2.24416622e-02 5.51824527e+01] [-3.59941295e-02 4.53933471e-04 9.99351898e-01 -5.78217534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:55.21, Z:-5.78 [[ 7.77270887e-01 -6.28536499e-01 2.81395902e-02 1.47473468e+02] [ 6.28135523e-01 7.77780057e-01 2.24487593e-02 5.52121123e+01] [-3.59962767e-02 2.26709206e-04 9.99351898e-01 -5.78173818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.51, Y:55.26, Z:-5.79 [[ 7.72329888e-01 -6.34598328e-01 2.81337255e-02 1.47512127e+02] [ 6.34201080e-01 7.72841972e-01 2.24561069e-02 5.52563909e+01] [-3.59935317e-02 4.98916559e-04 9.99351898e-01 -5.78741463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.56, Y:55.29, Z:-5.79 [[ 7.70712487e-01 -6.36561767e-01 2.81314720e-02 1.47557844e+02] [ 6.36165720e-01 7.71225501e-01 2.24589294e-02 5.52931829e+01] [-3.59922044e-02 5.86900801e-04 9.99351898e-01 -5.78977352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.60, Y:55.33, Z:-5.80 [[ 7.67671460e-01 -6.40226111e-01 2.81257054e-02 1.47601212e+02] [ 6.39832249e-01 7.68186153e-01 2.24661488e-02 5.53314854e+01] [-3.59891925e-02 7.49112143e-04 9.99351898e-01 -5.79530242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:55.37, Z:-5.80 [[ 7.65440313e-01 -6.42892230e-01 2.81195073e-02 1.47645441e+02] [ 6.42499876e-01 7.65956156e-01 2.24739039e-02 5.53694897e+01] [-3.59866079e-02 8.64347948e-04 9.99351898e-01 -5.79778591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.69, Y:55.41, Z:-5.80 [[ 7.65238113e-01 -6.43133195e-01 2.81126939e-02 1.47691473e+02] [ 6.42740690e-01 7.65753841e-01 2.24824236e-02 5.54059910e+01] [-3.59865963e-02 8.64764856e-04 9.99351899e-01 -5.79756706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.74, Y:55.44, Z:-5.80 [[ 7.65958251e-01 -6.42275642e-01 2.81061586e-02 1.47736398e+02] [ 6.41882261e-01 7.66473311e-01 2.24905906e-02 5.54444601e+01] [-3.59877790e-02 8.13991141e-04 9.99351899e-01 -5.79883452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:55.48, Z:-5.80 [[ 7.68830491e-01 -6.38834915e-01 2.81002963e-02 1.47779784e+02] [ 6.38438961e-01 7.69343576e-01 2.24979128e-02 5.54835029e+01] [-3.59912346e-02 6.43242620e-04 9.99351899e-01 -5.79926983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.82, Y:55.52, Z:-5.80 [[ 7.71708471e-01 -6.35355607e-01 2.80942752e-02 1.47823521e+02] [ 6.34957066e-01 7.72219548e-01 2.25054292e-02 5.55212365e+01] [-3.59938991e-02 4.71028199e-04 9.99351899e-01 -5.80116949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.87, Y:55.56, Z:-5.80 [[ 7.74627543e-01 -6.31793654e-01 2.80882071e-02 1.47866700e+02] [ 6.31392488e-01 7.75136563e-01 2.25129999e-02 5.55601532e+01] [-3.59957668e-02 2.95493173e-04 9.99351899e-01 -5.80297416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:55.60, Z:-5.81 [[ 7.75891649e-01 -6.30240871e-01 2.80819186e-02 1.47911006e+02] [ 6.29838402e-01 7.76399639e-01 2.25208413e-02 5.55967297e+01] [-3.59963461e-02 2.13338081e-04 9.99351899e-01 -5.80708395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:55.63, Z:-5.81 [[ 7.76449124e-01 -6.29554027e-01 2.80799864e-02 1.47955971e+02] [ 6.29151021e-01 7.76956689e-01 2.25232501e-02 5.56337465e+01] [-3.59965361e-02 1.78394281e-04 9.99351899e-01 -5.80719236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.00, Y:55.67, Z:-5.81 [[ 7.76184754e-01 -6.29880233e-01 2.80734871e-02 1.48000943e+02] [ 6.29477148e-01 7.76692255e-01 2.25313481e-02 5.56693362e+01] [-3.59965108e-02 1.83129705e-04 9.99351899e-01 -5.80968509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:55.71, Z:-5.81 [[ 7.74516627e-01 -6.31930400e-01 2.80706950e-02 1.48047509e+02] [ 6.31528532e-01 7.75025093e-01 2.25348261e-02 5.57051910e+01] [-3.59959347e-02 2.73847327e-04 9.99351899e-01 -5.81281114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:55.74, Z:-5.81 [[ 7.75441355e-01 -6.30795564e-01 2.80653267e-02 1.48096447e+02] [ 6.30392710e-01 7.75949039e-01 2.25415099e-02 5.57373068e+01] [-3.59963478e-02 2.12558333e-04 9.99351899e-01 -5.81168075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:55.77, Z:-5.82 [[ 7.74808971e-01 -6.31572253e-01 2.80632638e-02 1.48141590e+02] [ 6.31169816e-01 7.75316986e-01 2.25440778e-02 5.57747191e+01] [-3.59961392e-02 2.45331323e-04 9.99351899e-01 -5.81595599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.19, Y:55.81, Z:-5.82 [[ 7.75769515e-01 -6.30392273e-01 2.80578113e-02 1.48188011e+02] [ 6.29988817e-01 7.76276722e-01 2.25508619e-02 5.58100965e+01] [-3.59965149e-02 1.81836190e-04 9.99351899e-01 -5.81555575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.23, Y:55.85, Z:-5.82 [[ 7.74449192e-01 -6.32013919e-01 2.80509311e-02 1.48231398e+02] [ 6.31611215e-01 7.74956996e-01 2.25594169e-02 5.58481674e+01] [-3.59961308e-02 2.46160493e-04 9.99351899e-01 -5.81799405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.28, Y:55.88, Z:-5.82 [[ 7.74008166e-01 -6.32554047e-01 2.80488206e-02 1.48278135e+02] [ 6.32151603e-01 7.74516175e-01 2.25620407e-02 5.58826899e+01] [-3.59959754e-02 2.67903137e-04 9.99351899e-01 -5.81898389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.33, Y:55.92, Z:-5.82 [[ 7.74535747e-01 -6.31908216e-01 2.80425404e-02 1.48326301e+02] [ 6.31505065e-01 7.75043196e-01 2.25698437e-02 5.59158301e+01] [-3.59962498e-02 2.27855553e-04 9.99351899e-01 -5.82215207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:55.95, Z:-5.82 [[ 7.72957734e-01 -6.33837576e-01 2.80404703e-02 1.48371790e+02] [ 6.33435599e-01 7.73466113e-01 2.25724153e-02 5.59521127e+01] [-3.59955985e-02 3.14309102e-04 9.99351899e-01 -5.82273079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.42, Y:55.99, Z:-5.82 [[ 7.72738310e-01 -6.34105327e-01 2.80346005e-02 1.48419062e+02] [ 6.33703262e-01 7.73246619e-01 2.25797030e-02 5.59862797e+01] [-3.59955700e-02 3.17416267e-04 9.99351899e-01 -5.82480801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.47, Y:56.02, Z:-5.83 [[ 7.72267601e-01 -6.34678651e-01 2.80314730e-02 1.48466721e+02] [ 6.34276822e-01 7.72776096e-01 2.25835850e-02 5.60209660e+01] [-3.59953716e-02 3.39142583e-04 9.99351899e-01 -5.82509353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:56.05, Z:-5.83 [[ 7.71453825e-01 -6.35667795e-01 2.80258982e-02 1.48515310e+02] [ 6.35266367e-01 7.71962637e-01 2.25905012e-02 5.60548882e+01] [-3.59950003e-02 3.76381921e-04 9.99351899e-01 -5.82651336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.56, Y:56.09, Z:-5.83 [[ 7.70460729e-01 -6.36871357e-01 2.80203278e-02 1.48562709e+02] [ 6.36470473e-01 7.70969970e-01 2.25974083e-02 5.60885608e+01] [-3.59944734e-02 4.23695635e-04 9.99351899e-01 -5.82900690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.61, Y:56.12, Z:-5.83 [[ 7.70387450e-01 -6.36960276e-01 2.80140042e-02 1.48611597e+02] [ 6.36559165e-01 7.70896512e-01 2.26052450e-02 5.61211155e+01] [-3.59945412e-02 4.17774131e-04 9.99351899e-01 -5.83205461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.66, Y:56.15, Z:-5.84 [[ 7.71955834e-01 -6.35058864e-01 2.80076838e-02 1.48660367e+02] [ 6.34656215e-01 7.72463681e-01 2.26130732e-02 5.61540363e+01] [-3.59955511e-02 3.18956766e-04 9.99351899e-01 -5.84123836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.71, Y:56.19, Z:-5.84 [[ 7.73890880e-01 -6.32699601e-01 2.80021538e-02 1.48707634e+02] [ 6.32295156e-01 7.74397298e-01 2.26199191e-02 5.61883120e+01] [-3.59964060e-02 2.00277098e-04 9.99351899e-01 -5.84008783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.76, Y:56.22, Z:-5.84 [[ 7.75697189e-01 -6.30484009e-01 2.79961641e-02 1.48758704e+02] [ 6.30077850e-01 7.76202234e-01 2.26273299e-02 5.62187038e+01] [-3.59968548e-02 8.78066404e-05 9.99351899e-01 -5.84263536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:56.25, Z:-5.85 [[ 7.75273527e-01 -6.31005196e-01 2.79893247e-02 1.48806712e+02] [ 6.30599071e-01 7.75778598e-01 2.26357869e-02 5.62534317e+01] [-3.59968182e-02 1.01115837e-04 9.99351899e-01 -5.84696617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:56.28, Z:-5.84 [[ 7.75739802e-01 -6.30432150e-01 2.79832755e-02 1.48858104e+02] [ 6.30025383e-01 7.76244356e-01 2.26432626e-02 5.62824031e+01] [-3.59969004e-02 6.48938115e-05 9.99351899e-01 -5.84462441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:56.31, Z:-5.85 [[ 7.76397252e-01 -6.29622612e-01 2.79763063e-02 1.48909827e+02] [ 6.29215008e-01 7.76901130e-01 2.26518701e-02 5.63106762e+01] [-3.59969536e-02 1.62620923e-05 9.99351900e-01 -5.84647125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.96, Y:56.34, Z:-5.85 [[ 7.76607512e-01 -6.29363343e-01 2.79741749e-02 1.48958740e+02] [ 6.28955476e-01 7.77111178e-01 2.26545019e-02 5.63443575e+01] [-3.59969571e-02 8.54104693e-07 9.99351900e-01 -5.84784572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.01, Y:56.37, Z:-5.85 [[ 7.76869010e-01 -6.29040780e-01 2.79685217e-02 1.49008133e+02] [ 6.28632452e-01 7.77372303e-01 2.26614791e-02 5.63748438e+01] [-3.59969486e-02 -2.30804804e-05 9.99351900e-01 -5.85115304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:56.41, Z:-5.85 [[ 7.76231041e-01 -6.29827992e-01 2.79655397e-02 1.49057660e+02] [ 6.29420043e-01 7.76734640e-01 2.26651584e-02 5.64080165e+01] [-3.59969546e-02 8.67168770e-06 9.99351900e-01 -5.85160097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:56.44, Z:-5.85 [[ 7.75450998e-01 -6.30788404e-01 2.79595981e-02 1.49107613e+02] [ 6.30380815e-01 7.75954887e-01 2.26724855e-02 5.64367491e+01] [-3.59969278e-02 4.37927226e-05 9.99351900e-01 -5.85214964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.15, Y:56.48, Z:-5.86 [[ 7.75176708e-01 -6.31125651e-01 2.79550265e-02 1.49148655e+02] [ 6.30718077e-01 7.75680611e-01 2.26781209e-02 5.64792367e+01] [-3.59969159e-02 5.21894488e-05 9.99351900e-01 -5.85719803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.19, Y:56.52, Z:-5.86 [[ 7.75152811e-01 -6.31155248e-01 2.79494757e-02 1.49192088e+02] [ 6.30747447e-01 7.75656529e-01 2.26849599e-02 5.65158313e+01] [-3.59969248e-02 4.47499791e-05 9.99351900e-01 -5.86049244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.24, Y:56.55, Z:-5.86 [[ 7.73226085e-01 -6.33514493e-01 2.79429517e-02 1.49240459e+02] [ 6.33107939e-01 7.73730810e-01 2.26929931e-02 5.65493840e+01] [-3.59966627e-02 1.44090329e-04 9.99351900e-01 -5.85681312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.28, Y:56.59, Z:-5.86 [[ 7.69287761e-01 -6.38291387e-01 2.79364430e-02 1.49283155e+02] [ 6.37887676e-01 7.69794763e-01 2.27010029e-02 5.65880712e+01] [-3.59951822e-02 3.56708983e-04 9.99351900e-01 -5.85844250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.33, Y:56.63, Z:-5.87 [[ 7.63847098e-01 -6.44792440e-01 2.79342241e-02 1.49327201e+02] [ 6.44392942e-01 7.64357427e-01 2.27037330e-02 5.66274143e+01] [-3.59909271e-02 6.58436314e-04 9.99351900e-01 -5.86533607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:56.66, Z:-5.87 [[ 7.60487657e-01 -6.48751506e-01 2.79286264e-02 1.49371454e+02] [ 6.48354412e-01 7.60999858e-01 2.27106169e-02 5.66649527e+01] [-3.59872276e-02 8.36504342e-04 9.99351900e-01 -5.86831387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:56.70, Z:-5.87 [[ 7.59898609e-01 -6.49441677e-01 2.79215236e-02 1.49419361e+02] [ 6.49044728e-01 7.60410923e-01 2.27193461e-02 5.66973151e+01] [-3.59867218e-02 8.57918179e-04 9.99351900e-01 -5.86888571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:56.74, Z:-5.87 [[ 7.59357422e-01 -6.50074471e-01 2.79193093e-02 1.49462496e+02] [ 6.49677850e-01 7.59869989e-01 2.27220669e-02 5.67370298e+01] [-3.59860808e-02 8.84386677e-04 9.99351900e-01 -5.86679048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.51, Y:56.78, Z:-5.87 [[ 7.59784371e-01 -6.49575510e-01 2.79171464e-02 1.49508095e+02] [ 6.49178453e-01 7.60296602e-01 2.27247239e-02 5.67750414e+01] [-3.59867357e-02 8.57319878e-04 9.99351900e-01 -5.86746134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:56.81, Z:-5.87 [[ 7.61173115e-01 -6.47947860e-01 2.79116320e-02 1.49551422e+02] [ 6.47549460e-01 7.61684302e-01 2.27314950e-02 5.68140299e+01] [-3.59886755e-02 7.71559422e-04 9.99351900e-01 -5.87377959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.59, Y:56.85, Z:-5.88 [[ 7.62224505e-01 -6.46710984e-01 2.79053101e-02 1.49592465e+02] [ 6.46311471e-01 7.62734822e-01 2.27392532e-02 5.68547102e+01] [-3.59900765e-02 7.03105977e-04 9.99351900e-01 -5.87550303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:56.89, Z:-5.87 [[ 7.64768077e-01 -6.43701179e-01 2.79030538e-02 1.49637812e+02] [ 6.43299556e-01 7.65276735e-01 2.27420216e-02 5.68906756e+01] [-3.59926240e-02 5.57650007e-04 9.99351900e-01 -5.87470951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:56.93, Z:-5.88 [[ 7.65837112e-01 -6.42429257e-01 2.78956540e-02 1.49679474e+02] [ 6.42026459e-01 7.66344840e-01 2.27510946e-02 5.69297496e+01] [-3.59936593e-02 4.86115375e-04 9.99351900e-01 -5.87873836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.72, Y:56.97, Z:-5.88 [[ 7.65459712e-01 -6.42879174e-01 2.78890158e-02 1.49724843e+02] [ 6.42476378e-01 7.65967441e-01 2.27592289e-02 5.69662055e+01] [-3.59935124e-02 4.96761079e-04 9.99351900e-01 -5.88156821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.77, Y:57.00, Z:-5.88 [[ 7.64522806e-01 -6.43993352e-01 2.78826353e-02 1.49770931e+02] [ 6.43591012e-01 7.65030896e-01 2.27670431e-02 5.70008213e+01] [-3.59929019e-02 5.39089793e-04 9.99351900e-01 -5.88351577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:57.04, Z:-5.88 [[ 7.63421384e-01 -6.45298838e-01 2.78782979e-02 1.49816766e+02] [ 6.44897172e-01 7.63930008e-01 2.27723530e-02 5.70359106e+01] [-3.59920413e-02 5.93734228e-04 9.99351900e-01 -5.88351075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:57.07, Z:-5.89 [[ 7.61717134e-01 -6.47309807e-01 2.78750994e-02 1.49860853e+02] [ 6.46909341e-01 7.62226703e-01 2.27762675e-02 5.70730511e+01] [-3.59904465e-02 6.83588976e-04 9.99351900e-01 -5.88829971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:57.11, Z:-5.89 [[ 7.60466916e-01 -6.48778209e-01 2.78730180e-02 1.49908371e+02] [ 6.48378633e-01 7.60977183e-01 2.27788144e-02 5.71071804e+01] [-3.59891292e-02 7.49734570e-04 9.99351900e-01 -5.89053212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:57.15, Z:-5.89 [[ 7.57761165e-01 -6.51936719e-01 2.78662978e-02 1.49950633e+02] [ 6.51538968e-01 7.58272856e-01 2.27870326e-02 5.71471949e+01] [-3.59859605e-02 8.88850562e-04 9.99351900e-01 -5.89468227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:57.18, Z:-5.90 [[ 7.56929559e-01 -6.52902165e-01 2.78640616e-02 1.49996574e+02] [ 6.52504966e-01 7.57441679e-01 2.27897668e-02 5.71846087e+01] [-3.59848896e-02 9.31190399e-04 9.99351900e-01 -5.89839313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:150.04, Y:57.22, Z:-5.90 [[ 7.59061177e-01 -6.50422968e-01 2.78584508e-02 1.50042328e+02] [ 6.50023844e-01 7.59571798e-01 2.27966234e-02 5.72199213e+01] [-3.59879410e-02 8.04625442e-04 9.99351900e-01 -5.89741898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:57.26, Z:-5.90 [[ 7.59790408e-01 -6.49571061e-01 2.78562943e-02 1.50087526e+02] [ 6.49171269e-01 7.60300505e-01 2.27992582e-02 5.72560356e+01] [-3.59888930e-02 7.60848260e-04 9.99351900e-01 -5.89850136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.13, Y:57.29, Z:-5.90 [[ 7.60504182e-01 -6.48735517e-01 2.78499328e-02 1.50132668e+02] [ 6.48334880e-01 7.61013616e-01 2.28070263e-02 5.72920566e+01] [-3.59899061e-02 7.11243962e-04 9.99351900e-01 -5.89970452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.18, Y:57.33, Z:-5.90 [[ 7.59644258e-01 -6.49742520e-01 2.78434935e-02 1.50177584e+02] [ 6.49342270e-01 7.60153996e-01 2.28148849e-02 5.73294687e+01] [-3.59891436e-02 7.48761013e-04 9.99351900e-01 -5.90368358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.081858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:57.36, Z:-5.90 [[ 7.59898542e-01 -6.49445358e-01 2.78376136e-02 1.50224084e+02] [ 6.49044647e-01 7.60407917e-01 2.28220570e-02 5.73636466e+01] [-3.59896208e-02 7.25406222e-04 9.99351900e-01 -5.90208414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.27, Y:57.40, Z:-5.90 [[ 7.59604268e-01 -6.49789619e-01 2.78353421e-02 1.50269313e+02] [ 6.49389037e-01 7.60113745e-01 2.28248271e-02 5.74005001e+01] [-3.59893619e-02 7.38129930e-04 9.99351900e-01 -5.90370599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.31, Y:57.44, Z:-5.91 [[ 7.59465035e-01 -6.49952619e-01 2.78290110e-02 1.50314429e+02] [ 6.49551863e-01 7.59974376e-01 2.28325437e-02 5.74366477e+01] [-3.59894068e-02 7.35867342e-04 9.99351901e-01 -5.90616044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.36, Y:57.47, Z:-5.91 [[ 7.60372575e-01 -6.48890940e-01 2.78225857e-02 1.50358119e+02] [ 6.48489187e-01 7.60881129e-01 2.28403705e-02 5.74727373e+01] [-3.59905899e-02 6.75454642e-04 9.99351901e-01 -5.91046284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.40, Y:57.51, Z:-5.91 [[ 7.60743507e-01 -6.48456321e-01 2.78157405e-02 1.50402935e+02] [ 6.48053973e-01 7.61251591e-01 2.28487039e-02 5.75098742e+01] [-3.59911631e-02 6.44098009e-04 9.99351901e-01 -5.91248433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:57.55, Z:-5.91 [[ 7.61319085e-01 -6.47780765e-01 2.78088316e-02 1.50447040e+02] [ 6.47377659e-01 7.61826568e-01 2.28571094e-02 5.75473783e+01] [-3.59919026e-02 6.01262685e-04 9.99351901e-01 -5.91432782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.49, Y:57.58, Z:-5.92 [[ 7.62579900e-01 -6.46296315e-01 2.78023416e-02 1.50494476e+02] [ 6.45891933e-01 7.63086366e-01 2.28650008e-02 5.75817187e+01] [-3.59931536e-02 5.20918157e-04 9.99351901e-01 -5.91641165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:150.54, Y:57.62, Z:-5.92 [[ 7.60766274e-01 -6.48430506e-01 2.77948839e-02 1.50536291e+02] [ 6.48027214e-01 7.61273608e-01 2.28740629e-02 5.76211601e+01] [-3.59917518e-02 6.10025600e-04 9.99351901e-01 -5.91843887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:57.66, Z:-5.92 [[ 7.60841531e-01 -6.48342379e-01 2.77907336e-02 1.50580303e+02] [ 6.47938844e-01 7.61348672e-01 2.28791042e-02 5.76595377e+01] [-3.59919310e-02 5.99323108e-04 9.99351901e-01 -5.92063857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:150.62, Y:57.70, Z:-5.92 [[ 7.61390710e-01 -6.47697625e-01 2.77844072e-02 1.50623568e+02] [ 6.47293381e-01 7.61897286e-01 2.28867844e-02 5.76977755e+01] [-3.59925803e-02 5.58877862e-04 9.99351901e-01 -5.92330937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:57.74, Z:-5.93 [[ 7.60733660e-01 -6.48469499e-01 2.77778269e-02 1.50667844e+02] [ 6.48065477e-01 7.61240413e-01 2.28947682e-02 5.77359719e+01] [-3.59921633e-02 5.85029894e-04 9.99351901e-01 -5.92622454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:57.77, Z:-5.93 [[ 7.59251583e-01 -6.50204419e-01 2.77713494e-02 1.50711662e+02] [ 6.49801268e-01 7.59759029e-01 2.29026227e-02 5.77747794e+01] [-3.59909199e-02 6.57005475e-04 9.99351901e-01 -5.92887072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.801858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:57.81, Z:-5.93 [[ 7.58012183e-01 -6.51649171e-01 2.77648941e-02 1.50755609e+02] [ 6.51246700e-01 7.58520169e-01 2.29104458e-02 5.78135153e+01] [-3.59898052e-02 7.15398682e-04 9.99351901e-01 -5.93023140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.861858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:150.80, Y:57.85, Z:-5.93 [[ 7.57745744e-01 -6.51959242e-01 2.77584985e-02 1.50797196e+02] [ 6.51556697e-01 7.58253670e-01 2.29181922e-02 5.78537975e+01] [-3.59897106e-02 7.20072999e-04 9.99351901e-01 -5.93264053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921858064 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:57.89, Z:-5.94 [[ 7.56741948e-01 -6.53124375e-01 2.77520230e-02 1.50839587e+02] [ 6.52722324e-01 7.57250266e-01 2.29260307e-02 5.78919678e+01] [-3.59887763e-02 7.65275829e-04 9.99351901e-01 -5.93526425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:57.93, Z:-5.94 [[ 7.55429620e-01 -6.54641940e-01 2.77492162e-02 1.50882233e+02] [ 6.54240785e-01 7.55938646e-01 2.29294276e-02 5.79322546e+01] [-3.59872699e-02 8.33100247e-04 9.99351901e-01 -5.93750748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.92, Y:57.97, Z:-5.94 [[ 7.55089672e-01 -6.55034291e-01 2.77428454e-02 1.50923975e+02] [ 6.54633118e-01 7.55598683e-01 2.29371332e-02 5.79717673e+01] [-3.59870662e-02 8.41793019e-04 9.99351901e-01 -5.94108894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.96, Y:58.01, Z:-5.94 [[ 7.55434632e-01 -6.54636705e-01 2.77362939e-02 1.50964756e+02] [ 6.54234973e-01 7.55943202e-01 2.29450527e-02 5.80134641e+01] [-3.59877365e-02 8.12566105e-04 9.99351901e-01 -5.94491600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:58.06, Z:-5.95 [[ 7.51807175e-01 -6.58799691e-01 2.77297419e-02 1.51004540e+02] [ 6.58400483e-01 7.52317729e-01 2.29529683e-02 5.80573200e+01] [-3.59829848e-02 1.00106919e-03 9.99351901e-01 -5.95266427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:58.10, Z:-5.95 [[ 7.52021055e-01 -6.58555803e-01 2.77233952e-02 1.51045881e+02] [ 6.58156147e-01 7.52531259e-01 2.29606314e-02 5.80977490e+01] [-3.59835786e-02 9.79444714e-04 9.99351901e-01 -5.95384145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:58.14, Z:-5.96 [[ 7.50900868e-01 -6.59832871e-01 2.77212460e-02 1.51087671e+02] [ 6.59433988e-01 7.51411675e-01 2.29632260e-02 5.81381004e+01] [-3.59819592e-02 1.03722543e-03 9.99351901e-01 -5.95625832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.13, Y:58.18, Z:-5.96 [[ 7.50471125e-01 -6.60321897e-01 2.77143025e-02 1.51130518e+02] [ 6.59923038e-01 7.50981950e-01 2.29716030e-02 5.81753334e+01] [-3.59815934e-02 1.04978197e-03 9.99351901e-01 -5.95899490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.17, Y:58.22, Z:-5.96 [[ 7.46602423e-01 -6.64693091e-01 2.77113175e-02 1.51172855e+02] [ 6.64297088e-01 7.47115466e-01 2.29752034e-02 5.82150216e+01] [-3.59750128e-02 1.25520500e-03 9.99351901e-01 -5.96088599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.22, Y:58.25, Z:-5.96 [[ 7.45085561e-01 -6.66393256e-01 2.77044264e-02 1.51216096e+02] [ 6.65998115e-01 7.45599268e-01 2.29835099e-02 5.82531418e+01] [-3.59724561e-02 1.32641442e-03 9.99351901e-01 -5.95958870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52185806399999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:58.29, Z:-5.96 [[ 7.43367564e-01 -6.68309245e-01 2.77023154e-02 1.51257218e+02] [ 6.67915333e-01 7.43882215e-01 2.29860540e-02 5.82937168e+01] [-3.59690522e-02 1.41571424e-03 9.99351902e-01 -5.96131446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:58.34, Z:-5.96 [[ 7.41658701e-01 -6.70205429e-01 2.76957230e-02 1.51297660e+02] [ 6.69812538e-01 7.42174131e-01 2.29939944e-02 5.83365918e+01] [-3.59657491e-02 1.49724651e-03 9.99351902e-01 -5.96463026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.641858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:58.38, Z:-5.96 [[ 7.42486735e-01 -6.69288231e-01 2.76895617e-02 1.51338569e+02] [ 6.68894426e-01 7.43001468e-01 2.30014115e-02 5.83767402e+01] [-3.59679590e-02 1.44315056e-03 9.99351902e-01 -5.96423868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:58.42, Z:-5.97 [[ 7.44211865e-01 -6.67369767e-01 2.76820051e-02 1.51377637e+02] [ 6.66974298e-01 7.44725320e-01 2.30105023e-02 5.84189970e+01] [-3.59720036e-02 1.33849704e-03 9.99351902e-01 -5.96714553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:58.46, Z:-5.97 [[ 7.46867253e-01 -6.64396882e-01 2.76783264e-02 1.51421771e+02] [ 6.63999205e-01 7.47378999e-01 2.30149263e-02 5.84582535e+01] [-3.59772452e-02 1.18929195e-03 9.99351902e-01 -5.96905784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.46, Y:58.50, Z:-5.97 [[ 7.46552470e-01 -6.64750815e-01 2.76724514e-02 1.51459856e+02] [ 6.64353119e-01 7.47064202e-01 2.30219881e-02 5.85014200e+01] [-3.59769832e-02 1.19715730e-03 9.99351902e-01 -5.97307593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:58.54, Z:-5.97 [[ 7.45164911e-01 -6.66305974e-01 2.76695597e-02 1.51502895e+02] [ 6.65909217e-01 7.45677372e-01 2.30254630e-02 5.85414718e+01] [-3.59745681e-02 1.26764777e-03 9.99351902e-01 -5.97473372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.54, Y:58.58, Z:-5.97 [[ 7.43218183e-01 -6.68476948e-01 2.76640987e-02 1.51543455e+02] [ 6.68081445e-01 7.43731611e-01 2.30320224e-02 5.85828987e+01] [-3.59710407e-02 1.36405319e-03 9.99351902e-01 -5.97472054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.58, Y:58.62, Z:-5.98 [[ 7.40324763e-01 -6.71680027e-01 2.76620007e-02 1.51584962e+02] [ 6.71286651e-01 7.40839822e-01 2.30345419e-02 5.86231560e+01] [-3.59649534e-02 1.51609001e-03 9.99351902e-01 -5.97576676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.63, Y:58.66, Z:-5.98 [[ 7.38618734e-01 -6.73555885e-01 2.76556746e-02 1.51626080e+02] [ 6.73163533e-01 7.39134574e-01 2.30421346e-02 5.86637358e+01] [-3.59614306e-02 1.59743936e-03 9.99351902e-01 -5.97755049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.67, Y:58.70, Z:-5.98 [[ 7.39308687e-01 -6.72798765e-01 2.76493419e-02 1.51668295e+02] [ 6.72405602e-01 7.39823909e-01 2.30497310e-02 5.87029926e+01] [-3.59634747e-02 1.55070603e-03 9.99351902e-01 -5.97934911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:58.74, Z:-5.98 [[ 7.42934819e-01 -6.68792647e-01 2.76450627e-02 1.51708491e+02] [ 6.68396514e-01 7.43447761e-01 2.30548621e-02 5.87436167e+01] [-3.59715823e-02 1.34960369e-03 9.99351902e-01 -5.98130550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24185806399998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:151.75, Y:58.78, Z:-5.98 [[ 7.45955620e-01 -6.65421839e-01 2.76403601e-02 1.51749497e+02] [ 6.65023179e-01 7.46466600e-01 2.30604986e-02 5.87849685e+01] [-3.59775651e-02 1.17937163e-03 9.99351902e-01 -5.98391899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:58.82, Z:-5.99 [[ 7.46674196e-01 -6.64615681e-01 2.76340719e-02 1.51792287e+02] [ 6.64216190e-01 7.47184528e-01 2.30680316e-02 5.88235822e+01] [-3.59791265e-02 1.13069402e-03 9.99351902e-01 -5.98568293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:58.86, Z:-5.99 [[ 7.45784712e-01 -6.65613900e-01 2.76278703e-02 1.51834414e+02] [ 6.65214818e-01 7.46295363e-01 2.30754566e-02 5.88632888e+01] [-3.59778962e-02 1.16914598e-03 9.99351902e-01 -5.98763975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.88, Y:58.90, Z:-5.99 [[ 7.45296670e-01 -6.66160594e-01 2.76212933e-02 1.51877614e+02] [ 6.65761596e-01 7.45807387e-01 2.30833267e-02 5.89017464e+01] [-3.59773671e-02 1.18526978e-03 9.99351902e-01 -5.98942638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:58.94, Z:-5.99 [[ 7.45403302e-01 -6.66041547e-01 2.76147696e-02 1.51920872e+02] [ 6.65642178e-01 7.45913729e-01 2.30911284e-02 5.89405506e+01] [-3.59778866e-02 1.16935204e-03 9.99351902e-01 -5.99256017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541858064 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:58.98, Z:-6.00 [[ 7.46067504e-01 -6.65297724e-01 2.76082938e-02 1.51965256e+02] [ 6.64897560e-01 7.46577308e-01 2.30988684e-02 5.89777491e+01] [-3.59793502e-02 1.12337206e-03 9.99351902e-01 -5.99596862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:59.02, Z:-6.01 [[ 7.46420594e-01 -6.64901817e-01 2.76019991e-02 1.52006980e+02] [ 6.64501105e-01 7.46929967e-01 2.31063878e-02 5.90182086e+01] [-3.59802395e-02 1.09447518e-03 9.99351902e-01 -6.00738093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:59.05, Z:-6.00 [[ 7.50920271e-01 -6.59816075e-01 2.75951892e-02 1.52055041e+02] [ 6.59411614e-01 7.51426672e-01 2.31145177e-02 5.90520906e+01] [-3.59870915e-02 8.39428357e-04 9.99351902e-01 -6.00126139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:59.09, Z:-6.00 [[ 7.53057952e-01 -6.57375523e-01 2.75888091e-02 1.52100363e+02] [ 6.56969142e-01 7.53562813e-01 2.31221304e-02 5.90894950e+01] [-3.59898231e-02 7.12692102e-04 9.99351902e-01 -6.00221791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:59.12, Z:-6.00 [[ 7.54225390e-01 -6.56036016e-01 2.75827290e-02 1.52146484e+02] [ 6.55628473e-01 7.54729314e-01 2.31293812e-02 5.91235512e+01] [-3.59912012e-02 6.39255918e-04 9.99351902e-01 -6.00288670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.19, Y:59.16, Z:-6.00 [[ 7.55069655e-01 -6.55064245e-01 2.75798858e-02 1.52191463e+02] [ 6.54655930e-01 7.55572954e-01 2.31327708e-02 5.91606978e+01] [-3.59920669e-02 5.88482510e-04 9.99351902e-01 -6.00481537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:59.20, Z:-6.01 [[ 7.53618510e-01 -6.56733456e-01 2.75737173e-02 1.52237528e+02] [ 6.56325986e-01 7.54122493e-01 2.31401212e-02 5.91964886e+01] [-3.59908522e-02 6.58523545e-04 9.99351902e-01 -6.00700130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.28, Y:59.23, Z:-6.01 [[ 7.52318102e-01 -6.58223022e-01 2.75667724e-02 1.52283535e+02] [ 6.57816248e-01 7.52822646e-01 2.31483918e-02 5.92314048e+01] [-3.59896949e-02 7.18916570e-04 9.99351902e-01 -6.00919818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.33, Y:59.26, Z:-6.01 [[ 7.50100449e-01 -6.60749395e-01 2.75600149e-02 1.52331041e+02] [ 6.60344024e-01 7.50606121e-01 2.31564343e-02 5.92648139e+01] [-3.59873158e-02 8.29439423e-04 9.99351903e-01 -6.01173501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.38, Y:59.30, Z:-6.02 [[ 7.49286946e-01 -6.61672039e-01 2.75533187e-02 1.52375756e+02] [ 6.61266999e-01 7.49792883e-01 2.31643992e-02 5.93006129e+01] [-3.59865175e-02 8.63318452e-04 9.99351903e-01 -6.01566215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:59.34, Z:-6.02 [[ 7.49819741e-01 -6.61068324e-01 2.75504431e-02 1.52422408e+02] [ 6.60662750e-01 7.50325251e-01 2.31678188e-02 5.93358112e+01] [-3.59873043e-02 8.29863651e-04 9.99351903e-01 -6.01816356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.47, Y:59.37, Z:-6.02 [[ 7.52305948e-01 -6.58237870e-01 2.75439236e-02 1.52469739e+02] [ 6.57830111e-01 7.52809696e-01 2.31755672e-02 5.93702377e+01] [-3.59903687e-02 6.84105254e-04 9.99351903e-01 -6.01919848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.51, Y:59.41, Z:-6.02 [[ 7.54080546e-01 -6.56204311e-01 2.75396513e-02 1.52514036e+02] [ 6.55795008e-01 7.54583041e-01 2.31806429e-02 5.94069110e+01] [-3.59921916e-02 5.80294015e-04 9.99351903e-01 -6.02086811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.56, Y:59.44, Z:-6.02 [[ 7.57992919e-01 -6.51681334e-01 2.75349533e-02 1.52559569e+02] [ 6.51268830e-01 7.58492789e-01 2.31862220e-02 5.94432240e+01] [-3.59950916e-02 3.57664781e-04 9.99351903e-01 -6.02280125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.61, Y:59.48, Z:-6.03 [[ 7.61388393e-01 -6.47711276e-01 2.75285097e-02 1.52605515e+02] [ 6.47295888e-01 7.61885869e-01 2.31938699e-02 5.94794975e+01] [-3.59965136e-02 1.59547777e-04 9.99351903e-01 -6.02518805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.65, Y:59.52, Z:-6.03 [[ 7.66711906e-01 -6.41401120e-01 2.75219257e-02 1.52651156e+02] [ 6.40981357e-01 7.67205697e-01 2.32016798e-02 5.95150653e+01] [-3.59965616e-02 -1.47962803e-04 9.99351903e-01 -6.02721152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.70, Y:59.55, Z:-6.03 [[ 7.71105053e-01 -6.36113129e-01 2.75151510e-02 1.52695537e+02] [ 6.35689694e-01 7.71595698e-01 2.32097112e-02 5.95508775e+01] [-3.59945742e-02 -4.06027651e-04 9.99351903e-01 -6.03159473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.74, Y:59.59, Z:-6.03 [[ 7.72287576e-01 -6.34677065e-01 2.75122355e-02 1.52741421e+02] [ 6.34252595e-01 7.72777326e-01 2.32131667e-02 5.95864032e+01] [-3.59936963e-02 -4.77533477e-04 9.99351903e-01 -6.03450294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.79, Y:59.62, Z:-6.04 [[ 7.70138361e-01 -6.37283577e-01 2.75054177e-02 1.52789099e+02] [ 6.36860476e-01 7.70629294e-01 2.32212423e-02 5.96184927e+01] [-3.59949970e-02 -3.66456100e-04 9.99351903e-01 -6.03602071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.84, Y:59.65, Z:-6.04 [[ 7.66318164e-01 -6.41872327e-01 2.75024915e-02 1.52836374e+02] [ 6.41452041e-01 7.66811510e-01 2.32247075e-02 5.96517420e+01] [-3.59965241e-02 -1.55985969e-04 9.99351903e-01 -6.03750341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74185806399998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.89, Y:59.68, Z:-6.04 [[ 7.59663898e-01 -6.49734359e-01 2.74959077e-02 1.52886078e+02] [ 6.49318897e-01 7.60161313e-01 2.32324995e-02 5.96831142e+01] [-3.59962785e-02 2.04721351e-04 9.99351903e-01 -6.04028261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.94, Y:59.71, Z:-6.04 [[ 7.54555782e-01 -6.55659893e-01 2.74895590e-02 1.52935297e+02] [ 6.55248064e-01 7.55056208e-01 2.32400091e-02 5.97129938e+01] [-3.59937041e-02 4.76597100e-04 9.99351903e-01 -6.04235742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.861858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:59.75, Z:-6.04 [[ 7.52535691e-01 -6.57977599e-01 2.74866007e-02 1.52982025e+02] [ 6.57567183e-01 7.53037276e-01 2.32435074e-02 5.97471960e+01] [-3.59921421e-02 5.82717683e-04 9.99351903e-01 -6.04345066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:59.78, Z:-6.05 [[ 7.51178276e-01 -6.59527132e-01 2.74801503e-02 1.53030323e+02] [ 6.59117472e-01 7.51680479e-01 2.32511310e-02 5.97805390e+01] [-3.59910443e-02 6.46902669e-04 9.99351903e-01 -6.04736369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.09, Y:59.81, Z:-6.04 [[ 7.56461425e-01 -6.53461024e-01 2.74736779e-02 1.53085961e+02] [ 6.53047058e-01 7.56960085e-01 2.32587763e-02 5.98067576e+01] [-3.59951814e-02 3.47237449e-04 9.99351903e-01 -6.04355768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:59.84, Z:-6.05 [[ 7.55068382e-01 -6.55070307e-01 2.74705553e-02 1.53131280e+02] [ 6.54657269e-01 7.55567811e-01 2.32624638e-02 5.98425042e+01] [-3.59944167e-02 4.19047804e-04 9.99351903e-01 -6.04951431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.18, Y:59.88, Z:-6.05 [[ 7.50777232e-01 -6.59984325e-01 2.74634185e-02 1.53176350e+02] [ 6.59574247e-01 7.51279095e-01 2.32708865e-02 5.98807115e+01] [-3.59911125e-02 6.42911840e-04 9.99351903e-01 -6.05219092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:59.92, Z:-6.06 [[ 7.45463249e-01 -6.65980971e-01 2.74570575e-02 1.53219062e+02] [ 6.65574654e-01 7.45968160e-01 2.32783893e-02 5.99206054e+01] [-3.59850550e-02 9.21537804e-04 9.99351903e-01 -6.06052051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.27, Y:59.95, Z:-6.05 [[ 7.48471158e-01 -6.62598935e-01 2.74513522e-02 1.53268614e+02] [ 6.62190089e-01 7.48974024e-01 2.32851154e-02 5.99505142e+01] [-3.59890424e-02 7.49776064e-04 9.99351903e-01 -6.05331977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:153.31, Y:59.99, Z:-6.06 [[ 7.49016605e-01 -6.61982554e-01 2.74449036e-02 1.53314324e+02] [ 6.61573017e-01 7.49518908e-01 2.32927136e-02 5.99864929e+01] [-3.59898442e-02 7.10178371e-04 9.99351903e-01 -6.06208370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341858064 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:153.36, Y:60.02, Z:-6.06 [[ 7.51030447e-01 -6.59697205e-01 2.74383942e-02 1.53360273e+02] [ 6.59285858e-01 7.51531270e-01 2.33003790e-02 6.00214853e+01] [-3.59920061e-02 5.90451184e-04 9.99351903e-01 -6.06457550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401858064 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:153.41, Y:60.05, Z:-6.06 [[ 7.56641850e-01 -6.53253871e-01 2.74315543e-02 1.53408843e+02] [ 6.52837967e-01 7.57138895e-01 2.33084288e-02 6.00537907e+01] [-3.59958181e-02 2.72227415e-04 9.99351903e-01 -6.06379774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46185806399998 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:153.45, Y:60.09, Z:-6.07 [[ 7.56045556e-01 -6.53943990e-01 2.74294507e-02 1.53453875e+02] [ 6.53528450e-01 7.56542904e-01 2.33109041e-02 6.00911145e+01] [-3.59955819e-02 3.01820920e-04 9.99351903e-01 -6.07379428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52185806399999 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:153.50, Y:60.12, Z:-6.07 [[ 7.58240276e-01 -6.51398208e-01 2.74236860e-02 1.53502784e+02] [ 6.50980753e-01 7.58736018e-01 2.33176839e-02 6.01213618e+01] [-3.59964358e-02 1.71884744e-04 9.99351904e-01 -6.07108920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.581858064 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:60.15, Z:-6.07 [[ 7.56860312e-01 -6.53001354e-01 2.74171379e-02 1.53551213e+02] [ 6.52584670e-01 7.57356703e-01 2.33253806e-02 6.01535943e+01] [-3.59960583e-02 2.37949051e-04 9.99351904e-01 -6.06875245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.641858064 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:60.19, Z:-6.07 [[ 7.54342264e-01 -6.55908847e-01 2.74104790e-02 1.53597916e+02] [ 6.55493792e-01 7.54840017e-01 2.33332032e-02 6.01884701e+01] [-3.59949808e-02 3.66177498e-04 9.99351904e-01 -6.06839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701858064 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:153.64, Y:60.22, Z:-6.07 [[ 7.51200971e-01 -6.59504465e-01 2.74036900e-02 1.53642627e+02] [ 6.59091501e-01 7.51700461e-01 2.33411738e-02 6.02234746e+01] [-3.59929747e-02 5.27626795e-04 9.99351904e-01 -6.07072973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761858064 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:153.69, Y:60.26, Z:-6.07 [[ 7.50648605e-01 -6.60133217e-01 2.74008862e-02 1.53686194e+02] [ 6.59720552e-01 7.51148341e-01 2.33444648e-02 6.02621574e+01] [-3.59925868e-02 5.53437875e-04 9.99351904e-01 -6.07443945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821858064 meters Centerline goodness : 0.998424 with order 1 Centerline is valid? [True, True] Translation: X:153.73, Y:60.30, Z:-6.08 [[ 7.50854120e-01 -6.59899713e-01 2.73945085e-02 1.53731154e+02] [ 6.59486619e-01 7.51353502e-01 2.33519465e-02 6.02986480e+01] [-3.59929027e-02 5.32406549e-04 9.99351904e-01 -6.07784612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881858064 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:60.34, Z:-6.09 [[ 7.49622381e-01 -6.61298713e-01 2.73915621e-02 1.53773343e+02] [ 6.60886425e-01 7.50122429e-01 2.33554022e-02 6.03387514e+01] [-3.59919225e-02 5.94979324e-04 9.99351904e-01 -6.08808161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941858064 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:60.38, Z:-6.08 [[ 7.50389832e-01 -6.60427972e-01 2.73860139e-02 1.53818047e+02] [ 6.60014867e-01 7.50889204e-01 2.33619061e-02 6.03777453e+01] [-3.59927184e-02 5.44639514e-04 9.99351904e-01 -6.08401338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001858064 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:153.86, Y:60.42, Z:-6.09 [[ 7.50338679e-01 -6.60486339e-01 2.73799561e-02 1.53860981e+02] [ 6.60073014e-01 7.50837869e-01 2.33690035e-02 6.04172424e+01] [-3.59928155e-02 5.38102947e-04 9.99351904e-01 -6.08619608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061858064 meters Centerline goodness : 0.998438 with order 1 Centerline is valid? [True, True] Translation: X:153.90, Y:60.46, Z:-6.09 [[ 7.49561488e-01 -6.61368480e-01 2.73735252e-02 1.53904783e+02] [ 6.60955467e-01 7.50060937e-01 2.33765340e-02 6.04554053e+01] [-3.59923147e-02 5.70531525e-04 9.99351904e-01 -6.08667861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121858064 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:60.49, Z:-6.09 [[ 7.48043495e-01 -6.63085197e-01 2.73669645e-02 1.53948529e+02] [ 6.62673050e-01 7.48543658e-01 2.33842122e-02 6.04947048e+01] [-3.59910926e-02 6.42941999e-04 9.99351904e-01 -6.08635303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181858064 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:153.99, Y:60.53, Z:-6.09 [[ 7.47776979e-01 -6.63385975e-01 2.73612498e-02 1.53992649e+02] [ 6.62973784e-01 7.48277106e-01 2.33908968e-02 6.05324133e+01] [-3.59909897e-02 6.48617147e-04 9.99351904e-01 -6.08791018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24185806399998 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:154.04, Y:60.57, Z:-6.09 [[ 7.48157047e-01 -6.62957579e-01 2.73547272e-02 1.54035625e+02] [ 6.62544823e-01 7.48656708e-01 2.33985223e-02 6.05718743e+01] [-3.59915277e-02 6.17963549e-04 9.99351904e-01 -6.08911786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.301858064 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:60.62, Z:-6.11 [[ 7.43697621e-01 -6.67956500e-01 2.73488932e-02 1.54071206e+02] [ 6.67546852e-01 7.44199833e-01 2.34053393e-02 6.06208102e+01] [-3.59867902e-02 8.50172369e-04 9.99351904e-01 -6.10537369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.361858064 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:60.66, Z:-6.11 [[ 7.43781303e-01 -6.67863562e-01 2.73429491e-02 1.54115393e+02] [ 6.67453595e-01 7.44283255e-01 2.34122814e-02 6.06599687e+01] [-3.59871087e-02 8.36532535e-04 9.99351904e-01 -6.10970524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421858064 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:60.69, Z:-6.10 [[ 7.50253284e-01 -6.60585121e-01 2.73369462e-02 1.54166607e+02] [ 6.60170028e-01 7.50751005e-01 2.34192884e-02 6.06902419e+01] [-3.59936733e-02 4.76634514e-04 9.99351904e-01 -6.09855085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481858064 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:154.21, Y:60.73, Z:-6.10 [[ 7.47703960e-01 -6.63469523e-01 2.73309555e-02 1.54209428e+02] [ 6.63056094e-01 7.48203064e-01 2.34262777e-02 6.07301301e+01] [-3.59917259e-02 6.06036022e-04 9.99351904e-01 -6.10209569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541858064 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:60.77, Z:-6.10 [[ 7.44162867e-01 -6.67439147e-01 2.73242143e-02 1.54253584e+02] [ 6.67028092e-01 7.44663928e-01 2.34341379e-02 6.07689022e+01] [-3.59882177e-02 7.87203306e-04 9.99351904e-01 -6.10259386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601858064 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:154.30, Y:60.81, Z:-6.10 [[ 7.42506260e-01 -6.69281818e-01 2.73185329e-02 1.54296749e+02] [ 6.68871763e-01 7.43008139e-01 2.34407592e-02 6.08056270e+01] [-3.59863662e-02 8.67684840e-04 9.99351904e-01 -6.10351041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661858064 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:154.34, Y:60.85, Z:-6.11 [[ 7.41207111e-01 -6.70720408e-01 2.73158116e-02 1.54339629e+02] [ 6.70311211e-01 7.41709689e-01 2.34439298e-02 6.08454431e+01] [-3.59847243e-02 9.33287292e-04 9.99351904e-01 -6.10587083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721858064 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:154.38, Y:60.88, Z:-6.11 [[ 7.41782671e-01 -6.70084072e-01 2.73094550e-02 1.54380961e+02] [ 6.69674171e-01 7.42284676e-01 2.34513322e-02 6.08841149e+01] [-3.59857541e-02 8.92644759e-04 9.99351904e-01 -6.10883945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781858064 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:60.92, Z:-6.11 [[ 7.45068083e-01 -6.66429212e-01 2.73067215e-02 1.54426542e+02] [ 6.66016731e-01 7.45567971e-01 2.34545147e-02 6.09204570e+01] [-3.59897907e-02 7.11523018e-04 9.99351904e-01 -6.11081010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841858064 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:60.96, Z:-6.11 [[ 7.45233228e-01 -6.66244825e-01 2.72996212e-02 1.54467397e+02] [ 6.65831919e-01 7.45732763e-01 2.34627761e-02 6.09624387e+01] [-3.59901751e-02 6.91718760e-04 9.99351904e-01 -6.11326045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901858064 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:154.51, Y:61.00, Z:-6.12 [[ 7.47314613e-01 -6.63909583e-01 2.72934911e-02 1.54513586e+02] [ 6.63494855e-01 7.47812638e-01 2.34699049e-02 6.09981054e+01] [-3.59923123e-02 5.69687959e-04 9.99351904e-01 -6.11955305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96185806399998 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:154.56, Y:61.04, Z:-6.12 [[ 7.45477151e-01 -6.65972451e-01 2.72857563e-02 1.54556367e+02] [ 6.65558772e-01 7.45976047e-01 2.34788938e-02 6.10392288e+01] [-3.59908171e-02 6.57295623e-04 9.99351905e-01 -6.12400371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02185806399999 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:154.60, Y:61.08, Z:-6.12 [[ 7.44852097e-01 -6.66671745e-01 2.72788770e-02 1.54599490e+02] [ 6.66258242e-01 7.45351139e-01 2.34868837e-02 6.10777438e+01] [-3.59903839e-02 6.80522053e-04 9.99351905e-01 -6.11770436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.081858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:154.65, Y:61.12, Z:-6.12 [[ 7.43870719e-01 -6.67766685e-01 2.72765130e-02 1.54645109e+02] [ 6.67353816e-01 7.44370285e-01 2.34896289e-02 6.11153609e+01] [-3.59894174e-02 7.29837835e-04 9.99351905e-01 -6.12183504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.141858064 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:61.15, Z:-6.12 [[ 7.42856286e-01 -6.68895148e-01 2.72730500e-02 1.54687940e+02] [ 6.68482891e-01 7.43356357e-01 2.34936489e-02 6.11549139e+01] [-3.59883829e-02 7.79162541e-04 9.99351905e-01 -6.11992319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201858064 meters Centerline goodness : 0.997769 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:61.19, Z:-6.12 [[ 7.41961431e-01 -6.69887899e-01 2.72660518e-02 1.54731107e+02] [ 6.69476013e-01 7.42461807e-01 2.35017681e-02 6.11942079e+01] [-3.59875522e-02 8.16562210e-04 9.99351905e-01 -6.12304930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261858064 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:154.77, Y:61.23, Z:-6.13 [[ 7.41456394e-01 -6.70447017e-01 2.72619252e-02 1.54774581e+02] [ 6.70035332e-01 7.41956937e-01 2.35065539e-02 6.12331731e+01] [-3.59870735e-02 8.37368428e-04 9.99351905e-01 -6.12511509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:154.82, Y:61.27, Z:-6.13 [[ 7.40951181e-01 -6.71005675e-01 2.72531083e-02 1.54815342e+02] [ 6.70593991e-01 7.41451725e-01 2.35167717e-02 6.12727403e+01] [-3.59867514e-02 8.50990840e-04 9.99351905e-01 -6.12706570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.86, Y:61.31, Z:-6.13 [[ 7.39846462e-01 -6.72223734e-01 2.72481987e-02 1.54857889e+02] [ 6.71812665e-01 7.40347511e-01 2.35224589e-02 6.13119208e+01] [-3.59854913e-02 9.02676981e-04 9.99351905e-01 -6.12905263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.90, Y:61.35, Z:-6.13 [[ 7.40840860e-01 -6.71127972e-01 2.72408769e-02 1.54899532e+02] [ 6.70715851e-01 7.41341043e-01 2.35309351e-02 6.13517994e+01] [-3.59870489e-02 8.38209746e-04 9.99351905e-01 -6.13265582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.94, Y:61.39, Z:-6.14 [[ 7.40291355e-01 -6.71734324e-01 2.72343174e-02 1.54942058e+02] [ 6.71322333e-01 7.40791646e-01 2.35385245e-02 6.13918049e+01] [-3.59865897e-02 8.57639262e-04 9.99351905e-01 -6.13503458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:61.43, Z:-6.14 [[ 7.40774360e-01 -6.71201923e-01 2.72272958e-02 1.54985523e+02] [ 6.70789275e-01 7.41274109e-01 2.35466437e-02 6.14300662e+01] [-3.59874420e-02 8.21028141e-04 9.99351905e-01 -6.13725174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:61.47, Z:-6.14 [[ 7.40316429e-01 -6.71707242e-01 2.72206900e-02 1.55026248e+02] [ 6.71294655e-01 7.40816227e-01 2.35542778e-02 6.14697950e+01] [-3.59871078e-02 8.35484889e-04 9.99351905e-01 -6.13937753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:61.51, Z:-6.14 [[ 7.41086865e-01 -6.70857296e-01 2.72166676e-02 1.55068569e+02] [ 6.70443964e-01 7.41586049e-01 2.35589247e-02 6.15098022e+01] [-3.59881775e-02 7.88040898e-04 9.99351905e-01 -6.14241219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:61.55, Z:-6.14 [[ 7.42255817e-01 -6.69564001e-01 2.72093865e-02 1.55111454e+02] [ 6.69149491e-01 7.42754023e-01 2.35673309e-02 6.15485363e+01] [-3.59897177e-02 7.14158711e-04 9.99351905e-01 -6.14451744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.15, Y:61.59, Z:-6.15 [[ 7.42899787e-01 -6.68849725e-01 2.72020597e-02 1.55154970e+02] [ 6.68434427e-01 7.43397336e-01 2.35757847e-02 6.15870544e+01] [-3.59905958e-02 6.68347736e-04 9.99351905e-01 -6.14978706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.20, Y:61.63, Z:-6.15 [[ 7.43163274e-01 -6.68557225e-01 2.71953184e-02 1.55197885e+02] [ 6.68141448e-01 7.43660421e-01 2.35835584e-02 6.16265232e+01] [-3.59910403e-02 6.43884940e-04 9.99351905e-01 -6.14835452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:61.66, Z:-6.15 [[ 7.43132122e-01 -6.68592032e-01 2.71908963e-02 1.55241810e+02] [ 6.68176091e-01 7.43629133e-01 2.35886559e-02 6.16644942e+01] [-3.59911300e-02 6.38818907e-04 9.99351905e-01 -6.15092508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:61.70, Z:-6.15 [[ 7.42536778e-01 -6.69253453e-01 2.71836401e-02 1.55284954e+02] [ 6.68837648e-01 7.43033903e-01 2.35970149e-02 6.17026335e+01] [-3.59907499e-02 6.59790510e-04 9.99351905e-01 -6.15314096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:61.74, Z:-6.15 [[ 7.41763515e-01 -6.70110653e-01 2.71771934e-02 1.55328669e+02] [ 6.69695152e-01 7.42260894e-01 2.36044374e-02 6.17408947e+01] [-3.59901528e-02 6.91524234e-04 9.99351905e-01 -6.15283407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:61.78, Z:-6.15 [[ 7.41777554e-01 -6.70095200e-01 2.71750483e-02 1.55373054e+02] [ 6.69679598e-01 7.42274848e-01 2.36069067e-02 6.17777531e+01] [-3.59902298e-02 6.87501908e-04 9.99351905e-01 -6.15411464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.42, Y:61.82, Z:-6.16 [[ 7.42079944e-01 -6.69760612e-01 2.71676119e-02 1.55415470e+02] [ 6.69344473e-01 7.42576788e-01 2.36154617e-02 6.18157356e+01] [-3.59907441e-02 6.59930375e-04 9.99351905e-01 -6.15675164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.46, Y:61.85, Z:-6.16 [[ 7.43359124e-01 -6.68340707e-01 2.71645257e-02 1.55459155e+02] [ 6.67923489e-01 7.43855064e-01 2.36190112e-02 6.18548221e+01] [-3.59920166e-02 5.86417330e-04 9.99351905e-01 -6.15799642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:61.90, Z:-6.16 [[ 7.45236415e-01 -6.66247017e-01 2.71587601e-02 1.55499053e+02] [ 6.65828164e-01 7.45730974e-01 2.36256390e-02 6.18986218e+01] [-3.59936401e-02 4.76380855e-04 9.99351905e-01 -6.16101871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.54, Y:61.94, Z:-6.16 [[ 7.46919468e-01 -6.64359857e-01 2.71530637e-02 1.55542838e+02] [ 6.63939516e-01 7.47412763e-01 2.36321842e-02 6.19370651e+01] [-3.59948208e-02 3.76653518e-04 9.99351905e-01 -6.16296992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:61.98, Z:-6.17 [[ 7.46847610e-01 -6.64440921e-01 2.71460909e-02 1.55583884e+02] [ 6.64020342e-01 7.47340703e-01 2.36401910e-02 6.19778651e+01] [-3.59948889e-02 3.69936472e-04 9.99351906e-01 -6.16771102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:62.02, Z:-6.17 [[ 7.47598904e-01 -6.63595772e-01 2.71390745e-02 1.55627554e+02] [ 6.63174344e-01 7.48091271e-01 2.36482431e-02 6.20166889e+01] [-3.59953789e-02 3.18537317e-04 9.99351906e-01 -6.16839912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.67, Y:62.06, Z:-6.17 [[ 7.47747627e-01 -6.63428473e-01 2.71320439e-02 1.55670108e+02] [ 6.63006643e-01 7.48239648e-01 2.36563067e-02 6.20563531e+01] [-3.59955384e-02 2.99778198e-04 9.99351906e-01 -6.16996467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.71, Y:62.10, Z:-6.17 [[ 7.47289048e-01 -6.63945260e-01 2.71251032e-02 1.55712577e+02] [ 6.63523481e-01 7.47781113e-01 2.36642625e-02 6.20952548e+01] [-3.59954148e-02 3.14098719e-04 9.99351906e-01 -6.17197826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.76, Y:62.13, Z:-6.17 [[ 7.47059014e-01 -6.64204365e-01 2.71181013e-02 1.55755721e+02] [ 6.63782465e-01 7.47550976e-01 2.36722836e-02 6.21338563e+01] [-3.59953972e-02 3.15927282e-04 9.99351906e-01 -6.17378169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:62.17, Z:-6.17 [[ 7.46785011e-01 -6.64512705e-01 2.71111095e-02 1.55799133e+02] [ 6.64090718e-01 7.47276898e-01 2.36802883e-02 6.21727007e+01] [-3.59953583e-02 3.20151798e-04 9.99351906e-01 -6.17450695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.84, Y:62.21, Z:-6.18 [[ 7.44735624e-01 -6.66808957e-01 2.71047271e-02 1.55842194e+02] [ 6.66388220e-01 7.45228581e-01 2.36875915e-02 6.22134581e+01] [-3.59943155e-02 4.21277655e-04 9.99351906e-01 -6.17807563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821858064 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:155.89, Y:62.25, Z:-6.18 [[ 7.42454732e-01 -6.69347908e-01 2.70988869e-02 1.55885434e+02] [ 6.68928613e-01 7.42948916e-01 2.36942708e-02 6.22521496e+01] [-3.59927993e-02 5.35297363e-04 9.99351906e-01 -6.17935248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:62.29, Z:-6.18 [[ 7.40934400e-01 -6.71030746e-01 2.70915581e-02 1.55927495e+02] [ 6.70612268e-01 7.41429276e-01 2.37026475e-02 6.22901057e+01] [-3.59916795e-02 6.05824355e-04 9.99351906e-01 -6.18127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:62.33, Z:-6.18 [[ 7.40086877e-01 -6.71965642e-01 2.70848955e-02 1.55969990e+02] [ 6.71547510e-01 7.40582045e-01 2.37102584e-02 6.23295523e+01] [-3.59910663e-02 6.41143005e-04 9.99351906e-01 -6.18331624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001858064 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:156.01, Y:62.37, Z:-6.18 [[ 7.39990499e-01 -6.72072049e-01 2.70780845e-02 1.56013244e+02] [ 6.71653704e-01 7.40485487e-01 2.37180343e-02 6.23683272e+01] [-3.59911565e-02 6.35975720e-04 9.99351906e-01 -6.18492347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:62.41, Z:-6.19 [[ 7.40520405e-01 -6.71488392e-01 2.70715724e-02 1.56057120e+02] [ 6.71069385e-01 7.41014833e-01 2.37254648e-02 6.24064425e+01] [-3.59918109e-02 5.97712603e-04 9.99351906e-01 -6.18635212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:62.45, Z:-6.19 [[ 7.41238982e-01 -6.70695351e-01 2.70650535e-02 1.56100915e+02] [ 6.70275544e-01 7.41732731e-01 2.37328989e-02 6.24456875e+01] [-3.59925811e-02 5.49293647e-04 9.99351906e-01 -6.18902157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.14, Y:62.48, Z:-6.19 [[ 7.42418380e-01 -6.69389827e-01 2.70593438e-02 1.56144210e+02] [ 6.68968915e-01 7.42911187e-01 2.37394072e-02 6.24834847e+01] [-3.59936069e-02 4.77287589e-04 9.99351906e-01 -6.19132598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24185806399998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:156.19, Y:62.52, Z:-6.19 [[ 7.43080139e-01 -6.68655256e-01 2.70565338e-02 1.56188302e+02] [ 6.68233740e-01 7.43572429e-01 2.37426094e-02 6.25213003e+01] [-3.59941131e-02 4.37427241e-04 9.99351906e-01 -6.19483443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.23, Y:62.56, Z:-6.20 [[ 7.43257993e-01 -6.68457801e-01 2.70504039e-02 1.56231630e+02] [ 6.68035900e-01 7.43749954e-01 2.37495913e-02 6.25584938e+01] [-3.59943362e-02 4.18567321e-04 9.99351906e-01 -6.19595678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.28, Y:62.60, Z:-6.20 [[ 7.42621365e-01 -6.69165135e-01 2.70468256e-02 1.56277366e+02] [ 6.68743554e-01 7.43113600e-01 2.37536657e-02 6.25962484e+01] [-3.59939888e-02 4.47410642e-04 9.99351906e-01 -6.19795815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:62.63, Z:-6.20 [[ 7.41584256e-01 -6.70314525e-01 2.70412450e-02 1.56321972e+02] [ 6.69893476e-01 7.42076945e-01 2.37600169e-02 6.26323247e+01] [-3.59933689e-02 4.94699181e-04 9.99351906e-01 -6.20100343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.37, Y:62.67, Z:-6.20 [[ 7.39908736e-01 -6.72163657e-01 2.70384978e-02 1.56367967e+02] [ 6.71743725e-01 7.40402378e-01 2.37631428e-02 6.26683125e+01] [-3.59920890e-02 5.80384286e-04 9.99351906e-01 -6.19953282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.41, Y:62.70, Z:-6.20 [[ 7.39748312e-01 -6.72340481e-01 2.70316920e-02 1.56414647e+02] [ 6.71920384e-01 7.40241814e-01 2.37708822e-02 6.27033636e+01] [-3.59921151e-02 5.78674882e-04 9.99351906e-01 -6.20447929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:62.74, Z:-6.20 [[ 7.40479253e-01 -6.71535465e-01 2.70295167e-02 1.56460063e+02] [ 6.71114741e-01 7.40972221e-01 2.37733555e-02 6.27396427e+01] [-3.59927723e-02 5.36230586e-04 9.99351906e-01 -6.20252929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.50, Y:62.78, Z:-6.21 [[ 7.43247990e-01 -6.68469855e-01 2.70273731e-02 1.56504393e+02] [ 6.68047009e-01 7.43739138e-01 2.37757921e-02 6.27762413e+01] [-3.59947155e-02 3.84246065e-04 9.99351906e-01 -6.20694548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:62.81, Z:-6.21 [[ 7.46559206e-01 -6.64769916e-01 2.70242750e-02 1.56550325e+02] [ 6.64344508e-01 7.47048137e-01 2.37793130e-02 6.28129158e+01] [-3.59962062e-02 2.00763656e-04 9.99351906e-01 -6.20946931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.60, Y:62.85, Z:-6.21 [[ 7.47537308e-01 -6.63670083e-01 2.70184012e-02 1.56595796e+02] [ 6.63243715e-01 7.48025401e-01 2.37859851e-02 6.28496152e+01] [-3.59964971e-02 1.38873577e-04 9.99351906e-01 -6.21055418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:156.64, Y:62.89, Z:-6.21 [[ 7.46894476e-01 -6.64393529e-01 2.70163104e-02 1.56641908e+02] [ 6.63967547e-01 7.47382907e-01 2.37883596e-02 6.28850951e+01] [-3.59963608e-02 1.70558932e-04 9.99351906e-01 -6.21160852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.69, Y:62.92, Z:-6.21 [[ 7.46008230e-01 -6.65388571e-01 2.70142533e-02 1.56687524e+02] [ 6.64963157e-01 7.46497156e-01 2.37906954e-02 6.29212372e+01] [-3.59961201e-02 2.15428523e-04 9.99351906e-01 -6.21301367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:62.96, Z:-6.22 [[ 7.45381702e-01 -6.66090611e-01 2.70077009e-02 1.56732265e+02] [ 6.65665388e-01 7.45870793e-01 2.37981315e-02 6.29589391e+01] [-3.59959673e-02 2.39399943e-04 9.99351907e-01 -6.21527762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.78, Y:62.99, Z:-6.22 [[ 7.44223220e-01 -6.67385001e-01 2.70011016e-02 1.56778814e+02] [ 6.66960356e-01 7.44712814e-01 2.38056167e-02 6.29945388e+01] [-3.59955779e-02 2.91971604e-04 9.99351907e-01 -6.21858371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.081858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.83, Y:63.03, Z:-6.22 [[ 7.43781284e-01 -6.67877754e-01 2.69945740e-02 1.56825543e+02] [ 6.67453166e-01 7.44270926e-01 2.38130164e-02 6.30298614e+01] [-3.59954605e-02 3.05937949e-04 9.99351907e-01 -6.22009296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.141858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.87, Y:63.06, Z:-6.22 [[ 7.41947010e-01 -6.69915099e-01 2.69887688e-02 1.56870474e+02] [ 6.69491616e-01 7.42437609e-01 2.38195940e-02 6.30645406e+01] [-3.59945826e-02 3.95877852e-04 9.99351907e-01 -6.22182489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:63.10, Z:-6.23 [[ 7.41179873e-01 -6.70763929e-01 2.69842206e-02 1.56916687e+02] [ 6.70340820e-01 7.41670794e-01 2.38247454e-02 6.30994259e+01] [-3.59941881e-02 4.30202778e-04 9.99351907e-01 -6.22783020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:63.14, Z:-6.23 [[ 7.40190381e-01 -6.71855912e-01 2.69783931e-02 1.56962169e+02] [ 6.71433287e-01 7.40681718e-01 2.38313424e-02 6.31364458e+01] [-3.59936308e-02 4.74460760e-04 9.99351907e-01 -6.22720276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:63.17, Z:-6.23 [[ 7.40640547e-01 -6.71359875e-01 2.69721697e-02 1.57010597e+02] [ 6.70936665e-01 7.41131381e-01 2.38383839e-02 6.31700200e+01] [-3.59940558e-02 4.40943906e-04 9.99351907e-01 -6.22801048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:157.05, Y:63.21, Z:-6.23 [[ 7.38730210e-01 -6.73461622e-01 2.69651720e-02 1.57053690e+02] [ 6.73039519e-01 7.39221997e-01 2.38462969e-02 6.32081374e+01] [-3.59928140e-02 5.32646483e-04 9.99351907e-01 -6.22968574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:157.10, Y:63.24, Z:-6.23 [[ 7.38101277e-01 -6.74150947e-01 2.69630267e-02 1.57099416e+02] [ 6.73729215e-01 7.38593382e-01 2.38487223e-02 6.32442636e+01] [-3.59923518e-02 5.63006357e-04 9.99351907e-01 -6.23115254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:63.28, Z:-6.24 [[ 7.39704003e-01 -6.72392253e-01 2.69563741e-02 1.57146639e+02] [ 6.71969077e-01 7.40194866e-01 2.38562394e-02 6.32781918e+01] [-3.59937203e-02 4.67294035e-04 9.99351907e-01 -6.23547518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.19, Y:63.31, Z:-6.24 [[ 7.41169186e-01 -6.70777137e-01 2.69493889e-02 1.57190667e+02] [ 6.70352604e-01 7.41658877e-01 2.38641277e-02 6.33144525e+01] [-3.59947647e-02 3.78236960e-04 9.99351907e-01 -6.23878346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:157.23, Y:63.35, Z:-6.24 [[ 7.41209914e-01 -6.70732255e-01 2.69463427e-02 1.57234732e+02] [ 6.70307567e-01 7.41699471e-01 2.38675668e-02 6.33525775e+01] [-3.59948350e-02 3.71460281e-04 9.99351907e-01 -6.23823748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:157.28, Y:63.39, Z:-6.24 [[ 7.41061042e-01 -6.70896996e-01 2.69398008e-02 1.57279178e+02] [ 6.70472149e-01 7.41550460e-01 2.38749485e-02 6.33899916e+01] [-3.59948529e-02 3.69591871e-04 9.99351907e-01 -6.23977067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74185806399998 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:157.32, Y:63.43, Z:-6.24 [[ 7.40903276e-01 -6.71071501e-01 2.69328181e-02 1.57323867e+02] [ 6.70646483e-01 7.41392545e-01 2.38828230e-02 6.34267298e+01] [-3.59948724e-02 3.67537962e-04 9.99351907e-01 -6.24158663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:63.46, Z:-6.24 [[ 7.43001015e-01 -6.68748436e-01 2.69262183e-02 1.57372750e+02] [ 6.68321619e-01 7.43488715e-01 2.38902614e-02 6.34601485e+01] [-3.59959144e-02 2.44885378e-04 9.99351907e-01 -6.24269206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.41, Y:63.50, Z:-6.25 [[ 7.40321708e-01 -6.71713546e-01 2.69198803e-02 1.57412217e+02] [ 6.71288423e-01 7.40810885e-01 2.38974011e-02 6.35043694e+01] [-3.59947484e-02 3.79239195e-04 9.99351907e-01 -6.24549864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:63.54, Z:-6.25 [[ 7.39002955e-01 -6.73164400e-01 2.69132593e-02 1.57454545e+02] [ 6.72739965e-01 7.39492730e-01 2.39048553e-02 6.35435835e+01] [-3.59940572e-02 4.39866451e-04 9.99351907e-01 -6.24717784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981858064 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:157.50, Y:63.58, Z:-6.25 [[ 7.36318691e-01 -6.76099723e-01 2.69063235e-02 1.57496789e+02] [ 6.75676955e-01 7.36809905e-01 2.39126594e-02 6.35832375e+01] [-3.59921881e-02 5.72644679e-04 9.99351907e-01 -6.24686021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:63.62, Z:-6.25 [[ 7.33710416e-01 -6.78929678e-01 2.68982832e-02 1.57539896e+02] [ 6.78508474e-01 7.34202971e-01 2.39217002e-02 6.36222646e+01] [-3.59899517e-02 6.99112527e-04 9.99351907e-01 -6.24748176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:157.58, Y:63.66, Z:-6.25 [[ 7.29657798e-01 -6.83283555e-01 2.68901725e-02 1.57581459e+02] [ 6.82864954e-01 7.30152567e-01 2.39308139e-02 6.36619635e+01] [-3.59854601e-02 9.01051362e-04 9.99351907e-01 -6.25052939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:157.62, Y:63.70, Z:-6.25 [[ 7.28441191e-01 -6.84580586e-01 2.68859310e-02 1.57624227e+02] [ 6.84162689e-01 7.28936556e-01 2.39355782e-02 6.37015385e+01] [-3.59839701e-02 9.58689769e-04 9.99351907e-01 -6.25272818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:63.74, Z:-6.26 [[ 7.27242260e-01 -6.85854358e-01 2.68792414e-02 1.57664332e+02] [ 6.85437052e-01 7.27738123e-01 2.39430881e-02 6.37430780e+01] [-3.59825201e-02 1.01160246e-03 9.99351907e-01 -6.25747589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.71, Y:63.78, Z:-6.25 [[ 7.31198634e-01 -6.81635129e-01 2.68720807e-02 1.57708317e+02] [ 6.81214666e-01 7.31691823e-01 2.39511221e-02 6.37797459e+01] [-3.59880079e-02 7.92627720e-04 9.99351908e-01 -6.25320462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:157.75, Y:63.82, Z:-6.26 [[ 7.30502623e-01 -6.82381192e-01 2.68668218e-02 1.57746825e+02] [ 6.81961016e-01 7.30996056e-01 2.39570198e-02 6.38244194e+01] [-3.59873605e-02 8.21459306e-04 9.99351908e-01 -6.26141723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.79, Y:63.86, Z:-6.26 [[ 7.33803293e-01 -6.78830761e-01 2.68612180e-02 1.57790098e+02] [ 6.78407967e-01 7.34294485e-01 2.39633013e-02 6.38635154e+01] [-3.59910703e-02 6.38514884e-04 9.99351908e-01 -6.26186677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:63.91, Z:-6.26 [[ 7.34783544e-01 -6.77769876e-01 2.68540139e-02 1.57829377e+02] [ 6.77346079e-01 7.35273870e-01 2.39713717e-02 6.39066490e+01] [-3.59921283e-02 5.75691566e-04 9.99351908e-01 -6.26451180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:157.87, Y:63.95, Z:-6.27 [[ 7.34427706e-01 -6.78155719e-01 2.68470900e-02 1.57870478e+02] [ 6.77731895e-01 7.34918009e-01 2.39791237e-02 6.39464592e+01] [-3.59919898e-02 5.84196353e-04 9.99351908e-01 -6.26549249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.581858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:157.91, Y:63.99, Z:-6.27 [[ 7.32737452e-01 -6.79981845e-01 2.68424442e-02 1.57912691e+02] [ 6.79559053e-01 7.33228645e-01 2.39843232e-02 6.39855845e+01] [-3.59905533e-02 6.66814053e-04 9.99351908e-01 -6.26857224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.96, Y:64.02, Z:-6.27 [[ 7.31112444e-01 -6.81729010e-01 2.68356435e-02 1.57956421e+02] [ 6.81307112e-01 7.31604406e-01 2.39919299e-02 6.40244646e+01] [-3.59890696e-02 7.42516280e-04 9.99351908e-01 -6.27024773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:64.06, Z:-6.28 [[ 7.30021071e-01 -6.82897827e-01 2.68289761e-02 1.57998898e+02] [ 6.82476444e-01 7.30513473e-01 2.39993834e-02 6.40636847e+01] [-3.59880553e-02 7.90088643e-04 9.99351908e-01 -6.27549664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.04, Y:64.10, Z:-6.28 [[ 7.29232091e-01 -6.83740557e-01 2.68217762e-02 1.58041444e+02] [ 6.83319447e-01 7.29724727e-01 2.40074274e-02 6.41039430e+01] [-3.59873651e-02 8.20854804e-04 9.99351908e-01 -6.27741435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:64.14, Z:-6.28 [[ 7.27758752e-01 -6.85308798e-01 2.68151310e-02 1.58082898e+02] [ 6.84888476e-01 7.28252060e-01 2.40148474e-02 6.41428651e+01] [-3.59857606e-02 8.88358888e-04 9.99351908e-01 -6.28195606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:64.18, Z:-6.28 [[ 7.26481921e-01 -6.86662305e-01 2.68122476e-02 1.58126535e+02] [ 6.86242784e-01 7.26975910e-01 2.40180663e-02 6.41815682e+01] [-3.59841589e-02 9.51020525e-04 9.99351908e-01 -6.28336959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.17, Y:64.22, Z:-6.28 [[ 7.25129109e-01 -6.88091007e-01 2.68056168e-02 1.58170380e+02] [ 6.87672186e-01 7.25623692e-01 2.40254643e-02 6.42197189e+01] [-3.59824966e-02 1.01191359e-03 9.99351908e-01 -6.28297890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:158.22, Y:64.25, Z:-6.28 [[ 7.24536224e-01 -6.88715522e-01 2.67990873e-02 1.58218493e+02] [ 6.88296858e-01 7.25030939e-01 2.40327455e-02 6.42544922e+01] [-3.59818923e-02 1.03313287e-03 9.99351908e-01 -6.27957539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:158.26, Y:64.29, Z:-6.28 [[ 7.23846906e-01 -6.89440191e-01 2.67932761e-02 1.58262985e+02] [ 6.89021783e-01 7.24341838e-01 2.40392224e-02 6.42924555e+01] [-3.59810970e-02 1.06043414e-03 9.99351908e-01 -6.28326382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:64.33, Z:-6.28 [[ 7.25904518e-01 -6.87273696e-01 2.67861358e-02 1.58307389e+02] [ 6.86853517e-01 7.26397948e-01 2.40471760e-02 6.43294041e+01] [-3.59843856e-02 9.42197878e-04 9.99351908e-01 -6.28239538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:64.37, Z:-6.29 [[ 7.27932319e-01 -6.85125696e-01 2.67828483e-02 1.58350357e+02] [ 6.84703926e-01 7.28424389e-01 2.40508370e-02 6.43676789e+01] [-3.59871263e-02 8.30939844e-04 9.99351908e-01 -6.28641314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24185806399998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:158.39, Y:64.41, Z:-6.29 [[ 7.26612160e-01 -6.86525921e-01 2.67755253e-02 1.58392268e+02] [ 6.86104800e-01 7.27104785e-01 2.40589868e-02 6.44073317e+01] [-3.59857307e-02 8.89264016e-04 9.99351908e-01 -6.29417960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.301858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:64.44, Z:-6.30 [[ 7.24951706e-01 -6.88279169e-01 2.67732851e-02 1.58436304e+02] [ 6.87859147e-01 7.25445270e-01 2.40614795e-02 6.44449173e+01] [-3.59835681e-02 9.72838374e-04 9.99351908e-01 -6.29552493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:64.48, Z:-6.30 [[ 7.21781039e-01 -6.91603702e-01 2.67666264e-02 1.58477838e+02] [ 6.91185678e-01 7.22276295e-01 2.40688846e-02 6.44849747e+01] [-3.59790294e-02 1.12824431e-03 9.99351908e-01 -6.30105527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:64.53, Z:-6.30 [[ 7.19930889e-01 -6.93529696e-01 2.67595769e-02 1.58517901e+02] [ 6.93112707e-01 7.20427017e-01 2.40767196e-02 6.45250020e+01] [-3.59762422e-02 1.21382865e-03 9.99351908e-01 -6.30446575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.56, Y:64.57, Z:-6.31 [[ 7.19228272e-01 -6.94258449e-01 2.67562918e-02 1.58560222e+02] [ 6.93841827e-01 7.19724708e-01 2.40803698e-02 6.45652957e+01] [-3.59751644e-02 1.24535163e-03 9.99351908e-01 -6.30787118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.60, Y:64.60, Z:-6.31 [[ 7.21031011e-01 -6.92386287e-01 2.67490126e-02 1.58603293e+02] [ 6.91968077e-01 7.21526110e-01 2.40884528e-02 6.46037055e+01] [-3.59786255e-02 1.14094132e-03 9.99351908e-01 -6.30705199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601858064 meters Centerline goodness : 0.996170 with order 1 Centerline is valid? [True, True] Translation: X:158.64, Y:64.64, Z:-6.32 [[ 7.23024539e-01 -6.90304372e-01 2.67467843e-02 1.58643882e+02] [ 6.89884644e-01 7.23518352e-01 2.40909268e-02 6.46427952e+01] [-3.59818614e-02 1.03386449e-03 9.99351908e-01 -6.31524304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.68, Y:64.69, Z:-6.31 [[ 7.23900407e-01 -6.89386007e-01 2.67420141e-02 1.58684430e+02] [ 6.88965457e-01 7.24393520e-01 2.40962208e-02 6.46857757e+01] [-3.59833392e-02 9.81059984e-04 9.99351908e-01 -6.31309718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:64.73, Z:-6.31 [[ 7.26542665e-01 -6.86601089e-01 2.67338871e-02 1.58726703e+02] [ 6.86178317e-01 7.27033875e-01 2.41052341e-02 6.47262807e+01] [-3.59871215e-02 8.30732664e-04 9.99351908e-01 -6.31381902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.77, Y:64.77, Z:-6.32 [[ 7.28240769e-01 -6.84799974e-01 2.67278498e-02 1.58765865e+02] [ 6.84375742e-01 7.28730717e-01 2.41119263e-02 6.47692896e+01] [-3.59892517e-02 7.32604322e-04 9.99351909e-01 -6.31743007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.81, Y:64.81, Z:-6.32 [[ 7.30502734e-01 -6.82386819e-01 2.67205024e-02 1.58806335e+02] [ 6.81960670e-01 7.30991017e-01 2.41200659e-02 6.48115102e+01] [-3.59916623e-02 6.02557615e-04 9.99351909e-01 -6.31833834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:64.85, Z:-6.32 [[ 7.32956943e-01 -6.79750302e-01 2.67141600e-02 1.58847662e+02] [ 6.79322141e-01 7.33443462e-01 2.41270884e-02 6.48525449e+01] [-3.59937216e-02 4.63403390e-04 9.99351909e-01 -6.31957033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:158.89, Y:64.90, Z:-6.33 [[ 7.31877097e-01 -6.80912904e-01 2.67120092e-02 1.58885018e+02] [ 6.80485429e-01 7.32364219e-01 2.41294694e-02 6.48990075e+01] [-3.59929868e-02 5.17326987e-04 9.99351909e-01 -6.32959215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02185806399999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:64.94, Z:-6.33 [[ 7.32050797e-01 -6.80726291e-01 2.67085579e-02 1.58926520e+02] [ 6.80298552e-01 7.32537688e-01 2.41332889e-02 6.49402605e+01] [-3.59931895e-02 5.02999925e-04 9.99351909e-01 -6.33332696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.081858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:64.98, Z:-6.33 [[ 7.29685348e-01 -6.83261401e-01 2.67048812e-02 1.58966958e+02] [ 6.82835206e-01 7.30173589e-01 2.41373568e-02 6.49822164e+01] [-3.59913232e-02 6.22357483e-04 9.99351909e-01 -6.33334822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:65.02, Z:-6.33 [[ 7.29231399e-01 -6.83746162e-01 2.66974544e-02 1.59008681e+02] [ 6.83319990e-01 7.29719661e-01 2.41455685e-02 6.50234913e+01] [-3.59910971e-02 6.35197531e-04 9.99351909e-01 -6.33304818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:159.05, Y:65.06, Z:-6.34 [[ 7.26510991e-01 -6.86636252e-01 2.66915327e-02 1.59048588e+02] [ 6.86211782e-01 7.27000733e-01 2.41521129e-02 6.50645726e+01] [-3.59884801e-02 7.69268761e-04 9.99351909e-01 -6.33960936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:65.11, Z:-6.33 [[ 7.25639128e-01 -6.87557717e-01 2.66878724e-02 1.59091136e+02] [ 6.87133720e-01 7.26129280e-01 2.41561567e-02 6.51053319e+01] [-3.59875975e-02 8.09484615e-04 9.99351909e-01 -6.33475694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:159.13, Y:65.15, Z:-6.34 [[ 7.23589994e-01 -6.89714164e-01 2.66813281e-02 1.59132306e+02] [ 6.89291361e-01 7.24081176e-01 2.41633829e-02 6.51475542e+01] [-3.59852749e-02 9.06826892e-04 9.99351909e-01 -6.34079451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:65.18, Z:-6.34 [[ 7.26977384e-01 -6.86143051e-01 2.66757675e-02 1.59179526e+02] [ 6.85717611e-01 7.27466283e-01 2.41695202e-02 6.51839705e+01] [-3.59894698e-02 7.21349025e-04 9.99351909e-01 -6.33841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:65.23, Z:-6.34 [[ 7.25379470e-01 -6.87832307e-01 2.66709884e-02 1.59217408e+02] [ 6.87407811e-01 7.25869190e-01 2.41747928e-02 6.52294731e+01] [-3.59878522e-02 7.97947360e-04 9.99351909e-01 -6.34343633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.26, Y:65.27, Z:-6.34 [[ 7.26523870e-01 -6.86623676e-01 2.66644759e-02 1.59259946e+02] [ 6.86198101e-01 7.27012653e-01 2.41819738e-02 6.52686020e+01] [-3.59893271e-02 7.28331573e-04 9.99351909e-01 -6.34484539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:159.30, Y:65.31, Z:-6.35 [[ 7.28093167e-01 -6.84959636e-01 2.66577791e-02 1.59302546e+02] [ 6.84532675e-01 7.28580738e-01 2.41893541e-02 6.53078802e+01] [-3.59910755e-02 6.36017410e-04 9.99351909e-01 -6.34725692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:65.35, Z:-6.36 [[ 7.25341162e-01 -6.87873459e-01 2.66514955e-02 1.59339184e+02] [ 6.87448202e-01 7.25830221e-01 2.41962753e-02 6.53544157e+01] [-3.59884364e-02 7.70968219e-04 9.99351909e-01 -6.35855126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:65.38, Z:-6.35 [[ 7.32183410e-01 -6.80586120e-01 2.66455929e-02 1.59391369e+02] [ 6.80155758e-01 7.32667982e-01 2.42027736e-02 6.53848230e+01] [-3.59944445e-02 4.02284165e-04 9.99351909e-01 -6.34871989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:65.42, Z:-6.35 [[ 7.33212824e-01 -6.79477210e-01 2.66397522e-02 1.59434668e+02] [ 6.79045881e-01 7.33696536e-01 2.42092006e-02 6.54237811e+01] [-3.59950940e-02 3.39117656e-04 9.99351909e-01 -6.35113639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.47, Y:65.47, Z:-6.36 [[ 7.25503335e-01 -6.87703128e-01 2.66330373e-02 1.59471017e+02] [ 6.87277010e-01 7.25991645e-01 2.42165856e-02 6.54702450e+01] [-3.59891842e-02 7.35060638e-04 9.99351909e-01 -6.36479770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:65.51, Z:-6.37 [[ 7.25534390e-01 -6.87670625e-01 2.66263128e-02 1.59515465e+02] [ 6.87244215e-01 7.26022443e-01 2.42239771e-02 6.55074664e+01] [-3.59894181e-02 7.23451001e-04 9.99351909e-01 -6.36600272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:65.54, Z:-6.36 [[ 7.30851910e-01 -6.82016604e-01 2.66239979e-02 1.59568677e+02] [ 6.81586324e-01 7.31336556e-01 2.42265210e-02 6.55357488e+01] [-3.59939925e-02 4.40553761e-04 9.99351909e-01 -6.35566388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.61, Y:65.57, Z:-6.36 [[ 7.28778543e-01 -6.84231769e-01 2.66218145e-02 1.59613382e+02] [ 6.83802875e-01 7.29264415e-01 2.42289201e-02 6.55721825e+01] [-3.59925388e-02 5.46556202e-04 9.99351909e-01 -6.35917196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.66, Y:65.61, Z:-6.36 [[ 7.26121601e-01 -6.87050989e-01 2.66150147e-02 1.59657682e+02] [ 6.86623707e-01 7.26608892e-01 2.42363871e-02 6.56111248e+01] [-3.59903401e-02 6.75935852e-04 9.99351909e-01 -6.35980715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.71, Y:65.64, Z:-6.36 [[ 7.26284594e-01 -6.86878935e-01 2.66085988e-02 1.59705727e+02] [ 6.86451280e-01 7.26771557e-01 2.42434290e-02 6.56444978e+01] [-3.59906735e-02 6.57877747e-04 9.99351909e-01 -6.35794668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.75, Y:65.68, Z:-6.36 [[ 7.25435015e-01 -6.87776229e-01 2.66063561e-02 1.59752649e+02] [ 6.87349086e-01 7.25922427e-01 2.42458900e-02 6.56809684e+01] [-3.59898974e-02 6.99037006e-04 9.99351909e-01 -6.35952084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.80, Y:65.72, Z:-6.36 [[ 7.25904979e-01 -6.87280419e-01 2.66005077e-02 1.59798050e+02] [ 6.86852708e-01 7.26391893e-01 2.42523048e-02 6.57180077e+01] [-3.59905273e-02 6.65761941e-04 9.99351909e-01 -6.36009707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.84, Y:65.76, Z:-6.37 [[ 7.25835630e-01 -6.87353906e-01 2.65941122e-02 1.59841915e+02] [ 6.86925988e-01 7.26322362e-01 2.42593158e-02 6.57572438e+01] [-3.59906338e-02 6.59911009e-04 9.99351909e-01 -6.36587828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:65.79, Z:-6.37 [[ 7.28858322e-01 -6.84148113e-01 2.65877093e-02 1.59885806e+02] [ 6.83717798e-01 7.29342935e-01 2.42663311e-02 6.57944733e+01] [-3.59933226e-02 4.91772691e-04 9.99351909e-01 -6.36757123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:65.83, Z:-6.37 [[ 7.30842173e-01 -6.82028577e-01 2.65845516e-02 1.59929916e+02] [ 6.81596731e-01 7.31325423e-01 2.42697900e-02 6.58320786e+01] [-3.59946488e-02 3.82557369e-04 9.99351909e-01 -6.36922832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.98, Y:65.87, Z:-6.37 [[ 7.33956723e-01 -6.78676041e-01 2.65774155e-02 1.59976069e+02] [ 6.78241705e-01 7.34437736e-01 2.42776022e-02 6.58697368e+01] [-3.59960838e-02 2.07202253e-04 9.99351909e-01 -6.36848395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:65.91, Z:-6.37 [[ 7.33340716e-01 -6.79341843e-01 2.65716974e-02 1.60020051e+02] [ 6.78907716e-01 7.33821918e-01 2.42838589e-02 6.59093365e+01] [-3.59959354e-02 2.31387904e-04 9.99351910e-01 -6.37204001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:65.95, Z:-6.37 [[ 7.32466456e-01 -6.80284623e-01 2.65654464e-02 1.60065645e+02] [ 6.79850868e-01 7.32947993e-01 2.42906953e-02 6.59458916e+01] [-3.59956771e-02 2.68422294e-04 9.99351910e-01 -6.37255387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.641858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:160.11, Y:65.98, Z:-6.37 [[ 7.30330593e-01 -6.82577189e-01 2.65632460e-02 1.60111263e+02] [ 6.82144857e-01 7.30813409e-01 2.42931014e-02 6.59820443e+01] [-3.59946932e-02 3.77986537e-04 9.99351910e-01 -6.37285460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701858064 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:160.15, Y:66.02, Z:-6.38 [[ 7.23601249e-01 -6.89707177e-01 2.65563966e-02 1.60152683e+02] [ 6.89279328e-01 7.24088040e-01 2.43005866e-02 6.60234236e+01] [-3.59894582e-02 7.20840440e-04 9.99351910e-01 -6.38226197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761858064 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:160.20, Y:66.06, Z:-6.38 [[ 7.24172575e-01 -6.89107503e-01 2.65505436e-02 1.60196151e+02] [ 6.88679016e-01 7.24658805e-01 2.43069798e-02 6.60600239e+01] [-3.59902074e-02 6.82354071e-04 9.99351910e-01 -6.38079887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821858064 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:160.24, Y:66.10, Z:-6.38 [[ 7.22646405e-01 -6.90707904e-01 2.65473954e-02 1.60241479e+02] [ 6.90280367e-01 7.23133472e-01 2.43104177e-02 6.60979281e+01] [-3.59887079e-02 7.57309856e-04 9.99351910e-01 -6.38339004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881858064 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:66.13, Z:-6.38 [[ 7.23356047e-01 -6.89964900e-01 2.65417619e-02 1.60289211e+02] [ 6.89536638e-01 7.23842476e-01 2.43165667e-02 6.61338175e+01] [-3.59896322e-02 7.11981674e-04 9.99351910e-01 -6.38402515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941858064 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:66.18, Z:-6.39 [[ 7.22128874e-01 -6.91249296e-01 2.65386535e-02 1.60327335e+02] [ 6.90821775e-01 7.22615953e-01 2.43199587e-02 6.61757790e+01] [-3.59884087e-02 7.71335318e-04 9.99351910e-01 -6.39169808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001858064 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:160.37, Y:66.22, Z:-6.39 [[ 7.22598816e-01 -6.90758161e-01 2.65351594e-02 1.60371233e+02] [ 6.90330168e-01 7.23085481e-01 2.43237705e-02 6.62151673e+01] [-3.59890315e-02 7.41693254e-04 9.99351910e-01 -6.39419106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061858064 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:160.42, Y:66.25, Z:-6.39 [[ 7.23593115e-01 -6.89716746e-01 2.65294736e-02 1.60415855e+02] [ 6.89287826e-01 7.24078963e-01 2.43299703e-02 6.62527700e+01] [-3.59902217e-02 6.81444133e-04 9.99351910e-01 -6.39397324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121858064 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:160.46, Y:66.29, Z:-6.40 [[ 7.24231009e-01 -6.89047168e-01 2.65225511e-02 1.60459310e+02] [ 6.88617522e-01 7.24716216e-01 2.43375143e-02 6.62914102e+01] [-3.59910182e-02 6.37910866e-04 9.99351910e-01 -6.39501902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181858064 meters Centerline goodness : 0.997535 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:66.33, Z:-6.39 [[ 7.27001741e-01 -6.86123451e-01 2.65156427e-02 1.60506764e+02] [ 6.85691579e-01 7.27484967e-01 2.43450386e-02 6.63272736e+01] [-3.59934334e-02 4.82667456e-04 9.99351910e-01 -6.39317768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24185806399998 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:160.55, Y:66.37, Z:-6.40 [[ 7.25826422e-01 -6.87366943e-01 2.65083067e-02 1.60546897e+02] [ 6.86935608e-01 7.26310127e-01 2.43530240e-02 6.63682515e+01] [-3.59927152e-02 5.33431484e-04 9.99351910e-01 -6.39850544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.301858064 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:160.59, Y:66.41, Z:-6.40 [[ 7.25503953e-01 -6.87707396e-01 2.65056906e-02 1.60589567e+02] [ 6.87276184e-01 7.25987767e-01 2.43558710e-02 6.64081343e+01] [-3.59925197e-02 5.46449202e-04 9.99351910e-01 -6.40143417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.361858064 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:66.45, Z:-6.40 [[ 7.24729806e-01 -6.88523406e-01 2.64995714e-02 1.60631794e+02] [ 6.88092495e-01 7.25213889e-01 2.43625270e-02 6.64465263e+01] [-3.59920273e-02 5.77906731e-04 9.99351910e-01 -6.40420959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421858064 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:66.48, Z:-6.40 [[ 7.23163120e-01 -6.90168845e-01 2.64965634e-02 1.60676046e+02] [ 6.89738915e-01 7.23648075e-01 2.43657980e-02 6.64845183e+01] [-3.59907017e-02 6.55264359e-04 9.99351910e-01 -6.40420393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481858064 meters Centerline goodness : 0.993163 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:66.52, Z:-6.41 [[ 7.19647121e-01 -6.93834503e-01 2.64896935e-02 1.60720401e+02] [ 6.93406769e-01 7.20134013e-01 2.43732644e-02 6.65232101e+01] [-3.59871411e-02 8.27983231e-04 9.99351910e-01 -6.40774373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541858064 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:66.56, Z:-6.41 [[ 7.18622780e-01 -6.94895668e-01 2.64822777e-02 1.60763165e+02] [ 6.94468356e-01 7.19110043e-01 2.43813193e-02 6.65623920e+01] [-3.59861450e-02 8.70132393e-04 9.99351910e-01 -6.40903727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601858064 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:160.80, Y:66.61, Z:-6.41 [[ 7.15566571e-01 -6.98042493e-01 2.64794280e-02 1.60803830e+02] [ 6.97617209e-01 7.16055605e-01 2.43844137e-02 6.66054844e+01] [-3.59820998e-02 1.02383335e-03 9.99351910e-01 -6.41289386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661858064 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:160.85, Y:66.64, Z:-6.41 [[ 7.17219529e-01 -6.96344252e-01 2.64732050e-02 1.60848277e+02] [ 6.95917561e-01 7.17707335e-01 2.43911679e-02 6.66420758e+01] [-3.59846630e-02 9.29346317e-04 9.99351910e-01 -6.41261540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721858064 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:160.89, Y:66.69, Z:-6.42 [[ 7.16994418e-01 -6.96576119e-01 2.64710247e-02 1.60888463e+02] [ 6.96149498e-01 7.17482287e-01 2.43935339e-02 6.66855006e+01] [-3.59844445e-02 9.37762942e-04 9.99351910e-01 -6.41703394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781858064 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:160.93, Y:66.72, Z:-6.42 [[ 7.20268563e-01 -6.93190322e-01 2.64645936e-02 1.60930238e+02] [ 6.92761151e-01 7.20754190e-01 2.44005091e-02 6.67241549e+01] [-3.59886635e-02 7.58722655e-04 9.99351910e-01 -6.41879094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841858064 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:160.97, Y:66.77, Z:-6.42 [[ 7.21857062e-01 -6.91536122e-01 2.64608041e-02 1.60969482e+02] [ 6.91105688e-01 7.22341569e-01 2.44046179e-02 6.67685388e+01] [-3.59904135e-02 6.70566465e-04 9.99351910e-01 -6.42118442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:66.81, Z:-6.42 [[ 7.25034594e-01 -6.88204193e-01 2.64542282e-02 1.61012062e+02] [ 6.87771272e-01 7.25516880e-01 2.44117440e-02 6.68082825e+01] [-3.59932537e-02 4.95099252e-04 9.99351910e-01 -6.42068639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96185806399998 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:66.85, Z:-6.42 [[ 7.30187105e-01 -6.82735214e-01 2.64465320e-02 1.61058695e+02] [ 6.82298379e-01 7.30665849e-01 2.44200788e-02 6.68453967e+01] [-3.59960255e-02 2.13199253e-04 9.99351910e-01 -6.41916198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:66.88, Z:-6.42 [[ 7.31027064e-01 -6.81836029e-01 2.64397430e-02 1.61102340e+02] [ 6.81398340e-01 7.31505026e-01 2.44274271e-02 6.68831330e+01] [-3.59963048e-02 1.58886706e-04 9.99351910e-01 -6.41535312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.081858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:161.14, Y:66.93, Z:-6.42 [[ 7.27481975e-01 -6.85617279e-01 2.64371334e-02 1.61143359e+02] [ 6.85181971e-01 7.27962107e-01 2.44302510e-02 6.69251062e+01] [-3.59950336e-02 3.41679909e-04 9.99351910e-01 -6.42106380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.141858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:66.97, Z:-6.43 [[ 7.21702689e-01 -6.91698377e-01 2.64307416e-02 1.61182037e+02] [ 6.91266860e-01 7.22186231e-01 2.44371644e-02 6.69680819e+01] [-3.59910646e-02 6.34328498e-04 9.99351910e-01 -6.42843066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.23, Y:67.00, Z:-6.42 [[ 7.24078280e-01 -6.89211272e-01 2.64285084e-02 1.61233244e+02] [ 6.88778007e-01 7.24560256e-01 2.44395793e-02 6.70002247e+01] [-3.59930803e-02 5.07206794e-04 9.99351910e-01 -6.41826259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:161.28, Y:67.04, Z:-6.42 [[ 7.22466430e-01 -6.90900938e-01 2.64225676e-02 1.61276146e+02] [ 6.90468564e-01 7.22949206e-01 2.44460004e-02 6.70385106e+01] [-3.59919389e-02 5.82537683e-04 9.99351910e-01 -6.42020835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:161.32, Y:67.08, Z:-6.43 [[ 7.19158057e-01 -6.94344094e-01 2.64190824e-02 1.61315473e+02] [ 6.93913894e-01 7.19642770e-01 2.44497663e-02 6.70827461e+01] [-3.59888525e-02 7.49321945e-04 9.99351910e-01 -6.43010472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.36, Y:67.12, Z:-6.43 [[ 7.21439397e-01 -6.91973671e-01 2.64127726e-02 1.61359866e+02] [ 6.91541628e-01 7.21922469e-01 2.44565808e-02 6.71206767e+01] [-3.59912840e-02 6.21590867e-04 9.99351911e-01 -6.42863905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:67.16, Z:-6.43 [[ 7.21517073e-01 -6.91892964e-01 2.64052979e-02 1.61405401e+02] [ 6.91460572e-01 7.21999833e-01 2.44646484e-02 6.71593249e+01] [-3.59915388e-02 6.06560879e-04 9.99351911e-01 -6.42591425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.45, Y:67.20, Z:-6.43 [[ 7.21666045e-01 -6.91737801e-01 2.63995147e-02 1.61446685e+02] [ 6.91305077e-01 7.22148507e-01 2.44708875e-02 6.71994990e+01] [-3.59918080e-02 5.90309944e-04 9.99351911e-01 -6.43292702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:67.24, Z:-6.43 [[ 7.21354941e-01 -6.92062505e-01 2.63920257e-02 1.61487436e+02] [ 6.91629703e-01 7.21837333e-01 2.44789617e-02 6.72394849e+01] [-3.59917210e-02 5.95488892e-04 9.99351911e-01 -6.43231279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:67.29, Z:-6.45 [[ 7.15303940e-01 -6.98315090e-01 2.63876549e-02 1.61520163e+02] [ 6.97886330e-01 7.15789927e-01 2.44836724e-02 6.72892139e+01] [-3.59853355e-02 9.02316292e-04 9.99351911e-01 -6.44863717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:67.33, Z:-6.45 [[ 7.14054481e-01 -6.99592902e-01 2.63812465e-02 1.61560384e+02] [ 6.99164756e-01 7.14541011e-01 2.44905755e-02 6.73294310e+01] [-3.59839153e-02 9.57232569e-04 9.99351911e-01 -6.44996660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:67.36, Z:-6.44 [[ 7.20304118e-01 -6.93156714e-01 2.63770251e-02 1.61611351e+02] [ 6.92724053e-01 7.20786636e-01 2.44951213e-02 6.73613926e+01] [-3.59911650e-02 6.28062994e-04 9.99351911e-01 -6.43576694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.65, Y:67.41, Z:-6.44 [[ 7.19498894e-01 -6.93992767e-01 2.63700851e-02 1.61649435e+02] [ 6.93560393e-01 7.19981670e-01 2.45025902e-02 6.74051295e+01] [-3.59905983e-02 6.59659998e-04 9.99351911e-01 -6.44291163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:67.45, Z:-6.44 [[ 7.21359757e-01 -6.92058403e-01 2.63679281e-02 1.61691155e+02] [ 6.91624650e-01 7.21841294e-01 2.45049112e-02 6.74476163e+01] [-3.59922890e-02 5.59852287e-04 9.99351911e-01 -6.44278991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:67.49, Z:-6.45 [[ 7.19994766e-01 -6.93478498e-01 2.63649098e-02 1.61730395e+02] [ 6.93045576e-01 7.20477050e-01 2.45081582e-02 6.74901442e+01] [-3.59911932e-02 6.26338477e-04 9.99351911e-01 -6.44942544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:161.77, Y:67.53, Z:-6.45 [[ 7.19335631e-01 -6.94162262e-01 2.63629456e-02 1.61771095e+02] [ 6.93729720e-01 7.19818256e-01 2.45102709e-02 6.75309406e+01] [-3.59906346e-02 6.57647684e-04 9.99351911e-01 -6.45145183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.81, Y:67.58, Z:-6.46 [[ 7.16700614e-01 -6.96882589e-01 2.63607283e-02 1.61805641e+02] [ 6.96451791e-01 7.17184797e-01 2.45126553e-02 6.75792259e+01] [-3.59879562e-02 7.90741373e-04 9.99351911e-01 -6.46406301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.85, Y:67.62, Z:-6.46 [[ 7.21283084e-01 -6.92138823e-01 2.63545612e-02 1.61852215e+02] [ 6.91704598e-01 7.21764195e-01 2.45192840e-02 6.76160610e+01] [-3.59925270e-02 5.44226358e-04 9.99351911e-01 -6.45825231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:161.89, Y:67.66, Z:-6.47 [[ 7.19028125e-01 -6.94481363e-01 2.63475188e-02 1.61887846e+02] [ 6.94048429e-01 7.19510397e-01 2.45268492e-02 6.76640515e+01] [-3.59907534e-02 6.50959612e-04 9.99351911e-01 -6.46815206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:67.70, Z:-6.47 [[ 7.22722865e-01 -6.90635788e-01 2.63413948e-02 1.61931682e+02] [ 6.90200047e-01 7.23202604e-01 2.45334245e-02 6.77035812e+01] [-3.59938263e-02 4.49965161e-04 9.99351911e-01 -6.46905287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:67.75, Z:-6.47 [[ 7.23233517e-01 -6.90101272e-01 2.63346782e-02 1.61970503e+02] [ 6.89664914e-01 7.23712694e-01 2.45406321e-02 6.77480332e+01] [-3.59942623e-02 4.13495972e-04 9.99351911e-01 -6.47256975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.01, Y:67.79, Z:-6.47 [[ 7.22741642e-01 -6.90616628e-01 2.63285435e-02 1.62010936e+02] [ 6.90180373e-01 7.23220912e-01 2.45472120e-02 6.77888763e+01] [-3.59940660e-02 4.30151623e-04 9.99351911e-01 -6.47471634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.05, Y:67.83, Z:-6.47 [[ 7.25275896e-01 -6.87955002e-01 2.63208915e-02 1.62053154e+02] [ 6.87516690e-01 7.25753286e-01 2.45554141e-02 6.78288724e+01] [-3.59954935e-02 2.86602253e-04 9.99351911e-01 -6.47460036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46185806399998 meters Centerline goodness : 0.995481 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:67.87, Z:-6.48 [[ 7.22333741e-01 -6.91043696e-01 2.63168419e-02 1.62091883e+02] [ 6.90607267e-01 7.22812854e-01 2.45597534e-02 6.78729064e+01] [-3.59940144e-02 4.34263702e-04 9.99351911e-01 -6.47759306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.14, Y:67.91, Z:-6.47 [[ 7.23798458e-01 -6.89509706e-01 2.63088781e-02 1.62138872e+02] [ 6.89071952e-01 7.24276360e-01 2.45682815e-02 6.79077521e+01] [-3.59949670e-02 3.46225729e-04 9.99351911e-01 -6.47190969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:67.95, Z:-6.48 [[ 7.19658424e-01 -6.93829960e-01 2.63009338e-02 1.62176092e+02] [ 6.93394764e-01 7.20138656e-01 2.45767831e-02 6.79532344e+01] [-3.59924276e-02 5.50040774e-04 9.99351911e-01 -6.48314308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:67.99, Z:-6.48 [[ 7.19095548e-01 -6.94413565e-01 2.62943789e-02 1.62222957e+02] [ 6.93978501e-01 7.19575901e-01 2.45837941e-02 6.79898737e+01] [-3.59921215e-02 5.69636795e-04 9.99351911e-01 -6.47937505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.26, Y:68.04, Z:-6.49 [[ 7.13592674e-01 -7.00067461e-01 2.62877645e-02 1.62260324e+02] [ 6.99635942e-01 7.14076213e-01 2.45908650e-02 6.80360503e+01] [-3.59867317e-02 8.44003739e-04 9.99351911e-01 -6.48784835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.30, Y:68.08, Z:-6.49 [[ 7.13965979e-01 -6.99686958e-01 2.62819726e-02 1.62302139e+02] [ 6.99254953e-01 7.14449085e-01 2.45970536e-02 6.80768439e+01] [-3.59873689e-02 8.16340136e-04 9.99351911e-01 -6.48877014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.34, Y:68.12, Z:-6.49 [[ 7.14725092e-01 -6.98911810e-01 2.62740291e-02 1.62342381e+02] [ 6.98478971e-01 7.15207449e-01 2.46055358e-02 6.81189989e+01] [-3.59884809e-02 7.65662998e-04 9.99351911e-01 -6.48894390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:68.16, Z:-6.50 [[ 7.13047278e-01 -7.00623559e-01 2.62718065e-02 1.62380670e+02] [ 7.00191790e-01 7.13530594e-01 2.46079086e-02 6.81639849e+01] [-3.59866182e-02 8.48700991e-04 9.99351911e-01 -6.49523187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:68.21, Z:-6.50 [[ 7.12673616e-01 -7.01003881e-01 2.62654662e-02 1.62417976e+02] [ 7.00572121e-01 7.13156940e-01 2.46146741e-02 6.82081522e+01] [-3.59863816e-02 8.58624564e-04 9.99351912e-01 -6.49762323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001858064 meters Centerline goodness : 0.994373 with order 1 Centerline is valid? [True, True] Translation: X:162.45, Y:68.25, Z:-6.50 [[ 7.11981166e-01 -7.01707347e-01 2.62605900e-02 1.62453893e+02] [ 7.01275873e-01 7.12464744e-01 2.46198753e-02 6.82529310e+01] [-3.59856919e-02 8.87030654e-04 9.99351912e-01 -6.50060586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.49, Y:68.29, Z:-6.50 [[ 7.13480140e-01 -7.00183479e-01 2.62523316e-02 1.62493952e+02] [ 6.99750648e-01 7.13962505e-01 2.46286781e-02 6.82946981e+01] [-3.59877740e-02 7.98013375e-04 9.99351912e-01 -6.50158604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121858064 meters Centerline goodness : 0.994776 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:68.34, Z:-6.50 [[ 7.14719481e-01 -6.98918685e-01 2.62437452e-02 1.62531272e+02] [ 6.98484665e-01 7.15200776e-01 2.46378243e-02 6.83390697e+01] [-3.59893827e-02 7.21720557e-04 9.99351912e-01 -6.50338993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:68.38, Z:-6.50 [[ 7.18697153e-01 -6.94828123e-01 2.62351268e-02 1.62575763e+02] [ 6.94391028e-01 7.19175657e-01 2.46469979e-02 6.83784012e+01] [-3.59930919e-02 5.03709438e-04 9.99351912e-01 -6.49909364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:68.42, Z:-6.51 [[ 7.18460748e-01 -6.95072854e-01 2.62274885e-02 1.62612015e+02] [ 6.94635625e-01 7.18939130e-01 2.46551234e-02 6.84238570e+01] [-3.59930748e-02 5.04809467e-04 9.99351912e-01 -6.50685061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:68.47, Z:-6.51 [[ 7.20043030e-01 -6.93433677e-01 2.62253640e-02 1.62651966e+02] [ 6.92995277e-01 7.20520339e-01 2.46573830e-02 6.84656205e+01] [-3.59941679e-02 4.19676669e-04 9.99351912e-01 -6.50916919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:68.51, Z:-6.52 [[ 7.20705989e-01 -6.92744869e-01 2.62187539e-02 1.62689201e+02] [ 6.92305758e-01 7.21182643e-01 2.46644096e-02 6.85105938e+01] [-3.59946535e-02 3.75606584e-04 9.99351912e-01 -6.51684299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:68.55, Z:-6.51 [[ 7.24813995e-01 -6.88445800e-01 2.62117051e-02 1.62731998e+02] [ 6.88003590e-01 7.25287776e-01 2.46718984e-02 6.85485550e+01] [-3.59962941e-02 1.51209974e-04 9.99351912e-01 -6.51455659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:68.59, Z:-6.52 [[ 7.25883037e-01 -6.87318647e-01 2.62086687e-02 1.62773548e+02] [ 6.86875585e-01 7.26356021e-01 2.46751235e-02 6.85897534e+01] [-3.59964968e-02 9.08410169e-05 9.99351912e-01 -6.51745903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:68.63, Z:-6.52 [[ 7.27927777e-01 -6.85152955e-01 2.62026700e-02 1.62814960e+02] [ 6.84708256e-01 7.28399223e-01 2.46814919e-02 6.86311392e+01] [-3.59966016e-02 -2.51590844e-05 9.99351912e-01 -6.51864075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.86, Y:68.67, Z:-6.52 [[ 7.29490422e-01 -6.83489209e-01 2.61958991e-02 1.62856978e+02] [ 6.83043177e-01 7.29960607e-01 2.46886761e-02 6.86708642e+01] [-3.59964182e-02 -1.17222597e-04 9.99351912e-01 -6.52046485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.90, Y:68.71, Z:-6.52 [[ 7.32701942e-01 -6.80045580e-01 2.61891791e-02 1.62898654e+02] [ 6.79597084e-01 7.33169776e-01 2.46958026e-02 6.87093010e+01] [-3.59953860e-02 -2.96572762e-04 9.99351912e-01 -6.52301305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:68.75, Z:-6.53 [[ 7.34770919e-01 -6.77809690e-01 2.61862835e-02 1.62941717e+02] [ 6.77359661e-01 7.35237279e-01 2.46988725e-02 6.87476830e+01] [-3.59942669e-02 -4.10481118e-04 9.99351912e-01 -6.52523899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781858064 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:162.99, Y:68.78, Z:-6.53 [[ 7.35073626e-01 -6.77481649e-01 2.61797542e-02 1.62986010e+02] [ 6.77031165e-01 7.35539547e-01 2.47057914e-02 6.87847709e+01] [-3.59939648e-02 -4.36066163e-04 9.99351912e-01 -6.52874681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.03, Y:68.82, Z:-6.53 [[ 7.32580424e-01 -6.80177172e-01 2.61712880e-02 1.63031102e+02] [ 6.79728083e-01 7.33047689e-01 2.47147565e-02 6.88219766e+01] [-3.59952154e-02 -3.16187322e-04 9.99351912e-01 -6.53467649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:68.86, Z:-6.53 [[ 7.31899419e-01 -6.80910260e-01 2.61621740e-02 1.63077337e+02] [ 6.80461294e-01 7.32366802e-01 2.47244005e-02 6.88580548e+01] [-3.59954057e-02 -2.93427611e-04 9.99351912e-01 -6.53286593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.12, Y:68.89, Z:-6.53 [[ 7.29687621e-01 -6.83280101e-01 2.61587527e-02 1.63123803e+02] [ 6.82832523e-01 7.30156333e-01 2.47280198e-02 6.88941352e+01] [-3.59961428e-02 -1.81682806e-04 9.99351912e-01 -6.53433384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.17, Y:68.93, Z:-6.54 [[ 7.26719052e-01 -6.86436824e-01 2.61516023e-02 1.63168718e+02] [ 6.85991009e-01 7.27189443e-01 2.47355795e-02 6.89292446e+01] [-3.59965817e-02 -3.60528104e-05 9.99351912e-01 -6.53716484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.21, Y:68.97, Z:-6.54 [[ 7.24635393e-01 -6.88636189e-01 2.61485333e-02 1.63213348e+02] [ 6.88191686e-01 7.25107022e-01 2.47388234e-02 6.89658139e+01] [-3.59965342e-02 6.85762395e-05 9.99351912e-01 -6.53947837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.26, Y:69.00, Z:-6.54 [[ 7.23321645e-01 -6.90016241e-01 2.61416234e-02 1.63256426e+02] [ 6.89572374e-01 7.23793873e-01 2.47461229e-02 6.90034002e+01] [-3.59963736e-02 1.27134954e-04 9.99351912e-01 -6.54116965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:69.04, Z:-6.54 [[ 7.25544492e-01 -6.87678823e-01 2.61347613e-02 1.63306795e+02] [ 6.87233174e-01 7.26015038e-01 2.47533680e-02 6.90364771e+01] [-3.59965967e-02 1.00517490e-06 9.99351913e-01 -6.53670936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:69.08, Z:-6.55 [[ 7.23040380e-01 -6.90311475e-01 2.61280636e-02 1.63346806e+02] [ 6.89867283e-01 7.23512303e-01 2.47604357e-02 6.90771976e+01] [-3.59963883e-02 1.22101421e-04 9.99351913e-01 -6.54577519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.40, Y:69.11, Z:-6.54 [[ 7.27342618e-01 -6.85777099e-01 2.61244362e-02 1.63396982e+02] [ 6.85329828e-01 7.27811623e-01 2.47642623e-02 6.91109242e+01] [-3.59964323e-02 -1.08247966e-04 9.99351913e-01 -6.54092196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.44, Y:69.15, Z:-6.55 [[ 7.23256590e-01 -6.90085212e-01 2.61209902e-02 1.63438577e+02] [ 6.89640603e-01 7.23728119e-01 2.47678965e-02 6.91514044e+01] [-3.59964542e-02 1.00551088e-04 9.99351913e-01 -6.55098800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:69.18, Z:-6.54 [[ 7.24804529e-01 -6.88459484e-01 2.61138548e-02 1.63488438e+02] [ 6.88013547e-01 7.25274802e-01 2.47754175e-02 6.91838085e+01] [-3.59965920e-02 9.35106030e-06 9.99351913e-01 -6.54307338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:69.22, Z:-6.55 [[ 7.23854990e-01 -6.89457909e-01 2.61102623e-02 1.63530982e+02] [ 6.89012483e-01 7.24325748e-01 2.47792030e-02 6.92245860e+01] [-3.59965527e-02 5.37469392e-05 9.99351913e-01 -6.54673290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.58, Y:69.26, Z:-6.55 [[ 7.24949771e-01 -6.88306907e-01 2.61042336e-02 1.63576339e+02] [ 6.87860506e-01 7.25419603e-01 2.47855524e-02 6.92614009e+01] [-3.59965897e-02 -1.22091599e-05 9.99351913e-01 -6.54827587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:69.30, Z:-6.55 [[ 7.25730712e-01 -6.87483720e-01 2.60972888e-02 1.63620702e+02] [ 6.87036522e-01 7.26199787e-01 2.47928626e-02 6.92999131e+01] [-3.59965349e-02 -6.31513169e-05 9.99351913e-01 -6.55074190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:163.66, Y:69.34, Z:-6.55 [[ 7.25951658e-01 -6.87250651e-01 2.60908556e-02 1.63663706e+02] [ 6.86803060e-01 7.26420357e-01 2.47996307e-02 6.93393530e+01] [-3.59964910e-02 -8.40535457e-05 9.99351913e-01 -6.55410851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:69.38, Z:-6.56 [[ 7.26662088e-01 -6.86499726e-01 2.60832545e-02 1.63708241e+02] [ 6.86051364e-01 7.27130049e-01 2.48076226e-02 6.93768589e+01] [-3.59963443e-02 -1.32306514e-04 9.99351913e-01 -6.55891127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.801858064 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:163.75, Y:69.41, Z:-6.56 [[ 7.24939610e-01 -6.88318536e-01 2.60797726e-02 1.63752609e+02] [ 6.87871216e-01 7.25408568e-01 2.48112826e-02 6.94139472e+01] [-3.59965562e-02 -4.71566574e-05 9.99351913e-01 -6.56105659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.861858064 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:69.45, Z:-6.56 [[ 7.24352695e-01 -6.88936232e-01 2.60776088e-02 1.63798108e+02] [ 6.88489230e-01 7.24821956e-01 2.48135566e-02 6.94516420e+01] [-3.59965816e-02 -1.96137498e-05 9.99351913e-01 -6.56058014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921858064 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:163.85, Y:69.49, Z:-6.56 [[ 7.23040744e-01 -6.90313243e-01 2.60712394e-02 1.63845413e+02] [ 6.89866893e-01 7.23510625e-01 2.48202470e-02 6.94869322e+01] [-3.59965640e-02 3.96351224e-05 9.99351913e-01 -6.56116839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981858064 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:69.53, Z:-6.57 [[ 7.19881284e-01 -6.93607638e-01 2.60649678e-02 1.63887146e+02] [ 6.93163200e-01 7.20352974e-01 2.48268314e-02 6.95272508e+01] [-3.59960570e-02 1.94905250e-04 9.99351913e-01 -6.57006378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:69.56, Z:-6.56 [[ 7.20629368e-01 -6.92830613e-01 2.60586931e-02 1.63933748e+02] [ 6.92385428e-01 7.21100354e-01 2.48334157e-02 6.95645254e+01] [-3.59962834e-02 1.46970713e-04 9.99351913e-01 -6.56463412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101858064 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:163.98, Y:69.60, Z:-6.57 [[ 7.20070515e-01 -6.93411657e-01 2.60523966e-02 1.63980325e+02] [ 6.92966613e-01 7.20541634e-01 2.48400195e-02 6.96015166e+01] [-3.59961955e-02 1.66875440e-04 9.99351913e-01 -6.56790040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:69.64, Z:-6.58 [[ 7.16996186e-01 -6.96590328e-01 2.60458080e-02 1.64019786e+02] [ 6.96147123e-01 7.17469034e-01 2.48469261e-02 6.96436258e+01] [-3.59951891e-02 3.16563036e-04 9.99351913e-01 -6.57680863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221858064 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:69.68, Z:-6.58 [[ 7.17218996e-01 -6.96361049e-01 2.60423202e-02 1.64062748e+02] [ 6.95917559e-01 7.17691577e-01 2.48505811e-02 6.96827931e+01] [-3.59953306e-02 2.99999020e-04 9.99351913e-01 -6.58027220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281858064 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:164.11, Y:69.72, Z:-6.58 [[ 7.18004507e-01 -6.95551335e-01 2.60359142e-02 1.64106007e+02] [ 6.95107069e-01 7.18476358e-01 2.48572908e-02 6.97225481e+01] [-3.59957107e-02 2.50101200e-04 9.99351913e-01 -6.58218570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341858064 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:69.76, Z:-6.58 [[ 7.17763831e-01 -6.95799905e-01 2.60302820e-02 1.64149470e+02] [ 6.95355589e-01 7.18235635e-01 2.48631874e-02 6.97601162e+01] [-3.59956796e-02 2.54405432e-04 9.99351913e-01 -6.58393855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401858064 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:69.80, Z:-6.58 [[ 7.20755782e-01 -6.92700277e-01 2.60274814e-02 1.64196403e+02] [ 6.92253825e-01 7.21225566e-01 2.48661188e-02 6.97965597e+01] [-3.59964524e-02 9.52246486e-05 9.99351913e-01 -6.58100288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46185806399998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:164.23, Y:69.84, Z:-6.59 [[ 7.19801484e-01 -6.93692088e-01 2.60213522e-02 1.64233975e+02] [ 6.93246052e-01 7.20271663e-01 2.48725312e-02 6.98401880e+01] [-3.59963207e-02 1.35914831e-04 9.99351913e-01 -6.58870355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52185806399999 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:164.28, Y:69.88, Z:-6.59 [[ 7.20884506e-01 -6.92566635e-01 2.60189358e-02 1.64275561e+02] [ 6.92119773e-01 7.21353901e-01 2.48750586e-02 6.98807804e+01] [-3.59964965e-02 7.61756347e-05 9.99351913e-01 -6.58968424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.581858064 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:164.32, Y:69.92, Z:-6.59 [[ 7.20336923e-01 -6.93136425e-01 2.60118250e-02 1.64317467e+02] [ 6.92689666e-01 7.20806415e-01 2.48824921e-02 6.99214623e+01] [-3.59964520e-02 9.43446011e-05 9.99351913e-01 -6.59076161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.641858064 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:69.96, Z:-6.59 [[ 7.19467328e-01 -6.94039273e-01 2.60048326e-02 1.64358819e+02] [ 6.93592839e-01 7.19937130e-01 2.48897978e-02 6.99628719e+01] [-3.59963417e-02 1.29369386e-04 9.99351913e-01 -6.59339664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701858064 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:164.40, Y:70.00, Z:-6.60 [[ 7.17399318e-01 -6.96176940e-01 2.59978134e-02 1.64401341e+02] [ 6.95731641e-01 7.17870195e-01 2.48971274e-02 7.00039384e+01] [-3.59958613e-02 2.26319188e-04 9.99351913e-01 -6.59582913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:164.44, Y:70.04, Z:-6.60 [[ 7.15818435e-01 -6.97802551e-01 2.59916952e-02 1.64443129e+02] [ 6.97358089e-01 7.16290102e-01 2.49035129e-02 7.00435612e+01] [-3.59953288e-02 2.99125299e-04 9.99351913e-01 -6.59788308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:70.08, Z:-6.60 [[ 7.14607110e-01 -6.99043254e-01 2.59847435e-02 1.64484903e+02] [ 6.98599348e-01 7.15079300e-01 2.49107643e-02 7.00828842e+01] [-3.59948539e-02 3.51515572e-04 9.99351913e-01 -6.59976593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:70.12, Z:-6.60 [[ 7.14034214e-01 -6.99628505e-01 2.59826091e-02 1.64525862e+02] [ 6.99184905e-01 7.14506691e-01 2.49129903e-02 7.01245969e+01] [-3.59945863e-02 3.77920607e-04 9.99351913e-01 -6.60185665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:164.57, Y:70.17, Z:-6.61 [[ 7.13264007e-01 -7.00413928e-01 2.59766411e-02 1.64565077e+02] [ 6.99970622e-01 7.13736759e-01 2.49192116e-02 7.01685035e+01] [-3.59942465e-02 4.08908921e-04 9.99351913e-01 -6.60978784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:70.21, Z:-6.60 [[ 7.13872080e-01 -6.99794421e-01 2.59696259e-02 1.64608433e+02] [ 6.99350438e-01 7.14344198e-01 2.49265203e-02 7.02079442e+01] [-3.59946915e-02 3.67522332e-04 9.99351914e-01 -6.60453272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:70.25, Z:-6.60 [[ 7.11930458e-01 -7.01769881e-01 2.59626105e-02 1.64650977e+02] [ 7.01326941e-01 7.12403555e-01 2.49338252e-02 7.02488406e+01] [-3.59936636e-02 4.57128559e-04 9.99351914e-01 -6.60398206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.69, Y:70.29, Z:-6.61 [[ 7.11424763e-01 -7.02282757e-01 2.59564350e-02 1.64691642e+02] [ 7.01839924e-01 7.11897960e-01 2.49402523e-02 7.02918710e+01] [-3.59934423e-02 4.74149257e-04 9.99351914e-01 -6.60520967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:164.73, Y:70.33, Z:-6.61 [[ 7.13058845e-01 -7.00623772e-01 2.59502314e-02 1.64731325e+02] [ 7.00179603e-01 7.13530788e-01 2.49467055e-02 7.03347334e+01] [-3.59945440e-02 3.81353738e-04 9.99351914e-01 -6.60601633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:70.38, Z:-6.62 [[ 7.14411349e-01 -6.99244680e-01 2.59480578e-02 1.64767243e+02] [ 6.98799519e-01 7.14882355e-01 2.49489661e-02 7.03803974e+01] [-3.59952405e-02 3.08665823e-04 9.99351914e-01 -6.61642945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.81, Y:70.42, Z:-6.61 [[ 7.20080081e-01 -6.93405919e-01 2.59404706e-02 1.64809835e+02] [ 6.92956654e-01 7.20547175e-01 2.49568524e-02 7.04196877e+01] [-3.59965620e-02 4.68934965e-06 9.99351914e-01 -6.61402718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.361858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:70.46, Z:-6.61 [[ 7.20689641e-01 -6.92772441e-01 2.59381268e-02 1.64849613e+02] [ 6.92322678e-01 7.21156255e-01 2.49592881e-02 7.04624225e+01] [-3.59965493e-02 -3.03470476e-05 9.99351914e-01 -6.61332666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.89, Y:70.51, Z:-6.62 [[ 7.22234943e-01 -6.91161355e-01 2.59358617e-02 1.64886154e+02] [ 6.90710466e-01 7.22700469e-01 2.49616416e-02 7.05073037e+01] [-3.59963815e-02 -1.13998683e-04 9.99351914e-01 -6.62324454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:164.93, Y:70.55, Z:-6.62 [[ 7.24727322e-01 -6.88547755e-01 2.59286888e-02 1.64927088e+02] [ 6.88094921e-01 7.25190957e-01 2.49690902e-02 7.05482993e+01] [-3.59956616e-02 -2.54382767e-04 9.99351914e-01 -6.61715475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:164.97, Y:70.59, Z:-6.62 [[ 7.22339549e-01 -6.91052566e-01 2.59215627e-02 1.64968266e+02] [ 6.90601074e-01 7.22804490e-01 2.49764860e-02 7.05897567e+01] [-3.59962866e-02 -1.40044565e-04 9.99351914e-01 -6.61980248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:165.01, Y:70.63, Z:-6.62 [[ 7.19297847e-01 -6.94218296e-01 2.59145550e-02 1.65010412e+02] [ 6.93768589e-01 7.19764515e-01 2.49837547e-02 7.06301925e+01] [-3.59965567e-02 7.94324189e-06 9.99351914e-01 -6.62187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.05, Y:70.67, Z:-6.62 [[ 7.15153296e-01 -6.98487341e-01 2.59074850e-02 1.65052121e+02] [ 6.98040154e-01 7.15622379e-01 2.49910840e-02 7.06683944e+01] [-3.59959318e-02 2.12008737e-04 9.99351914e-01 -6.62454146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:70.71, Z:-6.63 [[ 7.15443065e-01 -6.98190648e-01 2.59044460e-02 1.65095294e+02] [ 6.97743152e-01 7.15911854e-01 2.49942336e-02 7.07064456e+01] [-3.59960401e-02 1.92698675e-04 9.99351914e-01 -6.62916775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.13, Y:70.75, Z:-6.63 [[ 7.12901900e-01 -7.00785428e-01 2.58971943e-02 1.65133691e+02] [ 7.00339366e-01 7.13372053e-01 2.50017451e-02 7.07504815e+01] [-3.59951933e-02 3.13033065e-04 9.99351914e-01 -6.63133966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:70.79, Z:-6.64 [[ 7.13250422e-01 -7.00430793e-01 2.58947816e-02 1.65179077e+02] [ 6.99984406e-01 7.13720267e-01 2.50042437e-02 7.07868530e+01] [-3.59953727e-02 2.91655945e-04 9.99351914e-01 -6.63506546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:70.83, Z:-6.64 [[ 7.10939652e-01 -7.02776386e-01 2.58874993e-02 1.65220956e+02] [ 7.02331274e-01 7.11410706e-01 2.50117810e-02 7.08276679e+01] [-3.59943332e-02 3.99733510e-04 9.99351914e-01 -6.63888832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96185806399998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:165.26, Y:70.87, Z:-6.64 [[ 7.07246563e-01 -7.06493110e-01 2.58802083e-02 1.65258896e+02] [ 7.06050198e-01 7.07719684e-01 2.50193228e-02 7.08708709e+01] [-3.59919120e-02 5.77896155e-04 9.99351914e-01 -6.63848504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:70.91, Z:-6.64 [[ 7.08708820e-01 -7.05026418e-01 2.58758212e-02 1.65303529e+02] [ 7.04582361e-01 7.09180868e-01 2.50238593e-02 7.09094041e+01] [-3.59931192e-02 4.97017388e-04 9.99351914e-01 -6.64223697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.081858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:70.95, Z:-6.64 [[ 7.07931327e-01 -7.05807334e-01 2.58697331e-02 1.65344661e+02] [ 7.05363568e-01 7.08403648e-01 2.50301516e-02 7.09497157e+01] [-3.59926779e-02 5.27938744e-04 9.99351914e-01 -6.64404739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.141858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:165.38, Y:70.99, Z:-6.65 [[ 7.09503363e-01 -7.04227307e-01 2.58626570e-02 1.65384014e+02] [ 7.03782223e-01 7.09974442e-01 2.50374610e-02 7.09907821e+01] [-3.59938892e-02 4.37515432e-04 9.99351914e-01 -6.64649490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.42, Y:71.03, Z:-6.65 [[ 7.09781364e-01 -7.03947376e-01 2.58554998e-02 1.65422134e+02] [ 7.03501837e-01 7.10252012e-01 2.50448498e-02 7.10348077e+01] [-3.59941771e-02 4.13023924e-04 9.99351914e-01 -6.64530213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.46, Y:71.07, Z:-6.65 [[ 7.12465490e-01 -7.01230913e-01 2.58482678e-02 1.65464887e+02] [ 7.00783308e-01 7.12934174e-01 2.50523116e-02 7.10743006e+01] [-3.59955688e-02 2.65127200e-04 9.99351914e-01 -6.65099130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:71.12, Z:-6.65 [[ 7.12756448e-01 -7.00935426e-01 2.58413290e-02 1.65504068e+02] [ 7.00487368e-01 7.13224699e-01 2.50594669e-02 7.11175065e+01] [-3.59957422e-02 2.40227876e-04 9.99351914e-01 -6.65068901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:71.16, Z:-6.65 [[ 7.13276040e-01 -7.00406955e-01 2.58338433e-02 1.65546494e+02] [ 6.99958271e-01 7.13743690e-01 2.50671815e-02 7.11588222e+01] [-3.59959709e-02 2.02792366e-04 9.99351914e-01 -6.65441391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:71.20, Z:-6.66 [[ 7.14694331e-01 -6.98959804e-01 2.58303273e-02 1.65589457e+02] [ 6.98510041e-01 7.15160945e-01 2.50708040e-02 7.11975192e+01] [-3.59963255e-02 1.24781468e-04 9.99351914e-01 -6.65628281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.63, Y:71.24, Z:-6.66 [[ 7.12407587e-01 -7.01290684e-01 2.58225907e-02 1.65627171e+02] [ 7.00842159e-01 7.12875391e-01 2.50787701e-02 7.12399088e+01] [-3.59957973e-02 2.31254161e-04 9.99351915e-01 -6.66070661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561858064 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:165.67, Y:71.28, Z:-6.66 [[ 7.09894104e-01 -7.03835175e-01 2.58148836e-02 1.65669258e+02] [ 7.03388039e-01 7.10363234e-01 2.50867009e-02 7.12791735e+01] [-3.59948467e-02 3.48979340e-04 9.99351915e-01 -6.66305287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:71.32, Z:-6.67 [[ 7.07861737e-01 -7.05879321e-01 2.58097777e-02 1.65712271e+02] [ 7.05433348e-01 7.08331974e-01 2.50919529e-02 7.13199105e+01] [-3.59937815e-02 4.45444577e-04 9.99351915e-01 -6.66703352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:71.36, Z:-6.66 [[ 7.06960880e-01 -7.06781821e-01 2.58025531e-02 1.65757334e+02] [ 7.06336177e-01 7.07431428e-01 2.50993799e-02 7.13581000e+01] [-3.59933224e-02 4.80997021e-04 9.99351915e-01 -6.66352003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:165.80, Y:71.40, Z:-6.67 [[ 7.03910137e-01 -7.09820446e-01 2.57963935e-02 1.65797464e+02] [ 7.09376601e-01 7.04382383e-01 2.51057090e-02 7.14000572e+01] [-3.59910706e-02 6.27194893e-04 9.99351915e-01 -6.66674430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.801858064 meters Centerline goodness : 0.996637 with order 1 Centerline is valid? [True, True] Translation: X:165.84, Y:71.44, Z:-6.67 [[ 7.03532897e-01 -7.10194570e-01 2.57902268e-02 1.65839025e+02] [ 7.09750744e-01 7.04005161e-01 2.51120422e-02 7.14411490e+01] [-3.59908888e-02 6.37484913e-04 9.99351915e-01 -6.66974449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.88, Y:71.48, Z:-6.67 [[ 7.06691983e-01 -7.07051420e-01 2.57823623e-02 1.65882350e+02] [ 7.06605199e-01 7.07161984e-01 2.51201140e-02 7.14800189e+01] [-3.59935188e-02 4.65768033e-04 9.99351915e-01 -6.67287044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:71.52, Z:-6.67 [[ 7.09663806e-01 -7.04068875e-01 2.57740567e-02 1.65926638e+02] [ 7.03620369e-01 7.10131627e-01 2.51286330e-02 7.15190053e+01] [-3.59952612e-02 3.02270012e-04 9.99351915e-01 -6.67302305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:165.96, Y:71.56, Z:-6.68 [[ 7.10730638e-01 -7.02992153e-01 2.57680468e-02 1.65964327e+02] [ 7.02542716e-01 7.11197564e-01 2.51347943e-02 7.15641152e+01] [-3.59957353e-02 2.39085136e-04 9.99351915e-01 -6.68211750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:166.01, Y:71.60, Z:-6.68 [[ 7.15352938e-01 -6.98288260e-01 2.57619866e-02 1.66008043e+02] [ 6.97835528e-01 7.15816670e-01 2.51410042e-02 7.16034337e+01] [-3.59965275e-02 -7.06167041e-06 9.99351915e-01 -6.68067549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:71.64, Z:-6.68 [[ 7.18111973e-01 -6.95450824e-01 2.57555105e-02 1.66048827e+02] [ 6.94996022e-01 7.18573675e-01 2.51476368e-02 7.16436416e+01] [-3.59961766e-02 -1.58841729e-04 9.99351915e-01 -6.67893906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.09, Y:71.69, Z:-6.69 [[ 7.19159264e-01 -6.94368050e-01 2.57480956e-02 1.66089115e+02] [ 6.93912281e-01 7.19620012e-01 2.51552264e-02 7.16852100e+01] [-3.59958304e-02 -2.23694367e-04 9.99351915e-01 -6.68789987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:71.72, Z:-6.68 [[ 7.21779842e-01 -6.91643704e-01 2.57457914e-02 1.66133522e+02] [ 6.91186112e-01 7.22238779e-01 2.51575845e-02 7.17231970e+01] [-3.59946939e-02 -3.63103924e-04 9.99351915e-01 -6.68339768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:71.76, Z:-6.69 [[ 7.22417068e-01 -6.90978360e-01 2.57387938e-02 1.66176458e+02] [ 6.90520090e-01 7.22875329e-01 2.51647417e-02 7.17628673e+01] [-3.59942310e-02 -4.06284724e-04 9.99351915e-01 -6.68523431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.22, Y:71.80, Z:-6.69 [[ 7.22099295e-01 -6.91310718e-01 2.57312914e-02 1.66219650e+02] [ 6.90852386e-01 7.22557493e-01 2.51724108e-02 7.18023529e+01] [-3.59942948e-02 -4.00456003e-04 9.99351915e-01 -6.68719831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:71.84, Z:-6.69 [[ 7.22039557e-01 -6.91373375e-01 2.57242063e-02 1.66263331e+02] [ 6.90914825e-01 7.22497537e-01 2.51796491e-02 7.18413077e+01] [-3.59942146e-02 -4.07467154e-04 9.99351915e-01 -6.68989253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.31, Y:71.88, Z:-6.70 [[ 7.22275410e-01 -6.91127241e-01 2.57171001e-02 1.66308524e+02] [ 6.90668276e-01 7.22732974e-01 2.51869049e-02 7.18772829e+01] [-3.59939523e-02 -4.29896820e-04 9.99351915e-01 -6.69775427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.35, Y:71.92, Z:-6.70 [[ 7.21979141e-01 -6.91436995e-01 2.57099527e-02 1.66350726e+02] [ 6.90977967e-01 7.22436641e-01 2.51941986e-02 7.19177414e+01] [-3.59940129e-02 -4.24674969e-04 9.99351915e-01 -6.69891304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.40, Y:71.96, Z:-6.70 [[ 7.20338909e-01 -6.93145871e-01 2.57032585e-02 1.66395515e+02] [ 6.92687685e-01 7.20797253e-01 2.52010262e-02 7.19551392e+01] [-3.59948254e-02 -3.48949093e-04 9.99351915e-01 -6.70214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.44, Y:71.99, Z:-6.70 [[ 7.17668764e-01 -6.95910376e-01 2.56961844e-02 1.66439637e+02] [ 6.95453697e-01 7.18128609e-01 2.52082372e-02 7.19912738e+01] [-3.59958390e-02 -2.20658019e-04 9.99351915e-01 -6.70340936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:72.03, Z:-6.70 [[ 7.16035470e-01 -6.97590938e-01 2.56921918e-02 1.66484649e+02] [ 6.97135192e-01 7.16496241e-01 2.52123058e-02 7.20290694e+01] [-3.59962349e-02 -1.41974119e-04 9.99351915e-01 -6.70401827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.53, Y:72.07, Z:-6.70 [[ 7.11968401e-01 -7.01741597e-01 2.56851616e-02 1.66530036e+02] [ 7.01288279e-01 7.12431560e-01 2.52194658e-02 7.20664921e+01] [-3.59964680e-02 5.72400697e-05 9.99351916e-01 -6.70442162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.58, Y:72.10, Z:-6.70 [[ 7.12306168e-01 -7.01398963e-01 2.56791076e-02 1.66576533e+02] [ 7.00945201e-01 7.12768892e-01 2.52256287e-02 7.21033375e+01] [-3.59964989e-02 3.12763136e-05 9.99351916e-01 -6.70276749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.62, Y:72.14, Z:-6.70 [[ 7.11938484e-01 -7.01772392e-01 2.56730494e-02 1.66618827e+02] [ 7.01318650e-01 7.12401227e-01 2.52317928e-02 7.21427060e+01] [-3.59964875e-02 4.15040640e-05 9.99351916e-01 -6.70274526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:72.19, Z:-6.71 [[ 7.07877687e-01 -7.05868423e-01 2.56700179e-02 1.66657666e+02] [ 7.05417247e-01 7.08342932e-01 2.52348766e-02 7.21874954e+01] [-3.59956783e-02 2.44867336e-04 9.99351916e-01 -6.70559476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:72.23, Z:-6.71 [[ 7.05209535e-01 -7.08534309e-01 2.56640789e-02 1.66698780e+02] [ 7.08084671e-01 7.05676268e-01 2.52409152e-02 7.22275063e+01] [-3.59945858e-02 3.72206827e-04 9.99351916e-01 -6.70795292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061858064 meters Centerline goodness : 0.997119 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:72.27, Z:-6.71 [[ 7.02198340e-01 -7.11518930e-01 2.56574393e-02 1.66740455e+02] [ 7.11071029e-01 7.02666740e-01 2.52476625e-02 7.22685800e+01] [-3.59928190e-02 5.15395103e-04 9.99351916e-01 -6.71113763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:72.31, Z:-6.71 [[ 7.01532500e-01 -7.12175714e-01 2.56496251e-02 1.66782436e+02] [ 7.11727962e-01 7.02001042e-01 2.52555987e-02 7.23080783e+01] [-3.59924876e-02 5.37932102e-04 9.99351916e-01 -6.71152737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:72.35, Z:-6.71 [[ 7.02822344e-01 -7.10903122e-01 2.56418179e-02 1.66823812e+02] [ 7.10454233e-01 7.03289796e-01 2.52635228e-02 7.23494761e+01] [-3.59935461e-02 4.61569769e-04 9.99351916e-01 -6.70945220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24185806399998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:166.86, Y:72.39, Z:-6.72 [[ 7.01565294e-01 -7.12143921e-01 2.56353829e-02 1.66859783e+02] [ 7.11695620e-01 7.02033310e-01 2.52700508e-02 7.23946858e+01] [-3.59928058e-02 5.15999120e-04 9.99351916e-01 -6.72244048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.301858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:72.44, Z:-6.72 [[ 7.02666535e-01 -7.11057574e-01 2.56293990e-02 1.66900292e+02] [ 7.10608328e-01 7.03133644e-01 2.52761183e-02 7.24382649e+01] [-3.59936681e-02 4.51781889e-04 9.99351916e-01 -6.72015799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.361858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:166.94, Y:72.48, Z:-6.72 [[ 7.02423545e-01 -7.11297860e-01 2.56226000e-02 1.66940205e+02] [ 7.10848522e-01 7.02890566e-01 2.52830086e-02 7.24813413e+01] [-3.59936338e-02 4.54406802e-04 9.99351916e-01 -6.71963444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.98, Y:72.53, Z:-6.72 [[ 7.01292735e-01 -7.12413028e-01 2.56159647e-02 1.66978349e+02] [ 7.11964187e-01 7.01760234e-01 2.52897296e-02 7.25250108e+01] [-3.59929982e-02 5.02145806e-04 9.99351916e-01 -6.71995411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:72.56, Z:-6.72 [[ 7.03470924e-01 -7.10262544e-01 2.56081427e-02 1.67022391e+02] [ 7.09811986e-01 7.03936768e-01 2.52976476e-02 7.25649558e+01] [-3.59944847e-02 3.80807116e-04 9.99351916e-01 -6.71923170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:72.61, Z:-6.73 [[ 7.02509157e-01 -7.11214083e-01 2.56010210e-02 1.67058827e+02] [ 7.10763894e-01 7.02975356e-01 2.53048526e-02 7.26117917e+01] [-3.59940544e-02 4.19390769e-04 9.99351916e-01 -6.72548083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:167.10, Y:72.66, Z:-6.73 [[ 7.03452820e-01 -7.10280957e-01 2.55947856e-02 1.67097836e+02] [ 7.09829919e-01 7.03918199e-01 2.53111579e-02 7.26555661e+01] [-3.59946688e-02 3.62739193e-04 9.99351916e-01 -6.72865529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:72.70, Z:-6.73 [[ 7.06266525e-01 -7.07483502e-01 2.55869191e-02 1.67141421e+02] [ 7.07030333e-01 7.06729829e-01 2.53191076e-02 7.26955126e+01] [-3.59958899e-02 2.08689762e-04 9.99351916e-01 -6.72689308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.18, Y:72.74, Z:-6.73 [[ 7.05967892e-01 -7.07781742e-01 2.55801002e-02 1.67179369e+02] [ 7.07328519e-01 7.06431143e-01 2.53259949e-02 7.27399672e+01] [-3.59958562e-02 2.14195114e-04 9.99351916e-01 -6.73154087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.22, Y:72.78, Z:-6.73 [[ 7.07783927e-01 -7.05965814e-01 2.55769808e-02 1.67218362e+02] [ 7.05511289e-01 7.08245901e-01 2.53291448e-02 7.27837967e+01] [-3.59963022e-02 1.17287133e-04 9.99351916e-01 -6.73284897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.26, Y:72.83, Z:-6.73 [[ 7.09300889e-01 -7.04441929e-01 2.55698665e-02 1.67258347e+02] [ 7.03986152e-01 7.09761627e-01 2.53363247e-02 7.28267284e+01] [-3.59964795e-02 2.97542777e-05 9.99351916e-01 -6.73293336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.30, Y:72.87, Z:-6.74 [[ 7.09336542e-01 -7.04406257e-01 2.55635473e-02 1.67296611e+02] [ 7.03950228e-01 7.09797030e-01 2.53426990e-02 7.28718732e+01] [-3.59964857e-02 1.89624524e-05 9.99351916e-01 -6.73567343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:72.92, Z:-6.74 [[ 7.07827566e-01 -7.05922773e-01 2.55572791e-02 1.67334835e+02] [ 7.05467502e-01 7.08288804e-01 2.53490187e-02 7.29170796e+01] [-3.59963842e-02 8.70955918e-05 9.99351916e-01 -6.73814640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02185806399999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:167.38, Y:72.96, Z:-6.74 [[ 7.10177580e-01 -7.03558777e-01 2.55509576e-02 1.67376570e+02] [ 7.03101742e-01 7.10637070e-01 2.53553889e-02 7.29591710e+01] [-3.59964641e-02 -4.19059068e-05 9.99351916e-01 -6.73679223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.41, Y:73.01, Z:-6.75 [[ 7.06180057e-01 -7.07571386e-01 2.55433152e-02 1.67409809e+02] [ 7.07116682e-01 7.06641855e-01 2.53630856e-02 7.30071270e+01] [-3.59961693e-02 1.51199060e-04 9.99351916e-01 -6.75180056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.45, Y:73.05, Z:-6.75 [[ 7.09749850e-01 -7.03990632e-01 2.55409401e-02 1.67451659e+02] [ 7.03533513e-01 7.10209257e-01 2.53654772e-02 7.30496438e+01] [-3.59964704e-02 -3.42363285e-05 9.99351916e-01 -6.74554337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:73.09, Z:-6.75 [[ 7.10482021e-01 -7.03251843e-01 2.55371146e-02 1.67491979e+02] [ 7.02794107e-01 7.10940813e-01 2.53693280e-02 7.30918595e+01] [-3.59964037e-02 -7.71177374e-05 9.99351916e-01 -6.74756310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.53, Y:73.14, Z:-6.76 [[ 7.07711626e-01 -7.06040018e-01 2.55293204e-02 1.67526873e+02] [ 7.05583808e-01 7.08171935e-01 2.53771689e-02 7.31384466e+01] [-3.59964450e-02 5.33575843e-05 9.99351917e-01 -6.75548614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321858064 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:167.57, Y:73.18, Z:-6.75 [[ 7.09727988e-01 -7.04013402e-01 2.55208510e-02 1.67568899e+02] [ 7.03555570e-01 7.10186684e-01 2.53856834e-02 7.31786412e+01] [-3.59964299e-02 -6.15931464e-05 9.99351917e-01 -6.75050545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.60, Y:73.23, Z:-6.76 [[ 7.02379987e-01 -7.11344809e-01 2.55130684e-02 1.67604090e+02] [ 7.10891482e-01 7.02843134e-01 2.53935026e-02 7.32261440e+01] [-3.59952213e-02 3.01134987e-04 9.99351917e-01 -6.76223415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.65, Y:73.26, Z:-6.75 [[ 7.05585236e-01 -7.08165918e-01 2.55050476e-02 1.67647586e+02] [ 7.07710212e-01 7.06046044e-01 2.54015562e-02 7.32644618e+01] [-3.59962543e-02 1.27219616e-04 9.99351917e-01 -6.75188263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:73.31, Z:-6.76 [[ 7.02373211e-01 -7.11351882e-01 2.55024110e-02 1.67680973e+02] [ 7.10898170e-01 7.02835982e-01 2.54042029e-02 7.33127511e+01] [-3.59953397e-02 2.86385733e-04 9.99351917e-01 -6.76391341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:73.36, Z:-6.77 [[ 7.02393758e-01 -7.11331685e-01 2.54998473e-02 1.67720072e+02] [ 7.10877867e-01 7.02856425e-01 2.54067760e-02 7.33558462e+01] [-3.59953763e-02 2.81716165e-04 9.99351917e-01 -6.76772235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.76, Y:73.40, Z:-6.77 [[ 7.03530880e-01 -7.10207174e-01 2.54964862e-02 1.67760076e+02] [ 7.09752493e-01 7.03992701e-01 2.54101486e-02 7.33991318e+01] [-3.59958100e-02 2.19370476e-04 9.99351917e-01 -6.76608010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.80, Y:73.44, Z:-6.77 [[ 7.03367491e-01 -7.10369228e-01 2.54898664e-02 1.67800025e+02] [ 7.09914413e-01 7.03829179e-01 2.54167874e-02 7.34420879e+01] [-3.59958154e-02 2.18281625e-04 9.99351917e-01 -6.76536786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.84, Y:73.48, Z:-6.77 [[ 7.02948248e-01 -7.10784335e-01 2.54831334e-02 1.67838541e+02] [ 7.10329548e-01 7.03409963e-01 2.54235362e-02 7.34841081e+01] [-3.59957412e-02 2.29992378e-04 9.99351917e-01 -6.76900611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.88, Y:73.53, Z:-6.77 [[ 7.01860244e-01 -7.11858817e-01 2.54798484e-02 1.67879199e+02] [ 7.11404618e-01 7.02322537e-01 2.54268280e-02 7.35271896e+01] [-3.59953835e-02 2.80402111e-04 9.99351917e-01 -6.77024034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.861858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.93, Y:73.56, Z:-6.76 [[ 7.05742040e-01 -7.08010780e-01 2.54736855e-02 1.67926760e+02] [ 7.07553837e-01 7.06201621e-01 2.54330008e-02 7.35625941e+01] [-3.59963967e-02 7.48660254e-05 9.99351917e-01 -6.76161497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:73.61, Z:-6.77 [[ 7.02229369e-01 -7.11495186e-01 2.54659483e-02 1.67962492e+02] [ 7.11040243e-01 7.02690929e-01 2.54407456e-02 7.36103820e+01] [-3.59956589e-02 2.42075356e-04 9.99351917e-01 -6.77108047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981858064 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:73.65, Z:-6.77 [[ 7.03245942e-01 -7.10490678e-01 2.54586245e-02 1.68005170e+02] [ 7.10034810e-01 7.03706590e-01 2.54480725e-02 7.36502926e+01] [-3.59960201e-02 1.80255817e-04 9.99351917e-01 -6.76981664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.05, Y:73.69, Z:-6.77 [[ 7.03319333e-01 -7.10418282e-01 2.54515204e-02 1.68046892e+02] [ 7.09962110e-01 7.03779679e-01 2.54551756e-02 7.36906194e+01] [-3.59960850e-02 1.66498041e-04 9.99351917e-01 -6.77377049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:73.73, Z:-6.78 [[ 7.03539147e-01 -7.10200896e-01 2.54431713e-02 1.68088751e+02] [ 7.09744280e-01 7.03999053e-01 2.54635180e-02 7.37303849e+01] [-3.59961818e-02 1.43563505e-04 9.99351917e-01 -6.77667614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:168.13, Y:73.77, Z:-6.78 [[ 7.02375822e-01 -7.11351696e-01 2.54355953e-02 1.68130634e+02] [ 7.10895559e-01 7.02836203e-01 2.54710835e-02 7.37703330e+01] [-3.59959556e-02 1.91778492e-04 9.99351917e-01 -6.77964971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.18, Y:73.81, Z:-6.78 [[ 6.99511816e-01 -7.14168519e-01 2.54272752e-02 1.68175186e+02] [ 7.13713934e-01 6.99973729e-01 2.54793866e-02 7.38082338e+01] [-3.59950004e-02 3.24668631e-04 9.99351917e-01 -6.78188555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:73.85, Z:-6.78 [[ 6.98481260e-01 -7.15176763e-01 2.54190422e-02 1.68221485e+02] [ 7.14722546e-01 6.98943535e-01 2.54875974e-02 7.38456480e+01] [-3.59946126e-02 3.64953449e-04 9.99351917e-01 -6.78423262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:73.88, Z:-6.78 [[ 6.94798121e-01 -7.18755727e-01 2.54121152e-02 1.68265363e+02] [ 7.18303638e-01 6.95262478e-01 2.54945020e-02 7.38837389e+01] [-3.59924095e-02 5.40082765e-04 9.99351917e-01 -6.78405193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401858064 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:73.92, Z:-6.78 [[ 6.98181563e-01 -7.15469716e-01 2.54084818e-02 1.68315507e+02] [ 7.15015310e-01 6.98643652e-01 2.54981227e-02 7.39166485e+01] [-3.59946091e-02 3.65134289e-04 9.99351917e-01 -6.78180947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46185806399998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:168.36, Y:73.96, Z:-6.78 [[ 7.00081161e-01 -7.13611314e-01 2.54019867e-02 1.68360539e+02] [ 7.13155446e-01 7.00541808e-01 2.55045916e-02 7.39551985e+01] [-3.59955188e-02 2.60281072e-04 9.99351917e-01 -6.78249032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52185806399999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:168.40, Y:74.00, Z:-6.79 [[ 6.98941449e-01 -7.14727862e-01 2.53955644e-02 1.68399984e+02] [ 7.14272498e-01 6.99402594e-01 2.55109849e-02 7.39972497e+01] [-3.59951353e-02 3.08668525e-04 9.99351917e-01 -6.78789201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.581858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:168.45, Y:74.03, Z:-6.79 [[ 7.00624531e-01 -7.13078149e-01 2.53932995e-02 1.68445642e+02] [ 7.12621618e-01 7.01084521e-01 2.55132391e-02 7.40341761e+01] [-3.59957825e-02 2.20612972e-04 9.99351917e-01 -6.79048639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.641858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:168.49, Y:74.07, Z:-6.79 [[ 7.00471619e-01 -7.13228611e-01 2.53861829e-02 1.68489578e+02] [ 7.12771922e-01 7.00931452e-01 2.55203183e-02 7.40720520e+01] [-3.59957952e-02 2.18299699e-04 9.99351918e-01 -6.79256340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701858064 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:74.11, Z:-6.79 [[ 7.00023550e-01 -7.13668641e-01 2.53791232e-02 1.68535969e+02] [ 7.13211987e-01 7.00483417e-01 2.55273370e-02 7.41078336e+01] [-3.59957149e-02 2.30957815e-04 9.99351918e-01 -6.79305997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:74.14, Z:-6.79 [[ 7.03767172e-01 -7.09977490e-01 2.53718719e-02 1.68586759e+02] [ 7.09518164e-01 7.04224370e-01 2.55345421e-02 7.41405795e+01] [-3.59964406e-02 3.14314829e-05 9.99351918e-01 -6.79071601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:74.18, Z:-6.79 [[ 7.04993478e-01 -7.08760033e-01 2.53655591e-02 1.68632095e+02] [ 7.08299692e-01 7.05449653e-01 2.55408116e-02 7.41783857e+01] [-3.59964314e-02 -3.96879363e-05 9.99351918e-01 -6.79203234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:168.67, Y:74.22, Z:-6.80 [[ 7.02941472e-01 -7.10795478e-01 2.53589460e-02 1.68672007e+02] [ 7.10336220e-01 7.03398739e-01 2.55473759e-02 7.42196485e+01] [-3.59964099e-02 5.50678476e-05 9.99351918e-01 -6.80079669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:168.72, Y:74.26, Z:-6.80 [[ 7.02733489e-01 -7.11001188e-01 2.53565554e-02 1.68715907e+02] [ 7.10541979e-01 7.03190804e-01 2.55497485e-02 7.42575762e+01] [-3.59963981e-02 6.22331168e-05 9.99351918e-01 -6.80343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:74.29, Z:-6.80 [[ 7.05716720e-01 -7.08040391e-01 2.53518456e-02 1.68767758e+02] [ 7.07579095e-01 7.06171931e-01 2.55544209e-02 7.42899150e+01] [-3.59963239e-02 -9.57461498e-05 9.99351918e-01 -6.79730555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:74.33, Z:-6.80 [[ 7.06162613e-01 -7.07595945e-01 2.53444725e-02 1.68812654e+02] [ 7.07134100e-01 7.06617267e-01 2.55617314e-02 7.43273554e+01] [-3.59962194e-02 -1.28798305e-04 9.99351918e-01 -6.80129898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:74.37, Z:-6.80 [[ 7.07023612e-01 -7.06735903e-01 2.53372227e-02 1.68857110e+02] [ 7.06273248e-01 7.07477441e-01 2.55689155e-02 7.43665379e+01] [-3.59959841e-02 -1.82824384e-04 9.99351918e-01 -6.80053980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:74.41, Z:-6.80 [[ 7.09937576e-01 -7.03808929e-01 2.53303934e-02 1.68901156e+02] [ 7.03344162e-01 7.10389242e-01 2.55756793e-02 7.44057532e+01] [-3.59948304e-02 -3.41151405e-04 9.99351918e-01 -6.79753547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:74.45, Z:-6.81 [[ 7.09302381e-01 -7.04449342e-01 2.53230565e-02 1.68937351e+02] [ 7.03984723e-01 7.09754199e-01 2.55829416e-02 7.44516297e+01] [-3.59950321e-02 -3.18996468e-04 9.99351918e-01 -6.80831980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.301858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:74.49, Z:-6.80 [[ 7.14489742e-01 -6.99187635e-01 2.53191574e-02 1.68985534e+02] [ 6.98719553e-01 7.14937971e-01 2.55868000e-02 7.44869373e+01] [-3.59916012e-02 -5.90515747e-04 9.99351918e-01 -6.80091166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.361858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:169.03, Y:74.53, Z:-6.80 [[ 7.13925478e-01 -6.99764013e-01 2.53128059e-02 1.69027769e+02] [ 6.99296070e-01 7.14373852e-01 2.55930819e-02 7.45285326e+01] [-3.59919244e-02 -5.70407605e-04 9.99351918e-01 -6.80330416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.07, Y:74.57, Z:-6.81 [[ 7.10936392e-01 -7.02800846e-01 2.53064622e-02 1.69067708e+02] [ 7.02334595e-01 7.11386526e-01 2.55993530e-02 7.45711066e+01] [-3.59939232e-02 -4.25907752e-04 9.99351918e-01 -6.80693760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.11, Y:74.61, Z:-6.81 [[ 7.08640742e-01 -7.05115615e-01 2.53035109e-02 1.69108673e+02] [ 7.04650731e-01 7.09092287e-01 2.56022699e-02 7.46113947e+01] [-3.59950847e-02 -3.12674065e-04 9.99351918e-01 -6.80750704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.15, Y:74.65, Z:-6.81 [[ 7.03621602e-01 -7.10124281e-01 2.53011223e-02 1.69148702e+02] [ 7.09662527e-01 7.04076346e-01 2.56046302e-02 7.46545779e+01] [-3.59963914e-02 -6.07124812e-05 9.99351918e-01 -6.81262916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.19, Y:74.70, Z:-6.82 [[ 6.95985409e-01 -7.17610251e-01 2.52950060e-02 1.69185181e+02] [ 7.17153168e-01 6.96444849e-01 2.56106712e-02 7.47014397e+01] [-3.59950568e-02 3.15740200e-04 9.99351918e-01 -6.81872171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:74.74, Z:-6.81 [[ 6.96050197e-01 -7.17547644e-01 2.52883607e-02 1.69232394e+02] [ 7.17090281e-01 6.96509358e-01 2.56172311e-02 7.47383663e+01] [-3.59951637e-02 3.03158953e-04 9.99351918e-01 -6.81333889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:169.26, Y:74.79, Z:-6.82 [[ 6.86058405e-01 -7.27106976e-01 2.52845740e-02 1.69264004e+02] [ 7.26655871e-01 6.86523715e-01 2.56209681e-02 7.47874479e+01] [-3.59876443e-02 7.95703580e-04 9.99351918e-01 -6.82271687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:169.31, Y:74.83, Z:-6.82 [[ 6.87552079e-01 -7.25694883e-01 2.52799380e-02 1.69308597e+02] [ 7.25242653e-01 6.88016298e-01 2.56255415e-02 7.48266748e+01] [-3.59893337e-02 7.15194970e-04 9.99351918e-01 -6.82018046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:74.87, Z:-6.82 [[ 6.86374384e-01 -7.26809088e-01 2.52735956e-02 1.69346430e+02] [ 7.26357382e-01 6.86839111e-01 2.56317953e-02 7.48725771e+01] [-3.59883157e-02 7.64654987e-04 9.99351918e-01 -6.82038245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:74.92, Z:-6.82 [[ 6.88502798e-01 -7.24793413e-01 2.52666722e-02 1.69382894e+02] [ 7.24340096e-01 6.88965954e-01 2.56386183e-02 7.49179926e+01] [-3.59905786e-02 6.49403314e-04 9.99351918e-01 -6.82415469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96185806399998 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:74.96, Z:-6.82 [[ 6.91072719e-01 -7.22343732e-01 2.52592568e-02 1.69422615e+02] [ 7.21888506e-01 6.91533999e-01 2.56459219e-02 7.49611691e+01] [-3.59928058e-02 5.11170157e-04 9.99351918e-01 -6.82450666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02185806399999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:169.46, Y:75.00, Z:-6.82 [[ 6.94927389e-01 -7.18636366e-01 2.52526692e-02 1.69462294e+02] [ 7.18178443e-01 6.95385992e-01 2.56524068e-02 7.50045821e+01] [-3.59951049e-02 3.09362543e-04 9.99351918e-01 -6.82352526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.081858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:169.50, Y:75.05, Z:-6.84 [[ 6.93347726e-01 -7.20160777e-01 2.52465173e-02 1.69495228e+02] [ 7.19703642e-01 6.93807114e-01 2.56584599e-02 7.50521757e+01] [-3.59944298e-02 3.79775625e-04 9.99351918e-01 -6.83868411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.141858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:169.53, Y:75.10, Z:-6.84 [[ 6.96854268e-01 -7.16768514e-01 2.52393700e-02 1.69533086e+02] [ 7.16308888e-01 6.97311164e-01 2.56654886e-02 7.50970590e+01] [-3.59959086e-02 1.94079743e-04 9.99351918e-01 -6.84251089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:169.58, Y:75.14, Z:-6.83 [[ 7.01483974e-01 -7.12238388e-01 2.52331755e-02 1.69576264e+02] [ 7.11775592e-01 7.01937659e-01 2.56715773e-02 7.51372868e+01] [-3.59963990e-02 -4.78415878e-05 9.99351918e-01 -6.83332636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:75.18, Z:-6.84 [[ 7.04889550e-01 -7.08868382e-01 2.52257607e-02 1.69616349e+02] [ 7.08403157e-01 7.05340743e-01 2.56788613e-02 7.51799784e+01] [-3.59956897e-02 -2.30752430e-04 9.99351919e-01 -6.83938219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321858064 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:169.65, Y:75.23, Z:-6.85 [[ 7.00893495e-01 -7.12819878e-01 2.52216070e-02 1.69648907e+02] [ 7.12357050e-01 7.01347146e-01 2.56829404e-02 7.52289708e+01] [-3.59964125e-02 -3.42162990e-05 9.99351919e-01 -6.84896817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381858064 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:169.69, Y:75.27, Z:-6.85 [[ 6.98679544e-01 -7.14990179e-01 2.52178229e-02 1.69690296e+02] [ 7.14528625e-01 6.99134493e-01 2.56866555e-02 7.52714612e+01] [-3.59963562e-02 7.21155681e-05 9.99351919e-01 -6.84931911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:169.73, Y:75.31, Z:-6.85 [[ 6.96233060e-01 -7.17372941e-01 2.52109152e-02 1.69731054e+02] [ 7.16912699e-01 6.96689335e-01 2.56934334e-02 7.53139046e+01] [-3.59959496e-02 1.85407488e-04 9.99351919e-01 -6.85149175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501858064 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:75.36, Z:-6.85 [[ 6.94722221e-01 -7.18836392e-01 2.52047079e-02 1.69771345e+02] [ 7.18376891e-01 6.95179241e-01 2.56995212e-02 7.53550831e+01] [-3.59955408e-02 2.52451298e-04 9.99351919e-01 -6.85488471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561858064 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:75.40, Z:-6.86 [[ 6.92492220e-01 -7.20984999e-01 2.52023228e-02 1.69812966e+02] [ 7.20526830e-01 6.92950576e-01 2.57018599e-02 7.53950571e+01] [-3.59946196e-02 3.60611744e-04 9.99351919e-01 -6.85691389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621858064 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:169.85, Y:75.44, Z:-6.86 [[ 6.89738931e-01 -7.23619659e-01 2.51951632e-02 1.69854224e+02] [ 7.23162985e-01 6.90198776e-01 2.57088765e-02 7.54354694e+01] [-3.59931192e-02 4.87796396e-04 9.99351919e-01 -6.85810612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681858064 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:169.90, Y:75.48, Z:-6.86 [[ 6.88970422e-01 -7.24351667e-01 2.51876881e-02 1.69895004e+02] [ 7.23895214e-01 6.89430487e-01 2.57161980e-02 7.54750176e+01] [-3.59927309e-02 5.15547049e-04 9.99351919e-01 -6.86198130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74185806399998 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:169.94, Y:75.51, Z:-6.86 [[ 6.91146630e-01 -7.22275654e-01 2.51836229e-02 1.69941369e+02] [ 7.21817674e-01 6.91605175e-01 2.57201783e-02 7.55127212e+01] [-3.59941826e-02 4.01569519e-04 9.99351919e-01 -6.86015127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.801858064 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:169.98, Y:75.56, Z:-6.87 [[ 6.89569202e-01 -7.23781993e-01 2.51782020e-02 1.69979284e+02] [ 7.23324821e-01 6.90028552e-01 2.57254839e-02 7.55555068e+01] [-3.59933203e-02 4.72517030e-04 9.99351919e-01 -6.86635518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.861858064 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:170.03, Y:75.59, Z:-6.86 [[ 6.93247830e-01 -7.20259433e-01 2.51752830e-02 1.70027096e+02] [ 7.19799823e-01 6.93704741e-01 2.57283402e-02 7.55920137e+01] [-3.59952929e-02 2.85048226e-04 9.99351919e-01 -6.86074899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921858064 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:170.06, Y:75.64, Z:-6.87 [[ 6.91494156e-01 -7.21943474e-01 2.51684800e-02 1.70064357e+02] [ 7.21484734e-01 6.91951941e-01 2.57349934e-02 7.56360990e+01] [-3.59945891e-02 3.63076514e-04 9.99351919e-01 -6.86648261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981858064 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:75.68, Z:-6.87 [[ 6.92456441e-01 -7.21020635e-01 2.51658668e-02 1.70105225e+02] [ 7.20561192e-01 6.92913521e-01 2.57375486e-02 7.56771131e+01] [-3.59950730e-02 3.11415708e-04 9.99351919e-01 -6.86881944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041858064 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:75.72, Z:-6.87 [[ 6.93127685e-01 -7.20375626e-01 2.51589009e-02 1.70146555e+02] [ 7.19915511e-01 6.93584087e-01 2.57443560e-02 7.57176156e+01] [-3.59954199e-02 2.68157120e-04 9.99351919e-01 -6.87041543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101858064 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:170.19, Y:75.76, Z:-6.87 [[ 6.94566212e-01 -7.18988987e-01 2.51517862e-02 1.70188006e+02] [ 7.18527709e-01 6.95021439e-01 2.57513051e-02 7.57574554e+01] [-3.59959354e-02 1.86268852e-04 9.99351919e-01 -6.87293042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161858064 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:170.23, Y:75.80, Z:-6.87 [[ 6.95473673e-01 -7.18111493e-01 2.51446584e-02 1.70230580e+02] [ 7.17649389e-01 6.95928062e-01 2.57582631e-02 7.57989112e+01] [-3.59961782e-02 1.30854871e-04 9.99351919e-01 -6.87156495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221858064 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:170.27, Y:75.84, Z:-6.87 [[ 6.96700246e-01 -7.16921785e-01 2.51380728e-02 1.70270931e+02] [ 7.16458673e-01 6.97153607e-01 2.57646886e-02 7.58396264e+01] [-3.59963646e-02 6.01254041e-05 9.99351919e-01 -6.87345189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281858064 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:75.88, Z:-6.88 [[ 6.97358140e-01 -7.16281995e-01 2.51341844e-02 1.70312071e+02] [ 7.15818331e-01 6.97810936e-01 2.57684813e-02 7.58799719e+01] [-3.59964079e-02 2.16497065e-05 9.99351919e-01 -6.87594578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341858064 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:75.92, Z:-6.88 [[ 6.97150271e-01 -7.16484565e-01 2.51270372e-02 1.70353643e+02] [ 7.16020781e-01 6.97602944e-01 2.57754487e-02 7.59201481e+01] [-3.59964063e-02 2.21197688e-05 9.99351919e-01 -6.87749336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401858064 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:75.96, Z:-6.88 [[ 6.96323930e-01 -7.17287810e-01 2.51233512e-02 1.70393898e+02] [ 7.16824418e-01 6.96777005e-01 2.57790409e-02 7.59618354e+01] [-3.59963652e-02 5.84684891e-05 9.99351919e-01 -6.87759606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46185806399998 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:170.43, Y:76.00, Z:-6.88 [[ 6.95530153e-01 -7.18057790e-01 2.51160500e-02 1.70434408e+02] [ 7.17594643e-01 6.95983479e-01 2.57861524e-02 7.60019143e+01] [-3.59963034e-02 8.80964338e-05 9.99351919e-01 -6.87874792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52185806399999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:170.48, Y:76.04, Z:-6.88 [[ 6.94779598e-01 -7.18784210e-01 2.51111383e-02 1.70476067e+02] [ 7.18321364e-01 6.95233231e-01 2.57909346e-02 7.60430718e+01] [-3.59962144e-02 1.18851893e-04 9.99351919e-01 -6.87966939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.52, Y:76.09, Z:-6.88 [[ 6.93986443e-01 -7.19550255e-01 2.51047261e-02 1.70516984e+02] [ 7.19087685e-01 6.94440356e-01 2.57971747e-02 7.60855004e+01] [-3.59960986e-02 1.49609816e-04 9.99351919e-01 -6.88257618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.641858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:170.56, Y:76.13, Z:-6.88 [[ 6.92464007e-01 -7.21015723e-01 2.50983233e-02 1.70558159e+02] [ 7.20553887e-01 6.92918668e-01 2.58034026e-02 7.61269451e+01] [-3.59957557e-02 2.16766851e-04 9.99351919e-01 -6.88433954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:76.17, Z:-6.89 [[ 6.90592353e-01 -7.22808853e-01 2.50911156e-02 1.70600343e+02] [ 7.22347943e-01 6.91047952e-01 2.58104093e-02 7.61686271e+01] [-3.59951565e-02 3.00044438e-04 9.99351919e-01 -6.88544390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:76.21, Z:-6.89 [[ 6.88544708e-01 -7.24759916e-01 2.50848195e-02 1.70642138e+02] [ 7.24300074e-01 6.89001385e-01 2.58165270e-02 7.62102547e+01] [-3.59942594e-02 3.93103597e-04 9.99351919e-01 -6.88706727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.68, Y:76.25, Z:-6.89 [[ 6.86723060e-01 -7.26486430e-01 2.50780157e-02 1.70681515e+02] [ 7.26027495e-01 6.87180648e-01 2.58231345e-02 7.62508665e+01] [-3.59932839e-02 4.73986967e-04 9.99351919e-01 -6.88986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.72, Y:76.29, Z:-6.89 [[ 6.85904182e-01 -7.27259784e-01 2.50730791e-02 1.70720878e+02] [ 7.26801190e-01 6.86362112e-01 2.58279268e-02 7.62936592e+01] [-3.59928240e-02 5.07660721e-04 9.99351919e-01 -6.89307799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:76.34, Z:-6.90 [[ 6.85741031e-01 -7.27413868e-01 2.50659830e-02 1.70760447e+02] [ 7.26955125e-01 6.86198811e-01 2.58348118e-02 7.63362948e+01] [-3.59928481e-02 5.05854293e-04 9.99351919e-01 -6.89622962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.80, Y:76.38, Z:-6.90 [[ 6.85607749e-01 -7.27539734e-01 2.50589436e-02 1.70798328e+02] [ 7.27080825e-01 6.86065364e-01 2.58416379e-02 7.63783273e+01] [-3.59928917e-02 5.02650229e-04 9.99351920e-01 -6.90046819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:170.84, Y:76.42, Z:-6.90 [[ 6.85587576e-01 -7.27558880e-01 2.50549766e-02 1.70838009e+02] [ 7.27099844e-01 6.86045063e-01 2.58454836e-02 7.64200798e+01] [-3.59929541e-02 4.98127068e-04 9.99351920e-01 -6.90275489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.88, Y:76.46, Z:-6.90 [[ 6.85188882e-01 -7.27934441e-01 2.50528564e-02 1.70878812e+02] [ 7.27475580e-01 6.85646545e-01 2.58475386e-02 7.64626060e+01] [-3.59927180e-02 5.14895171e-04 9.99351920e-01 -6.90420618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.92, Y:76.50, Z:-6.90 [[ 6.84532975e-01 -7.28551478e-01 2.50469556e-02 1.70919147e+02] [ 7.28092821e-01 6.84990841e-01 2.58532554e-02 7.65049607e+01] [-3.59923626e-02 5.39102687e-04 9.99351920e-01 -6.90461399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:76.55, Z:-6.91 [[ 6.84010055e-01 -7.29042671e-01 2.50405611e-02 1.70960081e+02] [ 7.28584116e-01 6.84468024e-01 2.58594474e-02 7.65476631e+01] [-3.59921040e-02 5.56033063e-04 9.99351920e-01 -6.90644331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.00, Y:76.59, Z:-6.91 [[ 6.83187302e-01 -7.29813946e-01 2.50342573e-02 1.71000156e+02] [ 7.29355685e-01 6.83645565e-01 2.58655486e-02 7.65909725e+01] [-3.59915971e-02 5.87863472e-04 9.99351920e-01 -6.90929250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.361858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:171.04, Y:76.63, Z:-6.91 [[ 6.84266309e-01 -7.28802589e-01 2.50280990e-02 1.71041680e+02] [ 7.28343432e-01 6.84723674e-01 2.58715062e-02 7.66316278e+01] [-3.59925526e-02 5.26051484e-04 9.99351920e-01 -6.91121118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.08, Y:76.67, Z:-6.91 [[ 6.84901647e-01 -7.28205819e-01 2.50203509e-02 1.71081657e+02] [ 7.27745991e-01 6.85358337e-01 2.58789972e-02 7.66727592e+01] [-3.59931424e-02 4.83892215e-04 9.99351920e-01 -6.91418829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:76.71, Z:-6.92 [[ 6.85195503e-01 -7.27929469e-01 2.50162023e-02 1.71121791e+02] [ 7.27469310e-01 6.85651860e-01 2.58830069e-02 7.67146269e+01] [-3.59934091e-02 4.63599443e-04 9.99351920e-01 -6.91618917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:171.16, Y:76.76, Z:-6.92 [[ 6.85272377e-01 -7.27857353e-01 2.50088455e-02 1.71161201e+02] [ 7.27396887e-01 6.85728424e-01 2.58901133e-02 7.67560500e+01] [-3.59935855e-02 4.49576866e-04 9.99351920e-01 -6.91916047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:171.20, Y:76.80, Z:-6.92 [[ 6.84974090e-01 -7.28138213e-01 2.50047553e-02 1.71202609e+02] [ 7.27677790e-01 6.85430180e-01 2.58940629e-02 7.67967209e+01] [-3.59934707e-02 4.58642878e-04 9.99351920e-01 -6.92060973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:76.84, Z:-6.92 [[ 6.85340977e-01 -7.27793147e-01 2.49976206e-02 1.71242517e+02] [ 7.27332242e-01 6.85796581e-01 2.59009489e-02 7.68394788e+01] [-3.59938158e-02 4.30593822e-04 9.99351920e-01 -6.92270302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.28, Y:76.88, Z:-6.92 [[ 6.86299991e-01 -7.26889128e-01 2.49903501e-02 1.71281603e+02] [ 7.26427368e-01 6.86754728e-01 2.59079619e-02 7.68809094e+01] [-3.59944569e-02 3.73040229e-04 9.99351920e-01 -6.92479122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:171.32, Y:76.92, Z:-6.93 [[ 6.87335777e-01 -7.25909919e-01 2.49863875e-02 1.71321754e+02] [ 7.25447372e-01 6.87789713e-01 2.59117830e-02 7.69222400e+01] [-3.59950005e-02 3.16213642e-04 9.99351920e-01 -6.92759212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.36, Y:76.96, Z:-6.93 [[ 6.87634438e-01 -7.25627261e-01 2.49791580e-02 1.71361303e+02] [ 7.25164274e-01 6.88087926e-01 2.59187504e-02 7.69631681e+01] [-3.59952088e-02 2.91367641e-04 9.99351920e-01 -6.92970701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.40, Y:77.01, Z:-6.93 [[ 6.88004796e-01 -7.25276253e-01 2.49751426e-02 1.71401607e+02] [ 7.24812895e-01 6.88457904e-01 2.59226190e-02 7.70053922e+01] [-3.59953943e-02 2.67419262e-04 9.99351920e-01 -6.93215879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96185806399998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:171.44, Y:77.05, Z:-6.93 [[ 6.87842973e-01 -7.25429975e-01 2.49678970e-02 1.71441902e+02] [ 7.24966465e-01 6.88295926e-01 2.59295959e-02 7.70465933e+01] [-3.59954078e-02 2.65397637e-04 9.99351920e-01 -6.93408538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02185806399999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:77.09, Z:-6.94 [[ 6.87122724e-01 -7.26112476e-01 2.49606721e-02 1.71482978e+02] [ 7.25649163e-01 6.87575878e-01 2.59365489e-02 7.70876861e+01] [-3.59952078e-02 2.91098730e-04 9.99351920e-01 -6.93602957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.081858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:171.52, Y:77.13, Z:-6.94 [[ 6.86794801e-01 -7.26422897e-01 2.49534991e-02 1.71524612e+02] [ 7.25959538e-01 6.87247908e-01 2.59434482e-02 7.71285443e+01] [-3.59951548e-02 2.97405349e-04 9.99351920e-01 -6.93964697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.141858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:77.17, Z:-6.94 [[ 6.87912501e-01 -7.25364789e-01 2.49462123e-02 1.71566226e+02] [ 7.24900479e-01 6.88364634e-01 2.59504530e-02 7.71692029e+01] [-3.59956352e-02 2.31880219e-04 9.99351920e-01 -6.94372152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:77.22, Z:-6.96 [[ 6.82538755e-01 -7.30423804e-01 2.49381979e-02 1.71600479e+02] [ 7.29962564e-01 6.82994019e-01 2.59581525e-02 7.72166298e+01] [-3.59930925e-02 4.86505833e-04 9.99351920e-01 -6.95757620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:77.25, Z:-6.95 [[ 6.88609802e-01 -7.24703392e-01 2.49305691e-02 1.71649325e+02] [ 7.24238104e-01 6.89060928e-01 2.59654772e-02 7.72502316e+01] [-3.59959505e-02 1.75585997e-04 9.99351920e-01 -6.94949709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321858064 meters Centerline goodness : 0.996940 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:77.29, Z:-6.95 [[ 6.88424742e-01 -7.24879417e-01 2.49240143e-02 1.71692582e+02] [ 7.24414016e-01 6.88875751e-01 2.59717676e-02 7.72893457e+01] [-3.59959488e-02 1.75697924e-04 9.99351920e-01 -6.95290084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:77.33, Z:-6.95 [[ 6.87820521e-01 -7.25453040e-01 2.49162122e-02 1.71735291e+02] [ 7.24987745e-01 6.88271639e-01 2.59792505e-02 7.73292633e+01] [-3.59958484e-02 1.94886856e-04 9.99351920e-01 -6.95280007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441858064 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:171.78, Y:77.37, Z:-6.96 [[ 6.87876423e-01 -7.25400334e-01 2.49074532e-02 1.71776681e+02] [ 7.24934700e-01 6.88327192e-01 2.59876455e-02 7.73692420e+01] [-3.59959240e-02 1.79988482e-04 9.99351921e-01 -6.95733131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501858064 meters Centerline goodness : 0.997002 with order 1 Centerline is valid? [True, True] Translation: X:171.82, Y:77.41, Z:-6.96 [[ 6.87890758e-01 -7.25387015e-01 2.48994754e-02 1.71821007e+02] [ 7.24921096e-01 6.88341231e-01 2.59952869e-02 7.74079909e+01] [-3.59959791e-02 1.68237438e-04 9.99351921e-01 -6.95710457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:171.86, Y:77.45, Z:-6.96 [[ 6.85292965e-01 -7.27841999e-01 2.48912861e-02 1.71862210e+02] [ 7.27377409e-01 6.85744809e-01 2.60031261e-02 7.74485708e+01] [-3.59952375e-02 2.85599827e-04 9.99351921e-01 -6.95657630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621858064 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:171.91, Y:77.49, Z:-6.95 [[ 6.88825463e-01 -7.24500088e-01 2.48818079e-02 1.71906593e+02] [ 7.24032978e-01 6.89274701e-01 2.60121924e-02 7.74861351e+01] [-3.59962364e-02 9.73890489e-05 9.99351921e-01 -6.94653291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681858064 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:77.53, Z:-6.96 [[ 6.86860888e-01 -7.26363053e-01 2.48764220e-02 1.71943061e+02] [ 7.25896975e-01 6.87311196e-01 2.60173421e-02 7.75320622e+01] [-3.59958794e-02 1.87424783e-04 9.99351921e-01 -6.95826112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:171.98, Y:77.58, Z:-6.96 [[ 6.86966924e-01 -7.26263002e-01 2.48695849e-02 1.71980294e+02] [ 7.25796622e-01 6.87416920e-01 2.60238759e-02 7.75751898e+01] [-3.59959517e-02 1.72718727e-04 9.99351921e-01 -6.96449703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.801858064 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:172.02, Y:77.61, Z:-6.96 [[ 6.89939371e-01 -7.23440118e-01 2.48608135e-02 1.72024060e+02] [ 7.22971595e-01 6.90387134e-01 2.60322527e-02 7.76137694e+01] [-3.59963617e-02 1.29859282e-05 9.99351921e-01 -6.96084840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.861858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:77.66, Z:-6.97 [[ 6.83922715e-01 -7.29131035e-01 2.48526580e-02 1.72059042e+02] [ 7.28665954e-01 6.84374053e-01 2.60400363e-02 7.76612347e+01] [-3.59951129e-02 2.99913464e-04 9.99351921e-01 -6.97033452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.10, Y:77.70, Z:-6.97 [[ 6.81346723e-01 -7.31539036e-01 2.48451319e-02 1.72098441e+02] [ 7.31075289e-01 6.81799431e-01 2.60472150e-02 7.77034180e+01] [-3.59939514e-02 4.16477367e-04 9.99351921e-01 -6.97045847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:172.14, Y:77.74, Z:-6.97 [[ 6.82251117e-01 -7.30695735e-01 2.48426198e-02 1.72142132e+02] [ 7.30231341e-01 6.82703161e-01 2.60496108e-02 7.77423350e+01] [-3.59944746e-02 3.68483499e-04 9.99351921e-01 -6.96784463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:77.79, Z:-6.97 [[ 6.75666319e-01 -7.36789035e-01 2.48383592e-02 1.72176113e+02] [ 7.36328566e-01 6.76122362e-01 2.60536726e-02 7.77902122e+01] [-3.59898304e-02 6.85604344e-04 9.99351921e-01 -6.97456313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:172.22, Y:77.83, Z:-6.98 [[ 6.71943620e-01 -7.40185925e-01 2.48307938e-02 1.72215685e+02] [ 7.39727496e-01 6.72401712e-01 2.60608809e-02 7.78310771e+01] [-3.59861655e-02 8.56578223e-04 9.99351921e-01 -6.97579561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:172.25, Y:77.87, Z:-6.98 [[ 6.70184577e-01 -7.41779208e-01 2.48241791e-02 1.72253905e+02] [ 7.41321634e-01 6.70643525e-01 2.60671802e-02 7.78743035e+01] [-3.59842672e-02 9.32878946e-04 9.99351921e-01 -6.97667799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:77.92, Z:-6.98 [[ 6.73968227e-01 -7.38343382e-01 2.48169178e-02 1.72295823e+02] [ 7.37883214e-01 6.74424572e-01 2.60740914e-02 7.79152440e+01] [-3.59887720e-02 7.38877922e-04 9.99351921e-01 -6.97667655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:77.96, Z:-6.98 [[ 6.72717072e-01 -7.39483763e-01 2.48093752e-02 1.72331212e+02] [ 7.39024104e-01 6.73173930e-01 2.60812661e-02 7.79600531e+01] [-3.59876975e-02 7.89413344e-04 9.99351921e-01 -6.98050327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:78.00, Z:-6.98 [[ 6.75731562e-01 -7.36730323e-01 2.48049922e-02 1.72370208e+02] [ 7.36268649e-01 6.76186384e-01 2.60854340e-02 7.80035746e+01] [-3.59907282e-02 6.36387097e-04 9.99351921e-01 -6.98207995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:78.05, Z:-6.99 [[ 6.77277089e-01 -7.35310014e-01 2.47977511e-02 1.72408431e+02] [ 7.34847134e-01 6.77730684e-01 2.60923158e-02 7.80470462e+01] [-3.59921380e-02 5.50828677e-04 9.99351921e-01 -6.98516877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.45, Y:78.09, Z:-6.99 [[ 6.78714022e-01 -7.33984127e-01 2.47906866e-02 1.72447359e+02] [ 7.33520116e-01 6.79166460e-01 2.60990262e-02 7.80898132e+01] [-3.59932738e-02 4.70692237e-04 9.99351921e-01 -6.98504984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.49, Y:78.13, Z:-6.99 [[ 6.81037138e-01 -7.31829371e-01 2.47828038e-02 1.72485829e+02] [ 7.31363657e-01 6.81487822e-01 2.61065093e-02 7.81329209e+01] [-3.59946893e-02 3.45739637e-04 9.99351921e-01 -6.98720455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.53, Y:78.17, Z:-6.99 [[ 6.83977266e-01 -7.29082355e-01 2.47794199e-02 1.72527320e+02] [ 7.28614714e-01 6.84425950e-01 2.61097209e-02 7.81734741e+01] [-3.59958148e-02 1.96194429e-04 9.99351921e-01 -6.98863589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:78.22, Z:-6.99 [[ 6.82852885e-01 -7.30135785e-01 2.47724296e-02 1.72563862e+02] [ 7.29668595e-01 6.83302040e-01 2.61163514e-02 7.82192445e+01] [-3.59955344e-02 2.42037986e-04 9.99351921e-01 -6.99243556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.60, Y:78.26, Z:-6.99 [[ 6.83700217e-01 -7.29342638e-01 2.47655083e-02 1.72603070e+02] [ 7.28874689e-01 6.84148581e-01 2.61229131e-02 7.82621475e+01] [-3.59958417e-02 1.90710832e-04 9.99351922e-01 -6.99447000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:78.30, Z:-7.00 [[ 6.81761901e-01 -7.31155066e-01 2.47584114e-02 1.72642569e+02] [ 7.30688066e-01 6.82211252e-01 2.61296375e-02 7.83026610e+01] [-3.59952837e-02 2.76484383e-04 9.99351922e-01 -7.00090531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:78.34, Z:-7.00 [[ 6.80531430e-01 -7.32300624e-01 2.47541868e-02 1.72683918e+02] [ 7.31834234e-01 6.80981414e-01 2.61336392e-02 7.83440010e+01] [-3.59948214e-02 3.31198484e-04 9.99351922e-01 -7.00078051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:78.38, Z:-7.00 [[ 6.78791786e-01 -7.33913691e-01 2.47468385e-02 1.72726599e+02] [ 7.33448117e-01 6.79242615e-01 2.61405956e-02 7.83845805e+01] [-3.59940483e-02 4.06500518e-04 9.99351922e-01 -7.00209100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:172.76, Y:78.43, Z:-7.00 [[ 6.74854131e-01 -7.37536313e-01 2.47404350e-02 1.72764111e+02] [ 7.37072937e-01 6.75307218e-01 2.61466548e-02 7.84297794e+01] [-3.59915017e-02 5.90327042e-04 9.99351922e-01 -7.00490237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.80, Y:78.47, Z:-7.01 [[ 6.74862662e-01 -7.37528723e-01 2.47339902e-02 1.72804637e+02] [ 7.37065118e-01 6.75315515e-01 2.61527499e-02 7.84698629e+01] [-3.59916516e-02 5.81047032e-04 9.99351922e-01 -7.00994285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.84, Y:78.51, Z:-7.01 [[ 6.73083908e-01 -7.39152649e-01 2.47267875e-02 1.72842025e+02] [ 7.38689887e-01 6.73537622e-01 2.61595581e-02 7.85144833e+01] [-3.59903284e-02 6.57850243e-04 9.99351922e-01 -7.01046510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.88, Y:78.56, Z:-7.01 [[ 6.72823368e-01 -7.39390081e-01 2.47188719e-02 1.72880685e+02] [ 7.38927205e-01 6.73276966e-01 2.61670357e-02 7.85574137e+01] [-3.59902937e-02 6.59653874e-04 9.99351922e-01 -7.01373405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18185806399998 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:78.60, Z:-7.02 [[ 6.73597062e-01 -7.38685567e-01 2.47109746e-02 1.72920379e+02] [ 7.38221942e-01 6.74049895e-01 2.61744914e-02 7.85979600e+01] [-3.59911488e-02 6.11123152e-04 9.99351922e-01 -7.01540934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24185806399998 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:172.96, Y:78.64, Z:-7.02 [[ 6.73369438e-01 -7.38893327e-01 2.47032611e-02 1.72957841e+02] [ 7.38429576e-01 6.73822140e-01 2.61817693e-02 7.86425784e+01] [-3.59911389e-02 6.11615319e-04 9.99351922e-01 -7.01569962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.301858064 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:173.00, Y:78.68, Z:-7.02 [[ 6.76995740e-01 -7.35572495e-01 2.46955906e-02 1.72997522e+02] [ 7.35106259e-01 6.77445883e-01 2.61890024e-02 7.86849599e+01] [-3.59938360e-02 4.24040122e-04 9.99351922e-01 -7.02021968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.361858064 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:173.04, Y:78.73, Z:-7.02 [[ 6.77862854e-01 -7.34773645e-01 2.46909208e-02 1.73035063e+02] [ 7.34306718e-01 6.78312280e-01 2.61934044e-02 7.87291751e+01] [-3.59943780e-02 3.75173129e-04 9.99351922e-01 -7.02033158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421858064 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:173.07, Y:78.77, Z:-7.02 [[ 6.79942861e-01 -7.32849553e-01 2.46827493e-02 1.73073908e+02] [ 7.32381074e-01 6.80390670e-01 2.62011023e-02 7.87710853e+01] [-3.59953785e-02 2.61926010e-04 9.99351922e-01 -7.02323378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481858064 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:78.81, Z:-7.02 [[ 6.80555818e-01 -7.32280623e-01 2.46752497e-02 1.73111876e+02] [ 7.31811514e-01 6.81002966e-01 2.62081633e-02 7.88149846e+01] [-3.59956484e-02 2.21513863e-04 9.99351922e-01 -7.02419662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:173.15, Y:78.86, Z:-7.03 [[ 6.78730063e-01 -7.33973466e-01 2.46668556e-02 1.73150992e+02] [ 7.33505185e-01 6.79178078e-01 2.62160613e-02 7.88573406e+01] [-3.59950810e-02 2.99637529e-04 9.99351922e-01 -7.02574980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:78.90, Z:-7.03 [[ 6.76840133e-01 -7.35716909e-01 2.46589798e-02 1.73190143e+02] [ 7.35249512e-01 6.77289070e-01 2.62234673e-02 7.88986132e+01] [-3.59943058e-02 3.81407797e-04 9.99351922e-01 -7.02878191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.23, Y:78.94, Z:-7.03 [[ 6.74052294e-01 -7.38272063e-01 2.46549302e-02 1.73229379e+02] [ 7.37806229e-01 6.74502853e-01 2.62272741e-02 7.89415025e+01] [-3.59926845e-02 5.12006860e-04 9.99351922e-01 -7.03229926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:173.27, Y:78.98, Z:-7.04 [[ 6.71525346e-01 -7.40571538e-01 2.46476612e-02 1.73268324e+02] [ 7.40106996e-01 6.71977237e-01 2.62341035e-02 7.89830931e+01] [-3.59908977e-02 6.25041018e-04 9.99351922e-01 -7.03533815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:173.31, Y:79.02, Z:-7.04 [[ 6.69456945e-01 -7.42441974e-01 2.46437535e-02 1.73307902e+02] [ 7.41978559e-01 6.69909992e-01 2.62377738e-02 7.90249466e+01] [-3.59891213e-02 7.20076770e-04 9.99351922e-01 -7.03687903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:79.06, Z:-7.02 [[ 6.73833276e-01 -7.38472586e-01 2.46364972e-02 1.73357606e+02] [ 7.38006253e-01 6.74283318e-01 2.62445855e-02 7.90597756e+01] [-3.59928860e-02 4.97413947e-04 9.99351922e-01 -7.02305952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.40, Y:79.10, Z:-7.03 [[ 6.70936258e-01 -7.41105880e-01 2.46295014e-02 1.73397147e+02] [ 7.40641072e-01 6.71387875e-01 2.62511491e-02 7.91018158e+01] [-3.59908296e-02 6.28772618e-04 9.99351922e-01 -7.03084545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.44, Y:79.14, Z:-7.03 [[ 6.72783486e-01 -7.39429597e-01 2.46221803e-02 1.73436639e+02] [ 7.38963413e-01 6.73233683e-01 2.62580141e-02 7.91446598e+01] [-3.59924339e-02 5.28932118e-04 9.99351922e-01 -7.03051012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02185806399999 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:79.20, Z:-7.04 [[ 6.70200396e-01 -7.41771932e-01 2.46136265e-02 1.73465881e+02] [ 7.41307027e-01 6.70651913e-01 2.62660299e-02 7.91953818e+01] [-3.59905794e-02 6.42750647e-04 9.99351923e-01 -7.04411787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.081858064 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:173.51, Y:79.23, Z:-7.04 [[ 6.78924833e-01 -7.33795191e-01 2.46107534e-02 1.73512803e+02] [ 7.33324882e-01 6.79370718e-01 2.62687216e-02 7.92320231e+01] [-3.59956868e-02 2.13190414e-04 9.99351923e-01 -7.03821729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.141858064 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:173.54, Y:79.28, Z:-7.05 [[ 6.77837403e-01 -7.34800066e-01 2.46032044e-02 1.73543143e+02] [ 7.34330161e-01 6.78283714e-01 2.62757901e-02 7.92827737e+01] [-3.59954052e-02 2.56161731e-04 9.99351923e-01 -7.04839745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201858064 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:173.58, Y:79.32, Z:-7.05 [[ 6.79610145e-01 -7.33161029e-01 2.45958710e-02 1.73582241e+02] [ 7.32689799e-01 6.80055057e-01 2.62826528e-02 7.93247319e+01] [-3.59959632e-02 1.59186301e-04 9.99351923e-01 -7.05078768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:173.62, Y:79.37, Z:-7.05 [[ 6.79593879e-01 -7.33176241e-01 2.45918518e-02 1.73623108e+02] [ 7.32704885e-01 6.80038658e-01 2.62864130e-02 7.93666170e+01] [-3.59959833e-02 1.54484567e-04 9.99351923e-01 -7.05239472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321858064 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:173.66, Y:79.41, Z:-7.06 [[ 6.78270610e-01 -7.34400831e-01 2.45845470e-02 1.73663779e+02] [ 7.33930030e-01 6.78715976e-01 2.62932430e-02 7.94085852e+01] [-3.59957043e-02 2.09403369e-04 9.99351923e-01 -7.05600450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:173.70, Y:79.45, Z:-7.06 [[ 6.77455421e-01 -7.35153123e-01 2.45771989e-02 1.73703860e+02] [ 7.34682568e-01 6.77901046e-01 2.63001098e-02 7.94509190e+01] [-3.59955167e-02 2.39287666e-04 9.99351923e-01 -7.05616470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.74, Y:79.49, Z:-7.06 [[ 6.77774272e-01 -7.34859422e-01 2.45696127e-02 1.73744176e+02] [ 7.34388417e-01 6.78219422e-01 2.63071949e-02 7.94911729e+01] [-3.59956786e-02 2.13299080e-04 9.99351923e-01 -7.05851734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:79.54, Z:-7.07 [[ 6.76111322e-01 -7.36389940e-01 2.45629079e-02 1.73783225e+02] [ 7.35919716e-01 6.76557296e-01 2.63134537e-02 7.95350290e+01] [-3.59951771e-02 2.85504218e-04 9.99351923e-01 -7.06510517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:173.82, Y:79.58, Z:-7.07 [[ 6.73830644e-01 -7.38477640e-01 2.45568211e-02 1.73823037e+02] [ 7.38008591e-01 6.74277853e-01 2.63191329e-02 7.95765141e+01] [-3.59942118e-02 3.88506647e-04 9.99351923e-01 -7.07008626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:173.86, Y:79.62, Z:-7.07 [[ 6.70888706e-01 -7.41151597e-01 2.45490121e-02 1.73864667e+02] [ 7.40684063e-01 6.71337500e-01 2.63264147e-02 7.96154023e+01] [-3.59925367e-02 5.20967754e-04 9.99351923e-01 -7.07141778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:173.91, Y:79.66, Z:-7.07 [[ 6.68469581e-01 -7.43334331e-01 2.45456926e-02 1.73905312e+02] [ 7.42868149e-01 6.68919779e-01 2.63295093e-02 7.96564105e+01] [-3.59907274e-02 6.33737118e-04 9.99351923e-01 -7.07343039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.94, Y:79.70, Z:-7.07 [[ 6.65672236e-01 -7.45840711e-01 2.45379055e-02 1.73944822e+02] [ 7.45375956e-01 6.66123907e-01 2.63367645e-02 7.96975579e+01] [-3.59883166e-02 7.58311825e-04 9.99351923e-01 -7.07188870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:79.74, Z:-7.08 [[ 6.65841953e-01 -7.45689312e-01 2.45345577e-02 1.73984084e+02] [ 7.45224340e-01 6.66293400e-01 2.63398828e-02 7.97395133e+01] [-3.59885830e-02 7.45550573e-04 9.99351923e-01 -7.07855930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:79.78, Z:-7.08 [[ 6.67322398e-01 -7.44364988e-01 2.45271615e-02 1.74028195e+02] [ 7.43898867e-01 6.67772659e-01 2.63467683e-02 7.97779783e+01] [-3.59901797e-02 6.63939032e-04 9.99351923e-01 -7.07690133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.07, Y:79.82, Z:-7.07 [[ 6.69026435e-01 -7.42833961e-01 2.45221204e-02 1.74069931e+02] [ 7.42366638e-01 6.69475448e-01 2.63514594e-02 7.98176631e+01] [-3.59917165e-02 5.74581085e-04 9.99351923e-01 -7.07498199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.11, Y:79.86, Z:-7.08 [[ 6.70186066e-01 -7.41788086e-01 2.45167753e-02 1.74110881e+02] [ 7.41319880e-01 6.70634158e-01 2.63564314e-02 7.98586027e+01] [-3.59926738e-02 5.11059869e-04 9.99351923e-01 -7.07543898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:79.90, Z:-7.08 [[ 6.72573472e-01 -7.39624373e-01 2.45094304e-02 1.74151900e+02] [ 7.39154476e-01 6.73019791e-01 2.63632598e-02 7.98993708e+01] [-3.59942412e-02 3.85026065e-04 9.99351923e-01 -7.07708096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:174.19, Y:79.94, Z:-7.08 [[ 6.74199281e-01 -7.38142944e-01 2.45015053e-02 1.74192149e+02] [ 7.37671799e-01 6.74644282e-01 2.63706232e-02 7.99417904e+01] [-3.59950899e-02 2.95014312e-04 9.99351923e-01 -7.07977380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.23, Y:79.98, Z:-7.08 [[ 6.76318475e-01 -7.36201984e-01 2.44940850e-02 1.74232688e+02] [ 7.35729312e-01 6.76761854e-01 2.63775137e-02 7.99838340e+01] [-3.59958403e-02 1.81416497e-04 9.99351923e-01 -7.08052641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:80.02, Z:-7.08 [[ 6.77009735e-01 -7.35566602e-01 2.44865822e-02 1.74271928e+02] [ 7.35093262e-01 6.77452401e-01 2.63844768e-02 8.00248381e+01] [-3.59960338e-02 1.37373904e-04 9.99351923e-01 -7.08258582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.31, Y:80.07, Z:-7.08 [[ 6.76569161e-01 -7.35971999e-01 2.44824039e-02 1.74311871e+02] [ 7.35498784e-01 6.77011960e-01 2.63883533e-02 8.00665287e+01] [-3.59959694e-02 1.53232255e-04 9.99351923e-01 -7.08449239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:80.11, Z:-7.09 [[ 6.75565933e-01 -7.36893234e-01 2.44751252e-02 1.74351665e+02] [ 7.36420379e-01 6.76009116e-01 2.63951025e-02 8.01083238e+01] [-3.59957802e-02 1.92348910e-04 9.99351923e-01 -7.08666470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:80.15, Z:-7.09 [[ 6.77557698e-01 -7.35062507e-01 2.44678715e-02 1.74393559e+02] [ 7.34588211e-01 6.77999339e-01 2.64018249e-02 8.01503613e+01] [-3.59961923e-02 8.50503219e-05 9.99351923e-01 -7.08608756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.43, Y:80.20, Z:-7.09 [[ 6.74947345e-01 -7.37460321e-01 2.44613451e-02 1.74429478e+02] [ 7.36987375e-01 6.75390431e-01 2.64078703e-02 8.01959679e+01] [-3.59957149e-02 2.03780571e-04 9.99351923e-01 -7.09308305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:80.24, Z:-7.09 [[ 6.72540485e-01 -7.39656042e-01 2.44588374e-02 1.74468649e+02] [ 7.39184459e-01 6.72985021e-01 2.64101927e-02 8.02387277e+01] [-3.59948898e-02 3.17668650e-04 9.99351923e-01 -7.09476011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.581858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:80.28, Z:-7.10 [[ 6.70617916e-01 -7.41399851e-01 2.44514295e-02 1.74507439e+02] [ 7.40929173e-01 6.71063410e-01 2.64170494e-02 8.02813042e+01] [-3.59940561e-02 4.01030796e-04 9.99351924e-01 -7.09608526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.641858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:174.55, Y:80.32, Z:-7.10 [[ 6.67209967e-01 -7.44468505e-01 2.44439191e-02 1.74545233e+02] [ 7.43999621e-01 6.67657349e-01 2.64239970e-02 8.03243161e+01] [-3.59919958e-02 5.55912453e-04 9.99351924e-01 -7.09843429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:174.58, Y:80.37, Z:-7.10 [[ 6.64865704e-01 -7.46563103e-01 2.44362148e-02 1.74583313e+02] [ 7.46095367e-01 6.65314286e-01 2.64311198e-02 8.03676365e+01] [-3.59902616e-02 6.58601622e-04 9.99351924e-01 -7.10027470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:80.41, Z:-7.10 [[ 6.62813184e-01 -7.48386218e-01 2.44285017e-02 1.74621905e+02] [ 7.47919453e-01 6.63262777e-01 2.64382466e-02 8.04108906e+01] [-3.59885352e-02 7.46933209e-04 9.99351924e-01 -7.10353041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:80.45, Z:-7.10 [[ 6.64237985e-01 -7.47122156e-01 2.44209835e-02 1.74664086e+02] [ 7.46654280e-01 6.64686421e-01 2.64451894e-02 8.04510037e+01] [-3.59900830e-02 6.68132535e-04 9.99351924e-01 -7.10318848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:174.70, Y:80.50, Z:-7.11 [[ 6.61373833e-01 -7.49659010e-01 2.44135561e-02 1.74696884e+02] [ 7.49192601e-01 6.61823795e-01 2.64520444e-02 8.04997924e+01] [-3.59874857e-02 7.95765581e-04 9.99351924e-01 -7.10954399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941858064 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:174.73, Y:80.54, Z:-7.11 [[ 6.63307394e-01 -7.47948970e-01 2.44056965e-02 1.74733751e+02] [ 7.47481135e-01 6.63755873e-01 2.64592939e-02 8.05449573e+01] [-3.59896260e-02 6.92152388e-04 9.99351924e-01 -7.11214847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001858064 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:80.59, Z:-7.11 [[ 6.64474348e-01 -7.46912706e-01 2.43977704e-02 1.74771429e+02] [ 7.46443903e-01 6.64921814e-01 2.64666005e-02 8.05893146e+01] [-3.59908499e-02 6.25189845e-04 9.99351924e-01 -7.11416239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061858064 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:80.63, Z:-7.12 [[ 6.65897423e-01 -7.45644502e-01 2.43905256e-02 1.74807838e+02] [ 7.45174603e-01 6.66343738e-01 2.64732753e-02 8.06345635e+01] [-3.59921262e-02 5.46714372e-04 9.99351924e-01 -7.11504292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121858064 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:174.84, Y:80.68, Z:-7.12 [[ 6.67072727e-01 -7.44593474e-01 2.43830982e-02 1.74844448e+02] [ 7.44122621e-01 6.67518036e-01 2.64801145e-02 8.06783230e+01] [-3.59930783e-02 4.79852721e-04 9.99351924e-01 -7.11760582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:80.72, Z:-7.12 [[ 6.68517318e-01 -7.43296883e-01 2.43790791e-02 1.74881974e+02] [ 7.42825031e-01 6.68961569e-01 2.64838142e-02 8.07230820e+01] [-3.59940035e-02 4.04501688e-04 9.99351924e-01 -7.12118433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:80.77, Z:-7.12 [[ 6.69392772e-01 -7.42508781e-01 2.43726707e-02 1.74919338e+02] [ 7.42036192e-01 6.69836238e-01 2.64897104e-02 8.07671350e+01] [-3.59945406e-02 3.53383100e-04 9.99351924e-01 -7.12395858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.96, Y:80.81, Z:-7.13 [[ 6.70639693e-01 -7.41382990e-01 2.43652369e-02 1.74956926e+02] [ 7.40909408e-01 6.71082098e-01 2.64965463e-02 8.08100203e+01] [-3.59951630e-02 2.82797572e-04 9.99351924e-01 -7.12551434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.361858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:80.85, Z:-7.13 [[ 6.71374180e-01 -7.40718169e-01 2.43578640e-02 1.74995543e+02] [ 7.40243903e-01 6.71815852e-01 2.65033223e-02 8.08534527e+01] [-3.59954915e-02 2.37114005e-04 9.99351924e-01 -7.12638430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421858064 meters Centerline goodness : 0.993590 with order 1 Centerline is valid? [True, True] Translation: X:175.03, Y:80.90, Z:-7.13 [[ 6.69678977e-01 -7.42251385e-01 2.43505493e-02 1.75033974e+02] [ 7.41777886e-01 6.70121471e-01 2.65100412e-02 8.08973292e+01] [-3.59949407e-02 3.09481684e-04 9.99351924e-01 -7.12905753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481858064 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:175.07, Y:80.94, Z:-7.13 [[ 6.67732794e-01 -7.44002995e-01 2.43404781e-02 1.75072612e+02] [ 7.43530320e-01 6.68176168e-01 2.65192850e-02 8.09404201e+01] [-3.59941548e-02 3.90087184e-04 9.99351924e-01 -7.12851525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:80.98, Z:-7.14 [[ 6.64695935e-01 -7.46717729e-01 2.43299686e-02 1.75109696e+02] [ 7.46246511e-01 6.65140858e-01 2.65289233e-02 8.09836247e+01] [-3.59924736e-02 5.22486723e-04 9.99351924e-01 -7.13730132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:81.03, Z:-7.14 [[ 6.62057950e-01 -7.49057773e-01 2.43253674e-02 1.75147006e+02] [ 7.48587973e-01 6.62504369e-01 2.65331417e-02 8.10281376e+01] [-3.59905182e-02 6.43200133e-04 9.99351924e-01 -7.13515764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:175.19, Y:81.07, Z:-7.14 [[ 6.61622059e-01 -7.49442981e-01 2.43201458e-02 1.75185910e+02] [ 7.48973265e-01 6.62068566e-01 2.65379270e-02 8.10712559e+01] [-3.59902671e-02 6.57061122e-04 9.99351924e-01 -7.14100653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.22, Y:81.12, Z:-7.14 [[ 6.60208898e-01 -7.50688418e-01 2.43127388e-02 1.75223558e+02] [ 7.50219295e-01 6.60656028e-01 2.65447111e-02 8.11155516e+01] [-3.59891647e-02 7.14831230e-04 9.99351925e-01 -7.14413616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.25, Y:81.17, Z:-7.16 [[ 6.53348513e-01 -7.56667034e-01 2.43047383e-02 1.75254055e+02] [ 7.56201728e-01 6.53799614e-01 2.65520345e-02 8.11674805e+01] [-3.59814777e-02 1.03155284e-03 9.99351925e-01 -7.15890966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.30, Y:81.20, Z:-7.15 [[ 6.60301905e-01 -7.50607073e-01 2.42984894e-02 1.75299917e+02] [ 7.50137415e-01 6.60748473e-01 2.65577518e-02 8.12047321e+01] [-3.59896261e-02 6.91071956e-04 9.99351925e-01 -7.14848315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.34, Y:81.25, Z:-7.15 [[ 6.59696415e-01 -7.51139360e-01 2.42961316e-02 1.75336769e+02] [ 7.50669983e-01 6.60143278e-01 2.65599086e-02 8.12502983e+01] [-3.59891207e-02 7.16900186e-04 9.99351925e-01 -7.15154012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.37, Y:81.29, Z:-7.16 [[ 6.61495709e-01 -7.49555507e-01 2.42892580e-02 1.75374794e+02] [ 7.49084830e-01 6.61941202e-01 2.65661931e-02 8.12925945e+01] [-3.59908970e-02 6.21291994e-04 9.99351925e-01 -7.15502391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02185806399999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:175.42, Y:81.33, Z:-7.15 [[ 6.64261722e-01 -7.47105455e-01 2.42858793e-02 1.75417270e+02] [ 7.46633021e-01 6.64705352e-01 2.65692814e-02 8.13342911e+01] [-3.59930090e-02 4.83682853e-04 9.99351925e-01 -7.15433284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.081858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:175.45, Y:81.38, Z:-7.16 [[ 6.63851493e-01 -7.47470208e-01 2.42792694e-02 1.75454226e+02] [ 7.46997797e-01 6.64295147e-01 2.65753203e-02 8.13795842e+01] [-3.59928610e-02 4.94494705e-04 9.99351925e-01 -7.15960858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.49, Y:81.42, Z:-7.16 [[ 6.62327036e-01 -7.48821601e-01 2.42715492e-02 1.75494205e+02] [ 7.48349837e-01 6.62771378e-01 2.65823693e-02 8.14201724e+01] [-3.59919405e-02 5.57388056e-04 9.99351925e-01 -7.16110907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.53, Y:81.46, Z:-7.16 [[ 6.60844448e-01 -7.50130576e-01 2.42638749e-02 1.75533905e+02] [ 7.49659435e-01 6.61289451e-01 2.65893724e-02 8.14618453e+01] [-3.59909458e-02 6.18203606e-04 9.99351925e-01 -7.16358080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.57, Y:81.50, Z:-7.17 [[ 6.61076718e-01 -7.49926135e-01 2.42562450e-02 1.75573291e+02] [ 7.49454601e-01 6.61521304e-01 2.65963310e-02 8.15040507e+01] [-3.59913066e-02 5.96739270e-04 9.99351925e-01 -7.16658540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:175.61, Y:81.54, Z:-7.17 [[ 6.56947670e-01 -7.53545989e-01 2.42528503e-02 1.75614762e+02] [ 7.53076790e-01 6.57394720e-01 2.65994262e-02 8.15443815e+01] [-3.59875867e-02 7.89827603e-04 9.99351925e-01 -7.16769946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.66, Y:81.59, Z:-7.17 [[ 6.56742795e-01 -7.53724793e-01 2.42453812e-02 1.75655333e+02] [ 7.53255465e-01 6.57189709e-01 2.66062326e-02 8.15859141e+01] [-3.59875922e-02 7.89514365e-04 9.99351925e-01 -7.16973582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.70, Y:81.63, Z:-7.17 [[ 6.58154114e-01 -7.52492978e-01 2.42379992e-02 1.75695998e+02] [ 7.52022566e-01 6.58599887e-01 2.66129558e-02 8.16278180e+01] [-3.59892059e-02 7.12096020e-04 9.99351925e-01 -7.17274657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:175.74, Y:81.67, Z:-7.17 [[ 6.61254618e-01 -7.49770122e-01 2.42300220e-02 1.75737068e+02] [ 7.49297608e-01 6.61698163e-01 2.66202168e-02 8.16695521e+01] [-3.59920042e-02 5.52756214e-04 9.99351925e-01 -7.17237440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561858064 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:175.78, Y:81.71, Z:-7.18 [[ 6.65278557e-01 -7.46202176e-01 2.42229923e-02 1.75778786e+02] [ 7.45727050e-01 6.65719303e-01 2.66266119e-02 8.17105793e+01] [-3.59945493e-02 3.49626615e-04 9.99351925e-01 -7.17575899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:81.76, Z:-7.18 [[ 6.64966521e-01 -7.46480451e-01 2.42169953e-02 1.75814624e+02] [ 7.46005311e-01 6.65407251e-01 2.66320651e-02 8.17560013e+01] [-3.59944802e-02 3.56575464e-04 9.99351925e-01 -7.17822572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:175.86, Y:81.80, Z:-7.18 [[ 6.67949892e-01 -7.43812328e-01 2.42107829e-02 1.75858944e+02] [ 7.43335223e-01 6.68388494e-01 2.66377115e-02 8.17952615e+01] [-3.59956669e-02 2.04071193e-04 9.99351925e-01 -7.17567346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:175.90, Y:81.84, Z:-7.18 [[ 6.65906081e-01 -7.45642850e-01 2.42039535e-02 1.75899357e+02] [ 7.45166725e-01 6.66345746e-01 2.66439155e-02 8.18369893e+01] [-3.59950465e-02 2.93635425e-04 9.99351925e-01 -7.17934277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:81.88, Z:-7.18 [[ 6.64033661e-01 -7.47310900e-01 2.42015588e-02 1.75937640e+02] [ 7.46835800e-01 6.64474434e-01 2.66460905e-02 8.18809714e+01] [-3.59942309e-02 3.80689529e-04 9.99351925e-01 -7.18470067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.98, Y:81.92, Z:-7.18 [[ 6.63322133e-01 -7.47942779e-01 2.41939738e-02 1.75982389e+02] [ 7.47467847e-01 6.63763087e-01 2.66529756e-02 8.19194818e+01] [-3.59939674e-02 4.04708885e-04 9.99351925e-01 -7.18479883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.03, Y:81.96, Z:-7.19 [[ 6.63628042e-01 -7.47671634e-01 2.41857304e-02 1.76025929e+02] [ 7.47196250e-01 6.64068509e-01 2.66604539e-02 8.19597948e+01] [-3.59942470e-02 3.78862291e-04 9.99351925e-01 -7.18561445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:82.00, Z:-7.19 [[ 6.64136306e-01 -7.47220402e-01 2.41792942e-02 1.76066889e+02] [ 7.46744506e-01 6.64576219e-01 2.66662899e-02 8.20012764e+01] [-3.59945797e-02 3.45703832e-04 9.99351925e-01 -7.18763103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:176.10, Y:82.05, Z:-7.20 [[ 6.61520066e-01 -7.49537806e-01 2.41718525e-02 1.76103703e+02] [ 7.49063205e-01 6.61961376e-01 2.66730337e-02 8.20461713e+01] [-3.59932799e-02 4.61498253e-04 9.99351925e-01 -7.19632247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:82.09, Z:-7.20 [[ 6.62082183e-01 -7.49041534e-01 2.41653446e-02 1.76143110e+02] [ 7.48566387e-01 6.62522905e-01 2.66789285e-02 8.20888449e+01] [-3.59937198e-02 4.25721525e-04 9.99351925e-01 -7.19806107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:82.13, Z:-7.20 [[ 6.62842838e-01 -7.48368743e-01 2.41577496e-02 1.76181263e+02] [ 7.47892898e-01 6.63282806e-01 2.66858040e-02 8.21322713e+01] [-3.59942415e-02 3.78915279e-04 9.99351926e-01 -7.19973920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:82.18, Z:-7.20 [[ 6.63888836e-01 -7.47441211e-01 2.41505560e-02 1.76219183e+02] [ 7.46964515e-01 6.64327881e-01 2.66923125e-02 8.21766220e+01] [-3.59948221e-02 3.18880090e-04 9.99351926e-01 -7.20129921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281858064 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:82.22, Z:-7.20 [[ 6.64348399e-01 -7.47033023e-01 2.41426587e-02 1.76256575e+02] [ 7.46555797e-01 6.64786869e-01 2.66994536e-02 8.22195463e+01] [-3.59950960e-02 2.86102627e-04 9.99351926e-01 -7.20292388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341858064 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:176.29, Y:82.26, Z:-7.21 [[ 6.62664399e-01 -7.48527371e-01 2.41385347e-02 1.76293676e+02] [ 7.48050998e-01 6.63103796e-01 2.67031815e-02 8.22629252e+01] [-3.59944162e-02 3.61607302e-04 9.99351926e-01 -7.20541364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401858064 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:176.33, Y:82.31, Z:-7.21 [[ 6.58727596e-01 -7.51994333e-01 2.41345586e-02 1.76332084e+02] [ 7.51520141e-01 6.59169345e-01 2.67067747e-02 8.23067958e+01] [-3.59921044e-02 5.45117399e-04 9.99351926e-01 -7.21019667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46185806399998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:176.37, Y:82.35, Z:-7.21 [[ 6.58100279e-01 -7.52543609e-01 2.41275567e-02 1.76371285e+02] [ 7.52069554e-01 6.58542175e-01 2.67130988e-02 8.23502001e+01] [-3.59917855e-02 5.65703015e-04 9.99351926e-01 -7.21002787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52185806399999 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:176.41, Y:82.39, Z:-7.22 [[ 6.54800763e-01 -7.55416559e-01 2.41201852e-02 1.76410407e+02] [ 7.54944197e-01 6.55244469e-01 2.67197532e-02 8.23935326e+01] [-3.59891619e-02 7.13279129e-04 9.99351926e-01 -7.21540197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.581858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:176.45, Y:82.44, Z:-7.21 [[ 6.55151475e-01 -7.55112638e-01 2.41132627e-02 1.76449314e+02] [ 7.54639841e-01 6.55594716e-01 2.67259989e-02 8.24367476e+01] [-3.59896672e-02 6.87251131e-04 9.99351926e-01 -7.21494767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:82.48, Z:-7.22 [[ 6.54467361e-01 -7.55705891e-01 2.41056002e-02 1.76487475e+02] [ 7.55233241e-01 6.54910760e-01 2.67329084e-02 8.24808885e+01] [-3.59892333e-02 7.09534589e-04 9.99351926e-01 -7.21845796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:176.53, Y:82.52, Z:-7.22 [[ 6.55321229e-01 -7.54965828e-01 2.40974374e-02 1.76526355e+02] [ 7.54492407e-01 6.55763804e-01 2.67402644e-02 8.25243329e+01] [-3.59902131e-02 6.57870578e-04 9.99351926e-01 -7.21936618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:82.57, Z:-7.22 [[ 6.56078174e-01 -7.54308397e-01 2.40888238e-02 1.76564986e+02] [ 7.53834248e-01 6.56519969e-01 2.67480217e-02 8.25661746e+01] [-3.59910512e-02 6.10187195e-04 9.99351926e-01 -7.22026716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:82.61, Z:-7.22 [[ 6.57619293e-01 -7.52965447e-01 2.40811307e-02 1.76603947e+02] [ 7.52490143e-01 6.58059844e-01 2.67549460e-02 8.26098486e+01] [-3.59923750e-02 5.26244828e-04 9.99351926e-01 -7.22136796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:82.65, Z:-7.22 [[ 6.58435573e-01 -7.52251958e-01 2.40746115e-02 1.76641665e+02] [ 7.51775962e-01 6.58875377e-01 2.67608108e-02 8.26524373e+01] [-3.59930410e-02 4.78444459e-04 9.99351926e-01 -7.22339127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:82.70, Z:-7.22 [[ 6.59312903e-01 -7.51483272e-01 2.40704851e-02 1.76680065e+02] [ 7.51006627e-01 6.59752004e-01 2.67645218e-02 8.26961676e+01] [-3.59936412e-02 4.30899244e-04 9.99351926e-01 -7.22417709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:176.72, Y:82.74, Z:-7.23 [[ 6.59898492e-01 -7.50969338e-01 2.40631160e-02 1.76716920e+02] [ 7.50492110e-01 6.60336958e-01 2.67711455e-02 8.27404339e+01] [-3.59940743e-02 3.92940123e-04 9.99351926e-01 -7.22664803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:82.78, Z:-7.23 [[ 6.63038835e-01 -7.48198390e-01 2.40556387e-02 1.76760525e+02] [ 7.47719085e-01 6.63475030e-01 2.67778626e-02 8.27800172e+01] [-3.59954694e-02 2.32097355e-04 9.99351926e-01 -7.22654208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.79, Y:82.83, Z:-7.23 [[ 6.58531230e-01 -7.52169059e-01 2.40484125e-02 1.76793429e+02] [ 7.51692147e-01 6.58970040e-01 2.67843507e-02 8.28282832e+01] [-3.59935433e-02 4.38671410e-04 9.99351926e-01 -7.23186861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:82.87, Z:-7.23 [[ 6.56426023e-01 -7.54007084e-01 2.40456369e-02 1.76831741e+02] [ 7.53531310e-01 6.56866067e-01 2.67868424e-02 8.28724153e+01] [-3.59922318e-02 5.35559832e-04 9.99351926e-01 -7.23316626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:82.91, Z:-7.24 [[ 6.56938342e-01 -7.53561003e-01 2.40381032e-02 1.76872325e+02] [ 7.53084682e-01 6.57377794e-01 2.67936012e-02 8.29142207e+01] [-3.59927283e-02 5.00983362e-04 9.99351926e-01 -7.23552549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:176.91, Y:82.96, Z:-7.24 [[ 6.53026402e-01 -7.56953826e-01 2.40296160e-02 1.76908209e+02] [ 7.56479509e-01 6.53468016e-01 2.68012108e-02 8.29587177e+01] [-3.59898645e-02 6.76013868e-04 9.99351926e-01 -7.23647745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.95, Y:83.00, Z:-7.23 [[ 6.52435828e-01 -7.57463155e-01 2.40220690e-02 1.76948923e+02] [ 7.56988933e-01 6.52877544e-01 2.68079734e-02 8.30020354e+01] [-3.59895216e-02 6.93958047e-04 9.99351926e-01 -7.23405585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:83.05, Z:-7.24 [[ 6.50819332e-01 -7.58852735e-01 2.40150621e-02 1.76987176e+02] [ 7.58379226e-01 6.51261811e-01 2.68142489e-02 8.30464120e+01] [-3.59881590e-02 7.61292615e-04 9.99351926e-01 -7.23651631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.02, Y:83.09, Z:-7.24 [[ 6.51908856e-01 -7.57917186e-01 2.40079710e-02 1.77023640e+02] [ 7.57442807e-01 6.52350404e-01 2.68205964e-02 8.30906862e+01] [-3.59894005e-02 7.00080603e-04 9.99351926e-01 -7.24082625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.06, Y:83.14, Z:-7.25 [[ 6.53775977e-01 -7.56307316e-01 2.40044878e-02 1.77061679e+02] [ 7.55831736e-01 6.54216230e-01 2.68237135e-02 8.31352222e+01] [-3.59910963e-02 6.06654179e-04 9.99351926e-01 -7.24552381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.10, Y:83.18, Z:-7.25 [[ 6.57114449e-01 -7.53408723e-01 2.39978482e-02 1.77098948e+02] [ 7.52930984e-01 6.57552358e-01 2.68296523e-02 8.31811173e+01] [-3.59935358e-02 4.38571323e-04 9.99351927e-01 -7.24719948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661858064 meters Centerline goodness : 0.995794 with order 1 Centerline is valid? [True, True] Translation: X:177.14, Y:83.22, Z:-7.25 [[ 6.59281636e-01 -7.51513246e-01 2.39909342e-02 1.77135424e+02] [ 7.51034023e-01 6.59717920e-01 2.68358333e-02 8.32245039e+01] [-3.59947334e-02 3.25635715e-04 9.99351927e-01 -7.25273037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:83.27, Z:-7.25 [[ 6.60728323e-01 -7.50241945e-01 2.39813793e-02 1.77175497e+02] [ 7.49761572e-01 6.61163342e-01 2.68443692e-02 8.32662045e+01] [-3.59953806e-02 2.43481619e-04 9.99351927e-01 -7.25049912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.21, Y:83.31, Z:-7.25 [[ 6.59463049e-01 -7.51354659e-01 2.39721314e-02 1.77213245e+02] [ 7.50874720e-01 6.59898546e-01 2.68526251e-02 8.33114820e+01] [-3.59950196e-02 2.91753470e-04 9.99351927e-01 -7.25495518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:177.25, Y:83.36, Z:-7.26 [[ 6.59614754e-01 -7.51221695e-01 2.39654281e-02 1.77251277e+02] [ 7.50741451e-01 6.60049914e-01 2.68586063e-02 8.33550242e+01] [-3.59951465e-02 2.75507328e-04 9.99351927e-01 -7.25782672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:83.40, Z:-7.26 [[ 6.60319476e-01 -7.50602564e-01 2.39578844e-02 1.77289871e+02] [ 7.50121668e-01 6.60753916e-01 2.68653336e-02 8.33984214e+01] [-3.59954542e-02 2.31625225e-04 9.99351927e-01 -7.26117030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.33, Y:83.44, Z:-7.26 [[ 6.59235180e-01 -7.51555292e-01 2.39503972e-02 1.77329892e+02] [ 7.51074781e-01 6.59670045e-01 2.68720068e-02 8.34401756e+01] [-3.59951585e-02 2.73567134e-04 9.99351927e-01 -7.26383943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02185806399999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:177.37, Y:83.48, Z:-7.27 [[ 6.55792318e-01 -7.54561600e-01 2.39421832e-02 1.77368147e+02] [ 7.54082815e-01 6.56229083e-01 2.68793233e-02 8.34826862e+01] [-3.59936621e-02 4.27135190e-04 9.99351927e-01 -7.26734382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.41, Y:83.52, Z:-7.27 [[ 6.53665008e-01 -7.56405313e-01 2.39386586e-02 1.77407370e+02] [ 7.55927645e-01 6.54102995e-01 2.68824619e-02 8.35248587e+01] [-3.59923853e-02 5.23769119e-04 9.99351927e-01 -7.27093281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:83.57, Z:-7.27 [[ 6.51063672e-01 -7.58645791e-01 2.39303141e-02 1.77445641e+02] [ 7.58169357e-01 6.51503001e-01 2.68898879e-02 8.35666946e+01] [-3.59905717e-02 6.36201712e-04 9.99351927e-01 -7.26907309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.48, Y:83.61, Z:-7.27 [[ 6.51006359e-01 -7.58695086e-01 2.39267218e-02 1.77484245e+02] [ 7.58218568e-01 6.51445596e-01 2.68930840e-02 8.36107199e+01] [-3.59906082e-02 6.34115991e-04 9.99351927e-01 -7.27071937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:83.65, Z:-7.27 [[ 6.50450292e-01 -7.59172112e-01 2.39190866e-02 1.77520339e+02] [ 7.58695667e-01 6.50889608e-01 2.68998731e-02 8.36544854e+01] [-3.59903184e-02 6.50277033e-04 9.99351927e-01 -7.27294400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321858064 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:177.56, Y:83.70, Z:-7.28 [[ 6.50201166e-01 -7.59385720e-01 2.39117524e-02 1.77557574e+02] [ 7.58909180e-01 6.50640379e-01 2.69063911e-02 8.36984506e+01] [-3.59902808e-02 6.52281547e-04 9.99351927e-01 -7.27643060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.59, Y:83.74, Z:-7.28 [[ 6.50880054e-01 -7.58804172e-01 2.39036270e-02 1.77594916e+02] [ 7.58326975e-01 6.51318553e-01 2.69136078e-02 8.37425301e+01] [-3.59910336e-02 6.09234656e-04 9.99351927e-01 -7.27925277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:83.79, Z:-7.28 [[ 6.51089100e-01 -7.58625049e-01 2.38959906e-02 1.77633050e+02] [ 7.58147482e-01 6.51527196e-01 2.69203862e-02 8.37865618e+01] [-3.59913671e-02 5.89115035e-04 9.99351927e-01 -7.28166740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:177.67, Y:83.83, Z:-7.28 [[ 6.52960926e-01 -7.57014778e-01 2.38883785e-02 1.77669958e+02] [ 7.56535884e-01 6.53397571e-01 2.69271393e-02 8.38311737e+01] [-3.59928509e-02 4.90045772e-04 9.99351927e-01 -7.28426830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.71, Y:83.87, Z:-7.29 [[ 6.54613112e-01 -7.55586781e-01 2.38807486e-02 1.77706981e+02] [ 7.55106687e-01 6.55048438e-01 2.69339043e-02 8.38740684e+01] [-3.59939491e-02 4.01226056e-04 9.99351927e-01 -7.28629131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621858064 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:83.92, Z:-7.29 [[ 6.58396241e-01 -7.52292695e-01 2.38765697e-02 1.77747909e+02] [ 7.51810289e-01 6.58829002e-01 2.69376083e-02 8.39168723e+01] [-3.59955426e-02 2.15030734e-04 9.99351927e-01 -7.28680734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68185806399998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:83.96, Z:-7.29 [[ 6.55908420e-01 -7.54462993e-01 2.38691685e-02 1.77782236e+02] [ 7.53981780e-01 6.56342508e-01 2.69441649e-02 8.39634839e+01] [-3.59947252e-02 3.24013498e-04 9.99351927e-01 -7.29309166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74185806399998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:84.01, Z:-7.29 [[ 6.54627896e-01 -7.55574599e-01 2.38609151e-02 1.77821567e+02] [ 7.55093857e-01 6.55062505e-01 2.69514719e-02 8.40062044e+01] [-3.59942383e-02 3.74045062e-04 9.99351927e-01 -7.29495222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.801858064 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:84.05, Z:-7.29 [[ 6.55265147e-01 -7.55022252e-01 2.38534256e-02 1.77864137e+02] [ 7.54540902e-01 6.55699083e-01 2.69580988e-02 8.40470571e+01] [-3.59946338e-02 3.33682685e-04 9.99351928e-01 -7.29467918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.861858064 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:177.90, Y:84.09, Z:-7.30 [[ 6.51687784e-01 -7.58112362e-01 2.38470103e-02 1.77898951e+02] [ 7.57632862e-01 6.52123763e-01 2.69637726e-02 8.40943902e+01] [-3.59927714e-02 4.95317441e-04 9.99351928e-01 -7.30168509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921858064 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:84.14, Z:-7.30 [[ 6.48936641e-01 -7.60468870e-01 2.38397355e-02 1.77937840e+02] [ 7.59990717e-01 6.49374097e-01 2.69702029e-02 8.41368515e+01] [-3.59909065e-02 6.16024811e-04 9.99351928e-01 -7.30333872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981858064 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:177.98, Y:84.18, Z:-7.31 [[ 6.47457471e-01 -7.61728846e-01 2.38325334e-02 1.77975579e+02] [ 7.61251310e-01 6.47895600e-01 2.69765656e-02 8.41808772e+01] [-3.59898218e-02 6.76368330e-04 9.99351928e-01 -7.30673655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041858064 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:84.22, Z:-7.31 [[ 6.47736737e-01 -7.61491609e-01 2.38253736e-02 1.78013763e+02] [ 7.61013680e-01 6.48174438e-01 2.69828877e-02 8.42243205e+01] [-3.59902407e-02 6.53627607e-04 9.99351928e-01 -7.30955729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101858064 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:84.27, Z:-7.31 [[ 6.47818285e-01 -7.61422456e-01 2.38183275e-02 1.78051667e+02] [ 7.60944252e-01 6.48255685e-01 2.69891060e-02 8.42686563e+01] [-3.59904775e-02 6.40383069e-04 9.99351928e-01 -7.31273824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:178.09, Y:84.31, Z:-7.31 [[ 6.47588749e-01 -7.61617912e-01 2.38111019e-02 1.78089889e+02] [ 7.61139606e-01 6.48026037e-01 2.69954792e-02 8.43118677e+01] [-3.59904545e-02 6.41604112e-04 9.99351928e-01 -7.31475641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:84.36, Z:-7.32 [[ 6.46611225e-01 -7.62448240e-01 2.38034873e-02 1.78128885e+02] [ 7.61970248e-01 6.47048856e-01 2.70021918e-02 8.43554561e+01] [-3.59897928e-02 6.77628831e-04 9.99351928e-01 -7.31657278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:178.16, Y:84.40, Z:-7.33 [[ 6.41928409e-01 -7.66395247e-01 2.37958437e-02 1.78163717e+02] [ 7.65919697e-01 6.42368692e-01 2.70089261e-02 8.44023827e+01] [-3.59852176e-02 8.87908446e-04 9.99351928e-01 -7.32848552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:178.21, Y:84.44, Z:-7.32 [[ 6.47817530e-01 -7.61424017e-01 2.37889226e-02 1.78205588e+02] [ 7.60944863e-01 6.48253889e-01 2.70150207e-02 8.44425767e+01] [-3.59911472e-02 6.01254492e-04 9.99351928e-01 -7.32202582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:84.49, Z:-7.32 [[ 6.49653276e-01 -7.59858479e-01 2.37847259e-02 1.78243570e+02] [ 7.59378138e-01 6.50088327e-01 2.70187150e-02 8.44861082e+01] [-3.59925724e-02 5.08804138e-04 9.99351928e-01 -7.32295770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:84.53, Z:-7.33 [[ 6.53426632e-01 -7.56616350e-01 2.37767770e-02 1.78281171e+02] [ 7.56133596e-01 6.53859004e-01 2.70257084e-02 8.45293786e+01] [-3.59947525e-02 3.19102279e-04 9.99351928e-01 -7.32635037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.32, Y:84.57, Z:-7.33 [[ 6.55212000e-01 -7.55070921e-01 2.37726388e-02 1.78317281e+02] [ 7.54587015e-01 6.55643082e-01 2.70293480e-02 8.45738696e+01] [-3.59954409e-02 2.28571374e-04 9.99351928e-01 -7.32854877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.581858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:178.36, Y:84.61, Z:-7.33 [[ 6.59983624e-01 -7.50903918e-01 2.37680824e-02 1.78362241e+02] [ 7.50417145e-01 6.60411467e-01 2.70333540e-02 8.46135918e+01] [-3.59961656e-02 -5.59438158e-06 9.99351928e-01 -7.32778222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.40, Y:84.66, Z:-7.33 [[ 6.56334985e-01 -7.54095334e-01 2.37616341e-02 1.78400387e+02] [ 7.53610436e-01 6.56764951e-01 2.70390207e-02 8.46569037e+01] [-3.59958078e-02 1.60360211e-04 9.99351928e-01 -7.33001007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:178.44, Y:84.70, Z:-7.33 [[ 6.53193317e-01 -7.56818342e-01 2.37589497e-02 1.78439268e+02] [ 7.56335151e-01 6.53625201e-01 2.70413793e-02 8.46997307e+01] [-3.59948601e-02 3.06480590e-04 9.99351928e-01 -7.33126922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761858064 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:84.75, Z:-7.34 [[ 6.45877381e-01 -7.63071644e-01 2.37502732e-02 1.78473770e+02] [ 7.62592353e-01 6.46313589e-01 2.70489976e-02 8.47470857e+01] [-3.59904474e-02 6.41441006e-04 9.99351928e-01 -7.33635885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821858064 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:178.51, Y:84.79, Z:-7.34 [[ 6.43720327e-01 -7.64892429e-01 2.37426373e-02 1.78511383e+02] [ 7.64414125e-01 6.44157616e-01 2.70556985e-02 8.47916079e+01] [-3.59886996e-02 7.32904283e-04 9.99351928e-01 -7.33824988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:84.84, Z:-7.34 [[ 6.42083324e-01 -7.66267370e-01 2.37344314e-02 1.78548427e+02] [ 7.65789736e-01 6.42521346e-01 2.70628952e-02 8.48363831e+01] [-3.59872923e-02 7.98950274e-04 9.99351928e-01 -7.34021818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:84.88, Z:-7.34 [[ 6.41136166e-01 -7.67060111e-01 2.37318873e-02 1.78585531e+02] [ 7.66582937e-01 6.41574688e-01 2.70651259e-02 8.48805649e+01] [-3.59863567e-02 8.40028822e-04 9.99351928e-01 -7.34193082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001858064 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:178.62, Y:84.93, Z:-7.34 [[ 6.40587579e-01 -7.67518544e-01 2.37242033e-02 1.78622512e+02] [ 7.67041434e-01 6.41026172e-01 2.70718598e-02 8.49257865e+01] [-3.59859896e-02 8.55549826e-04 9.99351928e-01 -7.34368811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:178.66, Y:84.97, Z:-7.34 [[ 6.41102356e-01 -7.67088844e-01 2.37165254e-02 1.78659947e+02] [ 7.66611192e-01 6.41540358e-01 2.70785844e-02 8.49705943e+01] [-3.59867882e-02 8.21209504e-04 9.99351928e-01 -7.34441088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:178.70, Y:85.01, Z:-7.35 [[ 6.41344762e-01 -7.66886426e-01 2.37087898e-02 1.78697782e+02] [ 7.66408385e-01 6.41782339e-01 2.70853556e-02 8.50140677e+01] [-3.59872741e-02 7.99564346e-04 9.99351928e-01 -7.34642997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.74, Y:85.06, Z:-7.34 [[ 6.44536455e-01 -7.64206121e-01 2.37015384e-02 1.78738621e+02] [ 7.63726027e-01 6.44971779e-01 2.70916996e-02 8.50572403e+01] [-3.59904661e-02 6.39893703e-04 9.99351928e-01 -7.34357866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:85.10, Z:-7.35 [[ 6.43940591e-01 -7.64708504e-01 2.36943131e-02 1.78772395e+02] [ 7.64228517e-01 6.44376032e-01 2.70980173e-02 8.51045504e+01] [-3.59901318e-02 6.58356498e-04 9.99351928e-01 -7.34906732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.301858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:85.15, Z:-7.35 [[ 6.45794943e-01 -7.63143232e-01 2.36917387e-02 1.78812289e+02] [ 7.62662107e-01 6.46229128e-01 2.71002679e-02 8.51482108e+01] [-3.59916777e-02 5.67575403e-04 9.99351928e-01 -7.35022298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.85, Y:85.19, Z:-7.35 [[ 6.44611513e-01 -7.64143329e-01 2.36848198e-02 1.78847348e+02] [ 7.63662656e-01 6.45046197e-01 2.71063135e-02 8.51945908e+01] [-3.59909116e-02 6.14170671e-04 9.99351929e-01 -7.35451502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:178.88, Y:85.24, Z:-7.36 [[ 6.43785807e-01 -7.64839236e-01 2.36807493e-02 1.78884519e+02] [ 7.64358902e-01 6.44220866e-01 2.71098691e-02 8.52393741e+01] [-3.59903244e-02 6.47642542e-04 9.99351929e-01 -7.35656184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.92, Y:85.28, Z:-7.36 [[ 6.41341221e-01 -7.66890484e-01 2.36732869e-02 1.78922329e+02] [ 7.66411301e-01 6.41777547e-01 2.71163840e-02 8.52835924e+01] [-3.59882809e-02 7.52619840e-04 9.99351929e-01 -7.35774917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:85.33, Z:-7.36 [[ 6.39160366e-01 -7.68709280e-01 2.36657698e-02 1.78960006e+02] [ 7.68231096e-01 6.39597787e-01 2.71229430e-02 8.53281475e+01] [-3.59862320e-02 8.44870090e-04 9.99351929e-01 -7.35961081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:179.00, Y:85.37, Z:-7.36 [[ 6.36583257e-01 -7.70845017e-01 2.36583162e-02 1.78995786e+02] [ 7.70368059e-01 6.37022014e-01 2.71294429e-02 8.53729778e+01] [-3.59834641e-02 9.55462010e-04 9.99351929e-01 -7.36202669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.03, Y:85.42, Z:-7.36 [[ 6.35862294e-01 -7.71439970e-01 2.36541021e-02 1.79033441e+02] [ 7.70963286e-01 6.36301348e-01 2.71331167e-02 8.54185139e+01] [-3.59827078e-02 9.83518471e-04 9.99351929e-01 -7.36340777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:179.07, Y:85.46, Z:-7.37 [[ 6.36646066e-01 -7.70793477e-01 2.36474496e-02 1.79069466e+02] [ 7.70316133e-01 6.37084402e-01 2.71389134e-02 8.54625880e+01] [-3.59839187e-02 9.38129458e-04 9.99351929e-01 -7.36675900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.10, Y:85.51, Z:-7.37 [[ 6.38878467e-01 -7.68944280e-01 2.36431706e-02 1.79104682e+02] [ 7.68465528e-01 6.39315266e-01 2.71426407e-02 8.55086106e+01] [-3.59866182e-02 8.28112917e-04 9.99351929e-01 -7.36926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:179.14, Y:85.55, Z:-7.37 [[ 6.40462749e-01 -7.67625449e-01 2.36355061e-02 1.79141307e+02] [ 7.67145552e-01 6.40898289e-01 2.71493132e-02 8.55536823e+01] [-3.59884591e-02 7.43749594e-04 9.99351929e-01 -7.37130445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.18, Y:85.60, Z:-7.38 [[ 6.42561193e-01 -7.65869987e-01 2.36278770e-02 1.79177185e+02] [ 7.65388656e-01 6.42995147e-01 2.71559511e-02 8.55980527e+01] [-3.59905382e-02 6.35148694e-04 9.99351929e-01 -7.37516362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:85.64, Z:-7.38 [[ 6.44158549e-01 -7.64527204e-01 2.36202702e-02 1.79214592e+02] [ 7.64044726e-01 6.44591228e-01 2.71625659e-02 8.56427902e+01] [-3.59919395e-02 5.49943868e-04 9.99351929e-01 -7.37810258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:85.69, Z:-7.38 [[ 6.45713981e-01 -7.63214191e-01 2.36125690e-02 1.79253115e+02] [ 7.62730588e-01 6.46145402e-01 2.71692590e-02 8.56878467e+01] [-3.59931169e-02 4.66458226e-04 9.99351929e-01 -7.37874175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.29, Y:85.73, Z:-7.38 [[ 6.48667114e-01 -7.60706089e-01 2.36055278e-02 1.79288902e+02] [ 7.60220596e-01 6.49096406e-01 2.71753752e-02 8.57324966e+01] [-3.59947367e-02 3.17636270e-04 9.99351929e-01 -7.38167531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.141858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:85.78, Z:-7.38 [[ 6.51807335e-01 -7.58017272e-01 2.36011177e-02 1.79326212e+02] [ 7.57529869e-01 6.52234458e-01 2.71792047e-02 8.57766708e+01] [-3.59957688e-02 1.62946605e-04 9.99351929e-01 -7.38462375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.36, Y:85.82, Z:-7.39 [[ 6.53190091e-01 -7.56826305e-01 2.35934079e-02 1.79364473e+02] [ 7.56337881e-01 6.53616047e-01 2.71858957e-02 8.58207590e+01] [-3.59960310e-02 8.70304383e-05 9.99351929e-01 -7.38658934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:179.40, Y:85.87, Z:-7.39 [[ 6.54146106e-01 -7.56000387e-01 2.35857274e-02 1.79401164e+02] [ 7.55511186e-01 6.54571167e-01 2.71925575e-02 8.58653414e+01] [-3.59961211e-02 3.13752676e-05 9.99351929e-01 -7.38903594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.44, Y:85.91, Z:-7.39 [[ 6.53605455e-01 -7.56468099e-01 2.35780656e-02 1.79439296e+02] [ 7.55978961e-01 6.54030591e-01 2.71991992e-02 8.59094936e+01] [-3.59961027e-02 4.69766070e-05 9.99351929e-01 -7.39109775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:179.48, Y:85.95, Z:-7.39 [[ 6.51393419e-01 -7.58373949e-01 2.35704918e-02 1.79478763e+02] [ 7.57885818e-01 6.51819710e-01 2.72057610e-02 8.59522237e+01] [-3.59958515e-02 1.42087782e-04 9.99351929e-01 -7.39388948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:85.99, Z:-7.40 [[ 6.48551661e-01 -7.60805851e-01 2.35626832e-02 1.79516606e+02] [ 7.60319073e-01 6.48979496e-01 2.72125223e-02 8.59944731e+01] [-3.59951444e-02 2.66430914e-04 9.99351929e-01 -7.39736574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:179.56, Y:86.04, Z:-7.40 [[ 6.44180299e-01 -7.64510787e-01 2.35584084e-02 1.79556315e+02] [ 7.64026334e-01 6.44610765e-01 2.72162226e-02 8.60355494e+01] [-3.59930994e-02 4.67090021e-04 9.99351929e-01 -7.40023894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:86.08, Z:-7.40 [[ 6.39982626e-01 -7.68028278e-01 2.35542587e-02 1.79597397e+02] [ 7.67546058e-01 6.40415592e-01 2.72198135e-02 8.60769518e+01] [-3.59901010e-02 6.58770656e-04 9.99351929e-01 -7.40035552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621858064 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:179.64, Y:86.12, Z:-7.40 [[ 6.38770603e-01 -7.69036848e-01 2.35466359e-02 1.79636438e+02] [ 7.68555069e-01 6.39204059e-01 2.72264060e-02 8.61201923e+01] [-3.59892147e-02 7.05458564e-04 9.99351929e-01 -7.40200788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:86.16, Z:-7.40 [[ 6.41570980e-01 -7.66702416e-01 2.35389646e-02 1.79678881e+02] [ 7.66218817e-01 6.42002404e-01 2.72330367e-02 8.61614824e+01] [-3.59917069e-02 5.64071538e-04 9.99351929e-01 -7.40050697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74185806399998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:86.21, Z:-7.41 [[ 6.39800813e-01 -7.68180426e-01 2.35319597e-02 1.79714538e+02] [ 7.67697600e-01 6.40233103e-01 2.72390882e-02 8.62073374e+01] [-3.59904740e-02 6.37838239e-04 9.99351929e-01 -7.40547952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.801858064 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:86.25, Z:-7.41 [[ 6.37840384e-01 -7.69809118e-01 2.35280097e-02 1.79750935e+02] [ 7.69327270e-01 6.38273764e-01 2.72424997e-02 8.62508683e+01] [-3.59888360e-02 7.24373027e-04 9.99351929e-01 -7.40649585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.861858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:179.79, Y:86.29, Z:-7.40 [[ 6.41136857e-01 -7.67065993e-01 2.35221756e-02 1.79794488e+02] [ 7.66582106e-01 6.41567959e-01 2.72475362e-02 8.62906262e+01] [-3.59917326e-02 5.62279180e-04 9.99351930e-01 -7.40427825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:86.33, Z:-7.40 [[ 6.42841381e-01 -7.65638219e-01 2.35175861e-02 1.79832586e+02] [ 7.65153230e-01 6.43271242e-01 2.72514968e-02 8.63345344e+01] [-3.59929743e-02 4.76167127e-04 9.99351930e-01 -7.40340136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:86.38, Z:-7.41 [[ 6.42163305e-01 -7.66207297e-01 2.35088774e-02 1.79867321e+02] [ 7.65722414e-01 6.42593286e-01 2.72590074e-02 8.63810710e+01] [-3.59926972e-02 4.96540010e-04 9.99351930e-01 -7.41032188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041858064 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:179.90, Y:86.43, Z:-7.42 [[ 6.39570331e-01 -7.68373119e-01 2.35062289e-02 1.79899301e+02] [ 7.67889608e-01 6.40001854e-01 2.72612911e-02 8.64303888e+01] [-3.59908733e-02 6.14675899e-04 9.99351930e-01 -7.41545965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101858064 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:179.94, Y:86.47, Z:-7.42 [[ 6.39683628e-01 -7.68278931e-01 2.35019097e-02 1.79936340e+02] [ 7.67795220e-01 6.40114927e-01 2.72650142e-02 8.64744539e+01] [-3.59910592e-02 6.03670697e-04 9.99351930e-01 -7.41754718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:86.52, Z:-7.41 [[ 6.41907131e-01 -7.66422376e-01 2.34942024e-02 1.79978221e+02] [ 7.65937174e-01 6.42336752e-01 2.72716539e-02 8.65163140e+01] [-3.59927954e-02 4.89213888e-04 9.99351930e-01 -7.41210727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221858064 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:86.56, Z:-7.42 [[ 6.39734535e-01 -7.68237013e-01 2.34865234e-02 1.80010406e+02] [ 7.67752787e-01 6.40165256e-01 2.72782655e-02 8.65640573e+01] [-3.59914295e-02 5.80995312e-04 9.99351930e-01 -7.42194088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:86.61, Z:-7.42 [[ 6.40564662e-01 -7.67545058e-01 2.34839821e-02 1.80047687e+02] [ 7.67060287e-01 6.40994769e-01 2.72804531e-02 8.66087454e+01] [-3.59920867e-02 5.38735800e-04 9.99351930e-01 -7.42436838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341858064 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:180.09, Y:86.65, Z:-7.42 [[ 6.42788860e-01 -7.65683569e-01 2.34766720e-02 1.80090045e+02] [ 7.65197322e-01 6.43217297e-01 2.72867425e-02 8.66510412e+01] [-3.59936119e-02 4.24672454e-04 9.99351930e-01 -7.41759603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.12, Y:86.70, Z:-7.43 [[ 6.39393187e-01 -7.68521644e-01 2.34699057e-02 1.80123279e+02] [ 7.68037085e-01 6.39823533e-01 2.72925611e-02 8.66987213e+01] [-3.59915219e-02 5.75080374e-04 9.99351930e-01 -7.42890800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46185806399998 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:86.74, Z:-7.43 [[ 6.38552492e-01 -7.69220425e-01 2.34660085e-02 1.80159706e+02] [ 7.68736214e-01 6.38983229e-01 2.72959115e-02 8.67420643e+01] [-3.59909585e-02 6.09298182e-04 9.99351930e-01 -7.43145970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52185806399999 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:180.20, Y:86.79, Z:-7.43 [[ 6.35772347e-01 -7.71519972e-01 2.34617808e-02 1.80196691e+02] [ 7.71037185e-01 6.36204680e-01 2.72995449e-02 8.67864362e+01] [-3.59886389e-02 7.33609677e-04 9.99351930e-01 -7.43482071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.581858064 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:86.83, Z:-7.44 [[ 6.32876213e-01 -7.73897666e-01 2.34542410e-02 1.80234031e+02] [ 7.73416263e-01 6.33310086e-01 2.73060212e-02 8.68307458e+01] [-3.59858734e-02 8.58560150e-04 9.99351930e-01 -7.43694319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.641858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:180.27, Y:86.88, Z:-7.44 [[ 6.28405749e-01 -7.77532296e-01 2.34466145e-02 1.80271820e+02] [ 7.77053157e-01 6.28842122e-01 2.73125682e-02 8.68750788e+01] [-3.59806226e-02 1.05589092e-03 9.99351930e-01 -7.43812592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701858064 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:180.31, Y:86.92, Z:-7.44 [[ 6.25866464e-01 -7.79577955e-01 2.34389067e-02 1.80307572e+02] [ 7.79099995e-01 6.26304127e-01 2.73191812e-02 8.69199997e+01] [-3.59773154e-02 1.16309273e-03 9.99351930e-01 -7.44014623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761858064 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:86.97, Z:-7.44 [[ 6.24534522e-01 -7.80645531e-01 2.34347067e-02 1.80342984e+02] [ 7.80168185e-01 6.24972854e-01 2.73227835e-02 8.69661693e+01] [-3.59754644e-02 1.21899108e-03 9.99351930e-01 -7.44117118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821858064 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:180.38, Y:87.01, Z:-7.44 [[ 6.25692657e-01 -7.79717809e-01 2.34272525e-02 1.80378498e+02] [ 7.79239575e-01 6.26130020e-01 2.73291734e-02 8.70123998e+01] [-3.59775493e-02 1.15577912e-03 9.99351930e-01 -7.44282066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881858064 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:180.41, Y:87.06, Z:-7.45 [[ 6.30945402e-01 -7.75473667e-01 2.34199018e-02 1.80412637e+02] [ 7.74992255e-01 6.31379265e-01 2.73354712e-02 8.70605976e+01] [-3.59847785e-02 9.03052667e-04 9.99351930e-01 -7.44619732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941858064 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:180.45, Y:87.11, Z:-7.45 [[ 6.35694195e-01 -7.71585844e-01 2.34131486e-02 1.80447158e+02] [ 7.71101565e-01 6.36124856e-01 2.73412542e-02 8.71077045e+01] [-3.59898105e-02 6.73238884e-04 9.99351930e-01 -7.44943690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:180.48, Y:87.16, Z:-7.45 [[ 6.41511536e-01 -7.66756079e-01 2.34107759e-02 1.80482799e+02] [ 7.66268483e-01 6.41938437e-01 2.73432857e-02 8.71555081e+01] [-3.59939074e-02 3.97906516e-04 9.99351930e-01 -7.44756147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:87.20, Z:-7.45 [[ 6.44373473e-01 -7.64352699e-01 2.34046872e-02 1.80517689e+02] [ 7.63863321e-01 6.44798330e-01 2.73484963e-02 8.72024758e+01] [-3.59952002e-02 2.55336571e-04 9.99351930e-01 -7.44757185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.55, Y:87.25, Z:-7.45 [[ 6.47628135e-01 -7.61597246e-01 2.33972934e-02 1.80551300e+02] [ 7.61105832e-01 6.48050636e-01 2.73548205e-02 8.72505575e+01] [-3.59959868e-02 9.20650686e-05 9.99351930e-01 -7.44917334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:87.30, Z:-7.45 [[ 6.47971831e-01 -7.61305073e-01 2.33899903e-02 1.80586785e+02] [ 7.60813243e-01 6.48393847e-01 2.73610636e-02 8.72981535e+01] [-3.59960423e-02 6.62159161e-05 9.99351930e-01 -7.45070538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:87.35, Z:-7.46 [[ 6.48507174e-01 -7.60849302e-01 2.33834282e-02 1.80621178e+02] [ 7.60356973e-01 6.48928608e-01 2.73666706e-02 8.73451580e+01] [-3.59960877e-02 3.22704631e-05 9.99351930e-01 -7.45543624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:87.39, Z:-7.46 [[ 6.49437085e-01 -7.60055784e-01 2.33811256e-02 1.80656522e+02] [ 7.59562870e-01 6.49857834e-01 2.73686377e-02 8.73926042e+01] [-3.59960990e-02 -1.47734813e-05 9.99351930e-01 -7.45638405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.69, Y:87.44, Z:-7.47 [[ 6.47629687e-01 -7.61596625e-01 2.33745415e-02 1.80690091e+02] [ 7.61104509e-01 6.48051369e-01 2.73742598e-02 8.74417194e+01] [-3.59960475e-02 6.20856773e-05 9.99351930e-01 -7.46775106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.73, Y:87.48, Z:-7.46 [[ 6.48031073e-01 -7.61255326e-01 2.33678613e-02 1.80730461e+02] [ 7.60762782e-01 6.48452255e-01 2.73799611e-02 8.74836370e+01] [-3.59960836e-02 3.43336372e-05 9.99351930e-01 -7.46047244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:87.53, Z:-7.46 [[ 6.42901191e-01 -7.65592661e-01 2.33652798e-02 1.80768849e+02] [ 7.65102878e-01 6.43325581e-01 2.73821639e-02 8.75279469e+01] [-3.59950659e-02 2.72817074e-04 9.99351930e-01 -7.46232794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.81, Y:87.57, Z:-7.46 [[ 6.37661094e-01 -7.69962796e-01 2.33585483e-02 1.80807077e+02] [ 7.69475711e-01 6.38088578e-01 2.73879051e-02 8.75727943e+01] [-3.59924908e-02 5.09633997e-04 9.99351930e-01 -7.46470403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.85, Y:87.62, Z:-7.47 [[ 6.34215159e-01 -7.72803869e-01 2.33519204e-02 1.80845488e+02] [ 7.72318490e-01 6.34644580e-01 2.73935551e-02 8.76174638e+01] [-3.59900151e-02 6.61712063e-04 9.99351930e-01 -7.46561414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:87.66, Z:-7.47 [[ 6.29428694e-01 -7.76707494e-01 2.33449782e-02 1.80882766e+02] [ 7.76224559e-01 6.29860861e-01 2.73994700e-02 8.76610290e+01] [-3.59854617e-02 8.74932808e-04 9.99351931e-01 -7.47045779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:87.71, Z:-7.47 [[ 6.26759358e-01 -7.78863304e-01 2.33379471e-02 1.80920474e+02] [ 7.78381633e-01 6.27192932e-01 2.74054576e-02 8.77068427e+01] [-3.59825007e-02 9.89202320e-04 9.99351931e-01 -7.47205388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.96, Y:87.75, Z:-7.47 [[ 6.25808199e-01 -7.79627971e-01 2.33307704e-02 1.80957960e+02] [ 7.79146602e-01 6.26242109e-01 2.74115658e-02 8.77510624e+01] [-3.59815343e-02 1.02370784e-03 9.99351931e-01 -7.47441478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.99, Y:87.80, Z:-7.48 [[ 6.25744828e-01 -7.79678906e-01 2.33283693e-02 1.80994117e+02] [ 7.79197497e-01 6.26178693e-01 2.74136091e-02 8.77978252e+01] [-3.59815406e-02 1.02348287e-03 9.99351931e-01 -7.47591023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:181.03, Y:87.84, Z:-7.48 [[ 6.26939001e-01 -7.78719199e-01 2.33216391e-02 1.81029479e+02] [ 7.78236912e-01 6.27371891e-01 2.74193336e-02 8.78439864e+01] [-3.59833023e-02 9.59510773e-04 9.99351931e-01 -7.47855944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.06, Y:87.89, Z:-7.48 [[ 6.29400024e-01 -7.76731661e-01 2.33138945e-02 1.81063138e+02] [ 7.76247763e-01 6.29831112e-01 2.74259169e-02 8.78914327e+01] [-3.59863941e-02 8.35485717e-04 9.99351931e-01 -7.48156636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:87.94, Z:-7.48 [[ 6.30594816e-01 -7.75762209e-01 2.33060811e-02 1.81096236e+02] [ 7.75277403e-01 6.31024883e-01 2.74325550e-02 8.79387223e+01] [-3.59878566e-02 7.69851038e-04 9.99351931e-01 -7.48388451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.13, Y:87.99, Z:-7.49 [[ 6.30068837e-01 -7.76189567e-01 2.33027227e-02 1.81128262e+02] [ 7.75704948e-01 6.30499114e-01 2.74354076e-02 8.79873449e+01] [-3.59874231e-02 7.89841952e-04 9.99351931e-01 -7.48745201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.16, Y:88.03, Z:-7.49 [[ 6.30306899e-01 -7.75996494e-01 2.32949172e-02 1.81164425e+02] [ 7.75511499e-01 6.30736752e-01 2.74420335e-02 8.80324599e+01] [-3.59878822e-02 7.68573092e-04 9.99351931e-01 -7.48965945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.20, Y:88.08, Z:-7.49 [[ 6.31406159e-01 -7.75102556e-01 2.32870992e-02 1.81198303e+02] [ 7.74616708e-01 6.31835047e-01 2.74486662e-02 8.80808572e+01] [-3.59891368e-02 7.07319180e-04 9.99351931e-01 -7.49234429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:88.13, Z:-7.50 [[ 6.32945758e-01 -7.73846044e-01 2.32802033e-02 1.81231748e+02] [ 7.73359129e-01 6.33373434e-01 2.74545136e-02 8.81286588e+01] [-3.59906291e-02 6.26739887e-04 9.99351931e-01 -7.49563618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.26, Y:88.18, Z:-7.50 [[ 6.37428812e-01 -7.70157715e-01 2.32723750e-02 1.81264042e+02] [ 7.69668083e-01 6.37853375e-01 2.74611478e-02 8.81784571e+01] [-3.59937778e-02 4.07477470e-04 9.99351931e-01 -7.49866723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.30, Y:88.23, Z:-7.50 [[ 6.42249459e-01 -7.66142508e-01 2.32656376e-02 1.81297062e+02] [ 7.65650014e-01 6.42670699e-01 2.74668547e-02 8.82271463e+01] [-3.59956685e-02 1.72763222e-04 9.99351931e-01 -7.50078812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:88.27, Z:-7.50 [[ 6.45328334e-01 -7.63551157e-01 2.32588259e-02 1.81331813e+02] [ 7.63056763e-01 6.45747343e-01 2.74726216e-02 8.82746570e+01] [-3.59960770e-02 1.89433072e-05 9.99351931e-01 -7.50309041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.37, Y:88.32, Z:-7.51 [[ 6.48281164e-01 -7.61045909e-01 2.32520540e-02 1.81365009e+02] [ 7.60549691e-01 6.48698010e-01 2.74783520e-02 8.83218112e+01] [-3.59958485e-02 -1.29355565e-04 9.99351931e-01 -7.50755809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:88.37, Z:-7.51 [[ 6.49971321e-01 -7.59603179e-01 2.32441867e-02 1.81401151e+02] [ 7.59105798e-01 6.50386778e-01 2.74850053e-02 8.83678827e+01] [-3.59954092e-02 -2.19668286e-04 9.99351931e-01 -7.51059921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:88.41, Z:-7.51 [[ 6.50058816e-01 -7.59528514e-01 2.32373194e-02 1.81437157e+02] [ 7.59030877e-01 6.50473968e-01 2.74908101e-02 8.84123718e+01] [-3.59953255e-02 -2.32800531e-04 9.99351931e-01 -7.51285105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.48, Y:88.46, Z:-7.52 [[ 6.47849630e-01 -7.61413837e-01 2.32341606e-02 1.81475382e+02] [ 7.60917313e-01 6.48266112e-01 2.74934796e-02 8.84569456e+01] [-3.59958347e-02 -1.32365484e-04 9.99351931e-01 -7.51730316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.52, Y:88.50, Z:-7.52 [[ 6.42502007e-01 -7.65931891e-01 2.32273315e-02 1.81515860e+02] [ 7.65438087e-01 6.42921711e-01 2.74992478e-02 8.84989784e+01] [-3.59959066e-02 1.10762344e-04 9.99351931e-01 -7.52064251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:88.54, Z:-7.52 [[ 6.38419331e-01 -7.69338297e-01 2.32237484e-02 1.81556690e+02] [ 7.68846623e-01 6.38841526e-01 2.75022735e-02 8.85412640e+01] [-3.59948471e-02 2.97517522e-04 9.99351931e-01 -7.52337276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.60, Y:88.58, Z:-7.53 [[ 6.33559463e-01 -7.73345573e-01 2.32170739e-02 1.81598984e+02] [ 7.72856362e-01 6.33984510e-01 2.75079069e-02 8.85813858e+01] [-3.59923832e-02 5.15568525e-04 9.99351931e-01 -7.52852857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921858064 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:88.62, Z:-7.53 [[ 6.32794556e-01 -7.73971785e-01 2.32104447e-02 1.81640550e+02] [ 7.73482790e-01 6.33219852e-01 2.75134993e-02 8.86223097e+01] [-3.59919865e-02 5.42486968e-04 9.99351931e-01 -7.53106792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.68, Y:88.66, Z:-7.53 [[ 6.33910323e-01 -7.73058378e-01 2.32044541e-02 1.81680889e+02] [ 7.72568585e-01 6.34334700e-01 2.75185507e-02 8.86631887e+01] [-3.59928366e-02 4.82738889e-04 9.99351931e-01 -7.52997164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:88.70, Z:-7.53 [[ 6.35980453e-01 -7.71356432e-01 2.31973783e-02 1.81720599e+02] [ 7.70865285e-01 6.36403263e-01 2.75245141e-02 8.87043741e+01] [-3.59940982e-02 3.77000661e-04 9.99351931e-01 -7.52986965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:88.75, Z:-7.53 [[ 6.37631451e-01 -7.69992336e-01 2.31934296e-02 1.81759486e+02] [ 7.69500164e-01 6.38053066e-01 2.75278411e-02 8.87468675e+01] [-3.59948655e-02 2.94730634e-04 9.99351931e-01 -7.53125775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.80, Y:88.79, Z:-7.53 [[ 6.42093975e-01 -7.66275225e-01 2.31863525e-02 1.81803202e+02] [ 7.65780397e-01 6.42512470e-01 2.75338007e-02 8.87857678e+01] [-3.59959900e-02 7.63666604e-05 9.99351931e-01 -7.52847297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.84, Y:88.83, Z:-7.53 [[ 6.42719847e-01 -7.65750582e-01 2.31785296e-02 1.81839689e+02] [ 7.65255175e-01 6.43137656e-01 2.75403846e-02 8.88315192e+01] [-3.59960508e-02 3.67379459e-05 9.99351931e-01 -7.53268772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:88.87, Z:-7.53 [[ 6.45807984e-01 -7.63148164e-01 2.31717104e-02 1.81879163e+02] [ 7.62650867e-01 6.46223542e-01 2.75461209e-02 8.88738849e+01] [-3.59958764e-02 -1.17579748e-04 9.99351932e-01 -7.53454622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:88.92, Z:-7.54 [[ 6.45374840e-01 -7.63514754e-01 2.31632479e-02 1.81915782e+02] [ 7.63017438e-01 6.45790375e-01 2.75532352e-02 8.89178351e+01] [-3.59959041e-02 -1.08202703e-04 9.99351932e-01 -7.53626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.95, Y:88.96, Z:-7.54 [[ 6.44251221e-01 -7.64463208e-01 2.31595915e-02 1.81953578e+02] [ 7.63966394e-01 6.44667356e-01 2.75563081e-02 8.89614916e+01] [-3.59960164e-02 -6.00355769e-05 9.99351932e-01 -7.53774283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:89.01, Z:-7.54 [[ 6.40834519e-01 -7.67329862e-01 2.31517235e-02 1.81990000e+02] [ 7.66834669e-01 6.41252583e-01 2.75629170e-02 8.90050724e+01] [-3.59959517e-02 9.02755876e-05 9.99351932e-01 -7.53944822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:89.05, Z:-7.54 [[ 6.36167988e-01 -7.71203245e-01 2.31483446e-02 1.82027140e+02] [ 7.70710495e-01 6.36588927e-01 2.75657544e-02 8.90494884e+01] [-3.59947791e-02 3.04221620e-04 9.99351932e-01 -7.54234642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.06, Y:89.10, Z:-7.55 [[ 6.34484006e-01 -7.72589510e-01 2.31407722e-02 1.82062717e+02] [ 7.72097448e-01 6.34905749e-01 2.75721098e-02 8.90954960e+01] [-3.59941321e-02 3.72868504e-04 9.99351932e-01 -7.54519510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.10, Y:89.14, Z:-7.55 [[ 6.32568804e-01 -7.74158637e-01 2.31325076e-02 1.82097812e+02] [ 7.73667367e-01 6.32991470e-01 2.75790419e-02 8.91419686e+01] [-3.59932335e-02 4.51224740e-04 9.99351932e-01 -7.54797810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.13, Y:89.19, Z:-7.55 [[ 6.30557970e-01 -7.75797581e-01 2.31248907e-02 1.82132163e+02] [ 7.75307175e-01 6.30981639e-01 2.75854272e-02 8.91882937e+01] [-3.59920891e-02 5.34682695e-04 9.99351932e-01 -7.54975351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:89.23, Z:-7.55 [[ 6.29924962e-01 -7.76311884e-01 2.31171164e-02 1.82167314e+02] [ 7.75821586e-01 6.30348754e-01 2.75919406e-02 8.92332868e+01] [-3.59917969e-02 5.53905731e-04 9.99351932e-01 -7.55126196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.20, Y:89.28, Z:-7.55 [[ 6.28952668e-01 -7.77099926e-01 2.31137772e-02 1.82200627e+02] [ 7.76610056e-01 6.29376955e-01 2.75947376e-02 8.92805626e+01] [-3.59911472e-02 5.94607976e-04 9.99351932e-01 -7.55392067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881858064 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:182.24, Y:89.33, Z:-7.56 [[ 6.28116643e-01 -7.77776054e-01 2.31061155e-02 1.82236377e+02] [ 7.77286405e-01 6.28541185e-01 2.76011515e-02 8.93263308e+01] [-3.59906599e-02 6.23326831e-04 9.99351932e-01 -7.55758318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941858064 meters Centerline goodness : 0.994996 with order 1 Centerline is valid? [True, True] Translation: X:182.27, Y:89.37, Z:-7.56 [[ 6.24828373e-01 -7.80420375e-01 2.30985206e-02 1.82268755e+02] [ 7.79932288e-01 6.25254710e-01 2.76075060e-02 8.93739205e+01] [-3.59879190e-02 7.65329013e-04 9.99351932e-01 -7.56371016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:89.42, Z:-7.56 [[ 6.29398989e-01 -7.76739215e-01 2.30890484e-02 1.82307798e+02] [ 7.76248343e-01 6.29822116e-01 2.76154256e-02 8.94176351e+01] [-3.59919774e-02 5.41714629e-04 9.99351932e-01 -7.55771876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:89.47, Z:-7.56 [[ 6.28378125e-01 -7.77565612e-01 2.30792245e-02 1.82339053e+02] [ 7.77074995e-01 6.28801548e-01 2.76236333e-02 8.94666045e+01] [-3.59914395e-02 5.76201379e-04 9.99351932e-01 -7.56460923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:89.51, Z:-7.57 [[ 6.30939132e-01 -7.75489054e-01 2.30767919e-02 1.82373022e+02] [ 7.74996969e-01 6.31360848e-01 2.76256654e-02 8.95140982e+01] [-3.59931841e-02 4.54330389e-04 9.99351932e-01 -7.56684094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.41, Y:89.56, Z:-7.57 [[ 6.32403489e-01 -7.74295579e-01 2.30691050e-02 1.82408745e+02] [ 7.73802464e-01 6.32824000e-01 2.76320830e-02 8.95600673e+01] [-3.59940830e-02 3.76304616e-04 9.99351932e-01 -7.57032733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.45, Y:89.60, Z:-7.57 [[ 6.36122082e-01 -7.71243715e-01 2.30614144e-02 1.82445853e+02] [ 7.70748349e-01 6.36539940e-01 2.76384999e-02 8.96049940e+01] [-3.59955307e-02 1.93086981e-04 9.99351932e-01 -7.56899947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:89.65, Z:-7.57 [[ 6.36851789e-01 -7.70641376e-01 2.30579346e-02 1.82481504e+02] [ 7.70145511e-01 6.37269052e-01 2.76414028e-02 8.96517252e+01] [-3.59957168e-02 1.54488024e-04 9.99351932e-01 -7.57032329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:89.70, Z:-7.57 [[ 6.37520731e-01 -7.70088292e-01 2.30508198e-02 1.82518748e+02] [ 7.69591850e-01 6.37937309e-01 2.76473347e-02 8.96974342e+01] [-3.59958667e-02 1.13974042e-04 9.99351932e-01 -7.57238896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.56, Y:89.74, Z:-7.57 [[ 6.37884786e-01 -7.69786980e-01 2.30435626e-02 1.82556375e+02] [ 7.69290122e-01 6.38300868e-01 2.76533821e-02 8.97412483e+01] [-3.59959395e-02 8.75133117e-05 9.99351932e-01 -7.57411676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:89.78, Z:-7.58 [[ 6.39719648e-01 -7.68263070e-01 2.30353420e-02 1.82594900e+02] [ 7.67764975e-01 6.40134248e-01 2.76602282e-02 8.97837253e+01] [-3.59960432e-02 -9.06266010e-06 9.99351932e-01 -7.57687003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:182.63, Y:89.83, Z:-7.58 [[ 6.42460901e-01 -7.65972336e-01 2.30298004e-02 1.82634913e+02] [ 7.65472597e-01 6.42873518e-01 2.76648414e-02 8.98259955e+01] [-3.59957519e-02 -1.44897813e-04 9.99351932e-01 -7.58032559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:89.87, Z:-7.58 [[ 6.43950820e-01 -7.64720431e-01 2.30217993e-02 1.82675198e+02] [ 7.64219653e-01 6.44362174e-01 2.76714980e-02 8.98661349e+01] [-3.59953365e-02 -2.25372406e-04 9.99351932e-01 -7.58082382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:89.91, Z:-7.58 [[ 6.44067529e-01 -7.64622242e-01 2.30183658e-02 1.82715535e+02] [ 7.64121299e-01 6.44478682e-01 2.76743539e-02 8.99085772e+01] [-3.59952725e-02 -2.35329167e-04 9.99351932e-01 -7.58271666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.76, Y:89.95, Z:-7.58 [[ 6.44769675e-01 -7.64030478e-01 2.30107526e-02 1.82757125e+02] [ 7.63528931e-01 6.45180092e-01 2.76806827e-02 8.99493749e+01] [-3.59949647e-02 -2.78289435e-04 9.99351933e-01 -7.58491338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.80, Y:89.99, Z:-7.59 [[ 6.43948818e-01 -7.64722681e-01 2.30030504e-02 1.82798851e+02] [ 7.64221347e-01 6.44359495e-01 2.76870818e-02 8.99882476e+01] [-3.59951734e-02 -2.49641457e-04 9.99351933e-01 -7.58799672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.84, Y:90.03, Z:-7.59 [[ 6.42430627e-01 -7.65998687e-01 2.29978517e-02 1.82838857e+02] [ 7.65498014e-01 6.42842109e-01 2.76913994e-02 9.00305592e+01] [-3.59955630e-02 -1.84993256e-04 9.99351933e-01 -7.58954593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:90.07, Z:-7.58 [[ 6.42306850e-01 -7.66102703e-01 2.29904001e-02 1.82886950e+02] [ 7.65601875e-01 6.42718144e-01 2.76975845e-02 9.00678490e+01] [-3.59955417e-02 -1.88854845e-04 9.99351933e-01 -7.58264059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.92, Y:90.11, Z:-7.59 [[ 6.36752733e-01 -7.70725429e-01 2.29841466e-02 1.82924055e+02] [ 7.70227400e-01 6.37167411e-01 2.77027729e-02 9.01123918e+01] [-3.59959807e-02 6.32031667e-05 9.99351933e-01 -7.59164925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:90.15, Z:-7.59 [[ 6.35178973e-01 -7.72023027e-01 2.29808446e-02 1.82968034e+02] [ 7.71525745e-01 6.35594548e-01 2.77055118e-02 9.01521219e+01] [-3.59957926e-02 1.32354771e-04 9.99351933e-01 -7.59069420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:90.19, Z:-7.60 [[ 6.33500061e-01 -7.73401511e-01 2.29733724e-02 1.83008397e+02] [ 7.72904909e-01 6.33916448e-01 2.77117063e-02 9.01943567e+01] [-3.59954742e-02 2.00864656e-04 9.99351933e-01 -7.59658135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:90.24, Z:-7.60 [[ 6.34692994e-01 -7.72423049e-01 2.29659711e-02 1.83047115e+02] [ 7.71925584e-01 6.35108349e-01 2.77178388e-02 9.02358664e+01] [-3.59957776e-02 1.35702593e-04 9.99351933e-01 -7.59908176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:90.28, Z:-7.60 [[ 6.37105683e-01 -7.70434345e-01 2.29623282e-02 1.83088199e+02] [ 7.69935475e-01 6.37519348e-01 2.77208564e-02 9.02769911e+01] [-3.59960283e-02 1.83959667e-05 9.99351933e-01 -7.60018423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:90.32, Z:-7.60 [[ 6.37332529e-01 -7.70246945e-01 2.29541110e-02 1.83127631e+02] [ 7.69747708e-01 6.37745751e-01 2.77276589e-02 9.03183725e+01] [-3.59960313e-02 -2.86469865e-06 9.99351933e-01 -7.60236167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.17, Y:90.36, Z:-7.60 [[ 6.38041277e-01 -7.69660055e-01 2.29505800e-02 1.83167273e+02] [ 7.69160332e-01 6.38453913e-01 2.77305812e-02 9.03611077e+01] [-3.59960083e-02 -4.05796920e-05 9.99351933e-01 -7.60395935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:90.40, Z:-7.60 [[ 6.41323505e-01 -7.66927506e-01 2.29425861e-02 1.83212016e+02] [ 7.66425789e-01 6.41733713e-01 2.77371934e-02 9.04007323e+01] [-3.59954475e-02 -2.04724481e-04 9.99351933e-01 -7.60290946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.25, Y:90.44, Z:-7.61 [[ 6.43090719e-01 -7.65446463e-01 2.29355503e-02 1.83253417e+02] [ 7.64943593e-01 6.43499514e-01 2.77430100e-02 9.04414908e+01] [-3.59948043e-02 -2.96869985e-04 9.99351933e-01 -7.60796832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.29, Y:90.49, Z:-7.61 [[ 6.42062097e-01 -7.66309721e-01 2.29275985e-02 1.83289665e+02] [ 7.65807166e-01 6.42471279e-01 2.77495800e-02 9.04864069e+01] [-3.59950964e-02 -2.58834325e-04 9.99351933e-01 -7.61168462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:183.33, Y:90.53, Z:-7.62 [[ 6.42385010e-01 -7.66039122e-01 2.29251547e-02 1.83330633e+02] [ 7.65536323e-01 6.42793891e-01 2.77515988e-02 9.05281582e+01] [-3.59949598e-02 -2.77172365e-04 9.99351933e-01 -7.61506047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:183.37, Y:90.57, Z:-7.62 [[ 6.43417808e-01 -7.65172077e-01 2.29176131e-02 1.83374355e+02] [ 7.64668505e-01 6.43825737e-01 2.77578254e-02 9.05671370e+01] [-3.59944620e-02 -3.35502231e-04 9.99351933e-01 -7.61778399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.42, Y:90.61, Z:-7.62 [[ 6.38699853e-01 -7.69114762e-01 2.29124675e-02 1.83416808e+02] [ 7.68613556e-01 6.39110686e-01 2.77620721e-02 9.06066418e+01] [-3.59958223e-02 -1.20798288e-04 9.99351933e-01 -7.62101296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74185806399998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:183.46, Y:90.65, Z:-7.62 [[ 6.34997218e-01 -7.72174722e-01 2.29070350e-02 1.83457606e+02] [ 7.71675334e-01 6.35410259e-01 2.77665538e-02 9.06489042e+01] [-3.59959960e-02 4.51095053e-05 9.99351933e-01 -7.62145617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.50, Y:90.69, Z:-7.63 [[ 6.29739059e-01 -7.76469137e-01 2.28996940e-02 1.83497476e+02] [ 7.75972346e-01 6.30155219e-01 2.77726068e-02 9.06921388e+01] [-3.59949337e-02 2.80033956e-04 9.99351933e-01 -7.62501124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.54, Y:90.73, Z:-7.62 [[ 6.27999931e-01 -7.77876614e-01 2.28923619e-02 1.83542649e+02] [ 7.77380535e-01 6.28416940e-01 2.77786492e-02 9.07298904e+01] [-3.59943096e-02 3.51086721e-04 9.99351933e-01 -7.62016814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.59, Y:90.77, Z:-7.61 [[ 6.29694607e-01 -7.76505480e-01 2.28897889e-02 1.83587436e+02] [ 7.76008416e-01 6.30110441e-01 2.77807692e-02 9.07700003e+01] [-3.59950145e-02 2.69268251e-04 9.99351933e-01 -7.61356820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:90.81, Z:-7.62 [[ 6.29768364e-01 -7.76445765e-01 2.28862896e-02 1.83625422e+02] [ 7.75948557e-01 6.30184026e-01 2.77836516e-02 9.08138158e+01] [-3.59950728e-02 2.61318598e-04 9.99351933e-01 -7.61580123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.66, Y:90.86, Z:-7.63 [[ 6.29111322e-01 -7.76978301e-01 2.28837159e-02 1.83657401e+02] [ 7.76481368e-01 6.29527312e-01 2.77857713e-02 9.08614872e+01] [-3.59948655e-02 2.88435742e-04 9.99351933e-01 -7.62605945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:90.91, Z:-7.63 [[ 6.32913048e-01 -7.73884752e-01 2.28793236e-02 1.83694127e+02] [ 7.73385655e-01 6.33326440e-01 2.77893876e-02 9.09062210e+01] [-3.59958638e-02 1.06274636e-04 9.99351933e-01 -7.62917551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:183.73, Y:90.95, Z:-7.63 [[ 6.34035517e-01 -7.72965625e-01 2.28715100e-02 1.83731387e+02] [ 7.72465696e-01 6.34447903e-01 2.77958168e-02 9.09503318e+01] [-3.59959925e-02 4.39218034e-05 9.99351933e-01 -7.63129338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:90.99, Z:-7.62 [[ 6.37932183e-01 -7.69753072e-01 2.28634600e-02 1.83773369e+02] [ 7.69250829e-01 6.38341747e-01 2.78024369e-02 9.09928985e+01] [-3.59957122e-02 -1.48333716e-04 9.99351933e-01 -7.62450353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:91.04, Z:-7.63 [[ 6.37217517e-01 -7.70344903e-01 2.28597164e-02 1.83810264e+02] [ 7.69842930e-01 6.37627412e-01 2.78055145e-02 9.10373217e+01] [-3.59958182e-02 -1.19769875e-04 9.99351933e-01 -7.62649896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:183.85, Y:91.08, Z:-7.63 [[ 6.36611515e-01 -7.70845853e-01 2.28571576e-02 1.83847789e+02] [ 7.70344128e-01 6.37021712e-01 2.78076178e-02 9.10829067e+01] [-3.59958926e-02 -9.47725215e-05 9.99351933e-01 -7.62726055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.89, Y:91.13, Z:-7.63 [[ 6.36201963e-01 -7.71184124e-01 2.28496964e-02 1.83885097e+02] [ 7.70682397e-01 6.36612157e-01 2.78137474e-02 9.11273631e+01] [-3.59959149e-02 -8.53019610e-05 9.99351933e-01 -7.62762114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:91.17, Z:-7.63 [[ 6.35230550e-01 -7.71984559e-01 2.28470794e-02 1.83923197e+02] [ 7.71483271e-01 6.35641281e-01 2.78158969e-02 9.11721878e+01] [-3.59959897e-02 -4.33679528e-05 9.99351933e-01 -7.62800613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:91.22, Z:-7.63 [[ 6.33682170e-01 -7.73256260e-01 2.28399729e-02 1.83960445e+02] [ 7.72755585e-01 6.34093650e-01 2.78217309e-02 9.12183573e+01] [-3.59960094e-02 1.95817893e-05 9.99351933e-01 -7.62807694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:91.27, Z:-7.63 [[ 6.29908863e-01 -7.76333362e-01 2.28327628e-02 1.83993831e+02] [ 7.75834484e-01 6.30322517e-01 2.78276469e-02 9.12670421e+01] [-3.59955352e-02 1.85563332e-04 9.99351934e-01 -7.63438686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:184.03, Y:91.31, Z:-7.64 [[ 6.26669433e-01 -7.78950838e-01 2.28257393e-02 1.84029204e+02] [ 7.78453477e-01 6.27084911e-01 2.78334067e-02 9.13139814e+01] [-3.59945322e-02 3.26430953e-04 9.99351934e-01 -7.63807424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:184.06, Y:91.36, Z:-7.65 [[ 6.19894139e-01 -7.84353600e-01 2.28185751e-02 1.84062614e+02] [ 7.83859643e-01 6.20313658e-01 2.78392789e-02 9.13607483e+01] [-3.59905124e-02 6.29154368e-04 9.99351934e-01 -7.64608670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.10, Y:91.41, Z:-7.65 [[ 6.16530901e-01 -7.87000048e-01 2.28160627e-02 1.84101088e+02] [ 7.86507815e-01 6.16952442e-01 2.78413378e-02 9.14053482e+01] [-3.59875598e-02 7.79966522e-04 9.99351934e-01 -7.64651498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:184.14, Y:91.45, Z:-7.65 [[ 6.16773135e-01 -7.86810431e-01 2.28088965e-02 1.84138550e+02] [ 7.86317852e-01 6.17194271e-01 2.78472075e-02 9.14515570e+01] [-3.59879936e-02 7.59633015e-04 9.99351934e-01 -7.64619719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:91.50, Z:-7.65 [[ 6.19321212e-01 -7.84806538e-01 2.28020723e-02 1.84174311e+02] [ 7.84312390e-01 6.19740507e-01 2.78527942e-02 9.14964667e+01] [-3.59904228e-02 6.34121599e-04 9.99351934e-01 -7.64765089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:91.54, Z:-7.65 [[ 6.22262695e-01 -7.82476403e-01 2.27994911e-02 1.84208131e+02] [ 7.81980608e-01 6.22680040e-01 2.78549069e-02 9.15446926e+01] [-3.59925954e-02 4.95690417e-04 9.99351934e-01 -7.65246558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.24, Y:91.59, Z:-7.65 [[ 6.24058691e-01 -7.81044975e-01 2.27924724e-02 1.84244212e+02] [ 7.80548013e-01 6.24474646e-01 2.78606488e-02 9.15917860e+01] [-3.59937409e-02 4.03938995e-04 9.99351934e-01 -7.65368832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:184.28, Y:91.64, Z:-7.66 [[ 6.22757775e-01 -7.82082849e-01 2.27853346e-02 1.84279721e+02] [ 7.81586366e-01 6.23174303e-01 2.78664852e-02 9.16393201e+01] [-3.59931351e-02 4.54636550e-04 9.99351934e-01 -7.65652427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:91.69, Z:-7.66 [[ 6.18037053e-01 -7.85818908e-01 2.27781920e-02 1.84314257e+02] [ 7.85324728e-01 6.18456309e-01 2.78723223e-02 9.16873988e+01] [-3.59899144e-02 6.62149448e-04 9.99351934e-01 -7.66229063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:91.73, Z:-7.66 [[ 6.18493174e-01 -7.85460173e-01 2.27708034e-02 1.84354393e+02] [ 7.84965528e-01 6.18911882e-01 2.78783573e-02 9.17296294e+01] [-3.59904601e-02 6.31722032e-04 9.99351934e-01 -7.65639739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24185806399998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:184.39, Y:91.78, Z:-7.66 [[ 6.17506834e-01 -7.86235918e-01 2.27682172e-02 1.84388822e+02] [ 7.85741721e-01 6.17926070e-01 2.78804692e-02 9.17764779e+01] [-3.59897013e-02 6.73557931e-04 9.99351934e-01 -7.66161339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.301858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:184.42, Y:91.83, Z:-7.67 [[ 6.15659973e-01 -7.87683170e-01 2.27600700e-02 1.84420530e+02] [ 7.87189713e-01 6.16080080e-01 2.78871185e-02 9.18251862e+01] [-3.59882397e-02 7.47510329e-04 9.99351934e-01 -7.67116062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.46, Y:91.87, Z:-7.68 [[ 6.15317950e-01 -7.87950506e-01 2.27556785e-02 1.84455822e+02] [ 7.87457099e-01 6.15738115e-01 2.78907015e-02 9.18723459e+01] [-3.59880310e-02 7.57471344e-04 9.99351934e-01 -7.67687104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:91.92, Z:-7.68 [[ 6.13104154e-01 -7.89674490e-01 2.27485579e-02 1.84489202e+02] [ 7.89182049e-01 6.13525451e-01 2.78965081e-02 9.19192614e+01] [-3.59859801e-02 8.49288564e-04 9.99351934e-01 -7.68417879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.52, Y:91.97, Z:-7.69 [[ 6.11418820e-01 -7.90980349e-01 2.27401360e-02 1.84523447e+02] [ 7.90488553e-01 6.11840869e-01 2.79033717e-02 9.19650067e+01] [-3.59843632e-02 9.15170576e-04 9.99351934e-01 -7.69195400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.56, Y:92.01, Z:-7.69 [[ 6.13347671e-01 -7.89485706e-01 2.27366405e-02 1.84563489e+02] [ 7.88992776e-01 6.13768395e-01 2.79062196e-02 9.20080688e+01] [-3.59865928e-02 8.22830267e-04 9.99351934e-01 -7.68885347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.60, Y:92.05, Z:-7.68 [[ 6.19319919e-01 -7.84809666e-01 2.27294255e-02 1.84604937e+02] [ 7.84313342e-01 6.19736635e-01 2.79120949e-02 9.20500228e+01] [-3.59919396e-02 5.40475316e-04 9.99351934e-01 -7.68434898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:92.09, Z:-7.69 [[ 6.20862559e-01 -7.83590049e-01 2.27226164e-02 1.84641243e+02] [ 7.83092704e-01 6.21278056e-01 2.79176370e-02 9.20937357e+01] [-3.59930455e-02 4.60899564e-04 9.99351934e-01 -7.68662623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:92.14, Z:-7.69 [[ 6.21421111e-01 -7.83147421e-01 2.27138707e-02 1.84678748e+02] [ 7.82649520e-01 6.21835941e-01 2.79247507e-02 9.21366755e+01] [-3.59934977e-02 4.23970436e-04 9.99351934e-01 -7.68790458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:184.72, Y:92.18, Z:-7.69 [[ 6.22463509e-01 -7.82319368e-01 2.27065078e-02 1.84716851e+02] [ 7.81820697e-01 6.22877413e-01 2.79307364e-02 9.21801122e+01] [-3.59941269e-02 3.66553531e-04 9.99351934e-01 -7.68935450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.75, Y:92.22, Z:-7.69 [[ 6.23895218e-01 -7.81178164e-01 2.27031641e-02 1.84754754e+02] [ 7.80678637e-01 6.24308088e-01 2.79334541e-02 9.22238194e+01] [-3.59947733e-02 2.96326770e-04 9.99351934e-01 -7.69051992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:92.27, Z:-7.69 [[ 6.24620240e-01 -7.80598788e-01 2.26955253e-02 1.84791873e+02] [ 7.80098653e-01 6.25032373e-01 2.79396591e-02 9.22698792e+01] [-3.59951021e-02 2.53072119e-04 9.99351934e-01 -7.69203422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.83, Y:92.31, Z:-7.69 [[ 6.25212836e-01 -7.80124438e-01 2.26885652e-02 1.84830442e+02] [ 7.79623785e-01 6.25624339e-01 2.79453099e-02 9.23132914e+01] [-3.59953378e-02 2.16778636e-04 9.99351934e-01 -7.69470051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02185806399999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:184.87, Y:92.36, Z:-7.70 [[ 6.25654776e-01 -7.79770128e-01 2.26858898e-02 1.84868487e+02] [ 7.79269163e-01 6.26065900e-01 2.79474817e-02 9.23569784e+01] [-3.59954733e-02 1.92938927e-04 9.99351934e-01 -7.69625926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.081858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:184.91, Y:92.40, Z:-7.70 [[ 6.24576775e-01 -7.80634076e-01 2.26780154e-02 1.84906671e+02] [ 7.80133447e-01 6.24988309e-01 2.79538699e-02 9.24008647e+01] [-3.59952379e-02 2.32540462e-04 9.99351934e-01 -7.69812066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.94, Y:92.44, Z:-7.70 [[ 6.23500219e-01 -7.81494427e-01 2.26702023e-02 1.84944340e+02] [ 7.80994136e-01 6.23912163e-01 2.79602047e-02 9.24444517e+01] [-3.59949591e-02 2.72101309e-04 9.99351934e-01 -7.70043793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201858064 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:92.49, Z:-7.71 [[ 6.25707776e-01 -7.79728285e-01 2.26623119e-02 1.84984240e+02] [ 7.79226600e-01 6.26118020e-01 2.79665987e-02 9.24852338e+01] [-3.59956299e-02 1.60157967e-04 9.99351934e-01 -7.70595792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.02, Y:92.53, Z:-7.71 [[ 6.23916689e-01 -7.81162473e-01 2.26529667e-02 1.85017479e+02] [ 7.80661455e-01 6.24327749e-01 2.79741662e-02 9.25335211e+01] [-3.59952446e-02 2.30748823e-04 9.99351935e-01 -7.70705121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.05, Y:92.58, Z:-7.71 [[ 6.22831537e-01 -7.82028213e-01 2.26439976e-02 1.85053569e+02] [ 7.81527503e-01 6.23242971e-01 2.79814245e-02 9.25795132e+01] [-3.59949757e-02 2.69193246e-04 9.99351935e-01 -7.70896805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:92.62, Z:-7.71 [[ 6.20708363e-01 -7.83714713e-01 2.26357571e-02 1.85090527e+02] [ 7.83214878e-01 6.21120860e-01 2.79880891e-02 9.26248159e+01] [-3.59942181e-02 3.56220766e-04 9.99351935e-01 -7.71082669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:185.13, Y:92.67, Z:-7.72 [[ 6.16848865e-01 -7.86756285e-01 2.26279882e-02 1.85126719e+02] [ 7.86258253e-01 6.17263537e-01 2.79943688e-02 9.26712332e+01] [-3.59921776e-02 5.23147825e-04 9.99351935e-01 -7.71651061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:92.71, Z:-7.71 [[ 6.18023184e-01 -7.85834366e-01 2.26206170e-02 1.85164784e+02] [ 7.85335498e-01 6.18436850e-01 2.80003237e-02 9.27148391e+01] [-3.59930398e-02 4.59924317e-04 9.99351935e-01 -7.71415947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.20, Y:92.76, Z:-7.72 [[ 6.15239350e-01 -7.88015986e-01 2.26130061e-02 1.85196669e+02] [ 7.87518359e-01 6.15654507e-01 2.80064689e-02 9.27636380e+01] [-3.59913443e-02 5.77475762e-04 9.99351935e-01 -7.72335958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.24, Y:92.81, Z:-7.72 [[ 6.19082054e-01 -7.85000932e-01 2.26041423e-02 1.85236890e+02] [ 7.84501021e-01 6.19494459e-01 2.80136211e-02 9.28061827e+01] [-3.59938596e-02 3.90242693e-04 9.99351935e-01 -7.72005230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:92.85, Z:-7.72 [[ 6.20810945e-01 -7.83634475e-01 2.26004429e-02 1.85274881e+02] [ 7.83133548e-01 6.21222115e-01 2.80166053e-02 9.28515265e+01] [-3.59946727e-02 3.06149848e-04 9.99351935e-01 -7.72040651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:185.31, Y:92.90, Z:-7.72 [[ 6.22449097e-01 -7.82334119e-01 2.25930906e-02 1.85309153e+02] [ 7.81832118e-01 6.22858954e-01 2.80225331e-02 9.28991997e+01] [-3.59952925e-02 2.21403409e-04 9.99351935e-01 -7.72366214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:92.94, Z:-7.73 [[ 6.23793324e-01 -7.81262938e-01 2.25856371e-02 1.85344479e+02] [ 7.80760015e-01 6.24202050e-01 2.80285392e-02 9.29438933e+01] [-3.59956599e-02 1.49946702e-04 9.99351935e-01 -7.72568322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:92.99, Z:-7.73 [[ 6.27135643e-01 -7.78582648e-01 2.25819727e-02 1.85380227e+02] [ 7.78077872e-01 6.27542079e-01 2.80314912e-02 9.29880731e+01] [-3.59959707e-02 -9.01396774e-06 9.99351935e-01 -7.72506071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921858064 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:185.42, Y:93.03, Z:-7.73 [[ 6.30041946e-01 -7.76232812e-01 2.25780316e-02 1.85417418e+02] [ 7.75726407e-01 6.30446350e-01 2.80346653e-02 9.30326422e+01] [-3.59956646e-02 -1.48639785e-04 9.99351935e-01 -7.72895686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:185.45, Y:93.08, Z:-7.73 [[ 6.28725663e-01 -7.77299595e-01 2.25694259e-02 1.85451320e+02] [ 7.76793628e-01 6.29130614e-01 2.80415916e-02 9.30803492e+01] [-3.59958346e-02 -9.86821078e-05 9.99351935e-01 -7.73042620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.49, Y:93.13, Z:-7.74 [[ 6.26807291e-01 -7.78847649e-01 2.25601265e-02 1.85485066e+02] [ 7.78342412e-01 6.27213153e-01 2.80490712e-02 9.31280939e+01] [-3.59959612e-02 -2.18590737e-05 9.99351935e-01 -7.73532286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.52, Y:93.17, Z:-7.74 [[ 6.26123728e-01 -7.79397558e-01 2.25504797e-02 1.85520868e+02] [ 7.78892398e-01 6.26529685e-01 2.80568247e-02 9.31722915e+01] [-3.59959656e-02 -2.64644426e-06 9.99351935e-01 -7.73717528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:93.22, Z:-7.74 [[ 6.25309658e-01 -7.80050944e-01 2.25467656e-02 1.85558509e+02] [ 7.79546101e-01 6.25716009e-01 2.80598091e-02 9.32154801e+01] [-3.59959528e-02 3.01736357e-05 9.99351935e-01 -7.73682385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:93.26, Z:-7.74 [[ 6.22181157e-01 -7.82548720e-01 2.25412691e-02 1.85594338e+02] [ 7.82045348e-01 6.22589329e-01 2.80642239e-02 9.32594297e+01] [-3.59955761e-02 1.67263287e-04 9.99351935e-01 -7.73863203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.63, Y:93.31, Z:-7.75 [[ 6.17291982e-01 -7.86411276e-01 2.25369620e-02 1.85627156e+02] [ 7.85910331e-01 6.17703130e-01 2.80676823e-02 9.33083360e+01] [-3.59938938e-02 3.86076063e-04 9.99351935e-01 -7.74785739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.67, Y:93.35, Z:-7.75 [[ 6.16158867e-01 -7.87299586e-01 2.25302582e-02 1.85665581e+02] [ 7.86799038e-01 6.16570497e-01 2.80730624e-02 9.33536356e+01] [-3.59934030e-02 4.29319144e-04 9.99351935e-01 -7.74822467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:93.40, Z:-7.74 [[ 6.16113165e-01 -7.87335545e-01 2.25234736e-02 1.85705387e+02] [ 7.86834822e-01 6.16524582e-01 2.80785048e-02 9.33979112e+01] [-3.59934801e-02 4.22716920e-04 9.99351935e-01 -7.74299120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46185806399998 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:93.44, Z:-7.74 [[ 6.14165251e-01 -7.88856164e-01 2.25165857e-02 1.85740636e+02] [ 7.88356257e-01 6.14577659e-01 2.80840272e-02 9.34424017e+01] [-3.59924485e-02 5.02857644e-04 9.99351935e-01 -7.74486922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52185806399999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:93.49, Z:-7.75 [[ 6.14825679e-01 -7.88341694e-01 2.25112937e-02 1.85777229e+02] [ 7.87841286e-01 6.15237480e-01 2.80882685e-02 9.34869648e+01] [-3.59929448e-02 4.65937858e-04 9.99351935e-01 -7.74956873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.581858064 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:185.81, Y:93.53, Z:-7.75 [[ 6.14576104e-01 -7.88536521e-01 2.25026347e-02 1.85814977e+02] [ 7.88035990e-01 6.14987755e-01 2.80952039e-02 9.35305340e+01] [-3.59929391e-02 4.66245044e-04 9.99351935e-01 -7.75074756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.641858064 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:185.85, Y:93.58, Z:-7.76 [[ 6.11319437e-01 -7.91064206e-01 2.24937297e-02 1.85847345e+02] [ 7.90565115e-01 6.11732832e-01 2.81023316e-02 9.35775433e+01] [-3.59909016e-02 6.03256440e-04 9.99351936e-01 -7.75763148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:185.89, Y:93.62, Z:-7.75 [[ 6.14625706e-01 -7.88498267e-01 2.24883048e-02 1.85887661e+02] [ 7.87997291e-01 6.15036815e-01 2.81066721e-02 9.36204015e+01] [-3.59931976e-02 4.45640044e-04 9.99351936e-01 -7.75314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:185.92, Y:93.67, Z:-7.75 [[ 6.14154585e-01 -7.88865516e-01 2.24798368e-02 1.85920785e+02] [ 7.88364538e-01 6.14565692e-01 2.81134433e-02 9.36671404e+01] [-3.59930624e-02 4.56306051e-04 9.99351936e-01 -7.75261260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821858064 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:93.71, Z:-7.75 [[ 6.16946069e-01 -7.86684545e-01 2.24716436e-02 1.85955346e+02] [ 7.86181875e-01 6.17355104e-01 2.81199907e-02 9.37134272e+01] [-3.59945460e-02 3.18281211e-04 9.99351936e-01 -7.75354311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:185.99, Y:93.76, Z:-7.76 [[ 6.20209046e-01 -7.84114869e-01 2.24635415e-02 1.85991866e+02] [ 7.83610270e-01 6.20615699e-01 2.81264615e-02 9.37567071e+01] [-3.59956033e-02 1.58375957e-04 9.99351936e-01 -7.75622984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941858064 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:186.03, Y:93.80, Z:-7.76 [[ 6.20604986e-01 -7.83801688e-01 2.24580858e-02 1.86026083e+02] [ 7.83296726e-01 6.21011189e-01 2.81308171e-02 9.38037502e+01] [-3.59957045e-02 1.33219761e-04 9.99351936e-01 -7.75787366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001858064 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:186.06, Y:93.85, Z:-7.76 [[ 6.20181714e-01 -7.84136881e-01 2.24497781e-02 1.86059063e+02] [ 7.83631899e-01 6.20587892e-01 2.81374455e-02 9.38498704e+01] [-3.59956692e-02 1.42033013e-04 9.99351936e-01 -7.75988283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.09, Y:93.90, Z:-7.76 [[ 6.16598869e-01 -7.86957448e-01 2.24456925e-02 1.86090956e+02] [ 7.86454205e-01 6.17007199e-01 2.81407043e-02 9.38983131e+01] [-3.59946907e-02 3.00982792e-04 9.99351936e-01 -7.76336447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:93.95, Z:-7.76 [[ 6.13870481e-01 -7.89087810e-01 2.24379148e-02 1.86125475e+02] [ 7.88585757e-01 6.14280274e-01 2.81469044e-02 9.39454903e+01] [-3.59935476e-02 4.15666282e-04 9.99351936e-01 -7.76311212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:93.99, Z:-7.76 [[ 6.11823175e-01 -7.90676506e-01 2.24291319e-02 1.86160540e+02] [ 7.90175260e-01 6.12233955e-01 2.81539014e-02 9.39923846e+01] [-3.59925045e-02 4.97735850e-04 9.99351936e-01 -7.76485695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.19, Y:94.04, Z:-7.77 [[ 6.09484564e-01 -7.92480822e-01 2.24212735e-02 1.86194346e+02] [ 7.91980562e-01 6.09896544e-01 2.81601584e-02 9.40381611e+01] [-3.59910426e-02 5.94030926e-04 9.99351936e-01 -7.76580672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.23, Y:94.08, Z:-7.77 [[ 6.08836293e-01 -7.92979096e-01 2.24170165e-02 1.86229150e+02] [ 7.92479049e-01 6.09248531e-01 2.81635467e-02 9.40848901e+01] [-3.59906382e-02 6.18026524e-04 9.99351936e-01 -7.76690589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.361858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:94.13, Z:-7.77 [[ 6.09169165e-01 -7.92723636e-01 2.24090336e-02 1.86262414e+02] [ 7.92223183e-01 6.09580909e-01 2.81698971e-02 9.41317956e+01] [-3.59910623e-02 5.92723194e-04 9.99351936e-01 -7.76800489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:94.18, Z:-7.77 [[ 6.09357085e-01 -7.92579330e-01 2.24042148e-02 1.86295712e+02] [ 7.92078639e-01 6.09768539e-01 2.81737291e-02 9.41791993e+01] [-3.59913006e-02 5.78038521e-04 9.99351936e-01 -7.76981299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:94.23, Z:-7.77 [[ 6.10131224e-01 -7.91983773e-01 2.23962612e-02 1.86329325e+02] [ 7.91482448e-01 6.10541907e-01 2.81800502e-02 9.42268760e+01] [-3.59919985e-02 5.32719124e-04 9.99351936e-01 -7.77200379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:94.27, Z:-7.77 [[ 6.12084425e-01 -7.90475315e-01 2.23926986e-02 1.86362743e+02] [ 7.89972874e-01 6.12493741e-01 2.81828809e-02 9.42748487e+01] [-3.59932594e-02 4.39322055e-04 9.99351936e-01 -7.77407411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.40, Y:94.32, Z:-7.78 [[ 6.15157432e-01 -7.88086423e-01 2.23857774e-02 1.86396063e+02] [ 7.87582193e-01 6.15564542e-01 2.81883774e-02 9.43222402e+01] [-3.59947683e-02 2.90349822e-04 9.99351936e-01 -7.77512188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.43, Y:94.37, Z:-7.78 [[ 6.16079629e-01 -7.87365936e-01 2.23779795e-02 1.86428135e+02] [ 7.86861004e-01 6.16485869e-01 2.81945665e-02 9.43709369e+01] [-3.59951494e-02 2.38261380e-04 9.99351936e-01 -7.78033412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.46, Y:94.42, Z:-7.78 [[ 6.18299414e-01 -7.85624234e-01 2.23695590e-02 1.86462459e+02] [ 7.85117917e-01 6.18703925e-01 2.82012458e-02 9.44182722e+01] [-3.59957161e-02 1.25927828e-04 9.99351936e-01 -7.78278199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.48, Y:94.47, Z:-7.80 [[ 6.11126213e-01 -7.91217253e-01 2.23609103e-02 1.86484962e+02] [ 7.90714386e-01 6.11535005e-01 2.82081017e-02 9.44740459e+01] [-3.59932162e-02 4.42383087e-04 9.99351936e-01 -7.80478253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:94.51, Z:-7.79 [[ 6.22484458e-01 -7.82312892e-01 2.23526084e-02 1.86531678e+02] [ 7.81803940e-01 6.22885649e-01 2.82146787e-02 9.45128428e+01] [-3.59958259e-02 -8.78416663e-05 9.99351936e-01 -7.78529561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.57, Y:94.56, Z:-7.79 [[ 6.25663069e-01 -7.79773307e-01 2.23453463e-02 1.86568002e+02] [ 7.79262521e-01 6.26061923e-01 2.82204290e-02 9.45593622e+01] [-3.59951077e-02 -2.43589334e-04 9.99351936e-01 -7.79091977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.61, Y:94.60, Z:-7.79 [[ 6.30855983e-01 -7.75578318e-01 2.23383682e-02 1.86608335e+02] [ 7.75064685e-01 6.31251163e-01 2.82259515e-02 9.46030033e+01] [-3.59925569e-02 -4.92830057e-04 9.99351936e-01 -7.78753043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:94.65, Z:-7.79 [[ 6.29368230e-01 -7.76786290e-01 2.23313857e-02 1.86640473e+02] [ 7.76273220e-01 6.29764140e-01 2.82314748e-02 9.46513628e+01] [-3.59933285e-02 -4.32736643e-04 9.99351937e-01 -7.79275014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.68, Y:94.70, Z:-7.79 [[ 6.30553364e-01 -7.75824641e-01 2.23289358e-02 1.86676278e+02] [ 7.75310899e-01 6.30948401e-01 2.82334124e-02 9.46977030e+01] [-3.59925834e-02 -4.90805899e-04 9.99351937e-01 -7.79353351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.71, Y:94.74, Z:-7.80 [[ 6.31642975e-01 -7.74937992e-01 2.23217477e-02 1.86714905e+02] [ 7.74423494e-01 6.32037028e-01 2.82390942e-02 9.47395814e+01] [-3.59917181e-02 -5.50539620e-04 9.99351937e-01 -7.79626472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.75, Y:94.78, Z:-7.80 [[ 6.29008192e-01 -7.77078269e-01 2.23172329e-02 1.86752448e+02] [ 7.76564985e-01 6.29403826e-01 2.82426618e-02 9.47833684e+01] [-3.59933105e-02 -4.34083988e-04 9.99351937e-01 -7.79731399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261858064 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:186.80, Y:94.82, Z:-7.79 [[ 6.31008233e-01 -7.75455295e-01 2.23090761e-02 1.86799072e+02] [ 7.74940766e-01 6.31402246e-01 2.82491035e-02 9.48206502e+01] [-3.59919176e-02 -5.37204386e-04 9.99351937e-01 -7.79395206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321858064 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:186.84, Y:94.86, Z:-7.80 [[ 6.25919446e-01 -7.79568772e-01 2.23019499e-02 1.86839657e+02] [ 7.79056633e-01 6.26316560e-01 2.82547283e-02 9.48628959e+01] [-3.59945844e-02 -3.10701831e-04 9.99351937e-01 -7.79812719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381858064 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:186.88, Y:94.90, Z:-7.80 [[ 6.22073496e-01 -7.82641387e-01 2.22940606e-02 1.86881233e+02] [ 7.82130986e-01 6.22472842e-01 2.82609519e-02 9.49048370e+01] [-3.59956378e-02 -1.43513503e-04 9.99351937e-01 -7.79947585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441858064 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:186.92, Y:94.95, Z:-7.81 [[ 6.10018282e-01 -7.92073848e-01 2.22871224e-02 1.86915879e+02] [ 7.91569421e-01 6.10425148e-01 2.82664224e-02 9.49524336e+01] [-3.59937139e-02 3.98770188e-04 9.99351937e-01 -7.81156412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501858064 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:94.99, Z:-7.81 [[ 6.05985353e-01 -7.95163720e-01 2.22802644e-02 1.86957145e+02] [ 7.94661169e-01 6.06394533e-01 2.82718270e-02 9.49935633e+01] [-3.59913617e-02 5.72947933e-04 9.99351937e-01 -7.81428537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561858064 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:187.00, Y:95.03, Z:-7.81 [[ 6.04116138e-01 -7.96584973e-01 2.22726907e-02 1.87002484e+02] [ 7.96083164e-01 6.04526229e-01 2.82777924e-02 9.50328759e+01] [-3.59900902e-02 6.47843297e-04 9.99351937e-01 -7.81149494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621858064 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:187.04, Y:95.08, Z:-7.81 [[ 6.00781344e-01 -7.99103181e-01 2.22684547e-02 1.87040618e+02] [ 7.98602967e-01 6.01193378e-01 2.82811278e-02 9.50771556e+01] [-3.59871867e-02 7.92880003e-04 9.99351937e-01 -7.81446822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68185806399998 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:187.08, Y:95.12, Z:-7.82 [[ 6.00490841e-01 -7.99321626e-01 2.22640582e-02 1.87077991e+02] [ 7.98821434e-01 6.00902903e-01 2.82845885e-02 9.51217786e+01] [-3.59870204e-02 8.00370550e-04 9.99351937e-01 -7.81684202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74185806399998 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:95.17, Z:-7.82 [[ 6.04455324e-01 -7.96328093e-01 2.22560090e-02 1.87113344e+02] [ 7.95825627e-01 6.04864609e-01 2.82909206e-02 9.51671723e+01] [-3.59907271e-02 6.11304742e-04 9.99351937e-01 -7.81894390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.801858064 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:187.15, Y:95.21, Z:-7.82 [[ 6.10728559e-01 -7.91527411e-01 2.22482356e-02 1.87151051e+02] [ 7.91021505e-01 6.11133583e-01 2.82970324e-02 9.52113737e+01] [-3.59945207e-02 3.17026915e-04 9.99351937e-01 -7.82137981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.861858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:95.26, Z:-7.83 [[ 6.14093528e-01 -7.88919853e-01 2.22396956e-02 1.87186648e+02] [ 7.88411984e-01 6.14496087e-01 2.83037427e-02 9.52566515e+01] [-3.59955905e-02 1.52897329e-04 9.99351937e-01 -7.82549112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921858064 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:95.30, Z:-7.83 [[ 6.15428094e-01 -7.87879462e-01 2.22309209e-02 1.87224495e+02] [ 7.87370663e-01 6.15829479e-01 2.83106331e-02 9.53009882e+01] [-3.59958228e-02 8.08159713e-05 9.99351937e-01 -7.82680491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:95.35, Z:-7.83 [[ 6.14134019e-01 -7.88888828e-01 2.22221440e-02 1.87261597e+02] [ 7.88380440e-01 6.14535923e-01 2.83175207e-02 9.53471064e+01] [-3.59956815e-02 1.28750902e-04 9.99351937e-01 -7.82722888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:95.39, Z:-7.83 [[ 6.12712227e-01 -7.89993806e-01 2.22151593e-02 1.87296453e+02] [ 7.89485944e-01 6.13114795e-01 2.83229992e-02 9.53931701e+01] [-3.59954368e-02 1.84708085e-04 9.99351937e-01 -7.82988839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101858064 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:187.33, Y:95.44, Z:-7.83 [[ 6.11390268e-01 -7.91017560e-01 2.22072025e-02 1.87331785e+02] [ 7.90510145e-01 6.11793401e-01 2.83292364e-02 9.54391624e+01] [-3.59951434e-02 2.34799434e-04 9.99351937e-01 -7.83414668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:95.48, Z:-7.84 [[ 6.11877065e-01 -7.90641291e-01 2.21992207e-02 1.87367033e+02] [ 7.90133402e-01 6.12279599e-01 2.83354897e-02 9.54843604e+01] [-3.59953382e-02 2.02509471e-04 9.99351937e-01 -7.83844644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221858064 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:187.40, Y:95.53, Z:-7.85 [[ 6.10528820e-01 -7.91683102e-01 2.21906864e-02 1.87403302e+02] [ 7.91175656e-01 6.10931913e-01 2.83421718e-02 9.55293932e+01] [-3.59950169e-02 2.53018168e-04 9.99351937e-01 -7.84510702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281858064 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:95.57, Z:-7.85 [[ 6.10360703e-01 -7.91812955e-01 2.21823770e-02 1.87439819e+02] [ 7.91305358e-01 6.10763606e-01 2.83486737e-02 9.55749805e+01] [-3.59950357e-02 2.50117377e-04 9.99351937e-01 -7.84617182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.48, Y:95.62, Z:-7.84 [[ 6.07951820e-01 -7.93664220e-01 2.21740751e-02 1.87476140e+02] [ 7.93157614e-01 6.08355968e-01 2.83551659e-02 9.56194092e+01] [-3.59942116e-02 3.48961808e-04 9.99351937e-01 -7.84425091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.51, Y:95.66, Z:-7.84 [[ 6.04487490e-01 -7.96306208e-01 2.21652441e-02 1.87512397e+02] [ 7.95801115e-01 6.04893527e-01 2.83620675e-02 9.56644968e+01] [-3.59925030e-02 4.94610980e-04 9.99351938e-01 -7.84264646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:95.71, Z:-7.85 [[ 5.98354965e-01 -8.00924705e-01 2.21574418e-02 1.87546972e+02] [ 8.00422520e-01 5.98764592e-01 2.83681615e-02 9.57123778e+01] [-3.59878530e-02 7.61085112e-04 9.99351938e-01 -7.84716897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:187.59, Y:95.76, Z:-7.84 [[ 5.97359658e-01 -8.01667518e-01 2.21501588e-02 1.87586121e+02] [ 8.01165631e-01 5.97769651e-01 2.83738470e-02 9.57565858e+01] [-3.59870843e-02 7.96554401e-04 9.99351938e-01 -7.84190145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.62, Y:95.80, Z:-7.84 [[ 5.96622647e-01 -8.02216374e-01 2.21428777e-02 1.87621525e+02] [ 8.01714653e-01 5.97032844e-01 2.83795281e-02 9.58011453e+01] [-3.59865473e-02 8.20400404e-04 9.99351938e-01 -7.84190704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:95.85, Z:-7.85 [[ 5.90215126e-01 -8.06942371e-01 2.21385440e-02 1.87649650e+02] [ 8.06443807e-01 5.90629154e-01 2.83829084e-02 9.58537457e+01] [-3.59790409e-02 1.10146984e-03 9.99351938e-01 -7.85068840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.68, Y:95.90, Z:-7.85 [[ 5.87870057e-01 -8.08652570e-01 2.21318132e-02 1.87683164e+02] [ 8.08155013e-01 5.88285294e-01 2.83881558e-02 9.58994763e+01] [-3.59759754e-02 1.19738904e-03 9.99351938e-01 -7.85471778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:95.94, Z:-7.85 [[ 5.93765054e-01 -8.04334247e-01 2.21241778e-02 1.87723823e+02] [ 8.03833447e-01 5.94176374e-01 2.83941051e-02 9.59426457e+01] [-3.59840149e-02 9.24726770e-04 9.99351938e-01 -7.84699840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.76, Y:95.99, Z:-7.85 [[ 5.93819364e-01 -8.04294358e-01 2.21166961e-02 1.87758133e+02] [ 8.03793314e-01 5.94230386e-01 2.83999316e-02 9.59892186e+01] [-3.59843176e-02 9.12823132e-04 9.99351938e-01 -7.85171746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:187.79, Y:96.04, Z:-7.86 [[ 5.92506492e-01 -8.05262082e-01 2.21141401e-02 1.87788042e+02] [ 8.04761635e-01 5.92918242e-01 2.84019217e-02 9.60407487e+01] [-3.59828677e-02 9.68288520e-04 9.99351938e-01 -7.85971222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.83, Y:96.08, Z:-7.85 [[ 6.01558210e-01 -7.98523005e-01 2.21072625e-02 1.87828997e+02] [ 7.98017746e-01 6.01964039e-01 2.84072741e-02 9.60837080e+01] [-3.59916389e-02 5.53358850e-04 9.99351938e-01 -7.85294566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.86, Y:96.13, Z:-7.86 [[ 6.03431650e-01 -7.97108424e-01 2.20998799e-02 1.87862735e+02] [ 7.96602003e-01 6.03836029e-01 2.84130163e-02 9.61319549e+01] [-3.59929584e-02 4.59495224e-04 9.99351938e-01 -7.85763127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:96.18, Z:-7.86 [[ 6.08073852e-01 -7.93573003e-01 2.20925131e-02 1.87896481e+02] [ 7.93064023e-01 6.08475004e-01 2.84187432e-02 9.61789772e+01] [-3.59950894e-02 2.40082732e-04 9.99351938e-01 -7.86080255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:96.23, Z:-7.86 [[ 6.09843150e-01 -7.92214378e-01 2.20842182e-02 1.87929697e+02] [ 7.91704270e-01 6.10242868e-01 2.84251877e-02 9.62263809e+01] [-3.59955790e-02 1.49263836e-04 9.99351938e-01 -7.86499442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18185806399998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:96.27, Z:-7.87 [[ 6.10931441e-01 -7.91375659e-01 2.20757706e-02 1.87964530e+02] [ 7.90864766e-01 6.11330154e-01 2.84317469e-02 9.62726446e+01] [-3.59957766e-02 8.91010332e-05 9.99351938e-01 -7.86828979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.00, Y:96.32, Z:-7.88 [[ 6.07174271e-01 -7.94262197e-01 2.20673286e-02 1.87995947e+02] [ 7.93752961e-01 6.07575098e-01 2.84382976e-02 9.63206652e+01] [-3.59950241e-02 2.49004785e-04 9.99351938e-01 -7.87519250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.04, Y:96.36, Z:-7.87 [[ 6.08102911e-01 -7.93551540e-01 2.20636261e-02 1.88036026e+02] [ 7.93041731e-01 6.08503010e-01 2.84411698e-02 9.63623334e+01] [-3.59953170e-02 2.02218073e-04 9.99351938e-01 -7.87100028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.07, Y:96.41, Z:-7.88 [[ 6.03139933e-01 -7.97330299e-01 2.20593506e-02 1.88069287e+02] [ 7.96822875e-01 6.03543053e-01 2.84444856e-02 9.64102276e+01] [-3.59934180e-02 4.21390014e-04 9.99351938e-01 -7.87853004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:96.45, Z:-7.88 [[ 6.00711075e-01 -7.99162018e-01 2.20516070e-02 1.88105609e+02] [ 7.98655603e-01 6.01115461e-01 2.84504876e-02 9.64543201e+01] [-3.59921110e-02 5.21116540e-04 9.99351938e-01 -7.88200428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.15, Y:96.50, Z:-7.88 [[ 6.03485915e-01 -7.97068822e-01 2.20464007e-02 1.88147730e+02] [ 7.96560857e-01 6.03888352e-01 2.84545214e-02 9.64965630e+01] [-3.59937764e-02 3.89397004e-04 9.99351938e-01 -7.87930486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:96.55, Z:-7.89 [[ 5.98974962e-01 -8.00464422e-01 2.20386837e-02 1.88178873e+02] [ 7.99958518e-01 5.99379987e-01 2.84604971e-02 9.65454225e+01] [-3.59911613e-02 5.82907570e-04 9.99351938e-01 -7.88500327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.22, Y:96.59, Z:-7.88 [[ 6.02442485e-01 -7.97858104e-01 2.20340322e-02 1.88219417e+02] [ 7.97350316e-01 6.02845145e-01 2.84640979e-02 9.65891176e+01] [-3.59934205e-02 4.20860675e-04 9.99351938e-01 -7.87906372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:188.25, Y:96.64, Z:-7.89 [[ 6.00291533e-01 -7.99477895e-01 2.20266155e-02 1.88249087e+02] [ 7.98970983e-01 6.00695295e-01 2.84698360e-02 9.66391306e+01] [-3.59922889e-02 5.08425131e-04 9.99351938e-01 -7.88883355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.29, Y:96.68, Z:-7.88 [[ 6.05259757e-01 -7.95723299e-01 2.20240344e-02 1.88290906e+02] [ 7.95213809e-01 6.05660262e-01 2.84718326e-02 9.66813062e+01] [-3.59947830e-02 2.80961789e-04 9.99351938e-01 -7.88487236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:188.32, Y:96.73, Z:-7.89 [[ 6.03713073e-01 -7.96897621e-01 2.20160787e-02 1.88319519e+02] [ 7.96388686e-01 6.04114282e-01 2.84779831e-02 9.67318058e+01] [-3.59942645e-02 3.40825361e-04 9.99351938e-01 -7.89488107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:96.78, Z:-7.90 [[ 6.05161237e-01 -7.95798573e-01 2.20115682e-02 1.88354266e+02] [ 7.95288782e-01 6.05561358e-01 2.84814690e-02 9.67783951e+01] [-3.59948675e-02 2.69672312e-04 9.99351938e-01 -7.89721114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:96.82, Z:-7.89 [[ 6.11592426e-01 -7.90866957e-01 2.20036538e-02 1.88392909e+02] [ 7.90353720e-01 6.11988117e-01 2.84875820e-02 9.68232172e+01] [-3.59958620e-02 -3.21197228e-05 9.99351938e-01 -7.89046136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:96.87, Z:-7.89 [[ 6.15365291e-01 -7.87935101e-01 2.19962608e-02 1.88429850e+02] [ 7.87419774e-01 6.15758258e-01 2.84932893e-02 9.68693885e+01] [-3.59952420e-02 -2.13490520e-04 9.99351938e-01 -7.89049650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.46, Y:96.92, Z:-7.90 [[ 6.12466493e-01 -7.90190664e-01 2.19888785e-02 1.88460568e+02] [ 7.89676580e-01 6.12861083e-01 2.84989852e-02 9.69182579e+01] [-3.59957599e-02 -9.05711539e-05 9.99351939e-01 -7.90269016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:96.96, Z:-7.90 [[ 6.14713014e-01 -7.88444401e-01 2.19849255e-02 1.88500755e+02] [ 7.87929087e-01 6.15105997e-01 2.85020344e-02 9.69620321e+01] [-3.59953289e-02 -1.98009209e-04 9.99351939e-01 -7.89739238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:97.01, Z:-7.90 [[ 6.12844724e-01 -7.89897669e-01 2.19776200e-02 1.88536683e+02] [ 7.89383086e-01 6.13238662e-01 2.85076664e-02 9.70080951e+01] [-3.59956656e-02 -1.22011442e-04 9.99351939e-01 -7.90141751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.57, Y:97.05, Z:-7.90 [[ 6.12240035e-01 -7.90366656e-01 2.19701867e-02 1.88572433e+02] [ 7.89852169e-01 6.12634098e-01 2.85133939e-02 9.70532071e+01] [-3.59957213e-02 -1.03841624e-04 9.99351939e-01 -7.90333356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.61, Y:97.10, Z:-7.91 [[ 6.11715395e-01 -7.90772881e-01 2.19664629e-02 1.88609674e+02] [ 7.90258552e-01 6.12109666e-01 2.85162625e-02 9.70983290e+01] [-3.59957713e-02 -8.46516373e-05 9.99351939e-01 -7.90646221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.65, Y:97.14, Z:-7.91 [[ 6.10523984e-01 -7.91693284e-01 2.19592346e-02 1.88646714e+02] [ 7.91179350e-01 6.10918769e-01 2.85218276e-02 9.71435336e+01] [-3.59958479e-02 -3.95668541e-05 9.99351939e-01 -7.90820152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.68, Y:97.19, Z:-7.91 [[ 6.07637476e-01 -7.93911111e-01 2.19509992e-02 1.88682910e+02] [ 7.93398388e-01 6.08033833e-01 2.85281643e-02 9.71895341e+01] [-3.59957768e-02 8.11056863e-05 9.99351939e-01 -7.90944215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:97.24, Z:-7.92 [[ 6.03839856e-01 -7.96803585e-01 2.19425352e-02 1.88715762e+02] [ 7.96292524e-01 6.04238354e-01 2.85346729e-02 9.72370086e+01] [-3.59950510e-02 2.42303978e-04 9.99351939e-01 -7.91646659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.75, Y:97.28, Z:-7.92 [[ 6.04212679e-01 -7.96520984e-01 2.19399363e-02 1.88753437e+02] [ 7.96009664e-01 6.04610844e-01 2.85366710e-02 9.72826528e+01] [-3.59951807e-02 2.22182891e-04 9.99351939e-01 -7.91625036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:97.33, Z:-7.92 [[ 6.02341089e-01 -7.97937451e-01 2.19325421e-02 1.88787143e+02] [ 7.97426861e-01 6.02740189e-01 2.85423530e-02 9.73304323e+01] [-3.59946369e-02 2.97366192e-04 9.99351939e-01 -7.92200492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.82, Y:97.38, Z:-7.92 [[ 6.01827298e-01 -7.98325235e-01 2.19253933e-02 1.88821705e+02] [ 7.97814702e-01 6.02226471e-01 2.85478433e-02 9.73760888e+01] [-3.59945160e-02 3.11529740e-04 9.99351939e-01 -7.92331817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.86, Y:97.42, Z:-7.93 [[ 5.99852966e-01 -7.99809920e-01 2.19205556e-02 1.88856355e+02] [ 7.99300239e-01 6.00253227e-01 2.85515575e-02 9.74224961e+01] [-3.59937032e-02 3.94368912e-04 9.99351939e-01 -7.92531666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:97.47, Z:-7.93 [[ 5.95192061e-01 -8.03284673e-01 2.19122125e-02 1.88888299e+02] [ 8.02777092e-01 5.95594982e-01 2.85579591e-02 9.74709602e+01] [-3.59909746e-02 5.93151643e-04 9.99351939e-01 -7.93083457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.92, Y:97.52, Z:-7.93 [[ 5.93718808e-01 -8.04374416e-01 2.19037927e-02 1.88924250e+02] [ 8.03867337e-01 5.94122360e-01 2.85644156e-02 9.75166216e+01] [-3.59900181e-02 6.48512680e-04 9.99351939e-01 -7.93178544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.861858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:97.56, Z:-7.93 [[ 5.91777967e-01 -8.05803596e-01 2.18952729e-02 1.88959492e+02] [ 8.05297250e-01 5.92182438e-01 2.85709447e-02 9.75615661e+01] [-3.59885661e-02 7.24547453e-04 9.99351939e-01 -7.93153196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921858064 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:188.99, Y:97.61, Z:-7.94 [[ 5.88369974e-01 -8.08295468e-01 2.18908692e-02 1.88992300e+02] [ 8.07790710e-01 5.88776424e-01 2.85743184e-02 9.76108110e+01] [-3.59853198e-02 8.70969845e-04 9.99351939e-01 -7.93805394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981858064 meters Centerline goodness : 0.998193 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:97.66, Z:-7.94 [[ 5.89832565e-01 -8.07228922e-01 2.18863857e-02 1.89028239e+02] [ 8.06723301e-01 5.90237942e-01 2.85777521e-02 9.76560281e+01] [-3.59869633e-02 8.00168553e-04 9.99351939e-01 -7.93634731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041858064 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:97.71, Z:-7.94 [[ 5.89670277e-01 -8.07347720e-01 2.18774660e-02 1.89061100e+02] [ 8.06841928e-01 5.90075440e-01 2.85845789e-02 9.77051001e+01] [-3.59870500e-02 7.96180268e-04 9.99351939e-01 -7.93666242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101858064 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:189.09, Y:97.75, Z:-7.95 [[ 5.87255680e-01 -8.09105978e-01 2.18696689e-02 1.89091890e+02] [ 8.08601177e-01 5.87662078e-01 2.85905431e-02 9.77539924e+01] [-3.59847544e-02 8.93881217e-04 9.99351939e-01 -7.94510964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161858064 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:97.80, Z:-7.95 [[ 5.89140383e-01 -8.07734761e-01 2.18669789e-02 1.89127871e+02] [ 8.07228938e-01 5.89545507e-01 2.85926004e-02 9.77996296e+01] [-3.59868164e-02 8.06602643e-04 9.99351939e-01 -7.94614469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221858064 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:97.85, Z:-7.95 [[ 5.86450338e-01 -8.09690032e-01 2.18644020e-02 1.89161287e+02] [ 8.09185486e-01 5.86857052e-01 2.85945707e-02 9.78476572e+01] [-3.59840174e-02 9.23061098e-04 9.99351939e-01 -7.94783461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281858064 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:189.20, Y:97.89, Z:-7.95 [[ 5.84615653e-01 -8.11015928e-01 2.18564186e-02 1.89195877e+02] [ 8.10512076e-01 5.85023227e-01 2.86006716e-02 9.78942104e+01] [-3.59821127e-02 9.94490953e-04 9.99351939e-01 -7.94973955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341858064 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:189.23, Y:97.94, Z:-7.95 [[ 5.83344552e-01 -8.11930894e-01 2.18485007e-02 1.89229674e+02] [ 8.11427456e-01 5.83752636e-01 2.86067189e-02 9.79424279e+01] [-3.59807987e-02 1.04089972e-03 9.99351939e-01 -7.95141633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401858064 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:189.26, Y:97.99, Z:-7.95 [[ 5.83715887e-01 -8.11664180e-01 2.18408160e-02 1.89263883e+02] [ 8.11160336e-01 5.84123470e-01 2.86125849e-02 9.79899223e+01] [-3.59815435e-02 1.01478324e-03 9.99351939e-01 -7.95389413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46185806399998 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:189.30, Y:98.04, Z:-7.96 [[ 5.85031620e-01 -8.10716554e-01 2.18328315e-02 1.89298077e+02] [ 8.10211823e-01 5.85438104e-01 2.86186762e-02 9.80370674e+01] [-3.59834060e-02 9.46387680e-04 9.99351939e-01 -7.95601276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52185806399999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:189.33, Y:98.08, Z:-7.96 [[ 5.86970354e-01 -8.09314205e-01 2.18247770e-02 1.89332030e+02] [ 8.08808275e-01 5.87375344e-01 2.86248173e-02 9.80842381e+01] [-3.59858071e-02 8.50141098e-04 9.99351939e-01 -7.95903374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.581858064 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:98.13, Z:-7.96 [[ 5.89394254e-01 -8.07550893e-01 2.18167011e-02 1.89365015e+02] [ 8.07043523e-01 5.89797439e-01 2.86309711e-02 9.81321683e+01] [-3.59884007e-02 7.32097455e-04 9.99351940e-01 -7.96162606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.641858064 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:98.18, Z:-7.96 [[ 5.89996779e-01 -8.07111014e-01 2.18085223e-02 1.89399056e+02] [ 8.06603114e-01 5.90399295e-01 2.86371996e-02 9.81772935e+01] [-3.59891354e-02 6.94966490e-04 9.99351940e-01 -7.96459539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:98.22, Z:-7.97 [[ 5.90872977e-01 -8.06469902e-01 2.18041770e-02 1.89434096e+02] [ 8.05961443e-01 5.91274788e-01 2.86405077e-02 9.82242263e+01] [-3.59899675e-02 6.50423921e-04 9.99351940e-01 -7.96558176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:98.27, Z:-7.97 [[ 5.90729381e-01 -8.06575306e-01 2.17962021e-02 1.89467885e+02] [ 8.06066694e-01 5.91130999e-01 2.86465755e-02 9.82718320e+01] [-3.59900311e-02 6.46818718e-04 9.99351940e-01 -7.96702825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:98.32, Z:-7.97 [[ 5.91880608e-01 -8.05730990e-01 2.17926190e-02 1.89501594e+02] [ 8.05221705e-01 5.92281371e-01 2.86493010e-02 9.83185457e+01] [-3.59909920e-02 5.90924150e-04 9.99351940e-01 -7.96945308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:189.54, Y:98.36, Z:-7.97 [[ 5.91599489e-01 -8.05937637e-01 2.17846010e-02 1.89536609e+02] [ 8.05428269e-01 5.92000146e-01 2.86553966e-02 9.83640984e+01] [-3.59909496e-02 5.93415465e-04 9.99351940e-01 -7.97249516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:98.41, Z:-7.97 [[ 5.92248796e-01 -8.05460729e-01 2.17802053e-02 1.89571821e+02] [ 8.04950915e-01 5.92648885e-01 2.86587372e-02 9.84106575e+01] [-3.59915018e-02 5.58893564e-04 9.99351940e-01 -7.97493238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001858064 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:98.46, Z:-7.98 [[ 5.92602710e-01 -8.05200593e-01 2.17722799e-02 1.89606940e+02] [ 8.04690382e-01 5.93002294e-01 2.86647570e-02 9.84574702e+01] [-3.59918912e-02 5.33131528e-04 9.99351940e-01 -7.97676812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:189.64, Y:98.50, Z:-7.98 [[ 5.92546357e-01 -8.05242276e-01 2.17644616e-02 1.89642648e+02] [ 8.04731875e-01 5.92945698e-01 2.86706920e-02 9.85037048e+01] [-3.59919971e-02 5.25841926e-04 9.99351940e-01 -7.97809971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121858064 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:189.68, Y:98.55, Z:-7.98 [[ 5.93901091e-01 -8.04243839e-01 2.17563985e-02 1.89676933e+02] [ 8.03732543e-01 5.94299285e-01 2.86768093e-02 9.85499989e+01] [-3.59929593e-02 4.55137137e-04 9.99351940e-01 -7.97984531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18185806399998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:98.60, Z:-7.98 [[ 5.96267978e-01 -8.02490826e-01 2.17479599e-02 1.89711507e+02] [ 8.01978125e-01 5.96664361e-01 2.86832075e-02 9.85955381e+01] [-3.59942435e-02 3.38509929e-04 9.99351940e-01 -7.98161241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24185806399998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:98.64, Z:-7.98 [[ 5.96643179e-01 -8.02212032e-01 2.17433225e-02 1.89747124e+02] [ 8.01699019e-01 5.97039157e-01 2.86867225e-02 9.86413926e+01] [-3.59944489e-02 3.15863029e-04 9.99351940e-01 -7.98328239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.301858064 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:98.69, Z:-7.99 [[ 5.95813381e-01 -8.02828752e-01 2.17350188e-02 1.89784180e+02] [ 8.02315918e-01 5.96209592e-01 2.86930126e-02 9.86863317e+01] [-3.59942021e-02 3.42670738e-04 9.99351940e-01 -7.98618360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.361858064 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:189.82, Y:98.73, Z:-7.99 [[ 5.92794224e-01 -8.05060854e-01 2.17262252e-02 1.89820526e+02] [ 8.04549269e-01 5.93192046e-01 2.86996695e-02 9.87303660e+01] [-3.59928044e-02 4.66820232e-04 9.99351940e-01 -7.98901701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421858064 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:189.86, Y:98.78, Z:-7.99 [[ 5.90571885e-01 -8.06692678e-01 2.17203032e-02 1.89856694e+02] [ 8.06182027e-01 5.90970905e-01 2.87041507e-02 9.87754086e+01] [-3.59914954e-02 5.58653675e-04 9.99351940e-01 -7.99137651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481858064 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:189.89, Y:98.82, Z:-7.99 [[ 5.86945846e-01 -8.09335003e-01 2.17123795e-02 1.89894524e+02] [ 8.08825926e-01 5.87346873e-01 2.87101431e-02 9.88195561e+01] [-3.59888219e-02 7.10236220e-04 9.99351940e-01 -7.99304685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541858064 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:189.93, Y:98.86, Z:-8.00 [[ 5.86837369e-01 -8.09413875e-01 2.17044293e-02 1.89931646e+02] [ 8.08904630e-01 5.87238182e-01 2.87161520e-02 9.88646941e+01] [-3.59889215e-02 7.05102311e-04 9.99351940e-01 -7.99574398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601858064 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:189.97, Y:98.91, Z:-8.00 [[ 5.81641196e-01 -8.13156050e-01 2.16969408e-02 1.89969881e+02] [ 8.12649172e-01 5.82044998e-01 2.87218090e-02 9.89081654e+01] [-3.59839086e-02 9.26213676e-04 9.99351940e-01 -7.99743349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:98.95, Z:-8.00 [[ 5.79860269e-01 -8.14427206e-01 2.16885881e-02 1.90007078e+02] [ 8.13920978e-01 5.80264886e-01 2.87281149e-02 9.89532580e+01] [-3.59820844e-02 9.94504351e-04 9.99351940e-01 -7.99964309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:99.00, Z:-8.00 [[ 5.78162296e-01 -8.15633695e-01 2.16802974e-02 1.90044416e+02] [ 8.15128077e-01 5.78567674e-01 2.87343703e-02 9.89966762e+01] [-3.59802399e-02 1.05908961e-03 9.99351940e-01 -8.00185381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:190.08, Y:99.04, Z:-8.01 [[ 5.75697150e-01 -8.17375651e-01 2.16757153e-02 1.90079972e+02] [ 8.16871130e-01 5.76103892e-01 2.87378264e-02 9.90436241e+01] [-3.59770635e-02 1.16198132e-03 9.99351940e-01 -8.01005635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:99.09, Z:-8.01 [[ 5.79662707e-01 -8.14568370e-01 2.16683288e-02 1.90119060e+02] [ 8.14061670e-01 5.80066733e-01 2.87433947e-02 9.90865001e+01] [-3.59825369e-02 9.77881980e-04 9.99351940e-01 -8.00643894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:190.16, Y:99.13, Z:-8.01 [[ 5.80399448e-01 -8.14043786e-01 2.16609149e-02 1.90158550e+02] [ 8.13536513e-01 5.80802753e-01 2.87489807e-02 9.91304375e+01] [-3.59836481e-02 9.36052639e-04 9.99351940e-01 -8.00895264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96185806399998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:190.19, Y:99.18, Z:-8.01 [[ 5.81452516e-01 -8.13292127e-01 2.16538464e-02 1.90193416e+02] [ 8.12784134e-01 5.81854914e-01 2.87543038e-02 9.91769312e+01] [-3.59850458e-02 8.80640546e-04 9.99351940e-01 -8.00990189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:99.22, Z:-8.01 [[ 5.83762118e-01 -8.11636049e-01 2.16497838e-02 1.90229479e+02] [ 8.11126802e-01 5.84162927e-01 2.87573623e-02 9.92223920e+01] [-3.59875130e-02 7.73261141e-04 9.99351940e-01 -8.01319774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:99.27, Z:-8.02 [[ 5.85742030e-01 -8.10208481e-01 2.16446770e-02 1.90265352e+02] [ 8.09698115e-01 5.86141413e-01 2.87612055e-02 9.92674616e+01] [-3.59894142e-02 6.79007304e-04 9.99351941e-01 -8.01565683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.141858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:99.31, Z:-8.02 [[ 5.88284967e-01 -8.08364206e-01 2.16357917e-02 1.90301837e+02] [ 8.07852342e-01 5.88682429e-01 2.87678880e-02 9.93124436e+01] [-3.59915413e-02 5.54808960e-04 9.99351941e-01 -8.01700162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:190.34, Y:99.36, Z:-8.02 [[ 5.89346358e-01 -8.07590960e-01 2.16266595e-02 1.90336949e+02] [ 8.07078322e-01 5.89742822e-01 2.87747516e-02 9.93578345e+01] [-3.59923964e-02 4.96113000e-04 9.99351941e-01 -8.01987907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:99.40, Z:-8.02 [[ 5.88356058e-01 -8.08312832e-01 2.16220819e-02 1.90374326e+02] [ 8.07800555e-01 5.88752987e-01 2.87781909e-02 9.94036031e+01] [-3.59918463e-02 5.34506866e-04 9.99351941e-01 -8.02314631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:99.45, Z:-8.02 [[ 5.87884047e-01 -8.08656370e-01 2.16153510e-02 1.90412056e+02] [ 8.08144138e-01 5.88281035e-01 2.87832456e-02 9.94490195e+01] [-3.59916560e-02 5.47108264e-04 9.99351941e-01 -8.02198621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:99.49, Z:-8.03 [[ 5.86366871e-01 -8.09757362e-01 2.16080409e-02 1.90447104e+02] [ 8.09245674e-01 5.86764560e-01 2.87887324e-02 9.94935825e+01] [-3.59907206e-02 6.05454655e-04 9.99351941e-01 -8.02563082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441858064 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:99.54, Z:-8.03 [[ 5.83922104e-01 -8.11522179e-01 2.16039076e-02 1.90483108e+02] [ 8.11011578e-01 5.84321188e-01 2.87918338e-02 9.95386935e+01] [-3.59888326e-02 7.08831000e-04 9.99351941e-01 -8.02626154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.52, Y:99.58, Z:-8.03 [[ 5.80820699e-01 -8.13745027e-01 2.15950542e-02 1.90518599e+02] [ 8.13235706e-01 5.81221415e-01 2.87984727e-02 9.95832560e+01] [-3.59861219e-02 8.35120117e-04 9.99351941e-01 -8.02856823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:99.63, Z:-8.03 [[ 5.79422826e-01 -8.14741153e-01 2.15880389e-02 1.90554576e+02] [ 8.14232325e-01 5.79824168e-01 2.88037305e-02 9.96283507e+01] [-3.59848513e-02 8.88140204e-04 9.99351941e-01 -8.03062333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:99.67, Z:-8.03 [[ 5.78744662e-01 -8.15223225e-01 2.15802882e-02 1.90588877e+02] [ 8.14714516e-01 5.79146154e-01 2.88095363e-02 9.96735917e+01] [-3.59843440e-02 9.08408699e-04 9.99351941e-01 -8.03174678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:190.63, Y:99.72, Z:-8.03 [[ 5.80631676e-01 -8.13880489e-01 2.15732722e-02 1.90627688e+02] [ 8.13370657e-01 5.81031740e-01 2.88147891e-02 9.97168773e+01] [-3.59865506e-02 8.16287310e-04 9.99351941e-01 -8.03494330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:190.66, Y:99.76, Z:-8.03 [[ 5.81874586e-01 -8.12992580e-01 2.15645982e-02 1.90660872e+02] [ 8.12481896e-01 5.82273563e-01 2.88212792e-02 9.97641721e+01] [-3.59879815e-02 7.50475743e-04 9.99351941e-01 -8.03346263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:99.81, Z:-8.04 [[ 5.85464578e-01 -8.10411376e-01 2.15552626e-02 1.90691765e+02] [ 8.09898677e-01 5.85860960e-01 2.88282595e-02 9.98136943e+01] [-3.59911363e-02 5.79653903e-04 9.99351941e-01 -8.03829531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.861858064 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:99.86, Z:-8.04 [[ 5.89026549e-01 -8.07826259e-01 2.15513511e-02 1.90723932e+02] [ 8.07311712e-01 5.89420531e-01 2.88311834e-02 9.98610002e+01] [-3.59933958e-02 4.16325712e-04 9.99351941e-01 -8.04245845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:99.91, Z:-8.04 [[ 5.91178256e-01 -8.06253186e-01 2.15422947e-02 1.90757619e+02] [ 8.05737344e-01 5.91570541e-01 2.88379486e-02 9.99084486e+01] [-3.59944749e-02 3.09063185e-04 9.99351941e-01 -8.04285475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.79, Y:99.95, Z:-8.04 [[ 5.92197623e-01 -8.05505001e-01 2.15329680e-02 1.90791467e+02] [ 8.04988411e-01 5.92588921e-01 2.88449111e-02 9.99542883e+01] [-3.59949184e-02 2.51901965e-04 9.99351941e-01 -8.04421460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.83, Y:100.00, Z:-8.05 [[ 5.91521708e-01 -8.06001684e-01 2.15256800e-02 1.90825914e+02] [ 8.05485224e-01 5.91913179e-01 2.88503488e-02 1.00000716e+02] [-3.59947634e-02 2.73009606e-04 9.99351941e-01 -8.04640957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:100.05, Z:-8.05 [[ 5.89972081e-01 -8.07136866e-01 2.15179939e-02 1.90860262e+02] [ 8.06620950e-01 5.90364268e-01 2.88560803e-02 1.00047163e+02] [-3.59942609e-02 3.32582959e-04 9.99351941e-01 -8.04870840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:190.89, Y:100.09, Z:-8.05 [[ 5.88774685e-01 -8.08010950e-01 2.15098855e-02 1.90894328e+02] [ 8.07495396e-01 5.89167348e-01 2.88621232e-02 1.00093605e+02] [-3.59938338e-02 3.75846057e-04 9.99351941e-01 -8.05117829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221858064 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:100.14, Z:-8.05 [[ 5.88628493e-01 -8.08117669e-01 2.15018489e-02 1.90928922e+02] [ 8.07601968e-01 5.89020962e-01 2.88681091e-02 1.00140736e+02] [-3.59938688e-02 3.72343944e-04 9.99351941e-01 -8.05367263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:100.19, Z:-8.06 [[ 5.88880214e-01 -8.07934468e-01 2.14939340e-02 1.90962283e+02] [ 8.07418429e-01 5.89272240e-01 2.88740010e-02 1.00188234e+02] [-3.59940793e-02 3.51270573e-04 9.99351941e-01 -8.05850323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:100.24, Z:-8.06 [[ 5.88804241e-01 -8.07990052e-01 2.14858591e-02 1.90996759e+02] [ 8.07473831e-01 5.89196027e-01 2.88800085e-02 1.00235409e+02] [-3.59941424e-02 3.44597422e-04 9.99351941e-01 -8.06189266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.03, Y:100.28, Z:-8.06 [[ 5.87144797e-01 -8.09196940e-01 2.14779059e-02 1.91031596e+02] [ 8.08681308e-01 5.87537357e-01 2.88859220e-02 1.00280666e+02] [-3.59934718e-02 4.08562191e-04 9.99351942e-01 -8.06380063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:100.33, Z:-8.06 [[ 5.86021778e-01 -8.10010790e-01 2.14708196e-02 1.91066200e+02] [ 8.09495510e-01 5.86414800e-01 2.88911883e-02 1.00326806e+02] [-3.59929806e-02 4.49666568e-04 9.99351942e-01 -8.06426978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.10, Y:100.37, Z:-8.07 [[ 5.84197608e-01 -8.11327615e-01 2.14628984e-02 1.91101080e+02] [ 8.10813005e-01 5.84591507e-01 2.88970717e-02 1.00373689e+02] [-3.59920203e-02 5.20797004e-04 9.99351942e-01 -8.06678128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.14, Y:100.42, Z:-8.07 [[ 5.83052433e-01 -8.12151182e-01 2.14550066e-02 1.91135388e+02] [ 8.11636913e-01 5.83446777e-01 2.89029299e-02 1.00419823e+02] [-3.59914031e-02 5.61751718e-04 9.99351942e-01 -8.06957525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:100.47, Z:-8.07 [[ 5.81747235e-01 -8.13086797e-01 2.14479607e-02 1.91169129e+02] [ 8.12572970e-01 5.82142154e-01 2.89081575e-02 1.00465953e+02] [-3.59906032e-02 6.10792429e-04 9.99351942e-01 -8.07206113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:100.51, Z:-8.07 [[ 5.80234787e-01 -8.14166982e-01 2.14410291e-02 1.91203934e+02] [ 8.13653700e-01 5.80630415e-01 2.89132977e-02 1.00511970e+02] [-3.59895659e-02 6.69071499e-04 9.99351942e-01 -8.07381375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:100.56, Z:-8.08 [[ 5.78201782e-01 -8.15612158e-01 2.14361145e-02 1.91238735e+02] [ 8.15099730e-01 5.78598514e-01 2.89169408e-02 1.00557999e+02] [-3.59879125e-02 7.52744445e-04 9.99351942e-01 -8.07513034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.27, Y:100.60, Z:-8.08 [[ 5.77034225e-01 -8.16438824e-01 2.14277923e-02 1.91272382e+02] [ 8.15926735e-01 5.77431395e-01 2.89231064e-02 1.00604986e+02] [-3.59870270e-02 7.93886333e-04 9.99351942e-01 -8.07715332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.31, Y:100.65, Z:-8.08 [[ 5.76020512e-01 -8.17154557e-01 2.14196213e-02 1.91307407e+02] [ 8.16642737e-01 5.76418029e-01 2.89291564e-02 1.00651631e+02] [-3.59862478e-02 8.28390668e-04 9.99351942e-01 -8.07862037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:100.70, Z:-8.08 [[ 5.75811902e-01 -8.17301780e-01 2.14115445e-02 1.91340771e+02] [ 8.16789839e-01 5.76209264e-01 2.89351330e-02 1.00698871e+02] [-3.59862660e-02 8.27538032e-04 9.99351942e-01 -8.08004235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:100.75, Z:-8.08 [[ 5.75848117e-01 -8.17276479e-01 2.14033651e-02 1.91373477e+02] [ 8.16764296e-01 5.76245167e-01 2.89411821e-02 1.00746735e+02] [-3.59865331e-02 8.15779290e-04 9.99351942e-01 -8.08137245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.41, Y:100.79, Z:-8.08 [[ 5.76116108e-01 -8.17087791e-01 2.13956084e-02 1.91406498e+02] [ 8.16575266e-01 5.76512715e-01 2.89469153e-02 1.00794272e+02] [-3.59870114e-02 7.94340487e-04 9.99351942e-01 -8.08461358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:191.44, Y:100.84, Z:-8.08 [[ 5.78485769e-01 -8.15412033e-01 2.13876345e-02 1.91441941e+02] [ 8.14898142e-01 5.78880604e-01 2.89528057e-02 1.00841392e+02] [-3.59893529e-02 6.79957593e-04 9.99351942e-01 -8.07534718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18185806399998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:191.47, Y:100.89, Z:-8.09 [[ 5.76290304e-01 -8.16965382e-01 2.13787412e-02 1.91473587e+02] [ 8.16452311e-01 5.76686205e-01 2.89593710e-02 1.00889772e+02] [-3.59876287e-02 7.65717996e-04 9.99351942e-01 -8.08822532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:100.93, Z:-8.07 [[ 5.79681630e-01 -8.14562766e-01 2.13707219e-02 1.91512345e+02] [ 8.14047836e-01 5.80075110e-01 2.89652877e-02 1.00934570e+02] [-3.59906687e-02 6.06144657e-04 9.99351942e-01 -8.07378829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.301858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:191.54, Y:100.98, Z:-8.09 [[ 5.74593237e-01 -8.18160300e-01 2.13619911e-02 1.91540813e+02] [ 8.17647594e-01 5.74989610e-01 2.89717253e-02 1.00984755e+02] [-3.59864384e-02 8.19623231e-04 9.99351942e-01 -8.08850401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.361858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:191.57, Y:101.03, Z:-8.09 [[ 5.72056904e-01 -8.19935844e-01 2.13567564e-02 1.91574094e+02] [ 8.19424224e-01 5.72454677e-01 2.89755836e-02 1.01031046e+02] [-3.59838946e-02 9.24560876e-04 9.99351942e-01 -8.08994550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.421858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:191.61, Y:101.08, Z:-8.09 [[ 5.71585103e-01 -8.20264995e-01 2.13496715e-02 1.91608257e+02] [ 8.19753409e-01 5.71982920e-01 2.89808029e-02 1.01077446e+02] [-3.59835856e-02 9.36470745e-04 9.99351942e-01 -8.09137546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.64, Y:101.13, Z:-8.09 [[ 5.69089474e-01 -8.21998585e-01 2.13423534e-02 1.91640676e+02] [ 8.21488009e-01 5.69488587e-01 2.89861912e-02 1.01125102e+02] [-3.59808348e-02 1.03675110e-03 9.99351942e-01 -8.09409105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.541858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:191.67, Y:101.17, Z:-8.10 [[ 5.69434786e-01 -8.21759621e-01 2.13342431e-02 1.91673340e+02] [ 8.21248654e-01 5.69833399e-01 2.89921592e-02 1.01173411e+02] [-3.59815500e-02 1.01157443e-03 9.99351942e-01 -8.09695612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:101.22, Z:-8.10 [[ 5.70988911e-01 -8.20680729e-01 2.13261527e-02 1.91705578e+02] [ 8.20168787e-01 5.71386270e-01 2.89981092e-02 1.01223053e+02] [-3.59836602e-02 9.33446052e-04 9.99351942e-01 -8.09692698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661858064 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:101.27, Z:-8.10 [[ 5.72265706e-01 -8.19791124e-01 2.13184081e-02 1.91737090e+02] [ 8.19278353e-01 5.72661994e-01 2.90038016e-02 1.01270348e+02] [-3.59853012e-02 8.67829246e-04 9.99351942e-01 -8.10108791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721858064 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:101.32, Z:-8.11 [[ 5.68358521e-01 -8.22504913e-01 2.13133629e-02 1.91770700e+02] [ 8.21993895e-01 5.68757067e-01 2.90075086e-02 1.01317948e+02] [-3.59809441e-02 1.03278950e-03 9.99351943e-01 -8.10604872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781858064 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:101.36, Z:-8.11 [[ 5.65511952e-01 -8.24464752e-01 2.13097370e-02 1.91804418e+02] [ 8.23955014e-01 5.65912135e-01 2.90101720e-02 1.01364193e+02] [-3.59773031e-02 1.15266570e-03 9.99351943e-01 -8.10725674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841858064 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:191.84, Y:101.41, Z:-8.11 [[ 5.58497428e-01 -8.29232607e-01 2.13050720e-02 1.91835175e+02] [ 8.28726153e-01 5.58901758e-01 2.90135976e-02 1.01414178e+02] [-3.59664634e-02 1.45205076e-03 9.99351943e-01 -8.11172709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90185806399998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:101.46, Z:-8.11 [[ 5.59091077e-01 -8.28832660e-01 2.12976165e-02 1.91872446e+02] [ 8.28325709e-01 5.59494784e-01 2.90190694e-02 1.01458923e+02] [-3.59678578e-02 1.41706049e-03 9.99351943e-01 -8.10858729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96185806399998 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:191.91, Y:101.51, Z:-8.11 [[ 5.59471280e-01 -8.28576134e-01 2.12949989e-02 1.91906632e+02] [ 8.28068925e-01 5.59874662e-01 2.90209901e-02 1.01506475e+02] [-3.59686301e-02 1.39731641e-03 9.99351943e-01 -8.10831229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02185806399999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:191.94, Y:101.56, Z:-8.11 [[ 5.61460498e-01 -8.27229694e-01 2.12871329e-02 1.91937974e+02] [ 8.26721300e-01 5.61862385e-01 2.90267587e-02 1.01555032e+02] [-3.59722360e-02 1.30114774e-03 9.99351943e-01 -8.10997508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.081858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:101.60, Z:-8.11 [[ 5.63268165e-01 -8.26000105e-01 2.12791144e-02 1.91970851e+02] [ 8.25490612e-01 5.63668658e-01 2.90326358e-02 1.01602391e+02] [-3.59753301e-02 1.21254966e-03 9.99351943e-01 -8.11160890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.141858064 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:192.00, Y:101.65, Z:-8.11 [[ 5.65502220e-01 -8.24472424e-01 2.12711421e-02 1.92003389e+02] [ 8.23961629e-01 5.65901052e-01 2.90384756e-02 1.01650726e+02] [-3.59787841e-02 1.10528244e-03 9.99351943e-01 -8.11405994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.201858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:192.03, Y:101.70, Z:-8.12 [[ 5.64351009e-01 -8.25261062e-01 2.12630778e-02 1.92034996e+02] [ 8.24750602e-01 5.64750270e-01 2.90443794e-02 1.01700470e+02] [-3.59775243e-02 1.14551140e-03 9.99351943e-01 -8.12455162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.261858064 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:101.75, Z:-8.12 [[ 5.65704148e-01 -8.24334284e-01 2.12557344e-02 1.92070266e+02] [ 8.23822969e-01 5.66102313e-01 2.90497526e-02 1.01746909e+02] [-3.59796274e-02 1.07739666e-03 9.99351943e-01 -8.11890921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321858064 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:101.79, Z:-8.12 [[ 5.64695952e-01 -8.25025324e-01 2.12531494e-02 1.92103853e+02] [ 8.24514426e-01 5.65094650e-01 2.90516437e-02 1.01794176e+02] [-3.59783828e-02 1.11818273e-03 9.99351943e-01 -8.12119821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381858064 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:101.84, Z:-8.12 [[ 5.66430982e-01 -8.23835183e-01 2.12493005e-02 1.92139346e+02] [ 8.23323341e-01 5.66828469e-01 2.90544586e-02 1.01839670e+02] [-3.59807937e-02 1.03769950e-03 9.99351943e-01 -8.12366526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.17, Y:101.89, Z:-8.12 [[ 5.63999857e-01 -8.25501647e-01 2.12412705e-02 1.92169515e+02] [ 8.24990759e-01 5.64398569e-01 2.90603280e-02 1.01889348e+02] [-3.59778913e-02 1.13383102e-03 9.99351943e-01 -8.12424124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501858064 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:101.94, Z:-8.13 [[ 5.63314209e-01 -8.25969777e-01 2.12374443e-02 1.92203094e+02] [ 8.25459115e-01 5.63713211e-01 2.90631240e-02 1.01936543e+02] [-3.59770900e-02 1.15897123e-03 9.99351943e-01 -8.12511723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561858064 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:101.98, Z:-8.13 [[ 5.63094765e-01 -8.26119606e-01 2.12292907e-02 1.92234909e+02] [ 8.25608826e-01 5.63493616e-01 2.90690786e-02 1.01983946e+02] [-3.59771055e-02 1.15844375e-03 9.99351943e-01 -8.12687870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621858064 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:102.03, Z:-8.13 [[ 5.62970500e-01 -8.26204407e-01 2.12248347e-02 1.92268190e+02] [ 8.25693565e-01 5.63369271e-01 2.90723318e-02 1.02030867e+02] [-3.59771083e-02 1.15834425e-03 9.99351943e-01 -8.13024276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68185806399998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:102.08, Z:-8.13 [[ 5.62350746e-01 -8.26626555e-01 2.12173865e-02 1.92302541e+02] [ 8.26115808e-01 5.62749639e-01 2.90777666e-02 1.02077984e+02] [-3.59765306e-02 1.17611470e-03 9.99351943e-01 -8.13184956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:102.12, Z:-8.14 [[ 5.61886999e-01 -8.26942058e-01 2.12092703e-02 1.92336078e+02] [ 8.26431312e-01 5.62285893e-01 2.90836853e-02 1.02124927e+02] [-3.59761961e-02 1.18626042e-03 9.99351943e-01 -8.13564362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.37, Y:102.17, Z:-8.14 [[ 5.61164476e-01 -8.27432744e-01 2.12010600e-02 1.92369518e+02] [ 8.26922122e-01 5.61563528e-01 2.90896691e-02 1.02170637e+02] [-3.59754868e-02 1.20753665e-03 9.99351943e-01 -8.13878667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.40, Y:102.22, Z:-8.14 [[ 5.60178056e-01 -8.28100991e-01 2.11965691e-02 1.92403991e+02] [ 8.27590721e-01 5.60577559e-01 2.90929411e-02 1.02217776e+02] [-3.59742143e-02 1.24485670e-03 9.99351943e-01 -8.14163170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.44, Y:102.26, Z:-8.14 [[ 5.59174531e-01 -8.28779160e-01 2.11883783e-02 1.92438559e+02] [ 8.28269149e-01 5.59574365e-01 2.90989053e-02 1.02263763e+02] [-3.59730396e-02 1.27831333e-03 9.99351943e-01 -8.14318475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:102.31, Z:-8.14 [[ 5.58437383e-01 -8.29276150e-01 2.11838590e-02 1.92473312e+02] [ 8.28766371e-01 5.58837512e-01 2.91021949e-02 1.02308672e+02] [-3.59720912e-02 1.30471639e-03 9.99351943e-01 -8.14452171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:102.35, Z:-8.14 [[ 5.62560618e-01 -8.26484783e-01 2.11767464e-02 1.92511656e+02] [ 8.25972823e-01 5.62957952e-01 2.91073696e-02 1.02352535e+02] [-3.59784158e-02 1.11675717e-03 9.99351943e-01 -8.14453613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:102.40, Z:-8.15 [[ 5.62684917e-01 -8.26400371e-01 2.11686199e-02 1.92539973e+02] [ 8.25888130e-01 5.63081889e-01 2.91132785e-02 1.02402676e+02] [-3.59788906e-02 1.10130925e-03 9.99351943e-01 -8.15033237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.58, Y:102.45, Z:-8.15 [[ 5.65859983e-01 -8.24229751e-01 2.11612493e-02 1.92579330e+02] [ 8.23715786e-01 5.66254721e-01 2.91186349e-02 1.02445284e+02] [-3.59831025e-02 9.53784866e-04 9.99351943e-01 -8.15094256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.61, Y:102.49, Z:-8.16 [[ 5.64121750e-01 -8.25420553e-01 2.11556453e-02 1.92610731e+02] [ 8.24907270e-01 5.64517373e-01 2.91227058e-02 1.02492291e+02] [-3.59812092e-02 1.02269386e-03 9.99351943e-01 -8.15650793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:102.54, Z:-8.16 [[ 5.62240819e-01 -8.26703066e-01 2.11494919e-02 1.92643696e+02] [ 8.26190518e-01 5.62637393e-01 2.91271739e-02 1.02539943e+02] [-3.59790189e-02 1.09702353e-03 9.99351943e-01 -8.15726206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.68, Y:102.58, Z:-8.16 [[ 5.62048445e-01 -8.26834075e-01 2.11413747e-02 1.92683887e+02] [ 8.26321397e-01 5.62444853e-01 2.91330644e-02 1.02583246e+02] [-3.59790677e-02 1.09537669e-03 9.99351943e-01 -8.15906251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:102.63, Z:-8.16 [[ 5.58393577e-01 -8.29306856e-01 2.11365098e-02 1.92717336e+02] [ 8.28795800e-01 5.58792073e-01 2.91365935e-02 1.02631350e+02] [-3.59740909e-02 1.24816391e-03 9.99351943e-01 -8.16161728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:102.68, Z:-8.16 [[ 5.57144750e-01 -8.30146557e-01 2.11286826e-02 1.92749012e+02] [ 8.29635887e-01 5.57543741e-01 2.91422684e-02 1.02678443e+02] [-3.59725185e-02 1.29265148e-03 9.99351943e-01 -8.16294601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52185806399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:102.72, Z:-8.16 [[ 5.59715971e-01 -8.28415244e-01 2.11238127e-02 1.92785594e+02] [ 8.27903207e-01 5.60113205e-01 2.91457979e-02 1.02723076e+02] [-3.59765497e-02 1.17510375e-03 9.99351944e-01 -8.16421243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.581858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.82, Y:102.77, Z:-8.17 [[ 5.62558356e-01 -8.26487885e-01 2.11157065e-02 1.92818844e+02] [ 8.25974266e-01 5.62953543e-01 2.91516695e-02 1.02769363e+02] [-3.59806635e-02 1.04151492e-03 9.99351944e-01 -8.16575582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:102.82, Z:-8.17 [[ 5.65176882e-01 -8.24699583e-01 2.11113444e-02 1.92852314e+02] [ 8.24184596e-01 5.65570285e-01 2.91548282e-02 1.02816588e+02] [-3.59839237e-02 9.22009968e-04 9.99351944e-01 -8.16762623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.88, Y:102.87, Z:-8.17 [[ 5.66129032e-01 -8.24046477e-01 2.11026655e-02 1.92883820e+02] [ 8.23530802e-01 5.66521533e-01 2.91611087e-02 1.02865867e+02] [-3.59852233e-02 8.69744792e-04 9.99351944e-01 -8.17352183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.92, Y:102.91, Z:-8.18 [[ 5.67750316e-01 -8.22930493e-01 2.10946054e-02 1.92916914e+02] [ 8.22413830e-01 5.68141516e-01 2.91669381e-02 1.02912047e+02] [-3.59870838e-02 7.88956870e-04 9.99351944e-01 -8.17580854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:102.96, Z:-8.18 [[ 5.68230632e-01 -8.22599065e-01 2.10885634e-02 1.92951226e+02] [ 8.22082012e-01 5.68621315e-01 2.91713060e-02 1.02958479e+02] [-3.59876957e-02 7.60499014e-04 9.99351944e-01 -8.17860321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:103.00, Z:-8.18 [[ 5.67179507e-01 -8.23324372e-01 2.10804623e-02 1.92987319e+02] [ 8.22807601e-01 5.67570563e-01 2.91771590e-02 1.03003282e+02] [-3.59869160e-02 7.96477942e-04 9.99351944e-01 -8.18034735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.02, Y:103.05, Z:-8.18 [[ 5.65855049e-01 -8.24235393e-01 2.10732364e-02 1.93021514e+02] [ 8.23719058e-01 5.66246680e-01 2.91823770e-02 1.03049578e+02] [-3.59857981e-02 8.45431037e-04 9.99351944e-01 -8.18321240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:103.10, Z:-8.19 [[ 5.63946422e-01 -8.25542661e-01 2.10653387e-02 1.93056520e+02] [ 8.25027021e-01 5.64338968e-01 2.91880769e-02 1.03095712e+02] [-3.59839941e-02 9.18962113e-04 9.99351944e-01 -8.18557942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.09, Y:103.14, Z:-8.19 [[ 5.61206567e-01 -8.27407865e-01 2.10573806e-02 1.93091463e+02] [ 8.26893315e-01 5.61600540e-01 2.91938170e-02 1.03140836e+02] [-3.59810301e-02 1.02844538e-03 9.99351944e-01 -8.18658013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:103.19, Z:-8.19 [[ 5.59432092e-01 -8.28608846e-01 2.10502779e-02 1.93126551e+02] [ 8.28094949e-01 5.59826917e-01 2.91989376e-02 1.03187176e+02] [-3.59790101e-02 1.09680604e-03 9.99351944e-01 -8.18821612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:103.23, Z:-8.19 [[ 5.57321350e-01 -8.30030206e-01 2.10421081e-02 1.93162576e+02] [ 8.29517094e-01 5.57717194e-01 2.92048239e-02 1.03232378e+02] [-3.59764315e-02 1.17831645e-03 9.99351944e-01 -8.19050324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:193.20, Y:103.28, Z:-8.19 [[ 5.57193877e-01 -8.30115987e-01 2.10340443e-02 1.93197718e+02] [ 8.29602718e-01 5.57589517e-01 2.92106305e-02 1.03278104e+02] [-3.59765740e-02 1.17391587e-03 9.99351944e-01 -8.19197862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.301858064 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:193.23, Y:103.32, Z:-8.20 [[ 5.59413446e-01 -8.28622056e-01 2.10258123e-02 1.93232802e+02] [ 8.28107507e-01 5.59807422e-01 2.92165547e-02 1.03322862e+02] [-3.59798874e-02 1.06749942e-03 9.99351944e-01 -8.19572967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.361858064 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:193.27, Y:103.37, Z:-8.20 [[ 5.61791593e-01 -8.27011744e-01 2.10185865e-02 1.93268658e+02] [ 8.26495872e-01 5.62183833e-01 2.92217520e-02 1.03368684e+02] [-3.59830417e-02 9.55240373e-04 9.99351944e-01 -8.19809539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.421858064 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:103.41, Z:-8.20 [[ 5.62717561e-01 -8.26382170e-01 2.10108676e-02 1.93304348e+02] [ 8.25865652e-01 5.63108950e-01 2.92273010e-02 1.03414563e+02] [-3.59843280e-02 9.05438331e-04 9.99351944e-01 -8.19855874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.481858064 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:193.34, Y:103.46, Z:-8.20 [[ 5.62395110e-01 -8.26601851e-01 2.10028675e-02 1.93341289e+02] [ 8.26085272e-01 5.62786418e-01 2.92330488e-02 1.03458847e+02] [-3.59842208e-02 9.09635865e-04 9.99351944e-01 -8.19970777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.541858064 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:103.50, Z:-8.20 [[ 5.61982658e-01 -8.26882502e-01 2.09957306e-02 1.93376080e+02] [ 8.26365927e-01 5.62373972e-01 2.92381738e-02 1.03503679e+02] [-3.59839867e-02 9.18809742e-04 9.99351944e-01 -8.20145000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601858064 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:193.41, Y:103.55, Z:-8.20 [[ 5.61608219e-01 -8.27137038e-01 2.09887952e-02 1.93411397e+02] [ 8.26620454e-01 5.61999522e-01 2.92431515e-02 1.03549271e+02] [-3.59837866e-02 9.26573179e-04 9.99351944e-01 -8.20282691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661858064 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:103.59, Z:-8.20 [[ 5.61625694e-01 -8.27125375e-01 2.09808174e-02 1.93447233e+02] [ 8.26608570e-01 5.62016704e-01 2.92488742e-02 1.03594877e+02] [-3.59840558e-02 9.16004187e-04 9.99351944e-01 -8.20471152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721858064 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:103.64, Z:-8.21 [[ 5.62000130e-01 -8.26871213e-01 2.09726554e-02 1.93483112e+02] [ 8.26354013e-01 5.62390617e-01 2.92547255e-02 1.03640868e+02] [-3.59847149e-02 8.89678460e-04 9.99351944e-01 -8.20738280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781858064 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:193.52, Y:103.69, Z:-8.21 [[ 5.61755983e-01 -8.27037303e-01 2.09646135e-02 1.93519437e+02] [ 8.26520004e-01 5.62146339e-01 2.92604873e-02 1.03686316e+02] [-3.59846953e-02 8.90418673e-04 9.99351944e-01 -8.20880424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841858064 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:103.73, Z:-8.21 [[ 5.63144515e-01 -8.26092657e-01 2.09565768e-02 1.93552359e+02] [ 8.25574489e-01 5.63533717e-01 2.92662422e-02 1.03733060e+02] [-3.59863654e-02 8.20091411e-04 9.99351944e-01 -8.21109837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90185806399998 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:103.78, Z:-8.21 [[ 5.65329389e-01 -8.24599179e-01 2.09493841e-02 1.93586690e+02] [ 8.24079792e-01 5.65716963e-01 2.92713899e-02 1.03780229e+02] [-3.59885861e-02 7.15987109e-04 9.99351945e-01 -8.21492212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96185806399998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:103.83, Z:-8.22 [[ 5.64992826e-01 -8.24830007e-01 2.09419567e-02 1.93619948e+02] [ 8.24310582e-01 5.65380348e-01 2.92767029e-02 1.03828241e+02] [-3.59884738e-02 7.21549412e-04 9.99351945e-01 -8.21543860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02185806399999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:103.88, Z:-8.22 [[ 5.63407365e-01 -8.25913991e-01 2.09337161e-02 1.93653713e+02] [ 8.25395093e-01 5.63795592e-01 2.92825940e-02 1.03875294e+02] [-3.59872409e-02 7.80557419e-04 9.99351945e-01 -8.21557246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.081858064 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:103.92, Z:-8.22 [[ 5.64365401e-01 -8.25259853e-01 2.09253117e-02 1.93689027e+02] [ 8.24740283e-01 5.64752728e-01 2.92885985e-02 1.03921644e+02] [-3.59883314e-02 7.28475906e-04 9.99351945e-01 -8.21911566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.141858064 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:193.72, Y:103.97, Z:-8.22 [[ 5.63152226e-01 -8.26088390e-01 2.09175257e-02 1.93719886e+02] [ 8.25569183e-01 5.63540040e-01 2.92941581e-02 1.03970480e+02] [-3.59874272e-02 7.71794260e-04 9.99351945e-01 -8.22047577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.201858064 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:193.75, Y:104.02, Z:-8.22 [[ 5.63685647e-01 -8.25724711e-01 2.09091525e-02 1.93752453e+02] [ 8.25205033e-01 5.64072829e-01 2.93001334e-02 1.04018278e+02] [-3.59881290e-02 7.38273194e-04 9.99351945e-01 -8.22380758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.261858064 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:104.07, Z:-8.23 [[ 5.63875813e-01 -8.25595064e-01 2.09011344e-02 1.93785280e+02] [ 8.25075085e-01 5.64262591e-01 2.93058519e-02 1.04065292e+02] [-3.59884950e-02 7.20144142e-04 9.99351945e-01 -8.22785665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321858064 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:104.11, Z:-8.23 [[ 5.63754847e-01 -8.25677843e-01 2.08943098e-02 1.93817904e+02] [ 8.25157740e-01 5.64141459e-01 2.93107169e-02 1.04112783e+02] [-3.59885559e-02 7.17042699e-04 9.99351945e-01 -8.23029694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381858064 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:193.85, Y:104.16, Z:-8.23 [[ 5.64364812e-01 -8.25261239e-01 2.08864867e-02 1.93851164e+02] [ 8.24740645e-01 5.64750762e-01 2.93162905e-02 1.04161106e+02] [-3.59892575e-02 6.80851687e-04 9.99351945e-01 -8.23069349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:193.89, Y:104.21, Z:-8.23 [[ 5.63612434e-01 -8.25775420e-01 2.08801346e-02 1.93885357e+02] [ 8.25255010e-01 5.63998633e-01 2.93208140e-02 1.04208600e+02] [-3.59887749e-02 7.05860368e-04 9.99351945e-01 -8.23315099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:193.92, Y:104.26, Z:-8.23 [[ 5.64978627e-01 -8.24841492e-01 2.08725472e-02 1.93919269e+02] [ 8.24320245e-01 5.65363694e-01 2.93262142e-02 1.04256630e+02] [-3.59900587e-02 6.36978977e-04 9.99351945e-01 -8.23400246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561858064 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:193.95, Y:104.30, Z:-8.24 [[ 5.66565951e-01 -8.23752204e-01 2.08645559e-02 1.93951935e+02] [ 8.23230007e-01 5.66949729e-01 2.93318987e-02 1.04304631e+02] [-3.59913705e-02 5.57873448e-04 9.99351945e-01 -8.23532683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621858064 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:104.35, Z:-8.24 [[ 5.69182751e-01 -8.21946474e-01 2.08563993e-02 1.93985677e+02] [ 8.21422847e-01 5.69564575e-01 2.93376972e-02 1.04351813e+02] [-3.59930830e-02 4.33411699e-04 9.99351945e-01 -8.23800212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68185806399998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:194.02, Y:104.40, Z:-8.24 [[ 5.68842303e-01 -8.22182331e-01 2.08482628e-02 1.94018949e+02] [ 8.21658650e-01 5.69224054e-01 2.93434782e-02 1.04399753e+02] [-3.59930219e-02 4.38343779e-04 9.99351945e-01 -8.23840332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74185806399998 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:194.05, Y:104.45, Z:-8.24 [[ 5.66883723e-01 -8.23534192e-01 2.08393561e-02 1.94052535e+02] [ 8.23011190e-01 5.67266402e-01 2.93498022e-02 1.04447233e+02] [-3.59920322e-02 5.13098163e-04 9.99351945e-01 -8.24256501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.801858064 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:194.09, Y:104.49, Z:-8.24 [[ 5.62999720e-01 -8.26194506e-01 2.08315520e-02 1.94087395e+02] [ 8.25673106e-01 5.63384581e-01 2.93553403e-02 1.04493898e+02] [-3.59893960e-02 6.73003875e-04 9.99351945e-01 -8.24467037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.861858064 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:104.54, Z:-8.24 [[ 5.56970527e-01 -8.30271172e-01 2.08233719e-02 1.94120889e+02] [ 8.29752372e-01 5.57358883e-01 2.93611417e-02 1.04540630e+02] [-3.59838009e-02 9.24951649e-04 9.99351945e-01 -8.24296587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.921858064 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:104.59, Z:-8.25 [[ 5.53786074e-01 -8.32398647e-01 2.08201036e-02 1.94153733e+02] [ 8.31881251e-01 5.54176300e-01 2.93634591e-02 1.04587440e+02] [-3.59801116e-02 1.05877912e-03 9.99351945e-01 -8.24629614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.981858064 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:104.64, Z:-8.25 [[ 5.51742014e-01 -8.33755129e-01 2.08119008e-02 1.94185653e+02] [ 8.33238473e-01 5.52133220e-01 2.93692719e-02 1.04636532e+02] [-3.59777228e-02 1.13701522e-03 9.99351945e-01 -8.25144300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.041858064 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:104.68, Z:-8.25 [[ 5.51406481e-01 -8.33977203e-01 2.08066720e-02 1.94217663e+02] [ 8.33460566e-01 5.51797711e-01 2.93729757e-02 1.04684439e+02] [-3.59774661e-02 1.14509143e-03 9.99351945e-01 -8.25303205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101858064 meters Centerline goodness : 0.996792 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:104.73, Z:-8.25 [[ 5.51653402e-01 -8.33814110e-01 2.07979237e-02 1.94250496e+02] [ 8.33297124e-01 5.52044171e-01 2.93791688e-02 1.04732430e+02] [-3.59781380e-02 1.12373155e-03 9.99351945e-01 -8.25382924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161858064 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:104.78, Z:-8.25 [[ 5.53633100e-01 -8.32501183e-01 2.07887478e-02 1.94281525e+02] [ 8.31983027e-01 5.54022316e-01 2.93856602e-02 1.04781481e+02] [-3.59810271e-02 1.02701116e-03 9.99351945e-01 -8.25469585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221858064 meters Centerline goodness : 0.996620 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:104.83, Z:-8.26 [[ 5.56197824e-01 -8.30790126e-01 2.07785349e-02 1.94317452e+02] [ 8.30270503e-01 5.56585079e-01 2.93928800e-02 1.04827788e+02] [-3.59843370e-02 9.03548685e-04 9.99351946e-01 -8.25785556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:194.34, Y:104.88, Z:-8.26 [[ 5.54884502e-01 -8.31668100e-01 2.07692241e-02 1.94344649e+02] [ 8.31148844e-01 5.55272249e-01 2.93994576e-02 1.04877907e+02] [-3.59831648e-02 9.49013231e-04 9.99351946e-01 -8.26128559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341858064 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:194.38, Y:104.93, Z:-8.26 [[ 5.54505103e-01 -8.31921372e-01 2.07586576e-02 1.94375406e+02] [ 8.31402014e-01 5.54892714e-01 2.94069166e-02 1.04925772e+02] [-3.59830702e-02 9.52504460e-04 9.99351946e-01 -8.26401405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40185806399998 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:194.41, Y:104.98, Z:-8.26 [[ 5.53420840e-01 -8.32643239e-01 2.07511390e-02 1.94406132e+02] [ 8.32124189e-01 5.53808862e-01 2.94122212e-02 1.04975215e+02] [-3.59820518e-02 9.90188530e-04 9.99351946e-01 -8.26319440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46185806399998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:194.44, Y:105.02, Z:-8.27 [[ 5.53497674e-01 -8.32592367e-01 2.07430657e-02 1.94436730e+02] [ 8.32073068e-01 5.53885363e-01 2.94179138e-02 1.05024620e+02] [-3.59824110e-02 9.76999435e-04 9.99351946e-01 -8.26535263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52185806399999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:105.08, Z:-8.27 [[ 5.53691930e-01 -8.32463417e-01 2.07341847e-02 1.94464220e+02] [ 8.31943793e-01 5.54079185e-01 2.94241719e-02 1.05075970e+02] [-3.59829269e-02 9.57749695e-04 9.99351946e-01 -8.27062683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.581858064 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:194.50, Y:105.12, Z:-8.27 [[ 5.55642788e-01 -8.31162772e-01 2.07253169e-02 1.94496270e+02] [ 8.30642009e-01 5.56028509e-01 2.94304168e-02 1.05124403e+02] [-3.59853338e-02 8.62520035e-04 9.99351946e-01 -8.26797073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.641858064 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:194.52, Y:105.18, Z:-8.27 [[ 5.54324182e-01 -8.32042970e-01 2.07170864e-02 1.94523981e+02] [ 8.31522604e-01 5.54710437e-01 2.94362094e-02 1.05176033e+02] [-3.59841751e-02 9.09522974e-04 9.99351946e-01 -8.27299567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.701858064 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:194.56, Y:105.22, Z:-8.27 [[ 5.55579911e-01 -8.31205229e-01 2.07082311e-02 1.94555551e+02] [ 8.30684048e-01 5.55965066e-01 2.94424377e-02 1.05223257e+02] [-3.59857612e-02 8.44370381e-04 9.99351946e-01 -8.27128556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.58, Y:105.27, Z:-8.27 [[ 5.55862755e-01 -8.31016225e-01 2.07034123e-02 1.94583102e+02] [ 8.30494788e-01 5.56247563e-01 2.94458258e-02 1.05273404e+02] [-3.59861816e-02 8.26238180e-04 9.99351946e-01 -8.27475008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821858064 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:105.32, Z:-8.28 [[ 5.54803271e-01 -8.31724039e-01 2.06991184e-02 1.94612351e+02] [ 8.31202980e-01 5.55188591e-01 2.94488439e-02 1.05324332e+02] [-3.59852258e-02 8.66853964e-04 9.99351946e-01 -8.27548602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:105.38, Z:-8.28 [[ 5.53826294e-01 -8.32375115e-01 2.06906989e-02 1.94641520e+02] [ 8.31854288e-01 5.54211927e-01 2.94547583e-02 1.05375052e+02] [-3.59844399e-02 8.98826989e-04 9.99351946e-01 -8.27962305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.67, Y:105.43, Z:-8.28 [[ 5.52468372e-01 -8.33277200e-01 2.06834532e-02 1.94672725e+02] [ 8.32756813e-01 5.52854599e-01 2.94598454e-02 1.05425620e+02] [-3.59831597e-02 9.48653780e-04 9.99351946e-01 -8.28007248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:105.47, Z:-8.28 [[ 5.51924407e-01 -8.33637776e-01 2.06762603e-02 1.94704430e+02] [ 8.33117452e-01 5.52310719e-01 2.94648928e-02 1.05473540e+02] [-3.59827679e-02 9.63359805e-04 9.99351946e-01 -8.28222326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.73, Y:105.52, Z:-8.28 [[ 5.50424460e-01 -8.34629040e-01 2.06707214e-02 1.94734476e+02] [ 8.34109267e-01 5.50811512e-01 2.94687781e-02 1.05523995e+02] [-3.59811693e-02 1.02130395e-03 9.99351946e-01 -8.28301369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:105.57, Z:-8.28 [[ 5.47814668e-01 -8.36344518e-01 2.06624318e-02 1.94763722e+02] [ 8.35825738e-01 5.48203051e-01 2.94745893e-02 1.05574100e+02] [-3.59781193e-02 1.12357999e-03 9.99351946e-01 -8.28338422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:105.62, Z:-8.29 [[ 5.46198687e-01 -8.37400978e-01 2.06541919e-02 1.94794533e+02] [ 8.36882731e-01 5.46587781e-01 2.94803622e-02 1.05623209e+02] [-3.59762131e-02 1.18300143e-03 9.99351946e-01 -8.28506373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.82, Y:105.67, Z:-8.29 [[ 5.44891715e-01 -8.38252205e-01 2.06460375e-02 1.94823814e+02] [ 8.37734351e-01 5.45281330e-01 2.94860720e-02 1.05673931e+02] [-3.59746636e-02 1.22917846e-03 9.99351946e-01 -8.28800119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:105.72, Z:-8.29 [[ 5.45644625e-01 -8.37762514e-01 2.06376686e-02 1.94850955e+02] [ 8.37244089e-01 5.46033480e-01 2.94919283e-02 1.05724498e+02] [-3.59760900e-02 1.18665388e-03 9.99351946e-01 -8.29110242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.88, Y:105.77, Z:-8.29 [[ 5.47221844e-01 -8.36733247e-01 2.06331270e-02 1.94881698e+02] [ 8.36213971e-01 5.47609563e-01 2.94951053e-02 1.05774273e+02] [-3.59784329e-02 1.11334314e-03 9.99351946e-01 -8.29360076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.421858064 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:105.83, Z:-8.30 [[ 5.46267297e-01 -8.37356935e-01 2.06253073e-02 1.94908703e+02] [ 8.36837896e-01 5.46655332e-01 2.95005725e-02 1.05826917e+02] [-3.59774432e-02 1.14484076e-03 9.99351946e-01 -8.29939851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:105.88, Z:-8.30 [[ 5.48155813e-01 -8.36122076e-01 2.06174495e-02 1.94938827e+02] [ 8.35601956e-01 5.48542399e-01 2.95060631e-02 1.05876278e+02] [-3.59802160e-02 1.05406108e-03 9.99351947e-01 -8.30259847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:105.92, Z:-8.30 [[ 5.53746757e-01 -8.32430060e-01 2.06088569e-02 1.94970849e+02] [ 8.31907138e-01 5.54129544e-01 2.95120635e-02 1.05923872e+02] [-3.59867053e-02 8.02445711e-04 9.99351947e-01 -8.30067578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.00, Y:105.97, Z:-8.30 [[ 5.59300315e-01 -8.28709111e-01 2.06001727e-02 1.95001736e+02] [ 8.28183419e-01 5.59679288e-01 2.95181241e-02 1.05972970e+02] [-3.59914283e-02 5.51225350e-04 9.99351947e-01 -8.30065287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.03, Y:106.02, Z:-8.30 [[ 5.61874924e-01 -8.26965874e-01 2.05915734e-02 1.95032336e+02] [ 8.26438786e-01 5.62251954e-01 2.95241216e-02 1.06021749e+02] [-3.59930934e-02 4.28811327e-04 9.99351947e-01 -8.30366636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:106.07, Z:-8.31 [[ 5.63215975e-01 -8.26053321e-01 2.05834283e-02 1.95064267e+02] [ 8.25525414e-01 5.63591857e-01 2.95297991e-02 1.06068622e+02] [-3.59938412e-02 3.60488634e-04 9.99351947e-01 -8.30639285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.10, Y:106.12, Z:-8.31 [[ 5.61427710e-01 -8.27269866e-01 2.05789956e-02 1.95098542e+02] [ 8.26742661e-01 5.61804576e-01 2.95328878e-02 1.06115227e+02] [-3.59930421e-02 4.32952018e-04 9.99351947e-01 -8.30764560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:106.16, Z:-8.31 [[ 5.59124045e-01 -8.28828783e-01 2.05706320e-02 1.95133498e+02] [ 8.28302414e-01 5.59502078e-01 2.95387123e-02 1.06161770e+02] [-3.59918463e-02 5.22899848e-04 9.99351947e-01 -8.31033411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:106.21, Z:-8.31 [[ 5.55218351e-01 -8.31450403e-01 2.05623491e-02 1.95169612e+02] [ 8.30925606e-01 5.55598562e-01 2.95444770e-02 1.06206954e+02] [-3.59891789e-02 6.82146610e-04 9.99351947e-01 -8.31181182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:106.25, Z:-8.31 [[ 5.51873350e-01 -8.33674606e-01 2.05537356e-02 1.95205815e+02] [ 8.33151118e-01 5.52255362e-01 2.95504681e-02 1.06251136e+02] [-3.59863855e-02 8.16251954e-04 9.99351947e-01 -8.31421185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:106.30, Z:-8.32 [[ 5.49970422e-01 -8.34931296e-01 2.05491351e-02 1.95241179e+02] [ 8.34408561e-01 5.50353463e-01 2.95536669e-02 1.06297502e+02] [-3.59845690e-02 8.92731565e-04 9.99351947e-01 -8.31658528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:106.34, Z:-8.32 [[ 5.48052593e-01 -8.36191624e-01 2.05407676e-02 1.95276731e+02] [ 8.35669552e-01 5.48436538e-01 2.95594814e-02 1.06341639e+02] [-3.59826982e-02 9.65143600e-04 9.99351947e-01 -8.31995684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.31, Y:106.39, Z:-8.32 [[ 5.46968746e-01 -8.36901089e-01 2.05367526e-02 1.95312300e+02] [ 8.36379410e-01 5.47353226e-01 2.95622706e-02 1.06388099e+02] [-3.59815542e-02 1.00687897e-03 9.99351947e-01 -8.32223553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:106.43, Z:-8.33 [[ 5.45973793e-01 -8.37550714e-01 2.05285142e-02 1.95349962e+02] [ 8.37029278e-01 5.46358601e-01 2.95679904e-02 1.06431931e+02] [-3.59806218e-02 1.03961963e-03 9.99351947e-01 -8.32585916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.39, Y:106.48, Z:-8.33 [[ 5.44959522e-01 -8.38211186e-01 2.05213920e-02 1.95387036e+02] [ 8.37690031e-01 5.45344711e-01 2.95729326e-02 1.06475478e+02] [-3.59795955e-02 1.07451431e-03 9.99351947e-01 -8.32627925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:106.52, Z:-8.33 [[ 5.47587472e-01 -8.36496942e-01 2.05140505e-02 1.95424182e+02] [ 8.35974391e-01 5.47970764e-01 2.95780244e-02 1.06520694e+02] [-3.59830269e-02 9.52665239e-04 9.99351947e-01 -8.32867210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:106.57, Z:-8.33 [[ 5.49357614e-01 -8.35335682e-01 2.05063277e-02 1.95459643e+02] [ 8.34812121e-01 5.49739526e-01 2.95833776e-02 1.06566389e+02] [-3.59851898e-02 8.67077194e-04 9.99351947e-01 -8.33071157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.50, Y:106.61, Z:-8.33 [[ 5.52001964e-01 -8.33590814e-01 2.04984664e-02 1.95496301e+02] [ 8.33065843e-01 5.52381935e-01 2.95888237e-02 1.06610473e+02] [-3.59879542e-02 7.43483392e-04 9.99351947e-01 -8.33269252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.53, Y:106.66, Z:-8.34 [[ 5.54262459e-01 -8.32089673e-01 2.04915289e-02 1.95532254e+02] [ 8.31563496e-01 5.54640757e-01 2.95936275e-02 1.06656579e+02] [-3.59899889e-02 6.37370606e-04 9.99351947e-01 -8.33708223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:106.70, Z:-8.33 [[ 5.56010809e-01 -8.30922588e-01 2.04849548e-02 1.95569724e+02] [ 8.30395449e-01 5.56387766e-01 2.95981775e-02 1.06702611e+02] [-3.59913724e-02 5.53706623e-04 9.99351947e-01 -8.33408433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.61, Y:106.75, Z:-8.34 [[ 5.58030182e-01 -8.29567943e-01 2.04778734e-02 1.95607259e+02] [ 8.29039709e-01 5.58405604e-01 2.96030760e-02 1.06747081e+02] [-3.59927221e-02 4.57560274e-04 9.99351947e-01 -8.33572073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:106.79, Z:-8.34 [[ 5.59989205e-01 -8.28246983e-01 2.04701071e-02 1.95645334e+02] [ 8.27717667e-01 5.60363099e-01 2.96084453e-02 1.06792704e+02] [-3.59937982e-02 3.63059573e-04 9.99351947e-01 -8.33720961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.68, Y:106.84, Z:-8.34 [[ 5.61246993e-01 -8.27395361e-01 2.04628473e-02 1.95680465e+02] [ 8.26865295e-01 5.61619823e-01 2.96134618e-02 1.06837788e+02] [-3.59943816e-02 2.99551893e-04 9.99351947e-01 -8.34129530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:195.72, Y:106.88, Z:-8.34 [[ 5.62928133e-01 -8.26252635e-01 2.04572606e-02 1.95719394e+02] [ 8.25721672e-01 5.63299685e-01 2.96173207e-02 1.06882090e+02] [-3.59949577e-02 2.19580371e-04 9.99351947e-01 -8.34114299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.861858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:195.76, Y:106.93, Z:-8.35 [[ 5.64368245e-01 -8.25269848e-01 2.04490138e-02 1.95759117e+02] [ 8.24738031e-01 5.64738574e-01 2.96230135e-02 1.06925745e+02] [-3.59953267e-02 1.46791247e-04 9.99351947e-01 -8.34519938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.921858064 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:106.97, Z:-8.35 [[ 5.65033529e-01 -8.24814623e-01 2.04437965e-02 1.95793758e+02] [ 8.24282378e-01 5.65403241e-01 2.96266137e-02 1.06972493e+02] [-3.59954530e-02 1.11431149e-04 9.99351947e-01 -8.34558745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.981858064 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:107.02, Z:-8.35 [[ 5.64783928e-01 -8.24985773e-01 2.04349863e-02 1.95830213e+02] [ 8.24453420e-01 5.65153485e-01 2.96326893e-02 1.07018174e+02] [-3.59954508e-02 1.11627708e-04 9.99351948e-01 -8.34945804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.041858064 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:195.87, Y:107.06, Z:-8.35 [[ 5.64328205e-01 -8.25297758e-01 2.04276247e-02 1.95868830e+02] [ 8.24765425e-01 5.64697792e-01 2.96377632e-02 1.07060496e+02] [-3.59954141e-02 1.22572884e-04 9.99351948e-01 -8.35048803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101858064 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:107.10, Z:-8.35 [[ 5.62708485e-01 -8.26403153e-01 2.04203138e-02 1.95908783e+02] [ 8.25871364e-01 5.63078852e-01 2.96427996e-02 1.07102562e+02] [-3.59951499e-02 1.84297546e-04 9.99351948e-01 -8.35235503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161858064 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:107.15, Z:-8.35 [[ 5.61791057e-01 -8.27027265e-01 2.04135119e-02 1.95944759e+02] [ 8.26495717e-01 5.62161770e-01 2.96474829e-02 1.07148238e+02] [-3.59949727e-02 2.15989405e-04 9.99351948e-01 -8.35299145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.98, Y:107.19, Z:-8.36 [[ 5.60284969e-01 -8.28048533e-01 2.04053969e-02 1.95981761e+02] [ 8.27517458e-01 5.60656359e-01 2.96530672e-02 1.07192220e+02] [-3.59945943e-02 2.71654368e-04 9.99351948e-01 -8.35525824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.02, Y:107.24, Z:-8.36 [[ 5.58603851e-01 -8.29183729e-01 2.03980929e-02 1.96018206e+02] [ 8.28653224e-01 5.58976056e-01 2.96580907e-02 1.07236348e+02] [-3.59940518e-02 3.35821822e-04 9.99351948e-01 -8.35681077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.05, Y:107.28, Z:-8.36 [[ 5.58999982e-01 -8.28916900e-01 2.03910144e-02 1.96050521e+02] [ 8.28386040e-01 5.59371681e-01 2.96629567e-02 1.07284548e+02] [-3.59942820e-02 3.10039417e-04 9.99351948e-01 -8.35551387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.08, Y:107.33, Z:-8.36 [[ 5.58813092e-01 -8.29043102e-01 2.03828865e-02 1.96083469e+02] [ 8.28512123e-01 5.59184620e-01 2.96685406e-02 1.07332239e+02] [-3.59942956e-02 3.08299657e-04 9.99351948e-01 -8.35793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46185806399998 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:196.12, Y:107.38, Z:-8.36 [[ 5.58175521e-01 -8.29472702e-01 2.03745985e-02 1.96118602e+02] [ 8.28941801e-01 5.58547160e-01 2.96742313e-02 1.07378413e+02] [-3.59941389e-02 3.25926917e-04 9.99351948e-01 -8.35825062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:107.43, Z:-8.36 [[ 5.57272538e-01 -8.30079842e-01 2.03660253e-02 1.96151847e+02] [ 8.29549131e-01 5.57644448e-01 2.96801141e-02 1.07426532e+02] [-3.59938653e-02 3.54706109e-04 9.99351948e-01 -8.35859323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.581858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:107.48, Z:-8.36 [[ 5.53329179e-01 -8.32713849e-01 2.03584270e-02 1.96181240e+02] [ 8.32184716e-01 5.53703332e-01 2.96853251e-02 1.07476309e+02] [-3.59919101e-02 5.16215186e-04 9.99351948e-01 -8.36363749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.22, Y:107.52, Z:-8.36 [[ 5.56027810e-01 -8.30914421e-01 2.03543341e-02 1.96216737e+02] [ 8.30383975e-01 5.56400098e-01 2.96881312e-02 1.07523684e+02] [-3.59934498e-02 3.94486318e-04 9.99351948e-01 -8.36480586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.701858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:107.57, Z:-8.37 [[ 5.53826030e-01 -8.32383757e-01 2.03472033e-02 1.96245453e+02] [ 8.31854119e-01 5.54199467e-01 2.96930176e-02 1.07574317e+02] [-3.59923947e-02 4.81138806e-04 9.99351948e-01 -8.37060942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.761858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:196.28, Y:107.62, Z:-8.37 [[ 5.54950957e-01 -8.31634388e-01 2.03391447e-02 1.96278166e+02] [ 8.31104043e-01 5.55323389e-01 2.96985365e-02 1.07622922e+02] [-3.59931270e-02 4.22714185e-04 9.99351948e-01 -8.37104929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:107.67, Z:-8.37 [[ 5.55769408e-01 -8.31087865e-01 2.03304120e-02 1.96310527e+02] [ 8.30556936e-01 5.56141006e-01 2.97045134e-02 1.07671563e+02] [-3.59936364e-02 3.76704825e-04 9.99351948e-01 -8.37154773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:196.34, Y:107.72, Z:-8.37 [[ 5.56284818e-01 -8.30743161e-01 2.03224543e-02 1.96342651e+02] [ 8.30211802e-01 5.56655802e-01 2.97099567e-02 1.07720319e+02] [-3.59939554e-02 3.44743535e-04 9.99351948e-01 -8.37262981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.38, Y:107.77, Z:-8.38 [[ 5.57220143e-01 -8.30116284e-01 2.03142294e-02 1.96375237e+02] [ 8.29584303e-01 5.57590234e-01 2.97155794e-02 1.07766848e+02] [-3.59944023e-02 2.94246491e-04 9.99351948e-01 -8.37609253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:107.81, Z:-8.37 [[ 5.62156924e-01 -8.26781283e-01 2.03052267e-02 1.96413159e+02] [ 8.26246885e-01 5.62523515e-01 2.97217298e-02 1.07812169e+02] [-3.59955374e-02 6.88540837e-05 9.99351948e-01 -8.37005881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:107.86, Z:-8.38 [[ 5.57052197e-01 -8.30229445e-01 2.02957661e-02 1.96439878e+02] [ 8.29697080e-01 5.57421735e-01 2.97281887e-02 1.07862852e+02] [-3.59945188e-02 2.79185004e-04 9.99351948e-01 -8.38430368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:107.91, Z:-8.38 [[ 5.56656005e-01 -8.30495212e-01 2.02927203e-02 1.96474338e+02] [ 8.29962947e-01 5.57025688e-01 2.97302676e-02 1.07910557e+02] [-3.59944114e-02 2.92673938e-04 9.99351948e-01 -8.38477280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.51, Y:107.96, Z:-8.39 [[ 5.56414371e-01 -8.30657286e-01 2.02859769e-02 1.96507439e+02] [ 8.30124961e-01 5.56783967e-01 2.97348682e-02 1.07958515e+02] [-3.59943916e-02 2.94987848e-04 9.99351948e-01 -8.38874568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.54, Y:108.01, Z:-8.39 [[ 5.56583557e-01 -8.30544129e-01 2.02779009e-02 1.96540084e+02] [ 8.30011529e-01 5.56952756e-01 2.97403746e-02 1.08007930e+02] [-3.59945264e-02 2.77888016e-04 9.99351948e-01 -8.38979994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:108.06, Z:-8.39 [[ 5.57288920e-01 -8.30071182e-01 2.02704872e-02 1.96572954e+02] [ 8.29538084e-01 5.57657401e-01 2.97454268e-02 1.08055534e+02] [-3.59948088e-02 2.38344345e-04 9.99351948e-01 -8.39144025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.361858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:196.61, Y:108.10, Z:-8.39 [[ 5.56373056e-01 -8.30685527e-01 2.02627127e-02 1.96605265e+02] [ 8.30152644e-01 5.56741845e-01 2.97507220e-02 1.08104064e+02] [-3.59945942e-02 2.68644402e-04 9.99351949e-01 -8.39423271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:108.15, Z:-8.39 [[ 5.59745519e-01 -8.28416991e-01 2.02544542e-02 1.96644602e+02] [ 8.27882409e-01 5.60111843e-01 2.97563433e-02 1.08148279e+02] [-3.59954200e-02 1.12326490e-04 9.99351949e-01 -8.39272564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.481858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.67, Y:108.20, Z:-8.40 [[ 5.55664256e-01 -8.31160160e-01 2.02490070e-02 1.96670484e+02] [ 8.30627252e-01 5.56033010e-01 2.97600496e-02 1.08200983e+02] [-3.59944839e-02 2.82781229e-04 9.99351949e-01 -8.39652797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.541858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.70, Y:108.25, Z:-8.40 [[ 5.56323898e-01 -8.30718992e-01 2.02404853e-02 1.96701239e+02] [ 8.30185580e-01 5.56691923e-01 2.97658443e-02 1.08249434e+02] [-3.59947668e-02 2.43908548e-04 9.99351949e-01 -8.39876574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:108.30, Z:-8.40 [[ 5.55009079e-01 -8.31598186e-01 2.02331138e-02 1.96733422e+02] [ 8.31065175e-01 5.55377684e-01 2.97708542e-02 1.08297486e+02] [-3.59944082e-02 2.91941928e-04 9.99351949e-01 -8.39773810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.77, Y:108.35, Z:-8.40 [[ 5.53614599e-01 -8.32527372e-01 2.02250139e-02 1.96765978e+02] [ 8.31994778e-01 5.53983807e-01 2.97763559e-02 1.08345723e+02] [-3.59939615e-02 3.42480637e-04 9.99351949e-01 -8.39866635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:108.39, Z:-8.40 [[ 5.52639763e-01 -8.33174997e-01 2.02167207e-02 1.96798420e+02] [ 8.32642630e-01 5.53009298e-01 2.97819855e-02 1.08393618e+02] [-3.59936402e-02 3.74594056e-04 9.99351949e-01 -8.39823612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:108.44, Z:-8.40 [[ 5.51877057e-01 -8.33680611e-01 2.02077297e-02 1.96833710e+02] [ 8.33148360e-01 5.52246757e-01 2.97880848e-02 1.08440432e+02] [-3.59934020e-02 3.96676256e-04 9.99351949e-01 -8.39773551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:108.49, Z:-8.40 [[ 5.49677283e-01 -8.35132852e-01 2.01990917e-02 1.96864363e+02] [ 8.34601362e-01 5.50048078e-01 2.97939411e-02 1.08490115e+02] [-3.59923705e-02 4.81136864e-04 9.99351949e-01 -8.40472404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:108.54, Z:-8.41 [[ 5.46580963e-01 -8.37162803e-01 2.01913973e-02 1.96895524e+02] [ 8.36632497e-01 5.46953449e-01 2.97991547e-02 1.08539385e+02] [-3.59904982e-02 6.05128516e-04 9.99351949e-01 -8.40687586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96185806399998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:196.93, Y:108.59, Z:-8.41 [[ 5.40159765e-01 -8.41320457e-01 2.01821118e-02 1.96927014e+02] [ 8.40792782e-01 5.40535969e-01 2.98054422e-02 1.08586750e+02] [-3.59850855e-02 8.69273268e-04 9.99351949e-01 -8.40890559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:108.63, Z:-8.41 [[ 5.39107632e-01 -8.41995273e-01 2.01723165e-02 1.96959819e+02] [ 8.41467821e-01 5.39484148e-01 2.98120701e-02 1.08634227e+02] [-3.59842671e-02 9.02440723e-04 9.99351949e-01 -8.41157382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.081858064 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:196.99, Y:108.68, Z:-8.41 [[ 5.38421317e-01 -8.42434442e-01 2.01667109e-02 1.96990016e+02] [ 8.41907156e-01 5.38798065e-01 2.98158616e-02 1.08682745e+02] [-3.59836936e-02 9.25002776e-04 9.99351949e-01 -8.41411056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:108.73, Z:-8.41 [[ 5.41408938e-01 -8.40517741e-01 2.01565959e-02 1.97023624e+02] [ 8.39988867e-01 5.41783454e-01 2.98226981e-02 1.08730559e+02] [-3.59870170e-02 7.85040816e-04 9.99351949e-01 -8.41327456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.201858064 meters Centerline goodness : 0.995549 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:108.78, Z:-8.42 [[ 5.43185957e-01 -8.39370703e-01 2.01454752e-02 1.97049317e+02] [ 8.38840759e-01 5.43558957e-01 2.98302084e-02 1.08782032e+02] [-3.59888565e-02 6.95495412e-04 9.99351949e-01 -8.41805817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.261858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:108.83, Z:-8.42 [[ 5.45039811e-01 -8.38168367e-01 2.01343660e-02 1.97079173e+02] [ 8.37637324e-01 5.45411244e-01 2.98377049e-02 1.08830152e+02] [-3.59905300e-02 6.02559394e-04 9.99351949e-01 -8.41638269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:108.88, Z:-8.42 [[ 5.47558138e-01 -8.36525574e-01 2.01258333e-02 1.97112203e+02] [ 8.35993205e-01 5.47927668e-01 2.98434591e-02 1.08877645e+02] [-3.59923177e-02 4.84030997e-04 9.99351949e-01 -8.41606676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381858064 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:108.93, Z:-8.42 [[ 5.48423953e-01 -8.35958416e-01 2.01170393e-02 1.97139687e+02] [ 8.35425447e-01 5.48792618e-01 2.98493859e-02 1.08927734e+02] [-3.59929280e-02 4.36168368e-04 9.99351949e-01 -8.41934642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441858064 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:108.97, Z:-8.42 [[ 5.49453007e-01 -8.35282528e-01 2.01119939e-02 1.97173686e+02] [ 8.34748981e-01 5.49820835e-01 2.98527850e-02 1.08974944e+02] [-3.59935030e-02 3.85763893e-04 9.99351949e-01 -8.42114260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501858064 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:109.02, Z:-8.42 [[ 5.49209280e-01 -8.35442998e-01 2.01038372e-02 1.97202616e+02] [ 8.34909357e-01 5.49576972e-01 2.98582770e-02 1.09023674e+02] [-3.59934944e-02 3.86438984e-04 9.99351950e-01 -8.42355284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561858064 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:109.07, Z:-8.43 [[ 5.48576328e-01 -8.35858938e-01 2.00959648e-02 1.97234301e+02] [ 8.35325382e-01 5.48944143e-01 2.98635745e-02 1.09072813e+02] [-3.59932978e-02 4.04219446e-04 9.99351950e-01 -8.42696262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621858064 meters Centerline goodness : 0.995578 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:109.12, Z:-8.43 [[ 5.46212150e-01 -8.37405978e-01 2.00877064e-02 1.97264876e+02] [ 8.36873259e-01 5.46581177e-01 2.98691285e-02 1.09120514e+02] [-3.59921489e-02 4.95983432e-04 9.99351950e-01 -8.43300114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68185806399998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:197.30, Y:109.17, Z:-8.43 [[ 5.43643602e-01 -8.39076023e-01 2.00763833e-02 1.97297247e+02] [ 8.38544158e-01 5.44013857e-01 2.98767373e-02 1.09167344e+02] [-3.59906846e-02 5.92636888e-04 9.99351950e-01 -8.43490895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74185806399998 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:109.22, Z:-8.43 [[ 5.41263227e-01 -8.40613773e-01 2.00649953e-02 1.97330229e+02] [ 8.40082676e-01 5.41634583e-01 2.98843835e-02 1.09215039e+02] [-3.59891197e-02 6.80937105e-04 9.99351950e-01 -8.43439850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.801858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:197.36, Y:109.26, Z:-8.43 [[ 5.39912384e-01 -8.41482238e-01 2.00564300e-02 1.97362675e+02] [ 8.40951525e-01 5.40284288e-01 2.98901308e-02 1.09262942e+02] [-3.59881882e-02 7.28433567e-04 9.99351950e-01 -8.43413158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.861858064 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:109.31, Z:-8.44 [[ 5.38945030e-01 -8.42102324e-01 2.00481988e-02 1.97394591e+02] [ 8.41571834e-01 5.39317252e-01 2.98956507e-02 1.09311769e+02] [-3.59875364e-02 7.59887012e-04 9.99351950e-01 -8.43550072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.921858064 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:109.36, Z:-8.44 [[ 5.41267630e-01 -8.40611540e-01 2.00397462e-02 1.97425656e+02] [ 8.40079815e-01 5.41638085e-01 2.99013156e-02 1.09359581e+02] [-3.59896807e-02 6.50372081e-04 9.99351950e-01 -8.43521633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.981858064 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:109.41, Z:-8.44 [[ 5.45396376e-01 -8.37938892e-01 2.00301521e-02 1.97457060e+02] [ 8.37405115e-01 5.45763869e-01 2.99077411e-02 1.09407298e+02] [-3.59925927e-02 4.61778248e-04 9.99351950e-01 -8.43777210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.041858064 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:109.46, Z:-8.44 [[ 5.49156745e-01 -8.35479427e-01 2.00249170e-02 1.97488666e+02] [ 8.34943876e-01 5.49521648e-01 2.99112458e-02 1.09456036e+02] [-3.59943559e-02 2.93719438e-04 9.99351950e-01 -8.43916760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:197.52, Y:109.50, Z:-8.44 [[ 5.54529396e-01 -8.31923361e-01 2.00167570e-02 1.97521393e+02] [ 8.31385272e-01 5.54890547e-01 2.99167055e-02 1.09503141e+02] [-3.59955155e-02 5.19443349e-05 9.99351950e-01 -8.44019581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:109.55, Z:-8.43 [[ 5.60504311e-01 -8.27909698e-01 2.00112444e-02 1.97557597e+02] [ 8.27368892e-01 5.60861379e-01 2.99203925e-02 1.09549078e+02] [-3.59949172e-02 -2.13827891e-04 9.99351950e-01 -8.43492554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.59, Y:109.60, Z:-8.44 [[ 5.61279931e-01 -8.27384278e-01 2.00023801e-02 1.97590818e+02] [ 8.26842927e-01 5.61636172e-01 2.99263173e-02 1.09595771e+02] [-3.59946246e-02 -2.58214781e-04 9.99351950e-01 -8.44080696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:109.65, Z:-8.45 [[ 5.58121719e-01 -8.29518058e-01 1.99984685e-02 1.97620992e+02] [ 8.28977975e-01 5.58479880e-01 2.99289310e-02 1.09645594e+02] [-3.59953310e-02 -1.25696529e-04 9.99351950e-01 -8.45000117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341858064 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:109.69, Z:-8.45 [[ 5.60806118e-01 -8.27705789e-01 1.99906164e-02 1.97661446e+02] [ 8.27164362e-01 5.61162243e-01 2.99341748e-02 1.09688512e+02] [-3.59946689e-02 -2.51742895e-04 9.99351950e-01 -8.44753619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40185806399998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:109.74, Z:-8.45 [[ 5.59217088e-01 -8.28780312e-01 1.99860790e-02 1.97695000e+02] [ 8.28239461e-01 5.59574087e-01 2.99372039e-02 1.09735564e+02] [-3.59950572e-02 -1.88136672e-04 9.99351950e-01 -8.44862534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.72, Y:109.78, Z:-8.45 [[ 5.57735368e-01 -8.29778371e-01 1.99778415e-02 1.97724882e+02] [ 8.29237962e-01 5.58093036e-01 2.99427000e-02 1.09783840e+02] [-3.59952991e-02 -1.33718213e-04 9.99351950e-01 -8.45340592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:109.83, Z:-8.45 [[ 5.57164615e-01 -8.30161895e-01 1.99704866e-02 1.97755572e+02] [ 8.29621556e-01 5.57522390e-01 2.99476047e-02 1.09833557e+02] [-3.59953536e-02 -1.17799476e-04 9.99351950e-01 -8.45448088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:109.88, Z:-8.46 [[ 5.57782050e-01 -8.29747365e-01 1.99623413e-02 1.97785442e+02] [ 8.29206566e-01 5.58139128e-01 2.99530331e-02 1.09883428e+02] [-3.59952141e-02 -1.54359774e-04 9.99351950e-01 -8.46042713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:109.93, Z:-8.46 [[ 5.59713661e-01 -8.28445803e-01 1.99541760e-02 1.97814226e+02] [ 8.27903980e-01 5.60069183e-01 2.99584717e-02 1.09934052e+02] [-3.59946892e-02 -2.48024096e-04 9.99351950e-01 -8.46457181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:109.98, Z:-8.47 [[ 5.60112779e-01 -8.28176207e-01 1.99460667e-02 1.97845522e+02] [ 8.27634020e-01 5.60467747e-01 2.99638698e-02 1.09981346e+02] [-3.59944911e-02 -2.75103012e-04 9.99351950e-01 -8.46694530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:110.03, Z:-8.47 [[ 5.59381282e-01 -8.28670641e-01 1.99386857e-02 1.97877504e+02] [ 8.28128593e-01 5.59736461e-01 2.99687805e-02 1.10029437e+02] [-3.59946579e-02 -2.52179091e-04 9.99351951e-01 -8.47023247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:110.08, Z:-8.47 [[ 5.54352953e-01 -8.32043017e-01 1.99304181e-02 1.97911479e+02] [ 8.31502933e-01 5.54711110e-01 2.99742778e-02 1.10077102e+02] [-3.59955129e-02 -4.41283708e-05 9.99351951e-01 -8.47215091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:110.12, Z:-8.48 [[ 5.52693795e-01 -8.33146251e-01 1.99221741e-02 1.97942761e+02] [ 8.32606684e-01 5.53052731e-01 2.99797561e-02 1.10124425e+02] [-3.59955342e-02 1.77101345e-05 9.99351951e-01 -8.47505345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:110.17, Z:-8.48 [[ 5.52415315e-01 -8.33331055e-01 1.99166611e-02 1.97975028e+02] [ 8.32791476e-01 5.52774233e-01 2.99834182e-02 1.10172793e+02] [-3.59955305e-02 2.31261734e-05 9.99351951e-01 -8.47690565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:110.23, Z:-8.49 [[ 5.41313446e-01 -8.40585156e-01 1.99084882e-02 1.97992919e+02] [ 8.40050186e-01 5.41679198e-01 2.99888439e-02 1.10230468e+02] [-3.59921909e-02 4.90764760e-04 9.99351951e-01 -8.49271751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:110.27, Z:-8.48 [[ 5.51397672e-01 -8.34005129e-01 1.99010692e-02 1.98040856e+02] [ 8.33465615e-01 5.51756688e-01 2.99937664e-02 1.10267936e+02] [-3.59955030e-02 4.83639205e-05 9.99351951e-01 -8.48299666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:110.32, Z:-8.49 [[ 5.42823514e-01 -8.39611081e-01 1.98963568e-02 1.98061962e+02] [ 8.39075160e-01 5.43187871e-01 2.99968920e-02 1.10324289e+02] [-3.59931827e-02 4.11520462e-04 9.99351951e-01 -8.49165546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:110.37, Z:-8.49 [[ 5.40100954e-01 -8.41365201e-01 1.98886379e-02 1.98095378e+02] [ 8.40830275e-01 5.40466769e-01 3.00020090e-02 1.10371747e+02] [-3.59917942e-02 5.18855200e-04 9.99351951e-01 -8.49390621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:110.42, Z:-8.50 [[ 5.36013329e-01 -8.43975412e-01 1.98800132e-02 1.98128503e+02] [ 8.43442054e-01 5.36381429e-01 3.00077228e-02 1.10418188e+02] [-3.59890501e-02 6.83099819e-04 9.99351951e-01 -8.49653857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:110.47, Z:-8.50 [[ 5.34485193e-01 -8.44944116e-01 1.98750944e-02 1.98159272e+02] [ 8.44411304e-01 5.34854083e-01 3.00109804e-02 1.10467244e+02] [-3.59878767e-02 7.42329709e-04 9.99351951e-01 -8.49901719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.361858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:110.52, Z:-8.50 [[ 5.31176817e-01 -8.47028046e-01 1.98665216e-02 1.98192866e+02] [ 8.46496469e-01 5.31547484e-01 3.00166542e-02 1.10515126e+02] [-3.59849476e-02 8.72789551e-04 9.99351951e-01 -8.50066991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:110.56, Z:-8.51 [[ 5.29134046e-01 -8.48305852e-01 1.98580781e-02 1.98224630e+02] [ 8.47774961e-01 5.29505695e-01 3.00222392e-02 1.10563428e+02] [-3.59830066e-02 9.49392483e-04 9.99351951e-01 -8.50594541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:110.61, Z:-8.50 [[ 5.33578328e-01 -8.45517550e-01 1.98554923e-02 1.98260732e+02] [ 8.44984653e-01 5.33947094e-01 3.00239492e-02 1.10610312e+02] [-3.59875584e-02 7.57457627e-04 9.99351951e-01 -8.50408341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.541858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:110.66, Z:-8.51 [[ 5.38768538e-01 -8.42219986e-01 1.98483587e-02 1.98293084e+02] [ 8.41684658e-01 5.39133765e-01 3.00286644e-02 1.10656762e+02] [-3.59916617e-02 5.27559372e-04 9.99351951e-01 -8.50727340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:110.70, Z:-8.51 [[ 5.44581055e-01 -8.38473456e-01 1.98428254e-02 1.98329198e+02] [ 8.37935481e-01 5.44942372e-01 3.00323203e-02 1.10704117e+02] [-3.59944998e-02 2.71974746e-04 9.99351951e-01 -8.50503446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:110.75, Z:-8.51 [[ 5.47981925e-01 -8.36254974e-01 1.98350317e-02 1.98365550e+02] [ 8.35715349e-01 5.48340775e-01 3.00374669e-02 1.10748906e+02] [-3.59953377e-02 1.16451535e-04 9.99351951e-01 -8.51209015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.40, Y:110.80, Z:-8.51 [[ 5.50355019e-01 -8.34695173e-01 1.98323198e-02 1.98397331e+02] [ 8.34154467e-01 5.50712237e-01 3.00392573e-02 1.10797865e+02] [-3.59955243e-02 1.09620749e-05 9.99351951e-01 -8.51324272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.43, Y:110.85, Z:-8.51 [[ 5.49840528e-01 -8.35034371e-01 1.98240515e-02 1.98429764e+02] [ 8.34493689e-01 5.50197781e-01 3.00447129e-02 1.10847323e+02] [-3.59955171e-02 2.32450877e-05 9.99351951e-01 -8.50960034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.46, Y:110.90, Z:-8.52 [[ 5.45680212e-01 -8.37759153e-01 1.98168366e-02 1.98459152e+02] [ 8.37220082e-01 5.46039892e-01 3.00494709e-02 1.10897676e+02] [-3.59950026e-02 1.93651945e-04 9.99351951e-01 -8.51665076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:110.94, Z:-8.52 [[ 5.45251351e-01 -8.38038529e-01 1.98087953e-02 1.98493721e+02] [ 8.37499450e-01 5.45611018e-01 3.00547709e-02 1.10944600e+02] [-3.59949529e-02 2.02450708e-04 9.99351951e-01 -8.52277531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:110.99, Z:-8.52 [[ 5.43065089e-01 -8.39457116e-01 1.98004902e-02 1.98524674e+02] [ 8.38918777e-01 5.43425862e-01 3.00602414e-02 1.10993551e+02] [-3.59943820e-02 2.86335369e-04 9.99351951e-01 -8.51748580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.56, Y:111.04, Z:-8.52 [[ 5.37865292e-01 -8.42798434e-01 1.97920928e-02 1.98557890e+02] [ 8.42262132e-01 5.38229087e-01 3.00657693e-02 1.11041803e+02] [-3.59920634e-02 4.98796520e-04 9.99351951e-01 -8.51872171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.081858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:111.09, Z:-8.53 [[ 5.33421487e-01 -8.45618188e-01 1.97837565e-02 1.98587602e+02] [ 8.45083606e-01 5.33787804e-01 3.00712537e-02 1.11091098e+02] [-3.59891270e-02 6.78275431e-04 9.99351951e-01 -8.53025481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.62, Y:111.14, Z:-8.53 [[ 5.28564395e-01 -8.48662834e-01 1.97756087e-02 1.98618046e+02] [ 8.48130160e-01 5.28933483e-01 3.00766110e-02 1.11140683e+02] [-3.59848835e-02 8.74864418e-04 9.99351951e-01 -8.53324470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.65, Y:111.19, Z:-8.53 [[ 5.25158008e-01 -8.50775128e-01 1.97673607e-02 1.98650711e+02] [ 8.50243734e-01 5.25528937e-01 3.00820309e-02 1.11189294e+02] [-3.59813637e-02 1.00925510e-03 9.99351951e-01 -8.53494652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.68, Y:111.24, Z:-8.54 [[ 5.22511245e-01 -8.52403409e-01 1.97592368e-02 1.98682971e+02] [ 8.51872970e-01 5.22883538e-01 3.00873661e-02 1.11237543e+02] [-3.59783530e-02 1.11137259e-03 9.99351952e-01 -8.53639183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:198.71, Y:111.29, Z:-8.53 [[ 5.19954301e-01 -8.53965705e-01 1.97509095e-02 1.98714246e+02] [ 8.53436178e-01 5.20327889e-01 3.00928315e-02 1.11286864e+02] [-3.59751952e-02 1.20924356e-03 9.99351952e-01 -8.53474521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.75, Y:111.33, Z:-8.54 [[ 5.22350757e-01 -8.52502155e-01 1.97424062e-02 1.98747269e+02] [ 8.51971370e-01 5.22722556e-01 3.00984091e-02 1.11333285e+02] [-3.59787597e-02 1.09803802e-03 9.99351952e-01 -8.53811259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.78, Y:111.38, Z:-8.54 [[ 5.24368458e-01 -8.51262742e-01 1.97348806e-02 1.98776864e+02] [ 8.50730893e-01 5.24738732e-01 3.01033427e-02 1.11383023e+02] [-3.59815103e-02 1.00382924e-03 9.99351952e-01 -8.53976774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.81, Y:111.43, Z:-8.54 [[ 5.28517397e-01 -8.48693244e-01 1.97266056e-02 1.98810748e+02] [ 8.48159392e-01 5.28884778e-01 3.01087643e-02 1.11429794e+02] [-3.59862063e-02 8.18300076e-04 9.99351952e-01 -8.54420917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.84, Y:111.48, Z:-8.54 [[ 5.30265260e-01 -8.47602467e-01 1.97183251e-02 1.98843970e+02] [ 8.47067658e-01 5.30631246e-01 3.01141862e-02 1.11477861e+02] [-3.59880180e-02 7.34248707e-04 9.99351952e-01 -8.54336599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:198.88, Y:111.53, Z:-8.55 [[ 5.29393758e-01 -8.48147272e-01 1.97092542e-02 1.98875753e+02] [ 8.47612618e-01 5.29759971e-01 3.01201218e-02 1.11526026e+02] [-3.59874731e-02 7.60408047e-04 9.99351952e-01 -8.54732012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68185806399998 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:111.57, Z:-8.55 [[ 5.30478193e-01 -8.47469641e-01 1.97001133e-02 1.98907371e+02] [ 8.46934298e-01 5.30843398e-01 3.01260992e-02 1.11574814e+02] [-3.59886296e-02 7.03462953e-04 9.99351952e-01 -8.54852196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.94, Y:111.62, Z:-8.55 [[ 5.29045220e-01 -8.48365137e-01 1.96913478e-02 1.98935820e+02] [ 8.47830199e-01 5.29411018e-01 3.01318276e-02 1.11624258e+02] [-3.59876085e-02 7.53819944e-04 9.99351952e-01 -8.55114400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.801858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:198.97, Y:111.67, Z:-8.56 [[ 5.29375985e-01 -8.48159011e-01 1.96813985e-02 1.98969194e+02] [ 8.47623690e-01 5.29741221e-01 3.01383248e-02 1.11671539e+02] [-3.59881399e-02 7.27914221e-04 9.99351952e-01 -8.55559620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.00, Y:111.72, Z:-8.56 [[ 5.29164100e-01 -8.48291415e-01 1.96731138e-02 1.98999905e+02] [ 8.47755984e-01 5.29529175e-01 3.01437318e-02 1.11720724e+02] [-3.59881566e-02 7.27019208e-04 9.99351952e-01 -8.55850566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.03, Y:111.77, Z:-8.56 [[ 5.29472509e-01 -8.48099140e-01 1.96649876e-02 1.99030834e+02] [ 8.47563380e-01 5.29837101e-01 3.01490322e-02 1.11769707e+02] [-3.59886083e-02 7.04239592e-04 9.99351952e-01 -8.56322701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.981858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.06, Y:111.82, Z:-8.56 [[ 5.30168309e-01 -8.47664531e-01 1.96572285e-02 1.99062694e+02] [ 8.47128285e-01 5.30532185e-01 3.01540903e-02 1.11818509e+02] [-3.59893452e-02 6.65451218e-04 9.99351952e-01 -8.56497402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:111.87, Z:-8.57 [[ 5.30180864e-01 -8.47656870e-01 1.96489641e-02 1.99095950e+02] [ 8.47120419e-01 5.30544438e-01 3.01594745e-02 1.11866175e+02] [-3.59895344e-02 6.55062456e-04 9.99351952e-01 -8.56575501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:111.91, Z:-8.57 [[ 5.29156222e-01 -8.48297089e-01 1.96402916e-02 1.99126072e+02] [ 8.47760869e-01 5.29520136e-01 3.01651212e-02 1.11914101e+02] [-3.59889144e-02 6.88209142e-04 9.99351952e-01 -8.56722607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:111.96, Z:-8.57 [[ 5.29078899e-01 -8.48345514e-01 1.96318214e-02 1.99157828e+02] [ 8.47809122e-01 5.29442561e-01 3.01706327e-02 1.11962504e+02] [-3.59890427e-02 6.81392183e-04 9.99351952e-01 -8.56840493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.19, Y:112.01, Z:-8.57 [[ 5.29105695e-01 -8.48328986e-01 1.96238456e-02 1.99191093e+02] [ 8.47792391e-01 5.29469056e-01 3.01758195e-02 1.12010633e+02] [-3.59892413e-02 6.70749037e-04 9.99351952e-01 -8.56937187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281858064 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:112.06, Z:-8.57 [[ 5.30859195e-01 -8.47233000e-01 1.96152417e-02 1.99221750e+02] [ 8.46695449e-01 5.31221140e-01 3.01814112e-02 1.12059327e+02] [-3.59907187e-02 5.86056216e-04 9.99351952e-01 -8.57280957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:112.11, Z:-8.57 [[ 5.33082704e-01 -8.45835950e-01 1.96055069e-02 1.99252673e+02] [ 8.45297218e-01 5.33442888e-01 3.01877335e-02 1.12107344e+02] [-3.59922885e-02 4.79921790e-04 9.99351952e-01 -8.57433377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:112.15, Z:-8.58 [[ 5.35194789e-01 -8.44501298e-01 1.95983427e-02 1.99283863e+02] [ 8.43961497e-01 5.35553370e-01 3.01923839e-02 1.12154888e+02] [-3.59934659e-02 3.81440098e-04 9.99351952e-01 -8.57681469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46185806399998 meters Centerline goodness : 0.997766 with order 1 Centerline is valid? [True, True] Translation: X:199.31, Y:112.20, Z:-8.59 [[ 5.35142520e-01 -8.44534590e-01 1.95910661e-02 1.99314319e+02] [ 8.43994638e-01 5.35500874e-01 3.01971048e-02 1.12203447e+02] [-3.59935325e-02 3.74999987e-04 9.99351953e-01 -8.58535323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52185806399999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:112.26, Z:-8.59 [[ 5.30966718e-01 -8.47166393e-01 1.95818229e-02 1.99339370e+02] [ 8.46627996e-01 5.31327404e-01 3.02030975e-02 1.12256829e+02] [-3.59914083e-02 5.41679870e-04 9.99351953e-01 -8.58731031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.581858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.38, Y:112.30, Z:-8.58 [[ 5.36783112e-01 -8.43493234e-01 1.95717687e-02 1.99377401e+02] [ 8.42952131e-01 5.37139725e-01 3.02096113e-02 1.12300804e+02] [-3.59943772e-02 2.82054909e-04 9.99351953e-01 -8.58384668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.641858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.41, Y:112.35, Z:-8.59 [[ 5.35350992e-01 -8.44402964e-01 1.95690757e-02 1.99408296e+02] [ 8.43862403e-01 5.35708427e-01 3.02113556e-02 1.12350470e+02] [-3.59938770e-02 3.39928046e-04 9.99351953e-01 -8.58590491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.44, Y:112.40, Z:-8.59 [[ 5.32951911e-01 -8.45919390e-01 1.95613469e-02 1.99440023e+02] [ 8.45379662e-01 5.33310602e-01 3.02163591e-02 1.12398106e+02] [-3.59928777e-02 4.32898570e-04 9.99351953e-01 -8.58979335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.761858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:112.45, Z:-8.59 [[ 5.31312935e-01 -8.46949954e-01 1.95535232e-02 1.99469455e+02] [ 8.46410736e-01 5.31672391e-01 3.02214211e-02 1.12448300e+02] [-3.59920997e-02 4.93280041e-04 9.99351953e-01 -8.58660592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821858064 meters Centerline goodness : 0.996295 with order 1 Centerline is valid? [True, True] Translation: X:199.50, Y:112.50, Z:-8.60 [[ 5.31902734e-01 -8.46579887e-01 1.95442207e-02 1.99501733e+02] [ 8.46040198e-01 5.32261482e-01 3.02274359e-02 1.12495819e+02] [-3.59925751e-02 4.57140569e-04 9.99351953e-01 -8.59508827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.54, Y:112.54, Z:-8.59 [[ 5.32842958e-01 -8.45988652e-01 1.95341531e-02 1.99537111e+02] [ 8.45448326e-01 5.33200747e-01 3.02339405e-02 1.12542916e+02] [-3.59931956e-02 4.05174816e-04 9.99351953e-01 -8.58500732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:199.57, Y:112.59, Z:-8.59 [[ 5.29870923e-01 -8.47853565e-01 1.95227332e-02 1.99565776e+02] [ 8.47314227e-01 5.30230199e-01 3.02413128e-02 1.12592630e+02] [-3.59917476e-02 5.17897307e-04 9.99351953e-01 -8.59305823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:112.64, Z:-8.59 [[ 5.27630978e-01 -8.49249405e-01 1.95191681e-02 1.99597258e+02] [ 8.48710933e-01 5.27991550e-01 3.02436137e-02 1.12641594e+02] [-3.59903268e-02 6.08663887e-04 9.99351953e-01 -8.59483743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.63, Y:112.69, Z:-8.60 [[ 5.27618525e-01 -8.49257347e-01 1.95103016e-02 1.99629162e+02] [ 8.48718668e-01 5.27978788e-01 3.02493325e-02 1.12690147e+02] [-3.59904932e-02 5.98648957e-04 9.99351953e-01 -8.59604871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.66, Y:112.74, Z:-8.60 [[ 5.28541802e-01 -8.48683246e-01 1.95015863e-02 1.99661493e+02] [ 8.48143968e-01 5.28901170e-01 3.02549501e-02 1.12738769e+02] [-3.59912811e-02 5.49146944e-04 9.99351953e-01 -8.59773266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:112.79, Z:-8.60 [[ 5.31840873e-01 -8.46619935e-01 1.94928673e-02 1.99692088e+02] [ 8.46079057e-01 5.32197827e-01 3.02605666e-02 1.12786732e+02] [-3.59932606e-02 3.98700578e-04 9.99351953e-01 -8.60006529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24185806399998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:199.72, Y:112.84, Z:-8.60 [[ 5.35765004e-01 -8.44142309e-01 1.94839103e-02 1.99722482e+02] [ 8.43599571e-01 5.36119123e-01 3.02663327e-02 1.12836098e+02] [-3.59947888e-02 2.20976534e-04 9.99351953e-01 -8.60177274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.301858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:199.75, Y:112.88, Z:-8.60 [[ 5.38981702e-01 -8.42092319e-01 1.94743801e-02 1.99754980e+02] [ 8.41548012e-01 5.39333405e-01 3.02724635e-02 1.12884098e+02] [-3.59953927e-02 7.23219671e-05 9.99351953e-01 -8.60307002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.79, Y:112.93, Z:-8.60 [[ 5.39837482e-01 -8.41544185e-01 1.94647586e-02 1.99786150e+02] [ 8.40999299e-01 5.40188285e-01 3.02786487e-02 1.12933671e+02] [-3.59954553e-02 2.42988160e-05 9.99351953e-01 -8.60419394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.82, Y:112.98, Z:-8.61 [[ 5.42973895e-01 -8.39524161e-01 1.94559071e-02 1.99817836e+02] [ 8.38977765e-01 5.43322343e-01 3.02843353e-02 1.12982259e+02] [-3.59952602e-02 -1.20530103e-04 9.99351953e-01 -8.60568053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.85, Y:113.03, Z:-8.61 [[ 5.41284767e-01 -8.40614415e-01 1.94475044e-02 1.99848981e+02] [ 8.40068528e-01 5.41634010e-01 3.02897302e-02 1.13031770e+02] [-3.59954137e-02 -5.81331454e-05 9.99351953e-01 -8.60751844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:113.08, Z:-8.61 [[ 5.40600059e-01 -8.41055105e-01 1.94393076e-02 1.99880392e+02] [ 8.40509313e-01 5.40949452e-01 3.02949899e-02 1.13080012e+02] [-3.59954387e-02 -3.85542668e-05 9.99351953e-01 -8.60972553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.91, Y:113.13, Z:-8.61 [[ 5.40772144e-01 -8.40944536e-01 1.94364350e-02 1.99909771e+02] [ 8.40398606e-01 5.41121321e-01 3.02968327e-02 1.13129530e+02] [-3.59954253e-02 -4.93303243e-05 9.99351953e-01 -8.61368654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:113.18, Z:-8.62 [[ 5.38563564e-01 -8.42360769e-01 1.94324971e-02 1.99940965e+02] [ 8.41815667e-01 5.38914031e-01 3.02993583e-02 1.13179313e+02] [-3.59954361e-02 4.04500704e-05 9.99351953e-01 -8.61597609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:199.97, Y:113.23, Z:-8.62 [[ 5.35134321e-01 -8.44543625e-01 1.94248383e-02 1.99970897e+02] [ 8.43999773e-01 5.35486727e-01 3.03042676e-02 1.13228919e+02] [-3.59950190e-02 1.77705443e-04 9.99351954e-01 -8.61828384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:113.28, Z:-8.62 [[ 5.33347486e-01 -8.45673388e-01 1.94159787e-02 1.99999954e+02] [ 8.45130076e-01 5.33700724e-01 3.03099428e-02 1.13279153e+02] [-3.59946339e-02 2.43295743e-04 9.99351954e-01 -8.61992743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:200.04, Y:113.33, Z:-8.62 [[ 5.35037769e-01 -8.44605199e-01 1.94072775e-02 2.00035381e+02] [ 8.44060980e-01 5.35389607e-01 3.03155131e-02 1.13325843e+02] [-3.59950947e-02 1.60981180e-04 9.99351954e-01 -8.62116886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90185806399998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:200.07, Y:113.37, Z:-8.62 [[ 5.35103252e-01 -8.44563906e-01 1.93989384e-02 2.00067072e+02] [ 8.44019466e-01 5.35454748e-01 3.03208484e-02 1.13374800e+02] [-3.59951478e-02 1.48297027e-04 9.99351954e-01 -8.62146239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:113.43, Z:-8.62 [[ 5.33789551e-01 -8.45395004e-01 1.93907940e-02 2.00094543e+02] [ 8.44850922e-01 5.34141601e-01 3.03260560e-02 1.13427733e+02] [-3.59949260e-02 1.94598415e-04 9.99351954e-01 -8.62171709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02185806399999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:200.13, Y:113.47, Z:-8.62 [[ 5.38798991e-01 -8.42211336e-01 1.93833040e-02 2.00133374e+02] [ 8.41665002e-01 5.39147534e-01 3.03308426e-02 1.13470498e+02] [-3.59954401e-02 -2.79787433e-05 9.99351954e-01 -8.62332365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.16, Y:113.52, Z:-8.62 [[ 5.42440181e-01 -8.39870977e-01 1.93750304e-02 2.00162920e+02] [ 8.39322950e-01 5.42786058e-01 3.03361268e-02 1.13521176e+02] [-3.59949288e-02 -1.93626448e-04 9.99351954e-01 -8.62423471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.19, Y:113.57, Z:-8.63 [[ 5.44984065e-01 -8.38222703e-01 1.93667153e-02 2.00192909e+02] [ 8.37673441e-01 5.45327978e-01 3.03414342e-02 1.13571576e+02] [-3.59940907e-02 -3.12615102e-04 9.99351954e-01 -8.62732577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.22, Y:113.62, Z:-8.63 [[ 5.45238822e-01 -8.38057204e-01 1.93584423e-02 2.00223818e+02] [ 8.37507651e-01 5.45582268e-01 3.03467116e-02 1.13619829e+02] [-3.59939032e-02 -3.33361741e-04 9.99351954e-01 -8.62867985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.25, Y:113.67, Z:-8.63 [[ 5.45203304e-01 -8.38080489e-01 1.93507532e-02 2.00254618e+02] [ 8.37530777e-01 5.45546494e-01 3.03516139e-02 1.13669368e+02] [-3.59938310e-02 -3.40948841e-04 9.99351954e-01 -8.62832348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.28, Y:113.72, Z:-8.63 [[ 5.44481670e-01 -8.38549698e-01 1.93420476e-02 2.00283711e+02] [ 8.38000085e-01 5.44825019e-01 3.03571607e-02 1.13719081e+02] [-3.59940194e-02 -3.20280017e-04 9.99351954e-01 -8.63200332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:200.31, Y:113.77, Z:-8.64 [[ 5.43055959e-01 -8.39473911e-01 1.93333523e-02 2.00313498e+02] [ 8.38924684e-01 5.43399927e-01 3.03626974e-02 1.13768421e+02] [-3.59944345e-02 -2.69417256e-04 9.99351954e-01 -8.63501039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.34, Y:113.82, Z:-8.64 [[ 5.42611176e-01 -8.39761672e-01 1.93247538e-02 2.00344435e+02] [ 8.39212433e-01 5.42955124e-01 3.03681690e-02 1.13817866e+02] [-3.59944985e-02 -2.60534260e-04 9.99351954e-01 -8.63601698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:113.88, Z:-8.65 [[ 5.28517599e-01 -8.48702553e-01 1.93164078e-02 2.00353930e+02] [ 8.48158939e-01 5.28870369e-01 3.03734768e-02 1.13880902e+02] [-3.59939230e-02 3.30466923e-04 9.99351954e-01 -8.64898682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:113.92, Z:-8.64 [[ 5.44512404e-01 -8.38530510e-01 1.93086877e-02 2.00405365e+02] [ 8.37980131e-01 5.44854525e-01 3.03783837e-02 1.13917885e+02] [-3.59936274e-02 -3.61110079e-04 9.99351954e-01 -8.64065102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:113.98, Z:-8.66 [[ 5.30879725e-01 -8.47227337e-01 1.93017591e-02 2.00413339e+02] [ 8.46682403e-01 5.31230454e-01 3.03827854e-02 1.13981801e+02] [-3.59948086e-02 2.12855002e-04 9.99351954e-01 -8.65508705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68185806399998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:114.03, Z:-8.66 [[ 5.33092772e-01 -8.45836768e-01 1.92940097e-02 2.00442751e+02] [ 8.45290741e-01 5.33441797e-01 3.03877057e-02 1.14032371e+02] [-3.59952699e-02 1.09581535e-04 9.99351954e-01 -8.65683544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74185806399998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:200.48, Y:114.08, Z:-8.65 [[ 5.36493945e-01 -8.43683780e-01 1.92854062e-02 2.00480266e+02] [ 8.43136156e-01 5.36840459e-01 3.03931648e-02 1.14079266e+02] [-3.59954065e-02 -4.55256137e-05 9.99351954e-01 -8.64903503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.51, Y:114.13, Z:-8.66 [[ 5.32021732e-01 -8.46511144e-01 1.92810782e-02 2.00506628e+02] [ 8.45965262e-01 5.32370984e-01 3.03959103e-02 1.14131342e+02] [-3.59951633e-02 1.39837517e-04 9.99351954e-01 -8.65902591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.54, Y:114.18, Z:-8.66 [[ 5.31168361e-01 -8.47046938e-01 1.92784168e-02 2.00538194e+02] [ 8.46501347e-01 5.31518066e-01 3.03975981e-02 1.14179590e+02] [-3.59950192e-02 1.72963491e-04 9.99351954e-01 -8.66118045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.57, Y:114.23, Z:-8.66 [[ 5.34745162e-01 -8.44793632e-01 1.92699479e-02 2.00571049e+02] [ 8.44246375e-01 5.35092252e-01 3.04029659e-02 1.14226462e+02] [-3.59954318e-02 1.07447309e-05 9.99351954e-01 -8.66220052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.981858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:114.27, Z:-8.66 [[ 5.32531126e-01 -8.46191207e-01 1.92624321e-02 2.00606042e+02] [ 8.45644688e-01 5.32879378e-01 3.04077269e-02 1.14272824e+02] [-3.59953040e-02 9.61123339e-05 9.99351954e-01 -8.66107549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.041858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.64, Y:114.32, Z:-8.66 [[ 5.32584663e-01 -8.46157702e-01 1.92541062e-02 2.00639065e+02] [ 8.45610970e-01 5.32932581e-01 3.04129979e-02 1.14320990e+02] [-3.59953330e-02 8.39872190e-05 9.99351954e-01 -8.66212029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:114.37, Z:-8.66 [[ 5.33753919e-01 -8.45420816e-01 1.92456939e-02 2.00675532e+02] [ 8.44873412e-01 5.34100780e-01 3.04183204e-02 1.14367104e+02] [-3.59954214e-02 2.42773725e-05 9.99351955e-01 -8.66050200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:114.42, Z:-8.66 [[ 5.34790299e-01 -8.44765807e-01 1.92371302e-02 2.00705635e+02] [ 8.44217783e-01 5.35136179e-01 3.04237353e-02 1.14417039e+02] [-3.59954157e-02 -2.99910989e-05 9.99351955e-01 -8.66413175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.74, Y:114.46, Z:-8.67 [[ 5.35966638e-01 -8.44020155e-01 1.92286364e-02 2.00740102e+02] [ 8.43471458e-01 5.36311448e-01 3.04291026e-02 1.14462848e+02] [-3.59953138e-02 -9.01778206e-05 9.99351955e-01 -8.66559736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281858064 meters Centerline goodness : 0.991729 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:114.50, Z:-8.67 [[ 5.48996125e-01 -8.35603857e-01 1.92210434e-02 2.00788107e+02] [ 8.35049709e-01 5.49332105e-01 3.04338982e-02 1.14500763e+02] [-3.59894189e-02 -6.57565497e-04 9.99351955e-01 -8.66698368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.80, Y:114.56, Z:-8.67 [[ 5.30888520e-01 -8.47223918e-01 1.92096805e-02 2.00801350e+02] [ 8.46676868e-01 5.31235938e-01 3.04410687e-02 1.14561193e+02] [-3.59952741e-02 1.03578210e-04 9.99351955e-01 -8.67105839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.85, Y:114.60, Z:-8.67 [[ 5.31584433e-01 -8.46787703e-01 1.91983494e-02 2.00845922e+02] [ 8.46240110e-01 5.31930994e-01 3.04482132e-02 1.14600303e+02] [-3.59953696e-02 6.06171256e-05 9.99351955e-01 -8.67382377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:114.66, Z:-8.68 [[ 5.23317691e-01 -8.51921540e-01 1.91907143e-02 2.00863811e+02] [ 8.51377170e-01 5.23669292e-01 3.04530247e-02 1.14656297e+02] [-3.59931754e-02 4.01929446e-04 9.99351955e-01 -8.67760922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:114.70, Z:-8.68 [[ 5.24343023e-01 -8.51291020e-01 1.91831644e-02 2.00907722e+02] [ 8.50746053e-01 5.24693698e-01 3.04577798e-02 1.14696888e+02] [-3.59937199e-02 3.49677077e-04 9.99351955e-01 -8.67739717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.581858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:200.93, Y:114.75, Z:-8.68 [[ 5.11943857e-01 -8.58804873e-01 1.91749140e-02 2.00929168e+02] [ 8.58264854e-01 5.12302105e-01 3.04629730e-02 1.14752101e+02] [-3.59850985e-02 8.61822841e-04 9.99351955e-01 -8.67780305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.641858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:114.80, Z:-8.68 [[ 5.09236918e-01 -8.60412931e-01 1.91663492e-02 2.00960198e+02] [ 8.59873841e-01 5.09596562e-01 3.04683608e-02 1.14800444e+02] [-3.59824773e-02 9.65028136e-04 9.99351955e-01 -8.67857869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.701858064 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:114.85, Z:-8.68 [[ 5.01326275e-01 -8.65046147e-01 1.91606420e-02 2.00991803e+02] [ 8.64510240e-01 5.01690647e-01 3.04719494e-02 1.14848913e+02] [-3.59723573e-02 1.28818228e-03 9.99351955e-01 -8.68112067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.761858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.03, Y:114.89, Z:-8.69 [[ 4.97325257e-01 -8.67352739e-01 1.91523936e-02 2.01029991e+02] [ 8.66818323e-01 4.97691811e-01 3.04771329e-02 1.14893248e+02] [-3.59664141e-02 1.44459771e-03 9.99351955e-01 -8.68714958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:201.05, Y:114.95, Z:-8.69 [[ 4.87827333e-01 -8.72730191e-01 1.91443563e-02 2.01053473e+02] [ 8.72199612e-01 4.88199420e-01 3.04821807e-02 1.14947381e+02] [-3.59489830e-02 1.82765924e-03 9.99351955e-01 -8.68672946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:114.99, Z:-8.69 [[ 4.87589755e-01 -8.72863129e-01 1.91360798e-02 2.01090863e+02] [ 8.72332449e-01 4.87961697e-01 3.04873756e-02 1.14990837e+02] [-3.59489801e-02 1.82769140e-03 9.99351955e-01 -8.69036925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.12, Y:115.04, Z:-8.69 [[ 4.82821605e-01 -8.75509787e-01 1.91287830e-02 2.01122342e+02] [ 8.74980965e-01 4.83196183e-01 3.04919532e-02 1.15039555e+02] [-3.59389584e-02 2.01514718e-03 9.99351955e-01 -8.69235576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.15, Y:115.09, Z:-8.69 [[ 4.78504703e-01 -8.77876788e-01 1.91205077e-02 2.01147834e+02] [ 8.77349612e-01 4.78881595e-01 3.04971415e-02 1.15091528e+02] [-3.59291919e-02 2.18234442e-03 9.99351955e-01 -8.69417728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:201.18, Y:115.14, Z:-8.70 [[ 4.84248430e-01 -8.74721774e-01 1.91122008e-02 2.01182865e+02] [ 8.74191936e-01 4.84621570e-01 3.05023464e-02 1.15137550e+02] [-3.59432514e-02 1.93701847e-03 9.99351955e-01 -8.69677960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:201.21, Y:115.19, Z:-8.70 [[ 4.84722360e-01 -8.74459418e-01 1.91039490e-02 2.01210096e+02] [ 8.73929176e-01 4.85094926e-01 3.05075138e-02 1.15189047e+02] [-3.59448114e-02 1.90782432e-03 9.99351955e-01 -8.69829758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18185806399998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:201.24, Y:115.24, Z:-8.70 [[ 4.87587965e-01 -8.72865015e-01 1.90955769e-02 2.01240462e+02] [ 8.72333351e-01 4.87958499e-01 3.05127532e-02 1.15237076e+02] [-3.59513638e-02 1.78005728e-03 9.99351955e-01 -8.69941766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.27, Y:115.29, Z:-8.70 [[ 4.89472303e-01 -8.71809903e-01 1.90881663e-02 2.01271980e+02] [ 8.71277260e-01 4.89841428e-01 3.05173884e-02 1.15285119e+02] [-3.59555361e-02 1.69366887e-03 9.99351955e-01 -8.70120826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.31, Y:115.33, Z:-8.70 [[ 4.94557914e-01 -8.68935200e-01 1.90810822e-02 2.01307304e+02] [ 8.68400240e-01 4.94923673e-01 3.05218171e-02 1.15331298e+02] [-3.59651606e-02 1.47521016e-03 9.99351956e-01 -8.70428991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.33, Y:115.38, Z:-8.71 [[ 4.92318390e-01 -8.70206192e-01 1.90732085e-02 2.01332283e+02] [ 8.69671986e-01 4.92685249e-01 3.05267367e-02 1.15383597e+02] [-3.59616437e-02 1.55856132e-03 9.99351956e-01 -8.71002012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:115.43, Z:-8.71 [[ 4.97860713e-01 -8.67047417e-01 1.90653266e-02 2.01370857e+02] [ 8.66510694e-01 4.98223880e-01 3.05316585e-02 1.15428008e+02] [-3.59711966e-02 1.31979609e-03 9.99351956e-01 -8.70903891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.481858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:115.48, Z:-8.71 [[ 5.00996184e-01 -8.65239642e-01 1.90574219e-02 2.01401589e+02] [ 8.64701421e-01 5.01357127e-01 3.05365917e-02 1.15476266e+02] [-3.59760440e-02 1.18026384e-03 9.99351956e-01 -8.71135958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.43, Y:115.53, Z:-8.71 [[ 5.01467276e-01 -8.64966885e-01 1.90488514e-02 2.01429075e+02] [ 8.64428266e-01 5.01827624e-01 3.05419370e-02 1.15527390e+02] [-3.59770040e-02 1.15058365e-03 9.99351956e-01 -8.71375619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:115.58, Z:-8.72 [[ 5.01902887e-01 -8.64714368e-01 1.90408508e-02 2.01460878e+02] [ 8.64175378e-01 5.02262681e-01 3.05469241e-02 1.15575786e+02] [-3.59778729e-02 1.12304502e-03 9.99351956e-01 -8.71744764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.49, Y:115.62, Z:-8.72 [[ 5.01177232e-01 -8.65135323e-01 1.90329785e-02 2.01493511e+02] [ 8.64596450e-01 5.01537201e-01 3.05518283e-02 1.15623635e+02] [-3.59772126e-02 1.14396493e-03 9.99351956e-01 -8.71830157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:201.52, Y:115.67, Z:-8.72 [[ 4.99828572e-01 -8.65915386e-01 1.90247702e-02 2.01524401e+02] [ 8.65376881e-01 5.00189091e-01 3.05569388e-02 1.15672585e+02] [-3.59757060e-02 1.19036518e-03 9.99351956e-01 -8.71849658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:115.72, Z:-8.72 [[ 4.97457616e-01 -8.67279825e-01 1.90164646e-02 2.01554504e+02] [ 8.66742112e-01 4.97819314e-01 3.05621068e-02 1.15720519e+02] [-3.59726620e-02 1.27901794e-03 9.99351956e-01 -8.71993680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.58, Y:115.77, Z:-8.72 [[ 4.95746284e-01 -8.68259298e-01 1.90108656e-02 2.01583110e+02] [ 8.67722167e-01 4.96108845e-01 3.05655892e-02 1.15770483e+02] [-3.59703156e-02 1.34337226e-03 9.99351956e-01 -8.72395131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90185806399998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:201.61, Y:115.82, Z:-8.73 [[ 4.93689663e-01 -8.69430513e-01 1.90026468e-02 2.01611454e+02] [ 8.68894045e-01 4.94053206e-01 3.05706980e-02 1.15820800e+02] [-3.59674162e-02 1.41884905e-03 9.99351956e-01 -8.72827150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.64, Y:115.87, Z:-8.73 [[ 4.89340573e-01 -8.71885893e-01 1.89945799e-02 2.01642089e+02] [ 8.71351055e-01 4.89706509e-01 3.05757094e-02 1.15870229e+02] [-3.59602991e-02 1.58901212e-03 9.99351956e-01 -8.72926750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.67, Y:115.92, Z:-8.73 [[ 4.86370191e-01 -8.73546554e-01 1.89856659e-02 2.01672391e+02] [ 8.73012751e-01 4.86737634e-01 3.05812434e-02 1.15918367e+02] [-3.59551779e-02 1.70092326e-03 9.99351956e-01 -8.73332076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.70, Y:115.97, Z:-8.74 [[ 4.81819811e-01 -8.76064790e-01 1.89776954e-02 2.01702116e+02] [ 8.75532713e-01 4.82189749e-01 3.05861888e-02 1.15966751e+02] [-3.59463333e-02 1.87856142e-03 9.99351956e-01 -8.73504252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.141858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.73, Y:116.02, Z:-8.73 [[ 4.82115194e-01 -8.75902434e-01 1.89701391e-02 2.01733428e+02] [ 8.75370049e-01 4.82484690e-01 3.05908747e-02 1.16015921e+02] [-3.59474233e-02 1.85756606e-03 9.99351956e-01 -8.73228263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.201858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.76, Y:116.06, Z:-8.74 [[ 4.80848899e-01 -8.76598428e-01 1.89613350e-02 2.01762746e+02] [ 8.76066365e-01 4.81218857e-01 3.05963308e-02 1.16064530e+02] [-3.59452475e-02 1.89917589e-03 9.99351956e-01 -8.73737705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.261858064 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:201.79, Y:116.11, Z:-8.74 [[ 4.80279168e-01 -8.76910891e-01 1.89528479e-02 2.01793620e+02] [ 8.76378863e-01 4.80649178e-01 3.06015872e-02 1.16113534e+02] [-3.59445359e-02 1.91257045e-03 9.99351956e-01 -8.73745097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.83, Y:116.16, Z:-8.73 [[ 4.82293535e-01 -8.75804809e-01 1.89441796e-02 2.01826651e+02] [ 8.75271724e-01 4.82662019e-01 3.06069525e-02 1.16162936e+02] [-3.59493522e-02 1.81976947e-03 9.99351956e-01 -8.73415273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:116.21, Z:-8.74 [[ 4.83427084e-01 -8.75179797e-01 1.89361344e-02 2.01856492e+02] [ 8.74646042e-01 4.83794596e-01 3.06119291e-02 1.16212866e+02] [-3.59521414e-02 1.76377942e-03 9.99351956e-01 -8.73707365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.89, Y:116.26, Z:-8.74 [[ 4.83331073e-01 -8.75232925e-01 1.89314656e-02 2.01885579e+02] [ 8.74699098e-01 4.83698481e-01 3.06148162e-02 1.16262078e+02] [-3.59522163e-02 1.76224397e-03 9.99351956e-01 -8.74118936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.91, Y:116.31, Z:-8.75 [[ 4.83720244e-01 -8.75018023e-01 1.89257584e-02 2.01913755e+02] [ 8.74483896e-01 4.84087216e-01 3.06183439e-02 1.16312431e+02] [-3.59533205e-02 1.73955818e-03 9.99351956e-01 -8.74659795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:201.94, Y:116.36, Z:-8.75 [[ 4.83745469e-01 -8.75004270e-01 1.89168736e-02 2.01943943e+02] [ 8.74469919e-01 4.84112116e-01 3.06238322e-02 1.16362003e+02] [-3.59538717e-02 1.72809688e-03 9.99351956e-01 -8.74884516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:116.41, Z:-8.75 [[ 4.81483619e-01 -8.76251123e-01 1.89075322e-02 2.01975454e+02] [ 8.75717497e-01 4.81851319e-01 3.06295987e-02 1.16410509e+02] [-3.59498395e-02 1.81000672e-03 9.99351956e-01 -8.75086206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.00, Y:116.46, Z:-8.75 [[ 4.81662753e-01 -8.76152870e-01 1.88981914e-02 2.02003675e+02] [ 8.75618944e-01 4.82030019e-01 3.06353608e-02 1.16459513e+02] [-3.59507548e-02 1.79170221e-03 9.99351957e-01 -8.75329345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.03, Y:116.51, Z:-8.76 [[ 4.82586266e-01 -8.75644672e-01 1.88918866e-02 2.02033886e+02] [ 8.75110210e-01 4.82952749e-01 3.06392483e-02 1.16509264e+02] [-3.59529831e-02 1.74640242e-03 9.99351957e-01 -8.75613872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.801858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.06, Y:116.56, Z:-8.76 [[ 4.83496760e-01 -8.75142444e-01 1.88834623e-02 2.02064211e+02] [ 8.74607400e-01 4.83862393e-01 3.06444394e-02 1.16559112e+02] [-3.59552469e-02 1.69912874e-03 9.99351957e-01 -8.75921969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.09, Y:116.61, Z:-8.76 [[ 4.84213084e-01 -8.74746510e-01 1.88741121e-02 2.02092238e+02] [ 8.74210944e-01 4.84577952e-01 3.06501972e-02 1.16608545e+02] [-3.59571316e-02 1.65872884e-03 9.99351957e-01 -8.76275080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.921858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:116.66, Z:-8.76 [[ 4.83602473e-01 -8.75084344e-01 1.88690157e-02 2.02122794e+02] [ 8.74548911e-01 4.83967536e-01 3.06533344e-02 1.16656677e+02] [-3.59562440e-02 1.67784879e-03 9.99351957e-01 -8.76386980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.981858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:116.71, Z:-8.76 [[ 4.83057689e-01 -8.75385358e-01 1.88611952e-02 2.02153339e+02] [ 8.74849966e-01 4.83422812e-01 3.06581456e-02 1.16705381e+02] [-3.59556238e-02 1.69106302e-03 9.99351957e-01 -8.76390149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.041858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.18, Y:116.76, Z:-8.77 [[ 4.84734149e-01 -8.74458313e-01 1.88537197e-02 2.02183489e+02] [ 8.73922045e-01 4.85097985e-01 3.06627421e-02 1.16755056e+02] [-3.59591912e-02 1.61340306e-03 9.99351957e-01 -8.76785996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:116.81, Z:-8.77 [[ 4.85421184e-01 -8.74077293e-01 1.88457011e-02 2.02210393e+02] [ 8.73540549e-01 4.85784317e-01 3.06676696e-02 1.16807077e+02] [-3.59608597e-02 1.57574759e-03 9.99351957e-01 -8.77442485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:202.24, Y:116.85, Z:-8.77 [[ 4.91395264e-01 -8.70732947e-01 1.88369211e-02 2.02243968e+02] [ 8.70193523e-01 4.91754405e-01 3.06730616e-02 1.16853028e+02] [-3.59711842e-02 1.31916953e-03 9.99351957e-01 -8.77350130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:116.90, Z:-8.78 [[ 4.92360232e-01 -8.70187875e-01 1.88271967e-02 2.02271371e+02] [ 8.69647827e-01 4.92718433e-01 3.06790293e-02 1.16903873e+02] [-3.59730262e-02 1.26789668e-03 9.99351957e-01 -8.77766644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:116.95, Z:-8.78 [[ 4.99298425e-01 -8.66225711e-01 1.88175695e-02 2.02304552e+02] [ 8.65682595e-01 4.99651958e-01 3.06849332e-02 1.16950423e+02] [-3.59823135e-02 9.69103630e-04 9.99351957e-01 -8.77858859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:202.33, Y:117.00, Z:-8.78 [[ 5.01480027e-01 -8.64964762e-01 1.88080237e-02 2.02333872e+02] [ 8.64420539e-01 5.01831852e-01 3.06907831e-02 1.17000172e+02] [-3.59849112e-02 8.67227241e-04 9.99351957e-01 -8.77891289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:117.05, Z:-8.78 [[ 5.03144885e-01 -8.63997589e-01 1.87986753e-02 2.02364243e+02] [ 8.63452476e-01 5.03495329e-01 3.06965081e-02 1.17049556e+02] [-3.59867542e-02 7.86971674e-04 9.99351957e-01 -8.78066940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:202.39, Y:117.10, Z:-8.79 [[ 5.02501299e-01 -8.64372254e-01 1.87896657e-02 2.02391791e+02] [ 8.63827196e-01 5.02851829e-01 3.07020219e-02 1.17099114e+02] [-3.59863937e-02 8.03218347e-04 9.99351957e-01 -8.78825966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52185806399999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:117.15, Z:-8.79 [[ 5.07583086e-01 -8.61398085e-01 1.87816379e-02 2.02424340e+02] [ 8.60850791e-01 5.07930114e-01 3.07069321e-02 1.17147414e+02] [-3.59906520e-02 5.81868500e-04 9.99351957e-01 -8.78642956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.581858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:202.45, Y:117.20, Z:-8.79 [[ 5.08751497e-01 -8.60708706e-01 1.87733043e-02 2.02454203e+02] [ 8.60160754e-01 5.09097485e-01 3.07120262e-02 1.17196848e+02] [-3.59915503e-02 5.23270255e-04 9.99351957e-01 -8.78821103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.641858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.48, Y:117.25, Z:-8.79 [[ 5.07928139e-01 -8.61195040e-01 1.87645640e-02 2.02482723e+02] [ 8.60647222e-01 5.08274338e-01 3.07173654e-02 1.17246977e+02] [-3.59911891e-02 5.47455596e-04 9.99351957e-01 -8.78911041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.701858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:117.29, Z:-8.79 [[ 5.10250565e-01 -8.59821255e-01 1.87555380e-02 2.02512744e+02] [ 8.59272302e-01 5.10594963e-01 3.07228756e-02 1.17294917e+02] [-3.59926647e-02 4.39749658e-04 9.99351957e-01 -8.79367419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.761858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:117.34, Z:-8.80 [[ 5.10478322e-01 -8.59686230e-01 1.87474997e-02 2.02543138e+02] [ 8.59137006e-01 5.10822287e-01 3.07277799e-02 1.17344807e+02] [-3.59928899e-02 4.20805271e-04 9.99351957e-01 -8.79567892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:202.56, Y:117.40, Z:-8.81 [[ 5.00781680e-01 -8.65370765e-01 1.87389574e-02 2.02562298e+02] [ 8.64825248e-01 5.01131494e-01 3.07329884e-02 1.17401851e+02] [-3.59861114e-02 8.15405869e-04 9.99351957e-01 -8.80868344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:117.45, Z:-8.81 [[ 4.98849581e-01 -8.66486145e-01 1.87311550e-02 2.02591313e+02] [ 8.65941232e-01 4.99200335e-01 3.07377431e-02 1.17453421e+02] [-3.59844274e-02 8.86569161e-04 9.99351958e-01 -8.81309035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.63, Y:117.50, Z:-8.81 [[ 5.04438370e-01 -8.63244676e-01 1.87232418e-02 2.02625026e+02] [ 8.62697329e-01 5.04785314e-01 3.07425625e-02 1.17501128e+02] [-3.59895709e-02 6.44762589e-04 9.99351958e-01 -8.80771394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.65, Y:117.55, Z:-8.81 [[ 5.01647586e-01 -8.64869601e-01 1.87155682e-02 2.02654289e+02] [ 8.64323204e-01 5.01996023e-01 3.07472333e-02 1.17551561e+02] [-3.59874882e-02 7.52024510e-04 9.99351958e-01 -8.81081258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:117.60, Z:-8.81 [[ 5.06993209e-01 -8.61747039e-01 1.87063153e-02 2.02685545e+02] [ 8.61198287e-01 5.07337926e-01 3.07528617e-02 1.17599876e+02] [-3.59916107e-02 5.18354617e-04 9.99351958e-01 -8.80750305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.72, Y:117.64, Z:-8.81 [[ 5.16860237e-01 -8.55865466e-01 1.87029224e-02 2.02722467e+02] [ 8.55312715e-01 5.17198506e-01 3.07549250e-02 1.17644015e+02] [-3.59952017e-02 1.00849508e-04 9.99351958e-01 -8.80750757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:117.70, Z:-8.81 [[ 5.12238299e-01 -8.58639828e-01 1.86968151e-02 2.02743444e+02] [ 8.58088773e-01 5.12579324e-01 3.07586374e-02 1.17699842e+02] [-3.59941919e-02 2.87775003e-04 9.99351958e-01 -8.80614715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:202.77, Y:117.75, Z:-8.81 [[ 5.15392140e-01 -8.56750677e-01 1.86874375e-02 2.02774623e+02] [ 8.56198166e-01 5.15730799e-01 3.07643337e-02 1.17748841e+02] [-3.59950508e-02 1.44453946e-04 9.99351958e-01 -8.80600987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.301858064 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:202.80, Y:117.80, Z:-8.81 [[ 5.12496651e-01 -8.58485916e-01 1.86846077e-02 2.02801990e+02] [ 8.57934489e-01 5.12837073e-01 3.07660522e-02 1.17800997e+02] [-3.59943821e-02 2.62670629e-04 9.99351958e-01 -8.81041865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:117.85, Z:-8.81 [[ 5.18766803e-01 -8.54711754e-01 1.86767799e-02 2.02840390e+02] [ 8.54157679e-01 5.19102897e-01 3.07708034e-02 1.17845458e+02] [-3.59953379e-02 -9.95635016e-06 9.99351958e-01 -8.81485702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.421858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.87, Y:117.90, Z:-8.82 [[ 5.18303909e-01 -8.54992703e-01 1.86691001e-02 2.02870274e+02] [ 8.54438642e-01 5.18640027e-01 3.07754622e-02 1.17895354e+02] [-3.59953382e-02 5.58134865e-07 9.99351958e-01 -8.81656789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.481858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:202.88, Y:117.96, Z:-8.82 [[ 5.06630305e-01 -8.61961440e-01 1.86603922e-02 2.02883933e+02] [ 8.61411806e-01 5.06973615e-01 3.07807412e-02 1.17955076e+02] [-3.59921385e-02 4.79825795e-04 9.99351958e-01 -8.82151418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.541858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.93, Y:118.00, Z:-8.82 [[ 5.17577203e-01 -8.55433189e-01 1.86520166e-02 2.02928862e+02] [ 8.54879041e-01 5.17913176e-01 3.07858157e-02 1.17996286e+02] [-3.59953337e-02 1.11816932e-05 9.99351958e-01 -8.82109558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:118.05, Z:-8.82 [[ 5.17013421e-01 -8.55774200e-01 1.86451438e-02 2.02958442e+02] [ 8.55220123e-01 5.17349513e-01 3.07899776e-02 1.18046634e+02] [-3.59953245e-02 2.68705154e-05 9.99351958e-01 -8.82301280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:118.11, Z:-8.83 [[ 5.02508858e-01 -8.64371166e-01 1.86369316e-02 2.02963236e+02] [ 8.63822652e-01 5.02853952e-01 3.07949476e-02 1.18110366e+02] [-3.59899195e-02 6.24269722e-04 9.99351958e-01 -8.83421981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:202.99, Y:118.16, Z:-8.84 [[ 5.02853178e-01 -8.64170968e-01 1.86338249e-02 2.02990825e+02] [ 8.63622247e-01 5.03197944e-01 3.07968273e-02 1.18160206e+02] [-3.59902264e-02 6.06303286e-04 9.99351958e-01 -8.83567992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:118.21, Z:-8.84 [[ 5.01575499e-01 -8.64913330e-01 1.86265887e-02 2.03017933e+02] [ 8.64364957e-01 5.01920818e-01 3.08012033e-02 1.18211977e+02] [-3.59894439e-02 6.51041558e-04 9.99351958e-01 -8.83871997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:118.27, Z:-8.85 [[ 4.93597155e-01 -8.69491347e-01 1.86184143e-02 2.03043604e+02] [ 8.68945988e-01 4.93947215e-01 3.08061437e-02 1.18265415e+02] [-3.59821893e-02 9.72571533e-04 9.99351958e-01 -8.84568476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:118.31, Z:-8.85 [[ 4.92405356e-01 -8.70167001e-01 1.86106382e-02 2.03075094e+02] [ 8.69621945e-01 4.92755887e-01 3.08108407e-02 1.18314663e+02] [-3.59810784e-02 1.01279642e-03 9.99351958e-01 -8.84855170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:203.11, Y:118.36, Z:-8.84 [[ 4.94386783e-01 -8.69042945e-01 1.86029264e-02 2.03105302e+02] [ 8.68496917e-01 4.94735798e-01 3.08154962e-02 1.18364716e+02] [-3.59835232e-02 9.21810154e-04 9.99351958e-01 -8.84455119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02185806399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.14, Y:118.41, Z:-8.84 [[ 4.94827673e-01 -8.68792170e-01 1.85940658e-02 2.03139866e+02] [ 8.68245765e-01 4.95176097e-01 3.08208418e-02 1.18412672e+02] [-3.59842429e-02 8.93213466e-04 9.99351958e-01 -8.84423384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.081858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:118.46, Z:-8.84 [[ 4.98290973e-01 -8.66810622e-01 1.85863303e-02 2.03173509e+02] [ 8.66262657e-01 4.98636939e-01 3.08255059e-02 1.18460556e+02] [-3.59877068e-02 7.40572588e-04 9.99351958e-01 -8.84123569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.141858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.21, Y:118.51, Z:-8.84 [[ 5.02298768e-01 -8.64494550e-01 1.85774180e-02 2.03208896e+02] [ 8.63944791e-01 5.02641876e-01 3.08308761e-02 1.18507409e+02] [-3.59909126e-02 5.63552395e-04 9.99351958e-01 -8.84222299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.201858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.24, Y:118.56, Z:-8.84 [[ 5.05395071e-01 -8.62688232e-01 1.85697638e-02 2.03239311e+02] [ 8.62137077e-01 5.05735932e-01 3.08354856e-02 1.18557450e+02] [-3.59928074e-02 4.25579445e-04 9.99351958e-01 -8.84124161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.261858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.27, Y:118.61, Z:-8.85 [[ 5.07809585e-01 -8.61269337e-01 1.85621583e-02 2.03271089e+02] [ 8.60717062e-01 5.08148629e-01 3.08400633e-02 1.18605513e+02] [-3.59939361e-02 3.15886614e-04 9.99351958e-01 -8.84592999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321858064 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:203.30, Y:118.66, Z:-8.85 [[ 5.12285567e-01 -8.58614738e-01 1.85534503e-02 2.03298438e+02] [ 8.58060516e-01 5.12621418e-01 3.08453011e-02 1.18655800e+02] [-3.59951261e-02 1.18380642e-04 9.99351958e-01 -8.84930031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:118.70, Z:-8.85 [[ 5.10849551e-01 -8.59470067e-01 1.85456237e-02 2.03331276e+02] [ 8.58916237e-01 5.11186047e-01 3.08500061e-02 1.18703793e+02] [-3.59949209e-02 1.69425519e-04 9.99351959e-01 -8.85288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:118.75, Z:-8.85 [[ 5.07941566e-01 -8.61192041e-01 1.85373838e-02 2.03362019e+02] [ 8.60639171e-01 5.08279637e-01 3.08549565e-02 1.18753213e+02] [-3.59942177e-02 2.81483701e-04 9.99351959e-01 -8.85368283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:118.80, Z:-8.86 [[ 5.03720658e-01 -8.63667853e-01 1.85293732e-02 2.03390811e+02] [ 8.63116468e-01 5.04061145e-01 3.08597664e-02 1.18803174e+02] [-3.59925253e-02 4.48305307e-04 9.99351959e-01 -8.85546060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.42, Y:118.85, Z:-8.86 [[ 4.96519781e-01 -8.67827791e-01 1.85211521e-02 2.03420078e+02] [ 8.67279072e-01 4.96864550e-01 3.08646997e-02 1.18851762e+02] [-3.59877481e-02 7.38073678e-04 9.99351959e-01 -8.86256171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.45, Y:118.90, Z:-8.86 [[ 4.96011477e-01 -8.68118556e-01 1.85145217e-02 2.03454781e+02] [ 8.67569892e-01 4.96356331e-01 3.08686765e-02 1.18898851e+02] [-3.59874710e-02 7.51423719e-04 9.99351959e-01 -8.85523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68185806399998 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:118.95, Z:-8.86 [[ 4.93709190e-01 -8.69430131e-01 1.85063005e-02 2.03487866e+02] [ 8.68882198e-01 4.94055206e-01 3.08736045e-02 1.18946949e+02] [-3.59855761e-02 8.37212795e-04 9.99351959e-01 -8.85534428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74185806399998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:119.00, Z:-8.86 [[ 4.91240964e-01 -8.70827274e-01 1.84979434e-02 2.03518406e+02] [ 8.70280137e-01 4.91588237e-01 3.08786108e-02 1.18995635e+02] [-3.59833079e-02 9.29554200e-04 9.99351959e-01 -8.85785776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.55, Y:119.05, Z:-8.86 [[ 4.85569372e-01 -8.74002562e-01 1.84907155e-02 2.03547181e+02] [ 8.73457530e-01 4.85919939e-01 3.08829384e-02 1.19045723e+02] [-3.59767747e-02 1.15504567e-03 9.99351959e-01 -8.86039729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:119.09, Z:-8.86 [[ 4.77628719e-01 -8.78367349e-01 1.84826260e-02 2.03582702e+02] [ 8.77825330e-01 4.77983928e-01 3.08877790e-02 1.19091729e+02] [-3.59652147e-02 1.47162695e-03 9.99351959e-01 -8.85956021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.62, Y:119.13, Z:-8.86 [[ 4.70875772e-01 -8.82006031e-01 1.84761570e-02 2.03622233e+02] [ 8.81466603e-01 4.71234903e-01 3.08916481e-02 1.19134147e+02] [-3.59532300e-02 1.73998670e-03 9.99351959e-01 -8.86065023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.981858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:203.65, Y:119.18, Z:-8.86 [[ 4.69109965e-01 -8.82946643e-01 1.84679686e-02 2.03651494e+02] [ 8.82407744e-01 4.69469889e-01 3.08965426e-02 1.19183911e+02] [-3.59501538e-02 1.80240251e-03 9.99351959e-01 -8.86052188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.041858064 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:203.66, Y:119.24, Z:-8.88 [[ 4.52592827e-01 -8.91526191e-01 1.84603225e-02 2.03664290e+02] [ 8.90993902e-01 4.52962457e-01 3.09011104e-02 1.19243973e+02] [-3.59109823e-02 2.46241390e-03 9.99351959e-01 -8.88033876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:203.70, Y:119.29, Z:-8.88 [[ 4.53964430e-01 -8.90828716e-01 1.84525235e-02 2.03698239e+02] [ 8.90295673e-01 4.54332971e-01 3.09057669e-02 1.19292117e+02] [-3.59153344e-02 2.39808300e-03 9.99351959e-01 -8.87787893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:203.74, Y:119.34, Z:-8.87 [[ 4.59047660e-01 -8.88220143e-01 1.84451310e-02 2.03736984e+02] [ 8.87684828e-01 4.59412893e-01 3.09101782e-02 1.19337800e+02] [-3.59289739e-02 2.18421797e-03 9.99351959e-01 -8.86820538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:119.38, Z:-8.87 [[ 4.61946984e-01 -8.86715869e-01 1.84377599e-02 2.03772727e+02] [ 8.86179191e-01 4.62310211e-01 3.09145744e-02 1.19383198e+02] [-3.59364084e-02 2.05826470e-03 9.99351959e-01 -8.86855024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281858064 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:203.80, Y:119.43, Z:-8.87 [[ 4.66427050e-01 -8.84367645e-01 1.84302804e-02 2.03801997e+02] [ 8.83828962e-01 4.66787296e-01 3.09190328e-02 1.19433871e+02] [-3.59468130e-02 1.86774232e-03 9.99351959e-01 -8.87095227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:203.83, Y:119.48, Z:-8.87 [[ 4.68702472e-01 -8.83163982e-01 1.84220861e-02 2.03832667e+02] [ 8.82624183e-01 4.69061044e-01 3.09239143e-02 1.19483367e+02] [-3.59519703e-02 1.76566359e-03 9.99351959e-01 -8.87265213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40185806399998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:119.53, Z:-8.88 [[ 4.73774486e-01 -8.80453674e-01 1.84136937e-02 2.03861074e+02] [ 8.79911629e-01 4.74129653e-01 3.09289108e-02 1.19532619e+02] [-3.59619514e-02 1.54909441e-03 9.99351959e-01 -8.87518555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46185806399998 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:119.58, Z:-8.88 [[ 4.74607113e-01 -8.80005311e-01 1.84049137e-02 2.03890568e+02] [ 8.79462729e-01 4.74961459e-01 3.09341347e-02 1.19582590e+02] [-3.59638275e-02 1.50487523e-03 9.99351959e-01 -8.87680755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52185806399999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:203.92, Y:119.63, Z:-8.88 [[ 4.76363595e-01 -8.79055907e-01 1.83966973e-02 2.03920643e+02] [ 8.78512431e-01 4.76716568e-01 3.09390202e-02 1.19630721e+02] [-3.59671389e-02 1.42350442e-03 9.99351959e-01 -8.87710980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.581858064 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:203.95, Y:119.68, Z:-8.88 [[ 4.75981473e-01 -8.79263052e-01 1.83880900e-02 2.03950519e+02] [ 8.78719533e-01 4.76334381e-01 3.09441350e-02 1.19680501e+02] [-3.59669140e-02 1.42913889e-03 9.99351959e-01 -8.87971606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.641858064 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:203.98, Y:119.73, Z:-8.88 [[ 4.77099660e-01 -8.78656985e-01 1.83797743e-02 2.03979179e+02] [ 8.78112829e-01 4.77451584e-01 3.09490734e-02 1.19730817e+02] [-3.59690719e-02 1.37372322e-03 9.99351959e-01 -8.88191908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.701858064 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:119.78, Z:-8.88 [[ 4.74456744e-01 -8.80087092e-01 1.83714204e-02 2.04009180e+02] [ 8.79543805e-01 4.74810008e-01 3.09540315e-02 1.19780547e+02] [-3.59651779e-02 1.47212000e-03 9.99351959e-01 -8.88420838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.761858064 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:204.04, Y:119.83, Z:-8.89 [[ 4.71321817e-01 -8.81770122e-01 1.83629319e-02 2.04038180e+02] [ 8.81227900e-01 4.71676715e-01 3.09590664e-02 1.19830381e+02] [-3.59601471e-02 1.59024453e-03 9.99351959e-01 -8.88610900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:119.88, Z:-8.89 [[ 4.65134698e-01 -8.85049618e-01 1.83544532e-02 2.04067793e+02] [ 8.84509700e-01 4.65493089e-01 3.09640923e-02 1.19879779e+02] [-3.59486292e-02 1.83221814e-03 9.99351960e-01 -8.88797252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.10, Y:119.93, Z:-8.89 [[ 4.62311467e-01 -8.86527797e-01 1.83459417e-02 2.04096446e+02] [ 8.85988825e-01 4.62671281e-01 3.09691344e-02 1.19929503e+02] [-3.59431389e-02 1.93691337e-03 9.99351960e-01 -8.88892643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.12, Y:119.98, Z:-8.89 [[ 4.57884611e-01 -8.88822473e-01 1.83383494e-02 2.04124446e+02] [ 8.88285125e-01 4.58246845e-01 3.09736295e-02 1.19979902e+02] [-3.59335488e-02 2.10733472e-03 9.99351960e-01 -8.89085329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.15, Y:120.03, Z:-8.89 [[ 4.52219347e-01 -8.91718381e-01 1.83300674e-02 2.04152627e+02] [ 8.91183153e-01 4.52584708e-01 3.09785301e-02 1.20030307e+02] [-3.59200328e-02 2.32635658e-03 9.99351960e-01 -8.89237374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.18, Y:120.08, Z:-8.89 [[ 4.48177902e-01 -8.93756610e-01 1.83218639e-02 2.04181118e+02] [ 8.93222847e-01 4.48545399e-01 3.09833812e-02 1.20079531e+02] [-3.59097894e-02 2.47944063e-03 9.99351960e-01 -8.89410807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:120.13, Z:-8.90 [[ 4.42174550e-01 -8.96741989e-01 1.83159157e-02 2.04210167e+02] [ 8.96210560e-01 4.42545414e-01 3.09868970e-02 1.20129667e+02] [-3.58928762e-02 2.71329977e-03 9.99351960e-01 -8.89575625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.24, Y:120.18, Z:-8.89 [[ 4.41466670e-01 -8.97090853e-01 1.83079301e-02 2.04241831e+02] [ 8.96559527e-01 4.41837679e-01 3.09916144e-02 1.20178804e+02] [-3.58914272e-02 2.73238433e-03 9.99351960e-01 -8.89365727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24185806399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.27, Y:120.23, Z:-8.90 [[ 4.39643756e-01 -8.97985785e-01 1.83002413e-02 2.04267937e+02] [ 8.97455028e-01 4.40015580e-01 3.09961539e-02 1.20230794e+02] [-3.58864969e-02 2.79637804e-03 9.99351960e-01 -8.89860332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.301858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:120.28, Z:-8.90 [[ 4.39636504e-01 -8.97989488e-01 1.82927451e-02 2.04300352e+02] [ 8.97458555e-01 4.40008076e-01 3.10005773e-02 1.20279642e+02] [-3.58871481e-02 2.78799512e-03 9.99351960e-01 -8.90036487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.361858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.33, Y:120.33, Z:-8.90 [[ 4.40176970e-01 -8.97724856e-01 1.82843860e-02 2.04326875e+02] [ 8.97193499e-01 4.40547936e-01 3.10055067e-02 1.20330964e+02] [-3.58895626e-02 2.75672227e-03 9.99351960e-01 -8.90478433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.36, Y:120.38, Z:-8.91 [[ 4.45244406e-01 -8.95222560e-01 1.82753110e-02 2.04357090e+02] [ 8.94688900e-01 4.45612050e-01 3.10108548e-02 1.20380722e+02] [-3.59053157e-02 2.54330826e-03 9.99351960e-01 -8.90643142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.481858064 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:120.43, Z:-8.91 [[ 4.50650502e-01 -8.92513583e-01 1.82655185e-02 2.04387854e+02] [ 8.91977479e-01 4.51014574e-01 3.10166216e-02 1.20429086e+02] [-3.59207711e-02 2.31477506e-03 9.99351960e-01 -8.90510067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.541858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.42, Y:120.48, Z:-8.91 [[ 4.56937958e-01 -8.89311194e-01 1.82566077e-02 2.04416086e+02] [ 8.88772327e-01 4.57297928e-01 3.10218657e-02 1.20478808e+02] [-3.59368012e-02 2.05089977e-03 9.99351960e-01 -8.90893479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:120.53, Z:-8.91 [[ 4.62247318e-01 -8.86563247e-01 1.82489842e-02 2.04444899e+02] [ 8.86022063e-01 4.62603794e-01 3.10263496e-02 1.20527945e+02] [-3.59488706e-02 1.82715569e-03 9.99351960e-01 -8.91152139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:120.58, Z:-8.91 [[ 4.62936873e-01 -8.86203554e-01 1.82404021e-02 2.04475550e+02] [ 8.85661896e-01 4.63292628e-01 3.10313942e-02 1.20577344e+02] [-3.59507757e-02 1.78925248e-03 9.99351960e-01 -8.91302649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:120.63, Z:-8.92 [[ 4.63644970e-01 -8.85833461e-01 1.82324362e-02 2.04505327e+02] [ 8.85291336e-01 4.64000014e-01 3.10360738e-02 1.20627182e+02] [-3.59526434e-02 1.75129831e-03 9.99351960e-01 -8.91532751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:120.68, Z:-8.92 [[ 4.64528512e-01 -8.85370616e-01 1.82245387e-02 2.04535068e+02] [ 8.84827957e-01 4.64882739e-01 3.10407106e-02 1.20677389e+02] [-3.59548066e-02 1.70628619e-03 9.99351960e-01 -8.91696122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:120.73, Z:-8.92 [[ 4.64479597e-01 -8.85396442e-01 1.82166128e-02 2.04564866e+02] [ 8.84853621e-01 4.64833577e-01 3.10453613e-02 1.20727341e+02] [-3.59551457e-02 1.69909892e-03 9.99351960e-01 -8.91992030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90185806399998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.59, Y:120.78, Z:-8.92 [[ 4.64261673e-01 -8.85510898e-01 1.82084841e-02 2.04594284e+02] [ 8.84967980e-01 4.64615502e-01 3.10501282e-02 1.20777754e+02] [-3.59551709e-02 1.69854093e-03 9.99351960e-01 -8.92355725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96185806399998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:204.62, Y:120.83, Z:-8.93 [[ 4.62306690e-01 -8.86533296e-01 1.81999825e-02 2.04624198e+02] [ 8.85990966e-01 4.62661419e-01 3.10551106e-02 1.20827831e+02] [-3.59518193e-02 1.76803464e-03 9.99351960e-01 -8.92639678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02185806399996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:204.65, Y:120.88, Z:-8.93 [[ 4.58770322e-01 -8.88368653e-01 1.81914060e-02 2.04654028e+02] [ 8.87827544e-01 4.59126911e-01 3.10601337e-02 1.20877761e+02] [-3.59450132e-02 1.90136381e-03 9.99351960e-01 -8.92858311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08185806399996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.68, Y:120.93, Z:-8.93 [[ 4.57590438e-01 -8.88977149e-01 1.81829418e-02 2.04683385e+02] [ 8.88436319e-01 4.57947450e-01 3.10650879e-02 1.20927747e+02] [-3.59429852e-02 1.93929874e-03 9.99351960e-01 -8.92996680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14185806399996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:204.71, Y:120.98, Z:-8.93 [[ 4.54215760e-01 -8.90706310e-01 1.81745201e-02 2.04712673e+02] [ 8.90166643e-01 4.54574529e-01 3.10700143e-02 1.20977390e+02] [-3.59359317e-02 2.06586138e-03 9.99351961e-01 -8.93001836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:121.03, Z:-8.93 [[ 4.53242368e-01 -8.91202182e-01 1.81666528e-02 2.04741553e+02] [ 8.90662725e-01 4.53601453e-01 3.10746136e-02 1.21026840e+02] [-3.59341835e-02 2.09602900e-03 9.99351961e-01 -8.93355620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26185806399997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.77, Y:121.08, Z:-8.94 [[ 4.50739572e-01 -8.92470802e-01 1.81577919e-02 2.04771027e+02] [ 8.91932150e-01 4.51099863e-01 3.10797904e-02 1.21076705e+02] [-3.59287829e-02 2.18662689e-03 9.99351961e-01 -8.93753035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32185806399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:121.13, Z:-8.94 [[ 4.49107701e-01 -8.93293268e-01 1.81496671e-02 2.04798994e+02] [ 8.92755087e-01 4.49468694e-01 3.10845343e-02 1.21126468e+02] [-3.59253124e-02 2.24290386e-03 9.99351961e-01 -8.93703645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38185806399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:121.18, Z:-8.94 [[ 4.49036765e-01 -8.93329074e-01 1.81424688e-02 2.04829440e+02] [ 8.92790754e-01 4.49397552e-01 3.10887350e-02 1.21175958e+02] [-3.59256520e-02 2.23744342e-03 9.99351961e-01 -8.93815378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:121.23, Z:-8.94 [[ 4.52531518e-01 -8.91564015e-01 1.81337430e-02 2.04859620e+02] [ 8.91024086e-01 4.52889890e-01 3.10938239e-02 1.21225948e+02] [-3.59347234e-02 2.08666652e-03 9.99351961e-01 -8.94057421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:121.28, Z:-8.94 [[ 4.58972679e-01 -8.88265478e-01 1.81251353e-02 2.04887110e+02] [ 8.87722773e-01 4.59326835e-01 3.10988406e-02 1.21276628e+02] [-3.59493876e-02 1.81657719e-03 9.99351961e-01 -8.94190308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.92, Y:121.32, Z:-8.94 [[ 4.61897649e-01 -8.86748192e-01 1.81164438e-02 2.04918755e+02] [ 8.86204126e-01 4.62249709e-01 3.11039030e-02 1.21324872e+02] [-3.59556507e-02 1.68804756e-03 9.99351961e-01 -8.94248089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:121.37, Z:-8.94 [[ 4.65962897e-01 -8.84618950e-01 1.81077572e-02 2.04950225e+02] [ 8.84073079e-01 4.66312153e-01 3.11089593e-02 1.21373910e+02] [-3.59634421e-02 1.51295983e-03 9.99351961e-01 -8.94445308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.98, Y:121.43, Z:-8.94 [[ 4.71276952e-01 -8.81799555e-01 1.80991495e-02 2.04978662e+02] [ 8.81251401e-01 4.71622613e-01 3.11139665e-02 1.21425322e+02] [-3.59722499e-02 1.28660556e-03 9.99351961e-01 -8.94327862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.01, Y:121.47, Z:-8.95 [[ 4.77860305e-01 -8.78249549e-01 1.80902711e-02 2.05010061e+02] [ 8.77698630e-01 4.78201542e-01 3.11191277e-02 1.21473837e+02] [-3.59811554e-02 1.00721031e-03 9.99351961e-01 -8.94974533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.801858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:121.52, Z:-8.95 [[ 4.85828089e-01 -8.73867246e-01 1.80860325e-02 2.05040083e+02] [ 8.73313155e-01 4.86164150e-01 3.11215909e-02 1.21523628e+02] [-3.59889195e-02 6.75027052e-04 9.99351961e-01 -8.95269646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.861858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:121.57, Z:-8.95 [[ 4.90615397e-01 -8.71188693e-01 1.80774377e-02 2.05069569e+02] [ 8.70632582e-01 4.90948106e-01 3.11265825e-02 1.21573367e+02] [-3.59922105e-02 4.67625644e-04 9.99351961e-01 -8.95494510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:121.62, Z:-8.96 [[ 4.97576926e-01 -8.67231644e-01 1.80687013e-02 2.05099332e+02] [ 8.66672703e-01 4.97904857e-01 3.11316531e-02 1.21623292e+02] [-3.59948488e-02 1.69257978e-04 9.99351961e-01 -8.95608839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.981858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.13, Y:121.67, Z:-8.96 [[ 5.01757626e-01 -8.64819708e-01 1.80598350e-02 2.05129253e+02] [ 8.64259005e-01 5.02082536e-01 3.11367956e-02 1.21671653e+02] [-3.59952423e-02 -1.47495945e-05 9.99351961e-01 -8.95566921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:121.72, Z:-8.96 [[ 5.05825688e-01 -8.62446811e-01 1.80519140e-02 2.05158199e+02] [ 8.61884420e-01 5.06147667e-01 3.11413873e-02 1.21721401e+02] [-3.59947243e-02 -1.93450219e-04 9.99351961e-01 -8.95935753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.19, Y:121.77, Z:-8.96 [[ 5.09163415e-01 -8.60480712e-01 1.80433251e-02 2.05186859e+02] [ 8.59916901e-01 5.09482902e-01 3.11463629e-02 1.21772080e+02] [-3.59936101e-02 -3.42828284e-04 9.99351961e-01 -8.96220435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.22, Y:121.82, Z:-8.97 [[ 5.08420405e-01 -8.60920116e-01 1.80345544e-02 2.05215004e+02] [ 8.60356402e-01 5.08740061e-01 3.11514406e-02 1.21822491e+02] [-3.59938021e-02 -3.21883705e-04 9.99351961e-01 -8.96533666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:121.87, Z:-8.97 [[ 5.06374174e-01 -8.62125434e-01 1.80258922e-02 2.05245023e+02] [ 8.61562302e-01 5.06694855e-01 3.11564521e-02 1.21872427e+02] [-3.59943967e-02 -2.46393531e-04 9.99351961e-01 -8.96724291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28185806399995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.27, Y:121.92, Z:-8.97 [[ 5.04880684e-01 -8.63001088e-01 1.80171186e-02 2.05273984e+02] [ 8.62438331e-01 5.05202023e-01 3.11615249e-02 1.21921627e+02] [-3.59947147e-02 -1.94198270e-04 9.99351961e-01 -8.96851436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34185806399995 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:205.29, Y:121.98, Z:-8.97 [[ 4.93936454e-01 -8.69311477e-01 1.80092925e-02 2.05288857e+02] [ 8.68752661e-01 4.94264597e-01 3.11660472e-02 1.21980288e+02] [-3.59943583e-02 2.51573933e-04 9.99351961e-01 -8.96973678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40185806399995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:122.02, Z:-8.97 [[ 5.03565234e-01 -8.63769671e-01 1.80002716e-02 2.05330163e+02] [ 8.63207057e-01 5.03886822e-01 3.11712565e-02 1.22022445e+02] [-3.59948856e-02 -1.58799608e-04 9.99351962e-01 -8.97282062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.36, Y:122.07, Z:-8.97 [[ 5.03534078e-01 -8.63788016e-01 1.79915365e-02 2.05357879e+02] [ 8.63225233e-01 5.03855371e-01 3.11762974e-02 1.22072563e+02] [-3.59948444e-02 -1.67579881e-04 9.99351962e-01 -8.97158636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52185806399996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:122.12, Z:-8.97 [[ 5.01759233e-01 -8.64820357e-01 1.79839380e-02 2.05386986e+02] [ 8.64258078e-01 5.02081407e-01 3.11806800e-02 1.22122368e+02] [-3.59950877e-02 -1.02430411e-04 9.99351962e-01 -8.97392839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58185806399996 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:205.41, Y:122.17, Z:-8.98 [[ 5.00232970e-01 -8.65704255e-01 1.79755264e-02 2.05413399e+02] [ 8.65142371e-01 5.00555832e-01 3.11855284e-02 1.22173887e+02] [-3.59951993e-02 -4.86399565e-05 9.99351962e-01 -8.97750642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:122.22, Z:-8.98 [[ 4.95036885e-01 -8.68686174e-01 1.79670039e-02 2.05440811e+02] [ 8.68126057e-01 4.95362802e-01 3.11904378e-02 1.22223419e+02] [-3.59948875e-02 1.57207064e-04 9.99351962e-01 -8.98094724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:122.29, Z:-8.98 [[ 4.78855902e-01 -8.77709785e-01 1.79599076e-02 2.05447753e+02] [ 8.77155650e-01 4.79191890e-01 3.11945234e-02 1.22287783e+02] [-3.59859805e-02 8.15952739e-04 9.99351962e-01 -8.98381954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76185806399997 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:205.47, Y:122.34, Z:-8.99 [[ 4.78913541e-01 -8.77678501e-01 1.79518806e-02 2.05472759e+02] [ 8.77124171e-01 4.79249207e-01 3.11991421e-02 1.22338719e+02] [-3.59862408e-02 8.04336799e-04 9.99351962e-01 -8.98726097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82185806399997 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:122.39, Z:-8.99 [[ 4.80323678e-01 -8.76907677e-01 1.79468681e-02 2.05499289e+02] [ 8.76352701e-01 4.80658274e-01 3.12020252e-02 1.22388871e+02] [-3.59876061e-02 7.40714861e-04 9.99351962e-01 -8.98736687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88185806399997 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:205.52, Y:122.44, Z:-9.00 [[ 4.79108085e-01 -8.77572577e-01 1.79392072e-02 2.05520697e+02] [ 8.77017900e-01 4.79443179e-01 3.12064291e-02 1.22443762e+02] [-3.59867369e-02 7.81753307e-04 9.99351962e-01 -8.99621804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:122.49, Z:-9.00 [[ 4.84550329e-01 -8.74579573e-01 1.79318088e-02 2.05548511e+02] [ 8.74022668e-01 4.84881706e-01 3.12106798e-02 1.22494662e+02] [-3.59910291e-02 5.49662166e-04 9.99351962e-01 -8.99826174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.58, Y:122.54, Z:-9.00 [[ 4.80690873e-01 -8.76706832e-01 1.79280803e-02 2.05578419e+02] [ 8.76151313e-01 4.81024569e-01 3.12128214e-02 1.22543945e+02] [-3.59883409e-02 7.03992723e-04 9.99351962e-01 -9.00214958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.61, Y:122.59, Z:-9.00 [[ 4.79634931e-01 -8.77285144e-01 1.79195035e-02 2.05607149e+02] [ 8.76729845e-01 4.79968990e-01 3.12177446e-02 1.22593994e+02] [-3.59876696e-02 7.37442732e-04 9.99351962e-01 -9.00429530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.65, Y:122.64, Z:-9.00 [[ 4.79417094e-01 -8.77404385e-01 1.79107766e-02 2.05645857e+02] [ 8.76848981e-01 4.79750981e-01 3.12227508e-02 1.22640352e+02] [-3.59876911e-02 7.36325763e-04 9.99351962e-01 -9.00212124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.68, Y:122.69, Z:-9.00 [[ 4.79686924e-01 -8.77257049e-01 1.79031996e-02 2.05680487e+02] [ 8.76701381e-01 4.80020371e-01 3.12270948e-02 1.22687971e+02] [-3.59880896e-02 7.16530734e-04 9.99351962e-01 -8.99862993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.241858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:122.74, Z:-9.00 [[ 4.81030707e-01 -8.76521101e-01 1.78946301e-02 2.05712251e+02] [ 8.75964741e-01 4.81362997e-01 3.12320048e-02 1.22736766e+02] [-3.59893240e-02 6.51511684e-04 9.99351962e-01 -8.99809305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.301858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.74, Y:122.79, Z:-9.00 [[ 4.85003975e-01 -8.74329019e-01 1.78860767e-02 2.05741320e+02] [ 8.73770975e-01 4.85333430e-01 3.12369025e-02 1.22786237e+02] [-3.59920412e-02 4.78312789e-04 9.99351962e-01 -8.99979715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.361858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:122.84, Z:-9.01 [[ 4.80614008e-01 -8.76749986e-01 1.78783939e-02 2.05769723e+02] [ 8.76193439e-01 4.80945984e-01 3.12412991e-02 1.22836642e+02] [-3.59893503e-02 6.49925430e-04 9.99351962e-01 -9.00771520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.421858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.80, Y:122.89, Z:-9.01 [[ 4.80491572e-01 -8.76817266e-01 1.78698317e-02 2.05799587e+02] [ 8.76260583e-01 4.80823320e-01 3.12461958e-02 1.22886362e+02] [-3.59894358e-02 6.45095414e-04 9.99351962e-01 -9.00842311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:122.94, Z:-9.01 [[ 4.85825598e-01 -8.73873258e-01 1.78610639e-02 2.05826355e+02] [ 8.73314379e-01 4.86153635e-01 3.12512069e-02 1.22937048e+02] [-3.59928151e-02 4.15687656e-04 9.99351962e-01 -9.01298075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54185806399994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:205.86, Y:122.98, Z:-9.02 [[ 4.78108323e-01 -8.78119408e-01 1.78531764e-02 2.05859147e+02] [ 8.77563274e-01 4.78440990e-01 3.12557122e-02 1.22984733e+02] [-3.59879389e-02 7.23675754e-04 9.99351962e-01 -9.01521410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:123.04, Z:-9.02 [[ 4.81374839e-01 -8.76333177e-01 1.78445353e-02 2.05887567e+02] [ 8.75775625e-01 4.81705124e-01 3.12606448e-02 1.23035651e+02] [-3.59905443e-02 5.79721218e-04 9.99351962e-01 -9.01590833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.92, Y:123.08, Z:-9.02 [[ 4.75165498e-01 -8.79715651e-01 1.78359872e-02 2.05921195e+02] [ 8.79160266e-01 4.75499415e-01 3.12655212e-02 1.23083053e+02] [-3.59857699e-02 8.24394313e-04 9.99351962e-01 -9.01700224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.96, Y:123.13, Z:-9.02 [[ 4.72708528e-01 -8.81038497e-01 1.78273590e-02 2.05960195e+02] [ 8.80483861e-01 4.73043687e-01 3.12704402e-02 1.23127473e+02] [-3.59835813e-02 9.14898132e-04 9.99351962e-01 -9.01787586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.97, Y:123.19, Z:-9.02 [[ 4.67824016e-01 -8.83641994e-01 1.78190212e-02 2.05972956e+02] [ 8.83089042e-01 4.68161945e-01 3.12751906e-02 1.23186695e+02] [-3.59782595e-02 1.10449711e-03 9.99351962e-01 -9.02316778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:123.24, Z:-9.03 [[ 4.54756845e-01 -8.90437531e-01 1.78105296e-02 2.06005395e+02] [ 8.89889429e-01 4.55102586e-01 3.12800257e-02 1.23235345e+02] [-3.59585269e-02 1.62459621e-03 9.99351963e-01 -9.02571549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:123.29, Z:-9.03 [[ 4.46603639e-01 -8.94554786e-01 1.78023767e-02 2.06035682e+02] [ 8.94009682e-01 4.46954089e-01 3.12846651e-02 1.23285181e+02] [-3.59426919e-02 1.94365182e-03 9.99351963e-01 -9.02642103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:123.33, Z:-9.03 [[ 4.42277914e-01 -8.96701526e-01 1.77938361e-02 2.06072415e+02] [ 8.96157929e-01 4.42630696e-01 3.12895220e-02 1.23331609e+02] [-3.59334601e-02 2.10742282e-03 9.99351963e-01 -9.02965323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.09, Y:123.39, Z:-9.03 [[ 4.32625582e-01 -9.01398229e-01 1.77859048e-02 2.06092456e+02] [ 9.00858269e-01 4.32983905e-01 3.12940297e-02 1.23386805e+02] [-3.59093935e-02 2.48398165e-03 9.99351963e-01 -9.02839700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08185806399996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:123.43, Z:-9.03 [[ 4.34261358e-01 -9.00611477e-01 1.77774904e-02 2.06130499e+02] [ 9.00070676e-01 4.34618410e-01 3.12988091e-02 1.23431254e+02] [-3.59144913e-02 2.40913443e-03 9.99351963e-01 -9.03348622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14185806399996 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:123.48, Z:-9.04 [[ 4.32972647e-01 -9.01231901e-01 1.77693102e-02 2.06158899e+02] [ 9.00691424e-01 4.33330190e-01 3.13034525e-02 1.23480811e+02] [-3.59116485e-02 2.45112665e-03 9.99351963e-01 -9.03538487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:123.53, Z:-9.04 [[ 4.33844926e-01 -9.00812435e-01 1.77633588e-02 2.06187515e+02] [ 9.00271477e-01 4.34201740e-01 3.13068293e-02 1.23531343e+02] [-3.59144624e-02 2.40953618e-03 9.99351963e-01 -9.03820777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26185806399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.22, Y:123.58, Z:-9.04 [[ 4.35637863e-01 -8.99946894e-01 1.77550417e-02 2.06215862e+02] [ 8.99405037e-01 4.35993311e-01 3.13115455e-02 1.23582188e+02] [-3.59198075e-02 2.32847919e-03 9.99351963e-01 -9.03969731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32185806399997 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:123.63, Z:-9.04 [[ 4.38317830e-01 -8.98644833e-01 1.77466742e-02 2.06245367e+02] [ 8.98101730e-01 4.38671371e-01 3.13162872e-02 1.23631594e+02] [-3.59271776e-02 2.21183178e-03 9.99351963e-01 -9.04102210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38185806399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.27, Y:123.68, Z:-9.04 [[ 4.40128140e-01 -8.97759760e-01 1.77379093e-02 2.06274835e+02] [ 8.97215749e-01 4.40480282e-01 3.13212510e-02 1.23681558e+02] [-3.59321581e-02 2.12936765e-03 9.99351963e-01 -9.04418171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441858064 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:123.73, Z:-9.05 [[ 4.44199591e-01 -8.95752417e-01 1.77293608e-02 2.06303197e+02] [ 8.95206622e-01 4.44548962e-01 3.13260891e-02 1.23731841e+02] [-3.59419890e-02 1.95640526e-03 9.99351963e-01 -9.04575576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.33, Y:123.78, Z:-9.05 [[ 4.44258952e-01 -8.95723148e-01 1.77207529e-02 2.06331027e+02] [ 8.95177139e-01 4.44607987e-01 3.13309577e-02 1.23781190e+02] [-3.59426524e-02 1.94415447e-03 9.99351963e-01 -9.04979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561858064 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:206.36, Y:123.83, Z:-9.05 [[ 4.44073818e-01 -8.95815070e-01 1.77145172e-02 2.06358296e+02] [ 8.95268994e-01 4.44422748e-01 3.13344830e-02 1.23832758e+02] [-3.59426365e-02 1.94443452e-03 9.99351963e-01 -9.05201020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.39, Y:123.88, Z:-9.05 [[ 4.39372084e-01 -8.98130650e-01 1.77061435e-02 2.06387178e+02] [ 8.97586222e-01 4.39723581e-01 3.13392140e-02 1.23882827e+02] [-3.59325175e-02 2.12321471e-03 9.99351963e-01 -9.05420629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:206.41, Y:123.93, Z:-9.06 [[ 4.30559857e-01 -9.02388494e-01 1.76978655e-02 2.06414723e+02] [ 9.01847345e-01 4.30916381e-01 3.13438881e-02 1.23933688e+02] [-3.59106641e-02 2.46535301e-03 9.99351963e-01 -9.05740371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.741858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.44, Y:123.99, Z:-9.05 [[ 4.22203247e-01 -9.06328580e-01 1.76896484e-02 2.06441561e+02] [ 9.05790559e-01 4.22564473e-01 3.13485249e-02 1.23985348e+02] [-3.58870810e-02 2.78766747e-03 9.99351963e-01 -9.05239026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.801858064 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:206.47, Y:124.04, Z:-9.06 [[ 4.16518907e-01 -9.08955098e-01 1.76813271e-02 2.06467429e+02] [ 9.08419156e-01 4.16883211e-01 3.13532176e-02 1.24035800e+02] [-3.58697154e-02 3.00284837e-03 9.99351963e-01 -9.06145156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.861858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:124.09, Z:-9.06 [[ 4.13814867e-01 -9.10189441e-01 1.76758882e-02 2.06496518e+02] [ 9.09654458e-01 4.14180577e-01 3.13562836e-02 1.24086403e+02] [-3.58611678e-02 3.10325423e-03 9.99351963e-01 -9.06436116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.921858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:124.14, Z:-9.07 [[ 4.10124590e-01 -9.11858365e-01 1.76675658e-02 2.06522705e+02] [ 9.11324672e-01 4.10492182e-01 3.13609721e-02 1.24136634e+02] [-3.58491624e-02 3.23898279e-03 9.99351963e-01 -9.06656215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.981858064 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:206.55, Y:124.19, Z:-9.06 [[ 4.05396811e-01 -9.13970186e-01 1.76614098e-02 2.06548348e+02] [ 9.13438259e-01 4.05766952e-01 3.13644386e-02 1.24188726e+02] [-3.58325782e-02 3.41756410e-03 9.99351963e-01 -9.06307631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04185806399994 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:206.58, Y:124.24, Z:-9.07 [[ 4.05841095e-01 -9.13773166e-01 1.76523588e-02 2.06577390e+02] [ 9.13240846e-01 4.06210671e-01 3.13695318e-02 1.24237702e+02] [-3.58352129e-02 3.38980997e-03 9.99351963e-01 -9.07206374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:124.29, Z:-9.07 [[ 4.06240561e-01 -9.13595799e-01 1.76443159e-02 2.06606753e+02] [ 9.13063128e-01 4.06609632e-01 3.13740550e-02 1.24287461e+02] [-3.58375536e-02 3.36496058e-03 9.99351963e-01 -9.07414215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16185806399994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.63, Y:124.34, Z:-9.08 [[ 4.10602707e-01 -9.11643788e-01 1.76358105e-02 2.06634391e+02] [ 9.11109160e-01 4.10968937e-01 3.13788353e-02 1.24338625e+02] [-3.58540906e-02 3.18391375e-03 9.99351963e-01 -9.07669997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:206.66, Y:124.39, Z:-9.07 [[ 4.13894236e-01 -9.10154299e-01 1.76270894e-02 2.06662851e+02] [ 9.09618149e-01 4.14258234e-01 3.13837336e-02 1.24390272e+02] [-3.58662070e-02 3.04437394e-03 9.99351964e-01 -9.06866571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:124.44, Z:-9.07 [[ 4.21780312e-01 -9.06526867e-01 1.76183764e-02 2.06695163e+02] [ 9.05987378e-01 4.22139342e-01 3.13886242e-02 1.24439908e+02] [-3.58920410e-02 2.72292298e-03 9.99351964e-01 -9.06913625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:206.72, Y:124.49, Z:-9.08 [[ 4.24076736e-01 -9.05455028e-01 1.76100922e-02 2.06718669e+02] [ 9.04914442e-01 4.24434112e-01 3.13932712e-02 1.24492953e+02] [-3.58995191e-02 2.62247082e-03 9.99351964e-01 -9.07729790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:124.54, Z:-9.09 [[ 4.25920468e-01 -9.04589307e-01 1.76051029e-02 2.06745114e+02] [ 9.04047881e-01 4.26276571e-01 3.13960689e-02 1.24543090e+02] [-3.59051912e-02 2.54362764e-03 9.99351964e-01 -9.08646489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:124.59, Z:-9.09 [[ 4.26696667e-01 -9.04223572e-01 1.75978869e-02 2.06774691e+02] [ 9.03681678e-01 4.27052056e-01 3.14001131e-02 1.24593545e+02] [-3.59079362e-02 2.50456436e-03 9.99351964e-01 -9.08937922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:124.64, Z:-9.09 [[ 4.26773778e-01 -9.04187346e-01 1.75893743e-02 2.06801346e+02] [ 9.03645228e-01 4.27128827e-01 3.14048809e-02 1.24643782e+02] [-3.59088247e-02 2.49177446e-03 9.99351964e-01 -9.09126757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58185806399996 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:206.83, Y:124.70, Z:-9.09 [[ 4.22797531e-01 -9.06053626e-01 1.75805023e-02 2.06826352e+02] [ 9.05512872e-01 4.23154653e-01 3.14098467e-02 1.24696133e+02] [-3.58982768e-02 2.63936547e-03 9.99351964e-01 -9.09225932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.86, Y:124.74, Z:-9.09 [[ 4.20761261e-01 -9.07001152e-01 1.75747446e-02 2.06860124e+02] [ 9.06461070e-01 4.21119398e-01 3.14130679e-02 1.24743609e+02] [-3.58927547e-02 2.71341978e-03 9.99351964e-01 -9.09029694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70185806399996 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:124.80, Z:-9.10 [[ 4.22137674e-01 -9.06361535e-01 1.75656351e-02 2.06885784e+02] [ 9.05820703e-01 4.22494678e-01 3.14181610e-02 1.24795688e+02] [-3.58975999e-02 2.64852650e-03 9.99351964e-01 -9.09766842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76185806399997 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:206.91, Y:124.85, Z:-9.10 [[ 4.24716725e-01 -9.05155926e-01 1.75628409e-02 2.06914265e+02] [ 9.04614016e-01 4.25072091e-01 3.14197229e-02 1.24847596e+02] [-3.59052218e-02 2.54311019e-03 9.99351964e-01 -9.09560652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82185806399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.94, Y:124.90, Z:-9.10 [[ 4.25179893e-01 -9.04938609e-01 1.75548587e-02 2.06944152e+02] [ 9.04396337e-01 4.25534706e-01 3.14241821e-02 1.24897621e+02] [-3.59071572e-02 2.51561951e-03 9.99351964e-01 -9.09781457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88185806399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:124.95, Z:-9.10 [[ 4.20965906e-01 -9.06906753e-01 1.75455920e-02 2.06970069e+02] [ 9.06365927e-01 4.21322919e-01 3.14293552e-02 1.24949194e+02] [-3.58958545e-02 2.67203974e-03 9.99351964e-01 -9.10110540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:207.00, Y:125.00, Z:-9.10 [[ 4.16182386e-01 -9.09112033e-01 1.75365943e-02 2.06998281e+02] [ 9.08572890e-01 4.16541935e-01 3.14343748e-02 1.24999833e+02] [-3.58820954e-02 2.85084104e-03 9.99351964e-01 -9.10152287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:125.05, Z:-9.10 [[ 4.14085463e-01 -9.10069246e-01 1.75270424e-02 2.07027393e+02] [ 9.09530714e-01 4.14445927e-01 3.14396999e-02 1.25049944e+02] [-3.58763153e-02 2.92266068e-03 9.99351964e-01 -9.10031595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061858064 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:125.10, Z:-9.11 [[ 4.12976493e-01 -9.10573199e-01 1.75175539e-02 2.07051664e+02] [ 9.10034889e-01 4.13337288e-01 3.14449858e-02 1.25102283e+02] [-3.58736195e-02 2.95554531e-03 9.99351964e-01 -9.11299565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.08, Y:125.15, Z:-9.11 [[ 4.12708502e-01 -9.10694751e-01 1.75146452e-02 2.07078342e+02] [ 9.10156480e-01 4.13069355e-01 3.14466058e-02 1.25152961e+02] [-3.58730221e-02 2.96278628e-03 9.99351964e-01 -9.10973881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181858064 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:125.21, Z:-9.12 [[ 4.12668183e-01 -9.10713173e-01 1.75067746e-02 2.07106279e+02] [ 9.10174738e-01 4.13028790e-01 3.14509869e-02 1.25205090e+02] [-3.58736300e-02 2.95540240e-03 9.99351964e-01 -9.11835691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.241858064 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:207.14, Y:125.26, Z:-9.12 [[ 4.13008046e-01 -9.10559177e-01 1.75025464e-02 2.07135103e+02] [ 9.10020510e-01 4.13368308e-01 3.14533397e-02 1.25255922e+02] [-3.58751251e-02 2.93719378e-03 9.99351964e-01 -9.11877598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.301858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:207.16, Y:125.31, Z:-9.12 [[ 4.10600482e-01 -9.11647519e-01 1.74941283e-02 2.07160370e+02] [ 9.11109613e-01 4.10961878e-01 3.14580211e-02 1.25307465e+02] [-3.58680467e-02 3.02238978e-03 9.99351964e-01 -9.11750615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.361858064 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:207.19, Y:125.36, Z:-9.12 [[ 4.14089134e-01 -9.10068361e-01 1.74862281e-02 2.07187391e+02] [ 9.09528894e-01 4.14448196e-01 3.14624119e-02 1.25358285e+02] [-3.58800813e-02 2.87598679e-03 9.99351964e-01 -9.12339457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.421858064 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:207.22, Y:125.41, Z:-9.13 [[ 4.19625340e-01 -9.07529141e-01 1.74766424e-02 2.07218926e+02] [ 9.06987280e-01 4.19980780e-01 3.14677356e-02 1.25407164e+02] [-3.58977410e-02 2.64643305e-03 9.99351964e-01 -9.12718383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.481858064 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.25, Y:125.46, Z:-9.13 [[ 4.21872325e-01 -9.06486851e-01 1.74737179e-02 2.07245005e+02] [ 9.05944046e-01 4.22226320e-01 3.14693595e-02 1.25458983e+02] [-3.59044242e-02 2.55415881e-03 9.99351964e-01 -9.12967966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54185806399994 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:125.51, Z:-9.13 [[ 4.21883860e-01 -9.06481652e-01 1.74649132e-02 2.07271825e+02] [ 9.05938644e-01 4.22237545e-01 3.14742452e-02 1.25510515e+02] [-3.59051678e-02 2.54366379e-03 9.99351964e-01 -9.13216237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60185806399994 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:125.56, Z:-9.13 [[ 4.22119549e-01 -9.06372091e-01 1.74562264e-02 2.07298242e+02] [ 9.05828796e-01 4.22472793e-01 3.14790623e-02 1.25561117e+02] [-3.59065242e-02 2.52442493e-03 9.99351964e-01 -9.13418603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66185806399994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.33, Y:125.61, Z:-9.14 [[ 4.23121755e-01 -9.05904816e-01 1.74483271e-02 2.07325765e+02] [ 9.05360955e-01 4.23474125e-01 3.14834402e-02 1.25611111e+02] [-3.59099151e-02 2.47570556e-03 9.99351964e-01 -9.13639914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72185806399995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:125.67, Z:-9.14 [[ 4.20486039e-01 -9.07131367e-01 1.74405691e-02 2.07349292e+02] [ 9.06588358e-01 4.20839722e-01 3.14877372e-02 1.25665624e+02] [-3.59031983e-02 2.57126299e-03 9.99351965e-01 -9.13622501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.38, Y:125.71, Z:-9.14 [[ 4.22515171e-01 -9.06188185e-01 1.74328288e-02 2.07382817e+02] [ 9.05644213e-01 4.22867370e-01 3.14920220e-02 1.25714084e+02] [-3.59094727e-02 2.48208346e-03 9.99351965e-01 -9.14250990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84185806399995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:125.77, Z:-9.14 [[ 4.20959072e-01 -9.06912246e-01 1.74252150e-02 2.07410508e+02] [ 9.06368708e-01 4.21311942e-01 3.14962342e-02 1.25766541e+02] [-3.59057717e-02 2.53504410e-03 9.99351965e-01 -9.13605796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90185806399995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:207.43, Y:125.82, Z:-9.14 [[ 4.21729974e-01 -9.06554180e-01 1.74169105e-02 2.07433986e+02] [ 9.06010157e-01 4.22082094e-01 3.15008259e-02 1.25818932e+02] [-3.59085714e-02 2.49505529e-03 9.99351965e-01 -9.14008559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96185806399995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.46, Y:125.87, Z:-9.14 [[ 4.29113223e-01 -9.03082870e-01 1.74118523e-02 2.07464749e+02] [ 9.02535880e-01 4.29460717e-01 3.15036215e-02 1.25868165e+02] [-3.59280875e-02 2.19620088e-03 9.99351965e-01 -9.13971461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02185806399996 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:125.92, Z:-9.14 [[ 4.34308371e-01 -9.00596126e-01 1.74027940e-02 2.07495029e+02] [ 9.00046945e-01 4.34652393e-01 3.15086246e-02 1.25916296e+02] [-3.59407113e-02 1.97887214e-03 9.99351965e-01 -9.13765145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08185806399996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.52, Y:125.97, Z:-9.14 [[ 4.38153162e-01 -8.98732013e-01 1.73946991e-02 2.07524355e+02] [ 8.98181192e-01 4.38494551e-01 3.15130928e-02 1.25967123e+02] [-3.59493061e-02 1.81603029e-03 9.99351965e-01 -9.13758238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14185806399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:126.02, Z:-9.14 [[ 4.40750476e-01 -8.97461273e-01 1.73862405e-02 2.07552156e+02] [ 8.96909285e-01 4.41089974e-01 3.15177589e-02 1.26016882e+02] [-3.59548644e-02 1.70241330e-03 9.99351965e-01 -9.13502142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20185806399996 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:207.58, Y:126.07, Z:-9.15 [[ 4.41559715e-01 -8.97063551e-01 1.73782265e-02 2.07580313e+02] [ 8.96511085e-01 4.41898434e-01 3.15221770e-02 1.26067155e+02] [-3.59568071e-02 1.66084922e-03 9.99351965e-01 -9.14920044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26185806399997 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:126.12, Z:-9.15 [[ 4.41358140e-01 -8.97162909e-01 1.73697099e-02 2.07607538e+02] [ 8.96610336e-01 4.41696685e-01 3.15268692e-02 1.26117960e+02] [-3.59568810e-02 1.65922113e-03 9.99351965e-01 -9.15274617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32185806399997 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:207.63, Y:126.17, Z:-9.16 [[ 4.38789082e-01 -8.98422357e-01 1.73611610e-02 2.07633632e+02] [ 8.97870571e-01 4.39128908e-01 3.15315762e-02 1.26170405e+02] [-3.59524607e-02 1.75236415e-03 9.99351965e-01 -9.15860371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38185806399997 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:207.66, Y:126.22, Z:-9.16 [[ 4.31087775e-01 -9.02143120e-01 1.73528197e-02 2.07659443e+02] [ 9.01594079e-01 4.31432018e-01 3.15361660e-02 1.26221873e+02] [-3.59366972e-02 2.05034382e-03 9.99351965e-01 -9.16306899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441858064 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:207.69, Y:126.27, Z:-9.17 [[ 4.22535472e-01 -9.06180368e-01 1.73469476e-02 2.07690806e+02] [ 9.05634477e-01 4.22884689e-01 3.15393957e-02 1.26271716e+02] [-3.59161397e-02 2.38348039e-03 9.99351965e-01 -9.17122368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501858064 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:207.71, Y:126.33, Z:-9.17 [[ 4.09921927e-01 -9.11955807e-01 1.73383862e-02 2.07712987e+02] [ 9.11414621e-01 4.10278392e-01 3.15441015e-02 1.26325691e+02] [-3.58803918e-02 2.87183983e-03 9.99351965e-01 -9.16696057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561858064 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:207.74, Y:126.37, Z:-9.18 [[ 4.02263902e-01 -9.15359736e-01 1.73293764e-02 2.07744211e+02] [ 9.14821350e-01 4.02624582e-01 3.15490505e-02 1.26374271e+02] [-3.58559634e-02 3.16223938e-03 9.99351965e-01 -9.17670931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621858064 meters Centerline goodness : 0.996618 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:126.43, Z:-9.17 [[ 3.93052280e-01 -9.19352981e-01 1.73205640e-02 2.07763591e+02] [ 9.18818040e-01 3.93418050e-01 3.15538878e-02 1.26429269e+02] [-3.58233833e-02 3.51211911e-03 9.99351965e-01 -9.17072880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681858064 meters Centerline goodness : 0.996711 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:126.48, Z:-9.18 [[ 3.91217697e-01 -9.20135289e-01 1.73136879e-02 2.07793442e+02] [ 9.19600919e-01 3.91584300e-01 3.15576602e-02 1.26479482e+02] [-3.58170852e-02 3.57576817e-03 9.99351965e-01 -9.17576369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.741858064 meters Centerline goodness : 0.996066 with order 1 Centerline is valid? [True, True] Translation: X:207.81, Y:126.54, Z:-9.20 [[ 3.76959838e-01 -9.26067928e-01 1.73052725e-02 2.07807278e+02] [ 9.25539084e-01 3.77334369e-01 3.15622743e-02 1.26537134e+02] [-3.57586841e-02 4.11899626e-03 9.99351965e-01 -9.19928689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.801858064 meters Centerline goodness : 0.983196 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:126.60, Z:-9.25 [[ 3.52932592e-01 -9.35488827e-01 1.72985522e-02 2.07801278e+02] [ 9.34969661e-01 3.53320426e-01 3.15659572e-02 1.26602959e+02] [-3.56415321e-02 5.03296641e-03 9.99351965e-01 -9.25141317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.861858064 meters Centerline goodness : 0.989768 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:126.63, Z:-9.20 [[ 3.90783771e-01 -9.20320081e-01 1.72914363e-02 2.07875222e+02] [ 9.19785367e-01 3.91149872e-01 3.15698547e-02 1.26630382e+02] [-3.58179143e-02 3.56742321e-03 9.99351965e-01 -9.19658500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.921858064 meters Centerline goodness : 0.978116 with order 2 Centerline is valid? [True, True] Translation: X:207.75, Y:126.62, Z:-9.23 [[ 3.03465785e-01 -9.52685530e-01 1.72858078e-02 2.07753786e+02] [ 9.52187048e-01 3.03879869e-01 3.15729362e-02 1.26623629e+02] [-3.53318885e-02 6.87801638e-03 9.99351965e-01 -9.22723082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.981858064 meters Centerline goodness : 0.971475 with order 2 Centerline is valid? [True, True] Translation: X:207.82, Y:126.67, Z:-9.19 [[ 3.31065639e-01 -9.43539512e-01 1.13460301e-02 2.07817315e+02] [ 9.42898720e-01 3.31259000e-01 3.47775622e-02 1.26674519e+02] [-3.65724787e-02 -8.15498620e-04 9.99330670e-01 -9.19478219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04185806399994 meters Centerline goodness : 0.955785 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:126.76, Z:-9.26 [[ 3.51919616e-01 -9.35963352e-01 1.11887515e-02 2.07879553e+02] [ 9.35315564e-01 3.52092815e-01 3.48632559e-02 1.26761514e+02] [-3.65702088e-02 -1.80405025e-03 9.99329458e-01 -9.25594881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10185806399994 meters Centerline goodness : 0.152898 with order 1 Centerline is valid? [True, False] Translation: X:208.17, Y:125.46, Z:-8.97 [[ 9.33750157e-01 2.93427842e-01 -2.04965230e-01 2.08171941e+02] [-2.95622375e-01 9.55083954e-01 2.05439005e-02 1.25460340e+02] [ 2.01787155e-01 4.14094377e-02 9.78553628e-01 -8.97099537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16185806399994 meters Centerline goodness : 0.946483 with order 3 Centerline is valid? [False, False] Translation: X:208.19, Y:125.46, Z:-8.97 [[ 9.32582259e-01 2.93827382e-01 -2.09656385e-01 2.08188544e+02] [-2.95381845e-01 9.55062739e-01 2.45912659e-02 1.25462462e+02] [ 2.07460589e-01 3.89953115e-02 9.77465841e-01 -8.97003717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2664.25 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%| | 0/8774 [00:00