+ python -m lidar_slam --result /working/result.json --no-model /working/47266fdf-506d-4a56-b189-f30ffd4d38ad Lidar SLAM 0.0.16 ===================================================== The recording path: /working/47266fdf-506d-4a56-b189-f30ffd4d38ad 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 0.003617865 Adjusted end_distance from 9.223372036854776e+18 to 254.633617865 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003617865 meters Centerline goodness : 0.941483 with order 1 Centerline is valid? [0, False] SLAMing on 0.063617865 meters Centerline goodness : 0.910145 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 9.99998648e-01 1.33001233e-03 9.66824196e-04 2.22195677e-02] [-1.32442981e-03 9.99982580e-01 -5.75196743e-03 6.66235084e-03] [-9.74457542e-04 5.75067917e-03 9.99982990e-01 -3.76692906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123617865 meters Centerline goodness : 0.146110 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99994507e-01 -3.29471933e-03 3.61004771e-04 5.67171000e-02] [ 3.29602069e-03 9.99987850e-01 -3.66558706e-03 7.32157043e-03] [-3.48923304e-04 3.66675680e-03 9.99993217e-01 -1.29803546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183617865 meters Centerline goodness : 0.120158 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.00 [[ 9.99981568e-01 -6.06487274e-03 2.84613230e-04 8.39215481e-02] [ 6.06622014e-03 9.99969101e-01 -4.99972337e-03 7.58847434e-03] [-2.54281750e-04 5.00135775e-03 9.99987461e-01 3.89076815e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243617865 meters SLAMing on 0.303617865 meters Centerline goodness : 0.113235 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.01 [[ 0.99985783 -0.01676376 -0.00181468 0.17291742] [ 0.01675854 0.99985549 -0.00285528 0.0107783 ] [ 0.00186228 0.00282446 0.99999428 0.00580605] [ 0. 0. 0. 1. ]] SLAMing on 0.363617865 meters Centerline goodness : 0.117079 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:0.01 [[ 9.99856890e-01 -1.68971705e-02 8.27399410e-04 1.96958855e-01] [ 1.69013557e-02 9.99842883e-01 -5.34348397e-03 1.54892288e-02] [-7.36979652e-04 5.35670344e-03 9.99985381e-01 5.29131769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.423617865 meters Centerline goodness : 0.137762 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.00 [[ 0.99980076 -0.01964802 0.00352082 0.23293698] [ 0.01966239 0.99979829 -0.00409626 0.02594293] [-0.00343962 0.00416468 0.99998541 0.00457763] [ 0. 0. 0. 1. ]] SLAMing on 0.483617865 meters Centerline goodness : 0.140504 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:0.00 [[ 0.99977135 -0.02012606 0.00722423 0.26956169] [ 0.02013456 0.99979667 -0.00110623 0.03895862] [-0.00720049 0.00125143 0.99997329 0.00217438] [ 0. 0. 0. 1. ]] SLAMing on 0.5436178650000001 meters Centerline goodness : 0.143049 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.00 [[ 9.99811221e-01 -1.70804336e-02 9.26179612e-03 2.94288790e-01] [ 1.71014931e-02 9.99851340e-01 -2.19939278e-03 4.82030361e-02] [-9.22285267e-03 2.35736812e-03 9.99954690e-01 1.85906501e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.603617865 meters Centerline goodness : 0.134756 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.06, Z:-0.00 [[ 0.99979374 -0.01390947 0.01479876 0.33149674] [ 0.013841 0.99989307 0.0047192 0.06075805] [-0.01486282 -0.0045134 0.99987936 -0.00265959] [ 0. 0. 0. 1. ]] SLAMing on 0.663617865 meters Centerline goodness : 0.130359 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.07, Z:-0.01 [[ 0.99972391 -0.00900418 0.02170308 0.36776416] [ 0.00870203 0.99986446 0.01397664 0.0735288 ] [-0.02182599 -0.01378392 0.99966676 -0.00523952] [ 0. 0. 0. 1. ]] SLAMing on 0.723617865 meters Centerline goodness : 0.131410 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:-0.01 [[ 0.9996345 -0.00587981 0.02638745 0.3903183 ] [ 0.00555363 0.99990748 0.01241747 0.08573252] [-0.02645802 -0.01226638 0.99957466 -0.00897554] [ 0. 0. 0. 1. ]] SLAMing on 0.7836178650000001 meters Centerline goodness : 0.126363 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:-0.01 [[ 9.99496220e-01 -4.90691350e-04 3.17343059e-02 4.37927408e-01] [-6.19306485e-05 9.99848420e-01 1.74106981e-02 9.62962469e-02] [-3.17380389e-02 -1.74038923e-02 9.99344686e-01 -1.14781868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.843617865 meters Centerline goodness : 0.127481 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:-0.01 [[ 9.99330489e-01 -8.09857902e-04 3.65775541e-02 4.65739127e-01] [ 1.60228012e-04 9.99842270e-01 1.77597830e-02 1.04427850e-01] [-3.65861677e-02 -1.77420319e-02 9.99172994e-01 -1.48099294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.903617865 meters Centerline goodness : 0.683448 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:-0.02 [[ 0.99915226 -0.00186211 0.04112534 0.51653335] [ 0.00103539 0.99979715 0.02011457 0.1094961 ] [-0.04115445 -0.02005494 0.99895151 -0.01918569] [ 0. 0. 0. 1. ]] SLAMing on 0.963617865 meters Centerline goodness : 0.727852 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:-0.03 [[ 0.99885696 -0.00928228 0.04688932 0.56468372] [ 0.00829554 0.99974095 0.0211948 0.11074675] [-0.04707391 -0.0207816 0.99867521 -0.02693716] [ 0. 0. 0. 1. ]] SLAMing on 1.023617865 meters Centerline goodness : 0.175168 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.03 [[ 0.99879794 -0.01411203 0.04694167 0.59157012] [ 0.013504 0.99982109 0.01324494 0.11424902] [-0.04712018 -0.01259512 0.99880982 -0.03289371] [ 0. 0. 0. 1. ]] SLAMing on 1.0836178650000001 meters Centerline goodness : 0.784148 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.11, Z:-0.04 [[ 0.99850234 -0.02069364 0.05064442 0.64065611] [ 0.01985316 0.99965764 0.01704293 0.11149873] [-0.05097976 -0.01601195 0.99857132 -0.04235055] [ 0. 0. 0. 1. ]] SLAMing on 1.143617865 meters Centerline goodness : 0.145728 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.05 [[ 0.99849738 -0.02224121 0.05008301 0.64525832] [ 0.02149444 0.99965035 0.01540033 0.11387957] [-0.05040802 -0.01430068 0.99862632 -0.04574101] [ 0. 0. 0. 1. ]] SLAMing on 1.203617865 meters Centerline goodness : 0.789126 with order 2 Centerline is valid? [False, False] Translation: X:0.69, Y:0.11, Z:-0.06 [[ 0.99842059 -0.02166916 0.05183402 0.68811332] [ 0.02048592 0.99951975 0.02325094 0.1143092 ] [-0.05231295 -0.02215235 0.99838501 -0.05506846] [ 0. 0. 0. 1. ]] SLAMing on 1.263617865 meters Centerline goodness : 0.821942 with order 2 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.06 [[ 0.99846806 -0.01977497 0.05167667 0.71387461] [ 0.01877519 0.99962842 0.01976122 0.11952974] [-0.05204825 -0.01876071 0.99846833 -0.06151335] [ 0. 0. 0. 1. ]] SLAMing on 1.323617865 meters Centerline goodness : 0.775323 with order 3 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.07 [[ 0.99873166 -0.02026226 0.04609241 0.75472425] [ 0.01920377 0.99954423 0.02329265 0.12327495] [-0.04654336 -0.02237796 0.99866558 -0.06655013] [ 0. 0. 0. 1. ]] SLAMing on 1.383617865 meters Centerline goodness : 0.783629 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:0.13, Z:-0.07 [[ 0.99867449 -0.02136639 0.0468268 0.77864995] [ 0.02057344 0.99963777 0.01735094 0.12823513] [-0.04718056 -0.01636455 0.99875232 -0.07120302] [ 0. 0. 0. 1. ]] SLAMing on 1.443617865 meters Centerline goodness : 0.841121 with order 2 Centerline is valid? [False, False] Translation: X:0.82, Y:0.13, Z:-0.08 [[ 0.99839927 -0.02831247 0.0489622 0.81958478] [ 0.02721807 0.99936773 0.02287611 0.12768839] [-0.04957892 -0.02150683 0.99853863 -0.07643293] [ 0. 0. 0. 1. ]] SLAMing on 1.503617865 meters Centerline goodness : 0.789228 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.08 [[ 0.99831685 -0.03558858 0.04579208 0.84997288] [ 0.03491659 0.99927169 0.01539222 0.12922265] [-0.04630651 -0.01376741 0.9988324 -0.08076835] [ 0. 0. 0. 1. ]] SLAMing on 1.563617865 meters Centerline goodness : 0.826014 with order 2 Centerline is valid? [False, False] Translation: X:0.86, Y:0.13, Z:-0.08 [[ 0.99796772 -0.04554268 0.04456779 0.86461466] [ 0.04493769 0.99888478 0.01448424 0.12782536] [-0.04517774 -0.01245203 0.99890136 -0.08311415] [ 0. 0. 0. 1. ]] SLAMing on 1.623617865 meters Centerline goodness : 0.186650 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.12, Z:-0.09 [[ 0.99775995 -0.05373786 0.03984113 0.89800115] [ 0.05337336 0.99852296 0.01015748 0.12328391] [-0.04032813 -0.00800827 0.9991544 -0.08717119] [ 0. 0. 0. 1. ]] SLAMing on 1.683617865 meters Centerline goodness : 0.926208 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.09 [[ 0.99759173 -0.05796367 0.0380914 0.92703058] [ 0.05764622 0.998293 0.00938095 0.1151474 ] [-0.03857013 -0.00716253 0.99923023 -0.08973668] [ 0. 0. 0. 1. ]] SLAMing on 1.743617865 meters Centerline goodness : 0.944576 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.09 [[ 0.99798927 -0.05432279 0.03265655 0.94505741] [ 0.05413236 0.99851137 0.00668794 0.11111537] [-0.03297125 -0.00490672 0.99944426 -0.09066569] [ 0. 0. 0. 1. ]] SLAMing on 1.8036178649999999 meters Centerline goodness : 0.947548 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.09 [[ 0.99841382 -0.04871026 0.02823399 0.97956623] [ 0.04860213 0.99880806 0.00450373 0.10978225] [-0.02841971 -0.00312435 0.9995912 -0.09081143] [ 0. 0. 0. 1. ]] SLAMing on 1.863617865 meters Centerline goodness : 0.952567 with order 1 Centerline is valid? [False, True] Translation: X:1.00, Y:0.11, Z:-0.09 [[ 0.99855795 -0.04381797 0.03101636 1.00086694] [ 0.04369514 0.9990342 0.00462727 0.11298106] [-0.03118916 -0.00326534 0.99950817 -0.09360169] [ 0. 0. 0. 1. ]] SLAMing on 1.923617865 meters Centerline goodness : 0.953978 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:0.12, Z:-0.11 [[ 9.99169200e-01 -2.65698885e-02 3.09022886e-02 1.06146545e+00] [ 2.66032292e-02 9.99645848e-01 -6.68186584e-04 1.18549916e-01] [-3.08735908e-02 1.48973212e-03 9.99522187e-01 -1.09708530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.983617865 meters Centerline goodness : 0.962066 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:0.12, Z:-0.10 [[ 9.97760369e-01 -5.93236527e-02 3.09022806e-02 1.12260370e+00] [ 5.93726186e-02 9.98235666e-01 -6.68554060e-04 1.17076456e-01] [-3.08080976e-02 2.50180606e-03 9.99522187e-01 -9.83332213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.043617865 meters Centerline goodness : 0.959141 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:0.11, Z:-0.14 [[ 9.99475045e-01 9.73063419e-03 3.09022568e-02 1.18030397e+00] [-9.71457885e-03 9.99952588e-01 -6.69650533e-04 1.11316859e-01] [-3.09073078e-02 3.69096586e-04 9.99522187e-01 -1.37047818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.103617865 meters Centerline goodness : 0.967595 with order 1 Centerline is valid? [True, True] Translation: X:1.24, Y:0.12, Z:-0.13 [[ 9.99518515e-01 -2.79067007e-03 3.09022621e-02 1.24102630e+00] [ 2.81269898e-03 9.99995820e-01 -6.69410397e-04 1.19253404e-01] [-3.09002648e-02 7.56006847e-04 9.99522187e-01 -1.29473489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.163617865 meters Centerline goodness : 0.969896 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:0.12, Z:-0.12 [[ 9.99486014e-01 -8.52988256e-03 3.09022558e-02 1.30239304e+00] [ 8.55466067e-03 9.99963184e-01 -6.69697664e-04 1.20997752e-01] [-3.08954057e-02 9.33711761e-04 9.99522187e-01 -1.21903292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2236178649999996 meters Centerline goodness : 0.972798 with order 1 Centerline is valid? [True, True] Translation: X:1.37, Y:0.13, Z:-0.12 [[ 9.99373380e-01 -1.72597564e-02 3.09022469e-02 1.36538238e+00] [ 1.72887143e-02 9.99850314e-01 -6.70109597e-04 1.27731182e-01] [-3.08860553e-02 1.20394981e-03 9.99522187e-01 -1.18174166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2836178649999996 meters Centerline goodness : 0.975974 with order 1 Centerline is valid? [True, True] Translation: X:1.43, Y:0.13, Z:-0.11 [[ 9.99351191e-01 -1.85000530e-02 3.09021944e-02 1.42685253e+00] [ 1.85296772e-02 9.99828085e-01 -6.72522388e-04 1.31256463e-01] [-3.08844401e-02 1.24469374e-03 9.99522187e-01 -1.08362593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3436178649999997 meters Centerline goodness : 0.978150 with order 1 Centerline is valid? [True, True] Translation: X:1.49, Y:0.13, Z:-0.10 [[ 9.98989713e-01 -3.26283226e-02 3.09021839e-02 1.48771427e+00] [ 3.26647016e-02 9.99466140e-01 -6.73002869e-04 1.34564781e-01] [-3.08637275e-02 1.68173356e-03 9.99522187e-01 -9.62234081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4036178649999997 meters Centerline goodness : 0.982420 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:0.13, Z:-0.11 [[ 9.99265335e-01 -2.26681416e-02 3.09021789e-02 1.54699768e+00] [ 2.26997766e-02 9.99742100e-01 -6.73235465e-04 1.27488471e-01] [-3.08789482e-02 1.37421342e-03 9.99522187e-01 -1.09784321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.463617865 meters Centerline goodness : 0.984395 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:0.13, Z:-0.11 [[ 9.99105804e-01 -2.88556239e-02 3.09021789e-02 1.60730378e+00] [ 2.88902107e-02 9.99582364e-01 -6.73235465e-04 1.29124864e-01] [-3.08698464e-02 1.56540392e-03 9.99522187e-01 -1.08378221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.523617865 meters Centerline goodness : 0.986350 with order 1 Centerline is valid? [True, True] Translation: X:1.67, Y:0.13, Z:-0.11 [[ 9.98922364e-01 -3.46289900e-02 3.09021728e-02 1.66915070e+00] [ 3.46663389e-02 9.99398715e-01 -6.73514769e-04 1.29046480e-01] [-3.08602686e-02 1.74405416e-03 9.99522187e-01 -1.07623613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.583617865 meters Centerline goodness : 0.988077 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:0.13, Z:-0.10 [[ 9.98365000e-01 -4.80872589e-02 3.09021321e-02 1.72982406e+00] [ 4.81310811e-02 9.98840800e-01 -6.75377546e-04 1.27278955e-01] [-3.08338332e-02 2.16162633e-03 9.99522187e-01 -1.00952057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6436178649999995 meters Centerline goodness : 0.988840 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:0.12, Z:-0.09 [[ 9.98237641e-01 -5.06623084e-02 3.09021298e-02 1.79145387e+00] [ 5.07073608e-02 9.98713326e-01 -6.75479296e-04 1.23777293e-01] [-3.08281475e-02 2.24125431e-03 9.99522187e-01 -8.77313885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7036178649999996 meters Centerline goodness : 0.991130 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:0.12, Z:-0.09 [[ 9.98068989e-01 -5.38827676e-02 3.09021122e-02 1.85255116e+00] [ 5.39293793e-02 9.98544523e-01 -6.76283271e-04 1.18425767e-01] [-3.08206949e-02 2.34150909e-03 9.99522187e-01 -8.79841413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7636178649999996 meters Centerline goodness : 0.993328 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:0.11, Z:-0.09 [[ 9.98053090e-01 -5.41764728e-02 3.09020798e-02 1.91402327e+00] [ 5.42232699e-02 9.98528606e-01 -6.77762826e-04 1.09873069e-01] [-3.08198919e-02 2.35205510e-03 9.99522187e-01 -8.92920621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8236178649999997 meters Centerline goodness : 0.994211 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:0.10, Z:-0.08 [[ 9.98216024e-01 -5.10865267e-02 3.09020477e-02 1.97512606e+00] [ 5.11318964e-02 9.98691678e-01 -6.79220517e-04 1.02281400e-01] [-3.08269189e-02 2.25808911e-03 9.99522187e-01 -8.33750686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8836178649999997 meters Centerline goodness : 0.995059 with order 1 Centerline is valid? [True, True] Translation: X:2.04, Y:0.10, Z:-0.08 [[ 9.98418843e-01 -4.69561343e-02 3.09020158e-02 2.03673470e+00] [ 4.69995804e-02 9.98894677e-01 -6.80671101e-04 9.62359082e-02] [-3.08358974e-02 2.13197663e-03 9.99522187e-01 -8.46569924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.943617865 meters Centerline goodness : 0.995315 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:0.08, Z:-0.09 [[ 9.98685041e-01 -4.09054636e-02 3.09019742e-02 2.09856271e+00] [ 4.09460836e-02 9.99161124e-01 -6.82552019e-04 8.23410309e-02] [-3.08481312e-02 1.94696931e-03 9.99522187e-01 -8.51684803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.003617865 meters Centerline goodness : 0.994281 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:0.08, Z:-0.09 [[ 9.98769410e-01 -3.87909182e-02 3.09019330e-02 2.16054598e+00] [ 3.88305875e-02 9.99245574e-01 -6.84412642e-04 7.64665231e-02] [-3.08520708e-02 1.88351063e-03 9.99522187e-01 -8.73554128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.063617865 meters Centerline goodness : 0.996241 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:0.07, Z:-0.09 [[ 9.98852036e-01 -3.66016953e-02 3.09018918e-02 2.22236066e+00] [ 3.66403782e-02 9.99328280e-01 -6.86270472e-04 6.50803730e-02] [-3.08560157e-02 1.81773966e-03 9.99522187e-01 -9.03951599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.123617865 meters Centerline goodness : 0.996679 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:0.06, Z:-0.09 [[ 9.98905774e-01 -3.51045686e-02 3.09018509e-02 2.28421116e+00] [ 3.51425942e-02 9.99382071e-01 -6.88105938e-04 5.54794353e-02] [-3.08586001e-02 1.77332420e-03 9.99522187e-01 -9.41535431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1836178649999995 meters Centerline goodness : 0.997087 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:0.04, Z:-0.10 [[ 9.98847970e-01 -3.67125350e-02 3.09018103e-02 2.34578889e+00] [ 3.67513834e-02 9.99324202e-01 -6.89926948e-04 4.08590708e-02] [-3.08555979e-02 1.82481641e-03 9.99522187e-01 -9.63191534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2436178649999996 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:0.03, Z:-0.10 [[ 9.98759521e-01 -3.90448411e-02 3.09017699e-02 2.40756587e+00] [ 3.90848571e-02 9.99235656e-01 -6.91730938e-04 2.62497990e-02] [-3.08511418e-02 1.89866412e-03 9.99522187e-01 -9.61893832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3036178649999997 meters Centerline goodness : 0.997867 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:0.02, Z:-0.10 [[ 9.98692792e-01 -4.07159635e-02 3.09017300e-02 2.46918656e+00] [ 4.07568309e-02 9.99168854e-01 -6.93509314e-04 1.65909099e-02] [-3.08478092e-02 1.95205933e-03 9.99522187e-01 -9.78355544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3636178649999997 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:0.00, Z:-0.10 [[ 9.98597276e-01 -4.29949552e-02 3.09016902e-02 2.53037246e+00] [ 4.30369634e-02 9.99073239e-01 -6.95275891e-04 3.54727350e-03] [-3.08431584e-02 2.02421552e-03 9.99522187e-01 -1.03879997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4236178649999998 meters Centerline goodness : 0.998308 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.01, Z:-0.11 [[ 9.98566366e-01 -4.37069825e-02 3.09016706e-02 2.59148089e+00] [ 4.37493569e-02 9.99042296e-01 -6.96148561e-04 -1.04554046e-02] [-3.08416493e-02 2.04707875e-03 9.99522187e-01 -1.07253601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.483617865 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.02, Z:-0.11 [[ 9.98580214e-01 -4.33894545e-02 3.09016511e-02 2.65265524e+00] [ 4.34317041e-02 9.99056155e-01 -6.97010083e-04 -1.99589735e-02] [-3.08422419e-02 2.03813185e-03 9.99522187e-01 -1.07572262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.543617865 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.03, Z:-0.10 [[ 9.98483815e-01 -4.55539379e-02 3.09016318e-02 2.71373330e+00] [ 4.55972454e-02 9.98959661e-01 -6.97864052e-04 -3.37052192e-02] [-3.08376932e-02 2.10583525e-03 9.99522187e-01 -1.03976224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6036178649999995 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.05, Z:-0.10 [[ 9.98310296e-01 -4.92102010e-02 3.09016112e-02 2.77424523e+00] [ 4.92552789e-02 9.98785978e-01 -6.98775421e-04 -4.79361350e-02] [-3.08297091e-02 2.21966218e-03 9.99522187e-01 -1.01706593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6636178649999995 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.06, Z:-0.10 [[ 9.98138652e-01 -5.25768276e-02 3.09016112e-02 2.83344274e+00] [ 5.26235095e-02 9.98614179e-01 -6.98775421e-04 -5.65191811e-02] [-3.08220477e-02 2.32362599e-03 9.99522187e-01 -1.00983562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7236178649999996 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.07, Z:-0.10 [[ 9.97934613e-01 -5.63169308e-02 3.09016322e-02 2.89104671e+00] [ 5.63653658e-02 9.98409965e-01 -6.97847708e-04 -6.76963506e-02] [-3.08131969e-02 2.43818818e-03 9.99522187e-01 -1.01200599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7836178649999996 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.08, Z:-0.10 [[ 9.97578562e-01 -6.23064821e-02 3.09016836e-02 2.94798623e+00] [ 6.23576995e-02 9.98053623e-01 -6.95561453e-04 -7.62916720e-02] [-3.07981993e-02 2.62083510e-03 9.99522187e-01 -1.03799832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8436178649999997 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.08, Z:-0.10 [[ 9.97354561e-01 -6.57948195e-02 3.09017953e-02 3.00580425e+00] [ 6.58475443e-02 9.97829456e-01 -6.90566407e-04 -8.30436912e-02] [-3.07892859e-02 2.72354689e-03 9.99522187e-01 -1.04301013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9036178649999997 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.09, Z:-0.11 [[ 9.97290697e-01 -6.67558359e-02 3.09018445e-02 3.06412797e+00] [ 6.68089504e-02 9.97765549e-01 -6.88356769e-04 -8.78347123e-02] [-3.07868440e-02 2.75101160e-03 9.99522187e-01 -1.06182862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.963617865 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.09, Z:-0.11 [[ 9.97405127e-01 -6.50236905e-02 3.09019793e-02 3.12088891e+00] [ 6.50757925e-02 9.97880091e-01 -6.82250969e-04 -9.10091575e-02] [-3.07921074e-02 2.69145141e-03 9.99522187e-01 -1.09722512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.023617864999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.09, Z:-0.12 [[ 9.97855297e-01 -5.77050165e-02 3.09020455e-02 3.17851692e+00] [ 5.77535401e-02 9.98330640e-01 -6.79238590e-04 -9.35438642e-02] [-3.08112634e-02 2.46248435e-03 9.99522187e-01 -1.15602796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.083617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.10, Z:-0.12 [[ 9.98266615e-01 -5.00881743e-02 3.09020921e-02 3.23577421e+00] [ 5.01330034e-02 9.98742321e-01 -6.77113374e-04 -9.87377475e-02] [-3.08293118e-02 2.22515436e-03 9.99522187e-01 -1.18372167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1436178649999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.11, Z:-0.11 [[ 9.98587580e-01 -4.32192225e-02 3.09021560e-02 3.29474787e+00] [ 4.32606875e-02 9.99063591e-01 -6.74181097e-04 -1.05102796e-01] [-3.08440814e-02 2.01007739e-03 9.99522187e-01 -1.13198919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203617865 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.11, Z:-0.11 [[ 9.98707669e-01 -4.03489837e-02 3.09022911e-02 3.35285884e+00] [ 4.03888878e-02 9.99183813e-01 -6.67931560e-04 -1.10283709e-01] [-3.08501187e-02 1.91517754e-03 9.99522187e-01 -1.12181527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.263617865 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.12, Z:-0.11 [[ 9.98885815e-01 -3.56675618e-02 3.09023292e-02 3.41189040e+00] [ 3.57051794e-02 9.99362145e-01 -6.66166477e-04 -1.18874473e-01] [-3.08588574e-02 1.76879745e-03 9.99522187e-01 -1.10035438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.12, Z:-0.11 [[ 9.99177986e-01 -2.62373226e-02 3.09023554e-02 3.47279387e+00] [ 2.62704047e-02 9.99654652e-01 -6.64946469e-04 -1.23454016e-01] [-3.08742369e-02 1.47621726e-03 9.99522187e-01 -1.10076743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.12, Z:-0.11 [[ 9.99388266e-01 -1.63749142e-02 3.09023554e-02 3.53476302e+00] [ 1.64032903e-02 9.99865236e-01 -6.64946469e-04 -1.23607646e-01] [-3.08873025e-02 1.17144001e-03 9.99522187e-01 -1.13489315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.443617864999999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.13, Z:-0.12 [[ 9.99500013e-01 -6.69113756e-03 3.09023093e-02 3.59677566e+00] [ 6.71495696e-03 9.99977232e-01 -6.67081182e-04 -1.25275005e-01] [-3.08971422e-02 8.74255328e-04 9.99522187e-01 -1.19319592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503617865 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.13, Z:-0.12 [[ 9.99517105e-01 -3.25696439e-03 3.09022635e-02 3.65954756e+00] [ 3.27920936e-03 9.99994399e-01 -6.69196584e-04 -1.25821569e-01] [-3.08999109e-02 7.70208424e-04 9.99522187e-01 -1.22256900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563617864999999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.13, Z:-0.13 [[ 9.99507314e-01 -5.49393771e-03 3.09021946e-02 3.72201799e+00] [ 5.51734869e-03 9.99984553e-01 -6.72364145e-04 -1.26081361e-01] [-3.08980233e-02 8.42531063e-04 9.99522187e-01 -1.27287009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623617865 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.13, Z:-0.13 [[ 9.99440421e-01 -1.28027718e-02 3.09020044e-02 3.78538726e+00] [ 1.28299385e-02 9.99917461e-01 -6.80994063e-04 -1.25399376e-01] [-3.08907352e-02 1.07708381e-03 9.99522187e-01 -1.28887018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6836178649999995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.13, Z:-0.13 [[ 9.99345297e-01 -1.88163638e-02 3.09018105e-02 3.84713325e+00] [ 1.88466686e-02 9.99822148e-01 -6.89681825e-04 -1.26109176e-01] [-3.08833373e-02 1.27162647e-03 9.99522187e-01 -1.30795611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743617865 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.13, Z:-0.13 [[ 9.99090663e-01 -2.93757935e-02 3.09016297e-02 3.90989360e+00] [ 2.94113828e-02 9.99567148e-01 -6.97689955e-04 -1.26305126e-01] [-3.08677587e-02 1.60591518e-03 9.99522187e-01 -1.32632834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.12, Z:-0.14 [[ 9.98541258e-01 -4.42770562e-02 3.09014322e-02 3.97164734e+00] [ 4.43200160e-02 9.99017136e-01 -7.06331231e-04 -1.24825044e-01] [-3.08397860e-02 2.07485285e-03 9.99522187e-01 -1.35196863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.863617864999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.13, Z:-0.14 [[ 9.98117440e-01 -5.29781598e-02 3.09013099e-02 4.03138384e+00] [ 5.30254290e-02 9.98592909e-01 -7.11643839e-04 -1.25356718e-01] [-3.08201273e-02 2.34885934e-03 9.99522187e-01 -1.35322813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.13, Z:-0.14 [[ 9.97730801e-01 -5.98193567e-02 3.09013339e-02 4.08962249e+00] [ 5.98698522e-02 9.98205939e-01 -7.10599249e-04 -1.26564529e-01] [-3.08033874e-02 2.55904505e-03 9.99522187e-01 -1.35943379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983617864999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.13, Z:-0.14 [[ 9.97509208e-01 -6.34072134e-02 3.09015268e-02 4.14658084e+00] [ 6.34591562e-02 9.97984190e-01 -7.02107807e-04 -1.29729952e-01] [-3.07947165e-02 2.66134382e-03 9.99522187e-01 -1.37206511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.13, Z:-0.14 [[ 9.97552656e-01 -6.27199232e-02 3.09016092e-02 4.20491864e+00] [ 6.27714266e-02 9.98027685e-01 -6.98463824e-04 -1.30971295e-01] [-3.07968539e-02 2.63649254e-03 9.99522187e-01 -1.38812483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1036178649999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.13, Z:-0.14 [[ 9.97791495e-01 -5.87980571e-02 3.09017936e-02 4.26342684e+00] [ 5.88474388e-02 9.98266749e-01 -6.90206583e-04 -1.31029848e-01] [-3.08076503e-02 2.50717367e-03 9.99522187e-01 -1.40708320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.14, Z:-0.14 [[ 9.98083731e-01 -5.36090738e-02 3.09019797e-02 4.32255553e+00] [ 5.36557240e-02 9.98559261e-01 -6.81770336e-04 -1.36306011e-01] [-3.08209090e-02 2.33853198e-03 9.99522187e-01 -1.35881690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.14, Z:-0.14 [[ 9.98252873e-01 -5.03612752e-02 3.09021455e-02 4.37976604e+00] [ 5.04061439e-02 9.98728575e-01 -6.74172931e-04 -1.41052437e-01] [-3.08289035e-02 2.23065306e-03 9.99522187e-01 -1.40818734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283617864999999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.14, Z:-0.14 [[ 9.98616228e-01 -4.25521278e-02 3.09022035e-02 4.43842775e+00] [ 4.25931923e-02 9.99092273e-01 -6.71503836e-04 -1.40258641e-01] [-3.08455788e-02 1.98679812e-03 9.99522187e-01 -1.39921628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.14, Z:-0.14 [[ 9.98850663e-01 -3.66387064e-02 3.09023840e-02 4.49757706e+00] [ 3.66766922e-02 9.99326964e-01 -6.63089407e-04 -1.44358579e-01] [-3.08572909e-02 1.79572452e-03 9.99522187e-01 -1.42701452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.403617864999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.15, Z:-0.15 [[ 9.98993734e-01 -3.25047748e-02 3.09024065e-02 4.55815111e+00] [ 3.25407568e-02 9.99470190e-01 -6.62043431e-04 -1.45767537e-01] [-3.08645145e-02 1.66696493e-03 9.99522187e-01 -1.45158965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.14, Z:-0.15 [[ 9.99066314e-01 -3.01917620e-02 3.09023954e-02 4.62081432e+00] [ 3.02266567e-02 9.99542851e-01 -6.62559045e-04 -1.40688778e-01] [-3.08682646e-02 1.59601652e-03 9.99522187e-01 -1.48247356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.523617864999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.15, Z:-0.15 [[ 9.99238623e-01 -2.38163780e-02 3.09023461e-02 4.68153975e+00] [ 2.38483021e-02 9.99715368e-01 -6.64848938e-04 -1.46456678e-01] [-3.08777160e-02 1.40131122e-03 9.99522187e-01 -1.51837768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.14, Z:-0.15 [[ 9.99210044e-01 -2.49866938e-02 3.09023099e-02 4.74366919e+00] [ 2.50192281e-02 9.99686748e-01 -6.66530605e-04 -1.44210299e-01] [-3.08759753e-02 1.43915601e-03 9.99522187e-01 -1.54104245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6436178649999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.14, Z:-0.16 [[ 9.99220581e-01 -2.45617619e-02 3.09022625e-02 4.80623439e+00] [ 2.45941610e-02 9.99697294e-01 -6.68718361e-04 -1.43796546e-01] [-3.08764833e-02 1.42821237e-03 9.99522187e-01 -1.56309047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.703617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.15, Z:-0.16 [[ 9.99246944e-01 -2.34648363e-02 3.09022032e-02 4.86687312e+00] [ 2.34967962e-02 9.99723687e-01 -6.71446740e-04 -1.47967612e-01] [-3.08779092e-02 1.39704388e-03 9.99522187e-01 -1.61414036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.15, Z:-0.16 [[ 9.99140380e-01 -2.76325337e-02 3.09021681e-02 4.92947673e+00] [ 2.76665316e-02 9.99616982e-01 -6.73059336e-04 -1.45927018e-01] [-3.08717337e-02 1.52743657e-03 9.99522187e-01 -1.62324631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.823617864999999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.15, Z:-0.16 [[ 9.99161728e-01 -2.68495983e-02 3.09021202e-02 4.99175954e+00] [ 2.68832904e-02 9.99638351e-01 -6.75253925e-04 -1.48217471e-01] [-3.08728141e-02 1.50543855e-03 9.99522187e-01 -1.62292285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.15, Z:-0.16 [[ 9.99226751e-01 -2.43096977e-02 3.09020727e-02 5.05373143e+00] [ 2.43422450e-02 9.99703454e-01 -6.77417149e-04 -1.54350967e-01] [-3.08764411e-02 1.42911916e-03 9.99522187e-01 -1.64730290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.943617864999999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.16, Z:-0.16 [[ 9.99236910e-01 -2.38885452e-02 3.09020257e-02 5.11463233e+00] [ 2.39209576e-02 9.99713622e-01 -6.79557488e-04 -1.58207848e-01] [-3.08769424e-02 1.41824497e-03 9.99522187e-01 -1.64031862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.16, Z:-0.17 [[ 9.99242650e-01 -2.36472830e-02 3.09019907e-02 5.17757915e+00] [ 2.36796294e-02 9.99719366e-01 -6.81146047e-04 -1.58517950e-01] [-3.08772113e-02 1.41237787e-03 9.99522187e-01 -1.66134789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.063617864999999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.16, Z:-0.17 [[ 9.99259656e-01 -2.29174854e-02 3.09019203e-02 5.23969887e+00] [ 2.29495815e-02 9.99736389e-01 -6.84320945e-04 -1.60637989e-01] [-3.08780914e-02 1.39300045e-03 9.99522187e-01 -1.67268684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.123617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.16, Z:-0.17 [[ 9.99254301e-01 -2.31498978e-02 3.09018623e-02 5.30284191e+00] [ 2.31821854e-02 9.99731021e-01 -6.86930933e-04 -1.62673291e-01] [-3.08776480e-02 1.40279139e-03 9.99522187e-01 -1.69488395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1836178649999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.16, Z:-0.17 [[ 9.99246034e-01 -2.35041043e-02 3.09017939e-02 5.36477403e+00] [ 2.35366555e-02 9.99722736e-01 -6.89997554e-04 -1.61756894e-01] [-3.08770081e-02 1.41680220e-03 9.99522187e-01 -1.73217519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.16, Z:-0.18 [[ 9.99162676e-01 -2.68146948e-02 3.09017485e-02 5.42563819e+00] [ 2.68488877e-02 9.99639264e-01 -6.92022729e-04 -1.63685988e-01] [-3.08720448e-02 1.52112086e-03 9.99522187e-01 -1.76359904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.16, Z:-0.18 [[ 9.99069472e-01 -3.00877821e-02 3.09017149e-02 5.48739637e+00] [ 3.01235823e-02 9.99545941e-01 -6.93521654e-04 -1.64911447e-01] [-3.08668171e-02 1.62374666e-03 9.99522187e-01 -1.76641692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.363617864999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.17, Z:-0.18 [[ 9.98842396e-01 -3.68640101e-02 3.09016707e-02 5.54826924e+00] [ 3.69031020e-02 9.99318607e-01 -6.95483752e-04 -1.65875757e-01] [-3.08549762e-02 1.83504616e-03 9.99522187e-01 -1.77044197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.17, Z:-0.18 [[ 9.98698770e-01 -4.05691794e-02 3.09016016e-02 5.60923442e+00] [ 4.06101318e-02 9.99174824e-01 -6.98539212e-04 -1.67309593e-01] [-3.08477632e-02 1.95254837e-03 9.99522187e-01 -1.77055327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.483617864999999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.17, Z:-0.18 [[ 9.98635538e-01 -4.20969617e-02 3.09015772e-02 5.66986954e+00] [ 4.21386756e-02 9.99111527e-01 -6.99618814e-04 -1.67238795e-01] [-3.08446701e-02 2.00081575e-03 9.99522187e-01 -1.78056017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.17, Z:-0.18 [[ 9.98648289e-01 -4.17934030e-02 3.09015651e-02 5.72939363e+00] [ 4.18349886e-02 9.99124288e-01 -7.00150411e-04 -1.67706657e-01] [-3.08452426e-02 1.99197064e-03 9.99522187e-01 -1.79900753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6036178649999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.17, Z:-0.18 [[ 9.98750033e-01 -3.92869349e-02 3.09015889e-02 5.78882982e+00] [ 3.93272933e-02 9.99226138e-01 -6.99099028e-04 -1.68022243e-01] [-3.08502099e-02 1.91350103e-03 9.99522187e-01 -1.82748624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.17, Z:-0.18 [[ 9.98807003e-01 -3.78108739e-02 3.09016006e-02 5.85015194e+00] [ 3.78505128e-02 9.99283168e-01 -6.98582023e-04 -1.71332095e-01] [-3.08530354e-02 1.86739005e-03 9.99522187e-01 -1.83999981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.17, Z:-0.19 [[ 9.98870338e-01 -3.60990323e-02 3.09015765e-02 5.91069597e+00] [ 3.61378879e-02 9.99346568e-01 -6.99649253e-04 -1.71667249e-01] [-3.08561277e-02 1.81557659e-03 9.99522187e-01 -1.87921781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.783617864999999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.18, Z:-0.19 [[ 9.98923395e-01 -3.45997586e-02 3.09015646e-02 5.97170971e+00] [ 3.46379156e-02 9.99399682e-01 -7.00174428e-04 -1.75512735e-01] [-3.08587879e-02 1.76978640e-03 9.99522187e-01 -1.89668718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.18, Z:-0.19 [[ 9.98965159e-01 -3.33722354e-02 3.09015406e-02 6.03277049e+00] [ 3.34098396e-02 9.99441489e-01 -7.01229988e-04 -1.77787365e-01] [-3.08608802e-02 1.73291984e-03 9.99522187e-01 -1.91705522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903617864999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.18, Z:-0.19 [[ 9.99091786e-01 -2.93376651e-02 3.09015166e-02 6.09423077e+00] [ 2.93733779e-02 9.99568263e-01 -7.02284172e-04 -1.80333294e-01] [-3.08675719e-02 1.60932827e-03 9.99522187e-01 -1.94178725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963617865 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.18, Z:-0.20 [[ 9.99229445e-01 -2.41994597e-02 3.09014810e-02 6.15645120e+00] [ 2.42327699e-02 9.99706096e-01 -7.03847531e-04 -1.82998034e-01] [-3.08753662e-02 1.45213366e-03 9.99522187e-01 -1.96538125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.023617864999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.19, Z:-0.20 [[ 9.99288743e-01 -2.16127385e-02 3.09014328e-02 6.21850673e+00] [ 2.16448799e-02 9.99765473e-01 -7.05957144e-04 -1.85811447e-01] [-3.08789280e-02 1.37431283e-03 9.99522187e-01 -1.97682836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083617865 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.19, Z:-0.20 [[ 9.99388066e-01 -1.63889669e-02 3.09013841e-02 6.28117880e+00] [ 1.64186816e-02 9.99864954e-01 -7.08085319e-04 -1.88415593e-01] [-3.08856062e-02 1.21501200e-03 9.99522187e-01 -2.00463732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1436178649999995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.19, Z:-0.20 [[ 9.99444908e-01 -1.24492804e-02 3.09013083e-02 6.34313973e+00] [ 1.24772166e-02 9.99921903e-01 -7.11375964e-04 -1.89049731e-01] [-3.08900389e-02 1.09654340e-03 9.99522187e-01 -2.02794096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203617864999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.19, Z:-0.20 [[ 9.99464670e-01 -1.07465059e-02 3.09012459e-02 6.40594574e+00] [ 1.07737128e-02 9.99941707e-01 -7.14076464e-04 -1.91843079e-01] [-3.08917708e-02 1.04661535e-03 9.99522187e-01 -2.04766228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263617865 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.19, Z:-0.21 [[ 9.99479955e-01 -9.21616767e-03 3.09011706e-02 6.46814977e+00] [ 9.24274436e-03 9.99957028e-01 -7.17321771e-04 -1.93242446e-01] [-3.08932317e-02 1.00256035e-03 9.99522187e-01 -2.08342844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.323617864999999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.19, Z:-0.21 [[ 9.99464118e-01 -1.07984712e-02 3.09009837e-02 6.52997238e+00] [ 1.08260490e-02 9.99941134e-01 -7.25282215e-04 -1.94842831e-01] [-3.08913328e-02 1.05942911e-03 9.99522187e-01 -2.11202352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.19, Z:-0.21 [[ 9.99482630e-01 -8.92262080e-03 3.09007989e-02 6.59216198e+00] [ 8.94954388e-03 9.99959683e-01 -7.33074252e-04 -1.94386413e-01] [-3.08930121e-02 1.00924304e-03 9.99522187e-01 -2.12151861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.443617864999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.20, Z:-0.22 [[ 9.99470913e-01 -1.01507580e-02 3.09007488e-02 6.65395182e+00] [ 1.01783323e-02 9.99947929e-01 -7.35178550e-04 -1.96048319e-01] [-3.08916772e-02 1.04930767e-03 9.99522187e-01 -2.15926394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.20, Z:-0.22 [[ 9.99456649e-01 -1.14700682e-02 3.09005622e-02 6.71660793e+00] [ 1.14985118e-02 9.99933614e-01 -7.42940634e-04 -1.98595713e-01] [-3.08899893e-02 1.09784744e-03 9.99522187e-01 -2.16887395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.563617864999999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.20, Z:-0.22 [[ 9.99438993e-01 -1.29173871e-02 3.09004876e-02 6.77805658e+00] [ 1.29466167e-02 9.99915911e-01 -7.46031742e-04 -2.00305876e-01] [-3.08882524e-02 1.14566998e-03 9.99522187e-01 -2.17590678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.20, Z:-0.21 [[ 9.99464445e-01 -1.07700393e-02 3.09003025e-02 6.83989980e+00] [ 1.07984786e-02 9.99941411e-01 -7.53619113e-04 -2.01282817e-01] [-3.08903756e-02 1.08689176e-03 9.99522188e-01 -2.09037744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6836178649999995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.20, Z:-0.22 [[ 9.99446827e-01 -1.22969517e-02 3.09002445e-02 6.89961353e+00] [ 1.23261928e-02 9.99923744e-01 -7.55990897e-04 -2.04115626e-01] [-3.08885918e-02 1.13645507e-03 9.99522188e-01 -2.20197932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.743617864999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.21, Z:-0.22 [[ 9.99409178e-01 -1.50489266e-02 3.09002445e-02 6.96277122e+00] [ 1.50794808e-02 9.99886012e-01 -7.55990897e-04 -2.05683827e-01] [-3.08853454e-02 1.22150388e-03 9.99522188e-01 -2.21097054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.20, Z:-0.22 [[ 9.99342153e-01 -1.89855165e-02 3.09000370e-02 7.02577905e+00] [ 1.90182076e-02 9.99818845e-01 -7.64379330e-04 -2.04981869e-01] [-3.08799272e-02 1.35153980e-03 9.99522188e-01 -2.24492115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.863617864999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.21, Z:-0.23 [[ 9.99255173e-01 -2.31149382e-02 3.08998272e-02 7.08746909e+00] [ 2.31498577e-02 9.99731707e-01 -7.72769697e-04 -2.07895364e-01] [-3.08736745e-02 1.48752072e-03 9.99522188e-01 -2.26208944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.21, Z:-0.23 [[ 9.99216197e-01 -2.47426818e-02 3.08996970e-02 7.15076273e+00] [ 2.47785371e-02 9.99692662e-01 -7.77939500e-04 -2.11336574e-01] [-3.08709521e-02 1.54297904e-03 9.99522188e-01 -2.28010251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.983617864999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.21, Z:-0.23 [[ 9.99198248e-01 -2.54572988e-02 3.08996207e-02 7.21310648e+00] [ 2.54935879e-02 9.99674681e-01 -7.80957206e-04 -2.08526909e-01] [-3.08696874e-02 1.56807327e-03 9.99522188e-01 -2.30841011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.21, Z:-0.22 [[ 9.99200140e-01 -2.53829855e-02 3.08995702e-02 7.27384868e+00] [ 2.54193006e-02 9.99676571e-01 -7.82950775e-04 -2.12271944e-01] [-3.08697028e-02 1.56776999e-03 9.99522188e-01 -2.19881936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.21, Z:-0.24 [[ 9.99069659e-01 -3.00837791e-02 3.08995702e-02 7.33347480e+00] [ 3.01223353e-02 9.99545913e-01 -7.82950775e-04 -2.10349166e-01] [-3.08619850e-02 1.71298958e-03 9.99522188e-01 -2.35427084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.21, Z:-0.24 [[ 9.98972772e-01 -3.31454650e-02 3.08995063e-02 7.39511154e+00] [ 3.31855582e-02 9.99448899e-01 -7.85467584e-04 -2.10636430e-01] [-3.08564428e-02 1.81007809e-03 9.99522188e-01 -2.38687900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.21, Z:-0.24 [[ 9.99043614e-01 -3.09367144e-02 3.08994537e-02 7.45690027e+00] [ 3.09758184e-02 9.99519824e-01 -7.87528710e-04 -2.10426331e-01] [-3.08602530e-02 1.74391140e-03 9.99522188e-01 -2.39684232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.21, Z:-0.24 [[ 9.99120457e-01 -2.83467613e-02 3.08994015e-02 7.51802302e+00] [ 2.83846937e-02 9.99596762e-01 -7.89572415e-04 -2.11734996e-01] [-3.08645598e-02 1.66594800e-03 9.99522188e-01 -2.40607523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.21, Z:-0.24 [[ 9.99243554e-01 -2.36125479e-02 3.08993157e-02 7.58058394e+00] [ 2.36483262e-02 9.99720025e-01 -7.92916606e-04 -2.09926815e-01] [-3.08719419e-02 1.52303390e-03 9.99522188e-01 -2.40930607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.21, Z:-0.24 [[ 9.99314464e-01 -2.03920954e-02 3.08992614e-02 7.64259428e+00] [ 2.04264032e-02 9.99791043e-01 -7.95026915e-04 -2.10475717e-01] [-3.08765925e-02 1.42564267e-03 9.99522188e-01 -2.41522701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.21, Z:-0.24 [[ 9.99379408e-01 -1.69126250e-02 3.08992072e-02 7.70462388e+00] [ 1.69453380e-02 9.99856100e-01 -7.97128377e-04 -2.13067557e-01] [-3.08812792e-02 1.32023120e-03 9.99522188e-01 -2.42902517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.22, Z:-0.24 [[ 9.99409501e-01 -1.50296738e-02 3.08991523e-02 7.76658859e+00] [ 1.50615542e-02 9.99886249e-01 -7.99250816e-04 -2.15717039e-01] [-3.08836250e-02 1.26416812e-03 9.99522188e-01 -2.44925654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.22, Z:-0.25 [[ 9.99423190e-01 -1.40901661e-02 3.08990967e-02 7.82973912e+00] [ 1.41216644e-02 9.99899963e-01 -8.01392045e-04 -2.17979257e-01] [-3.08847139e-02 1.23727647e-03 9.99522188e-01 -2.47581680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643617865000001 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.22, Z:-0.25 [[ 9.99448214e-01 -1.21867882e-02 3.08990132e-02 7.89211815e+00] [ 1.22174774e-02 9.99925040e-01 -8.04600203e-04 -2.22543397e-01] [-3.08868915e-02 1.18166423e-03 9.99522188e-01 -2.50632552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.23, Z:-0.25 [[ 9.99454179e-01 -1.16875616e-02 3.08989571e-02 7.95280010e+00] [ 1.17180789e-02 9.99931016e-01 -8.06747102e-04 -2.25053988e-01] [-3.08873967e-02 1.16838318e-03 9.99522188e-01 -2.54754005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.23, Z:-0.26 [[ 9.99450411e-01 -1.20058701e-02 3.08987767e-02 8.01534198e+00] [ 1.20367509e-02 9.99927225e-01 -8.13601688e-04 -2.29181769e-01] [-3.08867600e-02 1.18507542e-03 9.99522188e-01 -2.56335651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823617865000001 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.23, Z:-0.26 [[ 9.99472932e-01 -9.95631429e-03 3.08987060e-02 8.07687908e+00] [ 9.98629990e-03 9.99949802e-01 -8.16277847e-04 -2.30713395e-01] [-3.08890278e-02 1.12441136e-03 9.99522188e-01 -2.57834715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.23, Z:-0.26 [[ 9.99469471e-01 -1.02980189e-02 3.08986641e-02 8.13928055e+00] [ 1.03282164e-02 9.99946328e-01 -8.17860823e-04 -2.34784172e-01] [-3.08885833e-02 1.13655501e-03 9.99522188e-01 -2.58620205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943617865 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.24, Z:-0.25 [[ 9.99458799e-01 -1.12865309e-02 3.08986085e-02 8.20013125e+00] [ 1.13172646e-02 9.99935622e-01 -8.19953046e-04 -2.38141734e-01] [-3.08873649e-02 1.16919701e-03 9.99522188e-01 -2.52283073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.24, Z:-0.26 [[ 9.99441276e-01 -1.27441214e-02 3.08986050e-02 8.26034556e+00] [ 1.27755546e-02 9.99918053e-01 -8.20085978e-04 -2.39869181e-01] [-3.08856217e-02 1.21437459e-03 9.99522188e-01 -2.62431273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063617865000001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.24, Z:-0.26 [[ 9.99384696e-01 -1.65984047e-02 3.08985668e-02 8.32299667e+00] [ 1.66317207e-02 9.99861346e-01 -8.21521862e-04 -2.41229761e-01] [-3.08806467e-02 1.33491271e-03 9.99522188e-01 -2.64755785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123617865 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.24, Z:-0.27 [[ 9.99321146e-01 -2.00633620e-02 3.08983535e-02 8.38510346e+00] [ 2.00985756e-02 9.99797659e-01 -8.29467185e-04 -2.43102644e-01] [-3.08754596e-02 1.44991699e-03 9.99522188e-01 -2.66256275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183617865 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.25, Z:-0.26 [[ 9.99191123e-01 -2.57371988e-02 3.08981549e-02 8.44725475e+00] [ 2.57753436e-02 9.99667410e-01 -8.36801673e-04 -2.47632541e-01] [-3.08663416e-02 1.63253536e-03 9.99522188e-01 -2.62821119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243617865000001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.25, Z:-0.26 [[ 9.99172671e-01 -2.64440774e-02 3.08979498e-02 8.50824803e+00] [ 2.64827906e-02 9.99648913e-01 -8.44308420e-04 -2.47376411e-01] [-3.08647749e-02 1.66187383e-03 9.99522188e-01 -2.63799917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.25, Z:-0.27 [[ 9.99173779e-01 -2.64022606e-02 3.08979063e-02 8.57055697e+00] [ 2.64410029e-02 9.99650018e-01 -8.45897574e-04 -2.47601666e-01] [-3.08647589e-02 1.66217030e-03 9.99522188e-01 -2.65772003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.25, Z:-0.27 [[ 9.99208970e-01 -2.50351161e-02 3.08978472e-02 8.63249903e+00] [ 2.50732730e-02 9.99685256e-01 -8.48048125e-04 -2.47902728e-01] [-3.08668914e-02 1.62208745e-03 9.99522188e-01 -2.66042327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.25, Z:-0.27 [[ 9.99265022e-01 -2.26879348e-02 3.08977880e-02 8.69482097e+00] [ 2.27250393e-02 9.99741391e-01 -8.50202412e-04 -2.47389369e-01] [-3.08705082e-02 1.55173098e-03 9.99522188e-01 -2.67355014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.25, Z:-0.27 [[ 9.99348904e-01 -1.86305932e-02 3.08977293e-02 8.75745784e+00] [ 1.86658288e-02 9.99825415e-01 -8.52328398e-04 -2.48694829e-01] [-3.08764557e-02 1.42850518e-03 9.99522188e-01 -2.68670847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.25, Z:-0.27 [[ 9.99390215e-01 -1.62644813e-02 3.08976406e-02 8.82002474e+00] [ 1.62986875e-02 9.99866802e-01 -8.55531826e-04 -2.50865898e-01] [-3.08796103e-02 1.35860112e-03 9.99522188e-01 -2.70929774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.25, Z:-0.28 [[ 9.99437046e-01 -1.30741182e-02 3.08975511e-02 8.88257350e+00] [ 1.31069023e-02 9.99913732e-01 -8.58753904e-04 -2.50473726e-01] [-3.08836581e-02 1.26324165e-03 9.99522188e-01 -2.75381479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.25, Z:-0.28 [[ 9.99467727e-01 -1.04693709e-02 3.08974921e-02 8.94460370e+00] [ 1.05009778e-02 9.99944493e-01 -8.60869610e-04 -2.52829799e-01] [-3.08867643e-02 1.18486527e-03 9.99522188e-01 -2.78076131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.26, Z:-0.28 [[ 9.99470589e-01 -1.01926257e-02 3.08974331e-02 9.00701253e+00] [ 1.02241659e-02 9.99947359e-01 -8.62983616e-04 -2.55158470e-01] [-3.08870105e-02 1.17842722e-03 9.99522188e-01 -2.80601388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.26, Z:-0.28 [[ 9.99391565e-01 -1.61818373e-02 3.08973743e-02 9.06782747e+00] [ 1.62162988e-02 9.99868133e-01 -8.65082848e-04 -2.55489702e-01] [-3.08793013e-02 1.36559756e-03 9.99522188e-01 -2.83176450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.26, Z:-0.28 [[ 9.99329414e-01 -1.96489693e-02 3.08972626e-02 9.12961319e+00] [ 1.96852065e-02 9.99805850e-01 -8.69053842e-04 -2.58923044e-01] [-3.08741879e-02 1.47669006e-03 9.99522188e-01 -2.84190307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.27, Z:-0.28 [[ 9.99341425e-01 -1.90283498e-02 3.08972054e-02 9.19033385e+00] [ 1.90643537e-02 9.99817879e-01 -8.71083017e-04 -2.66009477e-01] [-3.08750031e-02 1.45954460e-03 9.99522188e-01 -2.84354500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.26, Z:-0.29 [[ 9.99340319e-01 -1.90864199e-02 3.08971630e-02 9.25270954e+00] [ 1.91224978e-02 9.99816768e-01 -8.72585581e-04 -2.63206408e-01] [-3.08748471e-02 1.46284088e-03 9.99522188e-01 -2.90430441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.27, Z:-0.29 [[ 9.99433300e-01 -1.33584408e-02 3.08971070e-02 9.31442714e+00] [ 1.33918484e-02 9.99909943e-01 -8.74561762e-04 -2.65858502e-01] [-3.08826417e-02 1.28783552e-03 9.99522188e-01 -2.93829793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.27, Z:-0.30 [[ 9.99439275e-01 -1.29037542e-02 3.08970509e-02 9.37611298e+00] [ 1.29370059e-02 9.99915929e-01 -8.76538870e-04 -2.65786917e-01] [-3.08831428e-02 1.27576270e-03 9.99522188e-01 -2.96144923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.27, Z:-0.30 [[ 9.99456767e-01 -1.14693885e-02 3.08969813e-02 9.43663951e+00] [ 1.15020317e-02 9.99933463e-01 -8.78987187e-04 -2.69218569e-01] [-3.08848440e-02 1.23388775e-03 9.99522188e-01 -2.99223559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.27, Z:-0.30 [[ 9.99391231e-01 -1.62032644e-02 3.08969393e-02 9.49897316e+00] [ 1.62382106e-02 9.99867764e-01 -8.80459867e-04 -2.73202148e-01] [-3.08785873e-02 1.38163488e-03 9.99522188e-01 -2.98155897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.27, Z:-0.30 [[ 9.99330190e-01 -1.96102371e-02 3.08967511e-02 9.56153242e+00] [ 1.96470098e-02 9.99806585e-01 -8.87016380e-04 -2.74729261e-01] [-3.08733806e-02 1.49345102e-03 9.99522188e-01 -2.98344387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323617865000001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.28, Z:-0.30 [[ 9.99192304e-01 -2.56930794e-02 3.08966951e-02 9.62325981e+00] [ 2.57328114e-02 9.99668461e-01 -8.88960938e-04 -2.78303865e-01] [-3.08636115e-02 1.68330176e-03 9.99522188e-01 -2.98403955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.28, Z:-0.30 [[ 9.99180366e-01 -2.61532632e-02 3.08966365e-02 9.68539693e+00] [ 2.61932772e-02 9.99656500e-01 -8.90993407e-04 -2.80516026e-01] [-3.08627212e-02 1.69954728e-03 9.99522188e-01 -2.97500153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.28, Z:-0.30 [[ 9.99171994e-01 -2.64713005e-02 3.08965416e-02 9.74669768e+00] [ 2.65115671e-02 9.99648107e-01 -8.94272594e-04 -2.79911424e-01] [-3.08619968e-02 1.71264787e-03 9.99522188e-01 -3.03284398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503617865 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.28, Z:-0.30 [[ 9.99224595e-01 -2.44053190e-02 3.08964376e-02 9.80924825e+00] [ 2.44447115e-02 9.99700780e-01 -8.97851776e-04 -2.79424401e-01] [-3.08652804e-02 1.65241008e-03 9.99522188e-01 -3.04531318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.28, Z:-0.31 [[ 9.99318375e-01 -2.02039273e-02 3.08963758e-02 9.87150076e+00] [ 2.02413826e-02 9.99794717e-01 -8.99972098e-04 -2.76870203e-01] [-3.08718504e-02 1.52474402e-03 9.99522188e-01 -3.06543155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.28, Z:-0.31 [[ 9.99352482e-01 -1.84400246e-02 3.08963147e-02 9.93398808e+00] [ 1.84767037e-02 9.99828884e-01 -9.02066041e-04 -2.77175814e-01] [-3.08743937e-02 1.47234399e-03 9.99522188e-01 -3.08787938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.28, Z:-0.31 [[ 9.99403846e-01 -1.54069499e-02 3.08962541e-02 9.99514118e+00] [ 1.54422469e-02 9.99880353e-01 -9.04138319e-04 -2.77711547e-01] [-3.08786274e-02 1.38070690e-03 9.99522188e-01 -3.08984529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.28, Z:-0.31 [[ 9.99416479e-01 -1.45645496e-02 3.08962091e-02 1.00560916e+01] [ 1.45994924e-02 9.99893012e-01 -9.05672979e-04 -2.76739476e-01] [-3.08797128e-02 1.35621347e-03 9.99522188e-01 -3.10551859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.28, Z:-0.31 [[ 9.99420911e-01 -1.42572972e-02 3.08961649e-02 1.01168452e+01] [ 1.42921399e-02 9.99897451e-01 -9.07179073e-04 -2.75989726e-01] [-3.08800625e-02 1.34822604e-03 9.99522188e-01 -3.13057152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.28, Z:-0.31 [[ 9.99421020e-01 -1.42497173e-02 3.08961214e-02 1.01791017e+01] [ 1.42846020e-02 9.99897557e-01 -9.08655847e-04 -2.79035068e-01] [-3.08800082e-02 1.34946855e-03 9.99522188e-01 -3.14015673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.28, Z:-0.32 [[ 9.99434177e-01 -1.32950760e-02 3.08960585e-02 1.02413312e+01] [ 1.33295713e-02 9.99910743e-01 -9.10790992e-04 -2.80960647e-01] [-3.08811917e-02 1.32210686e-03 9.99522188e-01 -3.16984399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983617865000001 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.28, Z:-0.33 [[ 9.99385931e-01 -1.65287182e-02 3.08959960e-02 1.03037230e+01] [ 1.65648205e-02 9.99862377e-01 -9.12904899e-04 -2.75131341e-01] [-3.08766549e-02 1.42413094e-03 9.99522188e-01 -3.25361943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.28, Z:-0.33 [[ 9.99431461e-01 -1.34983550e-02 3.08957684e-02 1.03656839e+01] [ 1.35332482e-02 9.99907998e-01 -9.20542697e-04 -2.82414565e-01] [-3.08805002e-02 1.33813944e-03 9.99522188e-01 -3.25636495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.29, Z:-0.33 [[ 9.99379029e-01 -1.69415326e-02 3.08956485e-02 1.04288025e+01] [ 1.69781909e-02 9.99855433e-01 -9.24550901e-04 -2.86681563e-01] [-3.08755187e-02 1.44852900e-03 9.99522188e-01 -3.27466295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.29, Z:-0.33 [[ 9.99376557e-01 -1.70872327e-02 3.08953561e-02 1.04893991e+01] [ 1.71242588e-02 9.99852933e-01 -9.34220542e-04 -2.92555725e-01] [-3.08748492e-02 1.46269818e-03 9.99522188e-01 -3.27184192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.30, Z:-0.33 [[ 9.99354304e-01 -1.83427737e-02 3.08952846e-02 1.05516885e+01] [ 1.83804710e-02 9.99830626e-01 -9.36578949e-04 -3.01022712e-01] [-3.08728723e-02 1.50384409e-03 9.99522188e-01 -3.27529086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.30, Z:-0.33 [[ 9.99361569e-01 -1.79427828e-02 3.08951517e-02 1.06129581e+01] [ 1.79804240e-02 9.99837896e-01 -9.40942183e-04 -3.02543896e-01] [-3.08732604e-02 1.49584938e-03 9.99522188e-01 -3.29367412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.31, Z:-0.33 [[ 9.99432805e-01 -1.34000482e-02 3.08950947e-02 1.06736933e+01] [ 1.34355816e-02 9.99909294e-01 -9.42811702e-04 -3.07162121e-01] [-3.08796586e-02 1.35737051e-03 9.99522188e-01 -3.32898232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.31, Z:-0.34 [[ 9.99442014e-01 -1.26947432e-02 3.08950403e-02 1.07353821e+01] [ 1.27299953e-02 9.99918524e-01 -9.44591803e-04 -3.08658192e-01] [-3.08805317e-02 1.33735845e-03 9.99522188e-01 -3.35092742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.30, Z:-0.34 [[ 9.99364106e-01 -1.78012353e-02 3.08949759e-02 1.07971149e+01] [ 1.78389864e-02 9.99840424e-01 -9.46692762e-04 -3.03293833e-01] [-3.08731935e-02 1.49722582e-03 9.99522188e-01 -3.40755764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.523617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.31, Z:-0.34 [[ 9.99385716e-01 -1.65440048e-02 3.08947570e-02 1.08591736e+01] [ 1.65813754e-02 9.99862065e-01 -9.53783846e-04 -3.10908402e-01] [-3.08747161e-02 1.46547551e-03 9.99522188e-01 -3.37944384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.31, Z:-0.34 [[ 9.99208682e-01 -2.50504922e-02 3.08946900e-02 1.09198638e+01] [ 2.50919829e-02 9.99684690e-01 -9.55947670e-04 -3.13861246e-01] [-3.08610016e-02 1.73040025e-03 9.99522188e-01 -3.38506290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.32, Z:-0.34 [[ 9.99081713e-01 -2.96860503e-02 3.08944753e-02 1.09819241e+01] [ 2.97299613e-02 9.99557503e-01 -9.62838610e-04 -3.15145605e-01] [-3.08522217e-02 1.88044600e-03 9.99522188e-01 -3.38421257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.31, Z:-0.34 [[ 9.98947880e-01 -3.38919999e-02 3.08944096e-02 1.10440270e+01] [ 3.39379784e-02 9.99423475e-01 -9.64940583e-04 -3.13022428e-01] [-3.08438944e-02 2.01241915e-03 9.99522188e-01 -3.38088075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.31, Z:-0.34 [[ 9.98973901e-01 -3.31162172e-02 3.08943423e-02 1.11064328e+01] [ 3.31618925e-02 9.99449525e-01 -9.67089137e-04 -3.11710039e-01] [-3.08453095e-02 1.99061167e-03 9.99522188e-01 -3.39995581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823617865000001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.31, Z:-0.34 [[ 9.99104372e-01 -2.89136279e-02 3.08942747e-02 1.11677354e+01] [ 2.89573685e-02 9.99580178e-01 -9.69246277e-04 -3.09120853e-01] [-3.08532801e-02 1.86299509e-03 9.99522188e-01 -3.42216788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.31, Z:-0.34 [[ 9.99371967e-01 -1.73556888e-02 3.08942076e-02 1.12285821e+01] [ 1.73939889e-02 9.99848241e-01 -9.71378482e-04 -3.08802325e-01] [-3.08726602e-02 1.50814193e-03 9.99522188e-01 -3.35423187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.31, Z:-0.34 [[ 9.99429179e-01 -1.36698602e-02 3.08942076e-02 1.12908906e+01] [ 1.37064035e-02 9.99905591e-01 -9.71378482e-04 -3.05887545e-01] [-3.08780123e-02 1.39427247e-03 9.99522188e-01 -3.39507915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.30, Z:-0.34 [[ 9.99458883e-01 -1.12912674e-02 3.08941386e-02 1.13531954e+01] [ 1.13267444e-02 9.99935376e-01 -9.73568623e-04 -3.03573427e-01] [-3.08811493e-02 1.32297182e-03 9.99522188e-01 -3.43082205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.31, Z:-0.34 [[ 9.99492795e-01 -7.72716985e-03 3.08940694e-02 1.14159171e+01] [ 7.76101507e-03 9.99969407e-01 -9.75759669e-04 -3.07146523e-01] [-3.08855844e-02 1.21503410e-03 9.99522188e-01 -3.40365344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.30, Z:-0.35 [[ 9.99476310e-01 -9.62643961e-03 3.08939797e-02 1.14762246e+01] [ 9.66127783e-03 9.99952850e-01 -9.78591599e-04 -3.01930095e-01] [-3.08831027e-02 1.27655444e-03 9.99522188e-01 -3.48482994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.30, Z:-0.35 [[ 9.99481635e-01 -9.05676901e-03 3.08939437e-02 1.15373472e+01] [ 9.09137065e-03 9.99958193e-01 -9.79726973e-04 -3.00939584e-01] [-3.08837789e-02 1.26008741e-03 9.99522188e-01 -3.52473378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.30, Z:-0.35 [[ 9.99483006e-01 -8.90503028e-03 3.08937102e-02 1.16005106e+01] [ 8.93978512e-03 9.99959552e-01 -9.87036143e-04 -3.02328163e-01] [-3.08836710e-02 1.26270898e-03 9.99522188e-01 -3.54746621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.31, Z:-0.35 [[ 9.99491136e-01 -7.94065656e-03 3.08936076e-02 1.16623560e+01] [ 7.97505033e-03 9.99967708e-01 -9.90236219e-04 -3.07463012e-01] [-3.08847469e-02 1.23611040e-03 9.99522188e-01 -3.54313221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.31, Z:-0.36 [[ 9.99459988e-01 -1.11947467e-02 3.08935378e-02 1.17239268e+01] [ 1.12307589e-02 9.99936441e-01 -9.92408676e-04 -3.06427505e-01] [-3.08804645e-02 1.33883064e-03 9.99522188e-01 -3.63285718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.31, Z:-0.36 [[ 9.99466216e-01 -1.06243881e-02 3.08934419e-02 1.17859322e+01] [ 1.06602203e-02 9.99942683e-01 -9.95386466e-04 -3.13039389e-01] [-3.08810958e-02 1.32418604e-03 9.99522188e-01 -3.60196844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.31, Z:-0.36 [[ 9.99397311e-01 -1.58307993e-02 3.08933612e-02 1.18464909e+01] [ 1.58691901e-02 9.99873579e-01 -9.97882976e-04 -3.11993945e-01] [-3.08736584e-02 1.48753419e-03 9.99522188e-01 -3.63909988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.32, Z:-0.36 [[ 9.99434428e-01 -1.32829410e-02 3.08931578e-02 1.19076190e+01] [ 1.33203105e-02 9.99910777e-01 -1.00414132e-03 -3.19000435e-01] [-3.08770635e-02 1.41507986e-03 9.99522188e-01 -3.57735464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.32, Z:-0.36 [[ 9.99410904e-01 -1.49485564e-02 3.08931206e-02 1.19682904e+01] [ 1.49867551e-02 9.99887187e-01 -1.00528495e-03 -3.22336551e-01] [-3.08746079e-02 1.46768037e-03 9.99522188e-01 -3.61099895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.32, Z:-0.36 [[ 9.99437349e-01 -1.30615635e-02 3.08930468e-02 1.20300297e+01] [ 1.30989326e-02 9.99913698e-01 -1.00754853e-03 -3.24416621e-01] [-3.08772205e-02 1.41164757e-03 9.99522188e-01 -3.62356724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.32, Z:-0.37 [[ 9.99438962e-01 -1.29377843e-02 3.08929730e-02 1.20912751e+01] [ 1.29751641e-02 9.99915309e-01 -1.00980580e-03 -3.22997423e-01] [-3.08772920e-02 1.41008065e-03 9.99522188e-01 -3.69962740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.32, Z:-0.37 [[ 9.99457427e-01 -1.14232674e-02 3.08927415e-02 1.21536728e+01] [ 1.14601423e-02 9.99933813e-01 -1.01683952e-03 -3.24851662e-01] [-3.08790812e-02 1.37032302e-03 9.99522188e-01 -3.74571207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.33, Z:-0.38 [[ 9.99463938e-01 -1.08388374e-02 3.08926704e-02 1.22158000e+01] [ 1.08755002e-02 9.99940341e-01 -1.01899433e-03 -3.28809753e-01] [-3.08797827e-02 1.35442133e-03 9.99522188e-01 -3.76129526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.33, Z:-0.38 [[ 9.99481945e-01 -9.02724727e-03 3.08925755e-02 1.22764936e+01] [ 9.06313496e-03 9.99958407e-01 -1.02186227e-03 -3.32646203e-01] [-3.08820660e-02 1.30131647e-03 9.99522188e-01 -3.76442121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.33, Z:-0.38 [[ 9.99462597e-01 -1.09626851e-02 3.08923275e-02 1.23371311e+01] [ 1.09997250e-02 9.99938971e-01 -1.02930722e-03 -3.30826246e-01] [-3.08791582e-02 1.36856118e-03 9.99522188e-01 -3.80886278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.33, Z:-0.38 [[ 9.99431408e-01 -1.35106435e-02 3.08921206e-02 1.23987276e+01] [ 1.35490881e-02 9.99907671e-01 -1.03547857e-03 -3.31852032e-01] [-3.08752784e-02 1.45344986e-03 9.99522188e-01 -3.84504860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.33, Z:-0.39 [[ 9.99418052e-01 -1.44654610e-02 3.08918697e-02 1.24601901e+01] [ 1.45045898e-02 9.99894259e-01 -1.04291162e-03 -3.34411272e-01] [-3.08735169e-02 1.49037859e-03 9.99522188e-01 -3.85492432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.34, Z:-0.39 [[ 9.99388557e-01 -1.63773677e-02 3.08916366e-02 1.25229503e+01] [ 1.64176189e-02 9.99864671e-01 -1.04977079e-03 -3.36270116e-01] [-3.08702636e-02 1.55629603e-03 9.99522188e-01 -3.87357052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.34, Z:-0.39 [[ 9.99366227e-01 -1.76878020e-02 3.08915309e-02 1.25840398e+01] [ 1.77287731e-02 9.99842279e-01 -1.05287131e-03 -3.38540987e-01] [-3.08680357e-02 1.59987297e-03 9.99522188e-01 -3.88596653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.34, Z:-0.39 [[ 9.99393051e-01 -1.61012917e-02 3.08913966e-02 1.26466522e+01] [ 1.61416280e-02 9.99869157e-01 -1.05679827e-03 -3.41174848e-01] [-3.08703388e-02 1.55479428e-03 9.99522188e-01 -3.90248401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.34, Z:-0.39 [[ 9.99443264e-01 -1.26051395e-02 3.08912935e-02 1.27084321e+01] [ 1.26439028e-02 9.99919501e-01 -1.05980313e-03 -3.43024134e-01] [-3.08754478e-02 1.44979961e-03 9.99522188e-01 -3.92034340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.35, Z:-0.39 [[ 9.99463697e-01 -1.08650774e-02 3.08912202e-02 1.27697672e+01] [ 1.09030773e-02 9.99939996e-01 -1.06193621e-03 -3.46721033e-01] [-3.08778285e-02 1.39817605e-03 9.99522188e-01 -3.94117326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.35, Z:-0.40 [[ 9.99462843e-01 -1.09442025e-02 3.08909473e-02 1.28322081e+01] [ 1.09824831e-02 9.99939118e-01 -1.06981502e-03 -3.50057488e-01] [-3.08773583e-02 1.40849967e-03 9.99522188e-01 -3.95013486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.35, Z:-0.40 [[ 9.99455457e-01 -1.15993966e-02 3.08908379e-02 1.28932316e+01] [ 1.16380865e-02 9.99931700e-01 -1.07296373e-03 -3.51346835e-01] [-3.08762823e-02 1.43188970e-03 9.99522188e-01 -4.00619321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.35, Z:-0.40 [[ 9.99447810e-01 -1.22411571e-02 3.08906042e-02 1.29562383e+01] [ 1.22803591e-02 9.99924011e-01 -1.07965226e-03 -3.54384034e-01] [-3.08750406e-02 1.45840379e-03 9.99522188e-01 -4.01919348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.36, Z:-0.40 [[ 9.99431284e-01 -1.35235626e-02 3.08904969e-02 1.30195349e+01] [ 1.35634699e-02 9.99907426e-01 -1.08271121e-03 -3.57983082e-01] [-3.08729952e-02 1.50107778e-03 9.99522188e-01 -4.02115455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.36, Z:-0.41 [[ 9.99417703e-01 -1.44927446e-02 3.08903863e-02 1.30808159e+01] [ 1.45332106e-02 9.99893798e-01 -1.08585738e-03 -3.59175381e-01] [-3.08713687e-02 1.53416158e-03 9.99522188e-01 -4.05884754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.36, Z:-0.41 [[ 9.99457051e-01 -1.14630221e-02 3.08901504e-02 1.31433558e+01] [ 1.15022505e-02 9.99933250e-01 -1.09252883e-03 -3.60163012e-01] [-3.08755648e-02 1.44724189e-03 9.99522188e-01 -4.06803025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.36, Z:-0.41 [[ 9.99463437e-01 -1.08922353e-02 3.08900753e-02 1.32051967e+01] [ 1.09312570e-02 9.99939653e-01 -1.09464680e-03 -3.60274927e-01] [-3.08762881e-02 1.43172681e-03 9.99522188e-01 -4.11302207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.36, Z:-0.41 [[ 9.99464724e-01 -1.07737562e-02 3.08899777e-02 1.32682598e+01] [ 1.08128061e-02 9.99940938e-01 -1.09739376e-03 -3.62316870e-01] [-3.08763303e-02 1.43081369e-03 9.99522188e-01 -4.12359384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923617865 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.37, Z:-0.41 [[ 9.99479539e-01 -9.29882664e-03 3.08898524e-02 1.33300942e+01] [ 9.33728234e-03 9.99955801e-01 -1.10091205e-03 -3.67925021e-01] [-3.08782499e-02 1.38876634e-03 9.99522188e-01 -4.12730393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983617865 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.37, Z:-0.41 [[ 9.99478526e-01 -9.40770806e-03 3.08896515e-02 1.33923385e+01] [ 9.44638861e-03 9.99954770e-01 -1.10651985e-03 -3.71639602e-01] [-3.08778445e-02 1.39773848e-03 9.99522188e-01 -4.14220716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043617865 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.37, Z:-0.42 [[ 9.99445795e-01 -1.24076651e-02 3.08893709e-02 1.34551451e+01] [ 1.24480148e-02 9.99921900e-01 -1.11429902e-03 -3.74848211e-01] [-3.08731325e-02 1.49819282e-03 9.99522188e-01 -4.18981927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103617865 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.38, Z:-0.42 [[ 9.99478316e-01 -9.43167487e-03 3.08891406e-02 1.35169934e+01] [ 9.47080247e-03 9.99954523e-01 -1.12064497e-03 -3.81702187e-01] [-3.08771663e-02 1.41260530e-03 9.99522188e-01 -4.17937738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163617865 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.38, Z:-0.42 [[ 9.99494829e-01 -7.48073637e-03 3.08889307e-02 1.35790219e+01] [ 7.51911193e-03 9.99971097e-01 -1.12640132e-03 -3.84926510e-01] [-3.08796116e-02 1.35808962e-03 9.99522188e-01 -4.22708186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223617865 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.39, Z:-0.43 [[ 9.99493896e-01 -7.60544107e-03 3.08886440e-02 1.36415969e+01] [ 7.64411691e-03 9.99970140e-01 -1.13421034e-03 -3.89034053e-01] [-3.08790955e-02 1.36975272e-03 9.99522188e-01 -4.26645974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283617865 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.40, Z:-0.42 [[ 9.99505757e-01 -5.84318094e-03 3.08884992e-02 1.37028841e+01] [ 5.88113823e-03 9.99982058e-01 -1.13813919e-03 -3.98962129e-01] [-3.08812947e-02 1.31923621e-03 9.99522188e-01 -4.24609997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343617865 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.40, Z:-0.43 [[ 9.99492651e-01 -7.76904406e-03 3.08882298e-02 1.37642656e+01] [ 7.80814312e-03 9.99968860e-01 -1.14540511e-03 -3.98834004e-01] [-3.08783692e-02 1.38600371e-03 9.99522189e-01 -4.26848357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.403617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.40, Z:-0.43 [[ 9.99484984e-01 -8.70020946e-03 3.08880769e-02 1.38266009e+01] [ 8.73987888e-03 9.99961146e-01 -1.14951412e-03 -4.04537046e-01] [-3.08768757e-02 1.41888015e-03 9.99522189e-01 -4.27688556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.41, Z:-0.43 [[ 9.99467200e-01 -1.05474753e-02 3.08879755e-02 1.38884522e+01] [ 1.05881085e-02 9.99943281e-01 -1.15223138e-03 -4.08521028e-01] [-3.08740704e-02 1.47866271e-03 9.99522189e-01 -4.29513417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.41, Z:-0.43 [[ 9.99452499e-01 -1.18597915e-02 3.08876692e-02 1.39516141e+01] [ 1.19013011e-02 9.99928504e-01 -1.16038460e-03 -4.13305456e-01] [-3.08716989e-02 1.52735274e-03 9.99522189e-01 -4.31806372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.42, Z:-0.43 [[ 9.99480415e-01 -9.21194709e-03 3.08875522e-02 1.40139541e+01] [ 9.25229131e-03 9.99956520e-01 -1.16349144e-03 -4.15991630e-01] [-3.08754911e-02 1.44866754e-03 9.99522189e-01 -4.33122254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.42, Z:-0.43 [[ 9.99509176e-01 -5.23291382e-03 3.08872629e-02 1.40761552e+01] [ 5.27159769e-03 9.99985419e-01 -1.17112163e-03 -4.20562877e-01] [-3.08806841e-02 1.33337204e-03 9.99522189e-01 -4.34724846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.42, Z:-0.44 [[ 9.99521029e-01 -1.92384018e-03 3.08870724e-02 1.41386124e+01] [ 1.96110146e-03 9.99997385e-01 -1.17612318e-03 -4.23911606e-01] [-3.08847290e-02 1.23613254e-03 9.99522189e-01 -4.37136012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763617865 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.43, Z:-0.44 [[ 9.99520210e-01 2.31270616e-03 3.08869150e-02 1.42010078e+01] [-2.27733713e-03 9.99996710e-01 -1.18024302e-03 -4.28556410e-01] [-3.08895429e-02 1.10933683e-03 9.99522189e-01 -4.36528768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.823617865000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.43, Z:-0.44 [[ 9.99509312e-01 5.20945810e-03 3.08868283e-02 1.42619935e+01] [-5.17540027e-03 9.99985908e-01 -1.18250810e-03 -4.29686955e-01] [-3.08925532e-02 1.02207615e-03 9.99522189e-01 -4.40395567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.43, Z:-0.44 [[ 9.99496464e-01 7.26859180e-03 3.08866667e-02 1.43245429e+01] [-7.23538610e-03 9.99973120e-01 -1.18671284e-03 -4.33849259e-01] [-3.08944622e-02 9.62638331e-04 9.99522189e-01 -4.40282376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.943617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.44, Z:-0.44 [[ 9.99495787e-01 7.36157266e-03 3.08865607e-02 1.43876099e+01] [-7.32832635e-03 9.99972440e-01 -1.18946438e-03 -4.37391704e-01] [-3.08944658e-02 9.62517842e-04 9.99522189e-01 -4.42098507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.003617865 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.44, Z:-0.45 [[ 9.99500441e-01 6.70143266e-03 3.08862150e-02 1.44484487e+01] [-6.66759647e-03 9.99977053e-01 -1.19837492e-03 -4.39778723e-01] [-3.08935371e-02 9.91839448e-04 9.99522189e-01 -4.46562519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.063617865 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.44, Z:-0.45 [[ 9.99513576e-01 4.32079557e-03 3.08859397e-02 1.45094291e+01] [-4.28560652e-03 9.99990090e-01 -1.20543035e-03 -4.42979182e-01] [-3.08908420e-02 1.07247902e-03 9.99522189e-01 -4.49563316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.45, Z:-0.45 [[ 9.99521439e-01 1.72073265e-03 3.08857771e-02 1.45712581e+01] [-1.68417610e-03 9.99997850e-01 -1.20958036e-03 -4.46490906e-01] [-3.08877921e-02 1.15698441e-03 9.99522189e-01 -4.50841212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.45, Z:-0.45 [[ 9.99512544e-01 -4.55656581e-03 3.08854730e-02 1.46325864e+01] [ 4.59635163e-03 9.99988696e-01 -1.21729745e-03 -4.50876826e-01] [-3.08795771e-02 1.35866457e-03 9.99522189e-01 -4.51989220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243617865000001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.45, Z:-0.45 [[ 9.99494754e-01 -7.50561823e-03 3.08853127e-02 1.46956056e+01] [ 7.54693376e-03 9.99970776e-01 -1.22135110e-03 -4.53065738e-01] [-3.08752431e-02 1.45382342e-03 9.99522189e-01 -4.53922600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.303617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.46, Z:-0.45 [[ 9.99475029e-01 -9.78677211e-03 3.08850296e-02 1.47587000e+01] [ 9.82939335e-03 9.99950936e-01 -1.22846803e-03 -4.56029516e-01] [-3.08714915e-02 1.53140423e-03 9.99522189e-01 -4.53619886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.46, Z:-0.46 [[ 9.99484593e-01 -8.75697061e-03 3.08846902e-02 1.48217402e+01] [ 8.79936271e-03 9.99960520e-01 -1.23694215e-03 -4.57943568e-01] [-3.08726390e-02 1.50807021e-03 9.99522189e-01 -4.55834252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.46, Z:-0.46 [[ 9.99502242e-01 -6.43523534e-03 3.08845611e-02 1.48847585e+01] [ 6.47662093e-03 9.99978257e-01 -1.24015730e-03 -4.58677046e-01] [-3.08759089e-02 1.43956760e-03 9.99522189e-01 -4.58655566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.46, Z:-0.46 [[ 9.99522962e-01 -1.28343418e-05 3.08844288e-02 1.49462654e+01] [ 5.12618257e-05 9.99999226e-01 -1.24344343e-03 -4.59277143e-01] [-3.08843889e-02 1.24443345e-03 9.99522189e-01 -4.60074886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.46, Z:-0.46 [[ 9.99510773e-01 4.93760034e-03 3.08842112e-02 1.50087378e+01] [-4.90136612e-03 9.99987208e-01 -1.24882373e-03 -4.59117679e-01] [-3.08899824e-02 1.09683795e-03 9.99522189e-01 -4.61734524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.46, Z:-0.46 [[ 9.99476972e-01 9.59010720e-03 3.08838639e-02 1.50715632e+01] [-9.55582773e-03 9.99953552e-01 -1.25735553e-03 -4.58986159e-01] [-3.08944876e-02 9.61577011e-04 9.99522189e-01 -4.63969401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.46, Z:-0.47 [[ 9.99469166e-01 1.03728145e-02 3.08835119e-02 1.51345731e+01] [-1.03386432e-02 9.99945753e-01 -1.26594176e-03 -4.60419304e-01] [-3.08949680e-02 9.45976140e-04 9.99522189e-01 -4.66475522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.46, Z:-0.47 [[ 9.99492017e-01 7.87010031e-03 3.08831555e-02 1.51964039e+01] [-7.83446918e-03 9.99968498e-01 -1.27457792e-03 -4.62414378e-01] [-3.08922137e-02 1.03197733e-03 9.99522189e-01 -4.68725190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.46, Z:-0.47 [[ 9.99518271e-01 3.07850010e-03 3.08828242e-02 1.52590562e+01] [-3.04033899e-03 9.99994556e-01 -1.28255644e-03 -4.64474424e-01] [-3.08866044e-02 1.18804434e-03 9.99522189e-01 -4.71127007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.46, Z:-0.47 [[ 9.99517132e-01 -3.43144937e-03 3.08824749e-02 1.53218339e+01] [ 3.47296935e-03 9.99993136e-01 -1.29091160e-03 -4.63796105e-01] [-3.08778333e-02 1.39754215e-03 9.99522189e-01 -4.71276650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.47, Z:-0.47 [[ 9.99505196e-01 -5.97157245e-03 3.08821030e-02 1.53841799e+01] [ 6.01457438e-03 9.99981068e-01 -1.29974796e-03 -4.68099133e-01] [-3.08737568e-02 1.48484754e-03 9.99522189e-01 -4.72723992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.47, Z:-0.48 [[ 9.99510386e-01 -5.03057390e-03 3.08817386e-02 1.54460048e+01] [ 5.07339296e-03 9.99986274e-01 -1.30834929e-03 -4.72530703e-01] [-3.08747330e-02 1.46438390e-03 9.99522189e-01 -4.79437346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.47, Z:-0.48 [[ 9.99511975e-01 -4.70579412e-03 3.08815128e-02 1.55091297e+01] [ 4.74862222e-03 9.99987862e-01 -1.31365849e-03 -4.70756221e-01] [-3.08749561e-02 1.45966203e-03 9.99522189e-01 -4.78452925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.47, Z:-0.48 [[ 9.99519453e-01 -2.68646342e-03 3.08811510e-02 1.55710680e+01] [ 2.72859055e-03 9.99995403e-01 -1.32210950e-03 -4.73504482e-01] [-3.08774572e-02 1.40573618e-03 9.99522189e-01 -4.82453948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.47, Z:-0.48 [[ 9.99522743e-01 -8.13646048e-04 3.08808166e-02 1.56337970e+01] [ 8.55120763e-04 9.99998750e-01 -1.32987482e-03 -4.74302612e-01] [-3.08796959e-02 1.35564695e-03 9.99522189e-01 -4.84047835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.47, Z:-0.49 [[ 9.99521902e-01 1.53775711e-03 3.08804556e-02 1.56959617e+01] [-1.49714544e-03 9.99997984e-01 -1.33820398e-03 -4.72876170e-01] [-3.08824512e-02 1.29133165e-03 9.99522189e-01 -4.86809871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263617864999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.47, Z:-0.49 [[ 9.99522706e-01 8.82495622e-04 3.08801199e-02 1.57584617e+01] [-8.41334320e-04 9.99998740e-01 -1.34590651e-03 -4.71655324e-01] [-3.08812688e-02 1.31928361e-03 9.99522189e-01 -4.90894641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.47, Z:-0.49 [[ 9.99523088e-01 1.95598861e-04 3.08797407e-02 1.58217476e+01] [-1.53843861e-04 9.99999071e-01 -1.35455114e-03 -4.73981521e-01] [-3.08799770e-02 1.34915448e-03 9.99522189e-01 -4.92927350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.47, Z:-0.49 [[ 9.99510781e-01 -4.96618730e-03 3.08793583e-02 1.58843725e+01] [ 5.01066678e-03 9.99986517e-01 -1.36321245e-03 -4.74741273e-01] [-3.08721720e-02 1.51727172e-03 9.99522189e-01 -4.91118872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.443617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.48, Z:-0.49 [[ 9.99501204e-01 -6.62054655e-03 3.08789720e-02 1.59471139e+01] [ 6.66608136e-03 9.99976840e-01 -1.37190858e-03 -4.75849516e-01] [-3.08691740e-02 1.57706602e-03 9.99522189e-01 -4.94174346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.48, Z:-0.50 [[ 9.99480297e-01 -9.25468493e-03 3.08785899e-02 1.60086587e+01] [ 9.30173639e-03 9.99955785e-01 -1.38045526e-03 -4.76608148e-01] [-3.08644489e-02 1.66696234e-03 9.99522189e-01 -4.96254927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.48, Z:-0.50 [[ 9.99463274e-01 -1.09406613e-02 3.08782340e-02 1.60717855e+01] [ 1.09887586e-02 9.99938658e-01 -1.38837014e-03 -4.76905650e-01] [-3.08611502e-02 1.72693843e-03 9.99522189e-01 -4.97821920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.48, Z:-0.50 [[ 9.99482018e-01 -9.06935563e-03 3.08778523e-02 1.61332775e+01] [ 9.11682268e-03 9.99957465e-01 -1.39680922e-03 -4.79500914e-01] [-3.08638707e-02 1.67759361e-03 9.99522189e-01 -4.99829084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.48, Z:-0.50 [[ 9.99492472e-01 -7.83442746e-03 3.08774982e-02 1.61953527e+01] [ 7.88154684e-03 9.99967954e-01 -1.40459364e-03 -4.79888457e-01] [-3.08655045e-02 1.64724322e-03 9.99522189e-01 -4.99587951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743617864999997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.48, Z:-0.50 [[ 9.99523162e-01 -1.86046540e-04 3.08774039e-02 1.62573548e+01] [ 2.29589931e-04 9.99998984e-01 -1.40666302e-03 -4.81800752e-01] [-3.08771108e-02 1.41308142e-03 9.99522189e-01 -4.98568481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.48, Z:-0.50 [[ 9.99509007e-01 5.32322717e-03 3.08773042e-02 1.63192400e+01] [-5.28223973e-03 9.99985056e-01 -1.40884811e-03 -4.82152882e-01] [-3.08843424e-02 1.24505505e-03 9.99522189e-01 -5.04320248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.48, Z:-0.51 [[ 9.99441431e-01 1.27841090e-02 3.08770575e-02 1.63822547e+01] [-1.27465101e-02 9.99917760e-01 -1.41423433e-03 -4.81836547e-01] [-3.08925979e-02 1.01986966e-03 9.99522189e-01 -5.05017308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.923617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.49, Z:-0.51 [[ 9.99343744e-01 1.89397264e-02 3.08766742e-02 1.64444794e+01] [-1.89048051e-02 9.99820276e-01 -1.42255372e-03 -4.85088647e-01] [-3.08980677e-02 8.37902651e-04 9.99522190e-01 -5.10241354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.49, Z:-0.51 [[ 9.99303222e-01 2.09695851e-02 3.08763056e-02 1.65071071e+01] [-2.09353862e-02 9.99779807e-01 -1.43050963e-03 -4.89142095e-01] [-3.08995041e-02 7.83105503e-04 9.99522190e-01 -5.11515332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.49, Z:-0.51 [[ 9.99290456e-01 2.15699226e-02 3.08759135e-02 1.65698495e+01] [-2.15357503e-02 9.99767043e-01 -1.43892222e-03 -4.94663648e-01] [-3.08997582e-02 7.72965276e-04 9.99522190e-01 -5.13507681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.50, Z:-0.52 [[ 9.99293679e-01 2.14206555e-02 3.08755222e-02 1.66322149e+01] [-2.13861542e-02 9.99770243e-01 -1.44727154e-03 -5.00517513e-01] [-3.08994298e-02 7.85940626e-04 9.99522190e-01 -5.16080727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.51, Z:-0.52 [[ 9.99354518e-01 1.83649917e-02 3.08751296e-02 1.66947355e+01] [-1.83287763e-02 9.99830954e-01 -1.45559927e-03 -5.07826090e-01] [-3.08966423e-02 8.88756360e-04 9.99522190e-01 -5.20008529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.51, Z:-0.52 [[ 9.99417246e-01 1.45574599e-02 3.08747406e-02 1.67570383e+01] [-1.45191763e-02 9.99893520e-01 -1.46380401e-03 -5.14722713e-01] [-3.08927623e-02 1.01467517e-03 9.99522190e-01 -5.21944722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.53, Z:-0.52 [[ 9.99487013e-01 8.51385177e-03 3.08743531e-02 1.68192994e+01] [-8.47243831e-03 9.99963025e-01 -1.47193084e-03 -5.25810166e-01] [-3.08857433e-02 1.20959470e-03 9.99522190e-01 -5.23597751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.54, Z:-0.53 [[ 9.99512730e-01 4.59360132e-03 3.08739690e-02 1.68813297e+01] [-4.55007410e-03 9.99988553e-01 -1.47994414e-03 -5.35669156e-01] [-3.08804139e-02 1.33874416e-03 9.99522190e-01 -5.25671984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.55, Z:-0.53 [[ 9.99509318e-01 5.28641590e-03 3.08735654e-02 1.69438099e+01] [-5.24296037e-03 9.99985148e-01 -1.48831652e-03 -5.45055226e-01] [-3.08809747e-02 1.32571735e-03 9.99522190e-01 -5.28789631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.55, Z:-0.53 [[ 9.99492458e-01 7.85322475e-03 3.08731661e-02 1.70061917e+01] [-7.81073731e-03 9.99968376e-01 -1.49655411e-03 -5.52102342e-01] [-3.08839425e-02 1.25465235e-03 9.99522190e-01 -5.30324144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.56, Z:-0.53 [[ 9.99447892e-01 1.22794565e-02 3.08727528e-02 1.70689549e+01] [-1.22388156e-02 9.99923970e-01 -1.50503198e-03 -5.61673136e-01] [-3.08888865e-02 1.12635511e-03 9.99522190e-01 -5.31359737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.57, Z:-0.54 [[ 9.99385563e-01 1.65950587e-02 3.08723391e-02 1.71300221e+01] [-1.65562135e-02 9.99861791e-01 -1.51347157e-03 -5.68633749e-01] [-3.08931884e-02 1.00141260e-03 9.99522190e-01 -5.35810961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.58, Z:-0.54 [[ 9.99336391e-01 1.93310105e-02 3.08721378e-02 1.71927680e+01] [-1.92933428e-02 9.99812714e-01 -1.51756672e-03 -5.75061686e-01] [-3.08956920e-02 9.20932916e-04 9.99522190e-01 -5.36654376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.58, Z:-0.54 [[ 9.99229916e-01 2.42180086e-02 3.08717212e-02 1.72548651e+01] [-2.41824106e-02 9.99706398e-01 -1.52599314e-03 -5.78730977e-01] [-3.08996138e-02 7.78265357e-04 9.99522190e-01 -5.38158124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.58, Z:-0.54 [[ 9.99084361e-01 2.96208051e-02 3.08714634e-02 1.73172003e+01] [-2.95876235e-02 9.99561018e-01 -1.53119142e-03 -5.83419160e-01] [-3.09032665e-02 6.16376168e-04 9.99522190e-01 -5.39745248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.59, Z:-0.54 [[ 9.98978961e-01 3.29850329e-02 3.08710581e-02 1.73803063e+01] [-3.29532055e-02 9.99455710e-01 -1.53931925e-03 -5.86981401e-01] [-3.09050298e-02 5.20447224e-04 9.99522190e-01 -5.41916275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.59, Z:-0.54 [[ 9.98916807e-01 3.48168943e-02 3.08706474e-02 1.74435462e+01] [-3.47856881e-02 9.99393597e-01 -1.54751252e-03 -5.87899060e-01] [-3.09058069e-02 4.71979550e-04 9.99522190e-01 -5.44735195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.59, Z:-0.55 [[ 9.98995747e-01 3.24734715e-02 3.08702256e-02 1.75044506e+01] [-3.24408884e-02 9.99472445e-01 -1.55588202e-03 -5.91652333e-01] [-3.09044647e-02 5.52861972e-04 9.99522190e-01 -5.48215545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.59, Z:-0.55 [[ 9.99096908e-01 2.91961963e-02 3.08698870e-02 1.75670253e+01] [-2.91618429e-02 9.99573482e-01 -1.56257192e-03 -5.93404644e-01] [-3.09023416e-02 6.60937982e-04 9.99522190e-01 -5.49824594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063617864999998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.59, Z:-0.55 [[ 9.99296837e-01 2.12816498e-02 3.08694622e-02 1.76304463e+01] [-2.12432651e-02 9.99773102e-01 -1.57091961e-03 -5.90122115e-01] [-3.08958897e-02 9.14046828e-04 9.99522190e-01 -5.52446906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.60, Z:-0.55 [[ 9.99271220e-01 2.24528903e-02 3.08690165e-02 1.76931966e+01] [-2.24147950e-02 9.99747509e-01 -1.57962893e-03 -5.98787944e-01] [-3.08966896e-02 8.86555049e-04 9.99522190e-01 -5.52983212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183617865 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.60, Z:-0.55 [[ 9.99377346e-01 1.70895047e-02 3.08685771e-02 1.77553515e+01] [-1.70485902e-02 9.99853401e-01 -1.58816983e-03 -5.95309284e-01] [-3.08911928e-02 1.06091522e-03 9.99522190e-01 -5.51350420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.243617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.60, Z:-0.56 [[ 9.99332585e-01 1.95330743e-02 3.08681771e-02 1.78156054e+01] [-1.94930853e-02 9.99808718e-01 -1.59590511e-03 -6.02382439e-01] [-3.08934456e-02 9.93123964e-04 9.99522190e-01 -5.58181477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.303617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.61, Z:-0.56 [[ 9.99327181e-01 1.98081780e-02 3.08678135e-02 1.78779935e+01] [-1.97681040e-02 9.99803307e-01 -1.60290796e-03 -6.05411130e-01] [-3.08934927e-02 9.91631342e-04 9.99522190e-01 -5.60133698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.363617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.61, Z:-0.56 [[ 9.99282012e-01 2.19695642e-02 3.08674317e-02 1.79409980e+01] [-2.19302941e-02 9.99758205e-01 -1.61022786e-03 -6.07285428e-01] [-3.08953441e-02 9.32139880e-04 9.99522190e-01 -5.62432696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.61, Z:-0.56 [[ 9.99182702e-01 2.60989773e-02 3.08669877e-02 1.80025455e+01] [-2.60614142e-02 9.99659033e-01 -1.61869305e-03 -6.07825779e-01] [-3.08987093e-02 8.12932747e-04 9.99522190e-01 -5.64697668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.61, Z:-0.56 [[ 9.99112972e-01 2.86446368e-02 3.08667132e-02 1.80636982e+01] [-2.86081263e-02 9.99589385e-01 -1.62391067e-03 -6.09967616e-01] [-3.09005552e-02 7.39431380e-04 9.99522190e-01 -5.55163482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.543617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.61, Z:-0.57 [[ 9.99116687e-01 2.85148162e-02 3.08666759e-02 1.81233443e+01] [-2.84782219e-02 9.99593093e-01 -1.62462079e-03 -6.13764725e-01] [-3.09004418e-02 7.44157697e-04 9.99522190e-01 -5.67009556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.62, Z:-0.56 [[ 9.99207199e-01 2.51441660e-02 3.08665661e-02 1.81848877e+01] [-2.51059004e-02 9.99683474e-01 -1.62670390e-03 -6.16143798e-01] [-3.08976981e-02 8.50481308e-04 9.99522190e-01 -5.61364499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.62, Z:-0.57 [[ 9.99198442e-01 2.54898388e-02 3.08665079e-02 1.82450360e+01] [-2.54517039e-02 9.99674728e-01 -1.62780754e-03 -6.22659901e-01] [-3.08979604e-02 8.40897541e-04 9.99522190e-01 -5.70618940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.723617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.63, Z:-0.57 [[ 9.99236252e-01 2.39621152e-02 3.08663085e-02 1.83082385e+01] [-2.39231357e-02 9.99712469e-01 -1.63157991e-03 -6.27533564e-01] [-3.08965296e-02 8.91914911e-04 9.99522190e-01 -5.72415914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.783617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.63, Z:-0.57 [[ 9.99210813e-01 2.50009978e-02 3.08658513e-02 1.83711024e+01] [-2.49622479e-02 9.99687049e-01 -1.64018406e-03 -6.32648228e-01] [-3.08971980e-02 8.68408621e-04 9.99522190e-01 -5.73106174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.64, Z:-0.58 [[ 9.99166199e-01 2.67251372e-02 3.08653985e-02 1.84320759e+01] [-2.66869475e-02 9.99642480e-01 -1.64865992e-03 -6.35638337e-01] [-3.08984242e-02 8.23581993e-04 9.99522190e-01 -5.75599965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.64, Z:-0.58 [[ 9.99117078e-01 2.85028920e-02 3.08650352e-02 1.84942261e+01] [-2.84653407e-02 9.99593409e-01 -1.65543367e-03 -6.38676884e-01] [-3.08996704e-02 7.75388307e-04 9.99522190e-01 -5.80244617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963617865 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.64, Z:-0.58 [[ 9.99114765e-01 2.85840689e-02 3.08648120e-02 1.85565487e+01] [-2.85464281e-02 9.99591090e-01 -1.65958425e-03 -6.40911026e-01] [-3.08996288e-02 7.77034994e-04 9.99522190e-01 -5.82511588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.64, Z:-0.58 [[ 9.99235485e-01 2.39962223e-02 3.08646598e-02 1.86178537e+01] [-2.39563075e-02 9.99711624e-01 -1.66241106e-03 -6.42537401e-01] [-3.08956507e-02 9.21736842e-04 9.99522190e-01 -5.80947847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.65, Z:-0.58 [[ 9.99345528e-01 1.88656679e-02 3.08642626e-02 1.86796725e+01] [-1.88230827e-02 9.99821436e-01 -1.66975250e-03 -6.45355886e-01] [-3.08902524e-02 1.08769912e-03 9.99522190e-01 -5.83302077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.65, Z:-0.59 [[ 9.99396557e-01 1.59353750e-02 3.08639947e-02 1.87428246e+01] [-1.58912423e-02 9.99872324e-01 -1.67468927e-03 -6.48590455e-01] [-3.08867409e-02 1.18321147e-03 9.99522190e-01 -5.85148049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.65, Z:-0.59 [[ 9.99446094e-01 1.24477191e-02 3.08635730e-02 1.88053705e+01] [-1.24016879e-02 9.99921681e-01 -1.68242624e-03 -6.50731255e-01] [-3.08820981e-02 1.29873394e-03 9.99522191e-01 -5.85630031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.263617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.65, Z:-0.59 [[ 9.99454662e-01 1.17407005e-02 3.08631632e-02 1.88679249e+01] [-1.16941022e-02 9.99930194e-01 -1.68990969e-03 -6.53090699e-01] [-3.08808495e-02 1.32807113e-03 9.99522191e-01 -5.88375061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.66, Z:-0.59 [[ 9.99457386e-01 1.15068263e-02 3.08630179e-02 1.89305163e+01] [-1.14600351e-02 9.99932899e-01 -1.69255957e-03 -6.57534507e-01] [-3.08804230e-02 1.33794990e-03 9.99522191e-01 -5.89093486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.66, Z:-0.59 [[ 9.99441233e-01 1.28345218e-02 3.08625536e-02 1.89937526e+01] [-1.27881026e-02 9.99916782e-01 -1.70098349e-03 -6.59094436e-01] [-3.08818166e-02 1.30535953e-03 9.99522191e-01 -5.90674203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.443617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.66, Z:-0.59 [[ 9.99395916e-01 1.59791835e-02 3.08620889e-02 1.90569040e+01] [-1.59340022e-02 9.99871585e-01 -1.70937448e-03 -6.61839262e-01] [-3.08854401e-02 1.21658529e-03 9.99522191e-01 -5.92158271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.66, Z:-0.59 [[ 9.99384868e-01 1.66567214e-02 3.08616234e-02 1.91190646e+01] [-1.66116047e-02 9.99860542e-01 -1.71773677e-03 -6.64473254e-01] [-3.08859314e-02 1.20401905e-03 9.99522191e-01 -5.94428441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.563617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.67, Z:-0.60 [[ 9.99351224e-01 1.85665423e-02 3.08612172e-02 1.91811312e+01] [-1.85221105e-02 9.99826963e-01 -1.72500503e-03 -6.66192043e-01] [-3.08879044e-02 1.15227101e-03 9.99522191e-01 -5.97112782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.67, Z:-0.59 [[ 9.99323868e-01 1.99854646e-02 3.08607843e-02 1.92431282e+01] [-1.99414706e-02 9.99799648e-01 -1.73271424e-03 -6.68776122e-01] [-3.08892304e-02 1.11613327e-03 9.99522191e-01 -5.91812924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.67, Z:-0.60 [[ 9.99308354e-01 2.07473592e-02 3.08603485e-02 1.93036655e+01] [-2.07034896e-02 9.99784145e-01 -1.74044230e-03 -6.70151983e-01] [-3.08897967e-02 1.10032163e-03 9.99522191e-01 -6.04793017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.68, Z:-0.60 [[ 9.99376719e-01 1.71417658e-02 3.08599003e-02 1.93665295e+01] [-1.70959360e-02 9.99852325e-01 -1.74835397e-03 -6.75776977e-01] [-3.08853129e-02 1.21968538e-03 9.99522191e-01 -6.02918768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.68, Z:-0.60 [[ 9.99413286e-01 1.48587545e-02 3.08593892e-02 1.94287725e+01] [-1.48115617e-02 9.99888759e-01 -1.75732865e-03 -6.80598181e-01] [-3.08820681e-02 1.29922186e-03 9.99522191e-01 -6.04247274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.68, Z:-0.61 [[ 9.99432321e-01 1.35189300e-02 3.08589406e-02 1.94902580e+01] [-1.34708581e-02 9.99907706e-01 -1.76517054e-03 -6.83684001e-01] [-3.08799557e-02 1.34847207e-03 9.99522191e-01 -6.05947175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.69, Z:-0.61 [[ 9.99414089e-01 1.48063460e-02 3.08585487e-02 1.95511412e+01] [-1.47586762e-02 9.99889515e-01 -1.77199566e-03 -6.88842363e-01] [-3.08813761e-02 1.31552610e-03 9.99522191e-01 -6.09694186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.69, Z:-0.61 [[ 9.99376516e-01 1.71567171e-02 3.08581622e-02 1.96134293e+01] [-1.71099588e-02 9.99852032e-01 -1.77870009e-03 -6.93042939e-01] [-3.08841129e-02 1.24960922e-03 9.99522191e-01 -6.10139821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.70, Z:-0.61 [[ 9.99292331e-01 2.15090623e-02 3.08577011e-02 1.96740128e+01] [-2.14641298e-02 9.99768023e-01 -1.78666531e-03 -6.95699397e-01] [-3.08889723e-02 1.12306724e-03 9.99522191e-01 -6.10731515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.70, Z:-0.61 [[ 9.99207768e-01 2.51328495e-02 3.08573657e-02 1.97358016e+01] [-2.50894643e-02 9.99683603e-01 -1.79243897e-03 -6.97534138e-01] [-3.08926516e-02 1.01682417e-03 9.99522191e-01 -6.12145760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.70, Z:-0.61 [[ 9.99136385e-01 2.78268625e-02 3.08569354e-02 1.97978740e+01] [-2.77845328e-02 9.99612315e-01 -1.79981521e-03 -7.00086636e-01] [-3.08950559e-02 9.40915329e-04 9.99522191e-01 -6.14876892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.70, Z:-0.62 [[ 9.99108564e-01 2.88089314e-02 3.08564779e-02 1.98602876e+01] [-2.87668285e-02 9.99584515e-01 -1.80762616e-03 -7.02813250e-01] [-3.08957332e-02 9.18371765e-04 9.99522191e-01 -6.17130377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283617864999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.71, Z:-0.62 [[ 9.99116602e-01 2.85293488e-02 3.08559912e-02 1.99232647e+01] [-2.84868576e-02 9.99592518e-01 -1.81589549e-03 -7.05423427e-01] [-3.08952243e-02 9.35301103e-04 9.99522191e-01 -6.19466000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.71, Z:-0.62 [[ 9.99136480e-01 2.78250346e-02 3.08554931e-02 1.99857138e+01] [-2.77819480e-02 9.99612342e-01 -1.82431949e-03 -7.08352077e-01] [-3.08942935e-02 9.65518446e-04 9.99522191e-01 -6.20573884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.403617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.71, Z:-0.62 [[ 9.99157065e-01 2.70763591e-02 3.08549964e-02 2.00487151e+01] [-2.70326580e-02 9.99632871e-01 -1.83268287e-03 -7.11912652e-01] [-3.08932910e-02 9.97045475e-04 9.99522191e-01 -6.22764943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.72, Z:-0.63 [[ 9.99232603e-01 2.41289342e-02 3.08544771e-02 2.01116113e+01] [-2.40835614e-02 9.99708253e-01 -1.84138380e-03 -7.15757443e-01] [-3.08899061e-02 1.09688503e-03 9.99522191e-01 -6.25469201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.72, Z:-0.63 [[ 9.99302357e-01 2.10435821e-02 3.08539596e-02 2.01738157e+01] [-2.09964748e-02 9.99777838e-01 -1.85001488e-03 -7.18953644e-01] [-3.08860360e-02 1.20089984e-03 9.99522191e-01 -6.28422106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583617864999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.72, Z:-0.63 [[ 9.99320697e-01 2.01545640e-02 3.08534803e-02 2.02361306e+01] [-2.01067884e-02 9.99796112e-01 -1.85797352e-03 -7.23055249e-01] [-3.08846363e-02 1.23634699e-03 9.99522191e-01 -6.29639649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.73, Z:-0.63 [[ 9.99317134e-01 2.03309937e-02 3.08531566e-02 2.02966385e+01] [-2.02831368e-02 9.99792540e-01 -1.86333387e-03 -7.28284742e-01] [-3.08846392e-02 1.23626267e-03 9.99522191e-01 -6.32514410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.73, Z:-0.64 [[ 9.99292398e-01 2.15128245e-02 3.08529051e-02 2.03581264e+01] [-2.14654017e-02 9.99767848e-01 -1.86748961e-03 -7.31658522e-01] [-3.08859175e-02 1.20389816e-03 9.99522191e-01 -6.35589539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.74, Z:-0.64 [[ 9.99256851e-01 2.31056975e-02 3.08524329e-02 2.04198436e+01] [-2.30587932e-02 9.99732352e-01 -1.87525773e-03 -7.36620851e-01] [-3.08875045e-02 1.16244427e-03 9.99522191e-01 -6.38828578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.74, Z:-0.64 [[ 9.99212263e-01 2.49601621e-02 3.08519700e-02 2.04829994e+01] [-2.49139064e-02 9.99687827e-01 -1.88284272e-03 -7.41618865e-01] [-3.08893349e-02 1.11271644e-03 9.99522191e-01 -6.40974192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883617864999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.75, Z:-0.64 [[ 9.99120942e-01 2.83818393e-02 3.08514784e-02 2.05454187e+01] [-2.83369651e-02 9.99596639e-01 -1.89086459e-03 -7.45475803e-01] [-3.08927003e-02 1.01496515e-03 9.99522191e-01 -6.41496190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.75, Z:-0.64 [[ 9.99078984e-01 2.98228725e-02 3.08509388e-02 2.06067704e+01] [-2.97784140e-02 9.99554720e-01 -1.89962781e-03 -7.49628190e-01] [-3.08938538e-02 9.79186192e-04 9.99522191e-01 -6.44010740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.76, Z:-0.65 [[ 9.99075040e-01 2.99550412e-02 3.08506051e-02 2.06688922e+01] [-2.99104791e-02 9.99550766e-01 -1.90503101e-03 -7.55336515e-01] [-3.08938113e-02 9.80512550e-04 9.99522191e-01 -6.46512963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.76, Z:-0.65 [[ 9.99117229e-01 2.85137068e-02 3.08501467e-02 2.07320148e+01] [-2.84682303e-02 9.99592868e-01 -1.91242651e-03 -7.61992718e-01] [-3.08921170e-02 1.03248919e-03 9.99522191e-01 -6.48225771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123617864999996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.76, Z:-0.65 [[ 9.99095000e-01 2.92826270e-02 3.08497845e-02 2.07951341e+01] [-2.92373369e-02 9.99570657e-01 -1.91825087e-03 -7.64227673e-01] [-3.08927108e-02 1.01454931e-03 9.99522191e-01 -6.49631274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.77, Z:-0.65 [[ 9.99141886e-01 2.76372088e-02 3.08492591e-02 2.08577929e+01] [-2.75908760e-02 9.99617443e-01 -1.92666421e-03 -7.70052678e-01] [-3.08907051e-02 1.07385284e-03 9.99522191e-01 -6.50851757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.77, Z:-0.65 [[ 9.99193029e-01 2.57224963e-02 3.08487330e-02 2.09209183e+01] [-2.56749936e-02 9.99668470e-01 -1.93505158e-03 -7.74415824e-01] [-3.08882800e-02 1.14144902e-03 9.99522191e-01 -6.52031567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303617865 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.78, Z:-0.65 [[ 9.99218300e-01 2.47220009e-02 3.08482003e-02 2.09836053e+01] [-2.46737615e-02 9.99693667e-01 -1.94350664e-03 -7.78429020e-01] [-3.08867978e-02 1.18084626e-03 9.99522192e-01 -6.53559014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363617865 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.78, Z:-0.66 [[ 9.99240584e-01 2.38049906e-02 3.08476660e-02 2.10461771e+01] [-2.37560547e-02 9.99715880e-01 -1.95195050e-03 -7.81069406e-01] [-3.08853677e-02 1.21764932e-03 9.99522192e-01 -6.55236317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423617864999997 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.78, Z:-0.66 [[ 9.99222646e-01 2.45470656e-02 3.08471342e-02 2.11074423e+01] [-2.44982249e-02 9.99697951e-01 -1.96031770e-03 -7.83462830e-01] [-3.08859369e-02 1.20309381e-03 9.99522192e-01 -6.55123482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483617865 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.79, Z:-0.66 [[ 9.99256713e-01 2.31190758e-02 3.08468827e-02 2.11696934e+01] [-2.30694341e-02 9.99731936e-01 -1.96426746e-03 -7.85613040e-01] [-3.08840258e-02 1.25118732e-03 9.99522192e-01 -6.57767400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543617864999998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.79, Z:-0.66 [[ 9.99264464e-01 2.27822449e-02 3.08464126e-02 2.12314368e+01] [-2.27322163e-02 9.99739646e-01 -1.97162201e-03 -7.88345801e-01] [-3.08832996e-02 1.26896449e-03 9.99522192e-01 -6.59461192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603617864999997 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.79, Z:-0.66 [[ 9.99240093e-01 2.38278538e-02 3.08459164e-02 2.12941466e+01] [-2.37780841e-02 9.99715302e-01 -1.97935605e-03 -7.88865168e-01] [-3.08842984e-02 1.24439513e-03 9.99522192e-01 -6.59792547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.663617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.79, Z:-0.66 [[ 9.99204482e-01 2.52777684e-02 3.08453783e-02 2.13567313e+01] [-2.52284310e-02 9.99679736e-01 -1.98770603e-03 -7.90913246e-01] [-3.08857444e-02 1.20794427e-03 9.99522192e-01 -6.59586646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.79, Z:-0.66 [[ 9.99158676e-01 2.70284299e-02 3.08448243e-02 2.14182976e+01] [-2.69796613e-02 9.99633989e-01 -1.99626598e-03 -7.91835781e-01] [-3.08874907e-02 1.16240356e-03 9.99522192e-01 -6.61065887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.80, Z:-0.66 [[ 9.99126169e-01 2.82050970e-02 3.08443110e-02 2.14811182e+01] [-2.81566447e-02 9.99601514e-01 -2.00416546e-03 -7.95091867e-01] [-3.08885476e-02 1.13394185e-03 9.99522192e-01 -6.61726533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.80, Z:-0.66 [[ 9.99070467e-01 3.01141864e-02 3.08437489e-02 2.15431146e+01] [-3.00663769e-02 9.99545878e-01 -2.01277911e-03 -7.98127539e-01] [-3.08903553e-02 1.08354839e-03 9.99522192e-01 -6.60707493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.80, Z:-0.67 [[ 9.98965164e-01 3.34259683e-02 3.08432466e-02 2.16047488e+01] [-3.33794985e-02 9.99440707e-01 -2.02044700e-03 -8.00754866e-01] [-3.08935316e-02 9.88824061e-04 9.99522192e-01 -6.68372605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.80, Z:-0.67 [[ 9.98996013e-01 3.24911092e-02 3.08430494e-02 2.16658644e+01] [-3.24441018e-02 9.99471503e-01 -2.02345226e-03 -8.02402099e-01] [-3.08924932e-02 1.02074570e-03 9.99522192e-01 -6.68575919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.80, Z:-0.68 [[ 9.99082626e-01 2.97093364e-02 3.08425358e-02 2.17272900e+01] [-2.96607648e-02 9.99557959e-01 -2.03125126e-03 -8.03798722e-01] [-3.08892493e-02 1.11457464e-03 9.99522192e-01 -6.76937400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.81, Z:-0.67 [[ 9.98972785e-01 3.31985676e-02 3.08420263e-02 2.17881894e+01] [-3.31514187e-02 9.99448261e-01 -2.03895891e-03 -8.10512960e-01] [-3.08927000e-02 1.01440754e-03 9.99522192e-01 -6.72266768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.81, Z:-0.67 [[ 9.98927225e-01 3.45427007e-02 3.08415512e-02 2.18512946e+01] [-3.44959708e-02 9.99402742e-01 -2.04611950e-03 -8.13772931e-01] [-3.08938093e-02 9.80015228e-04 9.99522192e-01 -6.73654524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.82, Z:-0.67 [[ 9.98953474e-01 3.37755818e-02 3.08409969e-02 2.19133064e+01] [-3.37282301e-02 9.99428930e-01 -2.05443998e-03 -8.19955456e-01] [-3.08927745e-02 1.01207772e-03 9.99522192e-01 -6.73246531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.82, Z:-0.67 [[ 9.99006662e-01 3.21644623e-02 3.08405103e-02 2.19756887e+01] [-3.21161193e-02 9.99482018e-01 -2.06171896e-03 -8.24706892e-01] [-3.08908496e-02 1.06919347e-03 9.99522192e-01 -6.74373363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.83, Z:-0.68 [[ 9.99051418e-01 3.07434164e-02 3.08400188e-02 2.20384544e+01] [-3.06941715e-02 9.99526681e-01 -2.06904498e-03 -8.28444385e-01] [-3.08890312e-02 1.12047349e-03 9.99522192e-01 -6.75985738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.83, Z:-0.68 [[ 9.99011760e-01 3.20067586e-02 3.08394415e-02 2.21009808e+01] [-3.19578505e-02 9.99487058e-01 -2.07761479e-03 -8.32803684e-01] [-3.08901204e-02 1.08999935e-03 9.99522192e-01 -6.78089023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.84, Z:-0.68 [[ 9.98976791e-01 3.30807410e-02 3.08388670e-02 2.21629939e+01] [-3.30320821e-02 9.99452115e-01 -2.08610766e-03 -8.35561903e-01] [-3.08909808e-02 1.06530115e-03 9.99522192e-01 -6.82819852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.84, Z:-0.69 [[ 9.98995488e-01 3.25117082e-02 3.08383344e-02 2.22250246e+01] [-3.24625367e-02 9.99470759e-01 -2.09395090e-03 -8.41076799e-01] [-3.08900915e-02 1.09075694e-03 9.99522192e-01 -6.89878899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.85, Z:-0.69 [[ 9.99067622e-01 3.02141802e-02 3.08381225e-02 2.22854947e+01] [-3.01638197e-02 9.99542769e-01 -2.09706735e-03 -8.47963257e-01] [-3.08873835e-02 1.16491652e-03 9.99522192e-01 -6.85885601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623617864999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.85, Z:-0.69 [[ 9.99092334e-01 2.93862648e-02 3.08375701e-02 2.23461852e+01] [-2.93352613e-02 9.99567412e-01 -2.10516002e-03 -8.52501226e-01] [-3.08860929e-02 1.19862107e-03 9.99522192e-01 -6.86882074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.86, Z:-0.69 [[ 9.99045394e-01 3.09414368e-02 3.08371099e-02 2.24084346e+01] [-3.08909657e-02 9.99520529e-01 -2.11187969e-03 -8.57660306e-01] [-3.08876690e-02 1.15727558e-03 9.99522192e-01 -6.88819580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.86, Z:-0.69 [[ 9.98937160e-01 3.42586804e-02 3.08365456e-02 2.24707546e+01] [-3.42095343e-02 9.99412434e-01 -2.12008660e-03 -8.63465300e-01] [-3.08910585e-02 1.06292943e-03 9.99522192e-01 -6.91166603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.87, Z:-0.69 [[ 9.98790546e-01 3.82960446e-02 3.08359874e-02 2.25339441e+01] [-3.82485704e-02 9.99265989e-01 -2.12817471e-03 -8.65823398e-01] [-3.08948541e-02 9.46168345e-04 9.99522192e-01 -6.94789603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.87, Z:-0.70 [[ 9.98702160e-01 4.05360752e-02 3.08354095e-02 2.25968443e+01] [-4.04894102e-02 9.99177683e-01 -2.13651516e-03 -8.72190820e-01] [-3.08966590e-02 8.85234760e-04 9.99522192e-01 -6.97621273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923617864999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.88, Z:-0.70 [[ 9.98675893e-01 4.11785706e-02 3.08348300e-02 2.26586478e+01] [-4.11319545e-02 9.99151421e-01 -2.14484667e-03 -8.78319973e-01] [-3.08969859e-02 8.73709838e-04 9.99522192e-01 -7.00598422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.88, Z:-0.70 [[ 9.98661158e-01 4.15347784e-02 3.08342927e-02 2.27209147e+01] [-4.14880945e-02 9.99136680e-01 -2.15254290e-03 -8.83027768e-01] [-3.08970782e-02 8.70404931e-04 9.99522192e-01 -7.00897165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.89, Z:-0.71 [[ 9.98583944e-01 4.33518801e-02 3.08337575e-02 2.27817942e+01] [-4.33058258e-02 9.99059527e-01 -2.16018255e-03 -8.88315116e-01] [-3.08984072e-02 8.21842282e-04 9.99522192e-01 -7.08861172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.90, Z:-0.71 [[ 9.98619100e-01 4.25345739e-02 3.08334715e-02 2.28431213e+01] [-4.24880046e-02 9.99094633e-01 -2.16425657e-03 -8.97330965e-01] [-3.08976116e-02 8.51215271e-04 9.99522192e-01 -7.05382154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.90, Z:-0.71 [[ 9.98672138e-01 4.12709615e-02 3.08329244e-02 2.29041048e+01] [-4.12235509e-02 9.99147587e-01 -2.17202373e-03 -9.04102230e-01] [-3.08962835e-02 8.98096949e-04 9.99522192e-01 -7.09297539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.91, Z:-0.71 [[ 9.98810134e-01 3.77846138e-02 3.08324239e-02 2.29652010e+01] [-3.77353255e-02 9.99285393e-01 -2.17910494e-03 -9.11154373e-01] [-3.08927275e-02 1.01304054e-03 9.99522192e-01 -7.10431563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.92, Z:-0.71 [[ 9.98926041e-01 3.45855443e-02 3.08318870e-02 2.30273012e+01] [-3.45345008e-02 9.99401114e-01 -2.18667551e-03 -9.20322757e-01] [-3.08890496e-02 1.11956328e-03 9.99522192e-01 -7.05779511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.343617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.92, Z:-0.71 [[ 9.98907659e-01 3.51129222e-02 3.08313257e-02 2.30891863e+01] [-3.50618864e-02 9.99382734e-01 -2.19456145e-03 -9.22948340e-01] [-3.08893520e-02 1.11115981e-03 9.99522192e-01 -7.09592174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.403617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.93, Z:-0.72 [[ 9.98791968e-01 3.82631378e-02 3.08307670e-02 2.31516215e+01] [-3.82133595e-02 9.99267176e-01 -2.20238179e-03 -9.25557942e-01] [-3.08924435e-02 1.02157406e-03 9.99522193e-01 -7.15018530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.93, Z:-0.72 [[ 9.98566083e-01 4.37639208e-02 3.08301292e-02 2.32131020e+01] [-4.37164863e-02 9.99041530e-01 -2.21127391e-03 -9.33098680e-01] [-3.08973535e-02 8.60318202e-04 9.99522193e-01 -7.19581588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.93, Z:-0.72 [[ 9.98697002e-01 4.06674003e-02 3.08295363e-02 2.32765685e+01] [-4.06182379e-02 9.99172274e-01 -2.21950945e-03 -9.31873009e-01] [-3.08942796e-02 9.64375995e-04 9.99522193e-01 -7.20934163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.94, Z:-0.72 [[ 9.98669787e-01 4.13307843e-02 3.08289200e-02 2.33392995e+01] [-4.12816746e-02 9.99145064e-01 -2.22803731e-03 -9.38197400e-01] [-3.08946498e-02 9.52404105e-04 9.99522193e-01 -7.19140045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.94, Z:-0.72 [[ 9.98734935e-01 3.97259137e-02 3.08282615e-02 2.34014209e+01] [-3.96757604e-02 9.99210103e-01 -2.23711169e-03 -9.43483701e-01] [-3.08927817e-02 1.01114687e-03 9.99522193e-01 -7.21427324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.95, Z:-0.73 [[ 9.98652537e-01 4.17464739e-02 3.08276095e-02 2.34635358e+01] [-4.16970062e-02 9.99127777e-01 -2.24606016e-03 -9.49973248e-01] [-3.08944861e-02 9.57614647e-04 9.99522193e-01 -7.27033035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.95, Z:-0.73 [[ 9.98779952e-01 3.85782685e-02 3.08273352e-02 2.35257681e+01] [-3.85271776e-02 9.99255020e-01 -2.24981911e-03 -9.51110808e-01] [-3.08911636e-02 1.05938401e-03 9.99522193e-01 -7.30067101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.96, Z:-0.73 [[ 9.98715975e-01 4.02008982e-02 3.08267470e-02 2.35877009e+01] [-4.01503315e-02 9.99191099e-01 -2.25785022e-03 -9.59726947e-01] [-3.08925788e-02 1.01724697e-03 9.99522193e-01 -7.28133156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.96, Z:-0.73 [[ 9.98720921e-01 4.00782883e-02 3.08261700e-02 2.36504295e+01] [-4.00274212e-02 9.99196013e-01 -2.26570053e-03 -9.63232187e-01] [-3.08921916e-02 1.02891043e-03 9.99522193e-01 -7.30587613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.96, Z:-0.74 [[ 9.98755418e-01 3.92096749e-02 3.08255898e-02 2.37136303e+01] [-3.91581521e-02 9.99230439e-01 -2.27356744e-03 -9.63657781e-01] [-3.08910134e-02 1.06366467e-03 9.99522193e-01 -7.36072316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.003617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.97, Z:-0.74 [[ 9.98715675e-01 4.02096791e-02 3.08250120e-02 2.37756655e+01] [-4.01583913e-02 9.99190722e-01 -2.28137462e-03 -9.71896020e-01] [-3.08917993e-02 1.04056170e-03 9.99522193e-01 -7.36102891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.98, Z:-0.74 [[ 9.98867578e-01 3.62411204e-02 3.08243801e-02 2.38388292e+01] [-3.61876833e-02 9.99342388e-01 -2.28988082e-03 -9.75619599e-01] [-3.08870974e-02 1.17182480e-03 9.99522193e-01 -7.37258595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123617864999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.98, Z:-0.74 [[ 9.98790716e-01 3.83014932e-02 3.08237189e-02 2.39000580e+01] [-3.82487624e-02 9.99265604e-01 -2.29874668e-03 -9.83739577e-01] [-3.08891275e-02 1.11699774e-03 9.99522193e-01 -7.38577600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.99, Z:-0.74 [[ 9.98678935e-01 4.11135171e-02 3.08230985e-02 2.39628263e+01] [-4.10618681e-02 9.99153942e-01 -2.30703489e-03 -9.88006966e-01] [-3.08918707e-02 1.03833314e-03 9.99522193e-01 -7.42764239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.99, Z:-0.75 [[ 9.98471991e-01 4.58656588e-02 3.08224719e-02 2.40241690e+01] [-4.58160137e-02 9.98947212e-01 -2.31537578e-03 -9.93337180e-01] [-3.08962186e-02 8.99675073e-04 9.99522193e-01 -7.48428795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.00, Z:-0.75 [[ 9.98331301e-01 4.88325925e-02 3.08219210e-02 2.40864613e+01] [-4.87841342e-02 9.98806645e-01 -2.32268646e-03 -1.00194238e+00] [-3.08985623e-02 8.15189868e-04 9.99522193e-01 -7.50697454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.01, Z:-0.75 [[ 9.98199582e-01 5.14550487e-02 3.08216247e-02 2.41482698e+01] [-5.14077182e-02 9.98675039e-01 -2.32661225e-03 -1.00628668e+00] [-3.09005032e-02 7.37953983e-04 9.99522193e-01 -7.50767306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.01, Z:-0.75 [[ 9.97959091e-01 5.59260128e-02 3.08209890e-02 2.42111796e+01] [-5.58805535e-02 9.98434731e-01 -2.33500327e-03 -1.01200383e+00] [-3.09033333e-02 6.07943820e-04 9.99522193e-01 -7.50450633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.02, Z:-0.75 [[ 9.97883092e-01 5.72663863e-02 3.08203710e-02 2.42734861e+01] [-5.72213150e-02 9.98358769e-01 -2.34313171e-03 -1.01743807e+00] [-3.09039703e-02 5.74589362e-04 9.99522193e-01 -7.51252174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.02, Z:-0.75 [[ 9.97977153e-01 5.56034705e-02 3.08197255e-02 2.43358559e+01] [-5.55573454e-02 9.98452729e-01 -2.35159206e-03 -1.02353235e+00] [-3.09027957e-02 6.34573018e-04 9.99522193e-01 -7.53568417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.03, Z:-0.76 [[ 9.98167324e-01 5.20785747e-02 3.08190853e-02 2.43982959e+01] [-5.20305124e-02 9.98642707e-01 -2.35995166e-03 -1.02686989e+00] [-3.09001577e-02 7.52093828e-04 9.99522193e-01 -7.55941439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.03, Z:-0.76 [[ 9.98356192e-01 4.83232569e-02 3.08184471e-02 2.44613233e+01] [-4.82731504e-02 9.98831364e-01 -2.36825732e-03 -1.03285441e+00] [-3.08968735e-02 8.76660825e-04 9.99522193e-01 -7.58380290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.04, Z:-0.76 [[ 9.98421363e-01 4.69579075e-02 3.08178159e-02 2.45244321e+01] [-4.69068988e-02 9.98896439e-01 -2.37644313e-03 -1.03717854e+00] [-3.08953993e-02 9.27123419e-04 9.99522193e-01 -7.59611757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.04, Z:-0.77 [[ 9.98518778e-01 4.48391891e-02 3.08171663e-02 2.45851186e+01] [-4.47869136e-02 9.98993716e-01 -2.38483679e-03 -1.03942951e+00] [-3.08930896e-02 1.00109856e-03 9.99522193e-01 -7.65250409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.04, Z:-0.77 [[ 9.98521341e-01 4.47824665e-02 3.08165897e-02 2.46484373e+01] [-4.47299351e-02 9.98996251e-01 -2.39226471e-03 -1.04147028e+00] [-3.08927891e-02 1.01030331e-03 9.99522193e-01 -7.67432114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903617864999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.05, Z:-0.77 [[ 9.98637178e-01 4.21205698e-02 3.08162937e-02 2.47111752e+01] [-4.20666552e-02 9.99111933e-01 -2.39607141e-03 -1.04660887e+00] [-3.08898507e-02 1.09646759e-03 9.99522193e-01 -7.65556906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.04, Z:-0.76 [[ 9.98749821e-01 3.93598000e-02 3.08156151e-02 2.47735678e+01] [-3.93043053e-02 9.99224394e-01 -2.40476781e-03 -1.04296237e+00] [-3.08863655e-02 1.19057507e-03 9.99522193e-01 -7.64642491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.05, Z:-0.77 [[ 9.98548535e-01 4.41730576e-02 3.08150142e-02 2.48346501e+01] [-4.41196143e-02 9.99023343e-01 -2.41244259e-03 -1.04660205e+00] [-3.08914835e-02 1.04939447e-03 9.99522193e-01 -7.69117561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.05, Z:-0.77 [[ 9.98535930e-01 4.44574595e-02 3.08144668e-02 2.48963400e+01] [-4.44039365e-02 9.99010729e-01 -2.41941475e-03 -1.05152187e+00] [-3.08915440e-02 1.04758893e-03 9.99522193e-01 -7.70723327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.05, Z:-0.77 [[ 9.98565785e-01 4.37821687e-02 3.08138818e-02 2.49587354e+01] [-4.37280958e-02 9.99040522e-01 -2.42684202e-03 -1.05008048e+00] [-3.08905690e-02 1.07592903e-03 9.99522193e-01 -7.70685865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.06, Z:-0.77 [[ 9.98442216e-01 4.65154041e-02 3.08132938e-02 2.50207368e+01] [-4.64624014e-02 9.98917073e-01 -2.43428547e-03 -1.05563409e+00] [-3.08931570e-02 9.98833755e-04 9.99522193e-01 -7.73812407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.06, Z:-0.77 [[ 9.98343793e-01 4.85823849e-02 3.08127010e-02 2.50830458e+01] [-4.85301347e-02 9.98818734e-01 -2.44176658e-03 -1.05895808e+00] [-3.08949298e-02 9.42377978e-04 9.99522193e-01 -7.73807915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323617865 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.06, Z:-0.78 [[ 9.98201881e-01 5.14161460e-02 3.08120748e-02 2.51446924e+01] [-5.13650013e-02 9.98676943e-01 -2.44964215e-03 -1.06145444e+00] [-3.08972598e-02 8.62575137e-04 9.99522193e-01 -7.77728144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383617864999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.06, Z:-0.78 [[ 9.98079413e-01 5.37413010e-02 3.08116620e-02 2.52078508e+01] [-5.36911032e-02 9.98554575e-01 -2.45482370e-03 -1.06441492e+00] [-3.08990515e-02 7.95796871e-04 9.99522194e-01 -7.80846174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.06, Z:-0.78 [[ 9.98242443e-01 5.06231863e-02 3.08110036e-02 2.52711251e+01] [-5.05712504e-02 9.98717418e-01 -2.46305991e-03 -1.06401203e+00] [-3.08961739e-02 9.00579962e-04 9.99522194e-01 -7.81243084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.07, Z:-0.79 [[ 9.98174390e-01 5.19481792e-02 3.08102845e-02 2.53326884e+01] [-5.18965974e-02 9.98649404e-01 -2.47202259e-03 -1.07272887e+00] [-3.08970893e-02 8.68560710e-04 9.99522194e-01 -7.85514105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.08, Z:-0.78 [[ 9.98415868e-01 4.70799411e-02 3.08096279e-02 2.53945902e+01] [-4.70257921e-02 9.98890596e-01 -2.48017905e-03 -1.07577428e+00] [-3.08922143e-02 1.02740296e-03 9.99522194e-01 -7.84240645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623617864999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.08, Z:-0.79 [[ 9.98724396e-01 4.00048438e-02 3.08089879e-02 2.54572251e+01] [-3.99470886e-02 9.99198699e-01 -2.48810350e-03 -1.07962749e+00] [-3.08838368e-02 1.25420029e-03 9.99522194e-01 -7.86795063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.09, Z:-0.79 [[ 9.98874080e-01 3.60752475e-02 3.08082663e-02 2.55186535e+01] [-3.60153526e-02 9.99348117e-01 -2.49700709e-03 -1.08735139e+00] [-3.08782631e-02 1.38462509e-03 9.99522194e-01 -7.89701127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743617864999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.09, Z:-0.79 [[ 9.98985586e-01 3.28434128e-02 3.08076032e-02 2.55809128e+01] [-3.27817337e-02 9.99459395e-01 -2.50516109e-03 -1.09181726e+00] [-3.08732265e-02 1.49269318e-03 9.99522194e-01 -7.92839549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.10, Z:-0.79 [[ 9.98992161e-01 3.26433915e-02 3.08069888e-02 2.56426727e+01] [-3.25813858e-02 9.99465927e-01 -2.51269400e-03 -1.09828427e+00] [-3.08725585e-02 1.50642722e-03 9.99522194e-01 -7.94343109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.11, Z:-0.79 [[ 9.98967164e-01 3.34001885e-02 3.08063654e-02 2.57043998e+01] [-3.33383073e-02 9.99440946e-01 -2.52031486e-03 -1.10518297e+00] [-3.08733219e-02 1.49067971e-03 9.99522194e-01 -7.94943507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923617864999997 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:-1.11, Z:-0.79 [[ 9.98965412e-01 3.34531197e-02 3.08057484e-02 2.57664689e+01] [-3.33910323e-02 9.99439167e-01 -2.52783411e-03 -1.11487047e+00] [-3.08730354e-02 1.49658310e-03 9.99522194e-01 -7.94426682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.12, Z:-0.80 [[ 9.98912444e-01 3.49997464e-02 3.08049981e-02 2.58282876e+01] [-3.49381122e-02 9.99386258e-01 -2.53694472e-03 -1.12175463e+00] [-3.08748841e-02 1.45791717e-03 9.99522194e-01 -7.97847966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.13, Z:-0.80 [[ 9.98830070e-01 3.72771179e-02 3.08043447e-02 2.58910832e+01] [-3.72163207e-02 9.99303992e-01 -2.54485320e-03 -1.12837516e+00] [-3.08777694e-02 1.39545153e-03 9.99522194e-01 -8.01926683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.14, Z:-0.80 [[ 9.98540453e-01 4.43633093e-02 3.08035900e-02 2.59515224e+01] [-4.43055959e-02 9.99014760e-01 -2.55395634e-03 -1.14042184e+00] [-3.08865430e-02 1.18545731e-03 9.99522194e-01 -8.04687690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.15, Z:-0.81 [[ 9.98343724e-01 4.85898143e-02 3.08032308e-02 2.60140818e+01] [-4.85339760e-02 9.98818256e-01 -2.55828031e-03 -1.14735177e+00] [-3.08911357e-02 1.05903983e-03 9.99522194e-01 -8.05755445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223617864999998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.15, Z:-0.81 [[ 9.98205967e-01 5.13424975e-02 3.08025268e-02 2.60758440e+01] [-5.12877074e-02 9.98680621e-01 -2.56672985e-03 -1.15315776e+00] [-3.08936689e-02 9.82334076e-04 9.99522194e-01 -8.08382996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283617864999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.16, Z:-0.81 [[ 9.98194935e-01 5.15569285e-02 3.08018725e-02 2.61385654e+01] [-5.15019990e-02 9.98669573e-01 -2.57455723e-03 -1.15671478e+00] [-3.08936291e-02 9.83551981e-04 9.99522194e-01 -8.10191767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.17, Z:-0.81 [[ 9.97872489e-01 5.74611679e-02 3.08011341e-02 2.62000290e+01] [-5.74087757e-02 9.98347414e-01 -2.58336161e-03 -1.16800142e+00] [-3.08986755e-02 8.09610082e-04 9.99522194e-01 -8.11462790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.17, Z:-0.81 [[ 9.97736906e-01 5.97695480e-02 3.08004502e-02 2.62621476e+01] [-5.97180039e-02 9.98211923e-01 -2.59148990e-03 -1.17378399e+00] [-3.09002688e-02 7.46283709e-04 9.99522194e-01 -8.13886383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463617864999996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.18, Z:-0.81 [[ 9.97522313e-01 6.32503958e-02 3.07997281e-02 2.63232908e+01] [-6.32002454e-02 9.97997479e-01 -2.60004356e-03 -1.18058774e+00] [-3.09025048e-02 6.47051094e-04 9.99522194e-01 -8.14995820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.19, Z:-0.82 [[ 9.97381054e-01 6.54404397e-02 3.07990584e-02 2.63847454e+01] [-6.53910885e-02 9.97856304e-01 -2.60795208e-03 -1.18890818e+00] [-3.09037001e-02 5.87138034e-04 9.99522194e-01 -8.15634641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.20, Z:-0.82 [[ 9.97218145e-01 6.78780483e-02 3.07984001e-02 2.64475821e+01] [-6.78296196e-02 9.97693490e-01 -2.61570312e-03 -1.19649935e+00] [-3.09049122e-02 5.19382849e-04 9.99522194e-01 -8.17572201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.20, Z:-0.82 [[ 9.97045534e-01 7.03683476e-02 3.07976962e-02 2.65095319e+01] [-7.03208510e-02 9.97520974e-01 -2.62396546e-03 -1.20435471e+00] [-3.09059920e-02 4.50492844e-04 9.99522194e-01 -8.20316930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.21, Z:-0.82 [[ 9.96755797e-01 7.43601136e-02 3.07969999e-02 2.65720153e+01] [-7.43142695e-02 9.97231398e-01 -2.63211287e-03 -1.20845639e+00] [-3.09074594e-02 3.34917215e-04 9.99522194e-01 -8.20918338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.21, Z:-0.82 [[ 9.96647378e-01 7.57996903e-02 3.07962678e-02 2.66333236e+01] [-7.57542694e-02 9.97123020e-01 -2.64065011e-03 -1.21249627e+00] [-3.09078280e-02 2.98848242e-04 9.99522194e-01 -8.22567326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.22, Z:-0.82 [[ 9.96530852e-01 7.73168297e-02 3.07955891e-02 2.66962707e+01] [-7.72718890e-02 9.97006540e-01 -2.64854201e-03 -1.21559830e+00] [-3.09081806e-02 2.59720481e-04 9.99522194e-01 -8.23947970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.22, Z:-0.83 [[ 9.96535815e-01 7.72531314e-02 3.07948601e-02 2.67582951e+01] [-7.72078993e-02 9.97011475e-01 -2.65699147e-03 -1.21732841e+00] [-3.09080898e-02 2.70180707e-04 9.99522194e-01 -8.29987623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943617864999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.22, Z:-0.83 [[ 9.96850023e-01 7.30872608e-02 3.07942277e-02 2.68189883e+01] [-7.30398152e-02 9.97325467e-01 -2.66430028e-03 -1.22264261e+00] [-3.09065939e-02 4.06703099e-04 9.99522194e-01 -8.32534942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.23, Z:-0.83 [[ 9.97481982e-01 6.38860927e-02 3.07938747e-02 2.68817028e+01] [-6.38341364e-02 9.97956954e-01 -2.66837385e-03 -1.22743983e+00] [-3.09014334e-02 6.95954435e-04 9.99522194e-01 -8.33725248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.23, Z:-0.83 [[ 9.98057461e-01 5.41579771e-02 3.07931348e-02 2.69445326e+01] [-5.41011302e-02 9.98531873e-01 -2.67688563e-03 -1.22554927e+00] [-3.08929013e-02 1.00574229e-03 9.99522194e-01 -8.31876288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123617864999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.24, Z:-0.84 [[ 9.98175860e-01 5.19305063e-02 3.07924604e-02 2.70046276e+01] [-5.18723625e-02 9.98650114e-01 -2.68462134e-03 -1.23745354e+00] [-3.08903078e-02 1.08244654e-03 9.99522194e-01 -8.35160034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.24, Z:-0.83 [[ 9.98478923e-01 4.57349603e-02 3.07921028e-02 2.70676954e+01] [-4.56737483e-02 9.98952791e-01 -2.68871653e-03 -1.23702945e+00] [-3.08828254e-02 1.27823603e-03 9.99522194e-01 -8.31514154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.24, Z:-0.84 [[ 9.98502984e-01 4.52067594e-02 3.07918654e-02 2.71281555e+01] [-4.51452132e-02 9.98976810e-01 -2.69143263e-03 -1.24361165e+00] [-3.08820304e-02 1.29729819e-03 9.99522194e-01 -8.39635336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.25, Z:-0.84 [[ 9.98571778e-01 4.36612230e-02 3.07912638e-02 2.71912380e+01] [-4.35987322e-02 9.99045479e-01 -2.69829776e-03 -1.24991136e+00] [-3.08796838e-02 1.35198393e-03 9.99522194e-01 -8.40422339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.25, Z:-0.83 [[ 9.98618114e-01 4.25888115e-02 3.07905214e-02 2.72527911e+01] [-4.25255522e-02 9.99091713e-01 -2.70674199e-03 -1.25429677e+00] [-3.08778317e-02 1.39361765e-03 9.99522195e-01 -8.33917109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:-1.26, Z:-0.85 [[ 9.98559294e-01 4.39464034e-02 3.07904226e-02 2.73132922e+01] [-4.38837534e-02 9.99032974e-01 -2.70786593e-03 -1.25636478e+00] [-3.08796484e-02 1.35276537e-03 9.99522195e-01 -8.46675780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.26, Z:-0.85 [[ 9.98525364e-01 4.47111299e-02 3.07897958e-02 2.73746354e+01] [-4.46486239e-02 9.98999064e-01 -2.71497422e-03 -1.26442980e+00] [-3.08803667e-02 1.33624861e-03 9.99522195e-01 -8.47484913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:-1.27, Z:-0.85 [[ 9.98559232e-01 4.39487098e-02 3.07891386e-02 2.74358694e+01] [-4.38856134e-02 9.99032853e-01 -2.72240692e-03 -1.27012111e+00] [-3.08790073e-02 1.36728433e-03 9.99522195e-01 -8.49237093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.27, Z:-0.85 [[ 9.98628608e-01 4.23433776e-02 3.07886739e-02 2.74983936e+01] [-4.22793585e-02 9.99102105e-01 -2.72765196e-03 -1.27495188e+00] [-3.08765269e-02 1.42218590e-03 9.99522195e-01 -8.52239913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.28, Z:-0.85 [[ 9.98614930e-01 4.26652570e-02 3.07879269e-02 2.75608156e+01] [-4.26011319e-02 9.99088413e-01 -2.73605751e-03 -1.28314419e+00] [-3.08765957e-02 1.42066734e-03 9.99522195e-01 -8.53435843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723617864999998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.29, Z:-0.86 [[ 9.98560404e-01 4.39234356e-02 3.07871829e-02 2.76234964e+01] [-4.38596503e-02 9.99033933e-01 -2.74440449e-03 -1.29040237e+00] [-3.08779841e-02 1.39013859e-03 9.99522195e-01 -8.55408520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:-1.30, Z:-0.86 [[ 9.98423113e-01 4.69412726e-02 3.07864425e-02 2.76859502e+01] [-4.68786639e-02 9.98896798e-01 -2.75268502e-03 -1.29656834e+00] [-3.08816934e-02 1.30511706e-03 9.99522195e-01 -8.58216487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.30, Z:-0.86 [[ 9.98297279e-01 4.95457688e-02 3.07856916e-02 2.77486471e+01] [-4.94841382e-02 9.98771093e-01 -2.76105790e-03 -1.29769651e+00] [-3.08846576e-02 1.23295318e-03 9.99522195e-01 -8.56509731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.31, Z:-0.86 [[ 9.97836337e-01 5.80941411e-02 3.07849938e-02 2.78091710e+01] [-5.80363318e-02 9.98310632e-01 -2.76881652e-03 -1.30869550e+00] [-3.08938386e-02 9.76177619e-04 9.99522195e-01 -8.62560597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963617864999996 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.32, Z:-0.86 [[ 9.97545385e-01 6.28930095e-02 3.07843094e-02 2.78711899e+01] [-6.28372482e-02 9.98019926e-01 -2.77640460e-03 -1.31654972e+00] [-3.08979706e-02 8.35188306e-04 9.99522195e-01 -8.63808291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.32, Z:-0.87 [[ 9.97358881e-01 6.57847767e-02 3.07835358e-02 2.79332065e+01] [-6.57301276e-02 9.97833550e-01 -2.78495585e-03 -1.32185180e+00] [-3.09000525e-02 7.54194712e-04 9.99522195e-01 -8.66098129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083617864999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.32, Z:-0.87 [[ 9.97424905e-01 6.47763570e-02 3.07828252e-02 2.79955411e+01] [-6.47209864e-02 9.97899491e-01 -2.79278852e-03 -1.32306612e+00] [-3.08990722e-02 7.93302013e-04 9.99522195e-01 -8.70572780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.34, Z:-0.87 [[ 9.96676186e-01 7.54255452e-02 3.07825751e-02 2.80561509e+01] [-7.53751616e-02 9.97151328e-01 -2.79554203e-03 -1.33579234e+00] [-3.09057409e-02 4.66008601e-04 9.99522195e-01 -8.69353287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.34, Z:-0.87 [[ 9.96625202e-01 7.60965121e-02 3.07819244e-02 2.81187547e+01] [-7.60462277e-02 9.97100354e-01 -2.80268878e-03 -1.34166689e+00] [-3.09059425e-02 4.52381043e-04 9.99522195e-01 -8.72706835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.35, Z:-0.87 [[ 9.96727503e-01 7.47449206e-02 3.07811768e-02 2.81807597e+01] [-7.46937391e-02 9.97202559e-01 -2.81087524e-03 -1.34702944e+00] [-3.09051669e-02 5.02515471e-04 9.99522195e-01 -8.74625490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.35, Z:-0.88 [[ 9.97214211e-01 6.79439470e-02 3.07804842e-02 2.82436315e+01] [-6.78892927e-02 9.97688880e-01 -2.81843934e-03 -1.34810307e+00] [-3.09008427e-02 7.20922457e-04 9.99522195e-01 -8.75821113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.36, Z:-0.88 [[ 9.97586754e-01 6.22356628e-02 3.07797041e-02 2.83052829e+01] [-6.21780309e-02 9.98061071e-01 -2.82693321e-03 -1.35884713e+00] [-3.08959605e-02 9.06289734e-04 9.99522195e-01 -8.75238029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.37, Z:-0.87 [[ 9.98042910e-01 5.44334743e-02 3.07789839e-02 2.83669048e+01] [-5.43718946e-02 9.98516731e-01 -2.83475301e-03 -1.36562382e+00] [-3.08876358e-02 1.15569347e-03 9.99522195e-01 -8.74844067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.37, Z:-0.88 [[ 9.98220223e-01 5.10790482e-02 3.07785100e-02 2.84293407e+01] [-5.10157184e-02 9.98693813e-01 -2.83988941e-03 -1.37006789e+00] [-3.08833663e-02 1.26464724e-03 9.99522195e-01 -8.76942819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.49, Y:-1.37, Z:-0.88 [[ 9.98317883e-01 4.91338357e-02 3.07777656e-02 2.84922953e+01] [-4.90693357e-02 9.98791314e-01 -2.84793388e-03 -1.37332424e+00] [-3.08804949e-02 1.33289881e-03 9.99522195e-01 -8.80016668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623617864999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.38, Z:-0.88 [[ 9.98329060e-01 4.89066815e-02 3.07769978e-02 2.85546838e+01] [-4.88418191e-02 9.98802442e-01 -2.85620708e-03 -1.37960005e+00] [-3.08798282e-02 1.34822997e-03 9.99522195e-01 -8.81563263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.39, Z:-0.88 [[ 9.98337058e-01 4.87436508e-02 3.07762137e-02 2.86166957e+01] [-4.86784520e-02 9.98810394e-01 -2.86463139e-03 -1.38582603e+00] [-3.08792347e-02 1.36172923e-03 9.99522195e-01 -8.83819994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.39, Z:-0.89 [[ 9.98357704e-01 4.83193887e-02 3.07754875e-02 2.86796942e+01] [-4.82537494e-02 9.98830979e-01 -2.87241180e-03 -1.39190409e+00] [-3.08783035e-02 1.38266179e-03 9.99522195e-01 -8.86897059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803617864999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.40, Z:-0.89 [[ 9.98348830e-01 4.85028793e-02 3.07747283e-02 2.87426163e+01] [-4.84370774e-02 9.98822082e-01 -2.88052259e-03 -1.39749296e+00] [-3.08781919e-02 1.38512846e-03 9.99522195e-01 -8.87625590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.40, Z:-0.89 [[ 9.98500919e-01 4.52645584e-02 3.07739367e-02 2.88052325e+01] [-4.51969626e-02 9.98973918e-01 -2.88895528e-03 -1.39900835e+00] [-3.08731274e-02 1.49373603e-03 9.99522195e-01 -8.93727831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.40, Z:-0.90 [[ 9.98574849e-01 4.36037625e-02 3.07730890e-02 2.88672408e+01] [-4.35351034e-02 9.99047695e-01 -2.89795713e-03 -1.40279671e+00] [-3.08701454e-02 1.55411749e-03 9.99522195e-01 -8.98629096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.41, Z:-0.90 [[ 9.98517443e-01 4.48996878e-02 3.07723082e-02 2.89298253e+01] [-4.48313882e-02 9.98990341e-01 -2.90622432e-03 -1.40701240e+00] [-3.08717272e-02 1.52235038e-03 9.99522195e-01 -9.00984192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.42, Z:-0.90 [[ 9.98314168e-01 4.92132008e-02 3.07714491e-02 2.89902843e+01] [-4.91466660e-02 9.98787318e-01 -2.91529238e-03 -1.41543945e+00] [-3.08776040e-02 1.39806355e-03 9.99522195e-01 -8.98697530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.42, Z:-0.90 [[ 9.98300980e-01 4.94802769e-02 3.07710249e-02 2.90524571e+01] [-4.94137312e-02 9.98774128e-01 -2.91976249e-03 -1.41970961e+00] [-3.08777743e-02 1.39429059e-03 9.99522195e-01 -9.01070370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.42, Z:-0.91 [[ 9.98256668e-01 5.03667776e-02 3.07703275e-02 2.91132911e+01] [-5.03004266e-02 9.98729843e-01 -2.92709410e-03 -1.42105316e+00] [-3.08786727e-02 1.37423060e-03 9.99522195e-01 -9.05941062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.42, Z:-0.91 [[ 9.98286378e-01 4.97748273e-02 3.07696882e-02 2.91749221e+01] [-4.97079895e-02 9.98759485e-01 -2.93379908e-03 -1.42431329e+00] [-3.08775473e-02 1.39927232e-03 9.99522195e-01 -9.07853369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.43, Z:-0.91 [[ 9.98379070e-01 4.78800889e-02 3.07689814e-02 2.92365323e+01] [-4.78121259e-02 9.98852016e-01 -2.94119286e-03 -1.42936984e+00] [-3.08744837e-02 1.46529498e-03 9.99522195e-01 -9.09638386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.43, Z:-0.91 [[ 9.98445246e-01 4.64801742e-02 3.07682326e-02 2.92984072e+01] [-4.64113080e-02 9.98918062e-01 -2.94900639e-03 -1.43173514e+00] [-3.08720135e-02 1.51642749e-03 9.99522195e-01 -9.14108215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-1.44, Z:-0.92 [[ 9.98375623e-01 4.79528413e-02 3.07675365e-02 2.93615330e+01] [-4.78844498e-02 9.98848507e-01 -2.95625104e-03 -1.43593229e+00] [-3.08738685e-02 1.47816242e-03 9.99522195e-01 -9.15059314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463617864999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.44, Z:-0.92 [[ 9.98276270e-01 4.99789656e-02 3.07667365e-02 2.94246646e+01] [-4.99112786e-02 9.98749256e-01 -2.96455344e-03 -1.44056018e+00] [-3.08764205e-02 1.42383620e-03 9.99522196e-01 -9.15728157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.44, Z:-0.92 [[ 9.98214825e-01 5.11920067e-02 3.07659294e-02 2.94867739e+01] [-5.11246377e-02 9.98687856e-01 -2.97290547e-03 -1.44057689e+00] [-3.08777491e-02 1.39470132e-03 9.99522196e-01 -9.17520572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583617864999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.44, Z:-0.92 [[ 9.97753711e-01 5.95066028e-02 3.07651977e-02 2.95490167e+01] [-5.94429444e-02 9.98227255e-01 -2.98045838e-03 -1.44481691e+00] [-3.08880158e-02 1.14498947e-03 9.99522196e-01 -9.18956214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:-1.45, Z:-0.92 [[ 9.97534217e-01 6.30796011e-02 3.07644150e-02 2.96107485e+01] [-6.30173910e-02 9.98007954e-01 -2.98851599e-03 -1.45127317e+00] [-3.08916453e-02 1.04245379e-03 9.99522196e-01 -9.19623481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703617865 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.45, Z:-0.92 [[ 9.97476636e-01 6.39840278e-02 3.07636817e-02 2.96733155e+01] [-6.39220152e-02 9.97950399e-01 -2.99604502e-03 -1.45355055e+00] [-3.08923275e-02 1.02200837e-03 9.99522196e-01 -9.24434730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763617864999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.46, Z:-0.92 [[ 9.97236287e-01 6.76269698e-02 3.07632901e-02 2.97357059e+01] [-6.75665643e-02 9.97710258e-01 -3.00006110e-03 -1.45722115e+00] [-3.08957351e-02 9.13199979e-04 9.99522196e-01 -9.24889819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.46, Z:-0.93 [[ 9.96800493e-01 7.37729402e-02 3.07624965e-02 2.97964540e+01] [-7.37152072e-02 9.97274796e-01 -3.00817666e-03 -1.46412550e+00] [-3.09005845e-02 7.30888170e-04 9.99522196e-01 -9.26859931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883617864999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.47, Z:-0.93 [[ 9.96833790e-01 7.33219829e-02 3.07617030e-02 2.98588004e+01] [-7.32637857e-02 9.97308037e-01 -3.01626871e-03 -1.46812639e+00] [-3.09000525e-02 7.52999751e-04 9.99522196e-01 -9.27743368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943617864999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.48, Z:-0.93 [[ 9.96960410e-01 7.15800903e-02 3.07608929e-02 2.99205979e+01] [-7.15208106e-02 9.97434522e-01 -3.02450830e-03 -1.47571142e+00] [-3.08984711e-02 8.15271042e-04 9.99522196e-01 -9.28919206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:-1.48, Z:-0.93 [[ 9.97165328e-01 6.86667802e-02 3.07600633e-02 2.99824509e+01] [-6.86058561e-02 9.97639232e-01 -3.03292180e-03 -1.48417707e+00] [-3.08957070e-02 9.14003980e-04 9.99522196e-01 -9.28064819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.49, Z:-0.93 [[ 9.97571772e-01 6.24853692e-02 3.07593733e-02 3.00449813e+01] [-6.24212942e-02 9.98045260e-01 -3.03990445e-03 -1.49144528e+00] [-3.08891962e-02 1.11248298e-03 9.99522196e-01 -9.28439888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123617864999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.49, Z:-0.94 [[ 9.97941342e-01 5.62760333e-02 3.07585136e-02 3.01067217e+01] [-5.62087460e-02 9.98414384e-01 -3.04857831e-03 -1.49280902e+00] [-3.08813043e-02 1.31340485e-03 9.99522196e-01 -9.36360583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.50, Z:-0.93 [[ 9.97854493e-01 5.77959491e-02 3.07577562e-02 3.01673487e+01] [-5.77291478e-02 9.98327604e-01 -3.05620084e-03 -1.50283820e+00] [-3.08829530e-02 1.27402469e-03 9.99522196e-01 -9.32075995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243617864999997 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.51, Z:-0.93 [[ 9.97857706e-01 5.77406663e-02 3.07573295e-02 3.02301277e+01] [-5.76737069e-02 9.98330795e-01 -3.06048911e-03 -1.50918392e+00] [-3.08827039e-02 1.28004344e-03 9.99522196e-01 -9.33176470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303617864999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.51, Z:-0.94 [[ 9.97980425e-01 5.55797511e-02 3.07564927e-02 3.02922982e+01] [-5.55115094e-02 9.98453331e-01 -3.06887515e-03 -1.51230263e+00] [-3.08794899e-02 1.35533800e-03 9.99522196e-01 -9.38481662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:-1.52, Z:-0.94 [[ 9.97977858e-01 5.56262472e-02 3.07557327e-02 3.03552677e+01] [-5.55577939e-02 9.98450733e-01 -3.07647324e-03 -1.51623082e+00] [-3.08792165e-02 1.36153152e-03 9.99522196e-01 -9.41719503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423617864999997 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:-1.53, Z:-0.94 [[ 9.97638936e-01 6.14059574e-02 3.07548563e-02 3.04161563e+01] [-6.13399753e-02 9.98112162e-01 -3.08520916e-03 -1.52708622e+00] [-3.08862464e-02 1.19142266e-03 9.99522196e-01 -9.39275105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483617865 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:30.48, Y:-1.53, Z:-0.94 [[ 9.97519600e-01 6.33153374e-02 3.07541034e-02 3.04773907e+01] [-6.32500308e-02 9.97992920e-01 -3.09269587e-03 -1.53345187e+00] [-3.08881926e-02 1.13982676e-03 9.99522196e-01 -9.41130547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543617864999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:-1.54, Z:-0.94 [[ 9.97346512e-01 6.59859909e-02 3.07536080e-02 3.05401727e+01] [-6.59218002e-02 9.97819984e-01 -3.09761498e-03 -1.53889186e+00] [-3.08909638e-02 1.06206230e-03 9.99522196e-01 -9.42790599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.55, Z:-0.94 [[ 9.97218026e-01 6.79004838e-02 3.07527774e-02 3.06020729e+01] [-6.78369489e-02 9.97691587e-01 -3.10583947e-03 -1.54827852e+00] [-3.08926752e-02 1.01102452e-03 9.99522196e-01 -9.44733284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.56, Z:-0.95 [[ 9.97171999e-01 6.85734697e-02 3.07519561e-02 3.06644705e+01] [-6.85100045e-02 9.97645570e-01 -3.11394987e-03 -1.55544337e+00] [-3.08930871e-02 9.98326967e-04 9.99522196e-01 -9.46323585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.73, Y:-1.56, Z:-0.95 [[ 9.97103265e-01 6.95661534e-02 3.07510772e-02 3.07260851e+01] [-6.95028930e-02 9.97576863e-01 -3.12260474e-03 -1.56182610e+00] [-3.08937908e-02 9.76270551e-04 9.99522196e-01 -9.50235133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.57, Z:-0.95 [[ 9.97082760e-01 6.98596773e-02 3.07505345e-02 3.07882128e+01] [-6.97963920e-02 9.97556354e-01 -3.12794046e-03 -1.57198212e+00] [-3.08939080e-02 9.72539148e-04 9.99522196e-01 -9.50879015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.58, Z:-0.95 [[ 9.97081360e-01 6.98800315e-02 3.07496737e-02 3.08510373e+01] [-6.98164958e-02 9.97554921e-01 -3.13637955e-03 -1.57999602e+00] [-3.08936586e-02 9.80391122e-04 9.99522196e-01 -9.54020800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903617864999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:-1.59, Z:-0.96 [[ 9.97048707e-01 7.03447633e-02 3.07488220e-02 3.09132572e+01] [-7.02811918e-02 9.97522263e-01 -3.14470733e-03 -1.59165748e+00] [-3.08938482e-02 9.74362522e-04 9.99522196e-01 -9.56639781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963617864999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.60, Z:-0.96 [[ 9.96989748e-01 7.11758801e-02 3.07479435e-02 3.09753575e+01] [-7.11124394e-02 9.97463322e-01 -3.15327444e-03 -1.60115029e+00] [-3.08943829e-02 9.57221025e-04 9.99522196e-01 -9.60490137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.61, Z:-0.96 [[ 9.96911027e-01 7.22704831e-02 3.07470725e-02 3.10376115e+01] [-7.22073014e-02 9.97384634e-01 -3.16174407e-03 -1.61039208e+00] [-3.08951585e-02 9.31814390e-04 9.99522196e-01 -9.63060283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.62, Z:-0.97 [[ 9.96861771e-01 7.29471029e-02 3.07462004e-02 3.10987074e+01] [-7.28839820e-02 9.97335387e-01 -3.17020234e-03 -1.62235471e+00] [-3.08955308e-02 9.19347997e-04 9.99522196e-01 -9.65343150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.63, Z:-0.97 [[ 9.96892745e-01 7.25229304e-02 3.07453932e-02 3.11599910e+01] [-7.24593674e-02 9.97366302e-01 -3.17801183e-03 -1.63405763e+00] [-3.08948978e-02 9.40345195e-04 9.99522196e-01 -9.66009048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203617865 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.64, Z:-0.97 [[ 9.96689648e-01 7.52628671e-02 3.07448653e-02 3.12226476e+01] [-7.52004489e-02 9.97163357e-01 -3.18311013e-03 -1.64214394e+00] [-3.08972231e-02 8.60545240e-04 9.99522196e-01 -9.67250258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.65, Z:-0.97 [[ 9.96098646e-01 8.27181432e-02 3.07440348e-02 3.12849476e+01] [-8.26590242e-02 9.96572778e-01 -3.19111218e-03 -1.64975177e+00] [-3.09026310e-02 6.37390608e-04 9.99522196e-01 -9.67662618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.66, Z:-0.97 [[ 9.95797224e-01 8.62713643e-02 3.07431466e-02 3.13475574e+01] [-8.62136738e-02 9.96271532e-01 -3.19964598e-03 -1.65768237e+00] [-3.09045596e-02 5.35718976e-04 9.99522196e-01 -9.70522273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383617864999998 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.67, Z:-0.97 [[ 9.95630163e-01 8.81787493e-02 3.07422613e-02 3.14103750e+01] [-8.81217057e-02 9.96104549e-01 -3.20812953e-03 -1.66510333e+00] [-3.09053952e-02 4.85050024e-04 9.99522196e-01 -9.72359411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443617864999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.67, Z:-0.97 [[ 9.95643753e-01 8.80254791e-02 3.07413858e-02 3.14726860e+01] [-8.79681041e-02 9.96118099e-01 -3.21649657e-03 -1.67280778e+00] [-3.09051845e-02 4.98223288e-04 9.99522197e-01 -9.73593741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.68, Z:-0.98 [[ 9.95880600e-01 8.53044552e-02 3.07405185e-02 3.15350722e+01] [-8.52455291e-02 9.96354756e-01 -3.22476475e-03 -1.67828776e+00] [-3.09035486e-02 5.90988892e-04 9.99522197e-01 -9.76406060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563617864999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.69, Z:-0.98 [[ 9.95992178e-01 8.39920027e-02 3.07396358e-02 3.15978099e+01] [-8.39321929e-02 9.96466223e-01 -3.23315712e-03 -1.68602076e+00] [-3.09025681e-02 6.40154157e-04 9.99522197e-01 -9.78000724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623617864999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.70, Z:-0.98 [[ 9.96413613e-01 7.88355248e-02 3.07387577e-02 3.16598305e+01] [-7.87730054e-02 9.96887309e-01 -3.24148414e-03 -1.69545092e+00] [-3.08986215e-02 8.08474604e-04 9.99522197e-01 -9.78086020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.70, Z:-0.98 [[ 9.96570096e-01 7.68324529e-02 3.07378782e-02 3.17219790e+01] [-7.67687251e-02 9.97043631e-01 -3.24980215e-03 -1.70344524e+00] [-3.08966960e-02 8.78947915e-04 9.99522197e-01 -9.78531946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743617864999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.78, Y:-1.71, Z:-0.98 [[ 9.96505169e-01 7.76703584e-02 3.07370078e-02 3.17844621e+01] [-7.76067757e-02 9.96978723e-01 -3.25801386e-03 -1.70824724e+00] [-3.08971939e-02 8.61227578e-04 9.99522197e-01 -9.81858142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803617864999996 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.71, Z:-0.99 [[ 9.96462394e-01 7.82175735e-02 3.07360956e-02 3.18469129e+01] [-7.81539862e-02 9.96935948e-01 -3.26659744e-03 -1.71198276e+00] [-3.08974239e-02 8.52893120e-04 9.99522197e-01 -9.86398645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863617865 meters Centerline goodness : 0.998371 with order 1 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.72, Z:-0.99 [[ 9.96463884e-01 7.81987944e-02 3.07356013e-02 3.19088770e+01] [-7.81350552e-02 9.96937416e-01 -3.27124142e-03 -1.71936417e+00] [-3.08972781e-02 8.58146021e-04 9.99522197e-01 -9.89585833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923617864999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:31.97, Y:-1.72, Z:-0.99 [[ 9.96418862e-01 7.87708254e-02 3.07344712e-02 3.19716533e+01] [-7.87070318e-02 9.96892388e-01 -3.28182507e-03 -1.72366339e+00] [-3.08974724e-02 8.51053399e-04 9.99522197e-01 -9.93345791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.03, Y:-1.73, Z:-0.99 [[ 9.96221243e-01 8.12323701e-02 3.07333130e-02 3.20333501e+01] [-8.11694132e-02 9.96694881e-01 -3.29263605e-03 -1.72940966e+00] [-3.08992043e-02 7.85588998e-04 9.99522197e-01 -9.90152664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:-1.74, Z:-0.99 [[ 9.96344519e-01 7.97064741e-02 3.07323637e-02 3.20946035e+01] [-7.96425195e-02 9.96818022e-01 -3.30147262e-03 -1.73586835e+00] [-3.08977227e-02 8.41801272e-04 9.99522197e-01 -9.92405896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.103617865000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.74, Z:-0.99 [[ 9.96379618e-01 7.92668599e-02 3.07314533e-02 3.21566489e+01] [-7.92024359e-02 9.96853058e-01 -3.30992479e-03 -1.74407424e+00] [-3.08971106e-02 8.63935638e-04 9.99522197e-01 -9.93800265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.75, Z:-1.00 [[ 9.96405501e-01 7.89412069e-02 3.07304961e-02 3.22196512e+01] [-7.88763551e-02 9.96878882e-01 -3.31878818e-03 -1.74925441e+00] [-3.08965718e-02 8.82949271e-04 9.99522197e-01 -9.97305815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:-1.76, Z:-1.00 [[ 9.96315780e-01 8.00657808e-02 3.07300787e-02 3.22808763e+01] [-8.00013443e-02 9.96789218e-01 -3.32264867e-03 -1.75506134e+00] [-3.08974416e-02 8.51959691e-04 9.99522197e-01 -9.97609092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283617865000004 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.76, Z:-1.00 [[ 9.96180454e-01 8.17326166e-02 3.07291843e-02 3.23431285e+01] [-8.16687180e-02 9.96653965e-01 -3.33090033e-03 -1.76153224e+00] [-3.08986065e-02 8.08564715e-04 9.99522197e-01 -1.00123044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:32.41, Y:-1.77, Z:-1.00 [[ 9.96102170e-01 8.26815496e-02 3.07282973e-02 3.24057555e+01] [-8.26178505e-02 9.96575708e-01 -3.33906236e-03 -1.76859228e+00] [-3.08991535e-02 7.87341389e-04 9.99522197e-01 -1.00375493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.47, Y:-1.77, Z:-1.01 [[ 9.96156727e-01 8.20219641e-02 3.07273858e-02 3.24675447e+01] [-8.19576935e-02 9.96630188e-01 -3.34742958e-03 -1.77498076e+00] [-3.08984031e-02 8.16218825e-04 9.99522197e-01 -1.00583942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:32.53, Y:-1.78, Z:-1.01 [[ 9.96291485e-01 8.03688818e-02 3.07265419e-02 3.25295898e+01] [-8.03035875e-02 9.96764805e-01 -3.35515783e-03 -1.78306684e+00] [-3.08967859e-02 8.75263630e-04 9.99522197e-01 -1.00927730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.59, Y:-1.79, Z:-1.01 [[ 9.96291727e-01 8.03662411e-02 3.07256055e-02 3.25916494e+01] [-8.03006820e-02 9.96765010e-01 -3.36371151e-03 -1.79078732e+00] [-3.08965374e-02 8.83950872e-04 9.99522197e-01 -1.01247804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.583617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:32.65, Y:-1.80, Z:-1.01 [[ 9.96178109e-01 8.17626935e-02 3.07251882e-02 3.26536432e+01] [-8.16976805e-02 9.96651468e-01 -3.36751921e-03 -1.79807039e+00] [-3.08976414e-02 8.44472307e-04 9.99522197e-01 -1.01407225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.81, Z:-1.02 [[ 9.95847016e-01 8.57014699e-02 3.07242328e-02 3.27155213e+01] [-8.56380612e-02 9.96320593e-01 -3.37621323e-03 -1.80522830e+00] [-3.09005323e-02 7.31028143e-04 9.99522197e-01 -1.01637766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.81, Z:-1.02 [[ 9.95667537e-01 8.77622509e-02 3.07236545e-02 3.27778634e+01] [-8.76996604e-02 9.96141223e-01 -3.38146771e-03 -1.81272466e+00] [-3.09018640e-02 6.72363556e-04 9.99522197e-01 -1.01881481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.82, Z:-1.02 [[ 9.95629103e-01 8.81975323e-02 3.07227200e-02 3.28392444e+01] [-8.81348877e-02 9.96102781e-01 -3.38993768e-03 -1.82010319e+00] [-3.09019709e-02 6.67377140e-04 9.99522197e-01 -1.01730077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.83, Z:-1.03 [[ 9.95599206e-01 8.85346721e-02 3.07218683e-02 3.28996799e+01] [-8.84719504e-02 9.96072874e-01 -3.39763804e-03 -1.82831974e+00] [-3.09020285e-02 6.64662127e-04 9.99522197e-01 -1.02577613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.84, Z:-1.03 [[ 9.95624289e-01 8.82524224e-02 3.07210778e-02 3.29624442e+01] [-8.81893464e-02 9.96097910e-01 -3.40477066e-03 -1.83750750e+00] [-3.09016807e-02 6.80600595e-04 9.99522197e-01 -1.02566328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.85, Z:-1.03 [[ 9.95858275e-01 8.55720075e-02 3.07201549e-02 3.30248160e+01] [-8.55074007e-02 9.96331689e-01 -3.41307797e-03 -1.84754639e+00] [-3.08995278e-02 7.72141351e-04 9.99522197e-01 -1.02876862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:33.09, Y:-1.86, Z:-1.03 [[ 9.95954620e-01 8.44436035e-02 3.07192507e-02 3.30865943e+01] [-8.43782101e-02 9.96427927e-01 -3.42119644e-03 -1.85678837e+00] [-3.08984175e-02 8.15321007e-04 9.99522197e-01 -1.03113041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063617865000005 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:33.15, Y:-1.86, Z:-1.03 [[ 9.95716550e-01 8.72062890e-02 3.07183342e-02 3.31492598e+01] [-8.71419558e-02 9.96190001e-01 -3.42940596e-03 -1.86127985e+00] [-3.09003632e-02 7.37860544e-04 9.99522197e-01 -1.03222184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.87, Z:-1.03 [[ 9.95637299e-01 8.81068018e-02 3.07174349e-02 3.32105081e+01] [-8.80426490e-02 9.96110775e-01 -3.43744284e-03 -1.86973631e+00] [-3.09008299e-02 7.18001973e-04 9.99522197e-01 -1.03494480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.88, Z:-1.04 [[ 9.95653436e-01 8.79245507e-02 3.07166025e-02 3.32730503e+01] [-8.78600824e-02 9.96126869e-01 -3.44486450e-03 -1.87639124e+00] [-3.09005212e-02 7.31127952e-04 9.99522197e-01 -1.03693940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.88, Z:-1.04 [[ 9.95643337e-01 8.80391639e-02 3.07156651e-02 3.33354527e+01] [-8.79744930e-02 9.96116742e-01 -3.45320289e-03 -1.88074367e+00] [-3.09004053e-02 7.35963382e-04 9.99522198e-01 -1.03908164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.89, Z:-1.04 [[ 9.95699758e-01 8.73990630e-02 3.07147334e-02 3.33982839e+01] [-8.73338328e-02 9.96173087e-01 -3.46146996e-03 -1.88755020e+00] [-3.08997200e-02 7.64149413e-04 9.99522198e-01 -1.04163189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.363617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.89, Z:-1.04 [[ 9.96195796e-01 8.15509994e-02 3.07143264e-02 3.34614361e+01] [-8.14828800e-02 9.96668718e-01 -3.46507783e-03 -1.89136342e+00] [-3.08945889e-02 9.49204198e-04 9.99522198e-01 -1.04265083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:-1.90, Z:-1.05 [[ 9.96367861e-01 7.94213024e-02 3.07138833e-02 3.35239447e+01] [-7.93520514e-02 9.96840618e-01 -3.46900080e-03 -1.89568578e+00] [-3.08923590e-02 1.01919126e-03 9.99522198e-01 -1.04560555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.90, Z:-1.05 [[ 9.96150394e-01 8.21042898e-02 3.07128493e-02 3.35852251e+01] [-8.20360310e-02 9.96623295e-01 -3.47813099e-03 -1.90391537e+00] [-3.08947106e-02 9.45181293e-04 9.99522198e-01 -1.04704781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.91, Z:-1.05 [[ 9.96100404e-01 8.27089097e-02 3.07119220e-02 3.36471887e+01] [-8.26406863e-02 9.96573310e-01 -3.48629984e-03 -1.90879234e+00] [-3.08950299e-02 9.34650363e-04 9.99522198e-01 -1.05086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603617865000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.91, Z:-1.05 [[ 9.96095988e-01 8.27621945e-02 3.07116035e-02 3.37104179e+01] [-8.26939100e-02 9.96568885e-01 -3.48910328e-03 -1.91353131e+00] [-3.08949944e-02 9.35819198e-04 9.99522198e-01 -1.05204122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.92, Z:-1.06 [[ 9.95985928e-01 8.40767176e-02 3.07105443e-02 3.37720558e+01] [-8.40087708e-02 9.96458874e-01 -3.49840187e-03 -1.91854750e+00] [-3.08959285e-02 9.04403955e-04 9.99522198e-01 -1.05568758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:-1.92, Z:-1.06 [[ 9.95977690e-01 8.41745539e-02 3.07096901e-02 3.38351176e+01] [-8.41064230e-02 9.96450610e-01 -3.50588436e-03 -1.92364580e+00] [-3.08957957e-02 9.08900418e-04 9.99522198e-01 -1.05612880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783617865000004 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:33.90, Y:-1.93, Z:-1.06 [[ 9.95954096e-01 8.44536181e-02 3.07087161e-02 3.38971542e+01] [-8.43853576e-02 9.96426997e-01 -3.51439526e-03 -1.93086100e+00] [-3.08957971e-02 9.08810372e-04 9.99522198e-01 -1.05825419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.96, Y:-1.94, Z:-1.06 [[ 9.95876907e-01 8.53593638e-02 3.07077338e-02 3.39596916e+01] [-8.52912696e-02 9.96349832e-01 -3.52295743e-03 -1.93841297e+00] [-3.08963628e-02 8.89330347e-04 9.99522198e-01 -1.05930390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.95, Z:-1.06 [[ 9.95664075e-01 8.78074311e-02 3.07067493e-02 3.40213191e+01] [-8.77402360e-02 9.96137129e-01 -3.53151723e-03 -1.94513132e+00] [-3.08982266e-02 8.21987402e-04 9.99522198e-01 -1.06102703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.95, Z:-1.06 [[ 9.95515334e-01 8.94783309e-02 3.07058409e-02 3.40833973e+01] [-8.94116868e-02 9.95988465e-01 -3.53939820e-03 -1.95160090e+00] [-3.08993628e-02 7.78064150e-04 9.99522198e-01 -1.06274602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:-1.96, Z:-1.07 [[ 9.95351261e-01 9.12856931e-02 3.07048914e-02 3.41451310e+01] [-9.12196549e-02 9.95824477e-01 -3.54761653e-03 -1.95972901e+00] [-3.09005290e-02 7.30234992e-04 9.99522198e-01 -1.06587873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:-1.97, Z:-1.07 [[ 9.95361406e-01 9.11753006e-02 3.07040120e-02 3.42074544e+01] [-9.11089757e-02 9.95834582e-01 -3.55521100e-03 -1.96780453e+00] [-3.09002644e-02 7.41308736e-04 9.99522198e-01 -1.06801781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.98, Z:-1.07 [[ 9.95553781e-01 8.90504972e-02 3.07030641e-02 3.42695164e+01] [-8.89829107e-02 9.96026779e-01 -3.56337859e-03 -1.97562240e+00] [-3.08983946e-02 8.15487015e-04 9.99522198e-01 -1.07230254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.99, Z:-1.07 [[ 9.95711069e-01 8.72743723e-02 3.07026104e-02 3.43308124e+01] [-8.72058218e-02 9.96183928e-01 -3.56728297e-03 -1.98619513e+00] [-3.08967795e-02 8.74536762e-04 9.99522198e-01 -1.06650067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:-2.00, Z:-1.07 [[ 9.96170051e-01 8.18693554e-02 3.07024203e-02 3.43901894e+01] [-8.17981894e-02 9.96642523e-01 -3.56891850e-03 -1.99553846e+00] [-3.08915227e-02 1.04384733e-03 9.99522198e-01 -1.07252316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:34.45, Y:-2.00, Z:-1.07 [[ 9.96250810e-01 8.08807115e-02 3.07023584e-02 3.44520618e+01] [-8.08090603e-02 9.96723209e-01 -3.56945135e-03 -2.00277954e+00] [-3.08904529e-02 1.07504007e-03 9.99522198e-01 -1.07172360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:-2.01, Z:-1.08 [[ 9.96181581e-01 8.17290839e-02 3.07020256e-02 3.45122004e+01] [-8.16577470e-02 9.96654028e-01 -3.57231127e-03 -2.00922587e+00] [-3.08912592e-02 1.05161245e-03 9.99522198e-01 -1.07807788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.02, Z:-1.08 [[ 9.96030636e-01 8.35488045e-02 3.07012893e-02 3.45745116e+01] [-8.34781363e-02 9.96503183e-01 -3.57862765e-03 -2.01615317e+00] [-3.08929226e-02 1.00153636e-03 9.99522198e-01 -1.07999599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.02, Z:-1.08 [[ 9.95736016e-01 8.69900933e-02 3.07003301e-02 3.46363739e+01] [-8.69208054e-02 9.96208767e-01 -3.58683812e-03 -2.02204655e+00] [-3.08959574e-02 9.03046479e-04 9.99522198e-01 -1.08328232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563617865000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.03, Z:-1.08 [[ 9.95572650e-01 8.88405378e-02 3.06994772e-02 3.46990129e+01] [-8.87719042e-02 9.96045497e-01 -3.59412288e-03 -2.02841056e+00] [-3.08973799e-02 8.52959387e-04 9.99522198e-01 -1.08415497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:-2.03, Z:-1.08 [[ 9.95404665e-01 9.07036716e-02 3.06984851e-02 3.47619326e+01] [-9.06356625e-02 9.95877602e-01 -3.60257708e-03 -2.03463205e+00] [-3.08987007e-02 8.03644501e-04 9.99522198e-01 -1.08482998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:-2.04, Z:-1.09 [[ 9.95382026e-01 9.09521084e-02 3.06974959e-02 3.48240909e+01] [-9.08839582e-02 9.95854943e-01 -3.61098681e-03 -2.04034231e+00] [-3.08986798e-02 8.04401434e-04 9.99522198e-01 -1.08715816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.89, Y:-2.05, Z:-1.09 [[ 9.95554143e-01 8.90487088e-02 3.06965110e-02 3.48871654e+01] [-8.89793971e-02 9.96026891e-01 -3.61933965e-03 -2.04640014e+00] [-3.08968479e-02 8.71891541e-04 9.99522198e-01 -1.08997343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.95, Y:-2.05, Z:-1.09 [[ 9.95722237e-01 8.71493583e-02 3.06955277e-02 3.49498361e+01] [-8.70788887e-02 9.96194814e-01 -3.62765981e-03 -2.05320831e+00] [-3.08948737e-02 9.39209102e-04 9.99522198e-01 -1.09062364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:35.01, Y:-2.06, Z:-1.09 [[ 9.95790871e-01 8.63619546e-02 3.06945216e-02 3.50127272e+01] [-8.62908497e-02 9.96263353e-01 -3.63615255e-03 -2.06012485e+00] [-3.08938523e-02 9.72191160e-04 9.99522198e-01 -1.09292708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923617865000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:35.07, Y:-2.07, Z:-1.10 [[ 9.95749930e-01 8.68330801e-02 3.06935227e-02 3.50740045e+01] [-8.67619398e-02 9.96222406e-01 -3.64456521e-03 -2.06502567e+00] [-3.08940439e-02 9.66045987e-04 9.99522198e-01 -1.09881006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.983617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-2.07, Z:-1.10 [[ 9.95755217e-01 8.67727440e-02 3.06926619e-02 3.51352935e+01] [-8.67013522e-02 9.96227655e-01 -3.65179998e-03 -2.07305334e+00] [-3.08937553e-02 9.75203590e-04 9.99522198e-01 -1.09852702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.08, Z:-1.10 [[ 9.95813614e-01 8.61002947e-02 3.06917925e-02 3.51975225e+01] [-8.60283594e-02 9.96285969e-01 -3.65909236e-03 -2.08047254e+00] [-3.08928512e-02 1.00340943e-03 9.99522198e-01 -1.10053493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103617865000004 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:-2.09, Z:-1.10 [[ 9.95781683e-01 8.64691473e-02 3.06908153e-02 3.52592465e+01] [-8.63971352e-02 9.96254027e-01 -3.66727087e-03 -2.08698910e+00] [-3.08929541e-02 1.00020265e-03 9.99522198e-01 -1.10339050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:-2.09, Z:-1.10 [[ 9.95709973e-01 8.72913446e-02 3.06899099e-02 3.53203200e+01] [-8.72194897e-02 9.96182341e-01 -3.67483163e-03 -2.09382284e+00] [-3.08935273e-02 9.82308220e-04 9.99522198e-01 -1.10477205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-2.10, Z:-1.10 [[ 9.95833445e-01 8.58715055e-02 3.06893148e-02 3.53819451e+01] [-8.57988244e-02 9.96305686e-01 -3.67979502e-03 -2.09917537e+00] [-3.08919284e-02 1.03135582e-03 9.99522198e-01 -1.10108446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283617865000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:-2.11, Z:-1.11 [[ 9.95674061e-01 8.77005460e-02 3.06883943e-02 3.54423801e+01] [-8.76284966e-02 9.96146400e-01 -3.68745557e-03 -2.10741379e+00] [-3.08935254e-02 9.82326008e-04 9.99522198e-01 -1.10861692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.343617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:-2.11, Z:-1.11 [[ 9.95666821e-01 8.77830064e-02 3.06875486e-02 3.55030199e+01] [-8.77107798e-02 9.96139132e-01 -3.69448015e-03 -2.11451575e+00] [-3.08933806e-02 9.86842490e-04 9.99522198e-01 -1.11368402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:-2.12, Z:-1.11 [[ 9.95556133e-01 8.90298504e-02 3.06866809e-02 3.55647035e+01] [-8.89579938e-02 9.96028500e-01 -3.70167345e-03 -2.12071589e+00] [-3.08943682e-02 9.55398137e-04 9.99522198e-01 -1.11164506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:-2.13, Z:-1.11 [[ 9.95525430e-01 8.93728151e-02 3.06858006e-02 3.56270615e+01] [-8.93008970e-02 9.95997788e-01 -3.70895653e-03 -2.12661015e+00] [-3.08944694e-02 9.52091027e-04 9.99522198e-01 -1.11350957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.523617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-2.13, Z:-1.12 [[ 9.95501885e-01 8.96350390e-02 3.06848075e-02 3.56891880e+01] [-8.95629929e-02 9.95974223e-01 -3.71715430e-03 -2.13256975e+00] [-3.08944646e-02 9.52210911e-04 9.99522199e-01 -1.11545101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:-2.14, Z:-1.12 [[ 9.95476374e-01 8.99182524e-02 3.06838273e-02 3.57521638e+01] [-8.98460920e-02 9.95948695e-01 -3.72522826e-03 -2.13854044e+00] [-3.08944838e-02 9.51554753e-04 9.99522199e-01 -1.11718792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-2.14, Z:-1.12 [[ 9.95546577e-01 8.91379563e-02 3.06828439e-02 3.58152677e+01] [-8.90651768e-02 9.96018803e-01 -3.73331026e-03 -2.14337885e+00] [-3.08934692e-02 9.83911332e-04 9.99522199e-01 -1.11850196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-2.15, Z:-1.12 [[ 9.95549806e-01 8.91022513e-02 3.06818069e-02 3.58777396e+01] [-8.90291931e-02 9.96021989e-01 -3.74181371e-03 -2.14700429e+00] [-3.08931583e-02 9.93585400e-04 9.99522199e-01 -1.12024364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763617865 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-2.15, Z:-1.12 [[ 9.95565983e-01 8.89216807e-02 3.06807468e-02 3.59393152e+01] [-8.88482699e-02 9.96038111e-01 -3.75048587e-03 -2.14996303e+00] [-3.08926926e-02 1.00792488e-03 9.99522199e-01 -1.12159905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.16, Z:-1.12 [[ 9.95661427e-01 8.78468821e-02 3.06797666e-02 3.60019319e+01] [-8.77727154e-02 9.96133437e-01 -3.75848744e-03 -2.15514745e+00] [-3.08913127e-02 1.04933455e-03 9.99522199e-01 -1.12399798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.16, Z:-1.12 [[ 9.96035271e-01 8.35018294e-02 3.06787245e-02 3.60641850e+01] [-8.34253430e-02 9.96506910e-01 -3.76697375e-03 -2.15689635e+00] [-3.08861102e-02 1.19265560e-03 9.99522199e-01 -1.12329426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943617865 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:-2.16, Z:-1.13 [[ 9.96359073e-01 7.95454180e-02 3.06777383e-02 3.61254654e+01] [-7.94668128e-02 9.96830364e-01 -3.77498813e-03 -2.15908991e+00] [-3.08807841e-02 1.32338158e-03 9.99522199e-01 -1.12939337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-2.17, Z:-1.13 [[ 9.96207306e-01 8.14242675e-02 3.06772188e-02 3.61875616e+01] [-8.13464215e-02 9.96678723e-01 -3.77920587e-03 -2.16557799e+00] [-3.08830503e-02 1.26939054e-03 9.99522199e-01 -1.12971959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-2.17, Z:-1.13 [[ 9.96198794e-01 8.15285963e-02 3.06765386e-02 3.62504047e+01] [-8.14506302e-02 9.96670192e-01 -3.78471867e-03 -2.16921702e+00] [-3.08829544e-02 1.27170877e-03 9.99522199e-01 -1.13184202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-2.17, Z:-1.13 [[ 9.95945838e-01 8.45630128e-02 3.06754678e-02 3.63119774e+01] [-8.44862168e-02 9.96417427e-01 -3.79337765e-03 -2.17333405e+00] [-3.08863502e-02 1.18634446e-03 9.99522199e-01 -1.12741291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-2.18, Z:-1.13 [[ 9.95679188e-01 8.76471469e-02 3.06746112e-02 3.63746010e+01] [-8.75715991e-02 9.96150979e-01 -3.80029203e-03 -2.17593735e+00] [-3.08896287e-02 1.09764693e-03 9.99522199e-01 -1.12536909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.243617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.18, Z:-1.13 [[ 9.95560911e-01 8.89809064e-02 3.06736177e-02 3.64359366e+01] [-8.89057445e-02 9.96032763e-01 -3.80829392e-03 -2.18005336e+00] [-3.08907937e-02 1.06432775e-03 9.99522199e-01 -1.12658659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.18, Z:-1.13 [[ 9.95395688e-01 9.08108398e-02 3.06727108e-02 3.64982401e+01] [-9.07363210e-02 9.95867642e-01 -3.81558434e-03 -2.18291860e+00] [-3.08924566e-02 1.01488727e-03 9.99522199e-01 -1.12688075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.56, Y:-2.19, Z:-1.13 [[ 9.95661912e-01 8.78441987e-02 3.06717150e-02 3.65593204e+01] [-8.77680280e-02 9.96133602e-01 -3.82357249e-03 -2.18505032e+00] [-3.08890046e-02 1.11498955e-03 9.99522199e-01 -1.13126199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:-2.19, Z:-1.14 [[ 9.95982033e-01 8.41373360e-02 3.06708057e-02 3.66193026e+01] [-8.40591862e-02 9.96453400e-01 -3.83085229e-03 -2.18651231e+00] [-3.08843464e-02 1.23729708e-03 9.99522199e-01 -1.14199657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:-2.19, Z:-1.14 [[ 9.96073962e-01 8.30419394e-02 3.06708057e-02 3.66819268e+01] [-8.29632712e-02 9.96545242e-01 -3.83085229e-03 -2.18910469e+00] [-3.08829670e-02 1.27126184e-03 9.99522199e-01 -1.14469376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.19, Z:-1.15 [[ 9.96072977e-01 8.30541259e-02 3.06697981e-02 3.67446078e+01] [-8.29752161e-02 9.96544217e-01 -3.83890235e-03 -2.19372011e+00] [-3.08826466e-02 1.27899376e-03 9.99522199e-01 -1.14704854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:-2.20, Z:-1.15 [[ 9.95962376e-01 8.43704409e-02 3.06687750e-02 3.68073552e+01] [-8.42919032e-02 9.96433678e-01 -3.84705891e-03 -2.19746713e+00] [-3.08839783e-02 1.24639652e-03 9.99522199e-01 -1.15030435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.20, Z:-1.15 [[ 9.95772580e-01 8.65820980e-02 3.06677210e-02 3.68699594e+01] [-8.65043494e-02 9.96244013e-01 -3.85544257e-03 -2.20161676e+00] [-3.08863458e-02 1.18625274e-03 9.99522199e-01 -1.15252580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:-2.21, Z:-1.15 [[ 9.95575218e-01 8.88230914e-02 3.06666553e-02 3.69320964e+01] [-8.87461438e-02 9.96046782e-01 -3.86390116e-03 -2.20780953e+00] [-3.08886269e-02 1.12525685e-03 9.99522199e-01 -1.15420201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.99, Y:-2.21, Z:-1.16 [[ 9.95335399e-01 9.14716677e-02 3.06655902e-02 3.69939239e+01] [-9.13957155e-02 9.95807124e-01 -3.87233523e-03 -2.21375498e+00] [-3.08912222e-02 1.05156877e-03 9.99522199e-01 -1.15647110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.23, Z:-1.14 [[ 9.94686632e-01 9.82760714e-02 3.06646042e-02 3.70534421e+01] [-9.82031068e-02 9.95158829e-01 -3.88012772e-03 -2.22889954e+00] [-3.08974753e-02 8.48151774e-04 9.99522199e-01 -1.14177433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.23, Z:-1.16 [[ 9.94757724e-01 9.75538552e-02 3.06645756e-02 3.71127453e+01] [-9.74805408e-02 9.95229866e-01 -3.88035412e-03 -2.23101316e+00] [-3.08968450e-02 8.70812820e-04 9.99522199e-01 -1.16105813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.25, Z:-1.15 [[ 9.93712282e-01 1.07682785e-01 3.06646073e-02 3.71719782e+01] [-1.07614292e-01 9.94185148e-01 -3.88010375e-03 -2.24609251e+00] [-3.09041175e-02 5.55756764e-04 9.99522199e-01 -1.15032793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.26, Z:-1.15 [[ 9.93212643e-01 1.12197717e-01 3.06646073e-02 3.72335746e+01] [-1.12131374e-01 9.93685815e-01 -3.88010375e-03 -2.25547534e+00] [-3.09063241e-02 4.15303571e-04 9.99522199e-01 -1.15443993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.26, Z:-1.17 [[ 9.92884548e-01 1.15065271e-01 3.06636337e-02 3.72928584e+01] [-1.15000057e-01 9.93357877e-01 -3.88778256e-03 -2.26141135e+00] [-3.09073108e-02 3.33799598e-04 9.99522199e-01 -1.16781787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.27, Z:-1.17 [[ 9.92591962e-01 1.17562572e-01 3.06632994e-02 3.73548264e+01] [-1.17498467e-01 9.93065443e-01 -3.89041701e-03 -2.27263439e+00] [-3.09080305e-02 2.58705962e-04 9.99522199e-01 -1.17055671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:-2.29, Z:-1.17 [[ 9.93030671e-01 1.13797703e-01 3.06621919e-02 3.74157093e+01] [-1.13731535e-01 9.93503868e-01 -3.89912661e-03 -2.28950405e+00] [-3.09067179e-02 3.84694171e-04 9.99522199e-01 -1.17119327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.30, Z:-1.17 [[ 9.93539216e-01 1.09269036e-01 3.06611014e-02 3.74772805e+01] [-1.09200447e-01 9.94012069e-01 -3.90768299e-03 -2.30333271e+00] [-3.09044936e-02 5.34230322e-04 9.99522199e-01 -1.17307720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.32, Z:-1.18 [[ 9.93950829e-01 1.05459533e-01 3.06600207e-02 3.75393691e+01] [-1.05388871e-01 9.94423375e-01 -3.91614383e-03 -2.31569197e+00] [-3.09020360e-02 6.61229448e-04 9.99522199e-01 -1.17607816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:-2.33, Z:-1.18 [[ 9.94542019e-01 9.97306417e-02 3.06589548e-02 3.76011894e+01] [-9.96570016e-02 9.95014111e-01 -3.92447077e-03 -2.33022984e+00] [-3.08974827e-02 8.47671577e-04 9.99522199e-01 -1.18211572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:-2.34, Z:-1.19 [[ 9.94808715e-01 9.70346214e-02 3.06578284e-02 3.76633950e+01] [-9.69594316e-02 9.95280563e-01 -3.93325055e-03 -2.34274437e+00] [-3.08948022e-02 9.40266311e-04 9.99522199e-01 -1.18558862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.36, Z:-1.19 [[ 9.94806072e-01 9.70620719e-02 3.06566927e-02 3.77249683e+01] [-9.69866233e-02 9.95277878e-01 -3.94208272e-03 -2.35845495e+00] [-3.08945548e-02 9.48318718e-04 9.99522199e-01 -1.18608169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:-2.37, Z:-1.19 [[ 9.94443624e-01 1.00708090e-01 3.06554988e-02 3.77841574e+01] [-1.00634086e-01 9.94915659e-01 -3.95134523e-03 -2.37493850e+00] [-3.08975682e-02 8.44401955e-04 9.99522199e-01 -1.18547015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.38, Z:-1.19 [[ 9.94777706e-01 9.73530409e-02 3.06545396e-02 3.78451616e+01] [-9.72772165e-02 9.95249452e-01 -3.95877331e-03 -2.38375634e+00] [-3.08943123e-02 9.56111151e-04 9.99522200e-01 -1.19094297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.683617865 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:37.91, Y:-2.40, Z:-1.19 [[ 9.94559179e-01 9.95610134e-02 3.06536001e-02 3.79061009e+01] [-9.94860127e-02 9.95031057e-01 -3.96603467e-03 -2.40342098e+00] [-3.08961465e-02 8.94851741e-04 9.99522200e-01 -1.18728370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743617865000004 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:-2.42, Z:-1.19 [[ 9.94539724e-01 9.97555043e-02 3.06525306e-02 3.79674623e+01] [-9.96803418e-02 9.95011575e-01 -3.97428306e-03 -2.41699611e+00] [-3.08960794e-02 8.97127647e-04 9.99522200e-01 -1.18885404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.43, Z:-1.19 [[ 9.94486666e-01 1.00283398e-01 3.06514473e-02 3.80294584e+01] [-1.00208229e-01 9.94958516e-01 -3.98262075e-03 -2.42914355e+00] [-3.08963093e-02 8.89135971e-04 9.99522200e-01 -1.19211584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.44, Z:-1.19 [[ 9.94365010e-01 1.01482919e-01 3.06503594e-02 3.80909590e+01] [-1.01408062e-01 9.94836910e-01 -3.99097586e-03 -2.44451000e+00] [-3.08971247e-02 8.60293200e-04 9.99522200e-01 -1.19353574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:-2.46, Z:-1.20 [[ 9.94348292e-01 1.01646923e-01 3.06492457e-02 3.81518714e+01] [-1.01571881e-01 9.94820163e-01 -3.99951036e-03 -2.45727700e+00] [-3.08970255e-02 8.63804749e-04 9.99522200e-01 -1.19595031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:-2.47, Z:-1.20 [[ 9.94393395e-01 1.01205055e-01 3.06482144e-02 3.82131338e+01] [-1.01129560e-01 9.94865193e-01 -4.00739715e-03 -2.47008044e+00] [-3.08964106e-02 8.85488804e-04 9.99522200e-01 -1.19784733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:-2.48, Z:-1.20 [[ 9.94239921e-01 1.02702038e-01 3.06475431e-02 3.82756630e+01] [-1.02627096e-01 9.94711807e-01 -4.01252477e-03 -2.48038255e+00] [-3.08975674e-02 8.44143971e-04 9.99522200e-01 -1.19911978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.34, Y:-2.49, Z:-1.20 [[ 9.94016067e-01 1.04846813e-01 3.06464451e-02 3.83383872e+01] [-1.04772631e-01 9.94488073e-01 -4.02089369e-03 -2.48931102e+00] [-3.08991020e-02 7.85924241e-04 9.99522200e-01 -1.20131032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.163617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:38.40, Y:-2.50, Z:-1.20 [[ 9.94076508e-01 1.04272522e-01 3.06453595e-02 3.83992818e+01] [-1.04197813e-01 9.94548431e-01 -4.02915076e-03 -2.49804431e+00] [-3.08984239e-02 8.12104671e-04 9.99522200e-01 -1.20259598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223617865 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:38.46, Y:-2.51, Z:-1.20 [[ 9.94368720e-01 1.01448272e-01 3.06446871e-02 3.84612881e+01] [-1.01372066e-01 9.94840404e-01 -4.03425832e-03 -2.50554750e+00] [-3.08958414e-02 9.05025032e-04 9.99522200e-01 -1.20449810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283617865000004 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:38.52, Y:-2.51, Z:-1.21 [[ 9.94505614e-01 1.00097714e-01 3.06436099e-02 3.85235416e+01] [-1.00020616e-01 9.94977153e-01 -4.04242425e-03 -2.51344817e+00] [-3.08943291e-02 9.55220873e-04 9.99522200e-01 -1.20621420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.343617865 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:-2.52, Z:-1.21 [[ 9.94495949e-01 1.00194038e-01 3.06424960e-02 3.85859032e+01] [-1.00116726e-01 9.94967453e-01 -4.05084994e-03 -2.51907742e+00] [-3.08941572e-02 9.60727475e-04 9.99522200e-01 -1.20928840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403617865 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:-2.53, Z:-1.21 [[ 9.94175455e-01 1.03326046e-01 3.06413558e-02 3.86472402e+01] [-1.03249954e-01 9.94647157e-01 -4.05945601e-03 -2.52577436e+00] [-3.08967850e-02 8.72092931e-04 9.99522200e-01 -1.21278019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463617865 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:38.71, Y:-2.53, Z:-1.21 [[ 9.93991891e-01 1.05077550e-01 3.06403089e-02 3.87093043e+01] [-1.05002047e-01 9.94463688e-01 -4.06734258e-03 -2.53338396e+00] [-3.08980610e-02 8.25610393e-04 9.99522200e-01 -1.21444838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523617865 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:38.77, Y:-2.54, Z:-1.21 [[ 9.93789437e-01 1.06975668e-01 3.06392014e-02 3.87712565e+01] [-1.06900809e-01 9.94261337e-01 -4.07566901e-03 -2.54253977e+00] [-3.08993707e-02 7.75001389e-04 9.99522200e-01 -1.21465778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583617865 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:-2.55, Z:-1.22 [[ 9.93866122e-01 1.06261185e-01 3.06380964e-02 3.88333462e+01] [-1.06185732e-01 9.94337926e-01 -4.08395805e-03 -2.55099956e+00] [-3.08985875e-02 8.05578847e-04 9.99522200e-01 -1.21541898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643617865 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:-2.56, Z:-1.22 [[ 9.93997197e-01 1.05028320e-01 3.06369611e-02 3.88949033e+01] [-1.04952020e-01 9.94468866e-01 -4.09245731e-03 -2.56082650e+00] [-3.08973279e-02 8.52480140e-04 9.99522200e-01 -1.21723851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703617865 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.57, Z:-1.22 [[ 9.94239265e-01 1.02711858e-01 3.06359101e-02 3.89571595e+01] [-1.02634217e-01 9.94710714e-01 -4.10031008e-03 -2.56988898e+00] [-3.08950185e-02 9.32396625e-04 9.99522200e-01 -1.22001554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.763617865 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.58, Z:-1.22 [[ 9.94303482e-01 1.02088671e-01 3.06347830e-02 3.90193511e+01] [-1.02010476e-01 9.94774839e-01 -4.10871361e-03 -2.57784174e+00] [-3.08941645e-02 9.60239441e-04 9.99522200e-01 -1.22179603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823617865 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:-2.59, Z:-1.22 [[ 9.94229538e-01 1.02806641e-01 3.06336399e-02 3.90804977e+01] [-1.02728525e-01 9.94700909e-01 -4.11721908e-03 -2.58646501e+00] [-3.08945869e-02 9.46512192e-04 9.99522200e-01 -1.22463081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883617865 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:-2.60, Z:-1.23 [[ 9.94024140e-01 1.04774303e-01 3.06325825e-02 3.91406350e+01] [-1.04696878e-01 9.94495625e-01 -4.12507099e-03 -2.59515855e+00] [-3.08961707e-02 8.93284375e-04 9.99522200e-01 -1.22809110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.943617865 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:39.20, Y:-2.60, Z:-1.23 [[ 9.93822952e-01 1.06666044e-01 3.06316131e-02 3.92034672e+01] [-1.06589295e-01 9.94294547e-01 -4.13225748e-03 -2.60061722e+00] [-3.08976174e-02 8.41730269e-04 9.99522200e-01 -1.22989677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003617865 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:-2.61, Z:-1.23 [[ 9.93721434e-01 1.07608025e-01 3.06304606e-02 3.92662582e+01] [-1.07531461e-01 9.94193059e-01 -4.14078259e-03 -2.60781408e+00] [-3.08981728e-02 8.21046240e-04 9.99522200e-01 -1.23149982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.063617865 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:-2.62, Z:-1.23 [[ 9.93890783e-01 1.06032817e-01 3.06292915e-02 3.93270743e+01] [-1.05955240e-01 9.94362243e-01 -4.14941265e-03 -2.61662974e+00] [-3.08965849e-02 8.78729072e-04 9.99522200e-01 -1.23336080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123617865 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:39.39, Y:-2.63, Z:-1.23 [[ 9.94306167e-01 1.02064482e-01 3.06282101e-02 3.93893236e+01] [-1.01984779e-01 9.94777272e-01 -4.15737962e-03 -2.62527174e+00] [-3.08925680e-02 1.01009698e-03 9.99522200e-01 -1.23388947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.63, Z:-1.24 [[ 9.94378708e-01 1.01355644e-01 3.06270801e-02 3.94508958e+01] [-1.01275348e-01 9.94849713e-01 -4.16568713e-03 -2.63223243e+00] [-3.08915578e-02 1.04050238e-03 9.99522200e-01 -1.23653233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243617865000004 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:-2.64, Z:-1.24 [[ 9.94505961e-01 1.00099645e-01 3.06260352e-02 3.95121199e+01] [-1.00018519e-01 9.94976823e-01 -4.17335550e-03 -2.63846575e+00] [-3.08899466e-02 1.08725623e-03 9.99522200e-01 -1.24188339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303617865 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.65, Z:-1.24 [[ 9.94305852e-01 1.02068522e-01 3.06249946e-02 3.95722617e+01] [-1.01988094e-01 9.94776833e-01 -4.18097775e-03 -2.64835499e+00] [-3.08917813e-02 1.03378582e-03 9.99522200e-01 -1.24022746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363617865 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.66, Z:-1.24 [[ 9.94234944e-01 1.02757108e-01 3.06243987e-02 3.96342397e+01] [-1.02676872e-01 9.94705958e-01 -4.18533788e-03 -2.65681098e+00] [-3.08923450e-02 1.01679170e-03 9.99522200e-01 -1.24144640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423617865000004 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:-2.66, Z:-1.24 [[ 9.93917998e-01 1.05779157e-01 3.06232617e-02 3.96950354e+01] [-1.05700097e-01 9.94389211e-01 -4.19364042e-03 -2.66439657e+00] [-3.08950408e-02 9.31252943e-04 9.99522200e-01 -1.24175380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483617865 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.67, Z:-1.24 [[ 9.93618692e-01 1.08554794e-01 3.06227213e-02 3.97579691e+01] [-1.08476930e-01 9.94090105e-01 -4.19758260e-03 -2.67194404e+00] [-3.08974120e-02 8.48937734e-04 9.99522200e-01 -1.24223233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.68, Z:-1.25 [[ 9.93206535e-01 1.12263520e-01 3.06215793e-02 3.98190393e+01] [-1.12187160e-01 9.93678193e-01 -4.20589742e-03 -2.68067745e+00] [-3.09001644e-02 7.41976792e-04 9.99522201e-01 -1.24535468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.69, Z:-1.25 [[ 9.92882044e-01 1.15098347e-01 3.06205224e-02 3.98809194e+01] [-1.15023097e-01 9.93353881e-01 -4.21357762e-03 -2.69109341e+00] [-3.09019906e-02 6.61518228e-04 9.99522201e-01 -1.24683441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.70, Z:-1.25 [[ 9.92929078e-01 1.14692191e-01 3.06193902e-02 3.99430907e+01] [-1.14616495e-01 9.93400843e-01 -4.22178932e-03 -2.69974126e+00] [-3.09015343e-02 6.82450187e-04 9.99522201e-01 -1.24926148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.71, Z:-1.25 [[ 9.92878115e-01 1.15132861e-01 3.06181830e-02 4.00045880e+01] [-1.15057105e-01 9.93349871e-01 -4.23052629e-03 -2.71048617e+00] [-3.09016407e-02 6.77557484e-04 9.99522201e-01 -1.25007151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.72, Z:-1.25 [[ 9.93389816e-01 1.10631225e-01 3.06170672e-02 4.00657113e+01] [-1.10553084e-01 9.93861183e-01 -4.23858642e-03 -2.72036830e+00] [-3.08980346e-02 8.25757401e-04 9.99522201e-01 -1.24964407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.73, Z:-1.25 [[ 9.93861187e-01 1.06313682e-01 3.06160262e-02 4.01272105e+01] [-1.06233262e-01 9.94332170e-01 -4.24609266e-03 -2.72913534e+00] [-3.08939175e-02 9.67586367e-04 9.99522201e-01 -1.25046459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903617865 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.74, Z:-1.25 [[ 9.93865666e-01 1.06272107e-01 3.06149725e-02 4.01870674e+01] [-1.06191434e-01 9.94336606e-01 -4.25367640e-03 -2.73762488e+00] [-3.08936350e-02 9.76535100e-04 9.99522201e-01 -1.25480443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.74, Z:-1.26 [[ 9.94039442e-01 1.04634415e-01 3.06141564e-02 4.02498626e+01] [-1.04552786e-01 9.94510217e-01 -4.25954196e-03 -2.74434159e+00] [-3.08917860e-02 1.03335739e-03 9.99522201e-01 -1.25613145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.75, Z:-1.26 [[ 9.93979066e-01 1.05206765e-01 3.06129615e-02 4.03125428e+01] [-1.05125143e-01 9.94449842e-01 -4.26811191e-03 -2.75262833e+00] [-3.08920890e-02 1.02422194e-03 9.99522201e-01 -1.25756548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.76, Z:-1.26 [[ 9.93654143e-01 1.08232909e-01 3.06117832e-02 4.03754566e+01] [-1.08152461e-01 9.94125121e-01 -4.27654631e-03 -2.75821242e+00] [-3.08948058e-02 9.38668252e-04 9.99522201e-01 -1.26076202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.76, Z:-1.26 [[ 9.93079572e-01 1.13384103e-01 3.06106100e-02 4.04379845e+01] [-1.13305841e-01 9.93550918e-01 -4.28492729e-03 -2.76346619e+00] [-3.08990423e-02 7.86912853e-04 9.99522201e-01 -1.26389488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.77, Z:-1.27 [[ 9.92658424e-01 1.17014171e-01 3.06094354e-02 4.05005539e+01] [-1.16937374e-01 9.93130011e-01 -4.29330193e-03 -2.76951685e+00] [-3.09015261e-02 6.82395330e-04 9.99522201e-01 -1.26602751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.77, Z:-1.27 [[ 9.92668745e-01 1.16926884e-01 3.06082668e-02 4.05630838e+01] [-1.16849789e-01 9.93140284e-01 -4.30161708e-03 -2.77491955e+00] [-3.09012775e-02 6.93511301e-04 9.99522201e-01 -1.26884489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323617865 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.78, Z:-1.27 [[ 9.92870292e-01 1.15203255e-01 3.06070704e-02 4.06248385e+01] [-1.15125080e-01 9.93341653e-01 -4.31011312e-03 -2.78321310e+00] [-3.08998170e-02 7.55741844e-04 9.99522201e-01 -1.27057823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:-2.79, Z:-1.27 [[ 9.93283182e-01 1.11587613e-01 3.06059639e-02 4.06877094e+01] [-1.11507481e-01 9.93754214e-01 -4.31795642e-03 -2.79114487e+00] [-3.08966360e-02 8.76159556e-04 9.99522201e-01 -1.27073895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.443617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.80, Z:-1.27 [[ 9.93394587e-01 1.10591778e-01 3.06047876e-02 4.07502188e+01] [-1.10510918e-01 9.93865494e-01 -4.32627745e-03 -2.79800885e+00] [-3.08954931e-02 9.15537446e-04 9.99522201e-01 -1.27330494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.80, Z:-1.28 [[ 9.93396048e-01 1.10578981e-01 3.06036197e-02 4.08115020e+01] [-1.10497861e-01 9.93866910e-01 -4.33452327e-03 -2.80451038e+00] [-3.08952321e-02 9.24263787e-04 9.99522201e-01 -1.27548797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.81, Z:-1.28 [[ 9.93205639e-01 1.12276543e-01 3.06028983e-02 4.08742999e+01] [-1.12196071e-01 9.93676612e-01 -4.33961092e-03 -2.81156361e+00] [-3.08966208e-02 8.76601098e-04 9.99522201e-01 -1.27881857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.82, Z:-1.28 [[ 9.92925160e-01 1.14730831e-01 3.06016916e-02 4.09369055e+01] [-1.14651262e-01 9.93396287e-01 -4.34810340e-03 -2.81975968e+00] [-3.08984683e-02 8.08818707e-04 9.99522201e-01 -1.28070918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.83, Z:-1.28 [[ 9.92309818e-01 1.19936797e-01 3.06004928e-02 4.09988513e+01] [-1.19859440e-01 9.92781313e-01 -4.35652361e-03 -2.82739944e+00] [-3.09021049e-02 6.55263222e-04 9.99522201e-01 -1.28383472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743617865000004 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.83, Z:-1.29 [[ 9.91911915e-01 1.23184565e-01 3.05992892e-02 4.10618559e+01] [-1.23108491e-01 9.92383619e-01 -4.36496159e-03 -2.83431447e+00] [-3.09039292e-02 5.62625082e-04 9.99522201e-01 -1.28534386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:41.12, Y:-2.84, Z:-1.29 [[ 9.91655040e-01 1.25235935e-01 3.05980681e-02 4.11239118e+01] [-1.25160574e-01 9.92126858e-01 -4.37350454e-03 -2.84257333e+00] [-3.09048851e-02 5.07336061e-04 9.99522201e-01 -1.28866411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:-2.85, Z:-1.29 [[ 9.91553244e-01 1.26039663e-01 3.05968718e-02 4.11859993e+01] [-1.25964426e-01 9.92025082e-01 -4.38185793e-03 -2.85168047e+00] [-3.09051521e-02 4.90728042e-04 9.99522201e-01 -1.29068962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.25, Y:-2.87, Z:-1.28 [[ 9.91275364e-01 1.28206995e-01 3.05960532e-02 4.12471330e+01] [-1.28132614e-01 9.91747338e-01 -4.38756638e-03 -2.86503376e+00] [-3.09060710e-02 4.28934200e-04 9.99522201e-01 -1.27898858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.31, Y:-2.87, Z:-1.29 [[ 9.91900262e-01 1.23279224e-01 3.05958080e-02 4.13073138e+01] [-1.23202446e-01 9.92371851e-01 -4.38927520e-03 -2.86692487e+00] [-3.09035251e-02 5.84244828e-04 9.99522201e-01 -1.29242459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.88, Z:-1.28 [[ 9.91700418e-01 1.24876671e-01 3.05957285e-02 4.13679985e+01] [-1.24800636e-01 9.92172128e-01 -4.38982919e-03 -2.88003785e+00] [-3.09044163e-02 5.35029068e-04 9.99522201e-01 -1.28260827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.88, Z:-1.29 [[ 9.92395230e-01 1.19229314e-01 3.05953899e-02 4.14286151e+01] [-1.19150522e-01 9.92866487e-01 -4.39218776e-03 -2.88345425e+00] [-3.09008149e-02 7.13329502e-04 9.99522201e-01 -1.29444251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:-2.90, Z:-1.28 [[ 9.91935901e-01 1.22992275e-01 3.05952323e-02 4.14883495e+01] [-1.22915237e-01 9.92407448e-01 -4.39328542e-03 -2.89807909e+00] [-3.09032766e-02 5.97237313e-04 9.99522201e-01 -1.28280648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.90, Z:-1.30 [[ 9.92896471e-01 1.14980586e-01 3.05951539e-02 4.15488558e+01] [-1.14899727e-01 9.93367378e-01 -4.39383171e-03 -2.89739010e+00] [-3.08974331e-02 8.47245161e-04 9.99522201e-01 -1.29882854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.91, Z:-1.30 [[ 9.93215834e-01 1.12188450e-01 3.05950768e-02 4.16111778e+01] [-1.12106251e-01 9.93686509e-01 -4.39436817e-03 -2.90581166e+00] [-3.08949124e-02 9.34656682e-04 9.99522201e-01 -1.30053429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.91, Z:-1.30 [[ 9.93404480e-01 1.10505896e-01 3.05938906e-02 4.16723128e+01] [-1.10422646e-01 9.93874970e-01 -4.40261136e-03 -2.91183226e+00] [-3.08930166e-02 9.95315501e-04 9.99522201e-01 -1.30397621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.92, Z:-1.30 [[ 9.93244528e-01 1.11934753e-01 3.05927931e-02 4.17329630e+01] [-1.11851945e-01 9.93715096e-01 -4.41022458e-03 -2.92198980e+00] [-3.08941777e-02 9.58568024e-04 9.99522201e-01 -1.29605005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.93, Z:-1.30 [[ 9.93328064e-01 1.11191049e-01 3.05926281e-02 4.17943510e+01] [-1.11107854e-01 9.93798563e-01 -4.41136890e-03 -2.92935911e+00] [-3.08934146e-02 9.82855282e-04 9.99522201e-01 -1.30118524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.93, Z:-1.31 [[ 9.93380709e-01 1.10720061e-01 3.05914189e-02 4.18544599e+01] [-1.10636386e-01 9.93851124e-01 -4.41973830e-03 -2.93016926e+00] [-3.08926697e-02 1.00595875e-03 9.99522201e-01 -1.30974313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.94, Z:-1.31 [[ 9.93013201e-01 1.13969164e-01 3.05910522e-02 4.19167720e+01] [-1.13886950e-01 9.93483873e-01 -4.42227473e-03 -2.93602915e+00] [-3.08957200e-02 9.07455553e-04 9.99522201e-01 -1.31203891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643617865 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:41.98, Y:-2.94, Z:-1.31 [[ 9.92637751e-01 1.17194484e-01 3.05899852e-02 4.19785732e+01] [-1.17113573e-01 9.93108649e-01 -4.42964321e-03 -2.94365913e+00] [-3.08983086e-02 8.14528623e-04 9.99522201e-01 -1.30995972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.95, Z:-1.31 [[ 9.92631398e-01 1.17248561e-01 3.05889145e-02 4.20398243e+01] [-1.17167448e-01 9.93102262e-01 -4.43702434e-03 -2.94958957e+00] [-3.08981549e-02 8.20304635e-04 9.99522201e-01 -1.31450026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.10, Y:-2.96, Z:-1.32 [[ 9.92580253e-01 1.17681005e-01 3.05879349e-02 4.21024795e+01] [-1.17599889e-01 9.93051116e-01 -4.44376740e-03 -2.95647250e+00] [-3.08983299e-02 8.13658031e-04 9.99522201e-01 -1.31626628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.16, Y:-2.96, Z:-1.32 [[ 9.92694387e-01 1.16714635e-01 3.05867329e-02 4.21648865e+01] [-1.16632806e-01 9.93165126e-01 -4.45202602e-03 -2.96422284e+00] [-3.08972930e-02 8.52084749e-04 9.99522201e-01 -1.31851864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:-2.97, Z:-1.32 [[ 9.92863866e-01 1.15264368e-01 3.05854445e-02 4.22261330e+01] [-1.15181580e-01 9.93334437e-01 -4.46085972e-03 -2.97354683e+00] [-3.08957534e-02 9.06146620e-04 9.99522202e-01 -1.32210634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:-2.99, Z:-1.32 [[ 9.93127096e-01 1.12974196e-01 3.05843323e-02 4.22858694e+01] [-1.12890088e-01 9.93597434e-01 -4.46847185e-03 -2.98540343e+00] [-3.08933361e-02 9.85092496e-04 9.99522202e-01 -1.32254660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.00, Z:-1.32 [[ 9.92979254e-01 1.14266525e-01 3.05837108e-02 4.23469194e+01] [-1.14182899e-01 9.93449677e-01 -4.47272151e-03 -2.99538984e+00] [-3.08944600e-02 9.49182913e-04 9.99522202e-01 -1.32268102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.00, Z:-1.33 [[ 9.93019416e-01 1.13917270e-01 3.05825980e-02 4.24086997e+01] [-1.13833244e-01 9.93489768e-01 -4.48031777e-03 -3.00436038e+00] [-3.08938837e-02 9.67726185e-04 9.99522202e-01 -1.32855806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.02, Z:-1.33 [[ 9.92515779e-01 1.18225032e-01 3.05821978e-02 4.24692232e+01] [-1.18142965e-01 9.92986476e-01 -4.48304734e-03 -3.01624466e+00] [-3.08977173e-02 8.36423703e-04 9.99522202e-01 -1.33308090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.02, Z:-1.33 [[ 9.92400647e-01 1.19187771e-01 3.05815378e-02 4.25301470e+01] [-1.19106022e-01 9.92871400e-01 -4.48754528e-03 -3.02388013e+00] [-3.08983948e-02 8.10997528e-04 9.99522202e-01 -1.33215831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.04, Z:-1.33 [[ 9.92049798e-01 1.22073795e-01 3.05808402e-02 4.25907159e+01] [-1.21993269e-01 9.92520761e-01 -4.49229401e-03 -3.03530131e+00] [-3.09005102e-02 7.25922700e-04 9.99522202e-01 -1.33470602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.05, Z:-1.34 [[ 9.92343265e-01 1.19665041e-01 3.05797826e-02 4.26520191e+01] [-1.19583151e-01 9.92813993e-01 -4.49948215e-03 -3.04511685e+00] [-3.08984668e-02 8.08204061e-04 9.99522202e-01 -1.33852443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.06, Z:-1.34 [[ 9.92207027e-01 1.20789739e-01 3.05786714e-02 4.27127159e+01] [-1.20708150e-01 9.92677807e-01 -4.50702123e-03 -3.05644841e+00] [-3.08991704e-02 7.80803296e-04 9.99522202e-01 -1.33919284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423617865000004 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.07, Z:-1.34 [[ 9.92351162e-01 1.19600107e-01 3.05775419e-02 4.27742015e+01] [-1.19517718e-01 9.92821803e-01 -4.51467149e-03 -3.06940863e+00] [-3.08980054e-02 8.25581477e-04 9.99522202e-01 -1.34060116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.483617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.09, Z:-1.34 [[ 9.92572440e-01 1.17749920e-01 3.05762521e-02 4.28330357e+01] [-1.17666386e-01 9.93042880e-01 -4.52338998e-03 -3.08751182e+00] [-3.08961582e-02 8.91995154e-04 9.99522202e-01 -1.33941889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.10, Z:-1.34 [[ 9.92878650e-01 1.15139550e-01 3.05756579e-02 4.28938030e+01] [-1.15054655e-01 9.93348846e-01 -4.52740228e-03 -3.09927698e+00] [-3.08935776e-02 9.77289289e-04 9.99522202e-01 -1.34069127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:-3.11, Z:-1.35 [[ 9.92878018e-01 1.15145284e-01 3.05745858e-02 4.29534987e+01] [-1.15060169e-01 9.93348174e-01 -4.53463089e-03 -3.11396925e+00] [-3.08933504e-02 9.84418296e-04 9.99522202e-01 -1.34672439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:-3.13, Z:-1.35 [[ 9.92216909e-01 1.20709822e-01 3.05736038e-02 4.30145790e+01] [-1.20627141e-01 9.92687499e-01 -4.54124236e-03 -3.12788944e+00] [-3.08982069e-02 8.17891031e-04 9.99522202e-01 -1.34651845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:43.08, Y:-3.14, Z:-1.35 [[ 9.91718339e-01 1.24739961e-01 3.05725132e-02 4.30763888e+01] [-1.24658967e-01 9.92189222e-01 -4.54857290e-03 -3.13955881e+00] [-3.09011069e-02 6.99765242e-04 9.99522202e-01 -1.34935332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783617865000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:43.14, Y:-3.15, Z:-1.35 [[ 9.91135706e-01 1.29288095e-01 3.05712502e-02 4.31365179e+01] [-1.29209000e-01 9.91606912e-01 -4.55704571e-03 -3.15396730e+00] [-3.09038348e-02 5.66570040e-04 9.99522202e-01 -1.35234543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.843617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:43.20, Y:-3.17, Z:-1.35 [[ 9.90565326e-01 1.33588194e-01 3.05700834e-02 4.31980073e+01] [-1.33510904e-01 9.91036831e-01 -4.56485942e-03 -3.16686226e+00] [-3.09058899e-02 4.40351986e-04 9.99522202e-01 -1.35375185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.903617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:-3.18, Z:-1.35 [[ 9.89521305e-01 1.41113894e-01 3.05688706e-02 4.32597260e+01] [-1.41039940e-01 9.89993345e-01 -4.57296695e-03 -3.17808873e+00] [-3.09082876e-02 2.13616548e-04 9.99522202e-01 -1.35304368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:-3.19, Z:-1.36 [[ 9.89021082e-01 1.44578433e-01 3.05675791e-02 4.33208207e+01] [-1.44505866e-01 9.89493337e-01 -4.58158331e-03 -3.18649982e+00] [-3.09088140e-02 1.14087983e-04 9.99522202e-01 -1.35680985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.023617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:-3.19, Z:-1.36 [[ 9.89430217e-01 1.41751673e-01 3.05664612e-02 4.33825886e+01] [-1.41677527e-01 9.89902227e-01 -4.58902926e-03 -3.19034045e+00] [-3.09083106e-02 2.09943572e-04 9.99522202e-01 -1.36369438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-3.21, Z:-1.36 [[ 9.88928262e-01 1.45212451e-01 3.05652971e-02 4.34425615e+01] [-1.45139717e-01 9.89400491e-01 -4.59676977e-03 -3.20532285e+00] [-3.09088282e-02 1.09636950e-04 9.99522202e-01 -1.36074238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143617865 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:-3.21, Z:-1.36 [[ 9.89720803e-01 1.39708838e-01 3.05642343e-02 4.35044406e+01] [-1.39633261e-01 9.90192586e-01 -4.60382599e-03 -3.21439898e+00] [-3.09076733e-02 2.88718666e-04 9.99522202e-01 -1.36187117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.22, Z:-1.37 [[ 9.91292360e-01 1.28083421e-01 3.05629492e-02 4.35662746e+01] [-1.28002050e-01 9.91763178e-01 -4.61234156e-03 -3.21781805e+00] [-3.09019721e-02 6.60058816e-04 9.99522202e-01 -1.36737658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.23, Z:-1.37 [[ 9.92216062e-01 1.20719773e-01 3.05617759e-02 4.36267179e+01] [-1.20634669e-01 9.92686220e-01 -4.62010262e-03 -3.22916421e+00] [-3.08959915e-02 8.97330313e-04 9.99522202e-01 -1.36778465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.24, Z:-1.37 [[ 9.92548893e-01 1.17952320e-01 3.05605331e-02 4.36878746e+01] [-1.17865653e-01 9.93018765e-01 -4.62830899e-03 -3.24093174e+00] [-3.08931026e-02 9.91785789e-04 9.99522202e-01 -1.36762988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.383617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.25, Z:-1.37 [[ 9.92902122e-01 1.14941303e-01 3.05593207e-02 4.37488024e+01] [-1.14852966e-01 9.93371683e-01 -4.63630037e-03 -3.25046894e+00] [-3.08896662e-02 1.09356387e-03 9.99522202e-01 -1.37132788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.443617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.26, Z:-1.37 [[ 9.92842862e-01 1.15452359e-01 3.05582043e-02 4.38088205e+01] [-1.15364037e-01 9.93312426e-01 -4.64364669e-03 -3.25977889e+00] [-3.08899640e-02 1.08509365e-03 9.99522202e-01 -1.37218239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:-3.27, Z:-1.38 [[ 9.92221191e-01 1.20678669e-01 3.05575930e-02 4.38711198e+01] [-1.20592698e-01 9.92691191e-01 -4.64766603e-03 -3.26633944e+00] [-3.08951275e-02 9.26490146e-04 9.99522202e-01 -1.37546784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.563617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-3.28, Z:-1.38 [[ 9.91598978e-01 1.25689209e-01 3.05563342e-02 4.39334532e+01] [-1.25605359e-01 9.92069361e-01 -4.65592708e-03 -3.27687561e+00] [-3.08992028e-02 7.78773215e-04 9.99522202e-01 -1.37701226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.00, Y:-3.29, Z:-1.38 [[ 9.91130400e-01 1.29332581e-01 3.05550869e-02 4.39950957e+01] [-1.29250208e-01 9.91601044e-01 -4.66409870e-03 -3.28690249e+00] [-3.09016760e-02 6.73478693e-04 9.99522202e-01 -1.37753237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:-3.30, Z:-1.38 [[ 9.90933946e-01 1.30829535e-01 3.05539954e-02 4.40559661e+01] [-1.30747653e-01 9.91404676e-01 -4.67123806e-03 -3.29681881e+00] [-3.09025098e-02 6.34025176e-04 9.99522202e-01 -1.37904141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.743617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:-3.31, Z:-1.38 [[ 9.90842387e-01 1.31521347e-01 3.05532238e-02 4.41176859e+01] [-1.31439639e-01 9.91313146e-01 -4.67627905e-03 -3.30861107e+00] [-3.09028430e-02 6.17550792e-04 9.99522202e-01 -1.37951628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.803617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.32, Z:-1.38 [[ 9.90877378e-01 1.31257751e-01 3.05520093e-02 4.41781164e+01] [-1.31175673e-01 9.91348073e-01 -4.68420042e-03 -3.31996102e+00] [-3.09025132e-02 6.33787830e-04 9.99522202e-01 -1.38166468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.33, Z:-1.38 [[ 9.90960625e-01 1.30628033e-01 3.05508818e-02 4.42403893e+01] [-1.30545429e-01 9.91431228e-01 -4.69154275e-03 -3.33078458e+00] [-3.09019453e-02 6.60856150e-04 9.99522202e-01 -1.38418378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-3.34, Z:-1.39 [[ 9.91059210e-01 1.29878248e-01 3.05496936e-02 4.43026573e+01] [-1.29795050e-01 9.91529708e-01 -4.69926743e-03 -3.34114618e+00] [-3.09012614e-02 6.92053253e-04 9.99522202e-01 -1.38511228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.983617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.36, Y:-3.35, Z:-1.39 [[ 9.91100061e-01 1.29566449e-01 3.05484080e-02 4.43634195e+01] [-1.29482847e-01 9.91570487e-01 -4.70760958e-03 -3.35022885e+00] [-3.09008481e-02 7.10217305e-04 9.99522202e-01 -1.38767451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.36, Z:-1.39 [[ 9.91225996e-01 1.28599735e-01 3.05472190e-02 4.44233507e+01] [-1.28515437e-01 9.91696298e-01 -4.71531246e-03 -3.35864676e+00] [-3.08999519e-02 7.48151103e-04 9.99522202e-01 -1.39367319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103617865000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:44.48, Y:-3.37, Z:-1.39 [[ 9.91116426e-01 1.29441716e-01 3.05462195e-02 4.44848963e+01] [-1.29357618e-01 9.91586765e-01 -4.72177838e-03 -3.36561825e+00] [-3.09004221e-02 7.28445930e-04 9.99522202e-01 -1.39264053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.163617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:-3.37, Z:-1.40 [[ 9.91159547e-01 1.29111374e-01 3.05451436e-02 4.45479756e+01] [-1.29026905e-01 9.91629819e-01 -4.72872819e-03 -3.37222457e+00] [-3.09000078e-02 7.45778753e-04 9.99522203e-01 -1.39532115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:-3.38, Z:-1.40 [[ 9.90971795e-01 1.30544915e-01 3.05438580e-02 4.46090492e+01] [-1.30460871e-01 9.91442142e-01 -4.73701796e-03 -3.38287693e+00] [-3.09008616e-02 7.09472864e-04 9.99522203e-01 -1.39675257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283617865000004 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:44.67, Y:-3.39, Z:-1.40 [[ 9.90557687e-01 1.33650916e-01 3.05434417e-02 4.46703012e+01] [-1.33568264e-01 9.91028281e-01 -4.73970020e-03 -3.39154166e+00] [-3.09028798e-02 6.15311976e-04 9.99522203e-01 -1.39838357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.343617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:44.73, Y:-3.40, Z:-1.40 [[ 9.90472758e-01 1.34279151e-01 3.05421905e-02 4.47328563e+01] [-1.34196549e-01 9.90943361e-01 -4.74774951e-03 -3.40029726e+00] [-3.09031047e-02 6.03859985e-04 9.99522203e-01 -1.40030512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.79, Y:-3.41, Z:-1.40 [[ 9.90709384e-01 1.32522343e-01 3.05408869e-02 4.47940643e+01] [-1.32438649e-01 9.91179794e-01 -4.75612034e-03 -3.41127152e+00] [-3.09018022e-02 6.67139247e-04 9.99522203e-01 -1.40021296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.42, Z:-1.40 [[ 9.90906911e-01 1.31037303e-01 3.05404537e-02 4.48563835e+01] [-1.30952818e-01 9.91377180e-01 -4.75890041e-03 -3.42175907e+00] [-3.09007023e-02 7.16268818e-04 9.99522203e-01 -1.39965808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.523617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.43, Z:-1.40 [[ 9.91218296e-01 1.28661010e-01 3.05390506e-02 4.49185363e+01] [-1.28575121e-01 9.91688311e-01 -4.76788734e-03 -3.43025566e+00] [-3.08986607e-02 7.99455024e-04 9.99522203e-01 -1.40286020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583617865 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.44, Z:-1.41 [[ 9.91502596e-01 1.26451763e-01 3.05377432e-02 4.49801601e+01] [-1.26364570e-01 9.91972370e-01 -4.77624637e-03 -3.44149435e+00] [-3.08965623e-02 8.76771895e-04 9.99522203e-01 -1.40683476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:-3.45, Z:-1.41 [[ 9.92051277e-01 1.22072917e-01 3.05363052e-02 4.50430673e+01] [-1.21983368e-01 9.92520608e-01 -4.78542236e-03 -3.44837742e+00] [-3.08920827e-02 1.02246300e-03 9.99522203e-01 -1.40580127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.703617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:-3.46, Z:-1.41 [[ 9.92189372e-01 1.20945774e-01 3.05347470e-02 4.51044906e+01] [-1.20855387e-01 9.92658541e-01 -4.79534423e-03 -3.45820986e+00] [-3.08905541e-02 1.06760089e-03 9.99522203e-01 -1.40902042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:-3.47, Z:-1.41 [[ 9.92056279e-01 1.22032945e-01 3.05335690e-02 4.51654428e+01] [-1.21942843e-01 9.92525504e-01 -4.80283357e-03 -3.46692978e+00] [-3.08914499e-02 1.04133099e-03 9.99522203e-01 -1.40760815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.47, Z:-1.41 [[ 9.92046247e-01 1.22114784e-01 3.05323182e-02 4.52267896e+01] [-1.22024476e-01 9.92515432e-01 -4.81077191e-03 -3.47310001e+00] [-3.08912634e-02 1.04681809e-03 9.99522203e-01 -1.41414630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.48, Z:-1.41 [[ 9.91724239e-01 1.24703170e-01 3.05311732e-02 4.52894794e+01] [-1.24613864e-01 9.92193616e-01 -4.81802769e-03 -3.48052993e+00] [-3.08936585e-02 9.73547386e-04 9.99522203e-01 -1.41408333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.49, Z:-1.41 [[ 9.91349824e-01 1.27645819e-01 3.05298558e-02 4.53513082e+01] [-1.27557649e-01 9.91819415e-01 -4.82636079e-03 -3.48887059e+00] [-3.08961685e-02 8.90295273e-04 9.99522203e-01 -1.41483278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:-3.50, Z:-1.42 [[ 9.90896814e-01 1.31116387e-01 3.05286377e-02 4.54134943e+01] [-1.31029626e-01 9.91366667e-01 -4.83405380e-03 -3.49639365e+00] [-3.08988975e-02 7.89892524e-04 9.99522203e-01 -1.41596202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.063617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:-3.50, Z:-1.42 [[ 9.90277365e-01 1.35715968e-01 3.05273166e-02 4.54761320e+01] [-1.35631133e-01 9.90747570e-01 -4.84238224e-03 -3.50247098e+00] [-3.09020533e-02 6.54846986e-04 9.99522203e-01 -1.41853185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:-3.51, Z:-1.42 [[ 9.90243647e-01 1.35962073e-01 3.05259629e-02 4.55374322e+01] [-1.35877092e-01 9.90713826e-01 -4.85090090e-03 -3.51039214e+00] [-3.09020320e-02 6.55794742e-04 9.99522203e-01 -1.41909191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:-3.52, Z:-1.42 [[ 9.90769111e-01 1.32078810e-01 3.05247024e-02 4.56003239e+01] [-1.31991743e-01 9.91238908e-01 -4.85881997e-03 -3.51559942e+00] [-3.08990198e-02 7.84960081e-04 9.99522203e-01 -1.41972676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:-3.52, Z:-1.42 [[ 9.91326552e-01 1.27827993e-01 3.05233039e-02 4.56630170e+01] [-1.27738641e-01 9.91795920e-01 -4.86758959e-03 -3.52240349e+00] [-3.08951024e-02 9.26365447e-04 9.99522203e-01 -1.42112951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:-3.53, Z:-1.42 [[ 9.91479085e-01 1.26639804e-01 3.05218745e-02 4.57250627e+01] [-1.26549615e-01 9.91948292e-01 -4.87653607e-03 -3.53176878e+00] [-3.08936848e-02 9.72452066e-04 9.99522203e-01 -1.41843351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.79, Y:-3.54, Z:-1.43 [[ 9.92023459e-01 1.22302543e-01 3.05212060e-02 4.57855621e+01] [-1.22210174e-01 9.92492243e-01 -4.88071657e-03 -3.53681028e+00] [-3.08889842e-02 1.11178345e-03 9.99522203e-01 -1.42547523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423617865000004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:-3.54, Z:-1.43 [[ 9.92400089e-01 1.19208170e-01 3.05200821e-02 4.58482333e+01] [-1.19114125e-01 9.92868539e-01 -4.88773404e-03 -3.54328996e+00] [-3.08850872e-02 1.21521484e-03 9.99522203e-01 -1.42770402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.91, Y:-3.55, Z:-1.43 [[ 9.92538624e-01 1.18049505e-01 3.05187411e-02 4.59113110e+01] [-1.17954656e-01 9.93006912e-01 -4.89609279e-03 -3.54874248e+00] [-3.08833022e-02 1.25973360e-03 9.99522203e-01 -1.43001859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.97, Y:-3.56, Z:-1.42 [[ 9.91998144e-01 1.22508653e-01 3.05174177e-02 4.59713308e+01] [-1.22415656e-01 9.92466803e-01 -4.90432792e-03 -3.56248819e+00] [-3.08883466e-02 1.12927448e-03 9.99522203e-01 -1.41739534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.03, Y:-3.56, Z:-1.43 [[ 9.92537847e-01 1.18056402e-01 3.05173565e-02 4.60318391e+01] [-1.17961292e-01 9.93006081e-01 -4.90470872e-03 -3.56189119e+00] [-3.08829529e-02 1.26824223e-03 9.99522203e-01 -1.43246630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:-3.57, Z:-1.43 [[ 9.92277118e-01 1.20228157e-01 3.05173817e-02 4.60947570e+01] [-1.20134077e-01 9.92745561e-01 -4.90455212e-03 -3.56837528e+00] [-3.08856605e-02 1.20049737e-03 9.99522203e-01 -1.43246004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.15, Y:-3.58, Z:-1.42 [[ 9.91416615e-01 1.27129343e-01 3.05160014e-02 4.61546314e+01] [-1.27038261e-01 9.91885649e-01 -4.91312509e-03 -3.58200335e+00] [-3.08929862e-02 9.94254101e-04 9.99522203e-01 -1.41732331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783617865000004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:-3.59, Z:-1.43 [[ 9.91354910e-01 1.27609626e-01 3.05159874e-02 4.62151965e+01] [-1.27518768e-01 9.91823989e-01 -4.91321186e-03 -3.58517311e+00] [-3.08934615e-02 9.79375596e-04 9.99522203e-01 -1.42626755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.28, Y:-3.59, Z:-1.44 [[ 9.91029640e-01 1.30111626e-01 3.05158380e-02 4.62755688e+01] [-1.30021924e-01 9.91498941e-01 -4.91414003e-03 -3.59182143e+00] [-3.08958078e-02 9.02330456e-04 9.99522203e-01 -1.43521423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.34, Y:-3.60, Z:-1.44 [[ 9.90726118e-01 1.32403218e-01 3.05146930e-02 4.63383334e+01] [-1.32314383e-01 9.91195584e-01 -4.92123960e-03 -3.59914154e+00] [-3.08976169e-02 8.38067828e-04 9.99522203e-01 -1.43677069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:-3.61, Z:-1.43 [[ 9.90692734e-01 1.32653088e-01 3.05133433e-02 4.63996710e+01] [-1.32564115e-01 9.91162174e-01 -4.92959395e-03 -3.60912383e+00] [-3.08975975e-02 8.38738570e-04 9.99522203e-01 -1.43250628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:-3.62, Z:-1.44 [[ 9.90706989e-01 1.32546870e-01 3.05121283e-02 4.64613779e+01] [-1.32457615e-01 9.91176374e-01 -4.93710317e-03 -3.61824768e+00] [-3.08972982e-02 8.49658873e-04 9.99522203e-01 -1.43635516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:-3.63, Z:-1.44 [[ 9.90640981e-01 1.33039578e-01 3.05109299e-02 4.65216957e+01] [-1.32950329e-01 9.91110368e-01 -4.94449792e-03 -3.62706635e+00] [-3.08975129e-02 8.41784106e-04 9.99522203e-01 -1.43955136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:-3.64, Z:-1.44 [[ 9.90456514e-01 1.34406262e-01 3.05098315e-02 4.65833671e+01] [-1.34317452e-01 9.90925985e-01 -4.95126622e-03 -3.63734503e+00] [-3.08984660e-02 8.06011065e-04 9.99522203e-01 -1.44190340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.65, Y:-3.65, Z:-1.44 [[ 9.90371777e-01 1.35029502e-01 3.05086347e-02 4.66458944e+01] [-1.34940761e-01 9.90841260e-01 -4.95862959e-03 -3.64650375e+00] [-3.08987754e-02 7.94028425e-04 9.99522203e-01 -1.44321794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.71, Y:-3.66, Z:-1.45 [[ 9.90320623e-01 1.35404475e-01 3.05072314e-02 4.67063407e+01] [-1.35315646e-01 9.90790090e-01 -4.96724844e-03 -3.65521053e+00] [-3.08988502e-02 7.91062851e-04 9.99522203e-01 -1.44854230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.77, Y:-3.67, Z:-1.45 [[ 9.90279864e-01 1.35702496e-01 3.05061091e-02 4.67681571e+01] [-1.35613596e-01 9.90749318e-01 -4.97413112e-03 -3.66628618e+00] [-3.08989088e-02 7.88738720e-04 9.99522204e-01 -1.45025597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.83, Y:-3.68, Z:-1.45 [[ 9.90284893e-01 1.35666105e-01 3.05047385e-02 4.68299197e+01] [-1.35576929e-01 9.90754294e-01 -4.98252297e-03 -3.67589063e+00] [-3.08986601e-02 7.98378447e-04 9.99522204e-01 -1.45253259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.89, Y:-3.69, Z:-1.45 [[ 9.90151800e-01 1.36634393e-01 3.05033836e-02 4.68921903e+01] [-1.36545422e-01 9.90621239e-01 -4.99080372e-03 -3.68656887e+00] [-3.08992151e-02 7.76555887e-04 9.99522204e-01 -1.45499444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.95, Y:-3.70, Z:-1.45 [[ 9.89749483e-01 1.39519127e-01 3.05020308e-02 4.69520037e+01] [-1.39431270e-01 9.90219132e-01 -4.99905790e-03 -3.70309599e+00] [-3.09011587e-02 6.94878069e-04 9.99522204e-01 -1.45150313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.563617865 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.71, Z:-1.46 [[ 9.90007864e-01 1.37673769e-01 3.05018570e-02 4.70118441e+01] [-1.37585004e-01 9.90477342e-01 -5.00011811e-03 -3.71048037e+00] [-3.08997834e-02 7.53558134e-04 9.99522204e-01 -1.46340488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.72, Z:-1.46 [[ 9.90032063e-01 1.37499688e-01 3.05016445e-02 4.70726819e+01] [-1.37410800e-01 9.90501518e-01 -5.00141426e-03 -3.72281078e+00] [-3.08996181e-02 7.60305106e-04 9.99522204e-01 -1.46050651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.74, Z:-1.46 [[ 9.90073667e-01 1.37200123e-01 3.05001805e-02 4.71343953e+01] [-1.37110819e-01 9.90543043e-01 -5.01032620e-03 -3.73526378e+00] [-3.08991590e-02 7.78687313e-04 9.99522204e-01 -1.46126295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.20, Y:-3.75, Z:-1.46 [[ 9.90143950e-01 1.36692287e-01 3.04988059e-02 4.71962208e+01] [-1.36602485e-01 9.90613231e-01 -5.01867949e-03 -3.74618978e+00] [-3.08985355e-02 8.03002442e-04 9.99522204e-01 -1.46309594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.26, Y:-3.76, Z:-1.47 [[ 9.90136971e-01 1.36743138e-01 3.04974193e-02 4.72574013e+01] [-1.36653101e-01 9.90606207e-01 -5.02709141e-03 -3.75663112e+00] [-3.08983532e-02 8.09942135e-04 9.99522204e-01 -1.46565249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:-3.77, Z:-1.47 [[ 9.90238298e-01 1.36007623e-01 3.04965643e-02 4.73194720e+01] [-1.35917079e-01 9.90707436e-01 -5.03227321e-03 -3.76884149e+00] [-3.08976005e-02 8.38145730e-04 9.99522204e-01 -1.46881358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923617865000004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.78, Z:-1.47 [[ 9.90214835e-01 1.36178642e-01 3.04952100e-02 4.73817107e+01] [-1.36087927e-01 9.90683940e-01 -5.04046681e-03 -3.77984204e+00] [-3.08975187e-02 8.41115116e-04 9.99522204e-01 -1.47118520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.79, Z:-1.47 [[ 9.89980704e-01 1.37870715e-01 3.04938144e-02 4.74426077e+01] [-1.37780541e-01 9.90449913e-01 -5.04889586e-03 -3.79021196e+00] [-3.08986907e-02 7.96855224e-04 9.99522204e-01 -1.47456228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:-3.80, Z:-1.48 [[ 9.89690168e-01 1.39941319e-01 3.04925846e-02 4.75033901e+01] [-1.39851899e-01 9.90159523e-01 -5.05631232e-03 -3.80182263e+00] [-3.09001100e-02 7.39736736e-04 9.99522204e-01 -1.47630861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:-3.81, Z:-1.48 [[ 9.89075049e-01 1.44224923e-01 3.04912831e-02 4.75647587e+01] [-1.44137295e-01 9.89544741e-01 -5.06414847e-03 -3.81248179e+00] [-3.09028653e-02 6.13891826e-04 9.99522204e-01 -1.47721922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.82, Z:-1.48 [[ 9.88403351e-01 1.48758767e-01 3.04900742e-02 4.76252438e+01] [-1.48673069e-01 9.88873399e-01 -5.07141649e-03 -3.82330976e+00] [-3.09052410e-02 4.79552139e-04 9.99522204e-01 -1.47928231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.84, Z:-1.48 [[ 9.87902827e-01 1.52047484e-01 3.04887927e-02 4.76873703e+01] [-1.51963114e-01 9.88373115e-01 -5.07910933e-03 -3.83551151e+00] [-3.09065688e-02 3.84494591e-04 9.99522204e-01 -1.48152352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283617865000004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:-3.85, Z:-1.48 [[ 9.87616080e-01 1.53899313e-01 3.04873672e-02 4.77475258e+01] [-1.53815561e-01 9.88086479e-01 -5.08765135e-03 -3.84932778e+00] [-3.09071414e-02 3.35214803e-04 9.99522204e-01 -1.48005271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.343617865 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:-3.86, Z:-1.48 [[ 9.87685755e-01 1.53451754e-01 3.04862112e-02 4.78091892e+01] [-1.53367575e-01 9.88156077e-01 -5.09456905e-03 -3.86189067e+00] [-3.09069054e-02 3.56236999e-04 9.99522204e-01 -1.48339328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.87, Y:-3.87, Z:-1.49 [[ 9.88002420e-01 1.51399782e-01 3.04848043e-02 4.78708508e+01] [-1.51314367e-01 9.88472520e-01 -5.10297344e-03 -3.87464392e+00] [-3.09059804e-02 4.28961245e-04 9.99522204e-01 -1.48652809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:-3.89, Z:-1.49 [[ 9.88758149e-01 1.46383348e-01 3.04834099e-02 4.79319201e+01] [-1.46295292e-01 9.89227761e-01 -5.11128989e-03 -3.88979271e+00] [-3.09032430e-02 5.94250183e-04 9.99522204e-01 -1.48815544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:-3.90, Z:-1.49 [[ 9.89281144e-01 1.42806388e-01 3.04820298e-02 4.79932444e+01] [-1.42716381e-01 9.89750385e-01 -5.11950682e-03 -3.90231497e+00] [-3.09006991e-02 7.14346584e-04 9.99522204e-01 -1.49006286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:-3.92, Z:-1.49 [[ 9.89851293e-01 1.38799668e-01 3.04806623e-02 4.80534797e+01] [-1.38707511e-01 9.90320117e-01 -5.12763589e-03 -3.91643299e+00] [-3.08973272e-02 8.47700192e-04 9.99522204e-01 -1.49222292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.93, Z:-1.49 [[ 9.90054492e-01 1.37343038e-01 3.04793988e-02 4.81151058e+01] [-1.37249961e-01 9.90523134e-01 -5.13513538e-03 -3.93123457e+00] [-3.08958247e-02 9.00767537e-04 9.99522204e-01 -1.49413026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.703617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:-3.94, Z:-1.50 [[ 9.90523224e-01 1.33921001e-01 3.04779916e-02 4.81771412e+01] [-1.33826049e-01 9.90991490e-01 -5.14347406e-03 -3.93958591e+00] [-3.08922495e-02 1.01598130e-03 9.99522204e-01 -1.50034409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:-3.96, Z:-1.50 [[ 9.90256095e-01 1.35882487e-01 3.04764876e-02 4.82361696e+01] [-1.35788189e-01 9.90724493e-01 -5.15236991e-03 -3.95641924e+00] [-3.08939196e-02 9.63818625e-04 9.99522204e-01 -1.50028364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:-3.97, Z:-1.50 [[ 9.90922131e-01 1.30937342e-01 3.04752905e-02 4.82976829e+01] [-1.30840490e-01 9.91390007e-01 -5.15944098e-03 -3.96800625e+00] [-3.08884620e-02 1.12520230e-03 9.99522204e-01 -1.50349226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.883617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.98, Z:-1.50 [[ 9.90787409e-01 1.31953244e-01 3.04737774e-02 4.83583964e+01] [-1.31856597e-01 9.91255328e-01 -5.16836243e-03 -3.98310685e+00] [-3.08892764e-02 1.10257983e-03 9.99522204e-01 -1.50263953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:-3.99, Z:-1.51 [[ 9.91539467e-01 1.26178126e-01 3.04723817e-02 4.84201242e+01] [-1.26078503e-01 9.92006761e-01 -5.17657883e-03 -3.99039442e+00] [-3.08819796e-02 1.29086995e-03 9.99522204e-01 -1.51081420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-4.00, Z:-1.51 [[ 9.91657352e-01 1.25248399e-01 3.04718704e-02 4.84809095e+01] [-1.25148245e-01 9.92124533e-01 -5.17958684e-03 -4.00143305e+00] [-3.08806251e-02 1.32287427e-03 9.99522204e-01 -1.51461654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.063617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-4.01, Z:-1.51 [[ 9.91154584e-01 1.29167140e-01 3.04703335e-02 4.85429282e+01] [-1.29068557e-01 9.91622098e-01 -5.18861229e-03 -4.01433553e+00] [-3.08852542e-02 1.20995489e-03 9.99522204e-01 -1.51442950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:-4.03, Z:-1.52 [[ 9.90253047e-01 1.35906404e-01 3.04688605e-02 4.86031259e+01] [-1.35810737e-01 9.90721168e-01 -5.19724785e-03 -4.02706383e+00] [-3.08924843e-02 1.00859212e-03 9.99522204e-01 -1.51621028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.67, Y:-4.04, Z:-1.51 [[ 9.89466427e-01 1.41520022e-01 3.04675665e-02 4.86652042e+01] [-1.41426779e-01 9.89935036e-01 -5.20482234e-03 -4.04087912e+00] [-3.08974981e-02 8.41067184e-04 9.99522204e-01 -1.51316661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.73, Y:-4.05, Z:-1.52 [[ 9.88940140e-01 1.45152390e-01 3.04660972e-02 4.87273262e+01] [-1.45060604e-01 9.89409037e-01 -5.21340854e-03 -4.05308443e+00] [-3.09001706e-02 7.36318509e-04 9.99522205e-01 -1.51687520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-4.07, Z:-1.52 [[ 9.88807329e-01 1.46054677e-01 3.04646797e-02 4.87891179e+01] [-1.45963065e-01 9.89276260e-01 -5.22167878e-03 -4.06657336e+00] [-3.09006350e-02 7.16516239e-04 9.99522205e-01 -1.51942794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-4.08, Z:-1.52 [[ 9.88774121e-01 1.46279617e-01 3.04632672e-02 4.88497254e+01] [-1.46187858e-01 9.89243023e-01 -5.22990601e-03 -4.07788777e+00] [-3.09006032e-02 7.17835936e-04 9.99522205e-01 -1.52186220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423617865000004 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:-4.09, Z:-1.52 [[ 9.88951573e-01 1.45075254e-01 3.04623846e-02 4.89114320e+01] [-1.44982766e-01 9.89420331e-01 -5.23504201e-03 -4.09027236e+00] [-3.08995777e-02 7.60682268e-04 9.99522205e-01 -1.52443792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-4.10, Z:-1.53 [[ 9.89175143e-01 1.43543249e-01 3.04610097e-02 4.89726821e+01] [-1.43449789e-01 9.89643708e-01 -5.24302993e-03 -4.10277757e+00] [-3.08981481e-02 8.16649482e-04 9.99522205e-01 -1.52607348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:-4.12, Z:-1.53 [[ 9.89575304e-01 1.40758404e-01 3.04596390e-02 4.90336891e+01] [-1.40663381e-01 9.90043555e-01 -5.25098133e-03 -4.11797051e+00] [-3.08954890e-02 9.11685651e-04 9.99522205e-01 -1.52641363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:-4.13, Z:-1.53 [[ 9.89854881e-01 1.38779005e-01 3.04581940e-02 4.90956377e+01] [-1.38682788e-01 9.90322889e-01 -5.25934938e-03 -4.13118882e+00] [-3.08933339e-02 9.81965408e-04 9.99522205e-01 -1.52843917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.663617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.14, Z:-1.53 [[ 9.89806538e-01 1.39123698e-01 3.04567449e-02 4.91563905e+01] [-1.39027386e-01 9.90274526e-01 -5.26772802e-03 -4.14219810e+00] [-3.08934044e-02 9.79710008e-04 9.99522205e-01 -1.53099962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:49.22, Y:-4.15, Z:-1.53 [[ 9.89387870e-01 1.42070702e-01 3.04558512e-02 4.92185123e+01] [-1.41975626e-01 9.89856110e-01 -5.27288951e-03 -4.15281698e+00] [-3.08960335e-02 8.92944363e-04 9.99522205e-01 -1.53242327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783617865000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:-4.16, Z:-1.53 [[ 9.89259067e-01 1.42965126e-01 3.04544128e-02 4.92797230e+01] [-1.42870218e-01 9.89727341e-01 -5.28118437e-03 -4.16378428e+00] [-3.08965902e-02 8.73430914e-04 9.99522205e-01 -1.53472236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:-4.17, Z:-1.54 [[ 9.89223377e-01 1.43212152e-01 3.04530815e-02 4.93418866e+01] [-1.43117126e-01 9.89691627e-01 -5.28885022e-03 -4.17334404e+00] [-3.08965874e-02 8.73496794e-04 9.99522205e-01 -1.53734395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.903617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:-4.18, Z:-1.54 [[ 9.89347150e-01 1.42354892e-01 3.04516292e-02 4.94028103e+01] [-1.42259203e-01 9.89815265e-01 -5.29719859e-03 -4.18428425e+00] [-3.08955696e-02 9.08743836e-04 9.99522205e-01 -1.53898599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963617865 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:-4.19, Z:-1.54 [[ 9.89797719e-01 1.39187842e-01 3.04502867e-02 4.94647308e+01] [-1.39090418e-01 9.90265476e-01 -5.30490497e-03 -4.19337096e+00] [-3.08922459e-02 1.01543974e-03 9.99522205e-01 -1.54148612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.023617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:-4.20, Z:-1.54 [[ 9.90023935e-01 1.37569897e-01 3.04488269e-02 4.95256982e+01] [-1.37471452e-01 9.90491478e-01 -5.31327045e-03 -4.20312035e+00] [-3.08902496e-02 1.07442046e-03 9.99522205e-01 -1.54294264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.59, Y:-4.21, Z:-1.54 [[ 9.90011763e-01 1.37657766e-01 3.04474788e-02 4.95883767e+01] [-1.37559126e-01 9.90479265e-01 -5.32098432e-03 -4.21033181e+00] [-3.08900713e-02 1.07950850e-03 9.99522205e-01 -1.54487854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:-4.22, Z:-1.55 [[ 9.89751367e-01 1.39517989e-01 3.04460597e-02 4.96510268e+01] [-1.39419978e-01 9.90219001e-01 -5.32909194e-03 -4.21720032e+00] [-3.08917710e-02 1.02968706e-03 9.99522205e-01 -1.54759995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.71, Y:-4.23, Z:-1.55 [[ 9.89655606e-01 1.40195956e-01 3.04446414e-02 4.97130722e+01] [-1.40098017e-01 9.90123255e-01 -5.33718239e-03 -4.22579632e+00] [-3.08921988e-02 1.01673858e-03 9.99522205e-01 -1.54947343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.263617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.23, Z:-1.55 [[ 9.89416802e-01 1.41871786e-01 3.04431993e-02 4.97750607e+01] [-1.41774387e-01 9.89884564e-01 -5.34539555e-03 -4.23485741e+00] [-3.08936139e-02 9.72758267e-04 9.99522205e-01 -1.55037407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.24, Z:-1.55 [[ 9.88750659e-01 1.46442608e-01 3.04417065e-02 4.98367481e+01] [-1.46347110e-01 9.89218813e-01 -5.35388354e-03 -4.24218034e+00] [-3.08975454e-02 8.38600096e-04 9.99522205e-01 -1.55277381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.383617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.25, Z:-1.55 [[ 9.88077809e-01 1.50915878e-01 3.04407851e-02 4.98990954e+01] [-1.50822338e-01 9.88546358e-01 -5.35911697e-03 -4.25208016e+00] [-3.09009031e-02 7.04074164e-04 9.99522205e-01 -1.55472570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.443617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.26, Z:-1.56 [[ 9.87320923e-01 1.55791013e-01 3.04393639e-02 4.99604294e+01] [-1.55699539e-01 9.87789880e-01 -5.36717722e-03 -4.26068805e+00] [-3.09038536e-02 5.59731440e-04 9.99522205e-01 -1.55765597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.02, Y:-4.27, Z:-1.56 [[ 9.87021273e-01 1.57678568e-01 3.04380481e-02 5.00226616e+01] [-1.57587762e-01 9.87490360e-01 -5.37462920e-03 -4.27022110e+00] [-3.09047429e-02 5.08209494e-04 9.99522205e-01 -1.55956390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.08, Y:-4.28, Z:-1.56 [[ 9.86957271e-01 1.58078958e-01 3.04366412e-02 5.00842461e+01] [-1.57988096e-01 9.87426346e-01 -5.38258451e-03 -4.28151649e+00] [-3.09048148e-02 5.03753927e-04 9.99522205e-01 -1.56213052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.14, Y:-4.29, Z:-1.57 [[ 9.86930045e-01 1.58249115e-01 3.04352323e-02 5.01449579e+01] [-1.58158089e-01 9.87399089e-01 -5.39053945e-03 -4.29321473e+00] [-3.09047687e-02 5.06507178e-04 9.99522205e-01 -1.56562499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:-4.30, Z:-1.57 [[ 9.86762061e-01 1.59293516e-01 3.04337123e-02 5.02071027e+01] [-1.59202722e-01 9.87231150e-01 -5.39910710e-03 -4.30474488e+00] [-3.09051516e-02 4.82504204e-04 9.99522205e-01 -1.56624248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:-4.32, Z:-1.57 [[ 9.86457755e-01 1.61167575e-01 3.04320474e-02 5.02689479e+01] [-1.61077384e-01 9.86926960e-01 -5.40847524e-03 -4.31716425e+00] [-3.09058789e-02 4.33317774e-04 9.99522205e-01 -1.56960641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.803617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:50.33, Y:-4.33, Z:-1.57 [[ 9.86207842e-01 1.62690116e-01 3.04305631e-02 5.03307127e+01] [-1.62600391e-01 9.86677136e-01 -5.41681383e-03 -4.32989260e+00] [-3.09064029e-02 3.94082824e-04 9.99522205e-01 -1.57234046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.39, Y:-4.34, Z:-1.58 [[ 9.86145846e-01 1.63065755e-01 3.04290907e-02 5.03918623e+01] [-1.62975955e-01 9.86615126e-01 -5.42507246e-03 -4.34340446e+00] [-3.09064447e-02 3.90702564e-04 9.99522205e-01 -1.57565027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.45, Y:-4.36, Z:-1.58 [[ 9.86272263e-01 1.62299676e-01 3.04275986e-02 5.04524895e+01] [-1.62209253e-01 9.86741423e-01 -5.43342809e-03 -4.35754762e+00] [-3.09060156e-02 4.23201361e-04 9.99522205e-01 -1.57786694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:-4.37, Z:-1.58 [[ 9.86886930e-01 1.58519501e-01 3.04262177e-02 5.05138360e+01] [-1.58427043e-01 9.87355694e-01 -5.44115002e-03 -4.37434871e+00] [-3.09040277e-02 5.49464144e-04 9.99522205e-01 -1.57954245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.39, Z:-1.57 [[ 9.86951198e-01 1.58119090e-01 3.04250927e-02 5.05734049e+01] [-1.58026248e-01 9.87419886e-01 -5.44743326e-03 -4.39406336e+00] [-3.09036848e-02 5.68387537e-04 9.99522205e-01 -1.57439913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.40, Z:-1.58 [[ 9.87630424e-01 1.53819862e-01 3.04236012e-02 5.06328654e+01] [-1.53724725e-01 9.88098651e-01 -5.45575062e-03 -4.40434054e+00] [-3.09007221e-02 7.11405579e-04 9.99522205e-01 -1.58281745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.69, Y:-4.41, Z:-1.58 [[ 9.87194114e-01 1.56595860e-01 3.04223209e-02 5.06941579e+01] [-1.56501819e-01 9.87662563e-01 -5.46288044e-03 -4.41471537e+00] [-3.09024519e-02 6.31774852e-04 9.99522206e-01 -1.58301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.43, Z:-1.58 [[ 9.86661333e-01 1.59918666e-01 3.04209488e-02 5.07543550e+01] [-1.59825968e-01 9.87130049e-01 -5.47051062e-03 -4.42983794e+00] [-3.09042695e-02 5.35483702e-04 9.99522206e-01 -1.58218031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.44, Z:-1.59 [[ 9.86521556e-01 1.60778786e-01 3.04204274e-02 5.08145348e+01] [-1.60686407e-01 9.86990334e-01 -5.47340869e-03 -4.43770730e+00] [-3.09046758e-02 5.11486474e-04 9.99522206e-01 -1.58631872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.88, Y:-4.45, Z:-1.59 [[ 9.86365397e-01 1.61734302e-01 3.04190720e-02 5.08752386e+01] [-1.61642146e-01 9.86834219e-01 -5.48093127e-03 -4.44827396e+00] [-3.09050357e-02 4.89196885e-04 9.99522206e-01 -1.58869092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.94, Y:-4.46, Z:-1.59 [[ 9.86248455e-01 1.62446181e-01 3.04174854e-02 5.09374577e+01] [-1.62354092e-01 9.86717291e-01 -5.48972193e-03 -4.45868335e+00] [-3.09052432e-02 4.75826546e-04 9.99522206e-01 -1.59165673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.47, Z:-1.59 [[ 9.86575775e-01 1.60446610e-01 3.04158792e-02 5.09988218e+01] [-1.60353296e-01 9.87044369e-01 -5.49860688e-03 -4.46865058e+00] [-3.09040551e-02 5.47505856e-04 9.99522206e-01 -1.59130266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.523617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:-4.48, Z:-1.59 [[ 9.86613603e-01 1.60214097e-01 3.04144825e-02 5.10608949e+01] [-1.60120435e-01 9.87082128e-01 -5.50632163e-03 -4.47812051e+00] [-3.09037824e-02 5.62631639e-04 9.99522206e-01 -1.59318418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:-4.49, Z:-1.60 [[ 9.86526711e-01 1.60748561e-01 3.04129773e-02 5.11225069e+01] [-1.60654897e-01 9.86995235e-01 -5.51462283e-03 -4.48877544e+00] [-3.09039313e-02 5.54328981e-04 9.99522206e-01 -1.59766753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643617865 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:51.18, Y:-4.50, Z:-1.60 [[ 9.86303822e-01 1.62110834e-01 3.04113006e-02 5.11845587e+01] [-1.62017533e-01 9.86772419e-01 -5.52385393e-03 -4.50006092e+00] [-3.09045092e-02 5.21034341e-04 9.99522206e-01 -1.59965888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.703617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:51.25, Y:-4.51, Z:-1.60 [[ 9.86203359e-01 1.62721204e-01 3.04096038e-02 5.12461445e+01] [-1.62627906e-01 9.86671956e-01 -5.53317908e-03 -4.51117608e+00] [-3.09046688e-02 5.11389599e-04 9.99522206e-01 -1.60063628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.31, Y:-4.52, Z:-1.60 [[ 9.85902134e-01 1.64536759e-01 3.04078548e-02 5.13075143e+01] [-1.64444027e-01 9.86370843e-01 -5.54277426e-03 -4.52094982e+00] [-3.09054115e-02 4.64242871e-04 9.99522206e-01 -1.60316529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.37, Y:-4.53, Z:-1.61 [[ 9.85519166e-01 1.66815532e-01 3.04064464e-02 5.13695533e+01] [-1.66723647e-01 9.85988041e-01 -5.55048943e-03 -4.53314774e+00] [-3.09063004e-02 4.00640079e-04 9.99522206e-01 -1.60504655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.883617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:51.43, Y:-4.54, Z:-1.61 [[ 9.85490991e-01 1.66982039e-01 3.04056639e-02 5.14308118e+01] [-1.66890101e-01 9.85959857e-01 -5.55477290e-03 -4.54201373e+00] [-3.09063113e-02 3.99774346e-04 9.99522206e-01 -1.60665684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.943617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:51.49, Y:-4.55, Z:-1.61 [[ 9.85531298e-01 1.66744291e-01 3.04039889e-02 5.14933180e+01] [-1.66651957e-01 9.86000085e-01 -5.56392570e-03 -4.55211003e+00] [-3.09060885e-02 4.16538660e-04 9.99522206e-01 -1.60986640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.56, Z:-1.61 [[ 9.85505375e-01 1.66897718e-01 3.04024314e-02 5.15543764e+01] [-1.66805195e-01 9.85974125e-01 -5.57242328e-03 -4.56219307e+00] [-3.09060355e-02 4.20369603e-04 9.99522206e-01 -1.61182288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:-4.57, Z:-1.61 [[ 9.85674331e-01 1.65897238e-01 3.04009702e-02 5.16158387e+01] [-1.65803994e-01 9.86142938e-01 -5.58038384e-03 -4.57464401e+00] [-3.09054724e-02 4.59838825e-04 9.99522206e-01 -1.61362761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.123617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:51.68, Y:-4.59, Z:-1.61 [[ 9.85684053e-01 1.65839749e-01 3.03994451e-02 5.16760675e+01] [-1.65746222e-01 9.86152603e-01 -5.58867937e-03 -4.58878408e+00] [-3.09053171e-02 4.70078959e-04 9.99522206e-01 -1.61402428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183617865 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:51.74, Y:-4.60, Z:-1.62 [[ 9.86313883e-01 1.62051938e-01 3.03988962e-02 5.17376119e+01] [-1.61956519e-01 9.86782053e-01 -5.59166356e-03 -4.59686866e+00] [-3.09032251e-02 5.91835985e-04 9.99522206e-01 -1.61828896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.243617865 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:51.80, Y:-4.61, Z:-1.62 [[ 9.86375978e-01 1.61673861e-01 3.03972468e-02 5.17985672e+01] [-1.61577987e-01 9.86844054e-01 -5.60061573e-03 -4.61374269e+00] [-3.09028154e-02 6.12786874e-04 9.99522206e-01 -1.61905054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.303617865 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:-4.63, Z:-1.62 [[ 9.86566449e-01 1.60507816e-01 3.03954411e-02 5.18602585e+01] [-1.60411088e-01 9.87034349e-01 -5.61039852e-03 -4.62695426e+00] [-3.09018572e-02 6.59265167e-04 9.99522206e-01 -1.62123547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:51.92, Y:-4.63, Z:-1.62 [[ 9.87014215e-01 1.57731309e-01 3.03936307e-02 5.19223632e+01] [-1.57632963e-01 9.87481778e-01 -5.62018900e-03 -4.63400280e+00] [-3.08996363e-02 7.56168376e-04 9.99522206e-01 -1.62431644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.98, Y:-4.65, Z:-1.63 [[ 9.86879682e-01 1.58571081e-01 3.03925156e-02 5.19838600e+01] [-1.58472948e-01 9.87347290e-01 -5.62621287e-03 -4.64580662e+00] [-3.09001225e-02 7.36003628e-04 9.99522206e-01 -1.62670253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.483617865 meters Centerline goodness : 0.995949 with order 1 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.66, Z:-1.63 [[ 9.86457229e-01 1.61178545e-01 3.03909869e-02 5.20446383e+01] [-1.61081394e-01 9.86925041e-01 -5.63445830e-03 -4.66045911e+00] [-3.09017798e-02 6.62729584e-04 9.99522206e-01 -1.63166303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:-4.67, Z:-1.63 [[ 9.86342363e-01 1.61880363e-01 3.03889864e-02 5.21051766e+01] [-1.61783213e-01 9.86810176e-01 -5.64522709e-03 -4.67253734e+00] [-3.09020124e-02 6.51698761e-04 9.99522206e-01 -1.62979207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-4.68, Z:-1.63 [[ 9.86703606e-01 1.59664076e-01 3.03871068e-02 5.21657829e+01] [-1.59565564e-01 9.87171134e-01 -5.65532665e-03 -4.68298518e+00] [-3.09002272e-02 7.31395358e-04 9.99522206e-01 -1.63422633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.663617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.69, Z:-1.63 [[ 9.86658516e-01 1.59942821e-01 3.03853165e-02 5.22280177e+01] [-1.59844146e-01 9.87126009e-01 -5.66492918e-03 -4.69167444e+00] [-3.09002010e-02 7.32435657e-04 9.99522206e-01 -1.63374897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.70, Z:-1.64 [[ 9.86543077e-01 1.60653639e-01 3.03836261e-02 5.22890278e+01] [-1.60555022e-01 9.87010583e-01 -5.67398140e-03 -4.70205742e+00] [-3.09005063e-02 7.19383311e-04 9.99522206e-01 -1.63544417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.35, Y:-4.71, Z:-1.64 [[ 9.86406314e-01 1.61491507e-01 3.03821814e-02 5.23507033e+01] [-1.61393049e-01 9.86873853e-01 -5.68170688e-03 -4.71207208e+00] [-3.09009278e-02 7.00998639e-04 9.99522206e-01 -1.63896196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.72, Z:-1.64 [[ 9.86541433e-01 1.60664146e-01 3.03814682e-02 5.24133607e+01] [-1.60565179e-01 9.87008864e-01 -5.68551792e-03 -4.72192963e+00] [-3.09002373e-02 7.30793127e-04 9.99522206e-01 -1.64165247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.48, Y:-4.73, Z:-1.64 [[ 9.86431736e-01 1.61336427e-01 3.03807200e-02 5.24750450e+01] [-1.61237656e-01 9.86899208e-01 -5.68951307e-03 -4.73112040e+00] [-3.09006342e-02 7.13800173e-04 9.99522207e-01 -1.64440274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.54, Y:-4.74, Z:-1.65 [[ 9.86633078e-01 1.60100811e-01 3.03792615e-02 5.25376178e+01] [-1.60001215e-01 9.87100376e-01 -5.69728990e-03 -4.74011940e+00] [-3.08995212e-02 7.60415903e-04 9.99522207e-01 -1.64668623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.023617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.60, Y:-4.75, Z:-1.65 [[ 9.86562419e-01 1.60535934e-01 3.03777360e-02 5.25996046e+01] [-1.60436294e-01 9.87029708e-01 -5.70541219e-03 -4.75076990e+00] [-3.08996516e-02 7.55053861e-04 9.99522207e-01 -1.64722660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.66, Y:-4.76, Z:-1.65 [[ 9.86506059e-01 1.60882206e-01 3.03761748e-02 5.26621665e+01] [-1.60782475e-01 9.86973328e-01 -5.71371218e-03 -4.76053246e+00] [-3.08997090e-02 7.52655122e-04 9.99522207e-01 -1.64898422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.72, Y:-4.77, Z:-1.65 [[ 9.86187954e-01 1.62821070e-01 3.03746338e-02 5.27248010e+01] [-1.62722005e-01 9.86655365e-01 -5.72189245e-03 -4.76998640e+00] [-3.09009401e-02 7.00240081e-04 9.99522207e-01 -1.65124663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.203617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:-4.78, Z:-1.65 [[ 9.85880191e-01 1.64674604e-01 3.03730892e-02 5.27869811e+01] [-1.64576166e-01 9.86347734e-01 -5.73008001e-03 -4.78064068e+00] [-3.09020264e-02 6.50485801e-04 9.99522207e-01 -1.65295006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.85, Y:-4.79, Z:-1.65 [[ 9.85366096e-01 1.67723669e-01 3.03714972e-02 5.28494296e+01] [-1.67626419e-01 9.85833887e-01 -5.73850563e-03 -4.79113615e+00] [-3.09037344e-02 5.63463572e-04 9.99522207e-01 -1.65340137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.91, Y:-4.80, Z:-1.66 [[ 9.85012409e-01 1.69788758e-01 3.03699204e-02 5.29108040e+01] [-1.69692231e-01 9.85480350e-01 -5.74683850e-03 -4.80127180e+00] [-3.09047084e-02 5.07167676e-04 9.99522207e-01 -1.65531260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.383617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.97, Y:-4.81, Z:-1.66 [[ 9.85483473e-01 1.67033173e-01 3.03684656e-02 5.29738541e+01] [-1.66935102e-01 9.85951093e-01 -5.75451601e-03 -4.80708150e+00] [-3.09030169e-02 6.01417517e-04 9.99522207e-01 -1.66446851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.443617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:-4.82, Z:-1.66 [[ 9.85577143e-01 1.66479878e-01 3.03668400e-02 5.30352027e+01] [-1.66381281e-01 9.86044652e-01 -5.76308153e-03 -4.81945010e+00] [-3.09024973e-02 6.27487698e-04 9.99522207e-01 -1.66459435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:-4.83, Z:-1.66 [[ 9.85248400e-01 1.68414816e-01 3.03651024e-02 5.30958116e+01] [-1.68316855e-01 9.85716043e-01 -5.77222270e-03 -4.83401552e+00] [-3.09034964e-02 5.76114659e-04 9.99522207e-01 -1.66048059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.563617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:-4.85, Z:-1.66 [[ 9.85466712e-01 1.67132935e-01 3.03634856e-02 5.31574714e+01] [-1.67034104e-01 9.85934172e-01 -5.78071485e-03 -4.84515621e+00] [-3.09025459e-02 6.24964434e-04 9.99522207e-01 -1.66167282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:-4.86, Z:-1.66 [[ 9.85719167e-01 1.65637796e-01 3.03618846e-02 5.32195590e+01] [-1.65537997e-01 9.86186421e-01 -5.78911149e-03 -4.85631532e+00] [-3.09013740e-02 6.80392589e-04 9.99522207e-01 -1.66333743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:-4.87, Z:-1.67 [[ 9.85721041e-01 1.65626946e-01 3.03602382e-02 5.32804265e+01] [-1.65526876e-01 9.86188237e-01 -5.79773318e-03 -4.86562777e+00] [-3.09011706e-02 6.89512193e-04 9.99522207e-01 -1.66639518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.34, Y:-4.87, Z:-1.67 [[ 9.85949585e-01 1.64261294e-01 3.03585712e-02 5.33426359e+01] [-1.64160310e-01 9.86416584e-01 -5.80644890e-03 -4.87467655e+00] [-3.08999729e-02 7.41193442e-04 9.99522207e-01 -1.67032524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.803617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:-4.88, Z:-1.67 [[ 9.86253037e-01 1.62429688e-01 3.03569247e-02 5.34041416e+01] [-1.62327571e-01 9.86719790e-01 -5.81504422e-03 -4.88472600e+00] [-3.08983142e-02 8.07339162e-04 9.99522207e-01 -1.67418115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.47, Y:-4.89, Z:-1.67 [[ 9.86144517e-01 1.63087512e-01 3.03554723e-02 5.34666887e+01] [-1.62985475e-01 9.86611287e-01 -5.82261589e-03 -4.89465220e+00] [-3.08986476e-02 7.94439662e-04 9.99522207e-01 -1.67235513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.923617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:-4.90, Z:-1.67 [[ 9.86115528e-01 1.63263005e-01 3.03538707e-02 5.35283467e+01] [-1.63160794e-01 9.86582260e-01 -5.83095327e-03 -4.90484374e+00] [-3.08985693e-02 7.97431899e-04 9.99522207e-01 -1.67401397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.983617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:-4.91, Z:-1.68 [[ 9.85822084e-01 1.65025930e-01 3.03522711e-02 5.35906069e+01] [-1.64924297e-01 9.86288943e-01 -5.83926842e-03 -4.91226673e+00] [-3.08997400e-02 7.50652786e-04 9.99522207e-01 -1.67654718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:-4.92, Z:-1.69 [[ 9.86264860e-01 1.62359055e-01 3.03506774e-02 5.36529828e+01] [-1.62255906e-01 9.86731386e-01 -5.84753987e-03 -4.91692823e+00] [-3.08973670e-02 8.42646418e-04 9.99522207e-01 -1.68584615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.71, Y:-4.93, Z:-1.68 [[ 9.84951156e-01 1.70147259e-01 3.03501358e-02 5.37132539e+01] [-1.70047713e-01 9.85418464e-01 -5.85034948e-03 -4.93057179e+00] [-3.09030052e-02 6.01337296e-04 9.99522207e-01 -1.68119694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.163617865 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-4.94, Z:-1.69 [[ 9.84852127e-01 1.70719818e-01 3.03485084e-02 5.37761989e+01] [-1.70620285e-01 9.85319437e-01 -5.85877952e-03 -4.93620439e+00] [-3.09031850e-02 5.91960331e-04 9.99522207e-01 -1.68798156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.95, Z:-1.69 [[ 9.84353199e-01 1.73573598e-01 3.03477607e-02 5.38370931e+01] [-1.73475300e-01 9.84820770e-01 -5.86264989e-03 -4.94855329e+00] [-3.09047063e-02 5.06331274e-04 9.99522207e-01 -1.68711398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.90, Y:-4.96, Z:-1.69 [[ 9.84608885e-01 1.72117558e-01 3.03461612e-02 5.38990226e+01] [-1.72018314e-01 9.85076257e-01 -5.87091765e-03 -4.95966089e+00] [-3.09037709e-02 5.60462190e-04 9.99522207e-01 -1.68894744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.96, Y:-4.97, Z:-1.69 [[ 9.84828311e-01 1.70857862e-01 3.03445024e-02 5.39601974e+01] [-1.70757757e-01 9.85295499e-01 -5.87947898e-03 -4.96807436e+00] [-3.09028568e-02 6.08718202e-04 9.99522207e-01 -1.69066094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.02, Y:-4.98, Z:-1.69 [[ 9.85277626e-01 1.68247743e-01 3.03429689e-02 5.40224191e+01] [-1.68146156e-01 9.85744495e-01 -5.88738222e-03 -4.97939718e+00] [-3.09009534e-02 6.98652374e-04 9.99522207e-01 -1.69388487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:-4.99, Z:-1.70 [[ 9.85201903e-01 1.68690888e-01 3.03413091e-02 5.40837349e+01] [-1.68589248e-01 9.85668759e-01 -5.89592386e-03 -4.99052874e+00] [-3.09010692e-02 6.93456904e-04 9.99522207e-01 -1.69852801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:-5.00, Z:-1.70 [[ 9.85166573e-01 1.68897387e-01 3.03396806e-02 5.41460577e+01] [-1.68795588e-01 9.85633395e-01 -5.90429227e-03 -5.00145274e+00] [-3.09010219e-02 6.95507162e-04 9.99522207e-01 -1.70068850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:-5.01, Z:-1.70 [[ 9.85127499e-01 1.69125439e-01 3.03380257e-02 5.42069285e+01] [-1.69023486e-01 9.85594288e-01 -5.91278317e-03 -5.01247703e+00] [-3.09009869e-02 6.97006438e-04 9.99522207e-01 -1.70286042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:-5.03, Z:-1.71 [[ 9.85377572e-01 1.67662570e-01 3.03365055e-02 5.42671355e+01] [-1.67559685e-01 9.85844155e-01 -5.92057292e-03 -5.02621995e+00] [-3.08997251e-02 7.50824464e-04 9.99522207e-01 -1.70599575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.33, Y:-5.04, Z:-1.71 [[ 9.85713980e-01 1.65673569e-01 3.03351085e-02 5.43271906e+01] [-1.65569522e-01 9.86180306e-01 -5.92772188e-03 -5.03838436e+00] [-3.08979534e-02 8.20468902e-04 9.99522208e-01 -1.70500476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:-5.05, Z:-1.71 [[ 9.85931483e-01 1.64374482e-01 3.03338173e-02 5.43873672e+01] [-1.64269618e-01 9.86397626e-01 -5.93432212e-03 -5.05148244e+00] [-3.08966565e-02 8.67910432e-04 9.99522208e-01 -1.70800569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:-5.07, Z:-1.71 [[ 9.86482928e-01 1.61032234e-01 3.03323629e-02 5.44477169e+01] [-1.60925563e-01 9.86948661e-01 -5.94174661e-03 -5.06570395e+00] [-3.08932977e-02 9.80179013e-04 9.99522208e-01 -1.71218500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.51, Y:-5.08, Z:-1.71 [[ 9.86097223e-01 1.63377769e-01 3.03310241e-02 5.45086528e+01] [-1.63271996e-01 9.86563161e-01 -5.94857285e-03 -5.07919684e+00] [-3.08953356e-02 9.13664324e-04 9.99522208e-01 -1.71142973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.57, Y:-5.09, Z:-1.71 [[ 9.85973390e-01 1.64123537e-01 3.03305041e-02 5.45688014e+01] [-1.64018035e-01 9.86439388e-01 -5.95122326e-03 -5.09186538e+00] [-3.08959397e-02 8.92998093e-04 9.99522208e-01 -1.71154504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:-5.10, Z:-1.71 [[ 9.85894566e-01 1.64596641e-01 3.03290450e-02 5.46299983e+01] [-1.64491135e-01 9.86360563e-01 -5.95865016e-03 -5.10405697e+00] [-3.08961477e-02 8.85741795e-04 9.99522208e-01 -1.71484874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:-5.12, Z:-1.71 [[ 9.85278310e-01 1.68246560e-01 3.03273453e-02 5.46897949e+01] [-1.68142514e-01 9.85744636e-01 -5.96728807e-03 -5.11944536e+00] [-3.08989937e-02 7.80123419e-04 9.99522208e-01 -1.71425381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:-5.13, Z:-1.72 [[ 9.85485348e-01 1.67029886e-01 3.03256516e-02 5.47509214e+01] [-1.66925000e-01 9.85951486e-01 -5.97588304e-03 -5.13144495e+00] [-3.08977724e-02 8.27035774e-04 9.99522208e-01 -1.71656746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:-5.15, Z:-1.72 [[ 9.85280299e-01 1.68235404e-01 3.03246055e-02 5.48111965e+01] [-1.68130925e-01 9.85746528e-01 -5.98118703e-03 -5.14674901e+00] [-3.08986220e-02 7.94641777e-04 9.99522208e-01 -1.71792424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:-5.16, Z:-1.72 [[ 9.85130171e-01 1.69112541e-01 3.03231712e-02 5.48729376e+01] [-1.69008253e-01 9.85596443e-01 -5.98844985e-03 -5.16032901e+00] [-3.08991316e-02 7.74536429e-04 9.99522208e-01 -1.71994727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.303617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:54.93, Y:-5.17, Z:-1.72 [[ 9.85183901e-01 1.68799540e-01 3.03215475e-02 5.49341056e+01] [-1.68694852e-01 9.85650083e-01 -5.99665997e-03 -5.17277846e+00] [-3.08986692e-02 7.92723893e-04 9.99522208e-01 -1.72313397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.99, Y:-5.19, Z:-1.72 [[ 9.84710422e-01 1.71540370e-01 3.03197421e-02 5.49947420e+01] [-1.71436700e-01 9.85176831e-01 -6.00577438e-03 -5.18695915e+00] [-3.09005402e-02 7.16032109e-04 9.99522208e-01 -1.72446830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:-5.20, Z:-1.73 [[ 9.84512057e-01 1.72675486e-01 3.03180738e-02 5.50553642e+01] [-1.72572094e-01 9.84978529e-01 -6.01418408e-03 -5.20057060e+00] [-3.09011539e-02 6.88983240e-04 9.99522208e-01 -1.72714125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.483617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:-5.21, Z:-1.73 [[ 9.84983495e-01 1.69965942e-01 3.03165419e-02 5.51174446e+01] [-1.69861030e-01 9.85449627e-01 -6.02189636e-03 -5.21174752e+00] [-3.08989422e-02 7.81869487e-04 9.99522208e-01 -1.72987231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543617865 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:55.18, Y:-5.23, Z:-1.73 [[ 9.84516743e-01 1.72649353e-01 3.03147470e-02 5.51773907e+01] [-1.72545433e-01 9.84983097e-01 -6.03091866e-03 -5.22800322e+00] [-3.09007476e-02 7.06869231e-04 9.99522208e-01 -1.73035892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.24, Y:-5.24, Z:-1.73 [[ 9.84517632e-01 1.72644571e-01 3.03131039e-02 5.52373936e+01] [-1.72540396e-01 9.84983929e-01 -6.03916597e-03 -5.24231551e+00] [-3.09005494e-02 7.15430416e-04 9.99522208e-01 -1.73215408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.30, Y:-5.25, Z:-1.74 [[ 9.84435702e-01 1.73111409e-01 3.03115296e-02 5.52995095e+01] [-1.73007212e-01 9.84901994e-01 -6.04705736e-03 -5.25460762e+00] [-3.09007006e-02 7.08825919e-04 9.99522208e-01 -1.73579709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:-5.27, Z:-1.74 [[ 9.83554206e-01 1.78051779e-01 3.03098711e-02 5.53597763e+01] [-1.77949668e-01 9.84020959e-01 -6.05535890e-03 -5.26960064e+00] [-3.09037159e-02 5.62142195e-04 9.99522208e-01 -1.73636711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:-5.28, Z:-1.74 [[ 9.82724154e-01 1.82577771e-01 3.03083413e-02 5.54209636e+01] [-1.82477575e-01 9.83191321e-01 -6.06300620e-03 -5.28391924e+00] [-3.09058683e-02 4.27670017e-04 9.99522208e-01 -1.73783822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.843617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:-5.30, Z:-1.74 [[ 9.81708167e-01 1.87964318e-01 3.03066068e-02 5.54813290e+01] [-1.87866418e-01 9.82175821e-01 -6.07166390e-03 -5.30010662e+00] [-3.09076726e-02 2.67008357e-04 9.99522208e-01 -1.73969707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:55.54, Y:-5.32, Z:-1.74 [[ 9.81685183e-01 1.88084564e-01 3.03050886e-02 5.55417124e+01] [-1.87986487e-01 9.82152800e-01 -6.07923224e-03 -5.31503954e+00] [-3.09076374e-02 2.70945062e-04 9.99522208e-01 -1.74407669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.60, Y:-5.33, Z:-1.74 [[ 9.81957778e-01 1.86656338e-01 3.03040172e-02 5.56022717e+01] [-1.86557417e-01 9.82425218e-01 -6.08456826e-03 -5.33145859e+00] [-3.09071539e-02 3.21349950e-04 9.99522208e-01 -1.74485876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.023617865 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:55.66, Y:-5.35, Z:-1.75 [[ 9.82224187e-01 1.85249616e-01 3.03022366e-02 5.56620238e+01] [-1.85149752e-01 9.82691426e-01 -6.09342332e-03 -5.34988195e+00] [-3.09065524e-02 3.74656173e-04 9.99522208e-01 -1.74745319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:55.72, Y:-5.37, Z:-1.75 [[ 9.82181830e-01 1.85474329e-01 3.03005879e-02 5.57211050e+01] [-1.85374320e-01 9.82649038e-01 -6.10161053e-03 -5.36640359e+00] [-3.09065357e-02 3.75940124e-04 9.99522208e-01 -1.75065189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.39, Z:-1.75 [[ 9.82456176e-01 1.84015804e-01 3.02992836e-02 5.57809745e+01] [-1.83914901e-01 9.82923192e-01 -6.10808049e-03 -5.38548515e+00] [-3.09058519e-02 4.28431643e-04 9.99522208e-01 -1.75194717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.203617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.40, Z:-1.75 [[ 9.82178143e-01 1.85494325e-01 3.02976997e-02 5.58421789e+01] [-1.85393884e-01 9.82645258e-01 -6.11592738e-03 -5.39881168e+00] [-3.09063607e-02 3.89921993e-04 9.99522208e-01 -1.75389437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.263617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.41, Z:-1.75 [[ 9.81749686e-01 1.87749031e-01 3.02961227e-02 5.59037364e+01] [-1.87649422e-01 9.82216979e-01 -6.12372917e-03 -5.41399661e+00] [-3.09070903e-02 3.26919278e-04 9.99522208e-01 -1.75402547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323617865 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:-5.43, Z:-1.76 [[ 9.81534175e-01 1.88872736e-01 3.02944402e-02 5.59650607e+01] [-1.88773405e-01 9.82001527e-01 -6.13204133e-03 -5.42834180e+00] [-3.09073620e-02 3.00023490e-04 9.99522208e-01 -1.75540052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.383617865 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:-5.44, Z:-1.76 [[ 9.81521035e-01 1.88941279e-01 3.02927546e-02 5.60271336e+01] [-1.88841724e-01 9.81988340e-01 -6.14035702e-03 -5.44109179e+00] [-3.09072987e-02 3.06353571e-04 9.99522208e-01 -1.75671132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.443617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:-5.45, Z:-1.76 [[ 9.81435456e-01 1.89385578e-01 3.02910653e-02 5.60890336e+01] [-1.89285978e-01 9.81902751e-01 -6.14867915e-03 -5.45211479e+00] [-3.09073515e-02 3.00857795e-04 9.99522208e-01 -1.75916838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:-5.46, Z:-1.76 [[ 9.81043743e-01 1.91404616e-01 3.02893935e-02 5.61507322e+01] [-1.91305723e-01 9.81511188e-01 -6.15690377e-03 -5.46490437e+00] [-3.09078384e-02 2.45657583e-04 9.99522208e-01 -1.76072215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.563617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:-5.48, Z:-1.76 [[ 9.80288164e-01 1.95237734e-01 3.02876825e-02 5.62121383e+01] [-1.95140410e-01 9.80755938e-01 -6.16530910e-03 -5.47638736e+00] [-3.09085255e-02 1.33428762e-04 9.99522208e-01 -1.76271123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:-5.49, Z:-1.76 [[ 9.79920454e-01 1.97075271e-01 3.02859900e-02 5.62739724e+01] [-1.96978568e-01 9.80388357e-01 -6.17361206e-03 -5.48600965e+00] [-3.09086983e-02 8.39577977e-05 9.99522209e-01 -1.76447440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:56.34, Y:-5.50, Z:-1.76 [[ 9.80427159e-01 1.94539067e-01 3.02842705e-02 5.63352399e+01] [-1.94440893e-01 9.80894756e-01 -6.18203578e-03 -5.49538256e+00] [-3.09083295e-02 1.72535197e-04 9.99522209e-01 -1.75987518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.743617865 meters Centerline goodness : 0.993334 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:-5.51, Z:-1.77 [[ 9.79858112e-01 1.97385504e-01 3.02827069e-02 5.63935670e+01] [-1.97288452e-01 9.80325943e-01 -6.18968535e-03 -5.51353642e+00] [-3.09086774e-02 9.05850470e-05 9.99522209e-01 -1.76977105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.803617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:56.46, Y:-5.52, Z:-1.77 [[ 9.80825179e-01 1.92522815e-01 3.02809043e-02 5.64553320e+01] [-1.92423172e-01 9.81292465e-01 -6.19849135e-03 -5.52286182e+00] [-3.09077743e-02 2.52888729e-04 9.99522209e-01 -1.77036196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:56.52, Y:-5.54, Z:-1.77 [[ 9.81260601e-01 1.90291305e-01 3.02795694e-02 5.65171272e+01] [-1.90190398e-01 9.81727615e-01 -6.20500550e-03 -5.53647017e+00] [-3.09070481e-02 3.29844062e-04 9.99522209e-01 -1.77261656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.923617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:-5.55, Z:-1.77 [[ 9.82153578e-01 1.85627586e-01 3.02778434e-02 5.65771009e+01] [-1.85524202e-01 9.82620051e-01 -6.21341627e-03 -5.55049411e+00] [-3.09049975e-02 4.85256294e-04 9.99522209e-01 -1.77408669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.983617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:-5.56, Z:-1.78 [[ 9.82233738e-01 1.85203219e-01 3.02762467e-02 5.66397866e+01] [-1.85099394e-01 9.82700113e-01 -6.22118699e-03 -5.56029517e+00] [-3.09046549e-02 5.06544841e-04 9.99522209e-01 -1.77635707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.043617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:56.70, Y:-5.57, Z:-1.78 [[ 9.82223544e-01 1.85257551e-01 3.02745560e-02 5.67008706e+01] [-1.85153499e-01 9.82689868e-01 -6.22940367e-03 -5.56928052e+00] [-3.09045435e-02 5.13226987e-04 9.99522209e-01 -1.77998968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.103617865000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:-5.58, Z:-1.78 [[ 9.82290370e-01 1.84903152e-01 3.02729920e-02 5.67618830e+01] [-1.84798698e-01 9.82756603e-01 -6.23699501e-03 -5.58410375e+00] [-3.09042228e-02 5.32130631e-04 9.99522209e-01 -1.78203763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.163617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.60, Z:-1.79 [[ 9.82404873e-01 1.84294096e-01 3.02713089e-02 5.68233878e+01] [-1.84189101e-01 9.82870985e-01 -6.24515321e-03 -5.59637898e+00] [-3.09037361e-02 5.59623770e-04 9.99522209e-01 -1.78530323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:-5.61, Z:-1.79 [[ 9.81825265e-01 1.87357686e-01 3.02695680e-02 5.68839902e+01] [-1.87253886e-01 9.82291644e-01 -6.25357993e-03 -5.60656554e+00] [-3.09052000e-02 4.71828535e-04 9.99522209e-01 -1.78972495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.283617865000004 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:56.95, Y:-5.61, Z:-1.78 [[ 9.81891873e-01 1.87008558e-01 3.02679585e-02 5.69461786e+01] [-1.86904353e-01 9.82358162e-01 -6.26136047e-03 -5.61463464e+00] [-3.09049040e-02 4.90765760e-04 9.99522209e-01 -1.78390793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.343617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:57.00, Y:-5.63, Z:-1.79 [[ 9.80781468e-01 1.92747660e-01 3.02663330e-02 5.70045318e+01] [-1.92645941e-01 9.81248306e-01 -6.26920775e-03 -5.63192607e+00] [-3.09071631e-02 3.18036567e-04 9.99522209e-01 -1.79183259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.07, Y:-5.64, Z:-1.79 [[ 9.79740167e-01 1.97972837e-01 3.02648607e-02 5.70663666e+01] [-1.97873389e-01 9.80207493e-01 -6.27630741e-03 -5.64440828e+00] [-3.09083816e-02 1.60539916e-04 9.99522209e-01 -1.79369274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:57.13, Y:-5.66, Z:-1.80 [[ 9.79258529e-01 2.00341897e-01 3.02631506e-02 5.71282386e+01] [-2.00243324e-01 9.79726041e-01 -6.28454233e-03 -5.65790884e+00] [-3.09086539e-02 9.41977924e-05 9.99522209e-01 -1.79591178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.523617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:-5.67, Z:-1.79 [[ 9.80202842e-01 1.95669705e-01 3.02614427e-02 5.71901931e+01] [-1.95568651e-01 9.80669824e-01 -6.29275545e-03 -5.66802642e+00] [-3.09077853e-02 2.49987246e-04 9.99522209e-01 -1.79240924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583617865 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:-5.68, Z:-1.80 [[ 9.81001744e-01 1.91624262e-01 3.02608780e-02 5.72506429e+01] [-1.91521198e-01 9.81468287e-01 -6.29546972e-03 -5.68353805e+00] [-3.09064569e-02 3.80267150e-04 9.99522209e-01 -1.79671307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:-5.70, Z:-1.80 [[ 9.80926239e-01 1.92010644e-01 3.02593174e-02 5.73126494e+01] [-1.91907533e-01 9.81392771e-01 -6.30296196e-03 -5.69626035e+00] [-3.09065112e-02 3.75749808e-04 9.99522209e-01 -1.79966944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.703617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:-5.71, Z:-1.80 [[ 9.81075875e-01 1.91244905e-01 3.02574704e-02 5.73739430e+01] [-1.91141157e-01 9.81542266e-01 -6.31181628e-03 -5.70822511e+00] [-3.09060887e-02 4.08922789e-04 9.99522209e-01 -1.80226716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:-5.72, Z:-1.81 [[ 9.81663392e-01 1.88206230e-01 3.02555784e-02 5.74339527e+01] [-1.88100759e-01 9.82129396e-01 -6.32087243e-03 -5.72252555e+00] [-3.09045205e-02 5.13871796e-04 9.99522209e-01 -1.80592010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:-5.74, Z:-1.81 [[ 9.82125965e-01 1.85777540e-01 3.02538380e-02 5.74942731e+01] [-1.85670661e-01 9.82591648e-01 -6.32919177e-03 -5.73513552e+00] [-3.09029902e-02 5.98813465e-04 9.99522209e-01 -1.80814414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.883617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:57.56, Y:-5.74, Z:-1.81 [[ 9.82988845e-01 1.81156648e-01 3.02522508e-02 5.75553730e+01] [-1.81047347e-01 9.83453966e-01 -6.33676927e-03 -5.74399673e+00] [-3.08996439e-02 7.51883761e-04 9.99522209e-01 -1.81126717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.62, Y:-5.76, Z:-1.81 [[ 9.83202722e-01 1.79992526e-01 3.02505741e-02 5.76156511e+01] [-1.79882428e-01 9.83667655e-01 -6.34476318e-03 -5.75647529e+00] [-3.08985213e-02 7.96641703e-04 9.99522209e-01 -1.81333600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:-5.77, Z:-1.82 [[ 9.83401871e-01 1.78901518e-01 3.02490669e-02 5.76758803e+01] [-1.78790684e-01 9.83866629e-01 -6.35194106e-03 -5.77331426e+00] [-3.08974193e-02 8.38259379e-04 9.99522209e-01 -1.81685180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.063617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:-5.78, Z:-1.82 [[ 9.83552841e-01 1.78069910e-01 3.02475644e-02 5.77379024e+01] [-1.77958464e-01 9.84017453e-01 -6.35908777e-03 -5.78333323e+00] [-3.08964934e-02 8.71688762e-04 9.99522209e-01 -1.81850679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:-5.79, Z:-1.82 [[ 9.83671082e-01 1.77415886e-01 3.02457698e-02 5.77987591e+01] [-1.77303869e-01 9.84135555e-01 -6.36761187e-03 -5.79283693e+00] [-3.08956530e-02 9.00943649e-04 9.99522209e-01 -1.81925057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183617865 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:-5.80, Z:-1.82 [[ 9.83846075e-01 1.76443174e-01 3.02441114e-02 5.78605202e+01] [-1.76330455e-01 9.84310380e-01 -6.37547893e-03 -5.80413528e+00] [-3.08945025e-02 9.39531982e-04 9.99522209e-01 -1.82011563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-5.81, Z:-1.82 [[ 9.84048556e-01 1.75310697e-01 3.02423286e-02 5.79229430e+01] [-1.75197185e-01 9.84512667e-01 -6.38392462e-03 -5.81458500e+00] [-3.08931259e-02 9.83720958e-04 9.99522209e-01 -1.82012529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.303617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:-5.82, Z:-1.82 [[ 9.84013262e-01 1.75508995e-01 3.02405663e-02 5.79837891e+01] [-1.75395321e-01 9.84477334e-01 -6.39226167e-03 -5.82404220e+00] [-3.08930515e-02 9.86016418e-04 9.99522209e-01 -1.82011196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:-5.84, Z:-1.82 [[ 9.83774142e-01 1.76844690e-01 3.02389379e-02 5.80461576e+01] [-1.76731409e-01 9.84238309e-01 -6.39995595e-03 -5.83519584e+00] [-3.08941193e-02 9.51941067e-04 9.99522209e-01 -1.82182799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.423617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:-5.84, Z:-1.83 [[ 9.84386743e-01 1.73402577e-01 3.02371660e-02 5.81101847e+01] [-1.73287417e-01 9.84850448e-01 -6.40831608e-03 -5.83620003e+00] [-3.08903050e-02 1.06854099e-03 9.99522209e-01 -1.82906648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:-5.85, Z:-1.83 [[ 9.83043417e-01 1.80863112e-01 3.02353233e-02 5.81693325e+01] [-1.80751206e-01 9.83507918e-01 -6.41699860e-03 -5.85312299e+00] [-3.08972782e-02 8.43117087e-04 9.99522210e-01 -1.82612333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:-5.86, Z:-1.83 [[ 9.83172208e-01 1.80161937e-01 3.02338545e-02 5.82317253e+01] [-1.80049487e-01 9.83636577e-01 -6.42391147e-03 -5.86100649e+00] [-3.08964695e-02 8.72221226e-04 9.99522210e-01 -1.82707462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:-5.87, Z:-1.83 [[ 9.83131619e-01 1.80383391e-01 3.02332886e-02 5.82911767e+01] [-1.80270964e-01 9.83595994e-01 -6.42657361e-03 -5.87294380e+00] [-3.08965887e-02 8.67983633e-04 9.99522210e-01 -1.83016750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.88, Z:-1.83 [[ 9.83311292e-01 1.79401614e-01 3.02318366e-02 5.83527274e+01] [-1.79288513e-01 9.83775503e-01 -6.43339721e-03 -5.88372557e+00] [-3.08955021e-02 9.05811109e-04 9.99522210e-01 -1.83067486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.89, Z:-1.83 [[ 9.83520446e-01 1.78251720e-01 3.02300555e-02 5.84153211e+01] [-1.78137819e-01 9.83984462e-01 -6.44175538e-03 -5.89135097e+00] [-3.08941589e-02 9.50481952e-04 9.99522210e-01 -1.83304978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.90, Z:-1.84 [[ 9.83538637e-01 1.78151627e-01 3.02282607e-02 5.84773154e+01] [-1.78037421e-01 9.84002577e-01 -6.45016650e-03 -5.90106778e+00] [-3.08937941e-02 9.62226382e-04 9.99522210e-01 -1.83511236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.91, Z:-1.84 [[ 9.83917028e-01 1.76050109e-01 3.02264878e-02 5.85391230e+01] [-1.75934658e-01 9.84380660e-01 -6.45846400e-03 -5.90952188e+00] [-3.08913833e-02 1.03670591e-03 9.99522210e-01 -1.83664332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-5.92, Z:-1.84 [[ 9.84570299e-01 1.72359461e-01 3.02248496e-02 5.86015046e+01] [-1.72242038e-01 9.85033436e-01 -6.46612147e-03 -5.91756576e+00] [-3.08869847e-02 1.16036146e-03 9.99522210e-01 -1.83791164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-5.93, Z:-1.84 [[ 9.85042868e-01 1.69638174e-01 3.02231266e-02 5.86640431e+01] [-1.69519225e-01 9.85505615e-01 -6.47416512e-03 -5.92818201e+00] [-3.08833265e-02 1.25392919e-03 9.99522210e-01 -1.83867976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.023617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.73, Y:-5.94, Z:-1.84 [[ 9.85367691e-01 1.67741417e-01 3.02213464e-02 5.87262740e+01] [-1.67621323e-01 9.85830142e-01 -6.48246412e-03 -5.93777931e+00] [-3.08804920e-02 1.32186864e-03 9.99522210e-01 -1.84074149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:-5.95, Z:-1.84 [[ 9.85396312e-01 1.67573522e-01 3.02195647e-02 5.87876573e+01] [-1.67453096e-01 9.85858677e-01 -6.49075971e-03 -5.94686059e+00] [-3.08798995e-02 1.33561103e-03 9.99522210e-01 -1.84223428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:-5.96, Z:-1.84 [[ 9.84838329e-01 1.70822549e-01 3.02179183e-02 5.88500084e+01] [-1.70703413e-01 9.85301028e-01 -6.49841543e-03 -5.95504196e+00] [-3.08838218e-02 1.24158679e-03 9.99522210e-01 -1.84455203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.91, Y:-5.96, Z:-1.85 [[ 9.84064291e-01 1.75226865e-01 3.02161782e-02 5.89119591e+01] [-1.75109553e-01 9.84527455e-01 -6.50649641e-03 -5.96416085e+00] [-3.08887700e-02 1.11166932e-03 9.99522210e-01 -1.84613967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:-5.97, Z:-1.85 [[ 9.83031118e-01 1.80933445e-01 3.02143836e-02 5.89742813e+01] [-1.80818566e-01 9.83494892e-01 -6.51481930e-03 -5.97363848e+00] [-3.08944407e-02 9.40948572e-04 9.99522210e-01 -1.84843926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.04, Y:-5.98, Z:-1.85 [[ 9.81920948e-01 1.86864800e-01 3.02125637e-02 5.90360316e+01] [-1.86752464e-01 9.82385344e-01 -6.52324845e-03 -5.98399383e+00] [-3.08993453e-02 7.63043582e-04 9.99522210e-01 -1.84977623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.10, Y:-5.99, Z:-1.85 [[ 9.80832746e-01 1.92495291e-01 3.02107188e-02 5.90987139e+01] [-1.92385359e-01 9.81297717e-01 -6.53178142e-03 -5.99288184e+00] [-3.09030465e-02 5.94485134e-04 9.99522210e-01 -1.85176798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.16, Y:-6.00, Z:-1.86 [[ 9.80281981e-01 1.95280977e-01 3.02088908e-02 5.91588872e+01] [-1.95172106e-01 9.80747202e-01 -6.54022491e-03 -6.00348029e+00] [-3.09044666e-02 5.15331792e-04 9.99522210e-01 -1.85523813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.22, Y:-6.02, Z:-1.86 [[ 9.80283030e-01 1.95275955e-01 3.02073122e-02 5.92194364e+01] [-1.95166858e-01 9.80748198e-01 -6.54750755e-03 -6.01521377e+00] [-3.09043378e-02 5.22944340e-04 9.99522210e-01 -1.85544371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.28, Y:-6.03, Z:-1.86 [[ 9.80468096e-01 1.94344851e-01 3.02058176e-02 5.92803275e+01] [-1.94235099e-01 9.80933110e-01 -6.55439552e-03 -6.02705711e+00] [-3.09036996e-02 5.59345709e-04 9.99522210e-01 -1.85833646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:-6.04, Z:-1.86 [[ 9.80831883e-01 1.92500721e-01 3.02041447e-02 5.93409869e+01] [-1.92389858e-01 9.81296633e-01 -6.56209566e-03 -6.04029501e+00] [-3.09024336e-02 6.25341519e-04 9.99522210e-01 -1.86049915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-6.05, Z:-1.86 [[ 9.81479635e-01 1.89170640e-01 3.02025695e-02 5.94017944e+01] [-1.89057977e-01 9.81943952e-01 -6.56933749e-03 -6.05449226e+00] [-3.08999562e-02 7.37634257e-04 9.99522210e-01 -1.86241057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:-6.07, Z:-1.86 [[ 9.81878583e-01 1.87089181e-01 3.02007858e-02 5.94632974e+01] [-1.86975283e-01 9.82342598e-01 -6.57752743e-03 -6.06792613e+00] [-3.08981026e-02 8.11532844e-04 9.99522210e-01 -1.86340368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.803617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:-6.08, Z:-1.87 [[ 9.82271230e-01 1.85016899e-01 3.01989524e-02 5.95239058e+01] [-1.84901764e-01 9.82734940e-01 -6.58593450e-03 -6.08133302e+00] [-3.08960748e-02 8.85334419e-04 9.99522210e-01 -1.86531506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:-6.10, Z:-1.87 [[ 9.82149689e-01 1.85661287e-01 3.01972592e-02 5.95855025e+01] [-1.85546217e-01 9.82613416e-01 -6.59368848e-03 -6.09519781e+00] [-3.08964247e-02 8.73001866e-04 9.99522210e-01 -1.86759225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-6.11, Z:-1.87 [[ 9.81751354e-01 1.87756527e-01 3.01954643e-02 5.96469441e+01] [-1.87642195e-01 9.82215262e-01 -6.60189823e-03 -6.10879870e+00] [-3.08979953e-02 8.15479334e-04 9.99522210e-01 -1.87017923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-6.12, Z:-1.87 [[ 9.80982763e-01 1.91732003e-01 3.01936562e-02 5.97074532e+01] [-1.91619297e-01 9.81447070e-01 -6.61015714e-03 -6.12179648e+00] [-3.09008541e-02 6.98763035e-04 9.99522210e-01 -1.87282618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:-6.14, Z:-1.87 [[ 9.80351367e-01 1.94934798e-01 3.01930758e-02 5.97687555e+01] [-1.94823528e-01 9.80816019e-01 -6.61280724e-03 -6.13524382e+00] [-3.09029186e-02 6.00553077e-04 9.99522210e-01 -1.87443257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-6.15, Z:-1.87 [[ 9.80127348e-01 1.96058341e-01 3.01912017e-02 5.98293453e+01] [-1.95947340e-01 9.80592065e-01 -6.62135255e-03 -6.15049349e+00] [-3.09034242e-02 5.73883049e-04 9.99522210e-01 -1.87474527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-6.17, Z:-1.88 [[ 9.80511121e-01 1.94130210e-01 3.01894731e-02 5.98904614e+01] [-1.94018053e-01 9.80975560e-01 -6.62922442e-03 -6.16639390e+00] [-3.09020680e-02 6.42725485e-04 9.99522210e-01 -1.87624044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-6.18, Z:-1.88 [[ 9.80910974e-01 1.92099889e-01 3.01876408e-02 5.99513342e+01] [-1.91986514e-01 9.81375117e-01 -6.63755785e-03 -6.18059156e+00] [-3.09004736e-02 7.15233399e-04 9.99522210e-01 -1.87754221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283617865000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:-6.20, Z:-1.88 [[ 9.81366549e-01 1.89759104e-01 3.01857539e-02 6.00110364e+01] [-1.89644359e-01 9.81830355e-01 -6.64612786e-03 -6.19597076e+00] [-3.08984527e-02 7.97729627e-04 9.99522210e-01 -1.87943014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.07, Y:-6.21, Z:-1.88 [[ 9.81588128e-01 1.88609845e-01 3.01840101e-02 6.00715887e+01] [-1.88494314e-01 9.82051739e-01 -6.65403793e-03 -6.21131263e+00] [-3.08972767e-02 8.42010367e-04 9.99522211e-01 -1.88066548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.13, Y:-6.23, Z:-1.88 [[ 9.81879491e-01 1.87087399e-01 3.01822707e-02 6.01313516e+01] [-1.86970907e-01 9.82342862e-01 -6.66191838e-03 -6.22666307e+00] [-3.08956992e-02 8.97994489e-04 9.99522211e-01 -1.88291545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:-6.24, Z:-1.88 [[ 9.81576708e-01 1.88669728e-01 3.01811290e-02 6.01926932e+01] [-1.88553824e-01 9.82040226e-01 -6.66708682e-03 -6.24157969e+00] [-3.08969602e-02 8.53489850e-04 9.99522211e-01 -1.88412061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.523617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:-6.26, Z:-1.89 [[ 9.80855429e-01 1.92384608e-01 3.01792897e-02 6.02525850e+01] [-1.92270204e-01 9.81319320e-01 -6.67540205e-03 -6.25593345e+00] [-3.08997647e-02 7.45026131e-04 9.99522211e-01 -1.88705124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.31, Y:-6.27, Z:-1.89 [[ 9.79598942e-01 1.98683733e-01 3.01775900e-02 6.03132177e+01] [-1.98572076e-01 9.80063502e-01 -6.68307724e-03 -6.27126855e+00] [-3.09037733e-02 5.54308698e-04 9.99522211e-01 -1.89130503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.37, Y:-6.29, Z:-1.89 [[ 9.78658911e-01 2.03263583e-01 3.01770152e-02 6.03733828e+01] [-2.03154021e-01 9.79123968e-01 -6.68567163e-03 -6.28690576e+00] [-3.09059925e-02 4.12410133e-04 9.99522211e-01 -1.89388418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.43, Y:-6.30, Z:-1.90 [[ 9.77618977e-01 2.08208035e-01 3.01753143e-02 6.04332886e+01] [-2.08100588e-01 9.78084528e-01 -6.69333979e-03 -6.30393159e+00] [-3.09076152e-02 2.64035335e-04 9.99522211e-01 -1.89769806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:-6.32, Z:-1.90 [[ 9.77362875e-01 2.09407012e-01 3.01747321e-02 6.04931848e+01] [-2.09300055e-01 9.77828539e-01 -6.69596365e-03 -6.32152887e+00] [-3.09078959e-02 2.28813200e-04 9.99522211e-01 -1.89680288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:-6.34, Z:-1.90 [[ 9.77673327e-01 2.07953003e-01 3.01730636e-02 6.05531013e+01] [-2.07845121e-01 9.78138778e-01 -6.70347342e-03 -6.34081476e+00] [-3.09074510e-02 2.82483089e-04 9.99522211e-01 -1.89824133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:-6.36, Z:-1.90 [[ 9.78546828e-01 2.03803345e-01 3.01712055e-02 6.06125438e+01] [-2.03693233e-01 9.79011756e-01 -6.71182633e-03 -6.36076359e+00] [-3.09058575e-02 4.22165992e-04 9.99522211e-01 -1.89999528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:60.67, Y:-6.38, Z:-1.90 [[ 9.79175705e-01 2.00760404e-01 3.01694845e-02 6.06733734e+01] [-2.00648609e-01 9.79640232e-01 -6.71955299e-03 -6.37907634e+00] [-3.09042610e-02 5.26157919e-04 9.99522211e-01 -1.90242743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:-6.40, Z:-1.90 [[ 9.80003807e-01 1.96678544e-01 3.01676761e-02 6.07326167e+01] [-1.96564565e-01 9.80467802e-01 -6.72766240e-03 -6.39883260e+00] [-3.09016219e-02 6.63238640e-04 9.99522211e-01 -1.90298842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.063617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:60.79, Y:-6.42, Z:-1.91 [[ 9.80468201e-01 1.94350494e-01 3.01660700e-02 6.07921997e+01] [-1.94235192e-01 9.80931869e-01 -6.73485629e-03 -6.41895884e+00] [-3.08997820e-02 7.44000030e-04 9.99522211e-01 -1.90566157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:-6.44, Z:-1.91 [[ 9.80414204e-01 1.94622987e-01 3.01642429e-02 6.08516599e+01] [-1.94507562e-01 9.80877841e-01 -6.74302962e-03 -6.43586107e+00] [-3.08997860e-02 7.43788668e-04 9.99522211e-01 -1.90767402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.91, Y:-6.45, Z:-1.91 [[ 9.80304213e-01 1.95176512e-01 3.01625548e-02 6.09131378e+01] [-1.95061118e-01 9.80767857e-01 -6.75057232e-03 -6.45102260e+00] [-3.09000174e-02 7.34072837e-04 9.99522211e-01 -1.90982065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.243617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:-6.47, Z:-1.91 [[ 9.80023003e-01 1.96583929e-01 3.01607686e-02 6.09718594e+01] [-1.96468954e-01 9.80486753e-01 -6.75854319e-03 -6.46955339e+00] [-3.09008551e-02 6.97873116e-04 9.99522211e-01 -1.91353189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.303617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:61.03, Y:-6.49, Z:-1.92 [[ 9.79979818e-01 1.96799350e-01 3.01591166e-02 6.10321140e+01] [-1.96684252e-01 9.80443536e-01 -6.76590692e-03 -6.48736981e+00] [-3.09008371e-02 6.98628944e-04 9.99522211e-01 -1.91578936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.09, Y:-6.51, Z:-1.92 [[ 9.80267932e-01 1.95359446e-01 3.01573752e-02 6.10928056e+01] [-1.95243428e-01 9.80731422e-01 -6.77365996e-03 -6.50571931e+00] [-3.08995839e-02 7.51972314e-04 9.99522211e-01 -1.91666552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.15, Y:-6.52, Z:-1.92 [[ 9.80644288e-01 1.93461688e-01 3.01555173e-02 6.11516110e+01] [-1.93344519e-01 9.81107488e-01 -6.78192120e-03 -6.52412731e+00] [-3.08978457e-02 8.20248304e-04 9.99522211e-01 -1.91902856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.483617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.21, Y:-6.54, Z:-1.92 [[ 9.80795751e-01 1.92692612e-01 3.01538012e-02 6.12120569e+01] [-1.92574845e-01 9.81258799e-01 -6.78954273e-03 -6.54105437e+00] [-3.08969775e-02 8.52291054e-04 9.99522211e-01 -1.92029715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:61.27, Y:-6.56, Z:-1.92 [[ 9.80801078e-01 1.92665783e-01 3.01519814e-02 6.12728843e+01] [-1.92547756e-01 9.81264059e-01 -6.79761496e-03 -6.55846016e+00] [-3.08967234e-02 8.61411735e-04 9.99522211e-01 -1.92238738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.603617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.33, Y:-6.57, Z:-1.93 [[ 9.80639258e-01 1.93488032e-01 3.01500912e-02 6.13338338e+01] [-1.93370136e-01 9.81102272e-01 -6.80598820e-03 -6.57425401e+00] [-3.08972003e-02 8.44091972e-04 9.99522211e-01 -1.92539406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.39, Y:-6.59, Z:-1.93 [[ 9.80232370e-01 1.95539224e-01 3.01481912e-02 6.13936309e+01] [-1.95422038e-01 9.80695565e-01 -6.81439435e-03 -6.59256747e+00] [-3.08986787e-02 7.88068952e-04 9.99522211e-01 -1.92723251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.723617865 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:-6.61, Z:-1.93 [[ 9.79347682e-01 1.99923261e-01 3.01464371e-02 6.14550565e+01] [-1.99807911e-01 9.79811337e-01 -6.82214542e-03 -6.60700200e+00] [-3.09017264e-02 6.57755677e-04 9.99522211e-01 -1.92943416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.783617865000004 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:-6.62, Z:-1.93 [[ 9.78634302e-01 2.03386841e-01 3.01445905e-02 6.15169546e+01] [-2.03272881e-01 9.79098301e-01 -6.83029516e-03 -6.62002330e+00] [-3.09037095e-02 5.56783365e-04 9.99522211e-01 -1.93058455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.843617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:-6.63, Z:-1.93 [[ 9.77553570e-01 2.08519628e-01 3.01427150e-02 6.15781173e+01] [-2.08407850e-01 9.78018099e-01 -6.83856172e-03 -6.63421029e+00] [-3.09060952e-02 4.03082000e-04 9.99522211e-01 -1.93265681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.64, Y:-6.65, Z:-1.94 [[ 9.76994724e-01 2.11122804e-01 3.01408453e-02 6.16393816e+01] [-2.11012009e-01 9.77459489e-01 -6.84679258e-03 -6.64837548e+00] [-3.09069693e-02 3.29199900e-04 9.99522211e-01 -1.93545815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.70, Y:-6.66, Z:-1.94 [[ 9.76465563e-01 2.13557129e-01 3.01389554e-02 6.17000793e+01] [-2.13447237e-01 9.76930542e-01 -6.85510161e-03 -6.66015725e+00] [-3.09076219e-02 2.60693896e-04 9.99522211e-01 -1.94011993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.023617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:61.76, Y:-6.67, Z:-1.94 [[ 9.75862447e-01 2.16296632e-01 3.01372100e-02 6.17603686e+01] [-2.16187809e-01 9.76327677e-01 -6.86276654e-03 -6.67347607e+00] [-3.09081855e-02 1.81818753e-04 9.99522211e-01 -1.94092401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:61.82, Y:-6.69, Z:-1.94 [[ 9.76147605e-01 2.15006315e-01 3.01353301e-02 6.18216340e+01] [-2.14896622e-01 9.76612631e-01 -6.87101147e-03 -6.68916908e+00] [-3.09078549e-02 2.31140744e-04 9.99522211e-01 -1.94297349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:-6.70, Z:-1.95 [[ 9.76792276e-01 2.12058555e-01 3.01333381e-02 6.18814444e+01] [-2.11947190e-01 9.77256905e-01 -6.87973645e-03 -6.70297130e+00] [-3.09069197e-02 3.33397099e-04 9.99522211e-01 -1.94612289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.203617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.94, Y:-6.72, Z:-1.95 [[ 9.77049492e-01 2.10870535e-01 3.01315052e-02 6.19423881e+01] [-2.10758357e-01 9.77513925e-01 -6.88775472e-03 -6.71620640e+00] [-3.09063905e-02 3.79210710e-04 9.99522211e-01 -1.94863477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.263617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:62.00, Y:-6.73, Z:-1.95 [[ 9.77897979e-01 2.06900348e-01 3.01295297e-02 6.20034369e+01] [-2.06786019e-01 9.78361887e-01 -6.89638537e-03 -6.73042804e+00] [-3.09044481e-02 5.13595790e-04 9.99522212e-01 -1.94864475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:-6.75, Z:-1.95 [[ 9.79033243e-01 2.01460275e-01 3.01275034e-02 6.20632135e+01] [-2.01343096e-01 9.79496440e-01 -6.90522635e-03 -6.74685469e+00] [-3.09009111e-02 6.94481341e-04 9.99522212e-01 -1.95140249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.383617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:62.13, Y:-6.76, Z:-1.95 [[ 9.79683461e-01 1.98274476e-01 3.01255465e-02 6.21252083e+01] [-1.98155530e-01 9.80146207e-01 -6.91375308e-03 -6.75929331e+00] [-3.08982609e-02 8.03745922e-04 9.99522212e-01 -1.95299584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.443617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:62.19, Y:-6.77, Z:-1.95 [[ 9.80527464e-01 1.94057886e-01 3.01235793e-02 6.21866222e+01] [-1.93936687e-01 9.80989624e-01 -6.92231394e-03 -6.77281365e+00] [-3.08942483e-02 9.45451781e-04 9.99522212e-01 -1.95482056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:62.25, Y:-6.79, Z:-1.96 [[ 9.80748765e-01 1.92936641e-01 3.01216430e-02 6.22478832e+01] [-1.92814655e-01 9.81210718e-01 -6.93072893e-03 -6.78778365e+00] [-3.08928706e-02 9.89409611e-04 9.99522212e-01 -1.95786852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.563617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:62.31, Y:-6.80, Z:-1.96 [[ 9.80467619e-01 1.94360614e-01 3.01197686e-02 6.23091858e+01] [-1.94239050e-01 9.80929683e-01 -6.93886531e-03 -6.80046180e+00] [-3.08940172e-02 9.52897498e-04 9.99522212e-01 -1.96013734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.623617865 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:62.37, Y:-6.81, Z:-1.96 [[ 9.79860339e-01 1.97399589e-01 3.01183918e-02 6.23696880e+01] [-1.97279274e-01 9.80322731e-01 -6.94483610e-03 -6.81321887e+00] [-3.08966519e-02 8.63234976e-04 9.99522212e-01 -1.96012585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:62.43, Y:-6.83, Z:-1.97 [[ 9.79484136e-01 1.99258193e-01 3.01164469e-02 6.24289205e+01] [-1.99138497e-01 9.79946688e-01 -6.95326000e-03 -6.82540265e+00] [-3.08980065e-02 8.13263866e-04 9.99522212e-01 -1.96539450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.49, Y:-6.84, Z:-1.97 [[ 9.78977024e-01 2.01735156e-01 3.01149880e-02 6.24906908e+01] [-2.01616437e-01 9.79439828e-01 -6.95957314e-03 -6.83946734e+00] [-3.08998092e-02 7.41585632e-04 9.99522212e-01 -1.96770265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.803617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:-6.85, Z:-1.97 [[ 9.78758301e-01 2.02793958e-01 3.01131126e-02 6.25519030e+01] [-2.02675490e-01 9.79221169e-01 -6.96767829e-03 -6.85243260e+00] [-3.09004004e-02 7.16483107e-04 9.99522212e-01 -1.97105043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:-6.87, Z:-1.97 [[ 9.78448873e-01 2.04281764e-01 3.01125297e-02 6.26123414e+01] [-2.04163922e-01 9.78911901e-01 -6.97019667e-03 -6.86632445e+00] [-3.09013977e-02 6.72088907e-04 9.99522212e-01 -1.97150828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.923617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.67, Y:-6.88, Z:-1.97 [[ 9.78751549e-01 2.02826878e-01 3.01108563e-02 6.26734303e+01] [-2.02708126e-01 9.79214344e-01 -6.97741808e-03 -6.88117977e+00] [-3.09001903e-02 7.25443495e-04 9.99522212e-01 -1.97225404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:-6.89, Z:-1.97 [[ 9.79773716e-01 1.97830526e-01 3.01089421e-02 6.27353216e+01] [-1.97709161e-01 9.80235833e-01 -6.98566854e-03 -6.89312103e+00] [-3.08958424e-02 8.91560747e-04 9.99522212e-01 -1.97489101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:-6.91, Z:-1.98 [[ 9.79673132e-01 1.98328328e-01 3.01069445e-02 6.27950051e+01] [-1.98206934e-01 9.80135242e-01 -6.99426705e-03 -6.90974110e+00] [-3.08960386e-02 8.84690360e-04 9.99522212e-01 -1.97673197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.103617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:-6.92, Z:-1.98 [[ 9.79681370e-01 1.98287912e-01 3.01051016e-02 6.28567530e+01] [-1.98166255e-01 9.80143410e-01 -7.00219055e-03 -6.92400222e+00] [-3.08957667e-02 8.94100387e-04 9.99522212e-01 -1.97893819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.163617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:-6.94, Z:-1.98 [[ 9.79606389e-01 1.98658305e-01 3.01031688e-02 6.29180650e+01] [-1.98536568e-01 9.80068408e-01 -7.01048972e-03 -6.93795423e+00] [-3.08958568e-02 8.90940686e-04 9.99522212e-01 -1.98242170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:-6.95, Z:-1.99 [[ 9.79446437e-01 1.99445710e-01 3.01012522e-02 6.29787467e+01] [-1.99324092e-01 9.79908488e-01 -7.01870976e-03 -6.95257690e+00] [-3.08963240e-02 8.74545495e-04 9.99522212e-01 -1.98530690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283617865000004 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:-6.97, Z:-1.99 [[ 9.79003701e-01 2.01607991e-01 3.00993491e-02 6.30398158e+01] [-2.01487144e-01 9.79465954e-01 -7.02686164e-03 -6.96640748e+00] [-3.08979591e-02 8.14691679e-04 9.99522212e-01 -1.98783932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.10, Y:-6.98, Z:-1.99 [[ 9.78530062e-01 2.03894732e-01 3.00974511e-02 6.31000233e+01] [-2.03774715e-01 9.78992530e-01 -7.03498152e-03 -6.97995378e+00] [-3.08995755e-02 7.50841380e-04 9.99522212e-01 -1.99090652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:63.16, Y:-6.99, Z:-2.00 [[ 9.77961630e-01 2.06604045e-01 3.00968386e-02 6.31602841e+01] [-2.06485229e-01 9.78424408e-01 -7.03760103e-03 -6.99377091e+00] [-3.09014783e-02 6.67951168e-04 9.99522212e-01 -1.99542141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:-7.01, Z:-1.99 [[ 9.77530619e-01 2.08633910e-01 3.00961935e-02 6.32202387e+01] [-2.08515970e-01 9.77993621e-01 -7.04035864e-03 -7.00964728e+00] [-3.09027429e-02 6.06629149e-04 9.99522212e-01 -1.99433538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.523617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:-7.02, Z:-2.00 [[ 9.77431039e-01 2.09100196e-01 3.00943815e-02 6.32814868e+01] [-2.08982239e-01 9.77894037e-01 -7.04809569e-03 -7.02475151e+00] [-3.09028744e-02 5.99836273e-04 9.99522212e-01 -1.99534627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:-7.04, Z:-2.00 [[ 9.77503054e-01 2.08763564e-01 3.00924092e-02 6.33419078e+01] [-2.08645188e-01 9.77965946e-01 -7.05650662e-03 -7.03895167e+00] [-3.09024929e-02 6.19120386e-04 9.99522212e-01 -1.99555253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:63.40, Y:-7.05, Z:-2.00 [[ 9.77846695e-01 2.07148235e-01 3.00906957e-02 6.34036334e+01] [-2.07028871e-01 9.78309332e-01 -7.06380596e-03 -7.05353434e+00] [-3.09012633e-02 6.77676575e-04 9.99522212e-01 -1.99538655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.703617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:63.46, Y:-7.07, Z:-2.00 [[ 9.78657656e-01 2.03282726e-01 3.00886244e-02 6.34645977e+01] [-2.03161264e-01 9.79119747e-01 -7.07261764e-03 -7.06709531e+00] [-3.08981073e-02 8.08828444e-04 9.99522212e-01 -1.99833652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.52, Y:-7.08, Z:-2.00 [[ 9.79784178e-01 1.97782096e-01 3.00866636e-02 6.35248575e+01] [-1.97657784e-01 9.80245510e-01 -7.08094916e-03 -7.08074237e+00] [-3.08928019e-02 9.90938691e-04 9.99522212e-01 -2.00176229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823617865 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:63.59, Y:-7.09, Z:-2.01 [[ 9.80568476e-01 1.93856578e-01 3.00847295e-02 6.35858090e+01] [-1.93730168e-01 9.81029238e-01 -7.08915685e-03 -7.09369524e+00] [-3.08882790e-02 1.12308403e-03 9.99522212e-01 -2.00814338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.883617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:63.65, Y:-7.11, Z:-2.01 [[ 9.81082859e-01 1.91236503e-01 3.00836053e-02 6.36471562e+01] [-1.91108717e-01 9.81543241e-01 -7.09392458e-03 -7.10848648e+00] [-3.08849767e-02 1.21048862e-03 9.99522212e-01 -2.00663838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.943617865 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:-7.12, Z:-2.01 [[ 9.80989342e-01 1.91716026e-01 3.00811691e-02 6.37069669e+01] [-1.91588149e-01 9.81449699e-01 -7.10424005e-03 -7.12190710e+00] [-3.08851510e-02 1.20598827e-03 9.99522212e-01 -2.00954341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003617865 meters Centerline goodness : 0.995483 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:-7.13, Z:-2.01 [[ 9.80686141e-01 1.93261256e-01 3.00795576e-02 6.37674593e+01] [-1.93133895e-01 9.81146641e-01 -7.11105639e-03 -7.13428333e+00] [-3.08867486e-02 1.16433232e-03 9.99522212e-01 -2.01459911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.063617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:-7.15, Z:-2.01 [[ 9.79681329e-01 1.98292110e-01 3.00787631e-02 6.38280167e+01] [-1.98167011e-01 9.80142449e-01 -7.11441554e-03 -7.14558749e+00] [-3.08922050e-02 1.00924149e-03 9.99522212e-01 -2.01034586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:-7.15, Z:-2.02 [[ 9.79444277e-01 1.99460023e-01 3.00766987e-02 6.38890950e+01] [-1.99335207e-01 9.79905473e-01 -7.12313237e-03 -7.15466977e+00] [-3.08931018e-02 9.81366270e-04 9.99522212e-01 -2.02032410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:-7.17, Z:-2.02 [[ 9.78127483e-01 2.05820643e-01 3.00747317e-02 6.39509568e+01] [-2.05698572e-01 9.78589414e-01 -7.13142770e-03 -7.16891607e+00] [-3.08986090e-02 7.89116088e-04 9.99522212e-01 -2.01505479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.243617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:-7.18, Z:-2.02 [[ 9.77865083e-01 2.07064028e-01 3.00727068e-02 6.40131526e+01] [-2.06942282e-01 9.78327099e-01 -7.13995618e-03 -7.18103414e+00] [-3.08993721e-02 7.58599269e-04 9.99522213e-01 -2.01731475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.303617865 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:-7.19, Z:-2.02 [[ 9.78959663e-01 2.01825989e-01 3.00707151e-02 6.40752955e+01] [-2.01701515e-01 9.79420952e-01 -7.14833460e-03 -7.18640306e+00] [-3.08946081e-02 9.32622444e-04 9.99522213e-01 -2.02425776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:-7.20, Z:-2.02 [[ 9.78915392e-01 2.02040868e-01 3.00689580e-02 6.41359685e+01] [-2.01916268e-01 9.79376647e-01 -7.15571822e-03 -7.20139246e+00] [-3.08945827e-02 9.33430942e-04 9.99522213e-01 -2.02400077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:-7.22, Z:-2.02 [[ 9.78374864e-01 2.04642550e-01 3.00674534e-02 6.41955114e+01] [-2.04518983e-01 9.78836396e-01 -7.16203452e-03 -7.21702914e+00] [-3.08967748e-02 8.57789558e-04 9.99522213e-01 -2.02205023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.483617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:-7.23, Z:-2.02 [[ 9.78443211e-01 2.04315719e-01 3.00660885e-02 6.42575274e+01] [-2.04191822e-01 9.78904655e-01 -7.16775973e-03 -7.23031712e+00] [-3.08963200e-02 8.73996454e-04 9.99522213e-01 -2.02315583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.32, Y:-7.24, Z:-2.02 [[ 9.78090015e-01 2.06000175e-01 3.00640978e-02 6.43190919e+01] [-2.05876816e-01 9.78551603e-01 -7.17610006e-03 -7.24011766e+00] [-3.08975489e-02 8.29371088e-04 9.99522213e-01 -2.02298078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.38, Y:-7.25, Z:-2.03 [[ 9.77256928e-01 2.09917012e-01 3.00623362e-02 6.43809911e+01] [-2.09795277e-01 9.77718947e-01 -7.18347218e-03 -7.25287677e+00] [-3.09004487e-02 7.13161814e-04 9.99522213e-01 -2.02550581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:-7.27, Z:-2.03 [[ 9.76244204e-01 2.14577801e-01 3.00602950e-02 6.44422939e+01] [-2.14458010e-01 9.76706730e-01 -7.19200349e-03 -7.26566787e+00] [-3.09033368e-02 5.74480682e-04 9.99522213e-01 -2.02884330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:-7.28, Z:-2.03 [[ 9.75794566e-01 2.16613630e-01 3.00582774e-02 6.45023824e+01] [-2.16494544e-01 9.76257275e-01 -7.20042616e-03 -7.27940330e+00] [-3.09043224e-02 5.18683646e-04 9.99522213e-01 -2.03004933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.783617865000004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.56, Y:-7.29, Z:-2.03 [[ 9.75335438e-01 2.18671887e-01 3.00564355e-02 6.45626543e+01] [-2.18553541e-01 9.75798336e-01 -7.20810674e-03 -7.29116645e+00] [-3.09052300e-02 4.61381544e-04 9.99522213e-01 -2.03326587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.843617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.62, Y:-7.31, Z:-2.04 [[ 9.75487708e-01 2.17991744e-01 3.00554567e-02 6.46235849e+01] [-2.17872950e-01 9.75950492e-01 -7.21218565e-03 -7.30801423e+00] [-3.09048346e-02 4.87127440e-04 9.99522213e-01 -2.03831369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.68, Y:-7.32, Z:-2.04 [[ 9.75968361e-01 2.15829903e-01 3.00534854e-02 6.46834095e+01] [-2.15709831e-01 9.76430814e-01 -7.22039068e-03 -7.32411266e+00] [-3.09035254e-02 5.64040597e-04 9.99522213e-01 -2.03906085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.74, Y:-7.34, Z:-2.04 [[ 9.76193644e-01 2.14808822e-01 3.00522640e-02 6.47439690e+01] [-2.14688110e-01 9.76655931e-01 -7.22547062e-03 -7.34009226e+00] [-3.09028167e-02 6.01594734e-04 9.99522213e-01 -2.03937562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:-7.35, Z:-2.04 [[ 9.75914289e-01 2.16074713e-01 3.00502719e-02 6.48055457e+01] [-2.15954346e-01 9.76376666e-01 -7.23374632e-03 -7.35459630e+00] [-3.09034139e-02 5.70029589e-04 9.99522213e-01 -2.04058066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.083617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.87, Y:-7.37, Z:-2.04 [[ 9.76020684e-01 2.15593889e-01 3.00482848e-02 6.48667801e+01] [-2.15473040e-01 9.76482935e-01 -7.24199094e-03 -7.37079376e+00] [-3.09029664e-02 5.93737656e-04 9.99522213e-01 -2.04432791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.143617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.93, Y:-7.39, Z:-2.05 [[ 9.76354670e-01 2.14076572e-01 3.00462955e-02 6.49276764e+01] [-2.13954752e-01 9.76816666e-01 -7.25023501e-03 -7.38747066e+00] [-3.09018277e-02 6.50253119e-04 9.99522213e-01 -2.04719835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.203617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.99, Y:-7.40, Z:-2.05 [[ 9.76717076e-01 2.12417261e-01 3.00443262e-02 6.49881046e+01] [-2.12294405e-01 9.77178797e-01 -7.25838639e-03 -7.40332061e+00] [-3.09004851e-02 7.11147563e-04 9.99522213e-01 -2.05061452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26361786499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:-7.42, Z:-2.05 [[ 9.77091786e-01 2.10687167e-01 3.00426329e-02 6.50481069e+01] [-2.10563278e-01 9.77553231e-01 -7.26538841e-03 -7.41980484e+00] [-3.08989970e-02 7.73076064e-04 9.99522213e-01 -2.05402768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:-7.44, Z:-2.05 [[ 9.77785632e-01 2.07443485e-01 3.00409300e-02 6.51090754e+01] [-2.07317850e-01 9.78246605e-01 -7.27242283e-03 -7.43665645e+00] [-3.08960545e-02 8.82849542e-04 9.99522213e-01 -2.05489892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38361786499999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:-7.45, Z:-2.06 [[ 9.78018591e-01 2.06342661e-01 3.00390006e-02 6.51692970e+01] [-2.06216263e-01 9.78479355e-01 -7.28038344e-03 -7.45269288e+00] [-3.08947957e-02 9.25819915e-04 9.99522213e-01 -2.05822328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:-7.47, Z:-2.06 [[ 9.77838099e-01 2.07196553e-01 3.00373086e-02 6.52289817e+01] [-2.07070342e-01 9.78298915e-01 -7.28735762e-03 -7.46779265e+00] [-3.08953818e-02 9.06020145e-04 9.99522213e-01 -2.06170645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:-7.48, Z:-2.06 [[ 9.78030812e-01 2.06285218e-01 3.00356327e-02 6.52907683e+01] [-2.06158366e-01 9.78491452e-01 -7.29425859e-03 -7.48084816e+00] [-3.08943076e-02 9.41912688e-04 9.99522213e-01 -2.05805836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.563617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:-7.50, Z:-2.06 [[ 9.77008555e-01 2.11074101e-01 3.00334461e-02 6.53496490e+01] [-2.10949232e-01 9.77469736e-01 -7.30325060e-03 -7.49785048e+00] [-3.08983117e-02 7.99805919e-04 9.99522213e-01 -2.06003126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:-7.51, Z:-2.06 [[ 9.76205691e-01 2.14756944e-01 3.00317158e-02 6.54093800e+01] [-2.14633596e-01 9.76667281e-01 -7.31035889e-03 -7.51361721e+00] [-3.09009445e-02 6.90598793e-04 9.99522213e-01 -2.05915265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:-7.53, Z:-2.06 [[ 9.75746394e-01 2.16834459e-01 3.00298600e-02 6.54694737e+01] [-2.16711860e-01 9.76208183e-01 -7.31797433e-03 -7.53107322e+00] [-3.09021841e-02 6.32660241e-04 9.99522213e-01 -2.05976642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:-7.55, Z:-2.06 [[ 9.75585543e-01 2.17557270e-01 3.00280396e-02 6.55290915e+01] [-2.17434783e-01 9.76047362e-01 -7.32543619e-03 -7.54777479e+00] [-3.09024908e-02 6.17449347e-04 9.99522213e-01 -2.06029366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.59, Y:-7.56, Z:-2.07 [[ 9.76040663e-01 2.15506503e-01 3.00261945e-02 6.55889593e+01] [-2.15382813e-01 9.76502161e-01 -7.33299146e-03 -7.56195985e+00] [-3.09009512e-02 6.90171601e-04 9.99522213e-01 -2.06551421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.863617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:65.65, Y:-7.58, Z:-2.07 [[ 9.75808995e-01 2.16553200e-01 3.00252683e-02 6.56476139e+01] [-2.16429889e-01 9.76270595e-01 -7.33678179e-03 -7.58031332e+00] [-3.09015901e-02 6.60932164e-04 9.99522213e-01 -2.07139227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.923617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:-7.60, Z:-2.07 [[ 9.76500465e-01 2.13413742e-01 3.00236030e-02 6.57080855e+01] [-2.13288738e-01 9.76961609e-01 -7.34359030e-03 -7.59683971e+00] [-3.08991306e-02 7.67322958e-04 9.99522213e-01 -2.07076035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.983617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:65.77, Y:-7.61, Z:-2.07 [[ 9.76708641e-01 2.12459103e-01 3.00226523e-02 6.57679211e+01] [-2.12333529e-01 9.77169631e-01 -7.34747488e-03 -7.61390775e+00] [-3.08982620e-02 8.01526491e-04 9.99522213e-01 -2.07157304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:65.83, Y:-7.63, Z:-2.08 [[ 9.76830205e-01 2.11899754e-01 3.00207560e-02 6.58276847e+01] [-2.11773678e-01 9.77291057e-01 -7.35521471e-03 -7.62795378e+00] [-3.08975846e-02 8.27189962e-04 9.99522213e-01 -2.07606164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:65.89, Y:-7.65, Z:-2.08 [[ 9.75722767e-01 2.16942249e-01 3.00190210e-02 6.58864149e+01] [-2.16818338e-01 9.76184206e-01 -7.36228896e-03 -7.64927794e+00] [-3.09012858e-02 6.74878701e-04 9.99522213e-01 -2.07917844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:65.95, Y:-7.67, Z:-2.08 [[ 9.75251855e-01 2.19049758e-01 3.00170513e-02 6.59464628e+01] [-2.18926597e-01 9.75713495e-01 -7.37031128e-03 -7.66554319e+00] [-3.09025069e-02 6.16378843e-04 9.99522213e-01 -2.08190527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.01, Y:-7.68, Z:-2.08 [[ 9.74774988e-01 2.21162397e-01 3.00152842e-02 6.60074412e+01] [-2.21040015e-01 9.75236835e-01 -7.37750036e-03 -7.68188429e+00] [-3.09036365e-02 5.56823948e-04 9.99522213e-01 -2.08356847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:-7.70, Z:-2.09 [[ 9.74583072e-01 2.22006845e-01 3.00132582e-02 6.60678726e+01] [-2.21884610e-01 9.75044958e-01 -7.38573340e-03 -7.69804706e+00] [-3.09039595e-02 5.38530631e-04 9.99522213e-01 -2.08528489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.13, Y:-7.71, Z:-2.09 [[ 9.74696913e-01 2.21506780e-01 3.00112198e-02 6.61285551e+01] [-2.21384053e-01 9.75158669e-01 -7.39400722e-03 -7.71436133e+00] [-3.09035239e-02 5.62910533e-04 9.99522214e-01 -2.08671549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:66.19, Y:-7.73, Z:-2.09 [[ 9.75327604e-01 2.18713315e-01 3.00091834e-02 6.61888712e+01] [-2.18589012e-01 9.75788937e-01 -7.40226273e-03 -7.73111182e+00] [-3.09016026e-02 6.59953417e-04 9.99522214e-01 -2.08718073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:66.25, Y:-7.75, Z:-2.09 [[ 9.75873361e-01 2.16265438e-01 3.00073876e-02 6.62479367e+01] [-2.16139754e-01 9.76334321e-01 -7.40953544e-03 -7.74537522e+00] [-3.08996688e-02 7.44978872e-04 9.99522214e-01 -2.08921061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.31, Y:-7.76, Z:-2.09 [[ 9.76284826e-01 2.14400546e-01 3.00057421e-02 6.63091393e+01] [-2.14273778e-01 9.76745488e-01 -7.41619325e-03 -7.76059620e+00] [-3.08980091e-02 8.10873236e-04 9.99522214e-01 -2.09107975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.583617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.37, Y:-7.78, Z:-2.09 [[ 9.76848377e-01 2.11818380e-01 3.00036974e-02 6.63700632e+01] [-2.11690141e-01 9.77308632e-01 -7.42445612e-03 -7.77546465e+00] [-3.08955088e-02 9.01080988e-04 9.99522214e-01 -2.09272617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.643617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.43, Y:-7.78, Z:-2.10 [[ 9.78115958e-01 2.05886071e-01 3.00016517e-02 6.64319371e+01] [-2.05754788e-01 9.78575353e-01 -7.43271354e-03 -7.78267305e+00] [-3.08891691e-02 1.09707224e-03 9.99522214e-01 -2.09933456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.703617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:66.49, Y:-7.80, Z:-2.10 [[ 9.77406115e-01 2.09230255e-01 2.99997953e-02 6.64911025e+01] [-2.09100314e-01 9.77865892e-01 -7.44019882e-03 -7.80028960e+00] [-3.08924913e-02 9.99129203e-04 9.99522214e-01 -2.09682330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.55, Y:-7.81, Z:-2.10 [[ 9.77514796e-01 2.08722176e-01 2.99979421e-02 6.65523814e+01] [-2.08591767e-01 9.77974441e-01 -7.44766332e-03 -7.81245794e+00] [-3.08917131e-02 1.02287734e-03 9.99522214e-01 -2.09849106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:-7.82, Z:-2.10 [[ 9.77640254e-01 2.08134041e-01 2.99959245e-02 6.66132898e+01] [-2.08003107e-01 9.78099749e-01 -7.45578054e-03 -7.82300253e+00] [-3.08908079e-02 1.04982571e-03 9.99522214e-01 -2.09898684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:-7.84, Z:-2.10 [[ 9.77511250e-01 2.08739343e-01 2.99940581e-02 6.66749952e+01] [-2.08608464e-01 9.77970760e-01 -7.46328111e-03 -7.83712005e+00] [-3.08911922e-02 1.03842686e-03 9.99522214e-01 -2.10026001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.943617865 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:-7.85, Z:-2.10 [[ 9.76960420e-01 2.11302659e-01 2.99920681e-02 6.67365892e+01] [-2.11172741e-01 9.77420203e-01 -7.47126970e-03 -7.84663256e+00] [-3.08935525e-02 9.65627565e-04 9.99522214e-01 -2.10219135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.003617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:66.80, Y:-7.86, Z:-2.10 [[ 9.76291750e-01 2.14371102e-01 2.99908408e-02 6.67986250e+01] [-2.14242477e-01 9.76751897e-01 -7.47619309e-03 -7.85665301e+00] [-3.08962904e-02 8.73633608e-04 9.99522214e-01 -2.10262321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.063617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.86, Y:-7.87, Z:-2.11 [[ 9.75074558e-01 2.19841295e-01 2.99901760e-02 6.68589225e+01] [-2.19715170e-01 9.75535397e-01 -7.47885892e-03 -7.86722575e+00] [-3.09006403e-02 7.03148430e-04 9.99522214e-01 -2.10513980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.92, Y:-7.88, Z:-2.11 [[ 9.74567588e-01 2.22078158e-01 2.99884751e-02 6.69196528e+01] [-2.21952881e-01 9.75028658e-01 -7.48567276e-03 -7.87984487e+00] [-3.09020271e-02 6.39265585e-04 9.99522214e-01 -2.10626777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18361786499999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:66.98, Y:-7.89, Z:-2.11 [[ 9.74011177e-01 2.24506116e-01 2.99871923e-02 6.69817428e+01] [-2.24381831e-01 9.74472515e-01 -7.49080799e-03 -7.89123544e+00] [-3.09034269e-02 5.67549564e-04 9.99522214e-01 -2.10685416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24361786499999 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:67.04, Y:-7.90, Z:-2.11 [[ 9.74027486e-01 2.24435622e-01 2.99851276e-02 6.70428328e+01] [-2.24311049e-01 9.74488747e-01 -7.49906375e-03 -7.90425541e+00] [-3.09032265e-02 5.78298769e-04 9.99522214e-01 -2.10775600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30361786499999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:67.10, Y:-7.92, Z:-2.11 [[ 9.75431548e-01 2.18252837e-01 2.99832184e-02 6.71034537e+01] [-2.18125107e-01 9.75891945e-01 -7.50668951e-03 -7.91509351e+00] [-3.08987376e-02 7.82169048e-04 9.99522214e-01 -2.11415706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.363617865 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:-7.93, Z:-2.11 [[ 9.75642669e-01 2.17307391e-01 2.99813255e-02 6.71623272e+01] [-2.17178983e-01 9.76102877e-01 -7.51424213e-03 -7.93457477e+00] [-3.08977584e-02 8.19901480e-04 9.99522214e-01 -2.10975202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:-7.95, Z:-2.11 [[ 9.76638943e-01 2.12785360e-01 2.99794298e-02 6.72223223e+01] [-2.12654589e-01 9.77098484e-01 -7.52179773e-03 -7.94827225e+00] [-3.08933839e-02 9.70817238e-04 9.99522214e-01 -2.11291401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.28, Y:-7.96, Z:-2.12 [[ 9.77660660e-01 2.08040731e-01 2.99781341e-02 6.72832311e+01] [-2.07907573e-01 9.78119515e-01 -7.52695839e-03 -7.96326029e+00] [-3.08881119e-02 1.12613000e-03 9.99522214e-01 -2.11663840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.34, Y:-7.98, Z:-2.12 [[ 9.77851281e-01 2.07143221e-01 2.99759636e-02 6.73417185e+01] [-2.07009377e-01 9.78309937e-01 -7.53559227e-03 -7.97950859e+00] [-3.08867299e-02 1.16338299e-03 9.99522214e-01 -2.11738553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.40, Y:-7.99, Z:-2.12 [[ 9.78264267e-01 2.05184233e-01 2.99742200e-02 6.74023537e+01] [-2.05049259e-01 9.78722592e-01 -7.54252167e-03 -7.99465175e+00] [-3.08840528e-02 1.23238786e-03 9.99522214e-01 -2.11881623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:-8.01, Z:-2.12 [[ 9.78402994e-01 2.04522011e-01 2.99721400e-02 6.74620383e+01] [-2.04386474e-01 9.78861152e-01 -7.55077784e-03 -8.00958181e+00] [-3.08828638e-02 1.26180362e-03 9.99522214e-01 -2.12138939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.723617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:67.52, Y:-8.03, Z:-2.12 [[ 9.78169825e-01 2.05634579e-01 2.99702156e-02 6.75225397e+01] [-2.05499330e-01 9.78628068e-01 -7.55840844e-03 -8.02518236e+00] [-3.08839643e-02 1.23454783e-03 9.99522214e-01 -2.12368143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.58, Y:-8.04, Z:-2.12 [[ 9.77683847e-01 2.07933134e-01 2.99684211e-02 6.75835315e+01] [-2.07798745e-01 9.78142344e-01 -7.56551667e-03 -8.04035436e+00] [-3.08865033e-02 1.16928316e-03 9.99522214e-01 -2.12411703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.64, Y:-8.05, Z:-2.13 [[ 9.76808421e-01 2.12007848e-01 2.99663193e-02 6.76427946e+01] [-2.11875117e-01 9.77267400e-01 -7.57383283e-03 -8.05387814e+00] [-3.08908189e-02 1.04906628e-03 9.99522214e-01 -2.12503727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.70, Y:-8.07, Z:-2.13 [[ 9.76156709e-01 2.14988741e-01 2.99653171e-02 6.77039028e+01] [-2.14857291e-01 9.76616056e-01 -7.57779580e-03 -8.06833801e+00] [-3.08937506e-02 9.58849369e-04 9.99522214e-01 -2.12649504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:67.76, Y:-8.08, Z:-2.13 [[ 9.75219071e-01 2.19203030e-01 2.99632264e-02 6.77647556e+01] [-2.19073311e-01 9.75678911e-01 -7.58605348e-03 -8.08374398e+00] [-3.08973740e-02 8.33920828e-04 9.99522214e-01 -2.12759064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.83, Y:-8.10, Z:-2.13 [[ 9.74860403e-01 2.20792948e-01 2.99611279e-02 6.78261549e+01] [-2.20663725e-01 9.75320382e-01 -7.59433237e-03 -8.09838098e+00] [-3.08984738e-02 7.92079815e-04 9.99522214e-01 -2.12980071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.083617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.89, Y:-8.11, Z:-2.13 [[ 9.75003736e-01 2.20159424e-01 2.99590068e-02 6.78861046e+01] [-2.20029645e-01 9.75463559e-01 -7.60269078e-03 -8.11422373e+00] [-3.08977234e-02 8.20782282e-04 9.99522214e-01 -2.13156056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.143617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:-8.13, Z:-2.13 [[ 9.75186283e-01 2.19349605e-01 2.99576989e-02 6.79469338e+01] [-2.19219286e-01 9.75645953e-01 -7.60784116e-03 -8.13108916e+00] [-3.08968846e-02 8.51756976e-04 9.99522214e-01 -2.13299729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.203617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:-8.15, Z:-2.14 [[ 9.74965699e-01 2.20328274e-01 2.99555837e-02 6.80062872e+01] [-2.20198161e-01 9.75425427e-01 -7.61616039e-03 -8.14723414e+00] [-3.08974935e-02 8.29330688e-04 9.99522214e-01 -2.13557158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:-8.16, Z:-2.14 [[ 9.74779637e-01 2.21150266e-01 2.99536300e-02 6.80663725e+01] [-2.21020305e-01 9.75239407e-01 -7.62383651e-03 -8.16341758e+00] [-3.08979738e-02 8.11200142e-04 9.99522214e-01 -2.13942260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.13, Y:-8.18, Z:-2.14 [[ 9.74653215e-01 2.21707012e-01 2.99518212e-02 6.81272694e+01] [-2.21577096e-01 9.75112998e-01 -7.63093620e-03 -8.18133763e+00] [-3.08982422e-02 8.00878928e-04 9.99522214e-01 -2.14075645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.19, Y:-8.20, Z:-2.14 [[ 9.75154825e-01 2.19490411e-01 2.99503997e-02 6.81880882e+01] [-2.19359279e-01 9.75614263e-01 -7.63651113e-03 -8.19690106e+00] [-3.08961781e-02 8.76882591e-04 9.99522214e-01 -2.13708234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.25, Y:-8.21, Z:-2.14 [[ 9.74885708e-01 2.20682740e-01 2.99496918e-02 6.82461703e+01] [-2.20552085e-01 9.75345282e-01 -7.63928639e-03 -8.21390625e+00] [-3.08971493e-02 8.41964143e-04 9.99522214e-01 -2.14201998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.503617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:68.31, Y:-8.23, Z:-2.14 [[ 9.74485118e-01 2.22445020e-01 2.99494128e-02 6.83056430e+01] [-2.22315162e-01 9.74944918e-01 -7.64038035e-03 -8.22996289e+00] [-3.08985923e-02 7.87228390e-04 9.99522214e-01 -2.14317081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.37, Y:-8.24, Z:-2.14 [[ 9.73760670e-01 2.25595439e-01 2.99475524e-02 6.83666660e+01] [-2.25466845e-01 9.74220825e-01 -7.64766526e-03 -8.24401997e+00] [-3.09008076e-02 6.94815489e-04 9.99522215e-01 -2.14149590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.623617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.43, Y:-8.26, Z:-2.15 [[ 9.73021325e-01 2.28763556e-01 2.99455629e-02 6.84257864e+01] [-2.28636221e-01 9.73481830e-01 -7.65544768e-03 -8.26035334e+00] [-3.09027488e-02 6.02273520e-04 9.99522215e-01 -2.14772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.49, Y:-8.28, Z:-2.14 [[ 9.72619989e-01 2.30464199e-01 2.99434328e-02 6.84858079e+01] [-2.30337413e-01 9.73080646e-01 -7.66377028e-03 -8.27701981e+00] [-3.09035996e-02 5.56843326e-04 9.99522215e-01 -2.14288311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:-8.29, Z:-2.15 [[ 9.73100605e-01 2.28426652e-01 2.99412279e-02 6.85442584e+01] [-2.28298637e-01 9.73560921e-01 -7.67237494e-03 -8.29237425e+00] [-3.09021843e-02 6.30451187e-04 9.99522215e-01 -2.14996540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:-8.31, Z:-2.15 [[ 9.73334978e-01 2.27426038e-01 2.99402518e-02 6.86046076e+01] [-2.27297432e-01 9.73795129e-01 -7.67618218e-03 -8.30848446e+00] [-3.09014350e-02 6.66154258e-04 9.99522215e-01 -2.15225333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:-8.33, Z:-2.15 [[ 9.74448797e-01 2.22605599e-01 2.99381096e-02 6.86651116e+01] [-2.22474461e-01 9.74908233e-01 -7.68452771e-03 -8.32551414e+00] [-3.08975284e-02 8.27713989e-04 9.99522215e-01 -2.15482163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:-8.34, Z:-2.16 [[ 9.75460405e-01 2.18130313e-01 2.99359999e-02 6.87256279e+01] [-2.17996816e-01 9.75919162e-01 -7.69273759e-03 -8.34215113e+00] [-3.08931352e-02 9.78008261e-04 9.99522215e-01 -2.15665118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.983617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:-8.36, Z:-2.15 [[ 9.74898269e-01 2.20629387e-01 2.99339051e-02 6.87831678e+01] [-2.20496816e-01 9.75357294e-01 -7.70088009e-03 -8.36216978e+00] [-3.08952932e-02 9.07243884e-04 9.99522215e-01 -2.14828890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:68.84, Y:-8.38, Z:-2.15 [[ 9.74341997e-01 2.23073160e-01 2.99338914e-02 6.88426340e+01] [-2.22941739e-01 9.74801352e-01 -7.70093340e-03 -8.37806882e+00] [-3.08974694e-02 8.29829017e-04 9.99522215e-01 -2.14883811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:-8.39, Z:-2.15 [[ 9.73869578e-01 2.25126899e-01 2.99319833e-02 6.89020373e+01] [-2.24996219e-01 9.74329145e-01 -7.70834293e-03 -8.39338091e+00] [-3.08989590e-02 7.72337609e-04 9.99522215e-01 -2.14977258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:-8.41, Z:-2.16 [[ 9.73304911e-01 2.27555898e-01 2.99309864e-02 6.89612378e+01] [-2.27426246e-01 9.73764768e-01 -7.71221172e-03 -8.40607554e+00] [-3.09006993e-02 6.99241661e-04 9.99522215e-01 -2.15976517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:-8.42, Z:-2.17 [[ 9.72949144e-01 2.29072293e-01 2.99307203e-02 6.90208797e+01] [-2.28943326e-01 9.73409194e-01 -7.71324452e-03 -8.42040058e+00] [-3.09017289e-02 6.52155996e-04 9.99522215e-01 -2.16676610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:-8.44, Z:-2.17 [[ 9.72204470e-01 2.32212652e-01 2.99291161e-02 6.90797213e+01] [-2.32084980e-01 9.72664882e-01 -7.71946382e-03 -8.43665258e+00] [-3.09035574e-02 5.58798913e-04 9.99522215e-01 -2.16803053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.343617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:69.14, Y:-8.45, Z:-2.17 [[ 9.72778264e-01 2.29797112e-01 2.99288647e-02 6.91394248e+01] [-2.29668267e-01 9.73238348e-01 -7.72043871e-03 -8.45331047e+00] [-3.09020533e-02 6.36564490e-04 9.99522215e-01 -2.16924558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.20, Y:-8.47, Z:-2.17 [[ 9.73215612e-01 2.27938040e-01 2.99269607e-02 6.91987232e+01] [-2.27808090e-01 9.73675385e-01 -7.72781218e-03 -8.47279356e+00] [-3.09006073e-02 7.03223719e-04 9.99522215e-01 -2.17320126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:69.26, Y:-8.49, Z:-2.17 [[ 9.73841515e-01 2.25249025e-01 2.99262602e-02 6.92567001e+01] [-2.25117721e-01 9.74300904e-01 -7.73052387e-03 -8.49145271e+00] [-3.08984753e-02 7.91373578e-04 9.99522215e-01 -2.17386771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52361786499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:-8.51, Z:-2.17 [[ 9.73697790e-01 2.25869744e-01 2.99244397e-02 6.93157802e+01] [-2.25738517e-01 9.74157201e-01 -7.73756458e-03 -8.51210293e+00] [-3.08987901e-02 7.78950887e-04 9.99522215e-01 -2.17073479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.583617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:69.37, Y:-8.53, Z:-2.18 [[ 9.74096719e-01 2.24143123e-01 2.99239286e-02 6.93746336e+01] [-2.24011021e-01 9.74555879e-01 -7.73954070e-03 -8.52942127e+00] [-3.08973053e-02 8.35771401e-04 9.99522215e-01 -2.17949587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.643617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:69.43, Y:-8.55, Z:-2.18 [[ 9.74068746e-01 2.24264934e-01 2.99218464e-02 6.94339908e+01] [-2.24132643e-01 9.74527852e-01 -7.74758214e-03 -8.54921670e+00] [-3.08971837e-02 8.40215113e-04 9.99522215e-01 -2.18278490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.703617865 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:69.49, Y:-8.57, Z:-2.19 [[ 9.74714577e-01 2.21441389e-01 2.99199578e-02 6.94925877e+01] [-2.21307544e-01 9.75173232e-01 -7.75486899e-03 -8.57164232e+00] [-3.08943909e-02 9.37271484e-04 9.99522215e-01 -2.18596458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76361786499999 meters Centerline goodness : 0.997689 with order 1 Centerline is valid? [True, True] Translation: X:69.55, Y:-8.59, Z:-2.18 [[ 9.74423288e-01 2.22719784e-01 2.99191069e-02 6.95503420e+01] [-2.22586441e-01 9.74882089e-01 -7.75815046e-03 -8.59081517e+00] [-3.08954950e-02 9.00134987e-04 9.99522215e-01 -2.18463007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82361786499999 meters Centerline goodness : 0.994965 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:-8.61, Z:-2.19 [[ 9.74573510e-01 2.22061683e-01 2.99179150e-02 6.96092665e+01] [-2.21927889e-01 9.75032180e-01 -7.76274394e-03 -8.61006156e+00] [-3.08947379e-02 9.25744899e-04 9.99522215e-01 -2.18927620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:-8.63, Z:-2.18 [[ 9.72719348e-01 2.30048083e-01 2.99156973e-02 6.96689370e+01] [-2.29917793e-01 9.73179025e-01 -7.77128101e-03 -8.62892263e+00] [-3.09010974e-02 6.81124288e-04 9.99522215e-01 -2.18335636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.943617865 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:-8.64, Z:-2.19 [[ 9.72084753e-01 2.32715324e-01 2.99133809e-02 6.97284340e+01] [-2.32586021e-01 9.72544709e-01 -7.78018711e-03 -8.64275221e+00] [-3.09026691e-02 6.05567023e-04 9.99522215e-01 -2.18948867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.79, Y:-8.66, Z:-2.19 [[ 9.71267481e-01 2.36103326e-01 2.99115148e-02 6.97896359e+01] [-2.35975408e-01 9.71727824e-01 -7.78735510e-03 -8.65827756e+00] [-3.09044716e-02 5.05222889e-04 9.99522215e-01 -2.18957297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:-8.68, Z:-2.19 [[ 9.70870239e-01 2.37731831e-01 2.99091188e-02 6.98479102e+01] [-2.37604401e-01 9.71330717e-01 -7.79654629e-03 -8.67645347e+00] [-3.09051331e-02 4.62896484e-04 9.99522215e-01 -2.18682589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:-8.69, Z:-2.19 [[ 9.72005249e-01 2.33047951e-01 2.99073422e-02 6.99091189e+01] [-2.32918093e-01 9.72465048e-01 -7.80335565e-03 -8.68817770e+00] [-3.09024010e-02 6.18941544e-04 9.99522215e-01 -2.19106699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:-8.70, Z:-2.19 [[ 9.72482117e-01 2.31050027e-01 2.99068147e-02 6.99695343e+01] [-2.30919162e-01 9.72941631e-01 -7.80537650e-03 -8.70396117e+00] [-3.09010176e-02 6.84532464e-04 9.99522215e-01 -2.18674952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:-8.72, Z:-2.19 [[ 9.73165459e-01 2.28154975e-01 2.99047995e-02 7.00299356e+01] [-2.28022507e-01 9.73624513e-01 -7.81309003e-03 -8.71794166e+00] [-3.08986412e-02 7.84462012e-04 9.99522215e-01 -2.18984630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:-8.73, Z:-2.20 [[ 9.74511167e-01 2.22337069e-01 2.99033828e-02 7.00895795e+01] [-2.22201695e-01 9.74969373e-01 -7.81850850e-03 -8.73276518e+00] [-3.08932266e-02 9.74641524e-04 9.99522215e-01 -2.19508842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.363617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-8.75, Z:-2.20 [[ 9.75170072e-01 2.19429216e-01 2.99023211e-02 7.01485967e+01] [-2.19292351e-01 9.75627835e-01 -7.82256685e-03 -8.74933210e+00] [-3.08900365e-02 1.07098278e-03 9.99522215e-01 -2.19670090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.423617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-8.76, Z:-2.20 [[ 9.76170792e-01 2.14933806e-01 2.99005543e-02 7.02094148e+01] [-2.14794627e-01 9.76627856e-01 -7.82931429e-03 -8.76142479e+00] [-3.08844986e-02 1.22026953e-03 9.99522215e-01 -2.20113650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:-8.78, Z:-2.20 [[ 9.75987811e-01 2.15763439e-01 2.98986980e-02 7.02693121e+01] [-2.15624432e-01 9.76444927e-01 -7.83639683e-03 -8.77685223e+00] [-3.08852399e-02 1.20133801e-03 9.99522215e-01 -2.19845808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:-8.79, Z:-2.20 [[ 9.76192771e-01 2.14834502e-01 2.98966808e-02 7.03285170e+01] [-2.14694825e-01 9.76649683e-01 -7.84408484e-03 -8.79020102e+00] [-3.08837639e-02 1.23867625e-03 9.99522215e-01 -2.20134599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:-8.80, Z:-2.21 [[ 9.75822727e-01 2.16509256e-01 2.98956092e-02 7.03882426e+01] [-2.16370238e-01 9.76279840e-01 -7.84816715e-03 -8.80175037e+00] [-3.08856814e-02 1.18989979e-03 9.99522215e-01 -2.20627147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.45, Y:-8.82, Z:-2.21 [[ 9.75220858e-01 2.19204552e-01 2.98938556e-02 7.04481758e+01] [-2.19066593e-01 9.75678292e-01 -7.85484094e-03 -8.81917695e+00] [-3.08886028e-02 1.11145962e-03 9.99522215e-01 -2.20552132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.51, Y:-8.83, Z:-2.21 [[ 9.74419803e-01 2.22738663e-01 2.98920504e-02 7.05096662e+01] [-2.22602154e-01 9.74877672e-01 -7.86170460e-03 -8.82857013e+00] [-3.08921981e-02 1.00656584e-03 9.99522215e-01 -2.21105440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.57, Y:-8.84, Z:-2.21 [[ 9.73510487e-01 2.26680036e-01 2.98913592e-02 7.05701267e+01] [-2.26545300e-01 9.73968880e-01 -7.86433174e-03 -8.84079183e+00] [-3.08959407e-02 8.84262479e-04 9.99522215e-01 -2.21354519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.63, Y:-8.86, Z:-2.21 [[ 9.73190363e-01 2.28050756e-01 2.98892835e-02 7.06315246e+01] [-2.27916424e-01 9.73648875e-01 -7.87221268e-03 -8.85635922e+00] [-3.08969314e-02 8.48902892e-04 9.99522215e-01 -2.21192315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:70.69, Y:-8.87, Z:-2.22 [[ 9.74186470e-01 2.23757662e-01 2.98869521e-02 7.06914156e+01] [-2.23621039e-01 9.74644304e-01 -7.88105407e-03 -8.86986624e+00] [-3.08925939e-02 9.94264973e-04 9.99522215e-01 -2.21737291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.75, Y:-8.88, Z:-2.22 [[ 9.75158634e-01 2.19482385e-01 2.98851257e-02 7.07524470e+01] [-2.19343543e-01 9.75615801e-01 -7.88797373e-03 -8.88359557e+00] [-3.08876721e-02 1.13691634e-03 9.99522215e-01 -2.22000480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:70.81, Y:-8.90, Z:-2.22 [[ 9.75970325e-01 2.15844650e-01 2.98832926e-02 7.08126063e+01] [-2.15703892e-01 9.76426905e-01 -7.89491214e-03 -8.89771423e+00] [-3.08829255e-02 1.25925745e-03 9.99522215e-01 -2.21958647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.083617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:-8.91, Z:-2.22 [[ 9.76433794e-01 2.13738497e-01 2.98814443e-02 7.08733393e+01] [-2.13596541e-01 9.76890003e-01 -7.90190178e-03 -8.91249543e+00] [-3.08798248e-02 1.33311078e-03 9.99522215e-01 -2.21720614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.93, Y:-8.92, Z:-2.22 [[ 9.76907190e-01 2.11564531e-01 2.98796180e-02 7.09338109e+01] [-2.11421349e-01 9.77363015e-01 -7.90880149e-03 -8.92441264e+00] [-3.08764554e-02 1.40897589e-03 9.99522216e-01 -2.22274259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:-8.94, Z:-2.22 [[ 9.76379599e-01 2.13986436e-01 2.98778140e-02 7.09958691e+01] [-2.13844177e-01 9.76835713e-01 -7.91561071e-03 -8.93681242e+00] [-3.08795491e-02 1.33944426e-03 9.99522216e-01 -2.22367321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.06, Y:-8.95, Z:-2.23 [[ 9.76524354e-01 2.13325190e-01 2.98755576e-02 7.10579245e+01] [-2.13182362e-01 9.76980291e-01 -7.92411783e-03 -8.94759372e+00] [-3.08782449e-02 1.36915210e-03 9.99522216e-01 -2.23038625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.12, Y:-8.96, Z:-2.23 [[ 9.75306301e-01 2.18826716e-01 2.98745225e-02 7.11183319e+01] [-2.18686341e-01 9.75762999e-01 -7.92801843e-03 -8.96026101e+00] [-3.08853159e-02 1.19909631e-03 9.99522216e-01 -2.22938899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.18, Y:-8.97, Z:-2.23 [[ 9.73614170e-01 2.26236807e-01 2.98723086e-02 7.11807516e+01] [-2.26099654e-01 9.74071846e-01 -7.93635155e-03 -8.97210431e+00] [-3.08932696e-02 9.72825687e-04 9.99522216e-01 -2.23026762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.24, Y:-8.98, Z:-2.23 [[ 9.72288709e-01 2.31867294e-01 2.98701419e-02 7.12426836e+01] [-2.31732541e-01 9.72747097e-01 -7.94449787e-03 -8.98481858e+00] [-3.08981631e-02 8.02461672e-04 9.99522216e-01 -2.23217434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.30, Y:-8.99, Z:-2.23 [[ 9.71035912e-01 2.37059408e-01 2.98679523e-02 7.13038329e+01] [-2.36926855e-01 9.71494941e-01 -7.95272137e-03 -8.99476998e+00] [-3.09018320e-02 6.45858048e-04 9.99522216e-01 -2.23407465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.37, Y:-9.01, Z:-2.23 [[ 9.70804284e-01 2.38006361e-01 2.98666002e-02 7.13652821e+01] [-2.37874099e-01 9.71263397e-01 -7.95779613e-03 -9.00842391e+00] [-3.09023416e-02 6.20971954e-04 9.99522216e-01 -2.23498195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:-9.02, Z:-2.24 [[ 9.71537832e-01 2.34994377e-01 2.98644106e-02 7.14266460e+01] [-2.34860440e-01 9.71996459e-01 -7.96600499e-03 -9.02331486e+00] [-3.09000677e-02 7.25306616e-04 9.99522216e-01 -2.23559926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:-9.04, Z:-2.24 [[ 9.72840239e-01 2.29543276e-01 2.98622491e-02 7.14874433e+01] [-2.29406521e-01 9.73298033e-01 -7.97409928e-03 -9.03787077e+00] [-3.08952692e-02 9.06929966e-04 9.99522216e-01 -2.23791576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.55, Y:-9.05, Z:-2.24 [[ 9.73691444e-01 2.25905620e-01 2.98600624e-02 7.15477833e+01] [-2.25766904e-01 9.74148648e-01 -7.98227958e-03 -9.05260928e+00] [-3.08913812e-02 1.03086349e-03 9.99522216e-01 -2.23973804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:-9.07, Z:-2.24 [[ 9.73733409e-01 2.25724932e-01 2.98580438e-02 7.16072379e+01] [-2.25585900e-01 9.74190518e-01 -7.98982296e-03 -9.07233322e+00] [-3.08909254e-02 1.04440387e-03 9.99522216e-01 -2.23955605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:-9.08, Z:-2.24 [[ 9.74786525e-01 2.21133093e-01 2.98560962e-02 7.16681789e+01] [-2.20991686e-01 9.75242904e-01 -7.99709426e-03 -9.08145719e+00] [-3.08853681e-02 1.19751069e-03 9.99522216e-01 -2.24314933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:-9.10, Z:-2.25 [[ 9.74641040e-01 2.21773678e-01 2.98543117e-02 7.17296544e+01] [-2.21632367e-01 9.75097448e-01 -8.00375050e-03 -9.09642781e+00] [-3.08858843e-02 1.18410194e-03 9.99522216e-01 -2.24611790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:-9.11, Z:-2.25 [[ 9.74038348e-01 2.24406212e-01 2.98521123e-02 7.17898121e+01] [-2.24265885e-01 9.74495060e-01 -8.01194522e-03 -9.11081101e+00] [-3.08886662e-02 1.10913152e-03 9.99522216e-01 -2.24903412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:-9.13, Z:-2.25 [[ 9.73362415e-01 2.27320420e-01 2.98502148e-02 7.18509509e+01] [-2.27181243e-01 9.73819479e-01 -8.01900866e-03 -9.12631948e+00] [-3.08916050e-02 1.02399274e-03 9.99522216e-01 -2.25114648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:-9.14, Z:-2.25 [[ 9.72339988e-01 2.31655018e-01 2.98479610e-02 7.19111431e+01] [-2.31517622e-01 9.72797590e-01 -8.02738890e-03 -9.14182750e+00] [-3.08956094e-02 8.95022282e-04 9.99522216e-01 -2.25247760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:-9.16, Z:-2.25 [[ 9.71401486e-01 2.35559708e-01 2.98458796e-02 7.19707944e+01] [-2.35423915e-01 9.71859567e-01 -8.03511986e-03 -9.15779382e+00] [-3.08987541e-02 7.78893550e-04 9.99522216e-01 -2.25354479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:-9.18, Z:-2.25 [[ 9.70253316e-01 2.40245394e-01 2.98438358e-02 7.20299916e+01] [-2.40111580e-01 9.70711978e-01 -8.04270379e-03 -9.17782888e+00] [-3.09019914e-02 6.37609456e-04 9.99522216e-01 -2.25171195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:-9.20, Z:-2.25 [[ 9.69014084e-01 2.45196188e-01 2.98418153e-02 7.20892234e+01] [-2.45064487e-01 9.69473358e-01 -8.05019381e-03 -9.19737684e+00] [-3.09047217e-02 4.87582029e-04 9.99522216e-01 -2.25035471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:-9.21, Z:-2.26 [[ 9.69933656e-01 2.41533215e-01 2.98397271e-02 7.21491737e+01] [-2.41399542e-01 9.70392359e-01 -8.05792680e-03 -9.20792016e+00] [-3.09025001e-02 6.12357948e-04 9.99522216e-01 -2.25833174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.21, Y:-9.23, Z:-2.26 [[ 9.68535013e-01 2.47082242e-01 2.98378137e-02 7.22066900e+01] [-2.46950979e-01 9.68994412e-01 -8.06500583e-03 -9.23226443e+00] [-3.09053944e-02 4.42763221e-04 9.99522216e-01 -2.25615400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46361786499999 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:72.27, Y:-9.25, Z:-2.26 [[ 9.68105566e-01 2.48759790e-01 2.98358891e-02 7.22654242e+01] [-2.48629104e-01 9.68565129e-01 -8.07211944e-03 -9.25218918e+00] [-3.09060205e-02 3.96593385e-04 9.99522216e-01 -2.26338454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.33, Y:-9.26, Z:-2.26 [[ 9.69377554e-01 2.43756079e-01 2.98350726e-02 7.23262448e+01] [-2.43622928e-01 9.69836409e-01 -8.07513595e-03 -9.26292466e+00] [-3.09035032e-02 5.59347786e-04 9.99522216e-01 -2.26422710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-9.29, Z:-2.26 [[ 9.68511760e-01 2.47173957e-01 2.98329509e-02 7.23843380e+01] [-2.47042184e-01 9.68971013e-01 -8.08296685e-03 -9.28802188e+00] [-3.09051636e-02 4.58451099e-04 9.99522216e-01 -2.26442104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-9.31, Z:-2.27 [[ 9.68574962e-01 2.46926308e-01 2.98318714e-02 7.24423418e+01] [-2.46794296e-01 9.69034146e-01 -8.08694908e-03 -9.30738202e+00] [-3.09049825e-02 4.70480709e-04 9.99522216e-01 -2.26753296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703617865 meters Centerline goodness : 0.996539 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-9.33, Z:-2.28 [[ 9.69206984e-01 2.44434020e-01 2.98300457e-02 7.25022394e+01] [-2.44300620e-01 9.69665767e-01 -8.09367785e-03 -9.32541636e+00] [-3.09035444e-02 5.56950439e-04 9.99522216e-01 -2.27627378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:-9.35, Z:-2.27 [[ 9.68865391e-01 2.45784827e-01 2.98273844e-02 7.25620424e+01] [-2.45651765e-01 9.69324272e-01 -8.10347342e-03 -9.34727565e+00] [-3.09041185e-02 5.24025328e-04 9.99522216e-01 -2.27294383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82361786499999 meters Centerline goodness : 0.997454 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:-9.37, Z:-2.28 [[ 9.68690393e-01 2.46473983e-01 2.98244481e-02 7.26188918e+01] [-2.46340915e-01 9.69149272e-01 -8.11426609e-03 -9.36812001e+00] [-3.09042977e-02 5.13229777e-04 9.99522216e-01 -2.28432789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88361786499999 meters Centerline goodness : 0.995613 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:-9.39, Z:-2.29 [[ 9.68620108e-01 2.46750318e-01 2.98222406e-02 7.26784933e+01] [-2.46617131e-01 9.69078953e-01 -8.12237105e-03 -9.38881685e+00] [-3.09043034e-02 5.12816491e-04 9.99522216e-01 -2.28646831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.943617865 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:-9.41, Z:-2.28 [[ 9.67906312e-01 2.49535727e-01 2.98210189e-02 7.27362889e+01] [-2.49403722e-01 9.68365498e-01 -8.12685404e-03 -9.41159099e+00] [-3.09055863e-02 4.28560191e-04 9.99522216e-01 -2.27895707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.003617865 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:-9.43, Z:-2.28 [[ 9.67711634e-01 2.50289922e-01 2.98185881e-02 7.27958363e+01] [-2.50158001e-01 9.68170844e-01 -8.13576326e-03 -9.43402401e+00] [-3.09057872e-02 4.13714350e-04 9.99522216e-01 -2.27936233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.063617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:-9.46, Z:-2.28 [[ 9.67295908e-01 2.51892063e-01 2.98163555e-02 7.28525253e+01] [-2.51760651e-01 9.67755264e-01 -8.14393746e-03 -9.45804714e+00] [-3.09063282e-02 3.71012338e-04 9.99522216e-01 -2.28070593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:72.91, Y:-9.48, Z:-2.28 [[ 9.66168483e-01 2.56182655e-01 2.98145752e-02 7.29104174e+01] [-2.56053082e-01 9.66628362e-01 -8.15044970e-03 -9.47695215e+00] [-3.09076178e-02 2.40593760e-04 9.99522216e-01 -2.28184690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:-9.50, Z:-2.28 [[ 9.64953781e-01 2.60720914e-01 2.98128301e-02 7.29686997e+01] [-2.60593307e-01 9.65414209e-01 -8.15682807e-03 -9.49671124e+00] [-3.09083854e-02 1.01938110e-04 9.99522217e-01 -2.28494542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:-9.52, Z:-2.29 [[ 9.64811298e-01 2.61247905e-01 2.98109300e-02 7.30293504e+01] [-2.61120335e-01 9.65271736e-01 -8.16376634e-03 -9.51500912e+00] [-3.09084150e-02 9.22539853e-05 9.99522217e-01 -2.28752602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.09, Y:-9.53, Z:-2.29 [[ 9.64963964e-01 2.60683672e-01 2.98089244e-02 7.30897990e+01] [-2.60555607e-01 9.65424264e-01 -8.17108297e-03 -9.53170395e+00] [-3.09083268e-02 1.17918217e-04 9.99522217e-01 -2.28828278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.15, Y:-9.55, Z:-2.29 [[ 9.64873425e-01 2.61018844e-01 2.98066479e-02 7.31498982e+01] [-2.60890682e-01 9.65333699e-01 -8.17937880e-03 -9.54571974e+00] [-3.09083337e-02 1.15788533e-04 9.99522217e-01 -2.29117346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.21, Y:-9.56, Z:-2.30 [[ 9.65000663e-01 2.60548207e-01 2.98052427e-02 7.32105710e+01] [-2.60419663e-01 9.65460830e-01 -8.18449626e-03 -9.56146055e+00] [-3.09082501e-02 1.36173070e-04 9.99522217e-01 -2.29539881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.483617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:73.27, Y:-9.58, Z:-2.30 [[ 9.65643614e-01 2.58155360e-01 2.98030257e-02 7.32710706e+01] [-2.58025426e-01 9.66103391e-01 -8.19256128e-03 -9.57815132e+00] [-3.09077578e-02 2.21156077e-04 9.99522217e-01 -2.29739828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.33, Y:-9.59, Z:-2.30 [[ 9.66362371e-01 2.55451911e-01 2.98008179e-02 7.33322975e+01] [-2.55320444e-01 9.66821711e-01 -8.20058426e-03 -9.59442115e+00] [-3.09069327e-02 3.15977981e-04 9.99522217e-01 -2.29928606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.39, Y:-9.61, Z:-2.30 [[ 9.67272989e-01 2.51982167e-01 2.97985398e-02 7.33913370e+01] [-2.51848797e-01 9.67731780e-01 -8.20885385e-03 -9.61197995e+00] [-3.09054788e-02 4.35476178e-04 9.99522217e-01 -2.30082929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.45, Y:-9.63, Z:-2.30 [[ 9.67599310e-01 2.50726321e-01 2.97974289e-02 7.34519744e+01] [-2.50592232e-01 9.68057892e-01 -8.21288441e-03 -9.63014187e+00] [-3.09048225e-02 4.79777061e-04 9.99522217e-01 -2.30211282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.51, Y:-9.65, Z:-2.31 [[ 9.67881988e-01 2.49633134e-01 2.97952162e-02 7.35108843e+01] [-2.49498280e-01 9.68340346e-01 -8.22090399e-03 -9.64644674e+00] [-3.09041200e-02 5.23009701e-04 9.99522217e-01 -2.30514319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.783617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:73.57, Y:-9.66, Z:-2.31 [[ 9.68175779e-01 2.48491471e-01 2.97934464e-02 7.35704213e+01] [-2.48355880e-01 9.68633919e-01 -8.22731293e-03 -9.66376843e+00] [-3.09033598e-02 5.66107511e-04 9.99522217e-01 -2.30642374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:-9.68, Z:-2.31 [[ 9.69268470e-01 2.44194789e-01 2.97915659e-02 7.36312229e+01] [-2.44056958e-01 9.69725941e-01 -8.23411661e-03 -9.67687493e+00] [-3.09003827e-02 7.10230669e-04 9.99522217e-01 -2.31173026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:-9.70, Z:-2.31 [[ 9.68700737e-01 2.46437546e-01 2.97895755e-02 7.36889465e+01] [-2.46300553e-01 9.69158459e-01 -8.24131120e-03 -9.69733125e+00] [-3.09017876e-02 6.46175292e-04 9.99522217e-01 -2.31098624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:-9.71, Z:-2.32 [[ 9.69686044e-01 2.42531780e-01 2.97877647e-02 7.37494132e+01] [-2.42392743e-01 9.70143150e-01 -8.24785114e-03 -9.70957492e+00] [-3.08987619e-02 7.77488156e-04 9.99522217e-01 -2.31748567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:-9.73, Z:-2.32 [[ 9.69952540e-01 2.41464028e-01 2.97857995e-02 7.38098430e+01] [-2.41324270e-01 9.70409425e-01 -8.25494206e-03 -9.72536693e+00] [-3.08976921e-02 8.18865680e-04 9.99522217e-01 -2.32180421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.083617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:-9.75, Z:-2.32 [[ 9.69152660e-01 2.44655002e-01 2.97834173e-02 7.38674550e+01] [-2.44516485e-01 9.69609923e-01 -8.26352795e-03 -9.74554186e+00] [-3.09000104e-02 7.26083584e-04 9.99522217e-01 -2.32280066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:-9.76, Z:-2.32 [[ 9.69798279e-01 2.42083392e-01 2.97813694e-02 7.39264975e+01] [-2.41943436e-01 9.70255104e-01 -8.27090185e-03 -9.76179760e+00] [-3.08977737e-02 8.15699527e-04 9.99522217e-01 -2.32004061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:-9.78, Z:-2.32 [[ 9.70737104e-01 2.38291107e-01 2.97795733e-02 7.39869776e+01] [-2.38149169e-01 9.71193317e-01 -8.27736370e-03 -9.77571114e+00] [-3.08941448e-02 9.43163430e-04 9.99522217e-01 -2.32377235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:-9.79, Z:-2.33 [[ 9.71301949e-01 2.35978430e-01 2.97775856e-02 7.40462261e+01] [-2.35835187e-01 9.71757754e-01 -8.28450833e-03 -9.79009720e+00] [-3.08915650e-02 1.02415662e-03 9.99522217e-01 -2.32586616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:-9.81, Z:-2.33 [[ 9.71487269e-01 2.35214561e-01 2.97757750e-02 7.41072302e+01] [-2.35070761e-01 9.71942898e-01 -8.29101079e-03 -9.80658748e+00] [-3.08905195e-02 1.05519735e-03 9.99522217e-01 -2.32665803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:-9.82, Z:-2.33 [[ 9.71331263e-01 2.35858245e-01 2.97735918e-02 7.41670625e+01] [-2.35714506e-01 9.71786911e-01 -8.29884344e-03 -9.82365569e+00] [-3.08909375e-02 1.04285860e-03 9.99522217e-01 -2.32630634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.23, Y:-9.84, Z:-2.33 [[ 9.71312092e-01 2.35937351e-01 2.97722455e-02 7.42275506e+01] [-2.35793502e-01 9.71767706e-01 -8.30367044e-03 -9.83610281e+00] [-3.08908527e-02 1.04535347e-03 9.99522217e-01 -2.33190381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.503617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:74.29, Y:-9.85, Z:-2.33 [[ 9.71477865e-01 2.35254094e-01 2.97702576e-02 7.42878133e+01] [-2.35109706e-01 9.71933309e-01 -8.31079153e-03 -9.85141329e+00] [-3.08898527e-02 1.07447350e-03 9.99522217e-01 -2.33494167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.35, Y:-9.86, Z:-2.34 [[ 9.71104790e-01 2.36789663e-01 2.97681274e-02 7.43491879e+01] [-2.36645762e-01 9.71560388e-01 -8.31841440e-03 -9.86492446e+00] [-3.08912480e-02 1.03355087e-03 9.99522217e-01 -2.33746023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.41, Y:-9.88, Z:-2.34 [[ 9.71052623e-01 2.37003808e-01 2.97657124e-02 7.44098310e+01] [-2.36859743e-01 9.71508169e-01 -8.32704705e-03 -9.87955339e+00] [-3.08911746e-02 1.03570189e-03 9.99522217e-01 -2.34035919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.47, Y:-9.89, Z:-2.34 [[ 9.70259061e-01 2.40232067e-01 2.97642232e-02 7.44707667e+01] [-2.40089355e-01 9.70715032e-01 -8.33236670e-03 -9.89357275e+00] [-3.08942806e-02 9.38481134e-04 9.99522217e-01 -2.34060445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:-9.91, Z:-2.34 [[ 9.69691114e-01 2.42514705e-01 2.97617429e-02 7.45319427e+01] [-2.42372795e-01 9.70147335e-01 -8.34121645e-03 -9.90914886e+00] [-3.08961432e-02 8.74966650e-04 9.99522217e-01 -2.34123873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:-9.92, Z:-2.34 [[ 9.69056365e-01 2.45039071e-01 2.97592873e-02 7.45939058e+01] [-2.44898081e-01 9.69512871e-01 -8.34996837e-03 -9.92162136e+00] [-3.08980806e-02 8.03597643e-04 9.99522217e-01 -2.34330089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.66, Y:-9.94, Z:-2.35 [[ 9.68425432e-01 2.47521140e-01 2.97568005e-02 7.46552771e+01] [-2.47381048e-01 9.68882215e-01 -8.35882125e-03 -9.93541005e+00] [-3.08998197e-02 7.33626602e-04 9.99522217e-01 -2.34557106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.72, Y:-9.95, Z:-2.35 [[ 9.68353473e-01 2.47802805e-01 2.97543519e-02 7.47157293e+01] [-2.47662578e-01 9.68810215e-01 -8.36752835e-03 -9.94801507e+00] [-3.08998170e-02 7.33685637e-04 9.99522217e-01 -2.34880456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:-9.96, Z:-2.35 [[ 9.68167188e-01 2.48529896e-01 2.97520873e-02 7.47773973e+01] [-2.48389766e-01 9.68623959e-01 -8.37557261e-03 -9.96072162e+00] [-3.09001648e-02 7.18840596e-04 9.99522217e-01 -2.35118074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:-9.97, Z:-2.35 [[ 9.68354201e-01 2.47800520e-01 2.97496731e-02 7.48380785e+01] [-2.47659783e-01 9.68810786e-01 -8.38413915e-03 -9.97492142e+00] [-3.08993982e-02 7.51018800e-04 9.99522217e-01 -2.35346926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.90, Y:-9.99, Z:-2.36 [[ 9.68488359e-01 2.47275935e-01 2.97474409e-02 7.49001507e+01] [-2.47134707e-01 9.68944792e-01 -8.39205147e-03 -9.98521895e+00] [-3.08987803e-02 7.75979055e-04 9.99522217e-01 -2.35608909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.96, Y:-10.00, Z:-2.36 [[ 9.69314665e-01 2.44017021e-01 2.97451516e-02 7.49623146e+01] [-2.43874011e-01 9.69770542e-01 -8.40015789e-03 -9.99725471e+00] [-3.08957533e-02 8.88326809e-04 9.99522218e-01 -2.35911320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:-10.01, Z:-2.36 [[ 9.69895932e-01 2.41696614e-01 2.97426972e-02 7.50240654e+01] [-2.41552247e-01 9.70351381e-01 -8.40883955e-03 -1.00094447e+01] [-3.08932553e-02 9.71283928e-04 9.99522218e-01 -2.36161715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.09, Y:-10.02, Z:-2.36 [[ 9.70439986e-01 2.39503133e-01 2.97402395e-02 7.50866459e+01] [-2.39357471e-01 9.70895023e-01 -8.41752271e-03 -1.00184854e+01] [-3.08906736e-02 1.05015210e-03 9.99522218e-01 -2.36447359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.343617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:75.15, Y:-10.03, Z:-2.37 [[ 9.71177132e-01 2.36496598e-01 2.97378111e-02 7.51492564e+01] [-2.36349265e-01 9.71631631e-01 -8.42609329e-03 -1.00271641e+01] [-3.08869403e-02 1.15471932e-03 9.99522218e-01 -2.36705561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.21, Y:-10.04, Z:-2.37 [[ 9.71937987e-01 2.33350291e-01 2.97353621e-02 7.52103326e+01] [-2.33201224e-01 9.72391919e-01 -8.43472690e-03 -1.00386986e+01] [-3.08826718e-02 1.26370866e-03 9.99522218e-01 -2.36852441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.27, Y:-10.05, Z:-2.37 [[ 9.73305254e-01 2.27580371e-01 2.97331032e-02 7.52728357e+01] [-2.27428371e-01 9.73758213e-01 -8.44268226e-03 -1.00473754e+01] [-3.08742422e-02 1.45515580e-03 9.99522218e-01 -2.37060162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-10.06, Z:-2.37 [[ 9.73749209e-01 2.25673580e-01 2.97306922e-02 7.53351600e+01] [-2.25520435e-01 9.74201782e-01 -8.45116388e-03 -1.00576852e+01] [-3.08708977e-02 1.52443550e-03 9.99522218e-01 -2.37235940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:-10.06, Z:-2.38 [[ 9.73749050e-01 2.25674581e-01 2.97282872e-02 7.53972466e+01] [-2.25521179e-01 9.74201536e-01 -8.45961546e-03 -1.00648430e+01] [-3.08704632e-02 1.53318415e-03 9.99522218e-01 -2.37702692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:-10.08, Z:-2.38 [[ 9.72378524e-01 2.31508876e-01 2.97261827e-02 7.54590224e+01] [-2.31357965e-01 9.72831847e-01 -8.46700398e-03 -1.00750988e+01] [-3.08787638e-02 1.35574371e-03 9.99522218e-01 -2.37659861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:-10.09, Z:-2.38 [[ 9.71697467e-01 2.34351256e-01 2.97240797e-02 7.55200015e+01] [-2.34201445e-01 9.72151155e-01 -8.47438031e-03 -1.00863225e+01] [-3.08822801e-02 1.27311148e-03 9.99522218e-01 -2.38179797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76361786499999 meters Centerline goodness : 0.994742 with order 1 Centerline is valid? [True, True] Translation: X:75.58, Y:-10.10, Z:-2.38 [[ 9.69859755e-01 2.41844124e-01 2.97233129e-02 7.55811325e+01] [-2.41697737e-01 9.70314559e-01 -8.47706874e-03 -1.00996394e+01] [-3.08910926e-02 1.03751033e-03 9.99522218e-01 -2.38005889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.64, Y:-10.11, Z:-2.37 [[ 9.69133268e-01 2.44739231e-01 2.97223381e-02 7.56402904e+01] [-2.44594098e-01 9.69588474e-01 -8.48048536e-03 -1.01142255e+01] [-3.08939439e-02 9.48812012e-04 9.99522218e-01 -2.37450470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:-10.12, Z:-2.39 [[ 9.70291518e-01 2.40106441e-01 2.97198051e-02 7.57027381e+01] [-2.39958864e-01 9.70745937e-01 -8.48935307e-03 -1.01204367e+01] [-3.08887284e-02 1.10561662e-03 9.99522218e-01 -2.38814177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:-10.13, Z:-2.39 [[ 9.70649141e-01 2.38656872e-01 2.97177022e-02 7.57645246e+01] [-2.38508391e-01 9.71103266e-01 -8.49670791e-03 -1.01338800e+01] [-3.08867554e-02 1.15940087e-03 9.99522218e-01 -2.39086142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.82, Y:-10.15, Z:-2.39 [[ 9.69843308e-01 2.41911064e-01 2.97152430e-02 7.58229306e+01] [-2.41763844e-01 9.70297843e-01 -8.50529995e-03 -1.01521878e+01] [-3.08901623e-02 1.06473687e-03 9.99522218e-01 -2.38529226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.88, Y:-10.16, Z:-2.39 [[ 9.70641880e-01 2.38686992e-01 2.97129770e-02 7.58844946e+01] [-2.38538021e-01 9.71095844e-01 -8.51320880e-03 -1.01640457e+01] [-3.08861406e-02 1.17560227e-03 9.99522218e-01 -2.39246743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.94, Y:-10.18, Z:-2.39 [[ 9.69635219e-01 2.42744164e-01 2.97121525e-02 7.59448637e+01] [-2.42597005e-01 9.70089774e-01 -8.51608543e-03 -1.01839652e+01] [-3.08906853e-02 1.04941717e-03 9.99522218e-01 -2.38588480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18361786499999 meters Centerline goodness : 0.995422 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:-10.20, Z:-2.39 [[ 9.69269705e-01 2.44199862e-01 2.97096897e-02 7.60037136e+01] [-2.44053123e-01 9.69724395e-01 -8.52466837e-03 -1.01992083e+01] [-3.08919338e-02 1.01196023e-03 9.99522218e-01 -2.39283263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.06, Y:-10.21, Z:-2.40 [[ 9.69447616e-01 2.43492807e-01 2.97081324e-02 7.60644652e+01] [-2.43345570e-01 9.69902145e-01 -8.53009209e-03 -1.02120503e+01] [-3.08909974e-02 1.04013501e-03 9.99522218e-01 -2.39595912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.12, Y:-10.23, Z:-2.39 [[ 9.68615507e-01 2.46782461e-01 2.97054921e-02 7.61245758e+01] [-2.46636486e-01 9.69070443e-01 -8.53927689e-03 -1.02319855e+01] [-3.08940582e-02 9.44817818e-04 9.99522218e-01 -2.39200543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.18, Y:-10.25, Z:-2.39 [[ 9.67400110e-01 2.51505016e-01 2.97027775e-02 7.61842395e+01] [-2.51360973e-01 9.67855661e-01 -8.54870901e-03 -1.02484714e+01] [-3.08980445e-02 8.03902977e-04 9.99522218e-01 -2.39115669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.24, Y:-10.27, Z:-2.39 [[ 9.66400732e-01 2.55318433e-01 2.97005439e-02 7.62440470e+01] [-2.55175950e-01 9.66856774e-01 -8.55646188e-03 -1.02667942e+01] [-3.09007945e-02 6.90106527e-04 9.99522218e-01 -2.39120522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.30, Y:-10.28, Z:-2.39 [[ 9.64319879e-01 2.63068810e-01 2.96980192e-02 7.63041853e+01] [-2.62929723e-01 9.64776968e-01 -8.56521586e-03 -1.02828782e+01] [-3.09052061e-02 4.51115947e-04 9.99522218e-01 -2.39382121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.36, Y:-10.30, Z:-2.40 [[ 9.61715535e-01 2.72435957e-01 2.96964576e-02 7.63645750e+01] [-2.72301155e-01 9.62173906e-01 -8.57062679e-03 -1.03003641e+01] [-3.09081035e-02 1.56125213e-04 9.99522218e-01 -2.39638616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:-10.32, Z:-2.40 [[ 9.60127374e-01 2.77981465e-01 2.96939533e-02 7.64233990e+01] [-2.77849044e-01 9.60586438e-01 -8.57929421e-03 -1.03180452e+01] [-3.09084937e-02 -1.32213143e-05 9.99522218e-01 -2.39625667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.48, Y:-10.34, Z:-2.40 [[ 9.58974883e-01 2.81931840e-01 2.96919411e-02 7.64823510e+01] [-2.81801094e-01 9.59434427e-01 -8.58625286e-03 -1.03368358e+01] [-3.09082085e-02 -1.33220643e-04 9.99522218e-01 -2.39834909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:-10.36, Z:-2.40 [[ 9.59126465e-01 2.81415967e-01 2.96897007e-02 7.65407780e+01] [-2.81284734e-01 9.59585870e-01 -8.59399262e-03 -1.03600127e+01] [-3.09083040e-02 -1.08533817e-04 9.99522218e-01 -2.39965325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:-10.38, Z:-2.40 [[ 9.60366133e-01 2.77156191e-01 2.96873071e-02 7.66001965e+01] [-2.77022665e-01 9.60824877e-01 -8.60225322e-03 -1.03793844e+01] [-3.09084709e-02 3.72557339e-05 9.99522218e-01 -2.40176693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:-10.40, Z:-2.40 [[ 9.62364611e-01 2.70135448e-01 2.96849364e-02 7.66584286e+01] [-2.69998323e-01 9.62822292e-01 -8.61042633e-03 -1.04014100e+01] [-3.09072999e-02 2.71486529e-04 9.99522218e-01 -2.40479969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.72, Y:-10.42, Z:-2.41 [[ 9.63862035e-01 2.64743106e-01 2.96827497e-02 7.67176844e+01] [-2.64603188e-01 9.64318870e-01 -8.61795787e-03 -1.04239965e+01] [-3.09051806e-02 4.52372190e-04 9.99522218e-01 -2.40690834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.78, Y:-10.45, Z:-2.41 [[ 9.65932199e-01 2.57087650e-01 2.96804166e-02 7.67754412e+01] [-2.56943866e-01 9.66387832e-01 -8.62598592e-03 -1.04492684e+01] [-3.09004279e-02 7.05916559e-04 9.99522218e-01 -2.40787922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-10.47, Z:-2.41 [[ 9.66789599e-01 2.53844610e-01 2.96780282e-02 7.68332582e+01] [-2.53699046e-01 9.67244666e-01 -8.63419542e-03 -1.04714878e+01] [-3.08976584e-02 8.18162885e-04 9.99522219e-01 -2.41112375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.083617865 meters Centerline goodness : 0.994325 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-10.49, Z:-2.42 [[ 9.66080998e-01 2.56528460e-01 2.96758251e-02 7.68911793e+01] [-2.56383928e-01 9.66536394e-01 -8.64176088e-03 -1.04934288e+01] [-3.08996226e-02 7.40236360e-04 9.99522219e-01 -2.41748336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:-10.51, Z:-2.42 [[ 9.65287720e-01 2.59497630e-01 2.96748678e-02 7.69497747e+01] [-2.59354398e-01 9.65743527e-01 -8.64504690e-03 -1.05120046e+01] [-3.09016806e-02 6.48650128e-04 9.99522219e-01 -2.42059410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:-10.54, Z:-2.42 [[ 9.62741898e-01 2.68789113e-01 2.96723810e-02 7.70076824e+01] [-2.68650019e-01 9.63198984e-01 -8.65357396e-03 -1.05374320e+01] [-3.09063937e-02 3.59672522e-04 9.99522219e-01 -2.41691318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-10.56, Z:-2.42 [[ 9.61757284e-01 2.72291246e-01 2.96716211e-02 7.70647264e+01] [-2.72153735e-01 9.62214849e-01 -8.65617857e-03 -1.05591499e+01] [-3.09074761e-02 2.49900268e-04 9.99522219e-01 -2.41536164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:-10.58, Z:-2.42 [[ 9.60993906e-01 2.74973497e-01 2.96696461e-02 7.71229240e+01] [-2.74837054e-01 9.61451791e-01 -8.66294286e-03 -1.05805297e+01] [-3.09080141e-02 1.70717168e-04 9.99522219e-01 -2.42285000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38361786499999 meters Centerline goodness : 0.994456 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:-10.61, Z:-2.42 [[ 9.60061583e-01 2.78211408e-01 2.96676356e-02 7.71796912e+01] [-2.78076297e-01 9.60519863e-01 -8.66982249e-03 -1.06073186e+01] [-3.09083968e-02 7.36972540e-05 9.99522219e-01 -2.42049989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:-10.63, Z:-2.43 [[ 9.60595635e-01 2.76362102e-01 2.96650419e-02 7.72377579e+01] [-2.76225836e-01 9.61053572e-01 -8.67868823e-03 -1.06271616e+01] [-3.09081550e-02 1.42459036e-04 9.99522219e-01 -2.42667692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.503617865 meters Centerline goodness : 0.994585 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:-10.66, Z:-2.42 [[ 9.60625363e-01 2.76259008e-01 2.96626304e-02 7.72941306e+01] [-2.76122438e-01 9.61083210e-01 -8.68692274e-03 -1.06552906e+01] [-3.09080967e-02 1.54360504e-04 9.99522219e-01 -2.42387753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.563617865 meters Centerline goodness : 0.995311 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:-10.68, Z:-2.43 [[ 9.61161288e-01 2.74388877e-01 2.96601104e-02 7.73522244e+01] [-2.74251151e-01 9.61618788e-01 -8.69551844e-03 -1.06781587e+01] [-3.09076729e-02 2.23476300e-04 9.99522219e-01 -2.42849682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:-10.70, Z:-2.43 [[ 9.62939436e-01 2.68082212e-01 2.96575383e-02 7.74111713e+01] [-2.67941220e-01 9.63395941e-01 -8.70428194e-03 -1.07000407e+01] [-3.09054152e-02 4.35219349e-04 9.99522219e-01 -2.42853586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.47, Y:-10.72, Z:-2.43 [[ 9.63732207e-01 2.65218501e-01 2.96543419e-02 7.74704581e+01] [-2.65075818e-01 9.64188185e-01 -8.71515829e-03 -1.07221762e+01] [-3.09037873e-02 5.38429810e-04 9.99522219e-01 -2.43050969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.53, Y:-10.75, Z:-2.43 [[ 9.64089393e-01 2.63917436e-01 2.96518102e-02 7.75279108e+01] [-2.63773873e-01 9.64545095e-01 -8.72376327e-03 -1.07488295e+01] [-3.09028613e-02 5.89114804e-04 9.99522219e-01 -2.42776478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.59, Y:-10.77, Z:-2.43 [[ 9.64898202e-01 2.60945133e-01 2.96495665e-02 7.75853498e+01] [-2.60799932e-01 9.65353385e-01 -8.73138236e-03 -1.07695269e+01] [-3.09007211e-02 6.92290215e-04 9.99522219e-01 -2.43312539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.64, Y:-10.79, Z:-2.43 [[ 9.64511226e-01 2.62372013e-01 2.96482986e-02 7.76437058e+01] [-2.62227353e-01 9.64966581e-01 -8.73568539e-03 -1.07920771e+01] [-3.09016167e-02 6.51071736e-04 9.99522219e-01 -2.43131701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.70, Y:-10.81, Z:-2.43 [[ 9.64597976e-01 2.62053146e-01 2.96461236e-02 7.77005818e+01] [-2.61908110e-01 9.65053211e-01 -8.74306069e-03 -1.08146380e+01] [-3.09012333e-02 6.68978462e-04 9.99522219e-01 -2.43462439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:-10.84, Z:-2.43 [[ 9.64326046e-01 2.63052281e-01 2.96441355e-02 7.77602082e+01] [-2.62907509e-01 9.64781365e-01 -8.74979629e-03 -1.08363719e+01] [-3.09017634e-02 6.43990632e-04 9.99522219e-01 -2.43432529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.82, Y:-10.86, Z:-2.43 [[ 9.64044626e-01 2.64082039e-01 2.96417778e-02 7.78182550e+01] [-2.63937508e-01 9.64500022e-01 -8.75777621e-03 -1.08593250e+01] [-3.09022667e-02 6.19310123e-04 9.99522219e-01 -2.43451146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:-10.88, Z:-2.43 [[ 9.62894264e-01 2.68246383e-01 2.96397328e-02 7.78776414e+01] [-2.68103609e-01 9.63350214e-01 -8.76469165e-03 -1.08801129e+01] [-3.09045398e-02 4.92951979e-04 9.99522219e-01 -2.43366599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:-10.90, Z:-2.43 [[ 9.61779140e-01 2.72217787e-01 2.96371813e-02 7.79361121e+01] [-2.72076630e-01 9.62235593e-01 -8.77331089e-03 -1.09004540e+01] [-3.09062020e-02 3.74402972e-04 9.99522219e-01 -2.43314408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.00, Y:-10.92, Z:-2.43 [[ 9.60893209e-01 2.75328911e-01 2.96349795e-02 7.79957778e+01] [-2.75189003e-01 9.61350046e-01 -8.78074225e-03 -1.09197940e+01] [-3.09071811e-02 2.82135145e-04 9.99522219e-01 -2.43497103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.283617865 meters Centerline goodness : 0.994202 with order 1 Centerline is valid? [True, True] Translation: X:78.05, Y:-10.94, Z:-2.44 [[ 9.60108582e-01 2.78052925e-01 2.96324262e-02 7.80534146e+01] [-2.77914048e-01 9.60565734e-01 -8.78935034e-03 -1.09405175e+01] [-3.09077978e-02 2.03463189e-04 9.99522219e-01 -2.44468299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:-10.96, Z:-2.44 [[ 9.59357010e-01 2.80635387e-01 2.96295015e-02 7.81125532e+01] [-2.80497436e-01 9.59814442e-01 -8.79919854e-03 -1.09602912e+01] [-3.09081900e-02 1.30573592e-04 9.99522219e-01 -2.43592182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:-10.98, Z:-2.44 [[ 9.59299014e-01 2.80833866e-01 2.96267016e-02 7.81716989e+01] [-2.80695719e-01 9.59756387e-01 -8.80861574e-03 -1.09785856e+01] [-3.09081737e-02 1.34008078e-04 9.99522219e-01 -2.44232307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:-11.00, Z:-2.44 [[ 9.59211550e-01 2.81132737e-01 2.96241025e-02 7.82292640e+01] [-2.80994463e-01 9.59668884e-01 -8.81734793e-03 -1.10028475e+01] [-3.09081746e-02 1.33493195e-04 9.99522219e-01 -2.43734042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:-11.02, Z:-2.44 [[ 9.59503582e-01 2.80134464e-01 2.96236221e-02 7.82884783e+01] [-2.79995664e-01 9.59960757e-01 -8.81896185e-03 -1.10228263e+01] [-3.09080098e-02 1.67339759e-04 9.99522219e-01 -2.43710779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:-11.04, Z:-2.44 [[ 9.60464896e-01 2.76820801e-01 2.96214138e-02 7.83465462e+01] [-2.76680196e-01 9.60921518e-01 -8.82637290e-03 -1.10428644e+01] [-3.09071775e-02 2.81762762e-04 9.99522219e-01 -2.44254860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.643617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:-11.06, Z:-2.44 [[ 9.60647062e-01 2.76188220e-01 2.96190767e-02 7.84066172e+01] [-2.76047072e-01 9.61103517e-01 -8.83420863e-03 -1.10627004e+01] [-3.09069032e-02 3.10297158e-04 9.99522219e-01 -2.44362297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:-11.08, Z:-2.44 [[ 9.61361316e-01 2.73691929e-01 2.96166732e-02 7.84647308e+01] [-2.73549348e-01 9.61817326e-01 -8.84225910e-03 -1.10838542e+01] [-3.09058844e-02 3.98984209e-04 9.99522219e-01 -2.44254599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:-11.10, Z:-2.44 [[ 9.62190621e-01 2.70762247e-01 2.96144258e-02 7.85240902e+01] [-2.70618046e-01 9.62646121e-01 -8.84977959e-03 -1.11024134e+01] [-3.09043983e-02 5.00976868e-04 9.99522219e-01 -2.44414413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:78.58, Y:-11.12, Z:-2.45 [[ 9.63393121e-01 2.66452279e-01 2.96121342e-02 7.85817430e+01] [-2.66305804e-01 9.63847895e-01 -8.85744097e-03 -1.11207896e+01] [-3.09016785e-02 6.47314484e-04 9.99522219e-01 -2.44746708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.64, Y:-11.14, Z:-2.45 [[ 9.64160737e-01 2.63661334e-01 2.96103583e-02 7.86417402e+01] [-2.63513361e-01 9.64615026e-01 -8.86337361e-03 -1.11407554e+01] [-3.08995255e-02 7.42991774e-04 9.99522220e-01 -2.44988504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.70, Y:-11.16, Z:-2.46 [[ 9.64855057e-01 2.61109354e-01 2.96078361e-02 7.87002875e+01] [-2.60959922e-01 9.65308868e-01 -8.87179095e-03 -1.11575022e+01] [-3.08972144e-02 8.33533744e-04 9.99522220e-01 -2.45586539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.76, Y:-11.18, Z:-2.45 [[ 9.64127144e-01 2.63784658e-01 2.96058223e-02 7.87588584e+01] [-2.63636279e-01 9.64581300e-01 -8.87850611e-03 -1.11764338e+01] [-3.08992363e-02 7.54839913e-04 9.99522220e-01 -2.45424694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:-11.19, Z:-2.46 [[ 9.63576921e-01 2.65787782e-01 2.96035711e-02 7.88196126e+01] [-2.65640117e-01 9.64031310e-01 -8.88600618e-03 -1.11941932e+01] [-3.09005613e-02 6.98454407e-04 9.99522220e-01 -2.45812591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12361786499999 meters Centerline goodness : 0.996504 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:-11.21, Z:-2.46 [[ 9.62550741e-01 2.69480545e-01 2.96024836e-02 7.88774542e+01] [-2.69334512e-01 9.63005657e-01 -8.88962729e-03 -1.12118802e+01] [-3.09029408e-02 5.83746847e-04 9.99522220e-01 -2.46121142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18361786499999 meters Centerline goodness : 0.996248 with order 1 Centerline is valid? [True, True] Translation: X:78.94, Y:-11.23, Z:-2.46 [[ 9.60622410e-01 2.76275748e-01 2.96023030e-02 7.89367355e+01] [-2.76132915e-01 9.61078341e-01 -8.89022893e-03 -1.12310772e+01] [-3.09062869e-02 3.65982932e-04 9.99522220e-01 -2.46020069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24361786499999 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:79.00, Y:-11.25, Z:-2.46 [[ 9.60313562e-01 2.77347647e-01 2.95997375e-02 7.89951185e+01] [-2.77205060e-01 9.60769570e-01 -8.89876220e-03 -1.12484920e+01] [-3.09065779e-02 3.40405000e-04 9.99522220e-01 -2.46208703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30361786499999 meters Centerline goodness : 0.995108 with order 1 Centerline is valid? [True, True] Translation: X:79.05, Y:-11.27, Z:-2.46 [[ 9.59097872e-01 2.81523120e-01 2.95973857e-02 7.90546511e+01] [-2.81382277e-01 9.59554421e-01 -8.90657760e-03 -1.12667957e+01] [-3.09077098e-02 2.14099836e-04 9.99522220e-01 -2.46341802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.363617865 meters Centerline goodness : 0.995686 with order 1 Centerline is valid? [True, True] Translation: X:79.11, Y:-11.29, Z:-2.46 [[ 9.56568177e-01 2.90002525e-01 2.95949129e-02 7.91136306e+01] [-2.89865475e-01 9.57025879e-01 -8.91478677e-03 -1.12873595e+01] [-3.09084082e-02 -5.09421512e-05 9.99522220e-01 -2.45857095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.423617865 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:79.17, Y:-11.30, Z:-2.46 [[ 9.58037439e-01 2.85111479e-01 2.95924023e-02 7.91743816e+01] [-2.84971835e-01 9.58494356e-01 -8.92311279e-03 -1.13023455e+01] [-3.09082325e-02 1.15674931e-04 9.99522220e-01 -2.46465929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:-11.32, Z:-2.46 [[ 9.58176426e-01 2.84644132e-01 2.95914701e-02 7.92336405e+01] [-2.84504170e-01 9.58633246e-01 -8.92620303e-03 -1.13207081e+01] [-3.09081584e-02 1.33980678e-04 9.99522220e-01 -2.46397637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54361786499999 meters Centerline goodness : 0.995355 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:-11.34, Z:-2.47 [[ 9.57943332e-01 2.85427860e-01 2.95890068e-02 7.92930794e+01] [-2.85288020e-01 9.58400189e-01 -8.93436119e-03 -1.13395991e+01] [-3.09082253e-02 1.17222557e-04 9.99522220e-01 -2.46949688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:79.35, Y:-11.36, Z:-2.47 [[ 9.58134796e-01 2.84784586e-01 2.95880427e-02 7.93519770e+01] [-2.84644340e-01 9.58591529e-01 -8.93755288e-03 -1.13580832e+01] [-3.09081244e-02 1.41311512e-04 9.99522220e-01 -2.47291415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.41, Y:-11.38, Z:-2.48 [[ 9.58090398e-01 2.84934218e-01 2.95851472e-02 7.94103957e+01] [-2.84793748e-01 9.58547062e-01 -8.94712714e-03 -1.13783762e+01] [-3.09080986e-02 1.46491627e-04 9.99522220e-01 -2.47508665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.723617865 meters Centerline goodness : 0.995746 with order 1 Centerline is valid? [True, True] Translation: X:79.47, Y:-11.40, Z:-2.48 [[ 9.59303759e-01 2.80822313e-01 2.95825248e-02 7.94683445e+01] [-2.80679619e-01 9.59759733e-01 -8.95578941e-03 -1.13962851e+01] [-3.09071016e-02 2.88110647e-04 9.99522220e-01 -2.47754954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.783617865 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:79.53, Y:-11.41, Z:-2.48 [[ 9.59796478e-01 2.79133952e-01 2.95796866e-02 7.95280027e+01] [-2.78990167e-01 9.60252109e-01 -8.96515380e-03 -1.14148683e+01] [-3.09064353e-02 3.52281344e-04 9.99522220e-01 -2.47589009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.843617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:79.59, Y:-11.43, Z:-2.48 [[ 9.60389136e-01 2.77088265e-01 2.95770285e-02 7.95880561e+01] [-2.76943240e-01 9.60844374e-01 -8.97391473e-03 -1.14349681e+01] [-3.09054879e-02 4.27292118e-04 9.99522220e-01 -2.47734972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.65, Y:-11.46, Z:-2.48 [[ 9.59617833e-01 2.79748058e-01 2.95742753e-02 7.96468518e+01] [-2.79604016e-01 9.60073383e-01 -8.98297886e-03 -1.14585489e+01] [-3.09064455e-02 3.51140572e-04 9.99522220e-01 -2.47880206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:-11.48, Z:-2.48 [[ 9.59172720e-01 2.81270712e-01 2.95716129e-02 7.97062918e+01] [-2.81127123e-01 9.59628412e-01 -8.99173480e-03 -1.14765884e+01] [-3.09068716e-02 3.11244253e-04 9.99522220e-01 -2.48286648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:-11.49, Z:-2.48 [[ 9.58432528e-01 2.83782832e-01 2.95701507e-02 7.97673106e+01] [-2.83640289e-01 9.58888549e-01 -8.99654092e-03 -1.14933288e+01] [-3.09075428e-02 2.35291369e-04 9.99522220e-01 -2.48484344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.083617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:79.83, Y:-11.51, Z:-2.49 [[ 9.57637935e-01 2.86453022e-01 2.95677412e-02 7.98280964e+01] [-2.86311506e-01 9.58094276e-01 -9.00445304e-03 -1.15103859e+01] [-3.09080364e-02 1.57421308e-04 9.99522220e-01 -2.48858946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.89, Y:-11.53, Z:-2.49 [[ 9.56990325e-01 2.88609439e-01 2.95653284e-02 7.98883026e+01] [-2.88468707e-01 9.57446908e-01 -9.01236821e-03 -1.15284997e+01] [-3.09082868e-02 9.60771304e-05 9.99522220e-01 -2.48931717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.203617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:-11.55, Z:-2.49 [[ 9.56681364e-01 2.89632180e-01 2.95629325e-02 7.99481222e+01] [-2.89491694e-01 9.57138023e-01 -9.02022070e-03 -1.15467385e+01] [-3.09083529e-02 7.12536578e-05 9.99522220e-01 -2.49070991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:-11.56, Z:-2.49 [[ 9.56494591e-01 2.90248650e-01 2.95604330e-02 8.00080355e+01] [-2.90108204e-01 9.56951262e-01 -9.02840452e-03 -1.15645470e+01] [-3.09083758e-02 5.98959726e-05 9.99522220e-01 -2.49152107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:-11.58, Z:-2.49 [[ 9.56599034e-01 2.89904494e-01 2.95579497e-02 8.00675870e+01] [-2.89763634e-01 9.57055577e-01 -9.03652719e-03 -1.15803109e+01] [-3.09083304e-02 7.95142819e-05 9.99522220e-01 -2.49259350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:-11.60, Z:-2.49 [[ 9.56771491e-01 2.89335030e-01 2.95559647e-02 8.01285571e+01] [-2.89193697e-01 9.57227888e-01 -9.04301494e-03 -1.15968133e+01] [-3.09082546e-02 1.04700191e-04 9.99522220e-01 -2.49463840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.443617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:-11.62, Z:-2.50 [[ 9.56005570e-01 2.91856031e-01 2.95534628e-02 8.01873275e+01] [-2.91715649e-01 9.56462261e-01 -9.05118406e-03 -1.16163541e+01] [-3.09084145e-02 3.17747983e-05 9.99522220e-01 -2.50365905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.503617865 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:-11.63, Z:-2.50 [[ 9.57131048e-01 2.88143848e-01 2.95512922e-02 8.02487076e+01] [-2.88001476e-01 9.57587123e-01 -9.05826513e-03 -1.16297913e+01] [-3.09080203e-02 1.59131018e-04 9.99522220e-01 -2.50131034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:-11.65, Z:-2.50 [[ 9.57847618e-01 2.85753028e-01 2.95490745e-02 8.03098051e+01] [-2.85609295e-01 9.58303265e-01 -9.06549365e-03 -1.16461244e+01] [-3.09074669e-02 2.43871152e-04 9.99522220e-01 -2.50481083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.37, Y:-11.66, Z:-2.51 [[ 9.58605746e-01 2.83199623e-01 2.95465254e-02 8.03690545e+01] [-2.83054420e-01 9.59060927e-01 -9.07379426e-03 -1.16624201e+01] [-3.09066132e-02 3.34916695e-04 9.99522220e-01 -2.50749797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.43, Y:-11.68, Z:-2.51 [[ 9.60081715e-01 2.78155070e-01 2.95441694e-02 8.04289459e+01] [-2.78007240e-01 9.60536049e-01 -9.08145895e-03 -1.16782730e+01] [-3.09042936e-02 5.05449699e-04 9.99522220e-01 -2.51094911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:-11.69, Z:-2.51 [[ 9.60938082e-01 2.75182256e-01 2.95419754e-02 8.04891816e+01] [-2.75032802e-01 9.61391885e-01 -9.08859057e-03 -1.16949832e+01] [-3.09024342e-02 6.08560549e-04 9.99522220e-01 -2.51182244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80361786499999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:80.55, Y:-11.71, Z:-2.51 [[ 9.61326671e-01 2.73821930e-01 2.95394983e-02 8.05482430e+01] [-2.73671586e-01 9.61780180e-01 -9.09663432e-03 -1.17130832e+01] [-3.09013619e-02 6.60715840e-04 9.99522221e-01 -2.51345497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.61, Y:-11.73, Z:-2.51 [[ 9.61166856e-01 2.74382614e-01 2.95373556e-02 8.06083397e+01] [-2.74232321e-01 9.61620382e-01 -9.10358635e-03 -1.17324426e+01] [-3.09015890e-02 6.49967874e-04 9.99522221e-01 -2.51487731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:-11.75, Z:-2.51 [[ 9.61282092e-01 2.73978881e-01 2.95349321e-02 8.06691498e+01] [-2.73828156e-01 9.61735474e-01 -9.11144246e-03 -1.17485610e+01] [-3.09011347e-02 6.71170483e-04 9.99522221e-01 -2.51494439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.983617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:-11.77, Z:-2.51 [[ 9.61176163e-01 2.74350534e-01 2.95324881e-02 8.07277463e+01] [-2.74199742e-01 9.61629523e-01 -9.11935710e-03 -1.17653975e+01] [-3.09012129e-02 6.67508048e-04 9.99522221e-01 -2.51377678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:-11.78, Z:-2.52 [[ 9.61352961e-01 2.73730581e-01 2.95305475e-02 8.07872300e+01] [-2.73579304e-01 9.61806159e-01 -9.12563684e-03 -1.17827302e+01] [-3.09006283e-02 6.94011368e-04 9.99522221e-01 -2.52021218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-11.80, Z:-2.52 [[ 9.61608483e-01 2.72831812e-01 2.95284293e-02 8.08478176e+01] [-2.72679901e-01 9.62061469e-01 -9.13248563e-03 -1.17977453e+01] [-3.08997967e-02 7.30066480e-04 9.99522221e-01 -2.52179084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:-11.81, Z:-2.53 [[ 9.61290153e-01 2.73951527e-01 2.95262974e-02 8.09060614e+01] [-2.73799932e-01 9.61743245e-01 -9.13937316e-03 -1.18146428e+01] [-3.09004623e-02 7.01291210e-04 9.99522221e-01 -2.52540865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:-11.83, Z:-2.52 [[ 9.61234184e-01 2.74147958e-01 2.95252457e-02 8.09656462e+01] [-2.73996352e-01 9.61687272e-01 -9.14276955e-03 -1.18332159e+01] [-3.09005246e-02 6.98533029e-04 9.99522221e-01 -2.52464239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:-11.85, Z:-2.53 [[ 9.61214807e-01 2.74216117e-01 2.95231373e-02 8.10261506e+01] [-2.74064333e-01 9.61667836e-01 -9.14957265e-03 -1.18513756e+01] [-3.09004119e-02 7.03465764e-04 9.99522221e-01 -2.52652020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.343617865 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-11.87, Z:-2.54 [[ 9.61494739e-01 2.73233241e-01 2.95205557e-02 8.10849217e+01] [-2.73080739e-01 9.61947526e-01 -9.15789442e-03 -1.18669003e+01] [-3.08994667e-02 7.43772113e-04 9.99522221e-01 -2.53663644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:-11.89, Z:-2.53 [[ 9.58550050e-01 2.83391002e-01 2.95184940e-02 8.11428546e+01] [-2.83243095e-01 9.59004359e-01 -9.16453532e-03 -1.18881769e+01] [-3.09055112e-02 4.23756192e-04 9.99522221e-01 -2.52541699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:-11.91, Z:-2.52 [[ 9.57987812e-01 2.85285954e-01 2.95173816e-02 8.12021397e+01] [-2.85138836e-01 9.58442377e-01 -9.16811671e-03 -1.19077422e+01] [-3.09062443e-02 3.66392256e-04 9.99522221e-01 -2.52331361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:-11.92, Z:-2.53 [[ 9.59757488e-01 2.79274726e-01 2.95159528e-02 8.12632276e+01] [-2.79124620e-01 9.60211075e-01 -9.17271432e-03 -1.19237326e+01] [-3.09032520e-02 5.64952161e-04 9.99522221e-01 -2.53475630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:-11.94, Z:-2.53 [[ 9.58545999e-01 2.83405232e-01 2.95134211e-02 8.13226735e+01] [-2.83256829e-01 9.59000146e-01 -9.18085286e-03 -1.19431364e+01] [-3.09052769e-02 4.40391703e-04 9.99522221e-01 -2.53019665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643617865 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:-11.96, Z:-2.54 [[ 9.60404852e-01 2.77040820e-01 2.95110801e-02 8.13838198e+01] [-2.76889177e-01 9.60857928e-01 -9.18837168e-03 -1.19553351e+01] [-3.09015093e-02 6.53258063e-04 9.99522221e-01 -2.53896553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:-11.97, Z:-2.54 [[ 9.60701668e-01 2.76010013e-01 2.95089424e-02 8.14430391e+01] [-2.75857674e-01 9.61154510e-01 -9.19523186e-03 -1.19726298e+01] [-3.09006291e-02 6.93606390e-04 9.99522221e-01 -2.53932005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:-11.99, Z:-2.54 [[ 9.60506277e-01 2.76689434e-01 2.95067517e-02 8.15029283e+01] [-2.76537199e-01 9.60959154e-01 -9.20225635e-03 -1.19897375e+01] [-3.09009502e-02 6.79110542e-04 9.99522221e-01 -2.54207525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:-12.01, Z:-2.54 [[ 9.60186813e-01 2.77796279e-01 2.95044210e-02 8.15614510e+01] [-2.77644337e-01 9.60639788e-01 -9.20972302e-03 -1.20074759e+01] [-3.09015475e-02 6.51319198e-04 9.99522221e-01 -2.54224327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:-12.02, Z:-2.54 [[ 9.59012297e-01 2.81824467e-01 2.95022874e-02 8.16206580e+01] [-2.81674217e-01 9.59465836e-01 -9.21655260e-03 -1.20247172e+01] [-3.09038869e-02 5.28753563e-04 9.99522221e-01 -2.54253055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:-12.04, Z:-2.55 [[ 9.57614174e-01 2.86539318e-01 2.95010602e-02 8.16810010e+01] [-2.86391181e-01 9.58068408e-01 -9.22047893e-03 -1.20390939e+01] [-3.09060635e-02 3.80817853e-04 9.99522221e-01 -2.54586493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:-12.06, Z:-2.54 [[ 9.56261889e-01 2.91020650e-01 2.94988443e-02 8.17401122e+01] [-2.90874423e-01 9.56716741e-01 -9.22756283e-03 -1.20590597e+01] [-3.09074495e-02 2.43507348e-04 9.99522221e-01 -2.54387758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.80, Y:-12.07, Z:-2.55 [[ 9.56313047e-01 2.90852721e-01 2.94966276e-02 8.18012751e+01] [-2.90706196e-01 9.56767803e-01 -9.23464312e-03 -1.20742762e+01] [-3.09073447e-02 2.56357292e-04 9.99522221e-01 -2.54781820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.86, Y:-12.09, Z:-2.55 [[ 9.56158112e-01 2.91361909e-01 2.94941212e-02 8.18617362e+01] [-2.91215380e-01 9.56612866e-01 -9.24264143e-03 -1.20931431e+01] [-3.09074095e-02 2.48284874e-04 9.99522221e-01 -2.54896154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-12.11, Z:-2.55 [[ 9.57076290e-01 2.88331785e-01 2.94916308e-02 8.19194609e+01] [-2.88183571e-01 9.57530499e-01 -9.25058117e-03 -1.21118198e+01] [-3.09063725e-02 3.54508432e-04 9.99522221e-01 -2.54977258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:-12.13, Z:-2.55 [[ 9.57452758e-01 2.87079391e-01 2.94896374e-02 8.19786424e+01] [-2.86930388e-01 9.57906708e-01 -9.25693154e-03 -1.21313752e+01] [-3.09057957e-02 4.01601555e-04 9.99522221e-01 -2.54776664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:-12.15, Z:-2.55 [[ 9.59049214e-01 2.81700372e-01 2.94873726e-02 8.20381443e+01] [-2.81548601e-01 9.59502247e-01 -9.26414021e-03 -1.21458735e+01] [-3.09029120e-02 5.82637893e-04 9.99522221e-01 -2.55275100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.363617865 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:-12.16, Z:-2.56 [[ 9.59239506e-01 2.81051913e-01 2.94854466e-02 8.20979685e+01] [-2.80899648e-01 9.59692373e-01 -9.27026616e-03 -1.21647058e+01] [-3.09023842e-02 6.09953975e-04 9.99522221e-01 -2.55738275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.423617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:-12.18, Z:-2.56 [[ 9.60755982e-01 2.75823679e-01 2.94828880e-02 8.21567722e+01] [-2.75668700e-01 9.61207927e-01 -9.27839628e-03 -1.21809982e+01] [-3.08983870e-02 7.86765335e-04 9.99522221e-01 -2.55890291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.483617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:-12.20, Z:-2.56 [[ 9.61099660e-01 2.74623882e-01 2.94816484e-02 8.22174582e+01] [-2.74468218e-01 9.61551369e-01 -9.28233330e-03 -1.21964335e+01] [-3.08972698e-02 8.29471861e-04 9.99522221e-01 -2.55707581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:-12.22, Z:-2.55 [[ 9.60093565e-01 2.78121056e-01 2.94792122e-02 8.22746673e+01] [-2.77966801e-01 9.60545758e-01 -9.29006397e-03 -1.22168180e+01] [-3.08998946e-02 7.25088340e-04 9.99522221e-01 -2.55372374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:-12.23, Z:-2.56 [[ 9.59619862e-01 2.79751332e-01 2.94773213e-02 8.23344289e+01] [-2.79597661e-01 9.60072253e-01 -9.29605973e-03 -1.22338448e+01] [-3.09009434e-02 6.78893455e-04 9.99522221e-01 -2.55575923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66361786499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.39, Y:-12.25, Z:-2.56 [[ 9.58587808e-01 2.83267720e-01 2.94756521e-02 8.23948086e+01] [-2.83115546e-01 9.59040704e-01 -9.30134946e-03 -1.22510696e+01] [-3.09031222e-02 5.71144847e-04 9.99522221e-01 -2.55874615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.45, Y:-12.27, Z:-2.56 [[ 9.57788178e-01 2.85960055e-01 2.94729332e-02 8.24543607e+01] [-2.85808889e-01 9.58241412e-01 -9.30995676e-03 -1.22678192e+01] [-3.09044609e-02 4.93340213e-04 9.99522221e-01 -2.56145360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.783617865 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.51, Y:-12.29, Z:-2.57 [[ 9.56222336e-01 2.91153462e-01 2.94704173e-02 8.25142861e+01] [-2.91004513e-01 9.56676304e-01 -9.31791392e-03 -1.22851331e+01] [-3.09065928e-02 3.33972980e-04 9.99522221e-01 -2.56680097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-12.30, Z:-2.57 [[ 9.55724256e-01 2.92784551e-01 2.94678301e-02 8.25757310e+01] [-2.92636124e-01 9.56178395e-01 -9.32608884e-03 -1.23007833e+01] [-3.09070372e-02 2.89817723e-04 9.99522221e-01 -2.56762823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-12.32, Z:-2.57 [[ 9.55249301e-01 2.94330718e-01 2.94652711e-02 8.26360052e+01] [-2.94182777e-01 9.55703598e-01 -9.33416679e-03 -1.23171063e+01] [-3.09073976e-02 2.48281003e-04 9.99522221e-01 -2.57118337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-12.34, Z:-2.57 [[ 9.54562541e-01 2.96550679e-01 2.94626794e-02 8.26956026e+01] [-2.96403543e-01 9.55017100e-01 -9.34234028e-03 -1.23363177e+01] [-3.09078400e-02 1.85005534e-04 9.99522221e-01 -2.57145742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-12.35, Z:-2.57 [[ 9.54438851e-01 2.96948791e-01 2.94600741e-02 8.27562125e+01] [-2.96801591e-01 9.54893388e-01 -9.35054856e-03 -1.23546184e+01] [-3.09078641e-02 1.80729943e-04 9.99522222e-01 -2.57396304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-12.37, Z:-2.57 [[ 9.54625265e-01 2.96349218e-01 2.94574887e-02 8.28163652e+01] [-2.96201481e-01 9.55079629e-01 -9.35868631e-03 -1.23735061e+01] [-3.09076868e-02 2.08686604e-04 9.99522222e-01 -2.57417565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-12.39, Z:-2.57 [[ 9.54658010e-01 2.96243972e-01 2.94549375e-02 8.28765999e+01] [-2.96095938e-01 9.55112276e-01 -9.36670895e-03 -1.23916279e+01] [-3.09076035e-02 2.20516375e-04 9.99522222e-01 -2.57446961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-12.41, Z:-2.58 [[ 9.54874532e-01 2.95545570e-01 2.94524012e-02 8.29362400e+01] [-2.95396958e-01 9.55328610e-01 -9.37467720e-03 -1.24106064e+01] [-3.09073659e-02 2.51490771e-04 9.99522222e-01 -2.57565028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:-12.43, Z:-2.58 [[ 9.54570398e-01 2.96526665e-01 2.94498323e-02 8.29948547e+01] [-2.96378271e-01 9.55024547e-01 -9.38274037e-03 -1.24291541e+01] [-3.09075455e-02 2.28195841e-04 9.99522222e-01 -2.57692829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-12.45, Z:-2.58 [[ 9.55336160e-01 2.94050374e-01 2.94482516e-02 8.30546908e+01] [-2.93900650e-01 9.55789872e-01 -9.38769901e-03 -1.24477980e+01] [-3.09067970e-02 3.13548040e-04 9.99522222e-01 -2.57628485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:-12.47, Z:-2.58 [[ 9.55251771e-01 2.94324657e-01 2.94457036e-02 8.31135993e+01] [-2.94174817e-01 9.55705445e-01 -9.39568419e-03 -1.24662023e+01] [-3.09068008e-02 3.13059481e-04 9.99522222e-01 -2.57822882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:-12.49, Z:-2.58 [[ 9.55344045e-01 2.94025245e-01 2.94433487e-02 8.31737612e+01] [-2.93875036e-01 9.55797597e-01 -9.40305807e-03 -1.24859467e+01] [-3.09066184e-02 3.30490376e-04 9.99522222e-01 -2.57723499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503617865 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:-12.50, Z:-2.58 [[ 9.56302052e-01 2.90894517e-01 2.94408735e-02 8.32337639e+01] [-2.90742584e-01 9.56755029e-01 -9.41080140e-03 -1.25046680e+01] [-3.09052543e-02 4.39853038e-04 9.99522222e-01 -2.58487766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:-12.53, Z:-2.59 [[ 9.54742723e-01 2.95972498e-01 2.94382811e-02 8.32924202e+01] [-2.95822725e-01 9.55196419e-01 -9.41890376e-03 -1.25256944e+01] [-3.09070772e-02 2.84117274e-04 9.99522222e-01 -2.58816845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.35, Y:-12.54, Z:-2.58 [[ 9.55172546e-01 2.94582634e-01 2.94360235e-02 8.33527191e+01] [-2.94431983e-01 9.55625951e-01 -9.42595411e-03 -1.25422634e+01] [-3.09065503e-02 3.36505812e-04 9.99522222e-01 -2.58499743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:-12.56, Z:-2.59 [[ 9.55253720e-01 2.94319527e-01 2.94337602e-02 8.34128094e+01] [-2.94168534e-01 9.55707011e-01 -9.43301624e-03 -1.25622292e+01] [-3.09063719e-02 3.52437763e-04 9.99522222e-01 -2.58803742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.47, Y:-12.58, Z:-2.59 [[ 9.55096947e-01 2.94828128e-01 2.94312060e-02 8.34723022e+01] [-2.94677132e-01 9.55550237e-01 -9.44097876e-03 -1.25845651e+01] [-3.09064620e-02 3.44346640e-04 9.99522222e-01 -2.58746537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:-12.61, Z:-2.60 [[ 9.55920000e-01 2.92148781e-01 2.94286161e-02 8.35316987e+01] [-2.91996265e-01 9.56372781e-01 -9.44904473e-03 -1.26059438e+01] [-3.09052544e-02 4.39484846e-04 9.99522222e-01 -2.59901868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.59, Y:-12.63, Z:-2.59 [[ 9.55131994e-01 2.94715086e-01 2.94260361e-02 8.35918228e+01] [-2.94563540e-01 9.55585101e-01 -9.45707272e-03 -1.26270914e+01] [-3.09062236e-02 3.64915389e-04 9.99522222e-01 -2.58965621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.923617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:83.65, Y:-12.65, Z:-2.59 [[ 9.54455474e-01 2.96898992e-01 2.94234162e-02 8.36498750e+01] [-2.96748231e-01 9.54908842e-01 -9.46521663e-03 -1.26490358e+01] [-3.09068936e-02 3.02781098e-04 9.99522222e-01 -2.59071640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.983617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.71, Y:-12.67, Z:-2.60 [[ 9.54618111e-01 2.96375808e-01 2.94218008e-02 8.37077645e+01] [-2.96224644e-01 9.55071345e-01 -9.47023535e-03 -1.26715653e+01] [-3.09066676e-02 3.24995700e-04 9.99522222e-01 -2.59537233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.77, Y:-12.69, Z:-2.60 [[ 9.54731226e-01 2.96011447e-01 2.94195427e-02 8.37671993e+01] [-2.95859895e-01 9.55184330e-01 -9.47724511e-03 -1.26909024e+01] [-3.09064592e-02 3.44159039e-04 9.99522222e-01 -2.59825428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10361786499999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:83.83, Y:-12.71, Z:-2.60 [[ 9.54577320e-01 2.96507650e-01 2.94168963e-02 8.38254435e+01] [-2.96356080e-01 9.55030419e-01 -9.48545227e-03 -1.27103034e+01] [-3.09065400e-02 3.36721545e-04 9.99522222e-01 -2.60199608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:-12.73, Z:-2.60 [[ 9.52862332e-01 3.01973768e-01 2.94146217e-02 8.38837714e+01] [-3.01824579e-01 9.53316220e-01 -9.49250059e-03 -1.27331886e+01] [-3.09079222e-02 1.66990419e-04 9.99522222e-01 -2.59841535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.94, Y:-12.75, Z:-2.60 [[ 9.52108519e-01 3.04342380e-01 2.94123014e-02 8.39418554e+01] [-3.04194099e-01 9.52562705e-01 -9.49968448e-03 -1.27533546e+01] [-3.09082180e-02 9.76819806e-05 9.99522222e-01 -2.59910906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:-12.77, Z:-2.60 [[ 9.52011238e-01 3.04646784e-01 2.94098485e-02 8.40005002e+01] [-3.04498414e-01 9.52465394e-01 -9.50727248e-03 -1.27743875e+01] [-3.09082229e-02 9.57780277e-05 9.99522222e-01 -2.60115954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.06, Y:-12.80, Z:-2.60 [[ 9.51862698e-01 3.05110799e-01 2.94075617e-02 8.40570538e+01] [-3.04962432e-01 9.52316855e-01 -9.51434065e-03 -1.27993684e+01] [-3.09082447e-02 8.81444306e-05 9.99522222e-01 -2.59854014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.12, Y:-12.82, Z:-2.60 [[ 9.52156383e-01 3.04193263e-01 2.94054710e-02 8.41155743e+01] [-3.04044259e-01 9.52610331e-01 -9.52079794e-03 -1.28198123e+01] [-3.09081180e-02 1.24723908e-04 9.99522222e-01 -2.59992112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46361786499999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:84.17, Y:-12.84, Z:-2.60 [[ 9.52095114e-01 3.04385208e-01 2.94030282e-02 8.41727701e+01] [-3.04236063e-01 9.52549017e-01 -9.52833611e-03 -1.28407303e+01] [-3.09081101e-02 1.26420740e-04 9.99522222e-01 -2.60138031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.23, Y:-12.86, Z:-2.61 [[ 9.53043695e-01 3.01402238e-01 2.94007944e-02 8.42300897e+01] [-3.01251459e-01 9.53497057e-01 -9.53522358e-03 -1.28606226e+01] [-3.09075087e-02 2.30452482e-04 9.99522222e-01 -2.60520801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.29, Y:-12.88, Z:-2.61 [[ 9.51890415e-01 3.05025164e-01 2.93987705e-02 8.42891044e+01] [-3.04875918e-01 9.52344284e-01 -9.54145972e-03 -1.28826549e+01] [-3.09081363e-02 1.19446910e-04 9.99522222e-01 -2.60524187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:-12.90, Z:-2.61 [[ 9.52363367e-01 3.03545534e-01 2.93960122e-02 8.43481075e+01] [-3.03395321e-01 9.52816917e-01 -9.54994990e-03 -1.29025038e+01] [-3.09078624e-02 1.76409865e-04 9.99522222e-01 -2.61238058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:-12.93, Z:-2.61 [[ 9.51555197e-01 3.06069841e-01 2.93932026e-02 8.44068750e+01] [-3.05920564e-01 9.52009055e-01 -9.55858972e-03 -1.29254618e+01] [-3.09081911e-02 1.03540594e-04 9.99522222e-01 -2.61129379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:-12.95, Z:-2.61 [[ 9.51317062e-01 3.06809472e-01 2.93903961e-02 8.44657254e+01] [-3.06660282e-01 9.51770949e-01 -9.56721117e-03 -1.29481624e+01] [-3.09082362e-02 8.85840561e-05 9.99522222e-01 -2.61343722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:-12.97, Z:-2.61 [[ 9.51752780e-01 3.05455423e-01 2.93876042e-02 8.45242993e+01] [-3.05305322e-01 9.52206367e-01 -9.57577943e-03 -1.29696346e+01] [-3.09080376e-02 1.41582717e-04 9.99522222e-01 -2.61458747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88361786499999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:-12.99, Z:-2.62 [[ 9.51770229e-01 3.05401296e-01 2.93850266e-02 8.45837956e+01] [-3.05250926e-01 9.52223727e-01 -9.58368284e-03 -1.29914519e+01] [-3.09079887e-02 1.51657441e-04 9.99522222e-01 -2.61761529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:84.64, Y:-13.01, Z:-2.61 [[ 9.51662696e-01 3.05736483e-01 2.93822253e-02 8.46416377e+01] [-3.05586008e-01 9.52116159e-01 -9.59226366e-03 -1.30118937e+01] [-3.09079964e-02 1.49802587e-04 9.99522223e-01 -2.61455797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.003617865 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:84.70, Y:-13.03, Z:-2.62 [[ 9.52557154e-01 3.02938418e-01 2.93799858e-02 8.46997989e+01] [-3.02786399e-01 9.53010101e-01 -9.59911796e-03 -1.30327421e+01] [-3.09073649e-02 2.47848373e-04 9.99522223e-01 -2.62495112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:84.76, Y:-13.06, Z:-2.63 [[ 9.52728428e-01 3.02399576e-01 2.93775389e-02 8.47583790e+01] [-3.02247070e-01 9.53181211e-01 -9.60660074e-03 -1.30561393e+01] [-3.09071501e-02 2.73206566e-04 9.99522223e-01 -2.62589919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12361786499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:84.82, Y:-13.08, Z:-2.63 [[ 9.52808703e-01 3.02146819e-01 2.93747284e-02 8.48162481e+01] [-3.01993929e-01 9.53261357e-01 -9.61518695e-03 -1.30775140e+01] [-3.09069916e-02 2.90444187e-04 9.99522223e-01 -2.62572030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:84.87, Y:-13.10, Z:-2.63 [[ 9.52700546e-01 3.02487929e-01 2.93721318e-02 8.48741447e+01] [-3.02334956e-01 9.53153172e-01 -9.62311239e-03 -1.31017702e+01] [-3.09070159e-02 2.87722254e-04 9.99522223e-01 -2.62689328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24361786499999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:84.93, Y:-13.12, Z:-2.63 [[ 9.53337192e-01 3.00475697e-01 2.93692784e-02 8.49330489e+01] [-3.00321501e-01 9.53789402e-01 -9.63181292e-03 -1.31233803e+01] [-3.09062322e-02 3.62139696e-04 9.99522223e-01 -2.62955444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30361786499999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:-13.14, Z:-2.63 [[ 9.54511123e-01 2.96725683e-01 2.93663762e-02 8.49914289e+01] [-2.96569439e-01 9.54962631e-01 -9.64065342e-03 -1.31445316e+01] [-3.09044213e-02 4.92941226e-04 9.99522223e-01 -2.63440552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.363617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:-13.17, Z:-2.63 [[ 9.54347768e-01 2.97250923e-01 2.93636922e-02 8.50495556e+01] [-2.97094676e-01 9.54799274e-01 -9.64882146e-03 -1.31683587e+01] [-3.09045531e-02 4.84534622e-04 9.99522223e-01 -2.63466344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:-13.19, Z:-2.64 [[ 9.54409010e-01 2.97054493e-01 2.93610138e-02 8.51085357e+01] [-2.96897902e-01 9.54860398e-01 -9.65696477e-03 -1.31898112e+01] [-3.09043141e-02 4.99470794e-04 9.99522223e-01 -2.63631376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:-13.21, Z:-2.64 [[ 9.54201798e-01 2.97719695e-01 2.93583492e-02 8.51674043e+01] [-2.97563170e-01 9.54653208e-01 -9.66505860e-03 -1.32126108e+01] [-3.09045206e-02 4.86452834e-04 9.99522223e-01 -2.63970613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:85.23, Y:-13.23, Z:-2.65 [[ 9.54394096e-01 2.97102935e-01 2.93556859e-02 8.52250651e+01] [-2.96945870e-01 9.54845318e-01 -9.67314106e-03 -1.32315265e+01] [-3.09040579e-02 5.14939024e-04 9.99522223e-01 -2.64738652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:85.28, Y:-13.25, Z:-2.65 [[ 9.54679701e-01 2.96184047e-01 2.93543738e-02 8.52839563e+01] [-2.96026425e-01 9.55130729e-01 -9.67712118e-03 -1.32516683e+01] [-3.09034734e-02 5.48880810e-04 9.99522223e-01 -2.64892667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.34, Y:-13.28, Z:-2.64 [[ 9.53303098e-01 3.00585458e-01 2.93527703e-02 8.53405880e+01] [-3.00429769e-01 9.53754797e-01 -9.68198248e-03 -1.32776163e+01] [-3.09056087e-02 4.11417886e-04 9.99522223e-01 -2.64146255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:-13.30, Z:-2.64 [[ 9.52654497e-01 3.02635025e-01 2.93504982e-02 8.53988870e+01] [-3.02480096e-01 9.53106457e-01 -9.68886548e-03 -1.33024949e+01] [-3.09063394e-02 3.52199766e-04 9.99522223e-01 -2.64332604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:-13.32, Z:-2.64 [[ 9.52663668e-01 3.02606411e-01 2.93478264e-02 8.54577860e+01] [-3.02451219e-01 9.53115538e-01 -9.69695162e-03 -1.33230771e+01] [-3.09062291e-02 3.61647626e-04 9.99522223e-01 -2.64163980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:-13.34, Z:-2.65 [[ 9.52594759e-01 3.02823506e-01 2.93453539e-02 8.55171553e+01] [-3.02668187e-01 9.53046585e-01 -9.70442821e-03 -1.33397933e+01] [-3.09062183e-02 3.62482373e-04 9.99522223e-01 -2.64667827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90361786499999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:-13.36, Z:-2.65 [[ 9.51782085e-01 3.05368377e-01 2.93430996e-02 8.55758949e+01] [-3.05214056e-01 9.52234253e-01 -9.71123978e-03 -1.33615049e+01] [-3.09070101e-02 2.87057594e-04 9.99522223e-01 -2.64776497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:-13.38, Z:-2.66 [[ 9.51742800e-01 3.05491050e-01 2.93404386e-02 8.56356350e+01] [-3.05336540e-01 9.52194903e-01 -9.71927300e-03 -1.33796363e+01] [-3.09069670e-02 2.91540103e-04 9.99522223e-01 -2.65610130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.69, Y:-13.40, Z:-2.65 [[ 9.49949538e-01 3.11022787e-01 2.93377269e-02 8.56943234e+01] [-3.10870656e-01 9.50402447e-01 -9.72745117e-03 -1.33994453e+01] [-3.09081064e-02 1.20349313e-04 9.99522223e-01 -2.65294466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.083617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:-13.42, Z:-2.65 [[ 9.48910721e-01 3.14178117e-01 2.93352174e-02 8.57551023e+01] [-3.14027259e-01 9.49364056e-01 -9.73501346e-03 -1.34173945e+01] [-3.09083291e-02 2.56007411e-05 9.99522223e-01 -2.65196272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:-13.44, Z:-2.65 [[ 9.47157108e-01 3.19426074e-01 2.93325036e-02 8.58153369e+01] [-3.19277475e-01 9.47611188e-01 -9.74318329e-03 -1.34368785e+01] [-3.09080354e-02 -1.36882387e-04 9.99522223e-01 -2.65059355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:-13.46, Z:-2.65 [[ 9.46760293e-01 3.20600544e-01 2.93298175e-02 8.58741873e+01] [-3.20452257e-01 9.47214476e-01 -9.75126252e-03 -1.34565778e+01] [-3.09078878e-02 -1.66698075e-04 9.99522223e-01 -2.65160785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:-13.48, Z:-2.65 [[ 9.46897185e-01 3.20196235e-01 2.93273323e-02 8.59335250e+01] [-3.20047524e-01 9.47351228e-01 -9.75873113e-03 -1.34769052e+01] [-3.09079933e-02 -1.45625064e-04 9.99522223e-01 -2.65153628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:-13.50, Z:-2.65 [[ 9.47701502e-01 3.17808010e-01 2.93245981e-02 8.59917683e+01] [-3.17657900e-01 9.48155085e-01 -9.76694041e-03 -1.34972446e+01] [-3.09082787e-02 -5.90461761e-05 9.99522223e-01 -2.65361913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.05, Y:-13.52, Z:-2.65 [[ 9.49214100e-01 3.13261565e-01 2.93220623e-02 8.60507892e+01] [-3.13109048e-01 9.49666880e-01 -9.77454748e-03 -1.35178864e+01] [-3.09081815e-02 9.71352790e-05 9.99522223e-01 -2.65484902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.443617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-13.54, Z:-2.66 [[ 9.50615844e-01 3.08982028e-01 2.93193250e-02 8.61086023e+01] [-3.08827219e-01 9.51067845e-01 -9.78275126e-03 -1.35385076e+01] [-3.09073616e-02 2.45032734e-04 9.99522223e-01 -2.65820503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.17, Y:-13.56, Z:-2.66 [[ 9.52468880e-01 3.03221961e-01 2.93168045e-02 8.61661523e+01] [-3.03064187e-01 9.52919854e-01 -9.79029890e-03 -1.35601183e+01] [-3.09051987e-02 4.40081493e-04 9.99522223e-01 -2.66020657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:-13.58, Z:-2.66 [[ 9.53865139e-01 2.98800878e-01 2.93143627e-02 8.62245997e+01] [-2.98640790e-01 9.54315297e-01 -9.79760485e-03 -1.35806905e+01] [-3.09026776e-02 5.91129285e-04 9.99522223e-01 -2.65967032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.60, Z:-2.67 [[ 9.54431223e-01 2.96987955e-01 2.93120311e-02 8.62841849e+01] [-2.96826797e-01 9.54880999e-01 -9.80457543e-03 -1.35999176e+01] [-3.09013423e-02 6.57196617e-04 9.99522223e-01 -2.66509543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.62, Z:-2.66 [[ 9.52859952e-01 3.01991513e-01 2.93093645e-02 8.63443591e+01] [-3.01832472e-01 9.53310481e-01 -9.81254047e-03 -1.36183194e+01] [-3.09042283e-02 5.03458903e-04 9.99522223e-01 -2.66495947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.64, Z:-2.67 [[ 9.52077961e-01 3.04448153e-01 2.93066328e-02 8.64035596e+01] [-3.04290024e-01 9.52528811e-01 -9.82069226e-03 -1.36380514e+01] [-3.09053037e-02 4.32348657e-04 9.99522224e-01 -2.66652735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:-13.66, Z:-2.67 [[ 9.51501222e-01 3.06246154e-01 2.93038916e-02 8.64633024e+01] [-3.06088625e-01 9.51952282e-01 -9.82886498e-03 -1.36558069e+01] [-3.09059585e-02 3.82589161e-04 9.99522224e-01 -2.67047046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.863617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:86.52, Y:-13.67, Z:-2.67 [[ 9.50637494e-01 3.08917118e-01 2.93013531e-02 8.65230743e+01] [-3.08760624e-01 9.51088914e-01 -9.83642673e-03 -1.36745244e+01] [-3.09068327e-02 3.03772002e-04 9.99522224e-01 -2.67102257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:-13.69, Z:-2.68 [[ 9.51344708e-01 3.06732507e-01 2.92987410e-02 8.65824255e+01] [-3.06574736e-01 9.51795683e-01 -9.84420100e-03 -1.36935313e+01] [-3.09059516e-02 3.82974732e-04 9.99522224e-01 -2.67510425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:-13.71, Z:-2.68 [[ 9.51070710e-01 3.07581274e-01 2.92961509e-02 8.66420147e+01] [-3.07423669e-01 9.51521743e-01 -9.85190307e-03 -1.37141658e+01] [-3.09061854e-02 3.63526254e-04 9.99522224e-01 -2.67637517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:-13.73, Z:-2.68 [[ 9.50649677e-01 3.08880377e-01 2.92934155e-02 8.67015552e+01] [-3.08723138e-01 9.51100838e-01 -9.86002960e-03 -1.37330857e+01] [-3.09065617e-02 3.29878781e-04 9.99522224e-01 -2.67790370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:86.76, Y:-13.75, Z:-2.68 [[ 9.50756097e-01 3.08552910e-01 2.92907092e-02 8.67609258e+01] [-3.08395268e-01 9.51207117e-01 -9.86806251e-03 -1.37520922e+01] [-3.09063505e-02 3.49004462e-04 9.99522224e-01 -2.68206047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.82, Y:-13.77, Z:-2.68 [[ 9.50195881e-01 3.10273974e-01 2.92890446e-02 8.68214079e+01] [-3.10116997e-01 9.50647133e-01 -9.87300069e-03 -1.37707253e+01] [-3.09068815e-02 2.98254010e-04 9.99522224e-01 -2.68408149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.223617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:86.88, Y:-13.79, Z:-2.68 [[ 9.49488573e-01 3.12432034e-01 2.92860752e-02 8.68809705e+01] [-3.12275811e-01 9.49940087e-01 -9.88180099e-03 -1.37894174e+01] [-3.09074080e-02 2.37324237e-04 9.99522224e-01 -2.68443463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.283617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:-13.81, Z:-2.69 [[ 9.49214654e-01 3.13263508e-01 2.92833403e-02 8.69412554e+01] [-3.13107431e-01 9.49666218e-01 -9.88989880e-03 -1.38069984e+01] [-3.09075435e-02 2.18805407e-04 9.99522224e-01 -2.68970534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.343617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:87.00, Y:-13.83, Z:-2.69 [[ 9.48992703e-01 3.13935514e-01 2.92804136e-02 8.69995272e+01] [-3.13779490e-01 9.49444285e-01 -9.89855628e-03 -1.38264984e+01] [-3.09076297e-02 2.06064441e-04 9.99522224e-01 -2.69052946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.06, Y:-13.85, Z:-2.69 [[ 9.48964008e-01 3.14022495e-01 2.92777070e-02 8.70596236e+01] [-3.13866265e-01 9.49415519e-01 -9.90655513e-03 -1.38458087e+01] [-3.09075906e-02 2.11679708e-04 9.99522224e-01 -2.69437635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:-13.87, Z:-2.69 [[ 9.48918864e-01 3.14159157e-01 2.92748136e-02 8.71190146e+01] [-3.14002728e-01 9.49370306e-01 -9.91509803e-03 -1.38676748e+01] [-3.09075576e-02 2.16252202e-04 9.99522224e-01 -2.69435033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.18, Y:-13.89, Z:-2.70 [[ 9.48908989e-01 3.14189256e-01 2.92718779e-02 8.71788146e+01] [-3.14032574e-01 9.49360343e-01 -9.92375746e-03 -1.38883305e+01] [-3.09074980e-02 2.24419476e-04 9.99522224e-01 -2.69684929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.24, Y:-13.91, Z:-2.70 [[ 9.49605507e-01 3.12078047e-01 2.92689854e-02 8.72375603e+01] [-3.11920100e-01 9.50056420e-01 -9.93228144e-03 -1.39071028e+01] [-3.09068344e-02 3.02164329e-04 9.99522224e-01 -2.69952237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.643617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:87.30, Y:-13.93, Z:-2.70 [[ 9.51059709e-01 3.07618128e-01 2.92663082e-02 8.72976167e+01] [-3.07457824e-01 9.51509790e-01 -9.94016371e-03 -1.39260473e+01] [-3.09049533e-02 4.55533782e-04 9.99522224e-01 -2.70311444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.36, Y:-13.94, Z:-2.71 [[ 9.52350242e-01 3.03599516e-01 2.92634715e-02 8.73574264e+01] [-3.03437056e-01 9.52799549e-01 -9.94850788e-03 -1.39444511e+01] [-3.09025846e-02 5.94842256e-04 9.99522224e-01 -2.70676232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:-13.97, Z:-2.71 [[ 9.52774776e-01 3.02264861e-01 2.92605364e-02 8.74157709e+01] [-3.02101507e-01 9.53223759e-01 -9.95713290e-03 -1.39654637e+01] [-3.09015299e-02 6.47252908e-04 9.99522224e-01 -2.70732381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:-13.99, Z:-2.71 [[ 9.52044135e-01 3.04558521e-01 2.92587262e-02 8.74750133e+01] [-3.04396086e-01 9.52493450e-01 -9.96244927e-03 -1.39871126e+01] [-3.09028939e-02 5.78449654e-04 9.99522224e-01 -2.71295901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:-14.01, Z:-2.71 [[ 9.52427341e-01 3.03358299e-01 2.92558257e-02 8.75337738e+01] [-3.03195036e-01 9.52876356e-01 -9.97095976e-03 -1.40073738e+01] [-3.09019580e-02 6.26393566e-04 9.99522224e-01 -2.71099605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:-14.03, Z:-2.71 [[ 9.50680871e-01 3.08788171e-01 2.92531521e-02 8.75925870e+01] [-3.08627232e-01 9.51130725e-01 -9.97879738e-03 -1.40292462e+01] [-3.09049064e-02 4.58332427e-04 9.99522224e-01 -2.71406908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.003617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:87.65, Y:-14.05, Z:-2.71 [[ 9.49855864e-01 3.11316963e-01 2.92504054e-02 8.76502568e+01] [-3.11156974e-01 9.50306056e-01 -9.98684222e-03 -1.40494900e+01] [-3.09059108e-02 3.84592996e-04 9.99522224e-01 -2.70875088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.063617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.71, Y:-14.07, Z:-2.71 [[ 9.48920680e-01 3.14156147e-01 2.92482123e-02 8.77100920e+01] [-3.13997307e-01 9.49371279e-01 -9.99326114e-03 -1.40695786e+01] [-3.09068571e-02 2.98952254e-04 9.99522224e-01 -2.70921949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:-14.09, Z:-2.72 [[ 9.49071583e-01 3.13700224e-01 2.92455036e-02 8.77698756e+01] [-3.13540923e-01 9.49522020e-01 -1.00011818e-02 -1.40865012e+01] [-3.09066226e-02 3.22175208e-04 9.99522224e-01 -2.71815046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.83, Y:-14.10, Z:-2.72 [[ 9.47663591e-01 3.17928542e-01 2.92431117e-02 8.78302650e+01] [-3.17771036e-01 9.48114658e-01 -1.00081707e-02 -1.41002647e+01] [-3.09077060e-02 1.91765100e-04 9.99522224e-01 -2.72100034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.89, Y:-14.12, Z:-2.72 [[ 9.47184546e-01 3.19353133e-01 2.92405803e-02 8.78907568e+01] [-3.19196077e-01 9.47635770e-01 -1.00155614e-02 -1.41186789e+01] [-3.09079207e-02 1.53106501e-04 9.99522224e-01 -2.72485175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.95, Y:-14.14, Z:-2.73 [[ 9.46111761e-01 3.22517724e-01 2.92378684e-02 8.79490086e+01] [-3.22361933e-01 9.46563423e-01 -1.00234716e-02 -1.41383955e+01] [-3.09082441e-02 5.81486235e-05 9.99522224e-01 -2.72525766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.363617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.01, Y:-14.16, Z:-2.73 [[ 9.46433237e-01 3.21573355e-01 2.92353557e-02 8.80085419e+01] [-3.21416887e-01 9.46884665e-01 -1.00307951e-02 -1.41550653e+01] [-3.09081464e-02 9.67408163e-05 9.99522224e-01 -2.72937069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.07, Y:-14.18, Z:-2.73 [[ 9.46725896e-01 3.20710939e-01 2.92330369e-02 8.80676461e+01] [-3.20553851e-01 9.47177109e-01 -1.00375483e-02 -1.41757947e+01] [-3.09080149e-02 1.32044334e-04 9.99522224e-01 -2.73014704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.13, Y:-14.19, Z:-2.74 [[ 9.49240157e-01 3.13191177e-01 2.92302963e-02 8.81283990e+01] [-3.13030269e-01 9.49690022e-01 -1.00455229e-02 -1.41928346e+01] [-3.09058899e-02 3.85646197e-04 9.99522224e-01 -2.73724106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.19, Y:-14.21, Z:-2.73 [[ 9.48202471e-01 3.16319180e-01 2.92275535e-02 8.81879513e+01] [-3.16159511e-01 9.48652777e-01 -1.00534967e-02 -1.42115234e+01] [-3.09069137e-02 2.92181415e-04 9.99522225e-01 -2.73497317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:-14.23, Z:-2.74 [[ 9.48356386e-01 3.15857658e-01 2.92250858e-02 8.82467481e+01] [-3.15697548e-01 9.48806535e-01 -1.00606651e-02 -1.42307243e+01] [-3.09066905e-02 3.14808055e-04 9.99522225e-01 -2.73658128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:-14.25, Z:-2.74 [[ 9.48759810e-01 3.14644023e-01 2.92226208e-02 8.83071610e+01] [-3.14483117e-01 9.49209675e-01 -1.00678201e-02 -1.42488130e+01] [-3.09061738e-02 3.61922264e-04 9.99522225e-01 -2.73793509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:-14.27, Z:-2.74 [[ 9.50281084e-01 3.10019461e-01 2.92197894e-02 8.83656131e+01] [-3.09856114e-01 9.50730068e-01 -1.00760310e-02 -1.42658703e+01] [-3.09038980e-02 5.21131274e-04 9.99522225e-01 -2.73778222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.783617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:-14.29, Z:-2.74 [[ 9.51029114e-01 3.07717339e-01 2.92175231e-02 8.84250454e+01] [-3.07552704e-01 9.51477627e-01 -1.00825982e-02 -1.42857188e+01] [-3.09024099e-02 6.02916182e-04 9.99522225e-01 -2.74034675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.48, Y:-14.31, Z:-2.74 [[ 9.51124852e-01 3.07421557e-01 2.92147796e-02 8.84846719e+01] [-3.07256538e-01 9.51573224e-01 -1.00905413e-02 -1.43050034e+01] [-3.09020520e-02 6.20932552e-04 9.99522225e-01 -2.74020094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:-14.32, Z:-2.74 [[ 9.51946649e-01 3.04867579e-01 2.92119373e-02 8.85425674e+01] [-3.04701105e-01 9.52394483e-01 -1.00987630e-02 -1.43237284e+01] [-3.09000734e-02 7.12573993e-04 9.99522225e-01 -2.74040942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.60, Y:-14.34, Z:-2.74 [[ 9.52290219e-01 3.03792825e-01 2.92105945e-02 8.86024274e+01] [-3.03625727e-01 9.52737820e-01 -1.01026456e-02 -1.43436557e+01] [-3.08991494e-02 7.51562620e-04 9.99522225e-01 -2.74057375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:-14.36, Z:-2.74 [[ 9.52272607e-01 3.03848292e-01 2.92078306e-02 8.86617269e+01] [-3.03680975e-01 9.52720127e-01 -1.01106302e-02 -1.43622202e+01] [-3.08989858e-02 7.58213700e-04 9.99522225e-01 -2.74376060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.083617865 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:-14.38, Z:-2.75 [[ 9.52494865e-01 3.03151078e-01 2.92054083e-02 8.87207774e+01] [-3.02983219e-01 9.52942182e-01 -1.01176223e-02 -1.43810395e+01] [-3.08982336e-02 7.88234650e-04 9.99522225e-01 -2.74754272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.143617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:-14.40, Z:-2.75 [[ 9.50351738e-01 3.09804403e-01 2.92028464e-02 8.87811427e+01] [-3.09639450e-01 9.50800134e-01 -1.01250113e-02 -1.43989917e+01] [-3.09028434e-02 5.79968779e-04 9.99522225e-01 -2.75107642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:-14.41, Z:-2.75 [[ 9.49681818e-01 3.11852203e-01 2.92001239e-02 8.88405244e+01] [-3.11687976e-01 9.50130481e-01 -1.01328569e-02 -1.44134002e+01] [-3.09038815e-02 5.21662492e-04 9.99522225e-01 -2.75407971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.90, Y:-14.43, Z:-2.76 [[ 9.48855042e-01 3.14359012e-01 2.91979456e-02 8.89007444e+01] [-3.14195777e-01 9.49304067e-01 -1.01391298e-02 -1.44281729e+01] [-3.09050553e-02 4.46693290e-04 9.99522225e-01 -2.75795666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:-14.45, Z:-2.76 [[ 9.48177344e-01 3.16397452e-01 2.91955032e-02 8.89597744e+01] [-3.16234965e-01 9.48626640e-01 -1.01461578e-02 -1.44474612e+01] [-3.09058506e-02 3.87717991e-04 9.99522225e-01 -2.75674051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:-14.46, Z:-2.76 [[ 9.48693947e-01 3.14845296e-01 2.91930522e-02 8.90204115e+01] [-3.14681858e-01 9.49142898e-01 -1.01532052e-02 -1.44616307e+01] [-3.09050670e-02 4.45760405e-04 9.99522225e-01 -2.75988928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:-14.48, Z:-2.76 [[ 9.49533556e-01 3.12304235e-01 2.91906042e-02 8.90796826e+01] [-3.12139380e-01 9.49981988e-01 -1.01602381e-02 -1.44779150e+01] [-3.09036336e-02 5.35949916e-04 9.99522225e-01 -2.76170225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:-14.50, Z:-2.76 [[ 9.49613762e-01 3.12060478e-01 2.91883659e-02 8.91388685e+01] [-3.11895310e-01 9.50062079e-01 -1.01666643e-02 -1.44959555e+01] [-3.09033737e-02 5.50689918e-04 9.99522225e-01 -2.76407305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:-14.51, Z:-2.76 [[ 9.49509766e-01 3.12376996e-01 2.91859077e-02 8.91977351e+01] [-3.12211761e-01 9.49958058e-01 -1.01737162e-02 -1.45127637e+01] [-3.09034231e-02 5.47859214e-04 9.99522225e-01 -2.76400058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62361786499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:-14.53, Z:-2.76 [[ 9.48491035e-01 3.15456924e-01 2.91836523e-02 8.92567647e+01] [-3.15292945e-01 9.48939789e-01 -1.01801819e-02 -1.45313268e+01] [-3.09049377e-02 4.54411523e-04 9.99522225e-01 -2.76280295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:-14.55, Z:-2.76 [[ 9.48318216e-01 3.15976291e-01 2.91812418e-02 8.93183119e+01] [-3.15812346e-01 9.48766982e-01 -1.01870870e-02 -1.45472400e+01] [-3.09050766e-02 4.44803749e-04 9.99522225e-01 -2.76365677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:-14.57, Z:-2.76 [[ 9.48099521e-01 3.16632150e-01 2.91784117e-02 8.93785488e+01] [-3.16468266e-01 9.48548309e-01 -1.01951865e-02 -1.45659689e+01] [-3.09052569e-02 4.32010036e-04 9.99522225e-01 -2.76423708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:-14.58, Z:-2.76 [[ 9.48306470e-01 3.16012064e-01 2.91755856e-02 8.94379552e+01] [-3.15847637e-01 9.48755060e-01 -1.02032676e-02 -1.45828072e+01] [-3.09048401e-02 4.60784939e-04 9.99522225e-01 -2.76470104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-14.60, Z:-2.78 [[ 9.49407902e-01 3.12687660e-01 2.91729791e-02 8.94985618e+01] [-3.12521434e-01 9.49855828e-01 -1.02107146e-02 -1.45957390e+01] [-3.09028887e-02 5.76951819e-04 9.99522225e-01 -2.77642145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-14.61, Z:-2.77 [[ 9.47524026e-01 3.18350904e-01 2.91705866e-02 8.95585985e+01] [-3.18187145e-01 9.47972859e-01 -1.02175452e-02 -1.46148564e+01] [-3.09056891e-02 3.99663883e-04 9.99522225e-01 -2.76966197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-14.63, Z:-2.77 [[ 9.46344010e-01 3.21841973e-01 2.91677728e-02 8.96180921e+01] [-3.21679623e-01 9.46793356e-01 -1.02255712e-02 -1.46339654e+01] [-3.09068715e-02 2.94229865e-04 9.99522225e-01 -2.76999170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04361786499999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:89.68, Y:-14.65, Z:-2.77 [[ 9.45135400e-01 3.25374369e-01 2.91649569e-02 8.96773092e+01] [-3.25213451e-01 9.45585260e-01 -1.02335964e-02 -1.46523209e+01] [-3.09077033e-02 1.87297904e-04 9.99522225e-01 -2.76956111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:-14.67, Z:-2.77 [[ 9.43433231e-01 3.30277606e-01 2.91623495e-02 8.97362906e+01] [-3.30118796e-01 9.43883839e-01 -1.02410213e-02 -1.46734192e+01] [-3.09082504e-02 3.46800822e-05 9.99522225e-01 -2.77417704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:-14.69, Z:-2.77 [[ 9.42815875e-01 3.32036063e-01 2.91595514e-02 8.97964464e+01] [-3.31877848e-01 9.43266692e-01 -1.02489823e-02 -1.46920194e+01] [-3.09082653e-02 -1.45059783e-05 9.99522225e-01 -2.77330875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:-14.71, Z:-2.78 [[ 9.41960977e-01 3.34453906e-01 2.91565012e-02 8.98552580e+01] [-3.34296579e-01 9.42412106e-01 -1.02576520e-02 -1.47115328e+01] [-3.09081515e-02 -8.46106904e-05 9.99522225e-01 -2.77594807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:-14.73, Z:-2.78 [[ 9.42355780e-01 3.33340054e-01 2.91546181e-02 8.99133841e+01] [-3.33182029e-01 9.42806665e-01 -1.02630014e-02 -1.47316150e+01] [-3.09082377e-02 -4.23960735e-05 9.99522225e-01 -2.78328601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.97, Y:-14.75, Z:-2.78 [[ 9.39848818e-01 3.40344474e-01 2.91519912e-02 8.99727721e+01] [-3.40189578e-01 9.40300786e-01 -1.02704578e-02 -1.47505873e+01] [-3.09071338e-02 -2.64525961e-04 9.99522225e-01 -2.78249737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:-14.77, Z:-2.79 [[ 9.38579504e-01 3.43829650e-01 2.91493654e-02 9.00289115e+01] [-3.43676201e-01 9.39031966e-01 -1.02779049e-02 -1.47745958e+01] [-3.09060343e-02 -3.71312311e-04 9.99522225e-01 -2.78662829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.09, Y:-14.80, Z:-2.79 [[ 9.38533762e-01 3.43954612e-01 2.91479447e-02 9.00881687e+01] [-3.43801097e-01 9.38986202e-01 -1.02819323e-02 -1.47963365e+01] [-3.09060359e-02 -3.71154820e-04 9.99522225e-01 -2.78942695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.15, Y:-14.82, Z:-2.79 [[ 9.40342557e-01 3.38978522e-01 2.91451133e-02 9.01467993e+01] [-3.38822365e-01 9.40794091e-01 -1.02899520e-02 -1.48164772e+01] [-3.09076231e-02 -1.98936435e-04 9.99522225e-01 -2.78999144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:-14.84, Z:-2.80 [[ 9.41070738e-01 3.36951888e-01 2.91425966e-02 9.02049832e+01] [-3.36794538e-01 9.41521858e-01 -1.02970748e-02 -1.48374253e+01] [-3.09080105e-02 -1.24791594e-04 9.99522226e-01 -2.79688863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.26, Y:-14.87, Z:-2.80 [[ 9.40190379e-01 3.39400820e-01 2.91399198e-02 9.02595897e+01] [-3.39244411e-01 9.40641826e-01 -1.03046443e-02 -1.48660026e+01] [-3.09076321e-02 -1.97227531e-04 9.99522226e-01 -2.79585578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:-14.89, Z:-2.80 [[ 9.42366696e-01 3.33310694e-01 2.91374729e-02 9.03185898e+01] [-3.33151152e-01 9.42817046e-01 -1.03115586e-02 -1.48850996e+01] [-3.09082588e-02 1.00867665e-05 9.99522226e-01 -2.80365053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.38, Y:-14.91, Z:-2.81 [[ 9.42545330e-01 3.32805428e-01 2.91349922e-02 9.03763739e+01] [-3.32645428e-01 9.42995518e-01 -1.03185628e-02 -1.49067451e+01] [-3.09082408e-02 3.40912114e-05 9.99522226e-01 -2.80533511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:-14.94, Z:-2.80 [[ 9.42923631e-01 3.31732303e-01 2.91325479e-02 9.04304199e+01] [-3.31571578e-01 9.43373560e-01 -1.03254594e-02 -1.49376807e+01] [-3.09081638e-02 7.65947565e-05 9.99522226e-01 -2.80088474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.49, Y:-14.96, Z:-2.81 [[ 9.46127646e-01 3.22480718e-01 2.91318507e-02 9.04885260e+01] [-3.22315534e-01 9.46575956e-01 -1.03274261e-02 -1.49608425e+01] [-3.09059052e-02 3.81415334e-04 9.99522226e-01 -2.80675507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.943617865 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:90.55, Y:-14.98, Z:-2.81 [[ 9.47197431e-01 3.19325140e-01 2.91287111e-02 9.05466257e+01] [-3.19158190e-01 9.47645087e-01 -1.03362736e-02 -1.49842955e+01] [-3.09043120e-02 4.93825132e-04 9.99522226e-01 -2.80852895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.60, Y:-15.01, Z:-2.81 [[ 9.46668936e-01 3.20888798e-01 2.91256645e-02 9.06030029e+01] [-3.20722324e-01 9.47116769e-01 -1.03448513e-02 -1.50098610e+01] [-3.09049522e-02 4.51898533e-04 9.99522226e-01 -2.80657097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.063617865 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:-15.03, Z:-2.82 [[ 9.49623072e-01 3.12038286e-01 2.91226451e-02 9.06611996e+01] [-3.11867378e-01 9.50069233e-01 -1.03533444e-02 -1.50311956e+01] [-3.08991690e-02 7.49371777e-04 9.99522226e-01 -2.81688762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12361786499999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:-15.05, Z:-2.82 [[ 9.49651319e-01 3.11952559e-01 2.91199664e-02 9.07193126e+01] [-3.11781380e-01 9.50097376e-01 -1.03608732e-02 -1.50541161e+01] [-3.08989046e-02 7.60153595e-04 9.99522226e-01 -2.81914142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:-15.08, Z:-2.82 [[ 9.48240909e-01 3.16214136e-01 2.91169880e-02 9.07762952e+01] [-3.16044705e-01 9.48687632e-01 -1.03692367e-02 -1.50792079e+01] [-3.09018256e-02 6.30264531e-04 9.99522226e-01 -2.81877656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.83, Y:-15.10, Z:-2.82 [[ 9.47398461e-01 3.18729521e-01 2.91144130e-02 9.08342236e+01] [-3.18561055e-01 9.47845548e-01 -1.03764617e-02 -1.51019014e+01] [-3.09032514e-02 5.55925759e-04 9.99522226e-01 -2.82249124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.89, Y:-15.13, Z:-2.82 [[ 9.46127778e-01 3.22482152e-01 2.91116872e-02 9.08920247e+01] [-3.22315224e-01 9.46575442e-01 -1.03841033e-02 -1.51269055e+01] [-3.09050962e-02 4.41548574e-04 9.99522226e-01 -2.82196089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.363617865 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:-15.15, Z:-2.82 [[ 9.45475217e-01 3.24390663e-01 2.91086144e-02 9.09492912e+01] [-3.24224374e-01 9.45923119e-01 -1.03927100e-02 -1.51494712e+01] [-3.09058094e-02 3.88327438e-04 9.99522226e-01 -2.82486265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.423617865 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:91.01, Y:-15.17, Z:-2.83 [[ 9.44678425e-01 3.26704018e-01 2.91059696e-02 9.10067981e+01] [-3.26538597e-01 9.45126649e-01 -1.04001116e-02 -1.51721004e+01] [-3.09065858e-02 3.20538526e-04 9.99522226e-01 -2.82749504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.06, Y:-15.20, Z:-2.82 [[ 9.42322664e-01 3.33438143e-01 2.91032883e-02 9.10624323e+01] [-3.33275694e-01 9.42771973e-01 -1.04076096e-02 -1.51984494e+01] [-3.09080585e-02 1.07907761e-04 9.99522226e-01 -2.82181645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54361786499999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:91.12, Y:-15.22, Z:-2.84 [[ 9.42199205e-01 3.33787056e-01 2.91008374e-02 9.11209849e+01] [-3.33624562e-01 9.42648498e-01 -1.04144580e-02 -1.52174453e+01] [-3.09080719e-02 1.03739882e-04 9.99522226e-01 -2.83589090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.18, Y:-15.24, Z:-2.84 [[ 9.41092516e-01 3.36894897e-01 2.90981853e-02 9.11777755e+01] [-3.36733658e-01 9.41542261e-01 -1.04218627e-02 -1.52415825e+01] [-3.09082435e-02 9.59861583e-06 9.99522226e-01 -2.83687436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.24, Y:-15.27, Z:-2.84 [[ 9.40913250e-01 3.37395458e-01 2.90957076e-02 9.12360052e+01] [-3.37234244e-01 9.41363004e-01 -1.04287753e-02 -1.52653603e+01] [-3.09082442e-02 5.03890747e-07 9.99522226e-01 -2.83974097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.29, Y:-15.29, Z:-2.84 [[ 9.41374877e-01 3.36105580e-01 2.90926208e-02 9.12936213e+01] [-3.35943484e-01 9.41824313e-01 -1.04373795e-02 -1.52899968e+01] [-3.09081990e-02 5.20104276e-05 9.99522226e-01 -2.84126070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.35, Y:-15.32, Z:-2.84 [[ 9.42775756e-01 3.32156096e-01 2.90895373e-02 9.13480112e+01] [-3.31991853e-01 9.43224412e-01 -1.04459662e-02 -1.53208013e+01] [-3.09076531e-02 1.90714267e-04 9.99522226e-01 -2.83890679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.41, Y:-15.35, Z:-2.84 [[ 9.44515681e-01 3.27175812e-01 2.90880898e-02 9.14053044e+01] [-3.27009079e-01 9.44963417e-01 -1.04499955e-02 -1.53465275e+01] [-3.09061665e-02 3.58115173e-04 9.99522226e-01 -2.84054532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.46, Y:-15.38, Z:-2.83 [[ 9.45758781e-01 3.23565120e-01 2.90850600e-02 9.14607210e+01] [-3.23396419e-01 9.46205780e-01 -1.04584212e-02 -1.53761724e+01] [-3.09044322e-02 4.85139466e-04 9.99522226e-01 -2.83480856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.52, Y:-15.40, Z:-2.84 [[ 9.46768849e-01 3.20597830e-01 2.90822648e-02 9.15173570e+01] [-3.20427489e-01 9.47215225e-01 -1.04661882e-02 -1.54038210e+01] [-3.09026013e-02 5.90303823e-04 9.99522226e-01 -2.83575191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:-15.43, Z:-2.84 [[ 9.47445464e-01 3.18592974e-01 2.90793758e-02 9.15745434e+01] [-3.18421443e-01 9.47891384e-01 -1.04742090e-02 -1.54272921e+01] [-3.09010992e-02 6.64244967e-04 9.99522226e-01 -2.84289358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.083617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:-15.45, Z:-2.85 [[ 9.46805990e-01 3.20488615e-01 2.90768893e-02 9.16322169e+01] [-3.20317765e-01 9.47252171e-01 -1.04811072e-02 -1.54536907e+01] [-3.09022220e-02 6.09730912e-04 9.99522226e-01 -2.84600991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.143617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:-15.48, Z:-2.85 [[ 9.45501055e-01 3.24318449e-01 2.90740174e-02 9.16898653e+01] [-3.24149162e-01 9.45947832e-01 -1.04890675e-02 -1.54799433e+01] [-3.09043018e-02 4.93106001e-04 9.99522226e-01 -2.84653964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.75, Y:-15.50, Z:-2.85 [[ 9.45331146e-01 3.24813645e-01 2.90709423e-02 9.17478622e+01] [-3.24644330e-01 9.45777913e-01 -1.04975833e-02 -1.55018619e+01] [-3.09044135e-02 4.85975882e-04 9.99522226e-01 -2.84977300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:-15.53, Z:-2.85 [[ 9.44484596e-01 3.27267297e-01 2.90682783e-02 9.18049803e+01] [-3.27098915e-01 9.44931715e-01 -1.05049549e-02 -1.55280022e+01] [-3.09054663e-02 4.13565766e-04 9.99522226e-01 -2.84973415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:-15.55, Z:-2.85 [[ 9.44025275e-01 3.28590162e-01 2.90651994e-02 9.18632896e+01] [-3.28422145e-01 9.44472531e-01 -1.05134669e-02 -1.55516439e+01] [-3.09059042e-02 3.79323310e-04 9.99522226e-01 -2.85150107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-15.58, Z:-2.85 [[ 9.42616892e-01 3.32609062e-01 2.90621117e-02 9.19204431e+01] [-3.32442689e-01 9.43064762e-01 -1.05219952e-02 -1.55765779e+01] [-3.09071644e-02 2.56723851e-04 9.99522227e-01 -2.85046913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.443617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:-15.60, Z:-2.85 [[ 9.42268016e-01 3.33596382e-01 2.90592594e-02 9.19777249e+01] [-3.33430236e-01 9.42715970e-01 -1.05298668e-02 -1.56010211e+01] [-3.09073533e-02 2.32720973e-04 9.99522227e-01 -2.85149211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.503617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:92.04, Y:-15.62, Z:-2.86 [[ 9.41353086e-01 3.36169571e-01 2.90583261e-02 9.20364365e+01] [-3.36004570e-01 9.41801464e-01 -1.05324414e-02 -1.56242011e+01] [-3.09078604e-02 1.51015869e-04 9.99522227e-01 -2.85712495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.10, Y:-15.65, Z:-2.86 [[ 9.40462336e-01 3.38653784e-01 2.90552783e-02 9.20953804e+01] [-3.38489707e-01 9.40911052e-01 -1.05408426e-02 -1.56462840e+01] [-3.09081287e-02 7.83528502e-05 9.99522227e-01 -2.85902758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.15, Y:-15.67, Z:-2.86 [[ 9.39802434e-01 3.40481040e-01 2.90524628e-02 9.21542329e+01] [-3.40317596e-01 9.40251382e-01 -1.05485971e-02 -1.56668514e+01] [-3.09082156e-02 2.65329120e-05 9.99522227e-01 -2.86224479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.21, Y:-15.69, Z:-2.86 [[ 9.39548020e-01 3.41182709e-01 2.90495677e-02 9.22116993e+01] [-3.41019355e-01 9.39996999e-01 -1.05565638e-02 -1.56892497e+01] [-3.09082235e-02 1.19338402e-05 9.99522227e-01 -2.86353370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:-15.71, Z:-2.87 [[ 9.39732858e-01 3.40673500e-01 2.90468838e-02 9.22703840e+01] [-3.40509674e-01 9.40181666e-01 -1.05639436e-02 -1.57102371e+01] [-3.09082032e-02 3.65399672e-05 9.99522227e-01 -2.86603613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:-15.73, Z:-2.87 [[ 9.39868636e-01 3.40298950e-01 2.90443132e-02 9.23283160e+01] [-3.40134727e-01 9.40317298e-01 -1.05710062e-02 -1.57311415e+01] [-3.09081725e-02 5.63776585e-05 9.99522227e-01 -2.86752914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.39, Y:-15.75, Z:-2.87 [[ 9.40050974e-01 3.39795162e-01 2.90416011e-02 9.23865024e+01] [-3.39630469e-01 9.40499464e-01 -1.05784520e-02 -1.57519186e+01] [-3.09081171e-02 8.08715466e-05 9.99522227e-01 -2.86811163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:-15.77, Z:-2.87 [[ 9.41941298e-01 3.34519563e-01 2.90388223e-02 9.24448500e+01] [-3.34352123e-01 9.42388770e-01 -1.05860744e-02 -1.57695944e+01] [-3.09071091e-02 2.62268810e-04 9.99522227e-01 -2.87092842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:-15.79, Z:-2.87 [[ 9.41487141e-01 3.35795858e-01 2.90362814e-02 9.25018961e+01] [-3.35628809e-01 9.41934759e-01 -1.05930395e-02 -1.57947100e+01] [-3.09073814e-02 2.27797887e-04 9.99522227e-01 -2.86835042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:-15.81, Z:-2.88 [[ 9.42978611e-01 3.31584514e-01 2.90353105e-02 9.25620994e+01] [-3.31415385e-01 9.43425447e-01 -1.05956999e-02 -1.58095608e+01] [-3.09060208e-02 3.68769740e-04 9.99522227e-01 -2.87841524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.62, Y:-15.83, Z:-2.88 [[ 9.43561726e-01 3.29921780e-01 2.90325470e-02 9.26200503e+01] [-3.29751630e-01 9.44008174e-01 -1.06032665e-02 -1.58309591e+01] [-3.09052103e-02 4.31306677e-04 9.99522227e-01 -2.88036885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.68, Y:-15.85, Z:-2.88 [[ 9.44450024e-01 3.27370443e-01 2.90300721e-02 9.26789270e+01] [-3.27198879e-01 9.44895931e-01 -1.06100382e-02 -1.58499849e+01] [-3.09038099e-02 5.22043825e-04 9.99522227e-01 -2.88363951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.74, Y:-15.87, Z:-2.89 [[ 9.44883980e-01 3.26116038e-01 2.90274800e-02 9.27359842e+01] [-3.25943665e-01 9.45329574e-01 -1.06171250e-02 -1.58703506e+01] [-3.09029501e-02 5.70628099e-04 9.99522227e-01 -2.88747702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:-15.89, Z:-2.88 [[ 9.44761055e-01 3.26472193e-01 2.90251047e-02 9.27947706e+01] [-3.26299789e-01 9.45206637e-01 -1.06236147e-02 -1.58911291e+01] [-3.09030364e-02 5.65891871e-04 9.99522227e-01 -2.88288260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:-15.91, Z:-2.89 [[ 9.44756159e-01 3.26486586e-01 2.90225668e-02 9.28526057e+01] [-3.26313976e-01 9.45201661e-01 -1.06305434e-02 -1.59104108e+01] [-3.09029082e-02 5.72802168e-04 9.99522227e-01 -2.88914475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:-15.93, Z:-2.89 [[ 9.43656334e-01 3.29652162e-01 2.90202469e-02 9.29118044e+01] [-3.29480851e-01 9.44102339e-01 -1.06368727e-02 -1.59312809e+01] [-3.09045510e-02 4.75936680e-04 9.99522227e-01 -2.88737769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46361786499999 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:92.97, Y:-15.95, Z:-2.88 [[ 9.42247705e-01 3.33657391e-01 2.90173862e-02 9.29707936e+01] [-3.33487736e-01 9.42694341e-01 -1.06446711e-02 -1.59527993e+01] [-3.09061989e-02 3.52974497e-04 9.99522227e-01 -2.88113385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.03, Y:-15.97, Z:-2.89 [[ 9.42822514e-01 3.32029762e-01 2.90162951e-02 9.30297692e+01] [-3.31859244e-01 9.43268822e-01 -1.06476444e-02 -1.59719837e+01] [-3.09055013e-02 4.09513069e-04 9.99522227e-01 -2.88982191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.583617865 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:93.09, Y:-15.99, Z:-2.89 [[ 9.42092475e-01 3.34095811e-01 2.90130575e-02 9.30878657e+01] [-3.33926001e-01 9.42539053e-01 -1.06564589e-02 -1.59922923e+01] [-3.09062180e-02 3.51155508e-04 9.99522227e-01 -2.88618098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.643617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.15, Y:-16.01, Z:-2.90 [[ 9.42541894e-01 3.32826058e-01 2.90102286e-02 9.31462905e+01] [-3.32655410e-01 9.42988152e-01 -1.06641547e-02 -1.60113054e+01] [-3.09056104e-02 4.01003081e-04 9.99522227e-01 -2.89538198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.703617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.20, Y:-16.03, Z:-2.90 [[ 9.42652115e-01 3.32514010e-01 2.90072905e-02 9.32037542e+01] [-3.32342968e-01 9.43098222e-01 -1.06721404e-02 -1.60328441e+01] [-3.09053603e-02 4.19746736e-04 9.99522227e-01 -2.89816675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76361786499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:93.26, Y:-16.05, Z:-2.90 [[ 9.43783646e-01 3.29288760e-01 2.90058921e-02 9.32626359e+01] [-3.29116077e-01 9.44229121e-01 -1.06759398e-02 -1.60549917e+01] [-3.09036750e-02 5.29471952e-04 9.99522227e-01 -2.89982579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.32, Y:-16.08, Z:-2.90 [[ 9.43593265e-01 3.29834164e-01 2.90030074e-02 9.33207208e+01] [-3.29661498e-01 9.44038746e-01 -1.06837708e-02 -1.60764390e+01] [-3.09038354e-02 5.19959259e-04 9.99522227e-01 -2.89789350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.38, Y:-16.10, Z:-2.90 [[ 9.44498182e-01 3.27234105e-01 2.90004169e-02 9.33787227e+01] [-3.27059997e-01 9.44943102e-01 -1.06907979e-02 -1.60986825e+01] [-3.09021376e-02 6.12562887e-04 9.99522227e-01 -2.90078475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.943617865 meters Centerline goodness : 0.994085 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:-16.12, Z:-2.90 [[ 9.43281618e-01 3.30724847e-01 2.89976684e-02 9.34342407e+01] [-3.30552157e-01 9.43727089e-01 -1.06982477e-02 -1.61237838e+01] [-3.09040616e-02 5.06218578e-04 9.99522227e-01 -2.89705377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.003617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:-16.14, Z:-2.90 [[ 9.44026315e-01 3.28593423e-01 2.89944690e-02 9.34932167e+01] [-3.28419460e-01 9.44471291e-01 -1.07069118e-02 -1.61420521e+01] [-3.09026644e-02 5.85258665e-04 9.99522227e-01 -2.90440733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.55, Y:-16.17, Z:-2.90 [[ 9.42741718e-01 3.32261281e-01 2.89912769e-02 9.35511965e+01] [-3.32088785e-01 9.43187265e-01 -1.07155481e-02 -1.61658208e+01] [-3.09045649e-02 4.74316252e-04 9.99522227e-01 -2.90032701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:-16.19, Z:-2.91 [[ 9.43847562e-01 3.29107020e-01 2.89887837e-02 9.36098973e+01] [-3.28932827e-01 9.44292448e-01 -1.07222887e-02 -1.61856704e+01] [-3.09026700e-02 5.84843485e-04 9.99522227e-01 -2.90824949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18361786499999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:93.67, Y:-16.21, Z:-2.91 [[ 9.43363830e-01 3.30491294e-01 2.89860135e-02 9.36672889e+01] [-3.30317525e-01 9.43808882e-01 -1.07297723e-02 -1.62069415e+01] [-3.09033533e-02 5.47490861e-04 9.99522227e-01 -2.91478618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.72, Y:-16.23, Z:-2.91 [[ 9.43138818e-01 3.31133099e-01 2.89834763e-02 9.37243874e+01] [-3.30959422e-01 9.43583905e-01 -1.07366215e-02 -1.62312306e+01] [-3.09035925e-02 5.33769938e-04 9.99522227e-01 -2.91002088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:93.78, Y:-16.25, Z:-2.91 [[ 9.42842808e-01 3.31975220e-01 2.89809104e-02 9.37821764e+01] [-3.31801728e-01 9.43287967e-01 -1.07435432e-02 -1.62535061e+01] [-3.09039342e-02 5.13556335e-04 9.99522227e-01 -2.91149683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.363617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:93.84, Y:-16.28, Z:-2.91 [[ 9.42753401e-01 3.32229272e-01 2.89781965e-02 9.38397279e+01] [-3.32055675e-01 9.43198520e-01 -1.07508582e-02 -1.62750052e+01] [-3.09039419e-02 5.13033544e-04 9.99522227e-01 -2.91406818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.423617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.90, Y:-16.30, Z:-2.92 [[ 9.42846067e-01 3.31966433e-01 2.89755249e-02 9.38975566e+01] [-3.31792491e-01 9.43291051e-01 -1.07580539e-02 -1.62970891e+01] [-3.09036661e-02 5.29327253e-04 9.99522227e-01 -2.91730493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.96, Y:-16.32, Z:-2.92 [[ 9.42581874e-01 3.32716052e-01 2.89730746e-02 9.39560940e+01] [-3.32542261e-01 9.43026917e-01 -1.07646488e-02 -1.63188622e+01] [-3.09039607e-02 5.11791052e-04 9.99522228e-01 -2.92013446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:-16.34, Z:-2.92 [[ 9.42274928e-01 3.33584602e-01 2.89702140e-02 9.40142633e+01] [-3.33410985e-01 9.42720039e-01 -1.07723420e-02 -1.63399321e+01] [-3.09042887e-02 4.91520250e-04 9.99522228e-01 -2.92408464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60361786499999 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:-16.36, Z:-2.94 [[ 9.40278564e-01 3.39171189e-01 2.89676737e-02 9.40707197e+01] [-3.39000007e-01 9.40724617e-01 -1.07791687e-02 -1.63647695e+01] [-3.09065872e-02 3.15379725e-04 9.99522228e-01 -2.93593879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:-16.38, Z:-2.93 [[ 9.40758162e-01 3.37838867e-01 2.89651625e-02 9.41295773e+01] [-3.37666846e-01 9.41203892e-01 -1.07859125e-02 -1.63833095e+01] [-3.09060241e-02 3.66360148e-04 9.99522228e-01 -2.92622369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.723617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:-16.41, Z:-2.93 [[ 9.41144925e-01 3.36760051e-01 2.89637449e-02 9.41868530e+01] [-3.36587402e-01 9.41590411e-01 -1.07897177e-02 -1.64053021e+01] [-3.09055304e-02 4.05856427e-04 9.99522228e-01 -2.92797748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.783617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.25, Y:-16.43, Z:-2.93 [[ 9.41556553e-01 3.35607641e-01 2.89615024e-02 9.42453813e+01] [-3.35434261e-01 9.42001756e-01 -1.07957337e-02 -1.64256370e+01] [-3.09049168e-02 4.50113640e-04 9.99522228e-01 -2.92583809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.843617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-16.45, Z:-2.94 [[ 9.40036956e-01 3.39840994e-01 2.89589223e-02 9.43024612e+01] [-3.39669406e-01 9.40482853e-01 -1.08026502e-02 -1.64497130e+01] [-3.09065533e-02 3.18430440e-04 9.99522228e-01 -2.94057922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:-16.47, Z:-2.93 [[ 9.42454563e-01 3.33077957e-01 2.89563540e-02 9.43618154e+01] [-3.32902959e-01 9.42899133e-01 -1.08095302e-02 -1.64677780e+01] [-3.09033373e-02 5.47835167e-04 9.99522228e-01 -2.93370820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:-16.49, Z:-2.94 [[ 9.43259691e-01 3.30791237e-01 2.89536282e-02 9.44212375e+01] [-3.30614937e-01 9.43703746e-01 -1.08168263e-02 -1.64886173e+01] [-3.09017588e-02 6.30574310e-04 9.99522228e-01 -2.93773223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:-16.51, Z:-2.94 [[ 9.42829622e-01 3.32015296e-01 2.89507790e-02 9.44802820e+01] [-3.31839338e-01 9.43273812e-01 -1.08244468e-02 -1.65095289e+01] [-3.09023936e-02 5.98601781e-04 9.99522228e-01 -2.93728952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.083617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-16.53, Z:-2.94 [[ 9.43061781e-01 3.31355547e-01 2.89478504e-02 9.45384751e+01] [-3.31179038e-01 9.43505753e-01 -1.08322730e-02 -1.65306237e+01] [-3.09017972e-02 6.28581432e-04 9.99522228e-01 -2.93879088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:-16.55, Z:-2.94 [[ 9.43158941e-01 3.31079117e-01 2.89453161e-02 9.45967705e+01] [-3.30902270e-01 9.43602778e-01 -1.08390408e-02 -1.65513447e+01] [-3.09014607e-02 6.44867443e-04 9.99522228e-01 -2.94064360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.65, Y:-16.57, Z:-2.95 [[ 9.41178574e-01 3.36667811e-01 2.89426361e-02 9.46537023e+01] [-3.36493381e-01 9.41623367e-01 -1.08461922e-02 -1.65740685e+01] [-3.09046263e-02 4.69198223e-04 9.99522228e-01 -2.95094951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:-16.60, Z:-2.95 [[ 9.41140983e-01 3.36773083e-01 2.89402987e-02 9.47111462e+01] [-3.36598511e-01 9.41585720e-01 -1.08524255e-02 -1.65951616e+01] [-3.09045768e-02 4.72400960e-04 9.99522228e-01 -2.95188703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:-16.61, Z:-2.94 [[ 9.42794487e-01 3.32116087e-01 2.89389006e-02 9.47712253e+01] [-3.31939204e-01 9.43238310e-01 -1.08561523e-02 -1.66114296e+01] [-3.09017825e-02 6.29164874e-04 9.99522228e-01 -2.94382046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.83, Y:-16.63, Z:-2.95 [[ 9.42273531e-01 3.33591486e-01 2.89363618e-02 9.48308200e+01] [-3.33415091e-01 9.42717548e-01 -1.08629151e-02 -1.66307477e+01] [-3.09025920e-02 5.88017656e-04 9.99522228e-01 -2.94683191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.443617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.89, Y:-16.65, Z:-2.95 [[ 9.42763977e-01 3.32203171e-01 2.89333248e-02 9.48889695e+01] [-3.32025873e-01 9.43207634e-01 -1.08709981e-02 -1.66490216e+01] [-3.09015129e-02 6.42172957e-04 9.99522228e-01 -2.95052487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:-16.67, Z:-2.95 [[ 9.41169050e-01 3.36695366e-01 2.89318274e-02 9.49478667e+01] [-3.36520064e-01 9.41613499e-01 -1.08749819e-02 -1.66699038e+01] [-3.09041552e-02 4.99055973e-04 9.99522228e-01 -2.95201386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:-16.69, Z:-2.96 [[ 9.39433676e-01 3.41507676e-01 2.89288122e-02 9.50042560e+01] [-3.41334404e-01 9.39878920e-01 -1.08829967e-02 -1.66915234e+01] [-3.09062077e-02 3.49454679e-04 9.99522228e-01 -2.96276876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:-16.71, Z:-2.95 [[ 9.40912831e-01 3.37411090e-01 2.89275126e-02 9.50648852e+01] [-3.37235773e-01 9.41357275e-01 -1.08864500e-02 -1.67092353e+01] [-3.09043334e-02 4.87808376e-04 9.99522228e-01 -2.95436737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.12, Y:-16.73, Z:-2.95 [[ 9.40788130e-01 3.37758710e-01 2.89266039e-02 9.51249047e+01] [-3.37583483e-01 9.41232609e-01 -1.08888640e-02 -1.67296392e+01] [-3.09044715e-02 4.78970245e-04 9.99522228e-01 -2.95341714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:-16.75, Z:-2.96 [[ 9.40627613e-01 3.38205730e-01 2.89236597e-02 9.51836230e+01] [-3.38030474e-01 9.41072081e-01 -1.08966791e-02 -1.67497566e+01] [-3.09045679e-02 4.72638832e-04 9.99522228e-01 -2.95603460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:-16.77, Z:-2.97 [[ 9.39773128e-01 3.40573101e-01 2.89211082e-02 9.52409647e+01] [-3.40398757e-01 9.40217954e-01 -1.09034469e-02 -1.67711205e+01] [-3.09055659e-02 4.02057167e-04 9.99522228e-01 -2.96767130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.30, Y:-16.79, Z:-2.96 [[ 9.41768531e-01 3.35016028e-01 2.89187623e-02 9.53006571e+01] [-3.34838869e-01 9.42212243e-01 -1.09096653e-02 -1.67889407e+01] [-3.09025246e-02 5.91253813e-04 9.99522228e-01 -2.96467170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.923617865 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:-16.81, Z:-2.96 [[ 9.41856356e-01 3.34769258e-01 2.89162499e-02 9.53575110e+01] [-3.34591778e-01 9.42299940e-01 -1.09163202e-02 -1.68126544e+01] [-3.09022290e-02 6.06466059e-04 9.99522228e-01 -2.96225726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:-16.83, Z:-2.97 [[ 9.42505129e-01 3.32938586e-01 2.89132965e-02 9.54165612e+01] [-3.32760005e-01 9.42948271e-01 -1.09241372e-02 -1.68321444e+01] [-3.09008097e-02 6.74866718e-04 9.99522228e-01 -2.96629617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04361786499999 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:-16.86, Z:-2.96 [[ 9.42706100e-01 3.32369402e-01 2.89100379e-02 9.54725155e+01] [-3.32190289e-01 9.43149027e-01 -1.09327540e-02 -1.68578374e+01] [-3.09001870e-02 7.02740029e-04 9.99522228e-01 -2.96328688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:-16.88, Z:-2.96 [[ 9.44776077e-01 3.26439191e-01 2.89070691e-02 9.55317926e+01] [-3.26257058e-01 9.45217771e-01 -1.09405983e-02 -1.68768518e+01] [-3.08949154e-02 9.05280184e-04 9.99522228e-01 -2.95930608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16361786499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:-16.90, Z:-2.96 [[ 9.45523251e-01 3.24268936e-01 2.89039623e-02 9.55911367e+01] [-3.24085539e-01 9.45964422e-01 -1.09487998e-02 -1.68980295e+01] [-3.08924757e-02 9.84988618e-04 9.99522228e-01 -2.96167338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:-16.92, Z:-2.96 [[ 9.45250961e-01 3.25061942e-01 2.89024830e-02 9.56498483e+01] [-3.24878797e-01 9.45692236e-01 -1.09527036e-02 -1.69184861e+01] [-3.08931609e-02 9.63249700e-04 9.99522228e-01 -2.96049554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-16.94, Z:-2.96 [[ 9.43923050e-01 3.28898305e-01 2.88994775e-02 9.57090168e+01] [-3.28716711e-01 9.44364966e-01 -1.09606279e-02 -1.69376244e+01] [-3.08965861e-02 8.46248124e-04 9.99522228e-01 -2.96297345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.343617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-16.96, Z:-2.98 [[ 9.42751793e-01 3.32240964e-01 2.88963458e-02 9.57682193e+01] [-3.32060684e-01 9.43194246e-01 -1.09688783e-02 -1.69561043e+01] [-3.08991777e-02 7.45589320e-04 9.99522228e-01 -2.97946037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-16.98, Z:-2.98 [[ 9.41340881e-01 3.36217936e-01 2.88936856e-02 9.58268822e+01] [-3.36039310e-01 9.41784005e-01 -1.09758811e-02 -1.69764331e+01] [-3.09018990e-02 6.22631374e-04 9.99522228e-01 -2.97962730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:-17.00, Z:-2.98 [[ 9.40292493e-01 3.39139124e-01 2.88908559e-02 9.58857448e+01] [-3.38961646e-01 9.40736078e-01 -1.09833243e-02 -1.69950902e+01] [-3.09035455e-02 5.34645323e-04 9.99522228e-01 -2.98222450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:-17.02, Z:-2.98 [[ 9.39817166e-01 3.40454367e-01 2.88880296e-02 9.59438042e+01] [-3.40277282e-01 9.40260908e-01 -1.09907530e-02 -1.70154357e+01] [-3.09041348e-02 4.99358096e-04 9.99522228e-01 -2.98399976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.583617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:-17.04, Z:-2.98 [[ 9.39295852e-01 3.41890234e-01 2.88854481e-02 9.60031083e+01] [-3.41713619e-01 9.39739781e-01 -1.09975334e-02 -1.70354890e+01] [-3.09047540e-02 4.59386449e-04 9.99522228e-01 -2.98491936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.643617865 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:-17.06, Z:-2.99 [[ 9.38889108e-01 3.43005878e-01 2.88826998e-02 9.60617630e+01] [-3.42829569e-01 9.39333158e-01 -1.10047465e-02 -1.70555525e+01] [-3.09051704e-02 4.30393089e-04 9.99522228e-01 -2.98599119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:-17.08, Z:-2.99 [[ 9.39270898e-01 3.41959259e-01 2.88798587e-02 9.61198700e+01] [-3.41782226e-01 9.39714660e-01 -1.10121974e-02 -1.70755939e+01] [-3.09045495e-02 4.72814122e-04 9.99522229e-01 -2.99050840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.18, Y:-17.09, Z:-2.99 [[ 9.39021807e-01 3.42642923e-01 2.88768646e-02 9.61786529e+01] [-3.42465971e-01 9.39465602e-01 -1.10200431e-02 -1.70948392e+01] [-3.09047608e-02 4.58717255e-04 9.99522229e-01 -2.99188737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.24, Y:-17.12, Z:-3.00 [[ 9.39103207e-01 3.42420000e-01 2.88740256e-02 9.62356782e+01] [-3.42242715e-01 9.39546869e-01 -1.10274768e-02 -1.71156422e+01] [-3.09045289e-02 4.74013920e-04 9.99522229e-01 -2.99774996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88361786499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:96.30, Y:-17.13, Z:-3.00 [[ 9.39261594e-01 3.41985524e-01 2.88714360e-02 9.62953390e+01] [-3.41807825e-01 9.39705090e-01 -1.10342525e-02 -1.71347863e+01] [-3.09041900e-02 4.95566804e-04 9.99522229e-01 -3.00156085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.943617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:-17.16, Z:-3.01 [[ 9.37077338e-01 3.47926081e-01 2.88704843e-02 9.63516073e+01] [-3.47751117e-01 9.37521920e-01 -1.10367421e-02 -1.71569552e+01] [-3.09066823e-02 3.02537726e-04 9.99522229e-01 -3.01266537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:-17.18, Z:-3.01 [[ 9.36628360e-01 3.49133055e-01 2.88691059e-02 9.64113740e+01] [-3.48958553e-01 9.37073124e-01 -1.10403463e-02 -1.71753963e+01] [-3.09070131e-02 2.66579994e-04 9.99522229e-01 -3.01465499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.47, Y:-17.19, Z:-3.01 [[ 9.38565049e-01 3.43892971e-01 2.88664686e-02 9.64697093e+01] [-3.43715774e-01 9.39008746e-01 -1.10472377e-02 -1.71934810e+01] [-3.09049338e-02 4.46690617e-04 9.99522229e-01 -3.01094893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:-17.21, Z:-3.01 [[ 9.37719838e-01 3.46191237e-01 2.88640516e-02 9.65278999e+01] [-3.46014934e-01 9.38163890e-01 -1.10535492e-02 -1.72131779e+01] [-3.09058528e-02 3.77739449e-04 9.99522229e-01 -3.01411547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:-17.23, Z:-3.01 [[ 9.37652734e-01 3.46372976e-01 2.88636885e-02 9.65851464e+01] [-3.46196729e-01 9.38096809e-01 -1.10544971e-02 -1.72349791e+01] [-3.09059131e-02 3.72764847e-04 9.99522229e-01 -3.01354763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:-17.26, Z:-3.02 [[ 9.40631481e-01 3.38200212e-01 2.88623144e-02 9.66423536e+01] [-3.38019998e-01 9.41073961e-01 -1.10580835e-02 -1.72560869e+01] [-3.09014188e-02 6.45542047e-04 9.99522229e-01 -3.02433069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:-17.28, Z:-3.02 [[ 9.39074362e-01 3.42500122e-01 2.88619038e-02 9.66985111e+01] [-3.42321901e-01 9.39517648e-01 -1.10591553e-02 -1.72806210e+01] [-3.09040300e-02 5.05307495e-04 9.99522229e-01 -3.01981744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.76, Y:-17.30, Z:-3.02 [[ 9.38723435e-01 3.43460992e-01 2.88592965e-02 9.67558876e+01] [-3.43283016e-01 9.39166820e-01 -1.10659548e-02 -1.73040266e+01] [-3.09044176e-02 4.80964790e-04 9.99522229e-01 -3.02086764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.423617865 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:-17.33, Z:-3.02 [[ 9.39053623e-01 3.42557421e-01 2.88566571e-02 9.68123524e+01] [-3.42378807e-01 9.39496751e-01 -1.10728335e-02 -1.73276833e+01] [-3.09038168e-02 5.18076594e-04 9.99522229e-01 -3.02319850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:-17.35, Z:-3.03 [[ 9.39583770e-01 3.41100736e-01 2.88552698e-02 9.68695553e+01] [-3.40921324e-01 9.40026576e-01 -1.10764475e-02 -1.73511153e+01] [-3.09029048e-02 5.69873486e-04 9.99522229e-01 -3.02553476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54361786499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-17.38, Z:-3.03 [[ 9.39482608e-01 3.41379486e-01 2.88526645e-02 9.69270644e+01] [-3.41199997e-01 9.39925382e-01 -1.10832296e-02 -1.73779751e+01] [-3.09029390e-02 5.67972410e-04 9.99522229e-01 -3.02978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-17.40, Z:-3.03 [[ 9.39725326e-01 3.40711035e-01 2.88496490e-02 9.69851166e+01] [-3.40530991e-01 9.40167875e-01 -1.10910735e-02 -1.74010681e+01] [-3.09023643e-02 5.98363069e-04 9.99522229e-01 -3.02887912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.04, Y:-17.43, Z:-3.03 [[ 9.39516276e-01 3.41287293e-01 2.88470150e-02 9.70421143e+01] [-3.41107310e-01 9.39958850e-01 -1.10979201e-02 -1.74250643e+01] [-3.09025862e-02 5.86748887e-04 9.99522229e-01 -3.03079810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.723617865 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:97.10, Y:-17.45, Z:-3.03 [[ 9.39022248e-01 3.42644448e-01 2.88443952e-02 9.70993658e+01] [-3.42464896e-01 9.39464997e-01 -1.11047251e-02 -1.74502181e+01] [-3.09032720e-02 5.49391115e-04 9.99522229e-01 -3.03383825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.783617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.16, Y:-17.48, Z:-3.04 [[ 9.37836645e-01 3.45876542e-01 2.88417216e-02 9.71564873e+01] [-3.45698302e-01 9.38279923e-01 -1.11116648e-02 -1.74752220e+01] [-3.09048725e-02 4.50392283e-04 9.99522229e-01 -3.03520006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.21, Y:-17.50, Z:-3.04 [[ 9.36242783e-01 3.50168191e-01 2.88390433e-02 9.72127046e+01] [-3.49991769e-01 9.36686788e-01 -1.11186115e-02 -1.75015669e+01] [-3.09065349e-02 3.16292031e-04 9.99522229e-01 -3.03579950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90361786499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:-17.53, Z:-3.04 [[ 9.35140389e-01 3.53101849e-01 2.88363716e-02 9.72688744e+01] [-3.52926607e-01 9.35584861e-01 -1.11255364e-02 -1.75285192e+01] [-3.09073202e-02 2.26815616e-04 9.99522229e-01 -3.03876134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96361786499999 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:-17.56, Z:-3.05 [[ 9.32785848e-01 3.59275914e-01 2.88336379e-02 9.73245265e+01] [-3.59103395e-01 9.33231384e-01 -1.11326166e-02 -1.75568938e+01] [-3.09081369e-02 3.00899860e-05 9.99522229e-01 -3.04603774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:-17.58, Z:-3.04 [[ 9.33193554e-01 3.58215813e-01 2.88309255e-02 9.73815474e+01] [-3.58042571e-01 9.33638809e-01 -1.11396367e-02 -1.75822793e+01] [-3.09080650e-02 7.27384799e-05 9.99522229e-01 -3.04046742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.44, Y:-17.61, Z:-3.04 [[ 9.33077617e-01 3.58517927e-01 2.88280601e-02 9.74375164e+01] [-3.58344600e-01 9.33522839e-01 -1.11470471e-02 -1.76087841e+01] [-3.09080688e-02 7.06804797e-05 9.99522229e-01 -3.04241731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.143617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:-17.64, Z:-3.04 [[ 9.33602699e-01 3.57148566e-01 2.88253792e-02 9.74927466e+01] [-3.56974372e-01 9.34047583e-01 -1.11539754e-02 -1.76374761e+01] [-3.09079021e-02 1.23459841e-04 9.99522229e-01 -3.04336970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.203617865 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:97.55, Y:-17.66, Z:-3.05 [[ 9.35556500e-01 3.51998984e-01 2.88227314e-02 9.75494375e+01] [-3.51822131e-01 9.36000334e-01 -1.11608133e-02 -1.76608521e+01] [-3.09066812e-02 3.01096653e-04 9.99522229e-01 -3.05422373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.61, Y:-17.69, Z:-3.05 [[ 9.34652835e-01 3.54391688e-01 2.88202896e-02 9.76052150e+01] [-3.54215777e-01 9.35097043e-01 -1.11671152e-02 -1.76890284e+01] [-3.09073004e-02 2.28774608e-04 9.99522229e-01 -3.04827013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32361786499999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:97.66, Y:-17.72, Z:-3.05 [[ 9.35281228e-01 3.52730168e-01 2.88175892e-02 9.76601506e+01] [-3.52553253e-01 9.35725037e-01 -1.11740796e-02 -1.77169957e+01] [-3.09067746e-02 2.91172094e-04 9.99522229e-01 -3.04983684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:97.72, Y:-17.74, Z:-3.05 [[ 9.36009939e-01 3.50792080e-01 2.88151227e-02 9.77174141e+01] [-3.50614050e-01 9.36453301e-01 -1.11804362e-02 -1.77425084e+01] [-3.09060253e-02 3.62012560e-04 9.99522229e-01 -3.05116532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.443617865 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:97.77, Y:-17.77, Z:-3.05 [[ 9.37054715e-01 3.47991673e-01 2.88141647e-02 9.77733421e+01] [-3.47812242e-01 9.37497513e-01 -1.11829047e-02 -1.77699152e+01] [-3.09047655e-02 4.57074381e-04 9.99522229e-01 -3.05348107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.503617865 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:97.83, Y:-17.80, Z:-3.05 [[ 9.38010430e-01 3.45407491e-01 2.88114212e-02 9.78286597e+01] [-3.45226624e-01 9.38452643e-01 -1.11899685e-02 -1.77975550e+01] [-3.09032533e-02 5.49837513e-04 9.99522229e-01 -3.05308035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:-17.82, Z:-3.05 [[ 9.36770917e-01 3.48755384e-01 2.88085138e-02 9.78864460e+01] [-3.48575867e-01 9.37213680e-01 -1.11974488e-02 -1.78217964e+01] [-3.09049037e-02 4.47491701e-04 9.99522229e-01 -3.05329413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:-17.84, Z:-3.06 [[ 9.35696842e-01 3.51627170e-01 2.88054418e-02 9.79435176e+01] [-3.51448769e-01 9.36140055e-01 -1.12053459e-02 -1.78438202e+01] [-3.09060319e-02 3.61169650e-04 9.99522229e-01 -3.05590810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:98.00, Y:-17.87, Z:-3.06 [[ 9.33736170e-01 3.56801199e-01 2.88039930e-02 9.80027039e+01] [-3.56625139e-01 9.34180318e-01 -1.12090687e-02 -1.78652884e+01] [-3.09075325e-02 1.94084880e-04 9.99522229e-01 -3.06052144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:98.06, Y:-17.89, Z:-3.06 [[ 9.33534787e-01 3.57328006e-01 2.88009901e-02 9.80613303e+01] [-3.57151959e-01 9.33978941e-01 -1.12167793e-02 -1.78859718e+01] [-3.09075876e-02 1.84923605e-04 9.99522229e-01 -3.06498451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80361786499999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:98.12, Y:-17.91, Z:-3.07 [[ 9.32873866e-01 3.59050148e-01 2.87982948e-02 9.81204899e+01] [-3.58874707e-01 9.33318259e-01 -1.12236949e-02 -1.79081382e+01] [-3.09078437e-02 1.35312060e-04 9.99522229e-01 -3.07034282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.863617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:98.18, Y:-17.93, Z:-3.07 [[ 9.34076086e-01 3.55911083e-01 2.87952357e-02 9.81793444e+01] [-3.55733908e-01 9.34519791e-01 -1.12315379e-02 -1.79287691e+01] [-3.09071465e-02 2.47669245e-04 9.99522229e-01 -3.06922710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.923617865 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:98.24, Y:-17.95, Z:-3.08 [[ 9.34439761e-01 3.54955378e-01 2.87925838e-02 9.82370666e+01] [-3.54777539e-01 9.34883200e-01 -1.12383321e-02 -1.79510828e+01] [-3.09068093e-02 2.86582309e-04 9.99522229e-01 -3.07883950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:-17.97, Z:-3.08 [[ 9.36601535e-01 3.49211544e-01 2.87899635e-02 9.82960356e+01] [-3.49030780e-01 9.37043790e-01 -1.12450407e-02 -1.79713276e+01] [-3.09043545e-02 4.83538997e-04 9.99522229e-01 -3.07655239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:98.35, Y:-17.99, Z:-3.08 [[ 9.37569621e-01 3.46604238e-01 2.87872871e-02 9.83536104e+01] [-3.46422033e-01 9.38011284e-01 -1.12518880e-02 -1.79930641e+01] [-3.09027522e-02 5.76877810e-04 9.99522229e-01 -3.07808644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.41, Y:-18.02, Z:-3.08 [[ 9.37638710e-01 3.46417496e-01 2.87848416e-02 9.84114661e+01] [-3.46235012e-01 9.38080258e-01 -1.12581407e-02 -1.80152609e+01] [-3.09025086e-02 5.89748571e-04 9.99522229e-01 -3.07990771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.47, Y:-18.04, Z:-3.08 [[ 9.37442331e-01 3.46948793e-01 2.87821387e-02 9.84684582e+01] [-3.46766347e-01 9.37883894e-01 -1.12650465e-02 -1.80371102e+01] [-3.09026987e-02 5.79654350e-04 9.99522229e-01 -3.08018440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.223617865 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:98.53, Y:-18.06, Z:-3.09 [[ 9.39175910e-01 3.42228493e-01 2.87796582e-02 9.85270745e+01] [-3.42043634e-01 9.39616469e-01 -1.12713802e-02 -1.80563018e+01] [-3.08992283e-02 7.41909870e-04 9.99522230e-01 -3.09372111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-18.08, Z:-3.09 [[ 9.37814352e-01 3.45942381e-01 2.87768961e-02 9.85842707e+01] [-3.45759051e-01 9.38255549e-01 -1.12784277e-02 -1.80815766e+01] [-3.09017686e-02 6.27199050e-04 9.99522230e-01 -3.08627360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.343617865 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-18.10, Z:-3.09 [[ 9.38147808e-01 3.45037298e-01 2.87741777e-02 9.86418340e+01] [-3.44853330e-01 9.38588739e-01 -1.12853588e-02 -1.81037265e+01] [-3.09009889e-02 6.64463588e-04 9.99522230e-01 -3.08821231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-18.13, Z:-3.09 [[ 9.37734616e-01 3.46158914e-01 2.87714275e-02 9.86990105e+01] [-3.45975259e-01 9.38175678e-01 -1.12923659e-02 -1.81276423e+01] [-3.09016066e-02 6.35040315e-04 9.99522230e-01 -3.09351146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-18.15, Z:-3.09 [[ 9.38087591e-01 3.45201453e-01 2.87685204e-02 9.87571981e+01] [-3.45017120e-01 9.38528370e-01 -1.12997673e-02 -1.81493331e+01] [-3.09007686e-02 6.74539412e-04 9.99522230e-01 -3.09127427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:-18.17, Z:-3.09 [[ 9.37909396e-01 3.45685539e-01 2.87658252e-02 9.88148835e+01] [-3.45501224e-01 9.38350182e-01 -1.13066243e-02 -1.81715689e+01] [-3.09009538e-02 6.65961351e-04 9.99522230e-01 -3.09469355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-18.19, Z:-3.10 [[ 9.38068619e-01 3.45253457e-01 2.87630946e-02 9.88711054e+01] [-3.45068726e-01 9.38509231e-01 -1.13135664e-02 -1.81944389e+01] [-3.09004777e-02 6.87657155e-04 9.99522230e-01 -3.09676553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:-18.22, Z:-3.10 [[ 9.38191451e-01 3.44919603e-01 2.87622855e-02 9.89290663e+01] [-3.44734652e-01 9.38631971e-01 -1.13156229e-02 -1.82171146e+01] [-3.09001809e-02 7.00864123e-04 9.99522230e-01 -3.09968973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.703617865 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:-18.24, Z:-3.11 [[ 9.38750158e-01 3.43396307e-01 2.87596528e-02 9.89868829e+01] [-3.43210437e-01 9.39190290e-01 -1.13223103e-02 -1.82399053e+01] [-3.08988262e-02 7.58207540e-04 9.99522230e-01 -3.10794982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:-18.27, Z:-3.10 [[ 9.38166172e-01 3.44988794e-01 2.87570124e-02 9.90445231e+01] [-3.44803465e-01 9.38606533e-01 -1.13290126e-02 -1.82659348e+01] [-3.08999021e-02 7.12978911e-04 9.99522230e-01 -3.10263585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.10, Y:-18.29, Z:-3.11 [[ 9.38791061e-01 3.43284950e-01 2.87539058e-02 9.91028072e+01] [-3.43098581e-01 9.39230983e-01 -1.13368918e-02 -1.82854769e+01] [-3.08983435e-02 7.77548388e-04 9.99522230e-01 -3.11396135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88361786499999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:99.16, Y:-18.31, Z:-3.11 [[ 9.34903023e-01 3.53736761e-01 2.87513739e-02 9.91597268e+01] [-3.53555114e-01 9.35344915e-01 -1.13433092e-02 -1.83087433e+01] [-3.09049969e-02 4.39698779e-04 9.99522230e-01 -3.10951960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:-18.33, Z:-3.11 [[ 9.34867663e-01 3.53830403e-01 2.87488821e-02 9.92184816e+01] [-3.53648606e-01 9.35309494e-01 -1.13496211e-02 -1.83310547e+01] [-3.09049434e-02 4.43391639e-04 9.99522230e-01 -3.10839387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:-18.35, Z:-3.11 [[ 9.33772522e-01 3.56710749e-01 2.87457684e-02 9.92769833e+01] [-3.56530072e-01 9.34214812e-01 -1.13575018e-02 -1.83528615e+01] [-3.09060656e-02 3.56592170e-04 9.99522230e-01 -3.11053758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.063617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:-18.37, Z:-3.11 [[ 9.33648959e-01 3.57034288e-01 2.87426321e-02 9.93367970e+01] [-3.56853520e-01 9.34091212e-01 -1.13654335e-02 -1.83730151e+01] [-3.09060895e-02 3.54415719e-04 9.99522230e-01 -3.11321352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.39, Y:-18.40, Z:-3.12 [[ 9.33162092e-01 3.58305124e-01 2.87392956e-02 9.93935526e+01] [-3.58124700e-01 9.33604485e-01 -1.13738640e-02 -1.83950176e+01] [-3.09064490e-02 3.21407072e-04 9.99522230e-01 -3.11739127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:99.45, Y:-18.41, Z:-3.13 [[ 9.36264194e-01 3.50119358e-01 2.87366279e-02 9.94522006e+01] [-3.49934860e-01 9.36704903e-01 -1.13806002e-02 -1.84145605e+01] [-3.09023087e-02 5.99300571e-04 9.99522230e-01 -3.12601675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:-18.44, Z:-3.12 [[ 9.34366713e-01 3.55152388e-01 2.87337097e-02 9.95092364e+01] [-3.54970037e-01 9.34808316e-01 -1.13879633e-02 -1.84355778e+01] [-3.09049731e-02 4.40927798e-04 9.99522230e-01 -3.12254557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:-18.46, Z:-3.12 [[ 9.35069537e-01 3.53297915e-01 2.87322711e-02 9.95662350e+01] [-3.53114577e-01 9.35510731e-01 -1.13915917e-02 -1.84592539e+01] [-3.09039735e-02 5.06146638e-04 9.99522230e-01 -3.12003488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.363617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.62, Y:-18.48, Z:-3.12 [[ 9.35576512e-01 3.51953411e-01 2.87295561e-02 9.96241000e+01] [-3.51769229e-01 9.36017353e-01 -1.13984349e-02 -1.84818021e+01] [-3.09030811e-02 5.57934215e-04 9.99522230e-01 -3.12117767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.423617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:99.68, Y:-18.50, Z:-3.12 [[ 9.35847936e-01 3.51231292e-01 2.87266299e-02 9.96824955e+01] [-3.51046544e-01 9.36288541e-01 -1.14058048e-02 -1.85042989e+01] [-3.09024899e-02 5.89714764e-04 9.99522230e-01 -3.12289033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.74, Y:-18.53, Z:-3.12 [[ 9.36265149e-01 3.50117901e-01 2.87232692e-02 9.97404660e+01] [-3.49932369e-01 9.36705424e-01 -1.14142618e-02 -1.85267785e+01] [-3.09015794e-02 6.35573846e-04 9.99522230e-01 -3.12363705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.80, Y:-18.55, Z:-3.13 [[ 9.37103240e-01 3.47868744e-01 2.87202811e-02 9.97973109e+01] [-3.47681926e-01 9.37542970e-01 -1.14217755e-02 -1.85493499e+01] [-3.08997763e-02 7.17860164e-04 9.99522230e-01 -3.12745209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:99.86, Y:-18.57, Z:-3.13 [[ 9.38495484e-01 3.44095138e-01 2.87186831e-02 9.98563724e+01] [-3.43906429e-01 9.38934406e-01 -1.14257921e-02 -1.85702898e+01] [-3.08965191e-02 8.46514536e-04 9.99522230e-01 -3.13033803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:-18.59, Z:-3.13 [[ 9.39499035e-01 3.41345709e-01 2.87170909e-02 9.99140703e+01] [-3.41155593e-01 9.39937350e-01 -1.14297924e-02 -1.85920218e+01] [-3.08937769e-02 9.41282751e-04 9.99522230e-01 -3.13187872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.723617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:-18.61, Z:-3.13 [[ 9.40269328e-01 3.39218345e-01 2.87141905e-02 9.99722498e+01] [-3.39027015e-01 9.40707115e-01 -1.14370742e-02 -1.86139371e+01] [-3.08913087e-02 1.01904376e-03 9.99522230e-01 -3.13441791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.783617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:100.03, Y:-18.64, Z:-3.14 [[ 9.40488730e-01 3.38609825e-01 2.87112558e-02 1.00028867e+02] [-3.38417988e-01 9.40926294e-01 -1.14444367e-02 -1.86358619e+01] [-3.08903742e-02 1.04695833e-03 9.99522230e-01 -3.13585156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.09, Y:-18.66, Z:-3.14 [[ 9.40056248e-01 3.39808870e-01 2.87085757e-02 1.00086833e+02] [-3.39617386e-01 9.40493967e-01 -1.14511556e-02 -1.86591655e+01] [-3.08914465e-02 1.01479895e-03 9.99522230e-01 -3.13500767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90361786499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:100.15, Y:-18.68, Z:-3.14 [[ 9.40261006e-01 3.39242131e-01 2.87056906e-02 1.00146044e+02] [-3.39050163e-01 9.40698513e-01 -1.14583836e-02 -1.86801754e+01] [-3.08905669e-02 1.04120224e-03 9.99522230e-01 -3.13714356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:-18.70, Z:-3.14 [[ 9.39460948e-01 3.41451757e-01 2.87023482e-02 1.00204943e+02] [-3.41260563e-01 9.39898794e-01 -1.14667499e-02 -1.86996511e+01] [-3.08926443e-02 9.77584297e-04 9.99522230e-01 -3.13780717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.26, Y:-18.72, Z:-3.14 [[ 9.39206444e-01 3.42151440e-01 2.86992647e-02 1.00263739e+02] [-3.41960336e-01 9.39644329e-01 -1.14744620e-02 -1.87203260e+01] [-3.08931051e-02 9.62878479e-04 9.99522230e-01 -3.14338262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.083617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:-18.74, Z:-3.14 [[ 9.37785418e-01 3.46027518e-01 2.86961153e-02 1.00321090e+02] [-3.45837984e-01 9.38223984e-01 -1.14823329e-02 -1.87416968e+01] [-3.08965868e-02 8.43757697e-04 9.99522230e-01 -3.14356410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.143617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:-18.76, Z:-3.15 [[ 9.38184594e-01 3.44943896e-01 2.86945262e-02 1.00379376e+02] [-3.44753734e-01 9.38622889e-01 -1.14863029e-02 -1.87618827e+01] [-3.08954691e-02 8.83727385e-04 9.99522230e-01 -3.14558883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.44, Y:-18.78, Z:-3.15 [[ 9.37717305e-01 3.46212434e-01 2.86915726e-02 1.00438432e+02] [-3.46022640e-01 9.38155759e-01 -1.14936758e-02 -1.87812253e+01] [-3.08964176e-02 8.49885022e-04 9.99522230e-01 -3.15163406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.50, Y:-18.80, Z:-3.16 [[ 9.37324314e-01 3.47275240e-01 2.86886425e-02 1.00497376e+02] [-3.47085720e-01 9.37762886e-01 -1.15009848e-02 -1.88030182e+01] [-3.08971515e-02 8.22734570e-04 9.99522230e-01 -3.15670289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32361786499999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:100.56, Y:-18.83, Z:-3.16 [[ 9.37206930e-01 3.47592182e-01 2.86852886e-02 1.00555824e+02] [-3.47402554e-01 9.37645456e-01 -1.15093440e-02 -1.88255370e+01] [-3.08971885e-02 8.21294500e-04 9.99522230e-01 -3.15637716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:-18.84, Z:-3.16 [[ 9.38307667e-01 3.44610024e-01 2.86819398e-02 1.00615387e+02] [-3.44418747e-01 9.38745476e-01 -1.15176834e-02 -1.88437948e+01] [-3.08941503e-02 9.28532829e-04 9.99522231e-01 -3.16154457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.443617865 meters Centerline goodness : 0.994212 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:-18.87, Z:-3.16 [[ 9.37587547e-01 3.46564722e-01 2.86790137e-02 1.00672550e+02] [-3.46374136e-01 9.38025657e-01 -1.15249646e-02 -1.88687541e+01] [-3.08957968e-02 8.71994700e-04 9.99522231e-01 -3.16146427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:-18.89, Z:-3.17 [[ 9.38724054e-01 3.43474707e-01 2.86753411e-02 1.00732740e+02] [-3.43282401e-01 9.39161412e-01 -1.15340952e-02 -1.88871333e+01] [-3.08924438e-02 9.83592712e-04 9.99522231e-01 -3.16510494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.563617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:-18.91, Z:-3.16 [[ 9.39401990e-01 3.41616552e-01 2.86711197e-02 1.00790537e+02] [-3.41423061e-01 9.39838825e-01 -1.15445792e-02 -1.89080157e+01] [-3.08900508e-02 1.05601923e-03 9.99522231e-01 -3.16385644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:-18.93, Z:-3.16 [[ 9.39491736e-01 3.41369890e-01 2.86683818e-02 1.00849228e+02] [-3.41176077e-01 9.39928428e-01 -1.15513742e-02 -1.89287034e+01] [-3.08895184e-02 1.07145460e-03 9.99522231e-01 -3.16411291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:-18.95, Z:-3.17 [[ 9.39431636e-01 3.41535485e-01 2.86655674e-02 1.00907569e+02] [-3.41341536e-01 9.39868268e-01 -1.15583541e-02 -1.89494102e+01] [-3.08894452e-02 1.07353465e-03 9.99522231e-01 -3.17188374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-18.97, Z:-3.17 [[ 9.39440071e-01 3.41512534e-01 2.86625573e-02 1.00965763e+02] [-3.41318348e-01 9.39876597e-01 -1.15658136e-02 -1.89692638e+01] [-3.08891372e-02 1.08233204e-03 9.99522231e-01 -3.17499730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.02, Y:-18.99, Z:-3.18 [[ 9.38921849e-01 3.42934981e-01 2.86593711e-02 1.01024240e+02] [-3.42741215e-01 9.39358562e-01 -1.15737036e-02 -1.89920147e+01] [-3.08904534e-02 1.04405553e-03 9.99522231e-01 -3.17540228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.08, Y:-19.01, Z:-3.18 [[ 9.38516135e-01 3.44044042e-01 2.86559056e-02 1.01083503e+02] [-3.43850531e-01 9.38952961e-01 -1.15822777e-02 -1.90117968e+01] [-3.08913610e-02 1.01680614e-03 9.99522231e-01 -3.17773334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.14, Y:-19.03, Z:-3.18 [[ 9.37633135e-01 3.46443539e-01 2.86527034e-02 1.01142872e+02] [-3.46250905e-01 9.38070348e-01 -1.15901938e-02 -1.90340329e+01] [-3.08935993e-02 9.46325306e-04 9.99522231e-01 -3.17875917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.20, Y:-19.06, Z:-3.18 [[ 9.36457636e-01 3.49608799e-01 2.86493256e-02 1.01202126e+02] [-3.49417387e-01 9.36895386e-01 -1.15985374e-02 -1.90557061e+01] [-3.08963717e-02 8.50966387e-04 9.99522231e-01 -3.17985338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.26, Y:-19.08, Z:-3.18 [[ 9.36071095e-01 3.50642717e-01 2.86459453e-02 1.01260239e+02] [-3.50451533e-01 9.36508944e-01 -1.16068799e-02 -1.90763451e+01] [-3.08970519e-02 8.25849303e-04 9.99522231e-01 -3.18225296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10361786499999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:-19.10, Z:-3.19 [[ 9.36418545e-01 3.49714021e-01 2.86428265e-02 1.01319326e+02] [-3.49522168e-01 9.36856102e-01 -1.16145713e-02 -1.90989214e+01] [-3.08959852e-02 8.64797148e-04 9.99522231e-01 -3.18523551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:-19.12, Z:-3.18 [[ 9.36417574e-01 3.49716899e-01 2.86394424e-02 1.01376667e+02] [-3.49524793e-01 9.36855019e-01 -1.16229098e-02 -1.91224272e+01] [-3.08957334e-02 8.73701831e-04 9.99522231e-01 -3.18387838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:-19.14, Z:-3.19 [[ 9.37723658e-01 3.46199801e-01 2.86363185e-02 1.01435738e+02] [-3.46005819e-01 9.38160275e-01 -1.16306013e-02 -1.91445419e+01] [-3.08919683e-02 9.97957177e-04 9.99522231e-01 -3.19219952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:101.49, Y:-19.17, Z:-3.19 [[ 9.38023634e-01 3.45386472e-01 2.86329595e-02 1.01493852e+02] [-3.45191860e-01 9.38459971e-01 -1.16388649e-02 -1.91682886e+01] [-3.08907928e-02 1.03366575e-03 9.99522231e-01 -3.19213930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.55, Y:-19.19, Z:-3.19 [[ 9.38577334e-01 3.43879242e-01 2.86296241e-02 1.01552355e+02] [-3.43683679e-01 9.39013245e-01 -1.16470638e-02 -1.91921914e+01] [-3.08887797e-02 1.09213556e-03 9.99522231e-01 -3.19447995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.61, Y:-19.21, Z:-3.20 [[ 9.38551456e-01 3.43950145e-01 2.86262463e-02 1.01611173e+02] [-3.43754363e-01 9.38987269e-01 -1.16553597e-02 -1.92146130e+01] [-3.08885435e-02 1.09875773e-03 9.99522231e-01 -3.19666645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.67, Y:-19.24, Z:-3.20 [[ 9.37457496e-01 3.46920988e-01 2.86229007e-02 1.01669632e+02] [-3.46726337e-01 9.37893815e-01 -1.16635700e-02 -1.92381159e+01] [-3.08915788e-02 1.00978758e-03 9.99522231e-01 -3.19733847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.73, Y:-19.26, Z:-3.20 [[ 9.35746789e-01 3.51509417e-01 2.86195288e-02 1.01729091e+02] [-3.51316653e-01 9.36183944e-01 -1.16718380e-02 -1.92594821e+01] [-3.08959043e-02 8.67367838e-04 9.99522231e-01 -3.20122003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:-19.28, Z:-3.21 [[ 9.34571199e-01 3.54623449e-01 2.86161328e-02 1.01787972e+02] [-3.54431888e-01 9.35008883e-01 -1.16801581e-02 -1.92786248e+01] [-3.08983963e-02 7.73469444e-04 9.99522231e-01 -3.20636492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:-19.30, Z:-3.20 [[ 9.31369052e-01 3.62950377e-01 2.86131586e-02 1.01843673e+02] [-3.62762506e-01 9.31808332e-01 -1.16874395e-02 -1.93039298e+01] [-3.09039402e-02 5.05538298e-04 9.99522231e-01 -3.19781042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.90, Y:-19.33, Z:-3.20 [[ 9.30561301e-01 3.65016585e-01 2.86104404e-02 1.01902172e+02] [-3.64829484e-01 9.31000911e-01 -1.16940897e-02 -1.93270012e+01] [-3.09048828e-02 4.44135118e-04 9.99522231e-01 -3.19952809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:-19.35, Z:-3.20 [[ 9.30458788e-01 3.65278074e-01 2.86072101e-02 1.01959718e+02] [-3.65090854e-01 9.30898347e-01 -1.17019869e-02 -1.93494660e+01] [-3.09048838e-02 4.43985745e-04 9.99522231e-01 -3.20239340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:-19.37, Z:-3.20 [[ 9.31156485e-01 3.63495999e-01 2.86052183e-02 1.02017819e+02] [-3.63307789e-01 9.31595621e-01 -1.17068536e-02 -1.93731164e+01] [-3.09038906e-02 5.08414040e-04 9.99522231e-01 -3.20492117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.08, Y:-19.40, Z:-3.21 [[ 9.32731569e-01 3.59435307e-01 2.86020876e-02 1.02076021e+02] [-3.59244951e-01 9.33169779e-01 -1.17144976e-02 -1.93977208e+01] [-3.09012078e-02 6.51326119e-04 9.99522231e-01 -3.20693183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.13, Y:-19.42, Z:-3.21 [[ 9.33882432e-01 3.56434720e-01 2.85988372e-02 1.02132804e+02] [-3.56242714e-01 9.34319920e-01 -1.17224275e-02 -1.94215085e+01] [-3.08987435e-02 7.59241790e-04 9.99522231e-01 -3.20916473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.19, Y:-19.44, Z:-3.21 [[ 9.33993087e-01 3.56144903e-01 2.85958370e-02 1.02190311e+02] [-3.55952537e-01 9.34430417e-01 -1.17297416e-02 -1.94447921e+01] [-3.08983076e-02 7.76736869e-04 9.99522232e-01 -3.21469484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.25, Y:-19.47, Z:-3.21 [[ 9.34289384e-01 3.55367011e-01 2.85942906e-02 1.02248274e+02] [-3.55174166e-01 9.34726504e-01 -1.17335103e-02 -1.94689838e+01] [-3.08975437e-02 8.06540768e-04 9.99522232e-01 -3.21410035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.31, Y:-19.49, Z:-3.22 [[ 9.34203191e-01 3.55593812e-01 2.85908908e-02 1.02306468e+02] [-3.55400819e-01 9.34640245e-01 -1.17417886e-02 -1.94930573e+01] [-3.08975046e-02 8.07990396e-04 9.99522232e-01 -3.21594923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:-19.52, Z:-3.22 [[ 9.34024922e-01 3.56062059e-01 2.85876643e-02 1.02364037e+02] [-3.55869045e-01 9.34461968e-01 -1.17496390e-02 -1.95172106e+01] [-3.08976856e-02 8.00990870e-04 9.99522232e-01 -3.22292753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24361786499999 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:-19.54, Z:-3.22 [[ 9.32222284e-01 3.60755529e-01 2.85842987e-02 1.02421193e+02] [-3.60564465e-01 9.32660185e-01 -1.17578209e-02 -1.95423895e+01] [-3.09011362e-02 6.54420217e-04 9.99522232e-01 -3.21994147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.48, Y:-19.57, Z:-3.22 [[ 9.32669581e-01 3.59597860e-01 2.85802664e-02 1.02479404e+02] [-3.59405953e-01 9.33107113e-01 -1.17676144e-02 -1.95657108e+01] [-3.09000588e-02 7.03378142e-04 9.99522232e-01 -3.22210477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:-19.59, Z:-3.22 [[ 9.31954559e-01 3.61447228e-01 2.85762252e-02 1.02537329e+02] [-3.61255889e-01 9.32392340e-01 -1.17774197e-02 -1.95901645e+01] [-3.09011692e-02 6.52690326e-04 9.99522232e-01 -3.22327392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.60, Y:-19.62, Z:-3.23 [[ 9.31723094e-01 3.62043727e-01 2.85729815e-02 1.02595331e+02] [-3.61852427e-01 9.32160892e-01 -1.17852839e-02 -1.96151488e+01] [-3.09014040e-02 6.41418452e-04 9.99522232e-01 -3.22506899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:-19.64, Z:-3.23 [[ 9.32532827e-01 3.59953187e-01 2.85697201e-02 1.02652711e+02] [-3.59760663e-01 9.32970088e-01 -1.17931849e-02 -1.96413482e+01] [-3.08996888e-02 7.19270589e-04 9.99522232e-01 -3.22719784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.71, Y:-19.67, Z:-3.23 [[ 9.33652099e-01 3.57040215e-01 2.85664651e-02 1.02708627e+02] [-3.56846086e-01 9.34088650e-01 -1.18010642e-02 -1.96668710e+01] [-3.08970653e-02 8.24257094e-04 9.99522232e-01 -3.22862982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.77, Y:-19.69, Z:-3.23 [[ 9.35515757e-01 3.52128382e-01 2.85634605e-02 1.02765364e+02] [-3.51931740e-01 9.35951181e-01 -1.18083322e-02 -1.96933686e+01] [-3.08920535e-02 9.94492451e-04 9.99522232e-01 -3.22940889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66361786499999 meters Centerline goodness : 0.995556 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-19.72, Z:-3.24 [[ 9.37308527e-01 3.47328436e-01 2.85601682e-02 1.02821756e+02] [-3.47129323e-01 9.37742826e-01 -1.18162897e-02 -1.97200836e+01] [-3.08862262e-02 1.16143726e-03 9.99522232e-01 -3.23699314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:-19.74, Z:-3.23 [[ 9.38027914e-01 3.45380983e-01 2.85588732e-02 1.02878309e+02] [-3.45180874e-01 9.38461755e-01 -1.18194188e-02 -1.97447330e+01] [-3.08836127e-02 1.22896794e-03 9.99522232e-01 -3.23333913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.783617865 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:-19.77, Z:-3.24 [[ 9.37606868e-01 3.46522688e-01 2.85549833e-02 1.02935619e+02] [-3.46322821e-01 9.38040821e-01 -1.18288089e-02 -1.97700372e+01] [-3.08846907e-02 1.20153012e-03 9.99522232e-01 -3.23769563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:-19.79, Z:-3.25 [[ 9.38902594e-01 3.42996640e-01 2.85521430e-02 1.02994219e+02] [-3.42794935e-01 9.39335696e-01 -1.18356608e-02 -1.97890583e+01] [-3.08796390e-02 1.32500264e-03 9.99522232e-01 -3.25266904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:-19.82, Z:-3.24 [[ 9.35917077e-01 3.51061573e-01 2.85481506e-02 1.03049310e+02] [-3.50863309e-01 9.36351765e-01 -1.18452830e-02 -1.98164784e+01] [-3.08895348e-02 1.06970402e-03 9.99522232e-01 -3.23864269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.11, Y:-19.84, Z:-3.24 [[ 9.33820112e-01 3.56602246e-01 2.85453471e-02 1.03107347e+02] [-3.56406356e-01 9.34255874e-01 -1.18520351e-02 -1.98390524e+01] [-3.08951205e-02 8.93925584e-04 9.99522232e-01 -3.24034152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-19.86, Z:-3.24 [[ 9.31395859e-01 3.62887158e-01 2.85423309e-02 1.03165556e+02] [-3.62693986e-01 9.31832834e-01 -1.18592944e-02 -1.98629061e+01] [-3.09002667e-02 6.93565919e-04 9.99522232e-01 -3.24241067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:-19.88, Z:-3.26 [[ 9.30747360e-01 3.64547485e-01 2.85391401e-02 1.03224373e+02] [-3.64354858e-01 9.31184575e-01 -1.18669678e-02 -1.98836510e+01] [-3.09012804e-02 6.46774623e-04 9.99522232e-01 -3.25643777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.28, Y:-19.91, Z:-3.26 [[ 9.28278201e-01 3.70789910e-01 2.85381312e-02 1.03281546e+02] [-3.70600149e-01 9.28716667e-01 -1.18693936e-02 -1.99082293e+01] [-3.09048895e-02 4.41863676e-04 9.99522232e-01 -3.25642716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.203617865 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:-19.93, Z:-3.26 [[ 9.27105306e-01 3.73713113e-01 2.85352471e-02 1.03338947e+02] [-3.73524520e-01 9.27544277e-01 -1.18763233e-02 -1.99326046e+01] [-3.09060429e-02 3.51987857e-04 9.99522232e-01 -3.25833309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26361786499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-19.96, Z:-3.26 [[ 9.27141826e-01 3.73622722e-01 2.85323916e-02 1.03396144e+02] [-3.73433876e-01 9.27580687e-01 -1.18831796e-02 -1.99569563e+01] [-3.09059213e-02 3.62431281e-04 9.99522232e-01 -3.26184165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:-19.98, Z:-3.26 [[ 9.27873165e-01 3.71802914e-01 2.85303716e-02 1.03452231e+02] [-3.71613059e-01 9.28311591e-01 -1.18880273e-02 -1.99828679e+01] [-3.09050779e-02 4.28322890e-04 9.99522232e-01 -3.26499158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:-20.01, Z:-3.27 [[ 9.28922608e-01 3.69173374e-01 2.85273241e-02 1.03509217e+02] [-3.68982053e-01 9.29360396e-01 -1.18953359e-02 -2.00067710e+01] [-3.09036065e-02 5.23775796e-04 9.99522232e-01 -3.26779663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.56, Y:-20.03, Z:-3.27 [[ 9.29745844e-01 3.67095394e-01 2.85243244e-02 1.03564453e+02] [-3.66902874e-01 9.30183106e-01 -1.19025247e-02 -2.00323967e+01] [-3.09022067e-02 6.00666305e-04 9.99522232e-01 -3.26895570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:-20.06, Z:-3.27 [[ 9.30582884e-01 3.64968512e-01 2.85215861e-02 1.03619525e+02] [-3.64774792e-01 9.31019616e-01 -1.19090827e-02 -2.00606695e+01] [-3.09005963e-02 6.78432877e-04 9.99522232e-01 -3.27043284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.68, Y:-20.09, Z:-3.27 [[ 9.31590670e-01 3.62388499e-01 2.85201700e-02 1.03676020e+02] [-3.62193466e-01 9.32026816e-01 -1.19124731e-02 -2.00877124e+01] [-3.08985065e-02 7.67729530e-04 9.99522232e-01 -3.27061774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:103.73, Y:-20.11, Z:-3.27 [[ 9.32048345e-01 3.61210008e-01 2.85168726e-02 1.03733471e+02] [-3.61014182e-01 9.32484137e-01 -1.19203614e-02 -2.01139885e+01] [-3.08972852e-02 8.15357639e-04 9.99522232e-01 -3.27277061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.79, Y:-20.14, Z:-3.27 [[ 9.31812383e-01 3.61818552e-01 2.85134814e-02 1.03789219e+02] [-3.61622763e-01 9.32248191e-01 -1.19284676e-02 -2.01406522e+01] [-3.08975823e-02 8.03969881e-04 9.99522232e-01 -3.27397197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.85, Y:-20.16, Z:-3.28 [[ 9.31303867e-01 3.63125691e-01 2.85103469e-02 1.03846157e+02] [-3.62930285e-01 9.31739846e-01 -1.19359548e-02 -2.01637491e+01] [-3.08984781e-02 7.68732536e-04 9.99522232e-01 -3.27625166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80361786499999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:-20.19, Z:-3.28 [[ 9.30335041e-01 3.65600907e-01 2.85077074e-02 1.03903203e+02] [-3.65406467e-01 9.30771452e-01 -1.19422556e-02 -2.01879542e+01] [-3.09002597e-02 6.93398185e-04 9.99522232e-01 -3.28050342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.863617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:-20.22, Z:-3.28 [[ 9.28209119e-01 3.70965371e-01 2.85048329e-02 1.03958962e+02] [-3.70773244e-01 9.28646553e-01 -1.19491128e-02 -2.02152082e+01] [-3.09036219e-02 5.22446092e-04 9.99522232e-01 -3.28180615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:-20.24, Z:-3.28 [[ 9.26935035e-01 3.74137780e-01 2.85019829e-02 1.04015604e+02] [-3.73946941e-01 9.27373033e-01 -1.19559069e-02 -2.02399150e+01] [-3.09051268e-02 4.24119668e-04 9.99522233e-01 -3.28366392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98361786499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:-20.26, Z:-3.29 [[ 9.26698614e-01 3.74723208e-01 2.84990427e-02 1.04073366e+02] [-3.74532430e-01 9.27136639e-01 -1.19629113e-02 -2.02642842e+01] [-3.09052872e-02 4.12197590e-04 9.99522233e-01 -3.28602936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:-20.29, Z:-3.29 [[ 9.25565116e-01 3.77514517e-01 2.84957118e-02 1.04129584e+02] [-3.77324816e-01 9.26003608e-01 -1.19708403e-02 -2.02902866e+01] [-3.09062979e-02 3.27653017e-04 9.99522233e-01 -3.28814875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:-20.32, Z:-3.29 [[ 9.26407491e-01 3.75442831e-01 2.84928323e-02 1.04185984e+02] [-3.75251939e-01 9.26845465e-01 -1.19776901e-02 -2.03161988e+01] [-3.09053903e-02 4.04231272e-04 9.99522233e-01 -3.29201445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.24, Y:-20.34, Z:-3.29 [[ 9.27554839e-01 3.72599375e-01 2.84907989e-02 1.04242249e+02] [-3.72406992e-01 9.27992161e-01 -1.19825248e-02 -2.03421021e+01] [-3.09039194e-02 5.04276159e-04 9.99522233e-01 -3.29445198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.223617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:104.30, Y:-20.37, Z:-3.30 [[ 9.27863078e-01 3.71831357e-01 2.84877329e-02 1.04298307e+02] [-3.71638388e-01 9.28300142e-01 -1.19898097e-02 -2.03699225e+01] [-3.09033537e-02 5.37766555e-04 9.99522233e-01 -3.29693164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:-20.40, Z:-3.29 [[ 9.27912052e-01 3.71709359e-01 2.84846636e-02 1.04353591e+02] [-3.71516109e-01 9.28348992e-01 -1.19970971e-02 -2.03990458e+01] [-3.09031420e-02 5.49739544e-04 9.99522233e-01 -3.29369455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:-20.43, Z:-3.30 [[ 9.28036988e-01 3.71397562e-01 2.84815903e-02 1.04408249e+02] [-3.71203941e-01 9.28473763e-01 -1.20043888e-02 -2.04265974e+01] [-3.09028101e-02 5.68038235e-04 9.99522233e-01 -3.29760738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:-20.45, Z:-3.30 [[ 9.27699834e-01 3.72239138e-01 2.84787843e-02 1.04465218e+02] [-3.72045710e-01 9.28136695e-01 -1.20110420e-02 -2.04532354e+01] [-3.09031847e-02 5.47232121e-04 9.99522233e-01 -3.29975192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:-20.48, Z:-3.30 [[ 9.28153377e-01 3.71107065e-01 2.84754987e-02 1.04522277e+02] [-3.70912866e-01 9.28589895e-01 -1.20188263e-02 -2.04795518e+01] [-3.09023318e-02 5.93385427e-04 9.99522233e-01 -3.30478865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:-20.51, Z:-3.30 [[ 9.27207211e-01 3.73465036e-01 2.84720106e-02 1.04577671e+02] [-3.73271693e-01 9.27644109e-01 -1.20270838e-02 -2.05084499e+01] [-3.09035882e-02 5.23803208e-04 9.99522233e-01 -3.30424063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.583617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:-20.54, Z:-3.30 [[ 9.26064441e-01 3.76290021e-01 2.84687855e-02 1.04633893e+02] [-3.76097776e-01 9.26501823e-01 -1.20347131e-02 -2.05357578e+01] [-3.09049241e-02 4.37872942e-04 9.99522233e-01 -3.30276529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:-20.56, Z:-3.30 [[ 9.25764639e-01 3.77027236e-01 2.84657035e-02 1.04691045e+02] [-3.76835116e-01 9.26202076e-01 -1.20419984e-02 -2.05629757e+01] [-3.09051551e-02 4.21179611e-04 9.99522233e-01 -3.30377025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:-20.59, Z:-3.30 [[ 9.24609686e-01 3.79851045e-01 2.84624694e-02 1.04748451e+02] [-3.79660025e-01 9.25047605e-01 -1.20496378e-02 -2.05891532e+01] [-3.09062067e-02 3.35150018e-04 9.99522233e-01 -3.30428271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:104.81, Y:-20.61, Z:-3.30 [[ 9.23286942e-01 3.83055213e-01 2.84592115e-02 1.04805835e+02] [-3.82865476e-01 9.23725418e-01 -1.20573275e-02 -2.06145647e+01] [-3.09071192e-02 2.36323430e-04 9.99522233e-01 -3.30407689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:-20.64, Z:-3.30 [[ 9.21888223e-01 3.86409587e-01 2.84558535e-02 1.04863452e+02] [-3.86221201e-01 9.22327281e-01 -1.20652473e-02 -2.06407817e+01] [-3.09077372e-02 1.32555517e-04 9.99522233e-01 -3.30481502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:-20.66, Z:-3.31 [[ 9.21006176e-01 3.88507505e-01 2.84524671e-02 1.04919897e+02] [-3.88319873e-01 9.21445556e-01 -1.20732279e-02 -2.06636955e+01] [-3.09079390e-02 7.08590758e-05 9.99522233e-01 -3.30921471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.98, Y:-20.69, Z:-3.31 [[ 9.20237372e-01 3.90325236e-01 2.84497627e-02 1.04977716e+02] [-3.90138275e-01 9.20677039e-01 -1.20795973e-02 -2.06875013e+01] [-3.09080149e-02 1.67555595e-05 9.99522233e-01 -3.30740854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.003617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:105.04, Y:-20.71, Z:-3.31 [[ 9.21086170e-01 3.88318272e-01 2.84462303e-02 1.05036403e+02] [-3.88130096e-01 9.21525318e-01 -1.20879100e-02 -2.07099483e+01] [-3.09078777e-02 9.31686448e-05 9.99522233e-01 -3.31176518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.063617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:105.10, Y:-20.73, Z:-3.32 [[ 9.22684577e-01 3.84505117e-01 2.84426856e-02 1.05095210e+02] [-3.84314870e-01 9.23122831e-01 -1.20962449e-02 -2.07328335e+01] [-3.09071605e-02 2.30071616e-04 9.99522233e-01 -3.31741356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:105.15, Y:-20.76, Z:-3.32 [[ 9.23223456e-01 3.83209688e-01 2.84391465e-02 1.05153396e+02] [-3.83018569e-01 9.23661332e-01 -1.21045598e-02 -2.07572743e+01] [-3.09067245e-02 2.82492317e-04 9.99522233e-01 -3.32084194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:105.21, Y:-20.78, Z:-3.32 [[ 9.24551754e-01 3.79994045e-01 2.84355568e-02 1.05212199e+02] [-3.79801144e-01 9.24988847e-01 -1.21129869e-02 -2.07807624e+01] [-3.09054357e-02 3.99226283e-04 9.99522233e-01 -3.32119406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:-20.81, Z:-3.32 [[ 9.24898723e-01 3.79149011e-01 2.84320343e-02 1.05269313e+02] [-3.78955457e-01 9.25335527e-01 -1.21212493e-02 -2.08060783e+01] [-3.09049311e-02 4.36453483e-04 9.99522233e-01 -3.32158196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30361786499999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:105.33, Y:-20.83, Z:-3.33 [[ 9.25674880e-01 3.77250364e-01 2.84284879e-02 1.05326965e+02] [-3.77055659e-01 9.26111173e-01 -1.21295611e-02 -2.08307380e+01] [-3.09038216e-02 5.08907767e-04 9.99522233e-01 -3.32608635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:-20.85, Z:-3.33 [[ 9.26885118e-01 3.74267291e-01 2.84248467e-02 1.05383856e+02] [-3.74070921e-01 9.27320664e-01 -1.21380881e-02 -2.08541789e+01] [-3.09018370e-02 6.17704685e-04 9.99522233e-01 -3.32614507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:-20.88, Z:-3.33 [[ 9.27228765e-01 3.73415368e-01 2.84214871e-02 1.05440843e+02] [-3.73218356e-01 9.27664020e-01 -1.21459495e-02 -2.08782152e+01] [-3.09010752e-02 6.54653092e-04 9.99522233e-01 -3.32748479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:-20.90, Z:-3.33 [[ 9.26786534e-01 3.74511848e-01 2.84182309e-02 1.05498413e+02] [-3.74315118e-01 9.27221917e-01 -1.21535635e-02 -2.09026626e+01] [-3.09016600e-02 6.26385522e-04 9.99522233e-01 -3.32894350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.56, Y:-20.93, Z:-3.34 [[ 9.27473962e-01 3.72806466e-01 2.84145791e-02 1.05555680e+02] [-3.72608675e-01 9.27908864e-01 -1.21620952e-02 -2.09251772e+01] [-3.09002475e-02 6.92507934e-04 9.99522233e-01 -3.33866306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.61, Y:-20.95, Z:-3.33 [[ 9.25347484e-01 3.78054013e-01 2.84112098e-02 1.05612080e+02] [-3.77858446e-01 9.25783391e-01 -1.21699609e-02 -2.09513857e+01] [-3.09035287e-02 5.26027154e-04 9.99522233e-01 -3.33404733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:-20.98, Z:-3.33 [[ 9.23557822e-01 3.82405457e-01 2.84080179e-02 1.05669312e+02] [-3.82211716e-01 9.23994543e-01 -1.21774071e-02 -2.09755831e+01] [-3.09055605e-02 3.88662328e-04 9.99522234e-01 -3.33417618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:-21.00, Z:-3.34 [[ 9.22384569e-01 3.85227041e-01 2.84048263e-02 1.05725591e+02] [-3.85034406e-01 9.22821779e-01 -1.21848471e-02 -2.09995168e+01] [-3.09065250e-02 3.02279525e-04 9.99522234e-01 -3.33883807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.78, Y:-21.02, Z:-3.34 [[ 9.21367010e-01 3.87654698e-01 2.84019082e-02 1.05783228e+02] [-3.87463006e-01 9.21804634e-01 -1.21916453e-02 -2.10223396e+01] [-3.09071592e-02 2.28291033e-04 9.99522234e-01 -3.33817026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:105.84, Y:-21.05, Z:-3.34 [[ 9.21009276e-01 3.88504083e-01 2.83987981e-02 1.05841317e+02] [-3.88312571e-01 9.21446979e-01 -1.21988855e-02 -2.10473076e+01] [-3.09073036e-02 2.07676382e-04 9.99522234e-01 -3.33874229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:105.90, Y:-21.07, Z:-3.35 [[ 9.23245179e-01 3.83160606e-01 2.83952341e-02 1.05899620e+02] [-3.82966306e-01 9.23681652e-01 -1.22071760e-02 -2.10653152e+01] [-3.09054656e-02 3.95798455e-04 9.99522234e-01 -3.34886642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:105.95, Y:-21.09, Z:-3.35 [[ 9.22616479e-01 3.84672204e-01 2.83923846e-02 1.05954683e+02] [-3.84478415e-01 9.23053179e-01 -1.22137998e-02 -2.10938497e+01] [-3.09059902e-02 3.52393991e-04 9.99522234e-01 -3.34567942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:106.01, Y:-21.11, Z:-3.35 [[ 9.24832616e-01 3.79313435e-01 2.83892711e-02 1.06012947e+02] [-3.79116894e-01 9.25268084e-01 -1.22210326e-02 -2.11135341e+01] [-3.09032883e-02 5.39557250e-04 9.99522234e-01 -3.35309554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.07, Y:-21.14, Z:-3.35 [[ 9.24892195e-01 3.79168385e-01 2.83859828e-02 1.06069869e+02] [-3.78971542e-01 9.25327526e-01 -1.22286654e-02 -2.11379861e+01] [-3.09030546e-02 5.52717551e-04 9.99522234e-01 -3.35386717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.13, Y:-21.17, Z:-3.35 [[ 9.24235280e-01 3.80767115e-01 2.83822232e-02 1.06125736e+02] [-3.80570757e-01 9.24670831e-01 -1.22373851e-02 -2.11672025e+01] [-3.09038077e-02 5.08778838e-04 9.99522234e-01 -3.35378372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:-21.19, Z:-3.36 [[ 9.26094737e-01 3.76222281e-01 2.83783821e-02 1.06184905e+02] [-3.76023514e-01 9.26529193e-01 -1.22462862e-02 -2.11869986e+01] [-3.09007252e-02 6.70282307e-04 9.99522234e-01 -3.36340459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:-21.22, Z:-3.36 [[ 9.24555739e-01 3.79988864e-01 2.83751571e-02 1.06238697e+02] [-3.79791637e-01 9.24990896e-01 -1.22537541e-02 -2.12160269e+01] [-3.09030521e-02 5.52631254e-04 9.99522234e-01 -3.35664376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:-21.24, Z:-3.35 [[ 9.23147738e-01 3.83397014e-01 2.83722225e-02 1.06294603e+02] [-3.83201185e-01 9.23583527e-01 -1.22605451e-02 -2.12428769e+01] [-3.09047737e-02 4.46025185e-04 9.99522234e-01 -3.35472769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:-21.26, Z:-3.36 [[ 9.24328299e-01 3.80542232e-01 2.83691021e-02 1.06353067e+02] [-3.80344836e-01 9.24763379e-01 -1.22677610e-02 -2.12644653e+01] [-3.09031079e-02 5.49397164e-04 9.99522234e-01 -3.36344971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.443617865 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:-21.29, Z:-3.37 [[ 9.22653307e-01 3.84585818e-01 2.83658846e-02 1.06408817e+02] [-3.84390100e-01 9.23089145e-01 -1.22751961e-02 -2.12919220e+01] [-3.09051065e-02 4.22185067e-04 9.99522234e-01 -3.36612837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:-21.32, Z:-3.37 [[ 9.22284826e-01 3.85468931e-01 2.83620051e-02 1.06464483e+02] [-3.85273355e-01 9.22720728e-01 -1.22841532e-02 -2.13159598e+01] [-3.09053694e-02 4.02363226e-04 9.99522234e-01 -3.36753149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.563617865 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:106.52, Y:-21.34, Z:-3.37 [[ 9.21825668e-01 3.86565832e-01 2.83600913e-02 1.06521195e+02] [-3.86370639e-01 9.22261742e-01 -1.22885699e-02 -2.13400074e+01] [-3.09057684e-02 3.70412603e-04 9.99522234e-01 -3.37007682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:-21.36, Z:-3.38 [[ 9.22950707e-01 3.83872075e-01 2.83588116e-02 1.06581558e+02] [-3.83675518e-01 9.23386168e-01 -1.22915224e-02 -2.13563226e+01] [-3.09045066e-02 4.63887561e-04 9.99522234e-01 -3.37644217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68361786499999 meters Centerline goodness : 0.995002 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:-21.38, Z:-3.38 [[ 9.23410040e-01 3.82766109e-01 2.83549673e-02 1.06639661e+02] [-3.82568759e-01 9.23845141e-01 -1.23003843e-02 -2.13799227e+01] [-3.09037690e-02 5.10573725e-04 9.99522234e-01 -3.37862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:106.70, Y:-21.41, Z:-3.37 [[ 9.20964161e-01 3.88614354e-01 2.83531103e-02 1.06695076e+02] [-3.88419636e-01 9.21400446e-01 -1.23046634e-02 -2.14096853e+01] [-3.09063373e-02 3.19249241e-04 9.99522234e-01 -3.37286878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:106.75, Y:-21.43, Z:-3.38 [[ 9.23255403e-01 3.83139390e-01 2.83490688e-02 1.06753227e+02] [-3.82941799e-01 9.23690395e-01 -1.23139675e-02 -2.14284519e+01] [-3.09037286e-02 5.12893626e-04 9.99522234e-01 -3.38259184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.863617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:106.81, Y:-21.45, Z:-3.38 [[ 9.23400560e-01 3.82789627e-01 2.83462044e-02 1.06811214e+02] [-3.82591669e-01 9.23835385e-01 -1.23205577e-02 -2.14530327e+01] [-3.09034084e-02 5.31788262e-04 9.99522234e-01 -3.38477664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.923617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:106.87, Y:-21.48, Z:-3.39 [[ 9.23154977e-01 3.83381759e-01 2.83428278e-02 1.06869385e+02] [-3.83183841e-01 9.23589820e-01 -1.23283205e-02 -2.14773874e+01] [-3.09036005e-02 5.20436806e-04 9.99522234e-01 -3.38609886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.93, Y:-21.50, Z:-3.39 [[ 9.22649576e-01 3.84596719e-01 2.83394350e-02 1.06927054e+02] [-3.84399135e-01 9.23084571e-01 -1.23361148e-02 -2.15010416e+01] [-3.09041245e-02 4.88256818e-04 9.99522234e-01 -3.38712973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:106.99, Y:-21.52, Z:-3.39 [[ 9.22033488e-01 3.86071626e-01 2.83363004e-02 1.06985911e+02] [-3.85874516e-01 9.22468699e-01 -1.23433108e-02 -2.15244106e+01] [-3.09047523e-02 4.46689656e-04 9.99522234e-01 -3.38961127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.04, Y:-21.55, Z:-3.39 [[ 9.21910163e-01 3.86366256e-01 2.83331408e-02 1.07043976e+02] [-3.86169063e-01 9.22345336e-01 -1.23505592e-02 -2.15481047e+01] [-3.09047796e-02 4.44723657e-04 9.99522234e-01 -3.39183304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.10, Y:-21.57, Z:-3.40 [[ 9.23300535e-01 3.83032037e-01 2.83298457e-02 1.07102109e+02] [-3.82833041e-01 9.23734886e-01 -1.23581129e-02 -2.15697984e+01] [-3.09028200e-02 5.64651320e-04 9.99522234e-01 -3.39951062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.16, Y:-21.60, Z:-3.40 [[ 9.23854716e-01 3.81693530e-01 2.83286442e-02 1.07158349e+02] [-3.81493821e-01 9.24288739e-01 -1.23608666e-02 -2.15953511e+01] [-3.09019096e-02 6.12442188e-04 9.99522234e-01 -3.39697574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.283617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.22, Y:-21.62, Z:-3.40 [[ 9.25810704e-01 3.76924704e-01 2.83250358e-02 1.07216255e+02] [-3.76722507e-01 9.26243574e-01 -1.23691298e-02 -2.16195132e+01] [-3.08981129e-02 7.80794307e-04 9.99522234e-01 -3.39856706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.28, Y:-21.64, Z:-3.41 [[ 9.27969253e-01 3.71578996e-01 2.83216264e-02 1.07275230e+02] [-3.71374067e-01 9.28400837e-01 -1.23769313e-02 -2.16406558e+01] [-3.08928294e-02 9.67494123e-04 9.99522234e-01 -3.40670156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.33, Y:-21.67, Z:-3.41 [[ 9.29104857e-01 3.68730594e-01 2.83180875e-02 1.07333390e+02] [-3.68524097e-01 9.29535691e-01 -1.23850230e-02 -2.16655224e+01] [-3.08894099e-02 1.07108740e-03 9.99522234e-01 -3.40851506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.39, Y:-21.69, Z:-3.40 [[ 9.28761693e-01 3.69594376e-01 2.83145729e-02 1.07389728e+02] [-3.69388034e-01 9.29192603e-01 -1.23930529e-02 -2.16915475e+01] [-3.08900943e-02 1.05112835e-03 9.99522234e-01 -3.40447083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.45, Y:-21.71, Z:-3.41 [[ 9.28509806e-01 3.70226969e-01 2.83113265e-02 1.07448686e+02] [-3.70020695e-01 9.28940748e-01 -1.24004645e-02 -2.17139573e+01] [-3.08905312e-02 1.03817618e-03 9.99522235e-01 -3.41038827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.583617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:107.51, Y:-21.74, Z:-3.42 [[ 9.28223220e-01 3.70945174e-01 2.83077893e-02 1.07507288e+02] [-3.70738988e-01 9.28654204e-01 -1.24085342e-02 -2.17366970e+01] [-3.08910334e-02 1.02308841e-03 9.99522235e-01 -3.41501014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:-21.76, Z:-3.42 [[ 9.27299214e-01 3.73249300e-01 2.83042120e-02 1.07565833e+02] [-3.73043936e-01 9.27730590e-01 -1.24166886e-02 -2.17597504e+01] [-3.08932036e-02 9.55270910e-04 9.99522235e-01 -3.41736316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.62, Y:-21.78, Z:-3.42 [[ 9.26741427e-01 3.74632357e-01 2.83006275e-02 1.07624603e+02] [-3.74427388e-01 9.27172991e-01 -1.24248532e-02 -2.17828733e+01] [-3.08943295e-02 9.18096147e-04 9.99522235e-01 -3.41931642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:-21.81, Z:-3.42 [[ 9.26368842e-01 3.75552985e-01 2.82970474e-02 1.07682822e+02] [-3.75348196e-01 9.26800492e-01 -1.24330014e-02 -2.18059187e+01] [-3.08949682e-02 8.96299460e-04 9.99522235e-01 -3.42136928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.74, Y:-21.83, Z:-3.42 [[ 9.25786421e-01 3.76986711e-01 2.82935030e-02 1.07741341e+02] [-3.76782345e-01 9.26218271e-01 -1.24410621e-02 -2.18299996e+01] [-3.08960745e-02 8.57273942e-04 9.99522235e-01 -3.42277733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.80, Y:-21.85, Z:-3.42 [[ 9.24178317e-01 3.80912216e-01 2.82899572e-02 1.07798604e+02] [-3.80709437e-01 9.24610915e-01 -1.24491197e-02 -2.18549951e+01] [-3.08992250e-02 7.34952802e-04 9.99522235e-01 -3.42043447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:-21.88, Z:-3.42 [[ 9.24050421e-01 3.81222616e-01 2.82866787e-02 1.07857868e+02] [-3.81019755e-01 9.24482980e-01 -1.24565646e-02 -2.18764051e+01] [-3.08992772e-02 7.32710371e-04 9.99522235e-01 -3.42456964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:-21.90, Z:-3.43 [[ 9.23120975e-01 3.83468034e-01 2.82830854e-02 1.07914881e+02] [-3.83265976e-01 9.23553909e-01 -1.24647180e-02 -2.19006888e+01] [-3.09007750e-02 6.66498284e-04 9.99522235e-01 -3.42510704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.97, Y:-21.92, Z:-3.43 [[ 9.22664454e-01 3.84565417e-01 2.82797717e-02 1.07972706e+02] [-3.84363644e-01 9.23097521e-01 -1.24722315e-02 -2.19239367e+01] [-3.09013761e-02 6.37968583e-04 9.99522235e-01 -3.42723457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:-21.95, Z:-3.43 [[ 9.22051066e-01 3.86034018e-01 2.82766424e-02 1.08031278e+02] [-3.85832717e-01 9.22484353e-01 -1.24793223e-02 -2.19466434e+01] [-3.09022030e-02 5.96518648e-04 9.99522235e-01 -3.42914052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18361786499999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:-21.97, Z:-3.43 [[ 9.21710174e-01 3.86847481e-01 2.82733241e-02 1.08089958e+02] [-3.86646332e-01 9.22143532e-01 -1.24868357e-02 -2.19700712e+01] [-3.09025638e-02 5.77466450e-04 9.99522235e-01 -3.43134428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.15, Y:-21.99, Z:-3.43 [[ 9.21480759e-01 3.87393880e-01 2.82699911e-02 1.08148169e+02] [-3.87192757e-01 9.21914128e-01 -1.24943769e-02 -2.19936259e+01] [-3.09027494e-02 5.67392157e-04 9.99522235e-01 -3.43435149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.21, Y:-22.02, Z:-3.44 [[ 9.21845910e-01 3.86524271e-01 2.82684549e-02 1.08206044e+02] [-3.86322633e-01 9.22279040e-01 -1.24978516e-02 -2.20180946e+01] [-3.09021264e-02 6.00349459e-04 9.99522235e-01 -3.43573863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.363617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:-22.04, Z:-3.44 [[ 9.22370036e-01 3.85272126e-01 2.82649044e-02 1.08263808e+02] [-3.85069654e-01 9.22802777e-01 -1.25058763e-02 -2.20418880e+01] [-3.09010978e-02 6.51088611e-04 9.99522235e-01 -3.43882062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:-22.07, Z:-3.44 [[ 9.22740812e-01 3.84383509e-01 2.82614843e-02 1.08321975e+02] [-3.84180384e-01 9.23173246e-01 -1.25136003e-02 -2.20668772e+01] [-3.09002678e-02 6.89301794e-04 9.99522235e-01 -3.44143348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:-22.09, Z:-3.44 [[ 9.22093509e-01 3.85933986e-01 2.82580739e-02 1.08379884e+02] [-3.85731352e-01 9.22526174e-01 -1.25212969e-02 -2.20926437e+01] [-3.09012069e-02 6.45781578e-04 9.99522235e-01 -3.44329225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.44, Y:-22.12, Z:-3.45 [[ 9.21682420e-01 3.86914972e-01 2.82545758e-02 1.08437448e+02] [-3.86712557e-01 9.22115187e-01 -1.25291856e-02 -2.21180041e+01] [-3.09017029e-02 6.21530851e-04 9.99522235e-01 -3.44566383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.49, Y:-22.14, Z:-3.45 [[ 9.20920905e-01 3.88724276e-01 2.82510885e-02 1.08494009e+02] [-3.88522470e-01 9.21353956e-01 -1.25370438e-02 -2.21440418e+01] [-3.09027055e-02 5.69442993e-04 9.99522235e-01 -3.44764478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66361786499999 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:108.55, Y:-22.17, Z:-3.45 [[ 9.19991846e-01 3.90918229e-01 2.82478640e-02 1.08551102e+02] [-3.90717233e-01 9.20425274e-01 -1.25443050e-02 -2.21714680e+01] [-3.09038454e-02 5.03731081e-04 9.99522235e-01 -3.44941841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.61, Y:-22.20, Z:-3.45 [[ 9.19407325e-01 3.92291292e-01 2.82438237e-02 1.08607563e+02] [-3.92090664e-01 9.19840923e-01 -1.25533953e-02 -2.21997117e+01] [-3.09044125e-02 4.67544045e-04 9.99522235e-01 -3.45173148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.783617865 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:-22.23, Z:-3.46 [[ 9.19435720e-01 3.92225043e-01 2.82395662e-02 1.08664143e+02] [-3.92024089e-01 9.19869167e-01 -1.25629654e-02 -2.22252409e+01] [-3.09042159e-02 4.80248936e-04 9.99522235e-01 -3.45988210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84361786499998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:-22.26, Z:-3.46 [[ 9.18924768e-01 3.93420855e-01 2.82365463e-02 1.08718648e+02] [-3.93220257e-01 9.19358380e-01 -1.25697492e-02 -2.22554267e+01] [-3.09047070e-02 4.47471846e-04 9.99522235e-01 -3.45691752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.77, Y:-22.29, Z:-3.46 [[ 9.19433108e-01 3.92231598e-01 2.82335465e-02 1.08773651e+02] [-3.92030232e-01 9.19866365e-01 -1.25764837e-02 -2.22860315e+01] [-3.09039841e-02 4.94831678e-04 9.99522235e-01 -3.45978251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96361786499999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-22.32, Z:-3.46 [[ 9.19928566e-01 3.91068405e-01 2.82300608e-02 1.08829771e+02] [-3.90866252e-01 9.20361455e-01 -1.25843030e-02 -2.23152072e+01] [-3.09031832e-02 5.42481698e-04 9.99522235e-01 -3.46236497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-22.35, Z:-3.46 [[ 9.20712660e-01 3.89218907e-01 2.82283447e-02 1.08885035e+02] [-3.89015766e-01 9.21145087e-01 -1.25881514e-02 -2.23454957e+01] [-3.09019475e-02 6.08799220e-04 9.99522235e-01 -3.46365412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.083617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:-22.38, Z:-3.47 [[ 9.21100694e-01 3.88300005e-01 2.82244170e-02 1.08939457e+02] [-3.88096163e-01 9.21532791e-01 -1.25969516e-02 -2.23764737e+01] [-3.09011222e-02 6.49272876e-04 9.99522235e-01 -3.46508986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.99, Y:-22.41, Z:-3.47 [[ 9.20944558e-01 3.88670402e-01 2.82212811e-02 1.08994862e+02] [-3.88466519e-01 9.21376635e-01 -1.26039731e-02 -2.24068151e+01] [-3.09012203e-02 6.44537549e-04 9.99522235e-01 -3.46707065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.203617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.05, Y:-22.44, Z:-3.47 [[ 9.19530662e-01 3.92003975e-01 2.82178154e-02 1.09048319e+02] [-3.91801421e-01 9.19963364e-01 -1.26117275e-02 -2.24383594e+01] [-3.09032037e-02 5.41089944e-04 9.99522235e-01 -3.46685582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26361786499999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:109.10, Y:-22.46, Z:-3.47 [[ 9.19573747e-01 3.91903113e-01 2.82147692e-02 1.09104822e+02] [-3.91700303e-01 9.20006329e-01 -1.26185387e-02 -2.24645514e+01] [-3.09030108e-02 5.51943277e-04 9.99522236e-01 -3.47090325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:109.16, Y:-22.50, Z:-3.47 [[ 9.16599009e-01 3.98811049e-01 2.82135615e-02 1.09158458e+02] [-3.98611416e-01 9.17033066e-01 -1.26212383e-02 -2.24974090e+01] [-3.09062581e-02 3.22366799e-04 9.99522236e-01 -3.46742047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.22, Y:-22.53, Z:-3.47 [[ 9.15381486e-01 4.01597961e-01 2.82101647e-02 1.09215140e+02] [-4.01399416e-01 9.15816042e-01 -1.26288261e-02 -2.25256922e+01] [-3.09070322e-02 2.36649941e-04 9.99522236e-01 -3.47005633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.27, Y:-22.55, Z:-3.47 [[ 9.13834014e-01 4.05107113e-01 2.82067747e-02 1.09270111e+02] [-4.04910003e-01 9.14269223e-01 -1.26363933e-02 -2.25548756e+01] [-3.09076787e-02 1.26360838e-04 9.99522236e-01 -3.46885561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:109.33, Y:-22.58, Z:-3.47 [[ 9.13910572e-01 4.04934600e-01 2.82034613e-02 1.09325423e+02] [-4.04737180e-01 9.14345640e-01 -1.26437841e-02 -2.25836537e+01] [-3.09076176e-02 1.40298581e-04 9.99522236e-01 -3.47045701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.563617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:-22.61, Z:-3.47 [[ 9.14131469e-01 4.04435927e-01 2.81999717e-02 1.09381553e+02] [-4.04238030e-01 9.14566320e-01 -1.26515624e-02 -2.26110463e+01] [-3.09074907e-02 1.65690289e-04 9.99522236e-01 -3.47201609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62361786499999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:-22.64, Z:-3.48 [[ 9.15905085e-01 4.00403351e-01 2.81963001e-02 1.09437815e+02] [-4.00203288e-01 9.16338944e-01 -1.26597399e-02 -2.26353275e+01] [-3.09063701e-02 3.10868100e-04 9.99522236e-01 -3.48033634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.49, Y:-22.67, Z:-3.47 [[ 9.14250575e-01 4.04167070e-01 2.81933652e-02 1.09491943e+02] [-4.03968591e-01 9.14685161e-01 -1.26662726e-02 -2.26661251e+01] [-3.09073431e-02 1.90912938e-04 9.99522236e-01 -3.47430068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:109.55, Y:-22.69, Z:-3.48 [[ 9.15463246e-01 4.01412956e-01 2.81901506e-02 1.09549894e+02] [-4.01212949e-01 9.15897130e-01 -1.26734231e-02 -2.26859864e+01] [-3.09065542e-02 2.91799585e-04 9.99522236e-01 -3.48405178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:109.61, Y:-22.71, Z:-3.49 [[ 9.14881176e-01 4.02737933e-01 2.81885057e-02 1.09607076e+02] [-4.02538442e-01 9.15315298e-01 -1.26770805e-02 -2.27114480e+01] [-3.09069117e-02 2.51065190e-04 9.99522236e-01 -3.48719719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.863617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:109.66, Y:-22.74, Z:-3.49 [[ 9.15687140e-01 4.00902311e-01 2.81850719e-02 1.09662990e+02] [-4.00701715e-01 9.16120753e-01 -1.26847104e-02 -2.27370390e+01] [-3.09062590e-02 3.21419496e-04 9.99522236e-01 -3.48873537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.923617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:109.72, Y:-22.76, Z:-3.49 [[ 9.17243965e-01 3.97327685e-01 2.81818960e-02 1.09721160e+02] [-3.97125182e-01 9.17676691e-01 -1.26917625e-02 -2.27611246e+01] [-3.09046576e-02 4.49701970e-04 9.99522236e-01 -3.49042528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:109.78, Y:-22.79, Z:-3.49 [[ 9.18426982e-01 3.94585665e-01 2.81785616e-02 1.09778962e+02] [-3.94381644e-01 9.18858994e-01 -1.26991611e-02 -2.27855392e+01] [-3.09030317e-02 5.50144750e-04 9.99522236e-01 -3.49296080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:109.84, Y:-22.81, Z:-3.49 [[ 9.19845010e-01 3.91268849e-01 2.81752693e-02 1.09836067e+02] [-3.91063046e-01 9.20276176e-01 -1.27064616e-02 -2.28092932e+01] [-3.09006717e-02 6.69668675e-04 9.99522236e-01 -3.49423696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10361786499999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:109.89, Y:-22.83, Z:-3.50 [[ 9.21103257e-01 3.88297741e-01 2.81718663e-02 1.09894260e+02] [-3.88090318e-01 9.21533645e-01 -1.27140020e-02 -2.28323822e+01] [-3.08981409e-02 7.77680071e-04 9.99522236e-01 -3.49751038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16361786499999 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:-22.86, Z:-3.50 [[ 9.20852569e-01 3.88892148e-01 2.81681224e-02 1.09952098e+02] [-3.88684749e-01 9.21282969e-01 -1.27222912e-02 -2.28572693e+01] [-3.08984106e-02 7.66834926e-04 9.99522236e-01 -3.50075304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.01, Y:-22.89, Z:-3.49 [[ 9.18300935e-01 3.94880005e-01 2.81633538e-02 1.10007461e+02] [-3.94675090e-01 9.18732523e-01 -1.27328389e-02 -2.28850516e+01] [-3.09025325e-02 5.77203679e-04 9.99522236e-01 -3.49347320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:-22.91, Z:-3.50 [[ 9.17221353e-01 3.97381492e-01 2.81591880e-02 1.10063926e+02] [-3.97177471e-01 9.17653364e-01 -1.27420450e-02 -2.29084187e+01] [-3.09038264e-02 5.03080647e-04 9.99522236e-01 -3.49672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.12, Y:-22.93, Z:-3.50 [[ 9.16971950e-01 3.97956779e-01 2.81575038e-02 1.10122677e+02] [-3.97752915e-01 9.17404035e-01 -1.27457657e-02 -2.29301077e+01] [-3.09040715e-02 4.87780432e-04 9.99522236e-01 -3.49969601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.18, Y:-22.95, Z:-3.50 [[ 9.17239901e-01 3.97339025e-01 2.81542882e-02 1.10179874e+02] [-3.97134652e-01 9.17671746e-01 -1.27528646e-02 -2.29534471e+01] [-3.09036056e-02 5.16392810e-04 9.99522236e-01 -3.50330673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.24, Y:-22.98, Z:-3.50 [[ 9.17254228e-01 3.97306176e-01 2.81510709e-02 1.10237728e+02] [-3.97101570e-01 9.17685963e-01 -1.27599627e-02 -2.29792907e+01] [-3.09034546e-02 5.25295282e-04 9.99522236e-01 -3.50498705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.30, Y:-23.00, Z:-3.51 [[ 9.17847085e-01 3.95934911e-01 2.81473730e-02 1.10295193e+02] [-3.95729410e-01 9.18278394e-01 -1.27681147e-02 -2.30045523e+01] [-3.09024669e-02 5.80433549e-04 9.99522236e-01 -3.50552053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.35, Y:-23.02, Z:-3.51 [[ 9.20529734e-01 3.89657464e-01 2.81437300e-02 1.10353212e+02] [-3.89448777e-01 9.20959511e-01 -1.27761396e-02 -2.30229109e+01] [-3.08975540e-02 8.00275130e-04 9.99522236e-01 -3.51337051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.643617865 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:110.41, Y:-23.05, Z:-3.51 [[ 9.21039634e-01 3.88450903e-01 2.81405046e-02 1.10410383e+02] [-3.88241436e-01 9.21469031e-01 -1.27832399e-02 -2.30481898e+01] [-3.08962646e-02 8.48560655e-04 9.99522236e-01 -3.51470132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:-23.08, Z:-3.51 [[ 9.20063396e-01 3.90757832e-01 2.81365472e-02 1.10465325e+02] [-3.90549176e-01 9.20493187e-01 -1.27919444e-02 -2.30786428e+01] [-3.08980525e-02 7.80694523e-04 9.99522236e-01 -3.51076231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:-23.10, Z:-3.51 [[ 9.19557680e-01 3.91946704e-01 2.81328081e-02 1.10522466e+02] [-3.91738353e-01 9.19987619e-01 -1.28001625e-02 -2.31041004e+01] [-3.08988166e-02 7.49787816e-04 9.99522236e-01 -3.50969632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:-23.13, Z:-3.51 [[ 9.18857169e-01 3.93586368e-01 2.81295987e-02 1.10578994e+02] [-3.93378568e-01 9.19287375e-01 -1.28072115e-02 -2.31296100e+01] [-3.08999288e-02 7.02416850e-04 9.99522236e-01 -3.50963387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:-23.15, Z:-3.51 [[ 9.18365584e-01 3.94732262e-01 2.81264173e-02 1.10636511e+02] [-3.94524785e-01 9.18795946e-01 -1.28141945e-02 -2.31518711e+01] [-3.09006142e-02 6.71546452e-04 9.99522236e-01 -3.51244986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.69, Y:-23.17, Z:-3.52 [[ 9.17718642e-01 3.96234232e-01 2.81234202e-02 1.10693991e+02] [-3.96027258e-01 9.18149246e-01 -1.28207688e-02 -2.31724561e+01] [-3.09015246e-02 6.28217566e-04 9.99522236e-01 -3.52095910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.003617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:-23.20, Z:-3.53 [[ 9.16490986e-01 3.99065711e-01 2.81217286e-02 1.10751331e+02] [-3.98859954e-01 9.16922172e-01 -1.28244782e-02 -2.31969530e+01] [-3.09032460e-02 5.36887262e-04 9.99522236e-01 -3.52529973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.81, Y:-23.22, Z:-3.53 [[ 9.14620060e-01 4.03335443e-01 2.81187984e-02 1.10808495e+02] [-4.03131501e-01 9.15052108e-01 -1.28308998e-02 -2.32221659e+01] [-3.09053224e-02 3.99824989e-04 9.99522236e-01 -3.52571147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:-23.25, Z:-3.53 [[ 9.13746468e-01 4.05310862e-01 2.81157788e-02 1.10865529e+02] [-4.05107651e-01 9.14178861e-01 -1.28375130e-02 -2.32472497e+01] [-3.09060341e-02 3.40315051e-04 9.99522236e-01 -3.52805237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:110.92, Y:-23.27, Z:-3.53 [[ 9.13185613e-01 4.06573151e-01 2.81124359e-02 1.10922419e+02] [-4.06370313e-01 9.13618180e-01 -1.28448294e-02 -2.32738223e+01] [-3.09063953e-02 3.05654043e-04 9.99522237e-01 -3.53278833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.98, Y:-23.30, Z:-3.54 [[ 9.13656277e-01 4.05514633e-01 2.81085364e-02 1.10978729e+02] [-4.05311031e-01 9.14088485e-01 -1.28533570e-02 -2.32992907e+01] [-3.09059139e-02 3.50850394e-04 9.99522237e-01 -3.53619530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.04, Y:-23.33, Z:-3.54 [[ 9.15705263e-01 4.00866457e-01 2.81061402e-02 1.11035572e+02] [-4.00660501e-01 9.16136354e-01 -1.28585947e-02 -2.33272653e+01] [-3.09036361e-02 5.13662685e-04 9.99522237e-01 -3.53891133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.363617865 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:111.09, Y:-23.35, Z:-3.54 [[ 9.18057521e-01 3.95449914e-01 2.81025535e-02 1.11092108e+02] [-3.95241174e-01 9.18487272e-01 -1.28664286e-02 -2.33508230e+01] [-3.08998658e-02 7.04835285e-04 9.99522237e-01 -3.54221523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.15, Y:-23.38, Z:-3.54 [[ 9.19079268e-01 3.93069622e-01 2.80993223e-02 1.11146134e+02] [-3.92859554e-01 9.19508371e-01 -1.28734816e-02 -2.33809411e+01] [-3.08977366e-02 7.92662773e-04 9.99522237e-01 -3.54056213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:-23.40, Z:-3.54 [[ 9.20934291e-01 3.88703820e-01 2.80957780e-02 1.11203609e+02] [-3.88491483e-01 9.21362275e-01 -1.28812122e-02 -2.34034841e+01] [-3.08933663e-02 9.47779581e-04 9.99522237e-01 -3.54217379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54361786499999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:-23.43, Z:-3.55 [[ 9.21964369e-01 3.86254481e-01 2.80923122e-02 1.11260029e+02] [-3.86040777e-01 9.22391673e-01 -1.28887661e-02 -2.34300620e+01] [-3.08904585e-02 1.03820508e-03 9.99522237e-01 -3.54733562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:-23.46, Z:-3.55 [[ 9.22264860e-01 3.85536734e-01 2.80883503e-02 1.11316436e+02] [-3.85322435e-01 9.22691865e-01 -1.28973944e-02 -2.34565033e+01] [-3.08893117e-02 1.07174212e-03 9.99522237e-01 -3.55048830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66361786499999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:-23.48, Z:-3.56 [[ 9.21552206e-01 3.87237377e-01 2.80846277e-02 1.11372853e+02] [-3.87023620e-01 9.21979482e-01 -1.29054955e-02 -2.34813916e+01] [-3.08909408e-02 1.02367354e-03 9.99522237e-01 -3.55531672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.723617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:-23.51, Z:-3.55 [[ 9.19245513e-01 3.92681971e-01 2.80812576e-02 1.11426835e+02] [-3.92470522e-01 9.19673936e-01 -1.29128246e-02 -2.35127813e+01] [-3.08962341e-02 8.48990242e-04 9.99522237e-01 -3.55228659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.783617865 meters Centerline goodness : 0.995114 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:-23.53, Z:-3.56 [[ 9.19488116e-01 3.92113816e-01 2.80777558e-02 1.11483939e+02] [-3.91901870e-01 9.19916293e-01 -1.29204344e-02 -2.35340308e+01] [-3.08954659e-02 8.76460903e-04 9.99522237e-01 -3.55762508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84361786499998 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:111.54, Y:-23.56, Z:-3.56 [[ 9.16711020e-01 3.98563344e-01 2.80743037e-02 1.11539922e+02] [-3.98354181e-01 9.17140565e-01 -1.29279308e-02 -2.35598354e+01] [-3.09006821e-02 6.67660381e-04 9.99522237e-01 -3.55924140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.60, Y:-23.59, Z:-3.56 [[ 9.12950776e-01 4.07103104e-01 2.80703155e-02 1.11595408e+02] [-4.06897694e-01 9.13382128e-01 -1.29365847e-02 -2.35889136e+01] [-3.09054483e-02 3.88718363e-04 9.99522237e-01 -3.55825415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:111.65, Y:-23.61, Z:-3.56 [[ 9.13149735e-01 4.06656951e-01 2.80657432e-02 1.11653401e+02] [-4.06451025e-01 9.13580841e-01 -1.29464966e-02 -2.36112578e+01] [-3.09051081e-02 4.14739893e-04 9.99522237e-01 -3.56372278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.71, Y:-23.64, Z:-3.56 [[ 9.11962935e-01 4.09311792e-01 2.80617471e-02 1.11710099e+02] [-4.09106855e-01 9.12394512e-01 -1.29551525e-02 -2.36385415e+01] [-3.09060807e-02 3.34365812e-04 9.99522237e-01 -3.56401262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.77, Y:-23.67, Z:-3.57 [[ 9.11497648e-01 4.10347173e-01 2.80577170e-02 1.11765811e+02] [-4.10142458e-01 9.11929330e-01 -1.29638747e-02 -2.36676931e+01] [-3.09063444e-02 3.08880309e-04 9.99522237e-01 -3.56680021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.143617865 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:-23.69, Z:-3.57 [[ 9.13676376e-01 4.05473111e-01 2.80541549e-02 1.11822867e+02] [-4.05265857e-01 9.14106845e-01 -1.29715786e-02 -2.36923620e+01] [-3.09041214e-02 4.82433785e-04 9.99522237e-01 -3.56949253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.203617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:-23.72, Z:-3.57 [[ 9.15556840e-01 4.01209232e-01 2.80504083e-02 1.11877441e+02] [-4.00999725e-01 9.15986216e-01 -1.29796754e-02 -2.37231750e+01] [-3.09013530e-02 6.35424586e-04 9.99522237e-01 -3.56909603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:111.93, Y:-23.75, Z:-3.58 [[ 9.17699298e-01 3.96284525e-01 2.80459394e-02 1.11933735e+02] [-3.96072419e-01 9.18127396e-01 -1.29893246e-02 -2.37479598e+01] [-3.08972136e-02 8.12070958e-04 9.99522237e-01 -3.57506841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32361786499999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:-23.78, Z:-3.57 [[ 9.17721388e-01 3.96233637e-01 2.80420889e-02 1.11989785e+02] [-3.96021254e-01 9.18149349e-01 -1.29976319e-02 -2.37776437e+01] [-3.08969246e-02 8.22941590e-04 9.99522237e-01 -3.57483234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:112.05, Y:-23.80, Z:-3.58 [[ 9.17410086e-01 3.96954150e-01 2.80381498e-02 1.12047366e+02] [-3.96741844e-01 9.17838085e-01 -1.30061236e-02 -2.38032537e+01] [-3.08973165e-02 8.08041697e-04 9.99522237e-01 -3.58028179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.443617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:-23.83, Z:-3.58 [[ 9.17241361e-01 3.97344137e-01 2.80343190e-02 1.12104162e+02] [-3.97131761e-01 9.17669325e-01 -1.30143756e-02 -2.38277522e+01] [-3.08974204e-02 8.04005079e-04 9.99522237e-01 -3.58435072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:-23.85, Z:-3.59 [[ 9.16533439e-01 3.98974598e-01 2.80307778e-02 1.12161193e+02] [-3.98762751e-01 9.16961666e-01 -1.30219982e-02 -2.38545327e+01] [-3.08985952e-02 7.57466761e-04 9.99522237e-01 -3.58724509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.22, Y:-23.88, Z:-3.59 [[ 9.16234404e-01 3.99661108e-01 2.80270495e-02 1.12218989e+02] [-3.99449336e-01 9.16662668e-01 -1.30300177e-02 -2.38801988e+01] [-3.08989413e-02 7.43164138e-04 9.99522237e-01 -3.58981543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.28, Y:-23.91, Z:-3.59 [[ 9.15980262e-01 4.00243487e-01 2.80233818e-02 1.12276199e+02] [-4.00031746e-01 9.16408542e-01 -1.30379010e-02 -2.39075444e+01] [-3.08992014e-02 7.32217559e-04 9.99522237e-01 -3.59051188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.33, Y:-23.93, Z:-3.59 [[ 9.16276120e-01 3.99565972e-01 2.80197518e-02 1.12331248e+02] [-3.99353677e-01 9.16704124e-01 -1.30456976e-02 -2.39333420e+01] [-3.08984389e-02 7.63670219e-04 9.99522238e-01 -3.59046444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.39, Y:-23.96, Z:-3.59 [[ 9.16771467e-01 3.98428249e-01 2.80179889e-02 1.12388268e+02] [-3.98215307e-01 9.17199150e-01 -1.30494825e-02 -2.39600561e+01] [-3.08973581e-02 8.06201167e-04 9.99522238e-01 -3.59214632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:-23.99, Z:-3.60 [[ 9.18066454e-01 3.95435427e-01 2.80144589e-02 1.12444351e+02] [-3.95220860e-01 9.18493324e-01 -1.30570564e-02 -2.39859708e+01] [-3.08943161e-02 9.15346915e-04 9.99522238e-01 -3.59542776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.863617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:-24.02, Z:-3.59 [[ 9.17860001e-01 3.95914626e-01 2.80111954e-02 1.12498796e+02] [-3.95700069e-01 9.18286876e-01 -1.30640537e-02 -2.40153067e+01] [-3.08945631e-02 9.06940433e-04 9.99522238e-01 -3.59344591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.923617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:-24.04, Z:-3.60 [[ 9.19203719e-01 3.92785009e-01 2.80082061e-02 1.12555043e+02] [-3.92568804e-01 9.19629761e-01 -1.30704594e-02 -2.40405588e+01] [-3.08910604e-02 1.01926696e-03 9.99522238e-01 -3.59502182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.61, Y:-24.07, Z:-3.60 [[ 9.19995034e-01 3.90928196e-01 2.80050510e-02 1.12612623e+02] [-3.90710926e-01 9.20420534e-01 -1.30772162e-02 -2.40659716e+01] [-3.08886765e-02 1.08909455e-03 9.99522238e-01 -3.59828864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.67, Y:-24.09, Z:-3.60 [[ 9.19775100e-01 3.91445647e-01 2.80012726e-02 1.12669246e+02] [-3.91228370e-01 9.20200596e-01 -1.30853015e-02 -2.40905093e+01] [-3.08889721e-02 1.08064222e-03 9.99522238e-01 -3.59902728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10361786499999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:112.73, Y:-24.11, Z:-3.61 [[ 9.18920299e-01 3.93448356e-01 2.79977791e-02 1.12728608e+02] [-3.93231779e-01 9.19346152e-01 -1.30927722e-02 -2.41127950e+01] [-3.08909802e-02 1.02159766e-03 9.99522238e-01 -3.60588869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:-24.14, Z:-3.61 [[ 9.16108739e-01 3.99951385e-01 2.79940578e-02 1.12786338e+02] [-3.99737588e-01 9.16535996e-01 -1.31007239e-02 -2.41367362e+01] [-3.08972143e-02 8.11410512e-04 9.99522238e-01 -3.60857017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.84, Y:-24.16, Z:-3.61 [[ 9.15501691e-01 4.01339252e-01 2.79903393e-02 1.12844197e+02] [-4.01125861e-01 9.15929149e-01 -1.31086638e-02 -2.41584187e+01] [-3.08981890e-02 7.73354915e-04 9.99522238e-01 -3.61404338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.283617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:-24.18, Z:-3.62 [[ 9.14893861e-01 4.02723161e-01 2.79871014e-02 1.12900855e+02] [-4.02510205e-01 9.15321537e-01 -1.31155732e-02 -2.41825293e+01] [-3.08991418e-02 7.34263528e-04 9.99522238e-01 -3.61531510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:-24.21, Z:-3.62 [[ 9.15017576e-01 4.02442200e-01 2.79841363e-02 1.12958381e+02] [-4.02228919e-01 9.15445090e-01 -1.31218966e-02 -2.42082899e+01] [-3.08987451e-02 7.50737109e-04 9.99522238e-01 -3.62014375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:-24.24, Z:-3.62 [[ 9.13882789e-01 4.05012774e-01 2.79803626e-02 1.13012805e+02] [-4.04800450e-01 9.14310779e-01 -1.31299386e-02 -2.42371388e+01] [-3.09005399e-02 6.72761501e-04 9.99522238e-01 -3.61782877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:-24.26, Z:-3.62 [[ 9.14203006e-01 4.04289664e-01 2.79773509e-02 1.13070266e+02] [-4.04076805e-01 9.14630730e-01 -1.31363527e-02 -2.42638880e+01] [-3.08998365e-02 7.04294561e-04 9.99522238e-01 -3.61937017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:113.13, Y:-24.29, Z:-3.62 [[ 9.14390202e-01 4.03866341e-01 2.79738572e-02 1.13127699e+02] [-4.03653057e-01 9.14817714e-01 -1.31437883e-02 -2.42904209e+01] [-3.08993138e-02 7.26818269e-04 9.99522238e-01 -3.62147981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.19, Y:-24.32, Z:-3.62 [[ 9.15017007e-01 4.02444449e-01 2.79703860e-02 1.13185371e+02] [-4.02230275e-01 9.15444074e-01 -1.31511710e-02 -2.43166081e+01] [-3.08979399e-02 7.83009036e-04 9.99522238e-01 -3.62431490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.643617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:113.24, Y:-24.35, Z:-3.62 [[ 9.15260998e-01 4.01889493e-01 2.79667785e-02 1.13241466e+02] [-4.01674826e-01 9.15687817e-01 -1.31588381e-02 -2.43452785e+01] [-3.08972372e-02 8.10220412e-04 9.99522238e-01 -3.62404725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.703617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.30, Y:-24.37, Z:-3.63 [[ 9.16402362e-01 3.99280331e-01 2.79629880e-02 1.13298639e+02] [-3.99064204e-01 9.16828443e-01 -1.31668882e-02 -2.43706989e+01] [-3.08945422e-02 9.07139850e-04 9.99522238e-01 -3.62971588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.35, Y:-24.40, Z:-3.63 [[ 9.17238360e-01 3.97356356e-01 2.79592150e-02 1.13354959e+02] [-3.97139092e-01 9.17663862e-01 -1.31748951e-02 -2.43953444e+01] [-3.08922895e-02 9.80821935e-04 9.99522238e-01 -3.63382738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:-24.42, Z:-3.64 [[ 9.17032858e-01 3.97830636e-01 2.79557165e-02 1.13411723e+02] [-3.97613365e-01 9.17458358e-01 -1.31823143e-02 -2.44219479e+01] [-3.08925343e-02 9.73048816e-04 9.99522238e-01 -3.63634334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:113.47, Y:-24.45, Z:-3.64 [[ 9.15905184e-01 4.00420249e-01 2.79520649e-02 1.13468495e+02] [-4.00203945e-01 9.16331176e-01 -1.31900528e-02 -2.44496329e+01] [-3.08949127e-02 8.94311118e-04 9.99522238e-01 -3.63690098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:-24.48, Z:-3.64 [[ 9.13631394e-01 4.05581769e-01 2.79482467e-02 1.13525088e+02] [-4.05367626e-01 9.14058476e-01 -1.31981380e-02 -2.44762300e+01] [-3.08992560e-02 7.28918817e-04 9.99522238e-01 -3.63782725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003617865 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:-24.50, Z:-3.64 [[ 9.12608661e-01 4.07878092e-01 2.79444905e-02 1.13580641e+02] [-4.07664780e-01 9.13036158e-01 -1.32060865e-02 -2.45009480e+01] [-3.09008036e-02 6.60004327e-04 9.99522238e-01 -3.64002357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.64, Y:-24.53, Z:-3.64 [[ 9.11981726e-01 4.09278070e-01 2.79426920e-02 1.13637330e+02] [-4.09065297e-01 9.12409492e-01 -1.32098906e-02 -2.45290100e+01] [-3.09016960e-02 6.16793225e-04 9.99522238e-01 -3.64035042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.69, Y:-24.56, Z:-3.64 [[ 9.12671239e-01 4.07738420e-01 2.79390376e-02 1.13694144e+02] [-4.07524690e-01 9.13098528e-01 -1.32176154e-02 -2.45564341e+01] [-3.09004237e-02 6.77489764e-04 9.99522238e-01 -3.64164346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:113.75, Y:-24.58, Z:-3.64 [[ 9.12631398e-01 4.07827850e-01 2.79352038e-02 1.13750162e+02] [-4.07613914e-01 9.13058584e-01 -1.32257130e-02 -2.45831952e+01] [-3.09002917e-02 6.83423212e-04 9.99522238e-01 -3.64271293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:113.81, Y:-24.61, Z:-3.65 [[ 9.13154073e-01 4.06656441e-01 2.79316728e-02 1.13807051e+02] [-4.06441729e-01 9.13580869e-01 -1.32331661e-02 -2.46103280e+01] [-3.08991941e-02 7.31322145e-04 9.99522238e-01 -3.64637755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.86, Y:-24.64, Z:-3.65 [[ 9.13421800e-01 4.06054982e-01 2.79278902e-02 1.13863180e+02] [-4.05839745e-01 9.13848332e-01 -1.32411443e-02 -2.46377881e+01] [-3.08984884e-02 7.60502004e-04 9.99522238e-01 -3.64849674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.92, Y:-24.66, Z:-3.65 [[ 9.13424110e-01 4.06050050e-01 2.79240389e-02 1.13919282e+02] [-4.05834563e-01 9.13850516e-01 -1.32492611e-02 -2.46636695e+01] [-3.08982605e-02 7.69654455e-04 9.99522238e-01 -3.65093391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.98, Y:-24.69, Z:-3.65 [[ 9.13393028e-01 4.06120207e-01 2.79204871e-02 1.13976339e+02] [-4.05904524e-01 9.13819334e-01 -1.32567417e-02 -2.46898362e+01] [-3.08981116e-02 7.75563417e-04 9.99522238e-01 -3.65289406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:114.03, Y:-24.71, Z:-3.66 [[ 9.13473449e-01 4.05939528e-01 2.79169728e-02 1.14033528e+02] [-4.05723535e-01 9.13899598e-01 -1.32641382e-02 -2.47149585e+01] [-3.08977482e-02 7.89865221e-04 9.99522239e-01 -3.65714466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:-24.74, Z:-3.66 [[ 9.12257702e-01 4.08664582e-01 2.79131700e-02 1.14089379e+02] [-4.08449618e-01 9.12684371e-01 -1.32721360e-02 -2.47427478e+01] [-3.08997659e-02 7.06484676e-04 9.99522239e-01 -3.65586500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:-24.77, Z:-3.66 [[ 9.12377676e-01 4.08396899e-01 2.79096741e-02 1.14146714e+02] [-4.08181585e-01 9.12804168e-01 -1.32794834e-02 -2.47675740e+01] [-3.08993667e-02 7.23689191e-04 9.99522239e-01 -3.66028084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.20, Y:-24.80, Z:-3.66 [[ 9.11723200e-01 4.09856161e-01 2.79058171e-02 1.14201422e+02] [-4.09641281e-01 9.12149911e-01 -1.32875838e-02 -2.47966713e+01] [-3.09002866e-02 6.83223715e-04 9.99522239e-01 -3.65989156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:-24.82, Z:-3.66 [[ 9.12140684e-01 4.08926443e-01 2.79022647e-02 1.14257132e+02] [-4.08710901e-01 9.12567061e-01 -1.32950391e-02 -2.48240539e+01] [-3.08993808e-02 7.22986330e-04 9.99522239e-01 -3.66191542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:-24.85, Z:-3.67 [[ 9.13440705e-01 4.06014369e-01 2.78999990e-02 1.14314241e+02] [-4.05797323e-01 9.13866319e-01 -1.32997920e-02 -2.48504857e+01] [-3.08967761e-02 8.26826526e-04 9.99522239e-01 -3.66780773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:-24.88, Z:-3.67 [[ 9.13135338e-01 4.06700951e-01 2.78960797e-02 1.14369592e+02] [-4.06483974e-01 9.13560986e-01 -1.33080076e-02 -2.48775010e+01] [-3.08971495e-02 8.12702621e-04 9.99522239e-01 -3.66931823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.43, Y:-24.91, Z:-3.67 [[ 9.13958938e-01 4.04846888e-01 2.78936741e-02 1.14425356e+02] [-4.04628893e-01 9.14384067e-01 -1.33130479e-02 -2.49077748e+01] [-3.08952772e-02 8.80992653e-04 9.99522239e-01 -3.66665968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:-24.93, Z:-3.67 [[ 9.15874605e-01 4.00494517e-01 2.78899576e-02 1.14481924e+02] [-4.00274266e-01 9.16298569e-01 -1.33208291e-02 -2.49319608e+01] [-3.08904473e-02 1.03657673e-03 9.99522239e-01 -3.67355154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.54, Y:-24.96, Z:-3.67 [[ 9.15095336e-01 4.02272121e-01 2.78866798e-02 1.14536665e+02] [-4.02052485e-01 9.15519619e-01 -1.33276875e-02 -2.49593300e+01] [-3.08921596e-02 9.84195779e-04 9.99522239e-01 -3.67371649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:-24.99, Z:-3.67 [[ 9.14388222e-01 4.03876976e-01 2.78849071e-02 1.14593921e+02] [-4.03657972e-01 9.14812831e-01 -1.33313956e-02 -2.49865303e+01] [-3.08937145e-02 9.34106081e-04 9.99522239e-01 -3.67339704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:-25.01, Z:-3.67 [[ 9.12460999e-01 4.08212649e-01 2.78811669e-02 1.14651036e+02] [-4.07995424e-01 9.12886521e-01 -1.33392131e-02 -2.50136122e+01] [-3.08975770e-02 7.96123235e-04 9.99522239e-01 -3.67401633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:-25.04, Z:-3.68 [[ 9.12217353e-01 4.08757079e-01 2.78774503e-02 1.14709281e+02] [-4.08539870e-01 9.12642883e-01 -1.33469758e-02 -2.50383237e+01] [-3.08978275e-02 7.86292989e-04 9.99522239e-01 -3.68112648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:-25.07, Z:-3.68 [[ 9.09554959e-01 4.14647840e-01 2.78737531e-02 1.14764162e+02] [-4.14433152e-01 9.09981766e-01 -1.33546927e-02 -2.50687862e+01] [-3.09021015e-02 5.95019585e-04 9.99522239e-01 -3.67730247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:-25.10, Z:-3.68 [[ 9.09437713e-01 4.14905172e-01 2.78701201e-02 1.14819806e+02] [-4.14690373e-01 9.09864465e-01 -1.33622702e-02 -2.50976376e+01] [-3.09021069e-02 5.94681971e-04 9.99522239e-01 -3.67791393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:-25.13, Z:-3.68 [[ 9.09630715e-01 4.14482115e-01 2.78664363e-02 1.14876462e+02] [-4.14266882e-01 9.10057248e-01 -1.33699482e-02 -2.51257149e+01] [-3.09016567e-02 6.17573843e-04 9.99522239e-01 -3.67943306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.93, Y:-25.15, Z:-3.69 [[ 9.12463178e-01 4.08209034e-01 2.78627688e-02 1.14934211e+02] [-4.07990636e-01 9.12888099e-01 -1.33775868e-02 -2.51485606e+01] [-3.08964418e-02 8.38806591e-04 9.99522239e-01 -3.68684768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:114.99, Y:-25.18, Z:-3.68 [[ 9.11568478e-01 4.10203310e-01 2.78595356e-02 1.14986389e+02] [-4.09985637e-01 9.11993771e-01 -1.33843167e-02 -2.51811239e+01] [-3.08980139e-02 7.78711784e-04 9.99522239e-01 -3.68310666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.04, Y:-25.21, Z:-3.68 [[ 9.12031072e-01 4.09173982e-01 2.78563539e-02 1.15042460e+02] [-4.08955627e-01 9.12456014e-01 -1.33909354e-02 -2.52090189e+01] [-3.08969200e-02 8.20936489e-04 9.99522239e-01 -3.68459897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.10, Y:-25.24, Z:-3.69 [[ 9.12818256e-01 4.07415095e-01 2.78526776e-02 1.15098853e+02] [-4.07195688e-01 9.13242657e-01 -1.33985776e-02 -2.52372377e+01] [-3.08950361e-02 8.88975992e-04 9.99522239e-01 -3.68765688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.16, Y:-25.26, Z:-3.69 [[ 9.13927638e-01 4.04920618e-01 2.78489732e-02 1.15155451e+02] [-4.04699818e-01 9.14351316e-01 -1.34062728e-02 -2.52612059e+01] [-3.08922216e-02 9.81888895e-04 9.99522239e-01 -3.69098088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.21, Y:-25.29, Z:-3.70 [[ 9.14094134e-01 4.04544854e-01 2.78455690e-02 1.15210720e+02] [-4.04323665e-01 9.14517608e-01 -1.34133398e-02 -2.52875910e+01] [-3.08915608e-02 1.00243273e-03 9.99522239e-01 -3.69636800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.26, Y:-25.32, Z:-3.70 [[ 9.13092384e-01 4.06801031e-01 2.78427639e-02 1.15263763e+02] [-4.06580711e-01 9.13516312e-01 -1.34191600e-02 -2.53198208e+01] [-3.08937471e-02 9.32602049e-04 9.99522239e-01 -3.69696194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:-25.35, Z:-3.70 [[ 9.11477560e-01 4.10406507e-01 2.78416371e-02 1.15319388e+02] [-4.10187793e-01 9.11902318e-01 -1.34214974e-02 -2.53470984e+01] [-3.08971233e-02 8.13094050e-04 9.99522239e-01 -3.69679749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:-25.37, Z:-3.70 [[ 9.11561408e-01 4.10220461e-01 2.78383441e-02 1.15375507e+02] [-4.10001452e-01 9.11986014e-01 -1.34283241e-02 -2.53712773e+01] [-3.08967538e-02 8.26980575e-04 9.99522239e-01 -3.70467872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:-25.40, Z:-3.71 [[ 9.10278547e-01 4.13059513e-01 2.78353436e-02 1.15431002e+02] [-4.12841638e-01 9.10703736e-01 -1.34345409e-02 -2.53992811e+01] [-3.08990164e-02 7.37585509e-04 9.99522239e-01 -3.70650018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:-25.43, Z:-3.71 [[ 9.10342712e-01 4.12918301e-01 2.78320599e-02 1.15487784e+02] [-4.12700152e-01 9.10767761e-01 -1.34413403e-02 -2.54264658e+01] [-3.08987183e-02 7.49930841e-04 9.99522239e-01 -3.70893600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:-25.45, Z:-3.71 [[ 9.10904413e-01 4.11677950e-01 2.78283374e-02 1.15543872e+02] [-4.11458988e-01 9.11329043e-01 -1.34490427e-02 -2.54508736e+01] [-3.08974464e-02 8.00572829e-04 9.99522239e-01 -3.71208816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:-25.48, Z:-3.72 [[ 9.10971362e-01 4.11529983e-01 2.78253609e-02 1.15600100e+02] [-4.11310764e-01 9.11395860e-01 -1.34551982e-02 -2.54781221e+01] [-3.08971362e-02 8.12429819e-04 9.99522239e-01 -3.71513631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.223617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:115.65, Y:-25.51, Z:-3.71 [[ 9.10098388e-01 4.13457236e-01 2.78215522e-02 1.15654044e+02] [-4.13238675e-01 9.10523225e-01 -1.34630689e-02 -2.55090358e+01] [-3.08985727e-02 7.55775973e-04 9.99522239e-01 -3.71270559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.283617865 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:115.71, Y:-25.53, Z:-3.72 [[ 9.11100379e-01 4.11244684e-01 2.78192153e-02 1.15712709e+02] [-4.11024945e-01 9.11524608e-01 -1.34678960e-02 -2.55315024e+01] [-3.08964999e-02 8.36213770e-04 9.99522239e-01 -3.72360260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.77, Y:-25.56, Z:-3.73 [[ 9.10563157e-01 4.12433071e-01 2.78154437e-02 1.15769454e+02] [-4.12213648e-01 9.10987549e-01 -1.34756809e-02 -2.55588472e+01] [-3.08973394e-02 8.04553026e-04 9.99522239e-01 -3.72547207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40361786499999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:-25.59, Z:-3.72 [[ 9.07838665e-01 4.18396303e-01 2.78117433e-02 1.15823726e+02] [-4.18179434e-01 9.08264368e-01 -1.34833137e-02 -2.55907792e+01] [-3.09017841e-02 6.10374442e-04 9.99522239e-01 -3.72100773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46361786499999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:-25.61, Z:-3.73 [[ 9.08952261e-01 4.15971585e-01 2.78105531e-02 1.15880661e+02] [-4.15753506e-01 9.09377346e-01 -1.34857681e-02 -2.56125516e+01] [-3.08999833e-02 6.95584462e-04 9.99522239e-01 -3.72989257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52361786499999 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-25.65, Z:-3.73 [[ 9.06917231e-01 4.20390155e-01 2.78074605e-02 1.15933709e+02] [-4.20173951e-01 9.07343272e-01 -1.34921420e-02 -2.56462348e+01] [-3.09028759e-02 5.52285489e-04 9.99522239e-01 -3.72597586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.583617865 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-25.67, Z:-3.73 [[ 9.06762593e-01 4.20723687e-01 2.78061053e-02 1.15988791e+02] [-4.20507555e-01 9.07188670e-01 -1.34949345e-02 -2.56743874e+01] [-3.09030223e-02 5.44024416e-04 9.99522239e-01 -3.72942436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.643617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-25.70, Z:-3.74 [[ 9.09223592e-01 4.15378751e-01 2.78020370e-02 1.16046805e+02] [-4.15159858e-01 9.09648258e-01 -1.35033107e-02 -2.56966334e+01] [-3.08990629e-02 7.35238902e-04 9.99522240e-01 -3.73884935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:-25.73, Z:-3.74 [[ 9.08881146e-01 4.16127760e-01 2.77983932e-02 1.16102170e+02] [-4.15908988e-01 9.09305874e-01 -1.35108079e-02 -2.57257807e+01] [-3.08994644e-02 7.18116981e-04 9.99522240e-01 -3.74110189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76361786499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:-25.75, Z:-3.75 [[ 9.08914926e-01 4.16054239e-01 2.77943768e-02 1.16157991e+02] [-4.15835180e-01 9.09339506e-01 -1.35190652e-02 -2.57517824e+01] [-3.08991893e-02 7.29800458e-04 9.99522240e-01 -3.74676524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-25.78, Z:-3.75 [[ 9.08226503e-01 4.17555127e-01 2.77909220e-02 1.16212539e+02] [-4.17336553e-01 9.08651333e-01 -1.35261636e-02 -2.57802647e+01] [-3.09001772e-02 6.86652669e-04 9.99522240e-01 -3.74838300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-25.81, Z:-3.75 [[ 9.08098301e-01 4.17834099e-01 2.77874370e-02 1.16266448e+02] [-4.17615437e-01 9.08523085e-01 -1.35333192e-02 -2.58088897e+01] [-3.09002102e-02 6.85121573e-04 9.99522240e-01 -3.75224087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.32, Y:-25.84, Z:-3.74 [[ 9.06486304e-01 4.21320091e-01 2.77842028e-02 1.16318238e+02] [-4.21102859e-01 9.06911821e-01 -1.35399559e-02 -2.58441332e+01] [-3.09024774e-02 5.73777300e-04 9.99522240e-01 -3.73957167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.003617865 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:116.37, Y:-25.87, Z:-3.74 [[ 9.05552581e-01 4.23323467e-01 2.77806665e-02 1.16374175e+02] [-4.23106954e-01 9.05978465e-01 -1.35472076e-02 -2.58737487e+01] [-3.09035364e-02 5.13515611e-04 9.99522240e-01 -3.74192857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.063617865 meters Centerline goodness : 0.996003 with order 1 Centerline is valid? [True, True] Translation: X:116.43, Y:-25.90, Z:-3.75 [[ 9.03994809e-01 4.26640160e-01 2.77769570e-02 1.16429083e+02] [-4.26424976e-01 9.04421366e-01 -1.35548091e-02 -2.59032005e+01] [-3.09050993e-02 4.08688789e-04 9.99522240e-01 -3.74597084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.48, Y:-25.93, Z:-3.75 [[ 9.04426176e-01 4.25725239e-01 2.77725359e-02 1.16483489e+02] [-4.25509346e-01 9.04852374e-01 -1.35638615e-02 -2.59327530e+01] [-3.09045232e-02 4.50037779e-04 9.99522240e-01 -3.74804871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18361786499999 meters Centerline goodness : 0.995799 with order 1 Centerline is valid? [True, True] Translation: X:116.54, Y:-25.96, Z:-3.75 [[ 9.03828053e-01 4.26993861e-01 2.77685745e-02 1.16538788e+02] [-4.26778317e-01 9.04254428e-01 -1.35719666e-02 -2.59613032e+01] [-3.09050029e-02 4.15698613e-04 9.99522240e-01 -3.75359367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:-25.98, Z:-3.76 [[ 9.05141554e-01 4.24202491e-01 2.77671377e-02 1.16596964e+02] [-4.23985542e-01 9.05567216e-01 -1.35749056e-02 -2.59832419e+01] [-3.09035183e-02 5.14346233e-04 9.99522240e-01 -3.76342647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:116.65, Y:-26.02, Z:-3.75 [[ 9.03363251e-01 4.27976689e-01 2.77631132e-02 1.16650298e+02] [-4.27761266e-01 9.03789687e-01 -1.35831314e-02 -2.60150352e+01] [-3.09052790e-02 3.94517345e-04 9.99522240e-01 -3.75398514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.71, Y:-26.04, Z:-3.75 [[ 9.05099063e-01 4.24293655e-01 2.77593371e-02 1.16706788e+02] [-4.24076260e-01 9.05524497e-01 -1.35908442e-02 -2.60420911e+01] [-3.09032687e-02 5.28984496e-04 9.99522240e-01 -3.75408706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.76, Y:-26.07, Z:-3.76 [[ 9.06756870e-01 4.20739388e-01 2.77550968e-02 1.16763956e+02] [-4.20520061e-01 9.07181312e-01 -1.35994980e-02 -2.60683189e+01] [-3.09007496e-02 6.59863274e-04 9.99522240e-01 -3.75592158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:-26.09, Z:-3.76 [[ 9.07872606e-01 4.18326656e-01 2.77513868e-02 1.16820550e+02] [-4.18105970e-01 9.08296342e-01 -1.36070647e-02 -2.60949342e+01] [-3.08986810e-02 7.50460822e-04 9.99522240e-01 -3.75854878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:-26.12, Z:-3.76 [[ 9.08314007e-01 4.17367620e-01 2.77477034e-02 1.16876746e+02] [-4.17146257e-01 9.08737390e-01 -1.36145718e-02 -2.61206713e+01] [-3.08976570e-02 7.91455625e-04 9.99522240e-01 -3.76075669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.93, Y:-26.15, Z:-3.76 [[ 9.07391352e-01 4.19369989e-01 2.77443014e-02 1.16934374e+02] [-4.19149349e-01 9.07815112e-01 -1.36215009e-02 -2.61468595e+01] [-3.08991448e-02 7.31026259e-04 9.99522240e-01 -3.76472153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66361786499999 meters Centerline goodness : 0.993591 with order 1 Centerline is valid? [True, True] Translation: X:116.99, Y:-26.17, Z:-3.77 [[ 9.06324572e-01 4.21670756e-01 2.77406480e-02 1.16989963e+02] [-4.21450964e-01 9.06748773e-01 -1.36289371e-02 -2.61748002e+01] [-3.09007228e-02 6.60917716e-04 9.99522240e-01 -3.76949982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:-26.20, Z:-3.78 [[ 9.03494594e-01 4.27700894e-01 2.77392290e-02 1.17046408e+02] [-4.27483845e-01 9.03920204e-01 -1.36318247e-02 -2.62012237e+01] [-3.09043931e-02 4.58207661e-04 9.99522240e-01 -3.77523915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.783617865 meters Centerline goodness : 0.994599 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:-26.23, Z:-3.78 [[ 9.02374940e-01 4.30058434e-01 2.77346632e-02 1.17101286e+02] [-4.29842212e-01 9.02800971e-01 -1.36411076e-02 -2.62301132e+01] [-3.09053543e-02 3.87864664e-04 9.99522240e-01 -3.77535905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84361786499998 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:-26.26, Z:-3.78 [[ 9.01560773e-01 4.31762889e-01 2.77305002e-02 1.17156423e+02] [-4.31547212e-01 9.01987080e-01 -1.36495653e-02 -2.62582314e+01] [-3.09059286e-02 3.38892578e-04 9.99522240e-01 -3.77927934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90361786499999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:-26.29, Z:-3.78 [[ 9.01592541e-01 4.31696818e-01 2.77263055e-02 1.17210448e+02] [-4.31480848e-01 9.02018700e-01 -1.36580807e-02 -2.62880457e+01] [-3.09057960e-02 3.50653864e-04 9.99522240e-01 -3.77978966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96361786499999 meters Centerline goodness : 0.993166 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:-26.32, Z:-3.78 [[ 9.01996742e-01 4.30851857e-01 2.77228201e-02 1.17265342e+02] [-4.30635271e-01 9.02422588e-01 -1.36651515e-02 -2.63187361e+01] [-3.09053550e-02 3.87497926e-04 9.99522240e-01 -3.77828524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02361786499999 meters Centerline goodness : 0.995114 with order 1 Centerline is valid? [True, True] Translation: X:117.32, Y:-26.35, Z:-3.78 [[ 9.01501928e-01 4.31886548e-01 2.77179495e-02 1.17320817e+02] [-4.31670147e-01 9.01927868e-01 -1.36750238e-02 -2.63464840e+01] [-3.09056499e-02 3.63049014e-04 9.99522240e-01 -3.78338083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.083617865 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:-26.37, Z:-3.79 [[ 9.01071572e-01 4.32783989e-01 2.77135464e-02 1.17376343e+02] [-4.32567738e-01 9.01497588e-01 -1.36839411e-02 -2.63724871e+01] [-3.09058859e-02 3.42224237e-04 9.99522240e-01 -3.78646702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.143617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:117.43, Y:-26.40, Z:-3.79 [[ 9.02053578e-01 4.30733595e-01 2.77112360e-02 1.17432344e+02] [-4.30516232e-01 9.02479028e-01 -1.36886184e-02 -2.63984231e+01] [-3.09049571e-02 4.17730252e-04 9.99522240e-01 -3.79088589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20361786499998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:117.49, Y:-26.43, Z:-3.79 [[ 9.03204014e-01 4.28316222e-01 2.77078191e-02 1.17488331e+02] [-4.28097508e-01 9.03628771e-01 -1.36955311e-02 -2.64255820e+01] [-3.09036007e-02 5.08210368e-04 9.99522240e-01 -3.79435725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:117.54, Y:-26.45, Z:-3.80 [[ 9.04154699e-01 4.26305938e-01 2.77042864e-02 1.17543847e+02] [-4.26086061e-01 9.04578855e-01 -1.37026737e-02 -2.64500573e+01] [-3.09022428e-02 5.84926590e-04 9.99522240e-01 -3.79790777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:117.60, Y:-26.48, Z:-3.80 [[ 9.05192629e-01 4.24097717e-01 2.77025439e-02 1.17599757e+02] [-4.23876698e-01 9.05616191e-01 -1.37061956e-02 -2.64791860e+01] [-3.09006385e-02 6.64284418e-04 9.99522241e-01 -3.79820058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.65, Y:-26.51, Z:-3.80 [[ 9.06914413e-01 4.20403425e-01 2.76985209e-02 1.17653620e+02] [-4.20180432e-01 9.07336939e-01 -1.37143208e-02 -2.65070321e+01] [-3.08974386e-02 7.99338699e-04 9.99522241e-01 -3.79983995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:117.71, Y:-26.53, Z:-3.80 [[ 9.07365006e-01 4.19430128e-01 2.76968268e-02 1.17710248e+02] [-4.19206578e-01 9.07787237e-01 -1.37177412e-02 -2.65323224e+01] [-3.08964598e-02 8.36306323e-04 9.99522241e-01 -3.80150421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:117.77, Y:-26.56, Z:-3.80 [[ 9.08791330e-01 4.16330796e-01 2.76945072e-02 1.17768156e+02] [-4.16105664e-01 9.09212721e-01 -1.37224226e-02 -2.65584250e+01] [-3.08932654e-02 9.46977366e-04 9.99522241e-01 -3.79982738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.83, Y:-26.58, Z:-3.81 [[ 9.11163868e-01 4.11112692e-01 2.76904485e-02 1.17825307e+02] [-4.10884899e-01 9.11583825e-01 -1.37306078e-02 -2.65824327e+01] [-3.08869921e-02 1.13324662e-03 9.99522241e-01 -3.80937808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.88, Y:-26.61, Z:-3.81 [[ 9.12725607e-01 4.07633919e-01 2.76867379e-02 1.17882193e+02] [-4.07404299e-01 9.13144568e-01 -1.37380859e-02 -2.66082300e+01] [-3.08821041e-02 1.25940678e-03 9.99522241e-01 -3.80811659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.94, Y:-26.63, Z:-3.81 [[ 9.11926879e-01 4.09417873e-01 2.76834336e-02 1.17938285e+02] [-4.09188871e-01 9.12346179e-01 -1.37447411e-02 -2.66335415e+01] [-3.08842175e-02 1.20644595e-03 9.99522241e-01 -3.80865076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.00, Y:-26.66, Z:-3.81 [[ 9.11143250e-01 4.11159091e-01 2.76799443e-02 1.17996242e+02] [-4.10930678e-01 9.11562871e-01 -1.37517645e-02 -2.66564709e+01] [-3.08861725e-02 1.15528914e-03 9.99522241e-01 -3.81093770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.05, Y:-26.68, Z:-3.81 [[ 9.09972213e-01 4.13744577e-01 2.76766582e-02 1.18053271e+02] [-4.13517155e-01 9.10392371e-01 -1.37583747e-02 -2.66806194e+01] [-3.08890715e-02 1.07496573e-03 9.99522241e-01 -3.81207000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:-26.71, Z:-3.81 [[ 9.08642092e-01 4.16657748e-01 2.76743378e-02 1.18110385e+02] [-4.16431531e-01 9.09062901e-01 -1.37630407e-02 -2.67053788e+01] [-3.08921913e-02 9.81211228e-04 9.99522241e-01 -3.80819149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.923617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:-26.73, Z:-3.82 [[ 9.09348961e-01 4.15112972e-01 2.76710781e-02 1.18168368e+02] [-4.14885841e-01 9.09769277e-01 -1.37695913e-02 -2.67280325e+01] [-3.08902327e-02 1.04102500e-03 9.99522241e-01 -3.81930068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98361786499999 meters Centerline goodness : 0.994040 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:-26.75, Z:-3.81 [[ 9.08136344e-01 4.17759361e-01 2.76676235e-02 1.18226045e+02] [-4.17533245e-01 9.08557206e-01 -1.37765293e-02 -2.67527985e+01] [-3.08928927e-02 9.58814337e-04 9.99522241e-01 -3.81172961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04361786499999 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:-26.78, Z:-3.81 [[ 9.07100699e-01 4.20003461e-01 2.76661255e-02 1.18283525e+02] [-4.19778295e-01 9.07522070e-01 -1.37795369e-02 -2.67791866e+01] [-3.08950727e-02 8.85788608e-04 9.99522241e-01 -3.81430189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:-26.80, Z:-3.82 [[ 9.07020683e-01 4.20176569e-01 2.76610297e-02 1.18342152e+02] [-4.19951171e-01 9.07441930e-01 -1.37897586e-02 -2.68008212e+01] [-3.08949116e-02 8.91314405e-04 9.99522241e-01 -3.82175831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:-26.82, Z:-3.82 [[ 9.06850146e-01 4.20544756e-01 2.76571957e-02 1.18400365e+02] [-4.20319295e-01 9.07271360e-01 -1.37974438e-02 -2.68236305e+01] [-3.08950242e-02 8.87360879e-04 9.99522241e-01 -3.82173464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.46, Y:-26.85, Z:-3.82 [[ 9.07021906e-01 4.20174411e-01 2.76536942e-02 1.18455364e+02] [-4.19948564e-01 9.07442913e-01 -1.38044582e-02 -2.68492112e+01] [-3.08944289e-02 9.07816844e-04 9.99522241e-01 -3.82410613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:-26.87, Z:-3.83 [[ 9.07593176e-01 4.18939229e-01 2.76504934e-02 1.18513273e+02] [-4.18712614e-01 9.08013770e-01 -1.38108665e-02 -2.68728791e+01] [-3.08929425e-02 9.57037824e-04 9.99522241e-01 -3.82587229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:-26.90, Z:-3.83 [[ 9.07024932e-01 4.20168304e-01 2.76472273e-02 1.18570437e+02] [-4.19942061e-01 9.07445726e-01 -1.38174016e-02 -2.68974157e+01] [-3.08939925e-02 9.22494150e-04 9.99522241e-01 -3.82945839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:-26.92, Z:-3.83 [[ 9.06389281e-01 4.21537998e-01 2.76439512e-02 1.18627513e+02] [-4.21312190e-01 9.06810309e-01 -1.38239528e-02 -2.69215473e+01] [-3.08951414e-02 8.83149029e-04 9.99522241e-01 -3.83257379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:-26.94, Z:-3.84 [[ 9.04740199e-01 4.25066069e-01 2.76407085e-02 1.18684906e+02] [-4.24841706e-01 9.05161999e-01 -1.38304335e-02 -2.69446038e+01] [-3.08981670e-02 7.70023388e-04 9.99522241e-01 -3.83534171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:-26.97, Z:-3.83 [[ 9.02321192e-01 4.30177466e-01 2.76371848e-02 1.18740075e+02] [-4.29955277e-01 9.02744141e-01 -1.38374714e-02 -2.69704455e+01] [-3.09018750e-02 6.03090213e-04 9.99522241e-01 -3.83265504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.80, Y:-26.99, Z:-3.84 [[ 9.00561879e-01 4.33848669e-01 2.76339530e-02 1.18797401e+02] [-4.33628006e-01 9.00985626e-01 -1.38439224e-02 -2.69938533e+01] [-3.09039617e-02 4.84452869e-04 9.99522241e-01 -3.83917333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:-27.02, Z:-3.84 [[ 8.98922903e-01 4.37234689e-01 2.76304356e-02 1.18855086e+02] [-4.37015407e-01 8.99347367e-01 -1.38509391e-02 -2.70181755e+01] [-3.09054705e-02 3.76000347e-04 9.99522241e-01 -3.84236750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:-27.05, Z:-3.84 [[ 8.98377610e-01 4.38354219e-01 2.76269692e-02 1.18910578e+02] [-4.38135254e-01 8.98802236e-01 -1.38578496e-02 -2.70453666e+01] [-3.09058286e-02 3.45232610e-04 9.99522241e-01 -3.84439336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:-27.07, Z:-3.85 [[ 9.00521864e-01 4.33932386e-01 2.76234941e-02 1.18967416e+02] [-4.33711123e-01 9.00945298e-01 -1.38647733e-02 -2.70714396e+01] [-3.09036313e-02 5.04914895e-04 9.99522241e-01 -3.84944402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:-27.10, Z:-3.85 [[ 9.02620386e-01 4.29550288e-01 2.76222502e-02 1.19022837e+02] [-4.29326894e-01 9.03042700e-01 -1.38672509e-02 -2.71005707e+01] [-3.09007531e-02 6.57888501e-04 9.99522241e-01 -3.85151906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.08, Y:-27.13, Z:-3.85 [[ 9.05822210e-01 4.22756849e-01 2.76182885e-02 1.19076494e+02] [-4.22530049e-01 9.06242704e-01 -1.38751367e-02 -2.71316696e+01] [-3.08946815e-02 8.98850224e-04 9.99522241e-01 -3.85156764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:-27.16, Z:-3.85 [[ 9.07093188e-01 4.20023058e-01 2.76148310e-02 1.19129403e+02] [-4.19794781e-01 9.07512882e-01 -1.38820145e-02 -2.71637240e+01] [-3.08915811e-02 9.99718805e-04 9.99522241e-01 -3.85025942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:-27.19, Z:-3.85 [[ 9.06775727e-01 4.20708187e-01 2.76116254e-02 1.19182421e+02] [-4.20480034e-01 9.07195488e-01 -1.38883877e-02 -2.71947444e+01] [-3.08921004e-02 9.83515692e-04 9.99522241e-01 -3.84971490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:-27.22, Z:-3.85 [[ 9.06963539e-01 4.20303356e-01 2.76084683e-02 1.19238073e+02] [-4.20074824e-01 9.07383095e-01 -1.38946608e-02 -2.72224846e+01] [-3.08914299e-02 1.00432825e-03 9.99522241e-01 -3.85148949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:-27.25, Z:-3.85 [[ 9.05469803e-01 4.23511986e-01 2.76049421e-02 1.19294181e+02] [-4.23284728e-01 9.05890050e-01 -1.39016629e-02 -2.72502974e+01] [-3.08945632e-02 9.02785534e-04 9.99522241e-01 -3.85210945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.35, Y:-27.28, Z:-3.86 [[ 9.04167177e-01 4.26286182e-01 2.76008467e-02 1.19348331e+02] [-4.26059966e-01 9.04587985e-01 -1.39097893e-02 -2.72775422e+01] [-3.08969453e-02 8.17159167e-04 9.99522241e-01 -3.85501476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:-27.31, Z:-3.86 [[ 9.02029906e-01 4.30790378e-01 2.75988941e-02 1.19404241e+02] [-4.30566145e-01 9.02451774e-01 -1.39136624e-02 -2.73061051e+01] [-3.09005428e-02 6.67390109e-04 9.99522241e-01 -3.85785561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.46, Y:-27.33, Z:-3.86 [[ 9.01774542e-01 4.31324920e-01 2.75950703e-02 1.19461523e+02] [-4.31100706e-01 9.02196420e-01 -1.39212420e-02 -2.73317439e+01] [-3.09007523e-02 6.57567328e-04 9.99522241e-01 -3.86264851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.52, Y:-27.36, Z:-3.87 [[ 9.02947796e-01 4.28863626e-01 2.75910942e-02 1.19517611e+02] [-4.28638021e-01 9.03368932e-01 -1.39291180e-02 -2.73583216e+01] [-3.08986293e-02 7.50674431e-04 9.99522241e-01 -3.86909694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:-27.39, Z:-3.87 [[ 9.03843417e-01 4.26973068e-01 2.75876296e-02 1.19572345e+02] [-4.26746373e-01 9.04263967e-01 -1.39359766e-02 -2.73875418e+01] [-3.08967860e-02 8.23019815e-04 9.99522242e-01 -3.87161504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.63, Y:-27.42, Z:-3.86 [[ 9.04000933e-01 4.26639705e-01 2.75839687e-02 1.19625061e+02] [-4.26412634e-01 9.04421280e-01 -1.39432188e-02 -2.74221973e+01] [-3.08962591e-02 8.42530014e-04 9.99522242e-01 -3.86370068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:-27.45, Z:-3.86 [[ 9.04827432e-01 4.24884246e-01 2.75807360e-02 1.19679866e+02] [-4.24656164e-01 9.05247232e-01 -1.39496105e-02 -2.74515990e+01] [-3.08943546e-02 9.09660647e-04 9.99522242e-01 -3.86452768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.73, Y:-27.48, Z:-3.87 [[ 9.05059487e-01 4.24389861e-01 2.75784510e-02 1.19734032e+02] [-4.24161413e-01 9.05479087e-01 -1.39541265e-02 -2.74821744e+01] [-3.08937004e-02 9.31599831e-04 9.99522242e-01 -3.86546252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:119.79, Y:-27.52, Z:-3.87 [[ 9.04636311e-01 4.25291376e-01 2.75751674e-02 1.19787283e+02] [-4.25063149e-01 9.05056032e-01 -1.39606122e-02 -2.75150619e+01] [-3.08943996e-02 9.08089256e-04 9.99522242e-01 -3.87338369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:-27.54, Z:-3.87 [[ 9.03610842e-01 4.27466082e-01 2.75716341e-02 1.19842928e+02] [-4.27238652e-01 9.04030995e-01 -1.39675870e-02 -2.75435492e+01] [-3.08962815e-02 8.41595256e-04 9.99522242e-01 -3.87184754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:-27.58, Z:-3.88 [[ 9.02086903e-01 4.30673005e-01 2.75677762e-02 1.19894596e+02] [-4.30446837e-01 9.02507737e-01 -1.39751972e-02 -2.75771167e+01] [-3.08988714e-02 7.40380307e-04 9.99522242e-01 -3.88001143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:-27.61, Z:-3.88 [[ 9.01441957e-01 4.32021541e-01 2.75642061e-02 1.19949231e+02] [-4.31795788e-01 9.01863013e-01 -1.39822350e-02 -2.76091695e+01] [-3.08997647e-02 7.02065230e-04 9.99522242e-01 -3.88305407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:120.00, Y:-27.64, Z:-3.88 [[ 9.01633868e-01 4.31621123e-01 2.75603786e-02 1.20004072e+02] [-4.31394952e-01 9.02054700e-01 -1.39897755e-02 -2.76400208e+01] [-3.08992516e-02 7.24247199e-04 9.99522242e-01 -3.88394655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.06, Y:-27.67, Z:-3.89 [[ 9.01759348e-01 4.31359165e-01 2.75562792e-02 1.20058019e+02] [-4.31132625e-01 9.02179982e-01 -1.39978455e-02 -2.76712912e+01] [-3.08988224e-02 7.42277074e-04 9.99522242e-01 -3.88896262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02361786499999 meters Centerline goodness : 0.994205 with order 1 Centerline is valid? [True, True] Translation: X:120.11, Y:-27.70, Z:-3.89 [[ 9.01621291e-01 4.31647817e-01 2.75537524e-02 1.20110657e+02] [-4.31421260e-01 9.02041916e-01 -1.40028176e-02 -2.77036979e+01] [-3.08989252e-02 7.37963929e-04 9.99522242e-01 -3.88675406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:-27.74, Z:-3.89 [[ 9.02227369e-01 4.30379847e-01 2.75492649e-02 1.20163664e+02] [-4.30152430e-01 9.02647529e-01 -1.40116407e-02 -2.77377823e+01] [-3.08976037e-02 7.91302511e-04 9.99522242e-01 -3.88541346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.143617865 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:120.22, Y:-27.77, Z:-3.89 [[ 9.03520150e-01 4.27659490e-01 2.75444902e-02 1.20218258e+02] [-4.27430522e-01 9.03939467e-01 -1.40210208e-02 -2.77703160e+01] [-3.08947744e-02 8.94919012e-04 9.99522242e-01 -3.88634051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20361786499998 meters Centerline goodness : 0.993919 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:-27.80, Z:-3.89 [[ 9.02809790e-01 4.29157197e-01 2.75423986e-02 1.20270929e+02] [-4.28928799e-01 9.03229418e-01 -1.40251281e-02 -2.78024899e+01] [-3.08960894e-02 8.48295012e-04 9.99522242e-01 -3.88754959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.32, Y:-27.83, Z:-3.90 [[ 9.01779503e-01 4.31318202e-01 2.75379272e-02 1.20324034e+02] [-4.31090542e-01 9.02199531e-01 -1.40339022e-02 -2.78346194e+01] [-3.08977825e-02 7.84145395e-04 9.99522242e-01 -3.89523754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.38, Y:-27.87, Z:-3.90 [[ 8.99270554e-01 4.36525366e-01 2.75331721e-02 1.20376222e+02] [-4.36299854e-01 8.99691739e-01 -1.40432250e-02 -2.78676327e+01] [-3.09015914e-02 6.15939797e-04 9.99522242e-01 -3.89603086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38361786499999 meters Centerline goodness : 0.996596 with order 1 Centerline is valid? [True, True] Translation: X:120.43, Y:-27.90, Z:-3.89 [[ 8.94976990e-01 4.45262053e-01 2.75298255e-02 1.20428311e+02] [-4.45040451e-01 8.95400246e-01 -1.40497825e-02 -2.79006260e+01] [-3.09060475e-02 3.22346075e-04 9.99522242e-01 -3.88812711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.49, Y:-27.93, Z:-3.89 [[ 8.92906494e-01 4.49399923e-01 2.75263760e-02 1.20485051e+02] [-4.49180075e-01 8.93330663e-01 -1.40565376e-02 -2.79285310e+01] [-3.09071626e-02 1.86874108e-04 9.99522242e-01 -3.89402159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.503617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:-27.96, Z:-3.90 [[ 8.91981894e-01 4.51232612e-01 2.75214430e-02 1.20541209e+02] [-4.51013337e-01 8.92406360e-01 -1.40661893e-02 -2.79556999e+01] [-3.09074341e-02 1.34248355e-04 9.99522242e-01 -3.89909891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.563617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:-27.99, Z:-3.90 [[ 8.92191090e-01 4.50819088e-01 2.75174200e-02 1.20595284e+02] [-4.50599374e-01 8.92615329e-01 -1.40740551e-02 -2.79864776e+01] [-3.09073236e-02 1.57414336e-04 9.99522242e-01 -3.89848213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62361786499999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:-28.01, Z:-3.91 [[ 8.94743205e-01 4.45732647e-01 2.75136980e-02 1.20652549e+02] [-4.45510298e-01 8.95166069e-01 -1.40813275e-02 -2.80113239e+01] [-3.09058363e-02 3.41536267e-04 9.99522242e-01 -3.90511530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.71, Y:-28.04, Z:-3.91 [[ 8.97722044e-01 4.39702559e-01 2.75098593e-02 1.20709910e+02] [-4.39477140e-01 8.98143279e-01 -1.40888229e-02 -2.80360300e+01] [-3.09026867e-02 5.57892615e-04 9.99522242e-01 -3.91363027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:120.77, Y:-28.07, Z:-3.91 [[ 8.98732098e-01 4.37634590e-01 2.75060299e-02 1.20765896e+02] [-4.37407973e-01 8.99152690e-01 -1.40962953e-02 -2.80652970e+01] [-3.09011472e-02 6.37436271e-04 9.99522242e-01 -3.91350422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:-28.09, Z:-3.91 [[ 9.00226836e-01 4.34551826e-01 2.75018909e-02 1.20821520e+02] [-4.34323523e-01 9.00646515e-01 -1.41043658e-02 -2.80932565e+01] [-3.08985601e-02 7.52410451e-04 9.99522242e-01 -3.91332401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.863617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:-28.12, Z:-3.92 [[ 9.00725212e-01 4.33518107e-01 2.74980745e-02 1.20879861e+02] [-4.33289095e-01 9.01144504e-01 -1.41118024e-02 -2.81176142e+01] [-3.08974606e-02 7.96240404e-04 9.99522242e-01 -3.91694873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.94, Y:-28.14, Z:-3.92 [[ 9.00897424e-01 4.33160384e-01 2.74938661e-02 1.20936677e+02] [-4.32930956e-01 9.01316489e-01 -1.41199968e-02 -2.81416709e+01] [-3.08968981e-02 8.17723012e-04 9.99522242e-01 -3.92027479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:-28.17, Z:-3.92 [[ 9.01011024e-01 4.32924284e-01 2.74899768e-02 1.20993413e+02] [-4.32694515e-01 9.01429902e-01 -1.41275649e-02 -2.81694393e+01] [-3.08964530e-02 8.34329513e-04 9.99522242e-01 -3.92401852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.05, Y:-28.20, Z:-3.93 [[ 9.02147243e-01 4.30551816e-01 2.74860821e-02 1.21048540e+02] [-4.30320716e-01 9.02565388e-01 -1.41351380e-02 -2.81966613e+01] [-3.08938958e-02 9.24145276e-04 9.99522242e-01 -3.92878096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.10, Y:-28.22, Z:-3.93 [[ 9.02551724e-01 4.29703500e-01 2.74824853e-02 1.21104471e+02] [-4.29471794e-01 9.02969533e-01 -1.41421278e-02 -2.82248366e+01] [-3.08927688e-02 9.61049530e-04 9.99522242e-01 -3.93016657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.16, Y:-28.25, Z:-3.93 [[ 9.01513818e-01 4.31876851e-01 2.74813039e-02 1.21160030e+02] [-4.31646082e-01 9.01932145e-01 -1.41444232e-02 -2.82519835e+01] [-3.08949203e-02 8.89195775e-04 9.99522242e-01 -3.92884422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.22, Y:-28.28, Z:-3.93 [[ 9.00796379e-01 4.33371485e-01 2.74779783e-02 1.21215326e+02] [-4.33141214e-01 9.01214981e-01 -1.41508808e-02 -2.82812118e+01] [-3.08961539e-02 8.45217355e-04 9.99522243e-01 -3.93027660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.283617865 meters Centerline goodness : 0.994427 with order 1 Centerline is valid? [True, True] Translation: X:121.27, Y:-28.31, Z:-3.93 [[ 8.98851629e-01 4.37391040e-01 2.74741055e-02 1.21270687e+02] [-4.37162411e-01 8.99271130e-01 -1.41583959e-02 -2.83086669e+01] [-3.08994254e-02 7.15650989e-04 9.99522243e-01 -3.93138494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.32, Y:-28.34, Z:-3.94 [[ 8.97962960e-01 4.39212851e-01 2.74698739e-02 1.21324713e+02] [-4.38984823e-01 8.98382788e-01 -1.41666011e-02 -2.83356443e+01] [-3.09006152e-02 6.62225334e-04 9.99522243e-01 -3.93935005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.38, Y:-28.37, Z:-3.94 [[ 8.97197082e-01 4.40775437e-01 2.74665271e-02 1.21379845e+02] [-4.40547941e-01 8.97617198e-01 -1.41730870e-02 -2.83664445e+01] [-3.09015758e-02 6.15730317e-04 9.99522243e-01 -3.93786947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.43, Y:-28.40, Z:-3.94 [[ 8.97844481e-01 4.39455446e-01 2.74626716e-02 1.21434835e+02] [-4.39227105e-01 8.98264138e-01 -1.41805537e-02 -2.83966611e+01] [-3.09004547e-02 6.69582171e-04 9.99522243e-01 -3.93963993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52361786499999 meters Centerline goodness : 0.995059 with order 1 Centerline is valid? [True, True] Translation: X:121.49, Y:-28.43, Z:-3.94 [[ 8.96404867e-01 4.42384838e-01 2.74585069e-02 1.21487429e+02] [-4.42157621e-01 8.96825134e-01 -1.41886136e-02 -2.84271662e+01] [-3.09023066e-02 5.77754176e-04 9.99522243e-01 -3.94345762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.583617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.54, Y:-28.45, Z:-3.94 [[ 8.94082561e-01 4.47060007e-01 2.74540533e-02 1.21542394e+02] [-4.46834723e-01 8.94503867e-01 -1.41972257e-02 -2.84543142e+01] [-3.09047687e-02 4.26067543e-04 9.99522243e-01 -3.94392098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.643617865 meters Centerline goodness : 0.996161 with order 1 Centerline is valid? [True, True] Translation: X:121.60, Y:-28.48, Z:-3.95 [[ 8.91914895e-01 4.51369370e-01 2.74501733e-02 1.21596877e+02] [-4.51145892e-01 8.92337162e-01 -1.42047237e-02 -2.84827689e+01] [-3.09063869e-02 2.85371750e-04 9.99522243e-01 -3.94642550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.65, Y:-28.51, Z:-3.95 [[ 8.93068942e-01 4.49081954e-01 2.74456323e-02 1.21651666e+02] [-4.48857125e-01 8.93490491e-01 -1.42134922e-02 -2.85110697e+01] [-3.09054343e-02 3.74460877e-04 9.99522243e-01 -3.94698571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:-28.54, Z:-3.95 [[ 8.94375384e-01 4.46474681e-01 2.74414243e-02 1.21707205e+02] [-4.46248374e-01 8.94796142e-01 -1.42216118e-02 -2.85406829e+01] [-3.09040702e-02 4.73768563e-04 9.99522243e-01 -3.94870257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:-28.57, Z:-3.95 [[ 8.96133015e-01 4.42936564e-01 2.74375756e-02 1.21762035e+02] [-4.42708368e-01 8.96552751e-01 -1.42290332e-02 -2.85726524e+01] [-3.09017929e-02 6.04262102e-04 9.99522243e-01 -3.94764219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:-28.60, Z:-3.95 [[ 8.98051673e-01 4.39033695e-01 2.74336998e-02 1.21817356e+02] [-4.38803448e-01 8.98470287e-01 -1.42365018e-02 -2.86036741e+01] [-3.08986681e-02 7.47112142e-04 9.99522243e-01 -3.94890530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-28.63, Z:-3.95 [[ 8.98718885e-01 4.37666524e-01 2.74295256e-02 1.21872951e+02] [-4.37435394e-01 8.99137013e-01 -1.42445398e-02 -2.86310583e+01] [-3.08972599e-02 8.03191546e-04 9.99522243e-01 -3.95479598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.93, Y:-28.66, Z:-3.96 [[ 8.98061648e-01 4.39013792e-01 2.74256641e-02 1.21928914e+02] [-4.38783063e-01 8.98479997e-01 -1.42519706e-02 -2.86600206e+01] [-3.08982222e-02 7.65231321e-04 9.99522243e-01 -3.95555606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.98, Y:-28.69, Z:-3.96 [[ 8.97390757e-01 4.40383797e-01 2.74215331e-02 1.21983701e+02] [-4.40153464e-01 8.97809324e-01 -1.42599144e-02 -2.86881309e+01] [-3.08991434e-02 7.27032597e-04 9.99522243e-01 -3.96042329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.04, Y:-28.72, Z:-3.96 [[ 8.95337594e-01 4.44543429e-01 2.74177322e-02 1.22039287e+02] [-4.44314818e-01 8.95757104e-01 -1.42672187e-02 -2.87163336e+01] [-3.09020267e-02 5.91872557e-04 9.99522243e-01 -3.96341737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.09, Y:-28.74, Z:-3.96 [[ 8.93413956e-01 4.48397036e-01 2.74153475e-02 1.22094466e+02] [-4.48170093e-01 8.93834371e-01 -1.42717997e-02 -2.87448696e+01] [-3.09042125e-02 4.63886173e-04 9.99522243e-01 -3.95786011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:122.15, Y:-28.77, Z:-3.96 [[ 8.93654011e-01 4.47918494e-01 2.74140867e-02 1.22149991e+02] [-4.47691252e-01 8.94074264e-01 -1.42742211e-02 -2.87749122e+01] [-3.09039170e-02 4.83168151e-04 9.99522243e-01 -3.96054152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.21, Y:-28.80, Z:-3.96 [[ 8.93666505e-01 4.47893851e-01 2.74093979e-02 1.22205434e+02] [-4.47666322e-01 8.94086603e-01 -1.42832188e-02 -2.88023093e+01] [-3.09037413e-02 4.94169890e-04 9.99522243e-01 -3.95851443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.363617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:-28.83, Z:-3.96 [[ 8.93849917e-01 4.47527868e-01 2.74068160e-02 1.22261242e+02] [-4.47300015e-01 8.94269839e-01 -1.42881712e-02 -2.88314356e+01] [-3.09034438e-02 5.12411405e-04 9.99522243e-01 -3.96112860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.423617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:-28.86, Z:-3.96 [[ 8.93831028e-01 4.47565835e-01 2.74028644e-02 1.22317160e+02] [-4.47337768e-01 8.94250833e-01 -1.42957458e-02 -2.88607353e+01] [-3.09033218e-02 5.19644993e-04 9.99522243e-01 -3.96378628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:122.37, Y:-28.89, Z:-3.97 [[ 8.93838318e-01 4.47551516e-01 2.73989225e-02 1.22373292e+02] [-4.47323211e-01 8.94257995e-01 -1.43032968e-02 -2.88890566e+01] [-3.09031677e-02 5.28660789e-04 9.99522243e-01 -3.96996380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:-28.92, Z:-3.97 [[ 8.92810019e-01 4.49599591e-01 2.73948484e-02 1.22428085e+02] [-4.49372009e-01 8.93230088e-01 -1.43110956e-02 -2.89173298e+01] [-3.09041656e-02 4.66611482e-04 9.99522243e-01 -3.96676896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:-28.95, Z:-3.97 [[ 8.92887340e-01 4.49446167e-01 2.73923445e-02 1.22483703e+02] [-4.49218366e-01 8.93307290e-01 -1.43158867e-02 -2.89475284e+01] [-3.09040014e-02 4.77329789e-04 9.99522243e-01 -3.97028244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66361786499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:-28.98, Z:-3.97 [[ 8.93110385e-01 4.49003037e-01 2.73881788e-02 1.22538646e+02] [-4.48774784e-01 8.93530089e-01 -1.43238519e-02 -2.89755417e+01] [-3.09036148e-02 5.01656878e-04 9.99522243e-01 -3.96881139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.59, Y:-29.00, Z:-3.97 [[ 8.93245607e-01 4.48734124e-01 2.73856178e-02 1.22593813e+02] [-4.48505594e-01 8.93665161e-01 -1.43287464e-02 -2.90048197e+01] [-3.09033700e-02 5.16486995e-04 9.99522243e-01 -3.97281503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.783617865 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:-29.03, Z:-3.97 [[ 8.93218373e-01 4.48788577e-01 2.73815774e-02 1.22649472e+02] [-4.48559836e-01 8.93637812e-01 -1.43364633e-02 -2.90325392e+01] [-3.09032539e-02 5.23316566e-04 9.99522243e-01 -3.97249130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:-29.06, Z:-3.98 [[ 8.95182948e-01 4.44857216e-01 2.73778554e-02 1.22705534e+02] [-4.44626416e-01 8.95601257e-01 -1.43435676e-02 -2.90582296e+01] [-3.09004813e-02 6.67199418e-04 9.99522243e-01 -3.97918068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.76, Y:-29.09, Z:-3.98 [[ 8.97400189e-01 4.40367516e-01 2.73742781e-02 1.22759955e+02] [-4.40134415e-01 8.97817221e-01 -1.43503916e-02 -2.90850884e+01] [-3.08965446e-02 8.29682279e-04 9.99522243e-01 -3.98065234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.82, Y:-29.11, Z:-3.98 [[ 8.99173477e-01 4.36735393e-01 2.73725168e-02 1.22816879e+02] [-4.36500506e-01 8.99589505e-01 -1.43537504e-02 -2.91129929e+01] [-3.08928196e-02 9.58394240e-04 9.99522243e-01 -3.98149650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.87, Y:-29.14, Z:-3.98 [[ 9.00814310e-01 4.33341145e-01 2.73684298e-02 1.22874318e+02] [-4.33104454e-01 9.01229315e-01 -1.43615389e-02 -2.91379753e+01] [-3.08886769e-02 1.08369086e-03 9.99522244e-01 -3.98252000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.93, Y:-29.16, Z:-3.99 [[ 9.00892181e-01 4.33179486e-01 2.73644082e-02 1.22932223e+02] [-4.32942489e-01 9.01307011e-01 -1.43691975e-02 -2.91631721e+01] [-3.08881745e-02 1.09788271e-03 9.99522244e-01 -3.98524810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.143617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.99, Y:-29.18, Z:-3.98 [[ 8.98859589e-01 4.37381818e-01 2.73602750e-02 1.22991592e+02] [-4.37146522e-01 8.99275385e-01 -1.43770632e-02 -2.91844682e+01] [-3.08926879e-02 9.62512103e-04 9.99522244e-01 -3.98372767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:-29.21, Z:-3.99 [[ 8.95888784e-01 4.43435388e-01 2.73558637e-02 1.23051184e+02] [-4.43202645e-01 8.96306016e-01 -1.43854519e-02 -2.92069150e+01] [-3.08982436e-02 7.63573909e-04 9.99522244e-01 -3.98839990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.11, Y:-29.23, Z:-3.99 [[ 8.94204918e-01 4.46821522e-01 2.73512776e-02 1.23109970e+02] [-4.46590094e-01 8.94622879e-01 -1.43941662e-02 -2.92292384e+01] [-3.09007020e-02 6.56524545e-04 9.99522244e-01 -3.98846351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.17, Y:-29.25, Z:-3.99 [[ 8.91525390e-01 4.52144441e-01 2.73474471e-02 1.23168933e+02] [-4.51915285e-01 8.91944602e-01 -1.44014401e-02 -2.92519406e+01] [-3.09039389e-02 4.80520182e-04 9.99522244e-01 -3.99372412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.23, Y:-29.27, Z:-4.00 [[ 8.89430003e-01 4.56252801e-01 2.73432034e-02 1.23228194e+02] [-4.56025334e-01 8.89850134e-01 -1.44094928e-02 -2.92721227e+01] [-3.09057247e-02 3.47041764e-04 9.99522244e-01 -3.99552670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.29, Y:-29.30, Z:-4.00 [[ 8.88638159e-01 4.57793379e-01 2.73394273e-02 1.23285443e+02] [-4.57566420e-01 8.89058564e-01 -1.44166538e-02 -2.92956290e+01] [-3.09062006e-02 3.01584805e-04 9.99522244e-01 -3.99756948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.34, Y:-29.32, Z:-4.00 [[ 8.87713496e-01 4.59584076e-01 2.73354339e-02 1.23342958e+02] [-4.59357732e-01 8.88134233e-01 -1.44242217e-02 -2.93170280e+01] [-3.09066772e-02 2.47833386e-04 9.99522244e-01 -3.99643760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.40, Y:-29.34, Z:-4.00 [[ 8.88134057e-01 4.58770939e-01 2.73335286e-02 1.23399830e+02] [-4.58544099e-01 8.88554527e-01 -1.44278313e-02 -2.93413803e+01] [-3.09064003e-02 2.80220062e-04 9.99522244e-01 -4.00371295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.46, Y:-29.36, Z:-4.00 [[ 8.89946216e-01 4.55245878e-01 2.73299089e-02 1.23457266e+02] [-4.55017162e-01 8.90365668e-01 -1.44346846e-02 -2.93636538e+01] [-3.09049433e-02 4.10515339e-04 9.99522244e-01 -4.00232980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:-29.39, Z:-4.01 [[ 8.93472947e-01 4.48284816e-01 2.73279467e-02 1.23515677e+02] [-4.48052720e-01 8.93890538e-01 -1.44383986e-02 -2.93876676e+01] [-3.09007078e-02 6.55957756e-04 9.99522244e-01 -4.00608687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:-29.42, Z:-4.01 [[ 8.94763196e-01 4.45704056e-01 2.73261449e-02 1.23571095e+02] [-4.45470651e-01 8.95180057e-01 -1.44418078e-02 -2.94151338e+01] [-3.08985923e-02 7.49002497e-04 9.99522244e-01 -4.00613498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:-29.43, Z:-4.01 [[ 8.99325093e-01 4.36426234e-01 2.73225043e-02 1.23631519e+02] [-4.36188321e-01 8.99739398e-01 -1.44486922e-02 -2.94325427e+01] [-3.08889219e-02 1.07631414e-03 9.99522244e-01 -4.00843471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:-29.46, Z:-4.01 [[ 9.00656997e-01 4.33671138e-01 2.73188222e-02 1.23689945e+02] [-4.33431748e-01 9.01070449e-01 -1.44556509e-02 -2.94562628e+01] [-3.08851819e-02 1.17873826e-03 9.99522244e-01 -4.01124347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923617865 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-29.48, Z:-4.01 [[ 9.01172613e-01 4.32598910e-01 2.73149321e-02 1.23747171e+02] [-4.32358805e-01 9.01585651e-01 -1.44629977e-02 -2.94833465e+01] [-3.08834279e-02 1.22380601e-03 9.99522244e-01 -4.01204513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.81, Y:-29.50, Z:-4.02 [[ 8.99880484e-01 4.35280518e-01 2.73127244e-02 1.23805509e+02] [-4.35041517e-01 9.00294163e-01 -1.44671657e-02 -2.95043017e+01] [-3.08867617e-02 1.13655101e-03 9.99522244e-01 -4.01626879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.87, Y:-29.52, Z:-4.02 [[ 8.96978110e-01 4.41230713e-01 2.73080049e-02 1.23865286e+02] [-4.40994187e-01 8.97393208e-01 -1.44760687e-02 -2.95228061e+01] [-3.08933042e-02 9.42045321e-04 9.99522244e-01 -4.01997457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:-29.55, Z:-4.02 [[ 8.94395658e-01 4.46442466e-01 2.73044263e-02 1.23923100e+02] [-4.46208154e-01 8.94812009e-01 -1.44828153e-02 -2.95479174e+01] [-3.08980723e-02 7.69909427e-04 9.99522244e-01 -4.02123503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.98, Y:-29.57, Z:-4.02 [[ 8.91436244e-01 4.52323022e-01 2.73003011e-02 1.23983536e+02] [-4.52091218e-01 8.91853998e-01 -1.44905871e-02 -2.95693339e+01] [-3.09023089e-02 5.75208166e-04 9.99522244e-01 -4.02270292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.04, Y:-29.59, Z:-4.03 [[ 8.90341871e-01 4.54473634e-01 2.72959703e-02 1.24041241e+02] [-4.54242589e-01 8.90760044e-01 -1.44987405e-02 -2.95922923e+01] [-3.09034550e-02 5.09843501e-04 9.99522244e-01 -4.02524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:-29.61, Z:-4.03 [[ 8.88864030e-01 4.57357502e-01 2.72919757e-02 1.24099541e+02] [-4.57127584e-01 8.89282824e-01 -1.45062559e-02 -2.96148088e+01] [-3.09048302e-02 4.18174145e-04 9.99522244e-01 -4.03009776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.16, Y:-29.64, Z:-4.03 [[ 8.87968243e-01 4.59094351e-01 2.72905935e-02 1.24157711e+02] [-4.58865172e-01 8.88387442e-01 -1.45088558e-02 -2.96393372e+01] [-3.09055543e-02 3.60700300e-04 9.99522244e-01 -4.03187860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.21, Y:-29.67, Z:-4.04 [[ 8.86595494e-01 4.61740073e-01 2.72861584e-02 1.24211766e+02] [-4.61511889e-01 8.87015235e-01 -1.45171920e-02 -2.96675815e+01] [-3.09064075e-02 2.77990563e-04 9.99522244e-01 -4.03732068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.27, Y:-29.70, Z:-4.04 [[ 8.87902393e-01 4.59222191e-01 2.72822072e-02 1.24267318e+02] [-4.58992589e-01 8.88321360e-01 -1.45246137e-02 -2.96955444e+01] [-3.09053923e-02 3.74108380e-04 9.99522244e-01 -4.03516217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.32, Y:-29.72, Z:-4.03 [[ 8.89401453e-01 4.56312345e-01 2.72781752e-02 1.24322390e+02] [-4.56081140e-01 8.89819538e-01 -1.45321822e-02 -2.97238514e+01] [-3.09038673e-02 4.83882701e-04 9.99522244e-01 -4.03404587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.583617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.38, Y:-29.75, Z:-4.05 [[ 8.91525595e-01 4.52148456e-01 2.72742986e-02 1.24376546e+02] [-4.51915075e-01 8.91942469e-01 -1.45394542e-02 -2.97535285e+01] [-3.09010970e-02 6.36628852e-04 9.99522244e-01 -4.04642039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.643617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.43, Y:-29.78, Z:-4.05 [[ 8.91469257e-01 4.52259607e-01 2.72729085e-02 1.24430782e+02] [-4.52026199e-01 8.91886116e-01 -1.45420612e-02 -2.97825217e+01] [-3.09011153e-02 6.35731288e-04 9.99522244e-01 -4.04710694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.49, Y:-29.81, Z:-4.05 [[ 8.94452998e-01 4.46329720e-01 2.72692993e-02 1.24488112e+02] [-4.46093343e-01 8.94868181e-01 -1.45488260e-02 -2.98095553e+01] [-3.08960017e-02 8.48588110e-04 9.99522244e-01 -4.05015869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:-29.84, Z:-4.05 [[ 8.94735405e-01 4.45763610e-01 2.72646031e-02 1.24543323e+02] [-4.45526703e-01 8.95150285e-01 -1.45576214e-02 -2.98392434e+01] [-3.08951751e-02 8.78110544e-04 9.99522244e-01 -4.05091110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:-29.87, Z:-4.06 [[ 8.94456393e-01 4.46323472e-01 2.72602084e-02 1.24597903e+02] [-4.46086574e-01 8.94871278e-01 -1.45658462e-02 -2.98675781e+01] [-3.08954566e-02 8.68101259e-04 9.99522244e-01 -4.05548260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.65, Y:-29.90, Z:-4.05 [[ 8.91531385e-01 4.52138126e-01 2.72562844e-02 1.24649165e+02] [-4.51903710e-01 8.91947677e-01 -1.45731853e-02 -2.99010993e+01] [-3.09002722e-02 6.75236070e-04 9.99522244e-01 -4.05100859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.71, Y:-29.93, Z:-4.06 [[ 8.92690771e-01 4.49844931e-01 2.72529870e-02 1.24706821e+02] [-4.49609258e-01 8.93106353e-01 -1.45793491e-02 -2.99250654e+01] [-3.08982621e-02 7.61655155e-04 9.99522245e-01 -4.06018338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.76, Y:-29.96, Z:-4.06 [[ 8.90942181e-01 4.53298468e-01 2.72493681e-02 1.24757589e+02] [-4.53064199e-01 8.91358557e-01 -1.45861098e-02 -2.99623614e+01] [-3.09008186e-02 6.49667356e-04 9.99522245e-01 -4.05535175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.063617865 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:124.81, Y:-29.99, Z:-4.06 [[ 8.93475333e-01 4.48285074e-01 2.72455612e-02 1.24814902e+02] [-4.48048253e-01 8.93890262e-01 -1.45932174e-02 -2.99876690e+01] [-3.08964633e-02 8.31353662e-04 9.99522245e-01 -4.06456705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.87, Y:-30.02, Z:-4.06 [[ 8.92731542e-01 4.49764714e-01 2.72414270e-02 1.24867104e+02] [-4.49528345e-01 8.93146729e-01 -1.46009305e-02 -3.00210712e+01] [-3.08975748e-02 7.88917637e-04 9.99522245e-01 -4.06122212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.92, Y:-30.05, Z:-4.06 [[ 8.92394866e-01 4.50432586e-01 2.72376239e-02 1.24922007e+02] [-4.50196312e-01 8.92810107e-01 -1.46080217e-02 -3.00519710e+01] [-3.08979549e-02 7.73845710e-04 9.99522245e-01 -4.06350600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.98, Y:-30.09, Z:-4.06 [[ 8.91254116e-01 4.52685796e-01 2.72336314e-02 1.24975578e+02] [-4.52450344e-01 8.91669824e-01 -1.46154612e-02 -3.00860254e+01] [-3.08996190e-02 7.04224081e-04 9.99522245e-01 -4.06092294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.03, Y:-30.11, Z:-4.07 [[ 8.91780174e-01 4.51648836e-01 2.72295810e-02 1.25031518e+02] [-4.51412671e-01 8.92195477e-01 -1.46230034e-02 -3.01149679e+01] [-3.08985715e-02 7.48726610e-04 9.99522245e-01 -4.06642100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.363617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.09, Y:-30.15, Z:-4.07 [[ 8.90846018e-01 4.53488863e-01 2.72254071e-02 1.25085448e+02] [-4.53253319e-01 8.91261673e-01 -1.46307703e-02 -3.01453021e+01] [-3.08998533e-02 6.93757318e-04 9.99522245e-01 -4.07020867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.423617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:-30.18, Z:-4.07 [[ 8.88820190e-01 4.57446779e-01 2.72234069e-02 1.25138695e+02] [-4.57212972e-01 8.89236824e-01 -1.46344912e-02 -3.01773843e+01] [-3.09025567e-02 5.60536516e-04 9.99522245e-01 -4.07094126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:-30.21, Z:-4.07 [[ 8.85576954e-01 4.63694465e-01 2.72194992e-02 1.25192305e+02] [-4.63463374e-01 8.85995101e-01 -1.46417557e-02 -3.02095106e+01] [-3.09056440e-02 3.51160498e-04 9.99522245e-01 -4.07197541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.25, Y:-30.24, Z:-4.08 [[ 8.83844416e-01 4.66988613e-01 2.72155035e-02 1.25246835e+02] [-4.66758852e-01 8.84263296e-01 -1.46491790e-02 -3.02413850e+01] [-3.09066706e-02 2.44517935e-04 9.99522245e-01 -4.07502790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.30, Y:-30.28, Z:-4.08 [[ 8.82376854e-01 4.69755920e-01 2.72114491e-02 1.25299048e+02] [-4.69527240e-01 8.82796325e-01 -1.46567062e-02 -3.02762776e+01] [-3.09072418e-02 1.56221714e-04 9.99522245e-01 -4.07834153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.35, Y:-30.31, Z:-4.08 [[ 8.82365833e-01 4.69776725e-01 2.72096520e-02 1.25351640e+02] [-4.69547952e-01 8.82785253e-01 -1.46600418e-02 -3.03100928e+01] [-3.09072260e-02 1.59283624e-04 9.99522245e-01 -4.07841747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.40, Y:-30.35, Z:-4.08 [[ 8.82407373e-01 4.69698915e-01 2.72058105e-02 1.25404051e+02] [-4.69469886e-01 8.82826653e-01 -1.46671674e-02 -3.03458214e+01] [-3.09071672e-02 1.70107885e-04 9.99522245e-01 -4.08015279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.46, Y:-30.38, Z:-4.08 [[ 8.82124533e-01 4.70230130e-01 2.72017143e-02 1.25456325e+02] [-4.70001119e-01 8.82543823e-01 -1.46747602e-02 -3.03795171e+01] [-3.09072193e-02 1.60129844e-04 9.99522245e-01 -4.08226961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:-30.41, Z:-4.08 [[ 8.81496992e-01 4.71405692e-01 2.71979312e-02 1.25509360e+02] [-4.71177024e-01 8.81916469e-01 -1.46817683e-02 -3.04148055e+01] [-3.09073726e-02 1.26894311e-04 9.99522245e-01 -4.08209455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.56, Y:-30.45, Z:-4.09 [[ 8.80799883e-01 4.72707173e-01 2.71936580e-02 1.25559550e+02] [-4.72478881e-01 8.81219564e-01 -1.46896789e-02 -3.04525038e+01] [-3.09075001e-02 9.02383550e-05 9.99522245e-01 -4.08539363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.61, Y:-30.49, Z:-4.09 [[ 8.79910443e-01 4.74360968e-01 2.71897681e-02 1.25610308e+02] [-4.74133243e-01 8.80330432e-01 -1.46968754e-02 -3.04876185e+01] [-3.09076044e-02 4.03611994e-05 9.99522245e-01 -4.08558667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:-30.52, Z:-4.09 [[ 8.80368919e-01 4.73509727e-01 2.71864757e-02 1.25660874e+02] [-4.73281407e-01 8.80788586e-01 -1.47029632e-02 -3.05240919e+01] [-3.09075336e-02 7.71783184e-05 9.99522245e-01 -4.08794033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.083617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.71, Y:-30.56, Z:-4.09 [[ 8.79862765e-01 4.74449794e-01 2.71828507e-02 1.25712361e+02] [-4.74221715e-01 8.80282563e-01 -1.47096620e-02 -3.05601704e+01] [-3.09075856e-02 5.17858238e-05 9.99522245e-01 -4.08587878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.76, Y:-30.60, Z:-4.09 [[ 8.80968899e-01 4.72392953e-01 2.71789914e-02 1.25763200e+02] [-4.72163675e-01 8.81388042e-01 -1.47167895e-02 -3.05977196e+01] [-3.09073456e-02 1.32101387e-04 9.99522245e-01 -4.08918357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.82, Y:-30.63, Z:-4.09 [[ 8.82550755e-01 4.69431259e-01 2.71745953e-02 1.25815634e+02] [-4.69200324e-01 8.82968988e-01 -1.47249024e-02 -3.06314936e+01] [-3.09066544e-02 2.45144770e-04 9.99522245e-01 -4.09452030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.87, Y:-30.67, Z:-4.10 [[ 8.83753705e-01 4.67162874e-01 2.71705338e-02 1.25865913e+02] [-4.66930635e-01 8.84171216e-01 -1.47323930e-02 -3.06690118e+01] [-3.09058309e-02 3.33052312e-04 9.99522245e-01 -4.09611356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32361786499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:-30.70, Z:-4.10 [[ 8.84721306e-01 4.65328031e-01 2.71667802e-02 1.25918938e+02] [-4.65094714e-01 8.85138215e-01 -1.47393114e-02 -3.07038024e+01] [-3.09049701e-02 4.05056954e-04 9.99522245e-01 -4.09814353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:-30.74, Z:-4.10 [[ 8.86175760e-01 4.62552395e-01 2.71625464e-02 1.25970306e+02] [-4.62317533e-01 8.86591801e-01 -1.47471096e-02 -3.07388705e+01] [-3.09034018e-02 5.10809586e-04 9.99522245e-01 -4.09996032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:-30.77, Z:-4.10 [[ 8.86247271e-01 4.62415596e-01 2.71586379e-02 1.26022313e+02] [-4.62180450e-01 8.86663150e-01 -1.47543041e-02 -3.07728931e+01] [-3.09031837e-02 5.23770233e-04 9.99522245e-01 -4.10028662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.07, Y:-30.81, Z:-4.10 [[ 8.86052602e-01 4.62788722e-01 2.71548302e-02 1.26074369e+02] [-4.62553537e-01 8.86468459e-01 -1.47613087e-02 -3.08080806e+01] [-3.09032677e-02 5.18733186e-04 9.99522245e-01 -4.10259735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.13, Y:-30.84, Z:-4.10 [[ 8.85427755e-01 4.63983324e-01 2.71507866e-02 1.26126418e+02] [-4.63748471e-01 8.85843801e-01 -1.47687424e-02 -3.08417976e+01] [-3.09038062e-02 4.85518609e-04 9.99522245e-01 -4.10357300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:-30.88, Z:-4.11 [[ 8.84961265e-01 4.64872596e-01 2.71482926e-02 1.26178754e+02] [-4.64638021e-01 8.85377467e-01 -1.47733255e-02 -3.08750616e+01] [-3.09042007e-02 4.59691875e-04 9.99522245e-01 -4.10526674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.23, Y:-30.91, Z:-4.11 [[ 8.84636051e-01 4.65491312e-01 2.71458390e-02 1.26232316e+02] [-4.65256890e-01 8.85052339e-01 -1.47778327e-02 -3.09082596e+01] [-3.09044410e-02 4.43214952e-04 9.99522245e-01 -4.10814941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.29, Y:-30.94, Z:-4.11 [[ 8.84618211e-01 4.65525452e-01 2.71417382e-02 1.26285088e+02] [-4.65290815e-01 8.85034378e-01 -1.47853605e-02 -3.09436896e+01] [-3.09043330e-02 4.50597648e-04 9.99522245e-01 -4.11079165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.34, Y:-30.98, Z:-4.11 [[ 8.84843674e-01 4.65097004e-01 2.71376125e-02 1.26338482e+02] [-4.64861934e-01 8.85259596e-01 -1.47929291e-02 -3.09762632e+01] [-3.09039789e-02 4.74186648e-04 9.99522245e-01 -4.11385002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.863617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.39, Y:-31.01, Z:-4.12 [[ 8.85302253e-01 4.64223751e-01 2.71335497e-02 1.26391950e+02] [-4.63988042e-01 8.85717814e-01 -1.48003775e-02 -3.10101958e+01] [-3.09033551e-02 5.13164979e-04 9.99522246e-01 -4.11719790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.923617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.44, Y:-31.04, Z:-4.12 [[ 8.85344051e-01 4.64144273e-01 2.71294273e-02 1.26444921e+02] [-4.63908296e-01 8.85759459e-01 -1.48079301e-02 -3.10439151e+01] [-3.09031628e-02 5.24546388e-04 9.99522246e-01 -4.11898287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:126.50, Y:-31.08, Z:-4.12 [[ 8.84946832e-01 4.64901412e-01 2.71252773e-02 1.26499259e+02] [-4.64665557e-01 8.85362310e-01 -1.48155282e-02 -3.10758212e+01] [-3.09034581e-02 5.06772677e-04 9.99522246e-01 -4.12111273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-31.11, Z:-4.12 [[ 8.84114105e-01 4.66483324e-01 2.71211661e-02 1.26552809e+02] [-4.66247982e-01 8.84529873e-01 -1.48230503e-02 -3.11071916e+01] [-3.09041874e-02 4.60078906e-04 9.99522246e-01 -4.12407329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:-31.14, Z:-4.13 [[ 8.83720444e-01 4.67228879e-01 2.71173755e-02 1.26606061e+02] [-4.66993675e-01 8.84136290e-01 -1.48299815e-02 -3.11397148e+01] [-3.09044514e-02 4.41914989e-04 9.99522246e-01 -4.12595018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:-31.17, Z:-4.13 [[ 8.83722082e-01 4.67225996e-01 2.71136731e-02 1.26658956e+02] [-4.66990583e-01 8.84137810e-01 -1.48367476e-02 -3.11732207e+01] [-3.09043377e-02 4.49731439e-04 9.99522246e-01 -4.12846092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.71, Y:-31.21, Z:-4.13 [[ 8.83786717e-01 4.67103951e-01 2.71097461e-02 1.26712339e+02] [-4.66868260e-01 8.84202288e-01 -1.48439195e-02 -3.12064446e+01] [-3.09041530e-02 4.62178875e-04 9.99522246e-01 -4.13162604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.77, Y:-31.24, Z:-4.13 [[ 8.84066045e-01 4.66575288e-01 2.71058750e-02 1.26766149e+02] [-4.66339132e-01 8.84481352e-01 -1.48509850e-02 -3.12394873e+01] [-3.09037436e-02 4.88721334e-04 9.99522246e-01 -4.13370052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:-31.27, Z:-4.14 [[ 8.84500674e-01 4.65751052e-01 2.71019384e-02 1.26819466e+02] [-4.65514290e-01 8.84915635e-01 -1.48581656e-02 -3.12725547e+01] [-3.09031353e-02 5.25717882e-04 9.99522246e-01 -4.13577026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.87, Y:-31.31, Z:-4.14 [[ 8.85949031e-01 4.62990291e-01 2.70980588e-02 1.26871459e+02] [-4.62752019e-01 8.86363127e-01 -1.48652378e-02 -3.13066811e+01] [-3.09011809e-02 6.30161657e-04 9.99522246e-01 -4.13790308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.463617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:-31.34, Z:-4.14 [[ 8.86585134e-01 4.61771183e-01 2.70956657e-02 1.26924549e+02] [-4.61532209e-01 8.86998825e-01 -1.48695985e-02 -3.13411321e+01] [-3.09001757e-02 6.77642526e-04 9.99522246e-01 -4.13977872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:-31.37, Z:-4.14 [[ 8.86889759e-01 4.61186080e-01 2.70915944e-02 1.26979202e+02] [-4.60946607e-01 8.87303161e-01 -1.48770124e-02 -3.13722529e+01] [-3.08995284e-02 7.06491447e-04 9.99522246e-01 -4.14246033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.03, Y:-31.41, Z:-4.14 [[ 8.85076842e-01 4.64655930e-01 2.70896895e-02 1.27032729e+02] [-4.64417971e-01 8.85491118e-01 -1.48804803e-02 -3.14056912e+01] [-3.09019829e-02 5.89429858e-04 9.99522246e-01 -4.14378023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.09, Y:-31.44, Z:-4.15 [[ 8.83092306e-01 4.68416874e-01 2.70852561e-02 1.27087172e+02] [-4.68180433e-01 8.83507450e-01 -1.48885456e-02 -3.14357177e+01] [-3.09040715e-02 4.67173174e-04 9.99522246e-01 -4.14503457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.14, Y:-31.47, Z:-4.15 [[ 8.81982680e-01 4.70503008e-01 2.70826990e-02 1.27141894e+02] [-4.70267405e-01 8.82398300e-01 -1.48931956e-02 -3.14658296e+01] [-3.09050209e-02 3.99430010e-04 9.99522246e-01 -4.14680524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:-31.50, Z:-4.15 [[ 8.80540871e-01 4.73196073e-01 2.70785934e-02 1.27195699e+02] [-4.72961512e-01 8.80957081e-01 -1.49006565e-02 -3.14968031e+01] [-3.09060108e-02 3.13504578e-04 9.99522246e-01 -4.14661197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.25, Y:-31.52, Z:-4.15 [[ 8.80366487e-01 4.73520649e-01 2.70747581e-02 1.27250201e+02] [-4.73286028e-01 8.80782663e-01 -1.49076221e-02 -3.15237988e+01] [-3.09060444e-02 3.10066183e-04 9.99522246e-01 -4.15148837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.31, Y:-31.55, Z:-4.15 [[ 8.80172140e-01 4.73881919e-01 2.70726822e-02 1.27305684e+02] [-4.73647353e-01 8.80588346e-01 -1.49113910e-02 -3.15527222e+01] [-3.09061271e-02 3.01686685e-04 9.99522246e-01 -4.15338503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.36, Y:-31.58, Z:-4.16 [[ 8.80999282e-01 4.72342636e-01 2.70684076e-02 1.27360166e+02] [-4.72107104e-01 8.81414943e-01 -1.49191468e-02 -3.15812661e+01] [-3.09054480e-02 3.64570069e-04 9.99522246e-01 -4.15527064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.003617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.41, Y:-31.61, Z:-4.16 [[ 8.82042780e-01 4.70391378e-01 2.70644719e-02 1.27414552e+02] [-4.70154708e-01 8.82457793e-01 -1.49262829e-02 -3.16118426e+01] [-3.09044489e-02 4.41131138e-04 9.99522246e-01 -4.15743394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.063617865 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:127.47, Y:-31.64, Z:-4.16 [[ 8.84069137e-01 4.66572055e-01 2.70606383e-02 1.27469592e+02] [-4.66333379e-01 8.84483001e-01 -1.49332299e-02 -3.16430072e+01] [-3.09021023e-02 5.82728751e-04 9.99522246e-01 -4.16044656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:-31.67, Z:-4.16 [[ 8.85345122e-01 4.64146481e-01 2.70565761e-02 1.27524352e+02] [-4.63906447e-01 8.85758199e-01 -1.49405862e-02 -3.16737010e+01] [-3.09002047e-02 6.75854991e-04 9.99522246e-01 -4.16318084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:-31.70, Z:-4.17 [[ 8.86278609e-01 4.62361751e-01 2.70524995e-02 1.27579958e+02] [-4.62120660e-01 8.86691070e-01 -1.49479641e-02 -3.17035055e+01] [-3.08985765e-02 7.46541889e-04 9.99522246e-01 -4.16532291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.243617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.63, Y:-31.73, Z:-4.17 [[ 8.86158956e-01 4.62591272e-01 2.70484491e-02 1.27633655e+02] [-4.62350065e-01 8.86571349e-01 -1.49552897e-02 -3.17340701e+01] [-3.08985665e-02 7.46911683e-04 9.99522246e-01 -4.16801452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.69, Y:-31.76, Z:-4.17 [[ 8.85831563e-01 4.63218046e-01 2.70459494e-02 1.27689891e+02] [-4.62976992e-01 8.86244046e-01 -1.49598089e-02 -3.17632421e+01] [-3.08989650e-02 7.30218635e-04 9.99522246e-01 -4.16808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.75, Y:-31.79, Z:-4.17 [[ 8.84881014e-01 4.65031533e-01 2.70419105e-02 1.27745310e+02] [-4.64791102e-01 8.85293859e-01 -1.49671062e-02 -3.17914103e+01] [-3.09002136e-02 6.75268703e-04 9.99522246e-01 -4.17044805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.80, Y:-31.82, Z:-4.17 [[ 8.83463521e-01 4.67719086e-01 2.70381803e-02 1.27801074e+02] [-4.67479705e-01 8.83876977e-01 -1.49738418e-02 -3.18201566e+01] [-3.09019766e-02 5.89042517e-04 9.99522246e-01 -4.17435710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:-31.85, Z:-4.18 [[ 8.82145169e-01 4.70201075e-01 2.70342292e-02 1.27855725e+02] [-4.69962639e-01 8.82559170e-01 -1.49809717e-02 -3.18504619e+01] [-3.09033759e-02 5.10314145e-04 9.99522246e-01 -4.18060819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.91, Y:-31.88, Z:-4.18 [[ 8.81065004e-01 4.72222121e-01 2.70319870e-02 1.27910283e+02] [-4.71984510e-01 8.81479479e-01 -1.49850165e-02 -3.18804961e+01] [-3.09043981e-02 4.44094482e-04 9.99522246e-01 -4.17819615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.96, Y:-31.91, Z:-4.18 [[ 8.80818299e-01 4.72682350e-01 2.70281435e-02 1.27964687e+02] [-4.72444744e-01 8.81232776e-01 -1.49919458e-02 -3.19115373e+01] [-3.09045141e-02 4.35875896e-04 9.99522246e-01 -4.17889863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.02, Y:-31.94, Z:-4.18 [[ 8.81133485e-01 4.72094783e-01 2.70239989e-02 1.28019051e+02] [-4.71856671e-01 8.81547673e-01 -1.49994131e-02 -3.19424159e+01] [-3.09040880e-02 4.65031030e-04 9.99522246e-01 -4.18066267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:-31.97, Z:-4.18 [[ 8.81571122e-01 4.71277289e-01 2.70198847e-02 1.28073428e+02] [-4.71038566e-01 8.81984957e-01 -1.50068207e-02 -3.19737406e+01] [-3.09035056e-02 5.02171995e-04 9.99522246e-01 -4.18160714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:-32.00, Z:-4.19 [[ 8.82967240e-01 4.68656592e-01 2.70157489e-02 1.28127634e+02] [-4.68416414e-01 8.83380233e-01 -1.50142625e-02 -3.20048475e+01] [-3.09017116e-02 6.02481708e-04 9.99522246e-01 -4.18543845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:-32.04, Z:-4.18 [[ 8.84187514e-01 4.66350531e-01 2.70115210e-02 1.28180843e+02] [-4.66109043e-01 8.84599742e-01 -1.50218648e-02 -3.20362174e+01] [-3.08998391e-02 6.91831145e-04 9.99522247e-01 -4.18399312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.24, Y:-32.07, Z:-4.19 [[ 8.84811190e-01 4.65166363e-01 2.70076272e-02 1.28235435e+02] [-4.64924110e-01 8.85222969e-01 -1.50288622e-02 -3.20672627e+01] [-3.08986931e-02 7.41208458e-04 9.99522247e-01 -4.18525660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:-32.10, Z:-4.19 [[ 8.84540064e-01 4.65681950e-01 2.70036484e-02 1.28290012e+02] [-4.65439719e-01 8.84951856e-01 -1.50360078e-02 -3.20970738e+01] [-3.08989262e-02 7.31380733e-04 9.99522247e-01 -4.18968732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:-32.13, Z:-4.19 [[ 8.83142022e-01 4.68327927e-01 2.70022537e-02 1.28345559e+02] [-4.68086854e-01 8.83554492e-01 -1.50385121e-02 -3.21272819e+01] [-3.09009177e-02 6.41741979e-04 9.99522247e-01 -4.19064145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.40, Y:-32.16, Z:-4.19 [[ 8.81772147e-01 4.70902332e-01 2.69976646e-02 1.28401365e+02] [-4.70662211e-01 8.82185172e-01 -1.50467460e-02 -3.21568156e+01] [-3.09024872e-02 5.61020957e-04 9.99522247e-01 -4.19435845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.46, Y:-32.19, Z:-4.20 [[ 8.81177623e-01 4.72014141e-01 2.69934534e-02 1.28456104e+02] [-4.71774310e-01 8.81590817e-01 -1.50542971e-02 -3.21854566e+01] [-3.09030217e-02 5.30691909e-04 9.99522247e-01 -4.19693868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.51, Y:-32.22, Z:-4.20 [[ 8.81462701e-01 4.71481707e-01 2.69908576e-02 1.28510920e+02] [-4.71241484e-01 8.81875667e-01 -1.50589496e-02 -3.22167960e+01] [-3.09025998e-02 5.54690634e-04 9.99522247e-01 -4.19748814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.57, Y:-32.25, Z:-4.20 [[ 8.82215080e-01 4.70072620e-01 2.69867462e-02 1.28565968e+02] [-4.69831511e-01 8.82627530e-01 -1.50663139e-02 -3.22474744e+01] [-3.09015068e-02 6.12505546e-04 9.99522247e-01 -4.19855314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.62, Y:-32.28, Z:-4.20 [[ 8.83386867e-01 4.67867056e-01 2.69826049e-02 1.28619533e+02] [-4.67624692e-01 8.83798580e-01 -1.50737271e-02 -3.22780670e+01] [-3.08996882e-02 6.98200234e-04 9.99522247e-01 -4.20048601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.67, Y:-32.31, Z:-4.20 [[ 8.83945545e-01 4.66810904e-01 2.69787685e-02 1.28674311e+02] [-4.66567839e-01 8.84356844e-01 -1.50805902e-02 -3.23084557e+01] [-3.08986425e-02 7.42994835e-04 9.99522247e-01 -4.20287281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.73, Y:-32.34, Z:-4.21 [[ 8.84189045e-01 4.66349745e-01 2.69749473e-02 1.28728957e+02] [-4.66106257e-01 8.84600094e-01 -1.50874223e-02 -3.23399101e+01] [-3.08980564e-02 7.66941802e-04 9.99522247e-01 -4.20680927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:-32.37, Z:-4.21 [[ 8.83412984e-01 4.67818436e-01 2.69705655e-02 1.28782887e+02] [-4.67575392e-01 8.83824296e-01 -1.50952512e-02 -3.23706233e+01] [-3.08990778e-02 7.24568133e-04 9.99522247e-01 -4.20859028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:-32.40, Z:-4.21 [[ 8.82121585e-01 4.70249206e-01 2.69665257e-02 1.28837362e+02] [-4.70007076e-01 8.82533435e-01 -1.51024646e-02 -3.24030957e+01] [-3.09007825e-02 6.47752123e-04 9.99522247e-01 -4.20991861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.89, Y:-32.43, Z:-4.21 [[ 8.81813952e-01 4.70826070e-01 2.69623070e-02 1.28892365e+02] [-4.70583979e-01 8.82225825e-01 -1.51099924e-02 -3.24338549e+01] [-3.09010219e-02 6.36172439e-04 9.99522247e-01 -4.21083943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.683617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.95, Y:-32.46, Z:-4.21 [[ 8.80883272e-01 4.72565267e-01 2.69579175e-02 1.28946398e+02] [-4.72323750e-01 8.81295482e-01 -1.51178196e-02 -3.24643743e+01] [-3.09020474e-02 5.84169714e-04 9.99522247e-01 -4.21201017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.743617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:129.00, Y:-32.49, Z:-4.21 [[ 8.81226325e-01 4.71925474e-01 2.69538697e-02 1.29001041e+02] [-4.71683437e-01 8.81638230e-01 -1.51250331e-02 -3.24941022e+01] [-3.09014504e-02 6.14883396e-04 9.99522247e-01 -4.21467835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.06, Y:-32.53, Z:-4.22 [[ 8.81403114e-01 4.71595432e-01 2.69499293e-02 1.29056196e+02] [-4.71353026e-01 8.81814802e-01 -1.51320509e-02 -3.25250772e+01] [-3.09010527e-02 6.34506073e-04 9.99522247e-01 -4.21554288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:129.11, Y:-32.56, Z:-4.22 [[ 8.80690706e-01 4.72924731e-01 2.69458459e-02 1.29110585e+02] [-4.72682724e-01 8.81102629e-01 -1.51393188e-02 -3.25569236e+01] [-3.09018139e-02 5.96221550e-04 9.99522247e-01 -4.21696130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.16, Y:-32.59, Z:-4.22 [[ 8.80656409e-01 4.72988838e-01 2.69415781e-02 1.29164792e+02] [-4.72746629e-01 8.81068213e-01 -1.51469099e-02 -3.25876493e+01] [-3.09016874e-02 6.02682997e-04 9.99522247e-01 -4.21786377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.22, Y:-32.62, Z:-4.22 [[ 8.81679045e-01 4.71080050e-01 2.69378387e-02 1.29219001e+02] [-4.70836747e-01 8.82090204e-01 -1.51535573e-02 -3.26160922e+01] [-3.09001421e-02 6.77249570e-04 9.99522247e-01 -4.22310610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.27, Y:-32.65, Z:-4.22 [[ 8.83050086e-01 4.68505174e-01 2.69341284e-02 1.29273821e+02] [-4.68260471e-01 8.83460413e-01 -1.51601491e-02 -3.26466640e+01] [-3.08978445e-02 7.74983273e-04 9.99522247e-01 -4.22479224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.33, Y:-32.68, Z:-4.23 [[ 8.84606317e-01 4.65560364e-01 2.69297619e-02 1.29327449e+02] [-4.65314059e-01 8.85015684e-01 -1.51679016e-02 -3.26768145e+01] [-3.08948354e-02 8.86824789e-04 9.99522247e-01 -4.22588316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.163617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.38, Y:-32.71, Z:-4.23 [[ 8.84927810e-01 4.64949213e-01 2.69258311e-02 1.29382064e+02] [-4.64702414e-01 8.85336879e-01 -1.51748762e-02 -3.27081810e+01] [-3.08939781e-02 9.16171260e-04 9.99522247e-01 -4.22600650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.44, Y:-32.74, Z:-4.23 [[ 8.85180587e-01 4.64468029e-01 2.69217140e-02 1.29436945e+02] [-4.64220786e-01 8.85589388e-01 -1.51821769e-02 -3.27363472e+01] [-3.08932200e-02 9.41349065e-04 9.99522247e-01 -4.22872029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.283617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:129.49, Y:-32.76, Z:-4.23 [[ 8.83412791e-01 4.67821836e-01 2.69178550e-02 1.29492554e+02] [-4.67575936e-01 8.83822402e-01 -1.51890158e-02 -3.27631018e+01] [-3.08963565e-02 8.32029540e-04 9.99522247e-01 -4.22869015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.55, Y:-32.79, Z:-4.23 [[ 8.83648851e-01 4.67375912e-01 2.69158948e-02 1.29548088e+02] [-4.67129700e-01 8.84058274e-01 -1.51924886e-02 -3.27915984e+01] [-3.08958227e-02 8.51611264e-04 9.99522247e-01 -4.23413626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.60, Y:-32.82, Z:-4.24 [[ 8.82780538e-01 4.69014172e-01 2.69114814e-02 1.29603526e+02] [-4.68768482e-01 8.83190275e-01 -1.52003023e-02 -3.28197353e+01] [-3.08971159e-02 8.03276781e-04 9.99522247e-01 -4.23704669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.66, Y:-32.85, Z:-4.24 [[ 8.82980532e-01 4.68637783e-01 2.69074004e-02 1.29660203e+02] [-4.68391699e-01 8.83390032e-01 -1.52075230e-02 -3.28480749e+01] [-3.08965492e-02 8.24743793e-04 9.99522247e-01 -4.23836464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.71, Y:-32.88, Z:-4.24 [[ 8.83082310e-01 4.68446222e-01 2.69029866e-02 1.29714750e+02] [-4.68199811e-01 8.83491613e-01 -1.52153274e-02 -3.28771788e+01] [-3.08961256e-02 8.40413265e-04 9.99522247e-01 -4.24088115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:-32.90, Z:-4.24 [[ 8.84572007e-01 4.65627332e-01 2.68989127e-02 1.29772966e+02] [-4.65379398e-01 8.84980390e-01 -1.52225262e-02 -3.29027603e+01] [-3.08930345e-02 9.47220761e-04 9.99522247e-01 -4.24265523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.83, Y:-32.93, Z:-4.24 [[ 8.86300452e-01 4.62329081e-01 2.68947952e-02 1.29828908e+02] [-4.62079407e-01 8.86707773e-01 -1.52297973e-02 -3.29308961e+01] [-3.08890022e-02 1.07064523e-03 9.99522248e-01 -4.24341312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:-32.96, Z:-4.24 [[ 8.86632167e-01 4.61692864e-01 2.68905192e-02 1.29884384e+02] [-4.61442670e-01 8.87039168e-01 -1.52373435e-02 -3.29598151e+01] [-3.08879166e-02 1.10148592e-03 9.99522248e-01 -4.24306598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:-32.99, Z:-4.24 [[ 8.86838606e-01 4.61296449e-01 2.68863123e-02 1.29941776e+02] [-4.61045848e-01 8.87245357e-01 -1.52447630e-02 -3.29866907e+01] [-3.08871108e-02 1.12382170e-03 9.99522248e-01 -4.24347768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:-33.01, Z:-4.25 [[ 8.86463291e-01 4.62017524e-01 2.68820011e-02 1.29999899e+02] [-4.61767024e-01 8.86870104e-01 -1.52523614e-02 -3.30109289e+01] [-3.08877014e-02 1.10743681e-03 9.99522248e-01 -4.24638107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-33.04, Z:-4.25 [[ 8.84397949e-01 4.65959080e-01 2.68775742e-02 1.30056337e+02] [-4.65710156e-01 8.84805729e-01 -1.52601584e-02 -3.30375016e+01] [-3.08920410e-02 9.78893483e-04 9.99522248e-01 -4.24750796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.11, Y:-33.07, Z:-4.25 [[ 8.82702753e-01 4.69162728e-01 2.68734893e-02 1.30112947e+02] [-4.68915066e-01 8.83111300e-01 -1.52673486e-02 -3.30655548e+01] [-3.08951530e-02 8.75146658e-04 9.99522248e-01 -4.25057945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.17, Y:-33.09, Z:-4.25 [[ 8.81925912e-01 4.70621633e-01 2.68693991e-02 1.30169560e+02] [-4.70374429e-01 8.82334735e-01 -1.52745438e-02 -3.30926448e+01] [-3.08963349e-02 8.32337677e-04 9.99522248e-01 -4.25352292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.23, Y:-33.12, Z:-4.26 [[ 8.79649783e-01 4.74862643e-01 2.68650057e-02 1.30225094e+02] [-4.74617174e-01 8.80059652e-01 -1.52822671e-02 -3.31211829e+01] [-3.08997853e-02 6.92449871e-04 9.99522248e-01 -4.25509532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:-33.15, Z:-4.26 [[ 8.78503145e-01 4.76980830e-01 2.68609708e-02 1.30281002e+02] [-4.76736132e-01 8.78913475e-01 -1.52893557e-02 -3.31501752e+01] [-3.09011987e-02 6.26151789e-04 9.99522248e-01 -4.25634417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.34, Y:-33.18, Z:-4.26 [[ 8.77902589e-01 4.78085513e-01 2.68567682e-02 1.30336984e+02] [-4.77841106e-01 8.78313092e-01 -1.52967343e-02 -3.31785578e+01] [-3.09017982e-02 5.95774886e-04 9.99522248e-01 -4.25757305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.39, Y:-33.21, Z:-4.26 [[ 8.78233437e-01 4.77477715e-01 2.68525944e-02 1.30392913e+02] [-4.77232800e-01 8.78643637e-01 -1.53040577e-02 -3.32064799e+01] [-3.09012077e-02 6.25596384e-04 9.99522248e-01 -4.25981790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.45, Y:-33.24, Z:-4.26 [[ 8.78403624e-01 4.77164802e-01 2.68481792e-02 1.30446967e+02] [-4.76919504e-01 8.78813595e-01 -1.53117994e-02 -3.32368079e+01] [-3.09007966e-02 6.45519741e-04 9.99522248e-01 -4.26178110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:-33.27, Z:-4.27 [[ 8.79224244e-01 4.75651261e-01 2.68441082e-02 1.30502389e+02] [-4.75405040e-01 8.79633661e-01 -1.53189332e-02 -3.32673641e+01] [-3.08994511e-02 7.06953096e-04 9.99522248e-01 -4.26526228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.56, Y:-33.30, Z:-4.27 [[ 8.79887975e-01 4.74422436e-01 2.68422086e-02 1.30556573e+02] [-4.74175542e-01 8.80296986e-01 -1.53222610e-02 -3.32982389e+01] [-3.08983397e-02 7.53954429e-04 9.99522248e-01 -4.26552505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:-33.33, Z:-4.27 [[ 8.79994494e-01 4.74225056e-01 2.68381468e-02 1.30611463e+02] [-4.73977854e-01 8.80403319e-01 -1.53293723e-02 -3.33282433e+01] [-3.08979660e-02 7.69076035e-04 9.99522248e-01 -4.26775055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:-33.36, Z:-4.27 [[ 8.79597843e-01 4.74960579e-01 2.68343717e-02 1.30665593e+02] [-4.74713517e-01 8.80006752e-01 -1.53359779e-02 -3.33597291e+01] [-3.08984132e-02 7.50854116e-04 9.99522248e-01 -4.26961470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:-33.39, Z:-4.27 [[ 8.79247271e-01 4.75609321e-01 2.68330199e-02 1.30718301e+02] [-4.75362488e-01 8.79656319e-01 -1.53383426e-02 -3.33912772e+01] [-3.08988943e-02 7.30784723e-04 9.99522248e-01 -4.27283663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.77, Y:-33.42, Z:-4.27 [[ 8.79037496e-01 4.75997043e-01 2.68308850e-02 1.30771334e+02] [-4.75750277e-01 8.79446584e-01 -1.53420764e-02 -3.34235705e+01] [-3.08991131e-02 7.21459440e-04 9.99522248e-01 -4.27124401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.723617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.82, Y:-33.46, Z:-4.27 [[ 8.79055574e-01 4.75963879e-01 2.68269296e-02 1.30823736e+02] [-4.75716887e-01 8.79464526e-01 -1.53489895e-02 -3.34575140e+01] [-3.08988975e-02 7.30591314e-04 9.99522248e-01 -4.27108703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.88, Y:-33.49, Z:-4.28 [[ 8.80846610e-01 4.72641278e-01 2.68229734e-02 1.30875433e+02] [-4.72392533e-01 8.81254498e-01 -1.53559000e-02 -3.34899437e+01] [-3.08956982e-02 8.55220091e-04 9.99522248e-01 -4.27613456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:-33.52, Z:-4.28 [[ 8.82154843e-01 4.70195230e-01 2.68193632e-02 1.30929257e+02] [-4.69945163e-01 8.82561922e-01 -1.53622028e-02 -3.35207192e+01] [-3.08929832e-02 9.48211577e-04 9.99522248e-01 -4.28184465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.98, Y:-33.55, Z:-4.28 [[ 8.81744904e-01 4.70963749e-01 2.68155022e-02 1.30982242e+02] [-4.70713832e-01 8.82152075e-01 -1.53689394e-02 -3.35520800e+01] [-3.08935642e-02 9.29056190e-04 9.99522248e-01 -4.28384548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:-33.59, Z:-4.29 [[ 8.80807571e-01 4.72714665e-01 2.68117071e-02 1.31034475e+02] [-4.72465356e-01 8.81215115e-01 -1.53755571e-02 -3.35858006e+01] [-3.08951329e-02 8.75304383e-04 9.99522248e-01 -4.28540031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.09, Y:-33.62, Z:-4.29 [[ 8.80195830e-01 4.73852978e-01 2.68077845e-02 1.31087053e+02] [-4.73603988e-01 8.80603568e-01 -1.53823933e-02 -3.36178792e+01] [-3.08960236e-02 8.43244775e-04 9.99522248e-01 -4.29079218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.14, Y:-33.65, Z:-4.29 [[ 8.79515642e-01 4.75114514e-01 2.68036340e-02 1.31139720e+02] [-4.74865889e-01 8.79923603e-01 -1.53896222e-02 -3.36516795e+01] [-3.08969830e-02 8.07281996e-04 9.99522248e-01 -4.29201515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.19, Y:-33.69, Z:-4.29 [[ 8.79113539e-01 4.75858374e-01 2.67991247e-02 1.31191259e+02] [-4.75609855e-01 8.79521565e-01 -1.53974705e-02 -3.36869028e+01] [-3.08974234e-02 7.90197011e-04 9.99522248e-01 -4.29381017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.24, Y:-33.72, Z:-4.30 [[ 8.79008226e-01 4.76053116e-01 2.67949519e-02 1.31243286e+02] [-4.75804467e-01 8.79416172e-01 -1.54047287e-02 -3.37195652e+01] [-3.08973831e-02 7.91725493e-04 9.99522248e-01 -4.29855890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263617865 meters Centerline goodness : 0.993720 with order 1 Centerline is valid? [True, True] Translation: X:131.29, Y:-33.76, Z:-4.30 [[ 8.76471192e-01 4.80708331e-01 2.67908552e-02 1.31293353e+02] [-4.80461631e-01 8.76880320e-01 -1.54118501e-02 -3.37580066e+01] [-3.09009784e-02 6.36064603e-04 9.99522248e-01 -4.29796618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:-33.79, Z:-4.29 [[ 8.73963275e-01 4.85253289e-01 2.67850625e-02 1.31343301e+02] [-4.85008408e-01 8.74373495e-01 -1.54219109e-02 -3.37946171e+01] [-3.09036817e-02 4.87203261e-04 9.99522248e-01 -4.29033981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:-33.83, Z:-4.29 [[ 8.72904674e-01 4.87155254e-01 2.67803609e-02 1.31395046e+02] [-4.86911017e-01 8.73315278e-01 -1.54300710e-02 -3.38303809e+01] [-3.09045385e-02 4.29328316e-04 9.99522248e-01 -4.29155152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-33.87, Z:-4.29 [[ 8.72083338e-01 4.88624285e-01 2.67760896e-02 1.31445820e+02] [-4.88380513e-01 8.72494217e-01 -1.54374796e-02 -3.38679171e+01] [-3.09051107e-02 3.85848348e-04 9.99522249e-01 -4.29175820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.503617865 meters Centerline goodness : 0.994987 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:-33.90, Z:-4.30 [[ 8.71177716e-01 4.90237350e-01 2.67717774e-02 1.31495054e+02] [-4.89994109e-01 8.71588909e-01 -1.54449542e-02 -3.39047024e+01] [-3.09056777e-02 3.37286734e-04 9.99522249e-01 -4.29812928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.563617865 meters Centerline goodness : 0.994411 with order 1 Centerline is valid? [True, True] Translation: X:131.55, Y:-33.94, Z:-4.30 [[ 8.70902282e-01 4.90726739e-01 2.67672137e-02 1.31547041e+02] [-4.90483485e-01 8.71313468e-01 -1.54528594e-02 -3.39394237e+01] [-3.09057651e-02 3.29054290e-04 9.99522249e-01 -4.30211815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.60, Y:-33.98, Z:-4.30 [[ 8.69286831e-01 4.93582994e-01 2.67625396e-02 1.31597759e+02] [-4.93340842e-01 8.69698668e-01 -1.54609500e-02 -3.39767374e+01] [-3.09066071e-02 2.36946420e-04 9.99522249e-01 -4.29782973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.683617865 meters Centerline goodness : 0.996453 with order 1 Centerline is valid? [True, True] Translation: X:131.65, Y:-34.01, Z:-4.31 [[ 8.68594198e-01 4.94801107e-01 2.67578760e-02 1.31650003e+02] [-4.94559285e-01 8.69006227e-01 -1.54690171e-02 -3.40077271e+01] [-3.09068477e-02 2.02942500e-04 9.99522249e-01 -4.30644401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.70, Y:-34.04, Z:-4.31 [[ 8.67525130e-01 4.96673318e-01 2.67537629e-02 1.31702514e+02] [-4.96432166e-01 8.67937552e-01 -1.54761275e-02 -3.40398324e+01] [-3.09071751e-02 1.44501046e-04 9.99522249e-01 -4.30542605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80361786499998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:-34.07, Z:-4.31 [[ 8.67398180e-01 4.96895247e-01 2.67490448e-02 1.31754739e+02] [-4.96653949e-01 8.67810516e-01 -1.54842780e-02 -3.40717626e+01] [-3.09071665e-02 1.46015817e-04 9.99522249e-01 -4.30715024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.81, Y:-34.10, Z:-4.30 [[ 8.68002965e-01 4.95838259e-01 2.67445915e-02 1.31809986e+02] [-4.95596222e-01 8.68414869e-01 -1.54919660e-02 -3.41011302e+01] [-3.09069103e-02 1.92553911e-04 9.99522249e-01 -4.30416451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:131.86, Y:-34.13, Z:-4.31 [[ 8.69696384e-01 4.92862206e-01 2.67403362e-02 1.31864560e+02] [-4.92618533e-01 8.70107322e-01 -1.54993074e-02 -3.41315247e+01] [-3.09059852e-02 3.06906405e-04 9.99522249e-01 -4.30645997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:-34.16, Z:-4.31 [[ 8.73326386e-01 4.86401253e-01 2.67365740e-02 1.31919430e+02] [-4.86154342e-01 8.73735387e-01 -1.55057945e-02 -3.41611188e+01] [-3.09027287e-02 5.43517962e-04 9.99522249e-01 -4.31079651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.97, Y:-34.19, Z:-4.32 [[ 8.75703271e-01 4.82109066e-01 2.67325520e-02 1.31974111e+02] [-4.81859939e-01 8.76110926e-01 -1.55127256e-02 -3.41911100e+01] [-3.08995065e-02 7.03198693e-04 9.99522249e-01 -4.31584189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-34.22, Z:-4.31 [[ 8.74936015e-01 4.83500311e-01 2.67286254e-02 1.32026855e+02] [-4.83251627e-01 8.75343939e-01 -1.55194883e-02 -3.42223453e+01] [-3.09004176e-02 6.61907516e-04 9.99522249e-01 -4.31314358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.08, Y:-34.25, Z:-4.32 [[ 8.73561243e-01 4.85979890e-01 2.67264032e-02 1.32082854e+02] [-4.85732246e-01 8.73969800e-01 -1.55233142e-02 -3.42516582e+01] [-3.09020878e-02 5.78689823e-04 9.99522249e-01 -4.31543587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:-34.28, Z:-4.32 [[ 8.73594656e-01 4.85920059e-01 2.67221686e-02 1.32137930e+02] [-4.85672164e-01 8.74003060e-01 -1.55306003e-02 -3.42799338e+01] [-3.09018873e-02 5.89235920e-04 9.99522249e-01 -4.32473772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.283617865 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:-34.31, Z:-4.32 [[ 8.70308992e-01 4.91780687e-01 2.67210478e-02 1.32189294e+02] [-4.91535484e-01 8.70719018e-01 -1.55325285e-02 -3.43132153e+01] [-3.09051220e-02 3.83756051e-04 9.99522249e-01 -4.32013885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.343617865 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:-34.35, Z:-4.32 [[ 8.69080306e-01 4.93949026e-01 2.67166944e-02 1.32241014e+02] [-4.93704616e-01 8.69490805e-01 -1.55400128e-02 -3.43460964e+01] [-3.09058943e-02 3.15363769e-04 9.99522249e-01 -4.32018834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:-34.38, Z:-4.32 [[ 8.69082082e-01 4.93946115e-01 2.67127306e-02 1.32294717e+02] [-4.93701494e-01 8.69492456e-01 -1.55468236e-02 -3.43786336e+01] [-3.09058108e-02 3.23350800e-04 9.99522249e-01 -4.31856899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.35, Y:-34.41, Z:-4.32 [[ 8.68917062e-01 4.94236609e-01 2.67079222e-02 1.32347990e+02] [-4.93991872e-01 8.69327366e-01 -1.55550794e-02 -3.44103948e+01] [-3.09058174e-02 3.22577440e-04 9.99522249e-01 -4.32106902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.40, Y:-34.44, Z:-4.33 [[ 8.71341394e-01 4.89950067e-01 2.67040406e-02 1.32402520e+02] [-4.89703108e-01 8.71750365e-01 -1.55617403e-02 -3.44398720e+01] [-3.09037329e-02 4.82536841e-04 9.99522249e-01 -4.33194239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.45, Y:-34.47, Z:-4.33 [[ 8.70394269e-01 4.91630883e-01 2.67000352e-02 1.32454262e+02] [-4.91384502e-01 8.70803588e-01 -1.55686095e-02 -3.44736763e+01] [-3.09044957e-02 4.30844962e-04 9.99522249e-01 -4.32621993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64361786499998 meters Centerline goodness : 0.994803 with order 1 Centerline is valid? [True, True] Translation: X:132.51, Y:-34.50, Z:-4.33 [[ 8.70076230e-01 4.92193718e-01 2.66963808e-02 1.32507136e+02] [-4.91947410e-01 8.70485594e-01 -1.55748734e-02 -3.45043450e+01] [-3.09046698e-02 4.18111702e-04 9.99522249e-01 -4.33320613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70361786499998 meters Centerline goodness : 0.994379 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:-34.54, Z:-4.34 [[ 8.73037548e-01 4.86921925e-01 2.66923096e-02 1.32560988e+02] [-4.86672932e-01 8.73445283e-01 -1.55818476e-02 -3.45354352e+01] [-3.09014151e-02 6.13113473e-04 9.99522249e-01 -4.33969155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.61, Y:-34.57, Z:-4.33 [[ 8.74351874e-01 4.84558110e-01 2.66878058e-02 1.32614524e+02] [-4.84307780e-01 8.74758789e-01 -1.55895576e-02 -3.45669479e+01] [-3.08994393e-02 7.05646863e-04 9.99522249e-01 -4.33327619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:-34.60, Z:-4.34 [[ 8.75689081e-01 4.82137606e-01 2.66826136e-02 1.32668888e+02] [-4.81885881e-01 8.76095136e-01 -1.55984393e-02 -3.45954462e+01] [-3.08971022e-02 8.01408230e-04 9.99522249e-01 -4.33876911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:-34.63, Z:-4.34 [[ 8.77058892e-01 4.79641417e-01 2.66797706e-02 1.32722676e+02] [-4.79388389e-01 8.77464136e-01 -1.56033006e-02 -3.46255636e+01] [-3.08945311e-02 8.95041277e-04 9.99522249e-01 -4.34195107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.943617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-34.66, Z:-4.34 [[ 8.76581770e-01 4.80512987e-01 2.66771357e-02 1.32777995e+02] [-4.80260224e-01 8.76987180e-01 -1.56078042e-02 -3.46558074e+01] [-3.08952586e-02 8.69549445e-04 9.99522249e-01 -4.34364686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.83, Y:-34.68, Z:-4.34 [[ 8.75143083e-01 4.83128495e-01 2.66728660e-02 1.32833261e+02] [-4.82876722e-01 8.75549108e-01 -1.56150975e-02 -3.46845761e+01] [-3.08975026e-02 7.85738479e-04 9.99522249e-01 -4.34384469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.063617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:-34.71, Z:-4.35 [[ 8.74329077e-01 4.84600147e-01 2.66713838e-02 1.32887810e+02] [-4.84348980e-01 8.74735477e-01 -1.56176288e-02 -3.47117611e+01] [-3.08987108e-02 7.36689426e-04 9.99522249e-01 -4.35045555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.94, Y:-34.74, Z:-4.35 [[ 8.72518738e-01 4.87852328e-01 2.66675329e-02 1.32940862e+02] [-4.87602476e-01 8.72925948e-01 -1.56242016e-02 -3.47439252e+01] [-3.09010845e-02 6.29253600e-04 9.99522249e-01 -4.34791536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.183617865 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:-34.78, Z:-4.34 [[ 8.68410607e-01 4.95128329e-01 2.66637578e-02 1.32993640e+02] [-4.94881691e-01 8.68819771e-01 -1.56306412e-02 -3.47761515e+01] [-3.09051733e-02 3.78409051e-04 9.99522249e-01 -4.34321251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.243617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:-34.81, Z:-4.35 [[ 8.67468135e-01 4.96777817e-01 2.66614920e-02 1.33048674e+02] [-4.96531839e-01 8.67877696e-01 -1.56345052e-02 -3.48050414e+01] [-3.09057896e-02 3.24155430e-04 9.99522249e-01 -4.34822943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30361786499998 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:-34.84, Z:-4.35 [[ 8.65677810e-01 4.99891337e-01 2.66567051e-02 1.33100252e+02] [-4.99646581e-01 8.66088102e-01 -1.56426625e-02 -3.48384424e+01] [-3.09066866e-02 2.22574255e-04 9.99522249e-01 -4.35296188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36361786499998 meters Centerline goodness : 0.994670 with order 1 Centerline is valid? [True, True] Translation: X:133.15, Y:-34.87, Z:-4.35 [[ 8.67846392e-01 4.96117252e-01 2.66516808e-02 1.33152407e+02] [-4.95870448e-01 8.68255457e-01 -1.56512181e-02 -3.48717027e+01] [-3.09053066e-02 3.67072292e-04 9.99522250e-01 -4.35382000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42361786499998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:133.20, Y:-34.91, Z:-4.35 [[ 8.68920183e-01 4.94234406e-01 2.66470711e-02 1.33204744e+02] [-4.93986476e-01 8.69328566e-01 -1.56590626e-02 -3.49060342e+01] [-3.09043076e-02 4.43182815e-04 9.99522250e-01 -4.35111111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:133.26, Y:-34.94, Z:-4.35 [[ 8.70457659e-01 4.91521763e-01 2.66424491e-02 1.33257574e+02] [-4.91272320e-01 8.70865119e-01 -1.56669225e-02 -3.49385217e+01] [-3.09026130e-02 5.48694922e-04 9.99522250e-01 -4.35488249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:-34.97, Z:-4.35 [[ 8.71807645e-01 4.89123513e-01 2.66386803e-02 1.33310773e+02] [-4.88872753e-01 8.72214296e-01 -1.56733279e-02 -3.49711230e+01] [-3.09008310e-02 6.41202119e-04 9.99522250e-01 -4.35347445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.36, Y:-35.00, Z:-4.36 [[ 8.71573931e-01 4.89540069e-01 2.66346377e-02 1.33362794e+02] [-4.89289294e-01 8.71980572e-01 -1.56801948e-02 -3.50021768e+01] [-3.09009703e-02 6.34405898e-04 9.99522250e-01 -4.36130245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:-35.03, Z:-4.36 [[ 8.72649005e-01 4.87621274e-01 2.66309427e-02 1.33415787e+02] [-4.87369414e-01 8.73054975e-01 -1.56864679e-02 -3.50343801e+01] [-3.08993325e-02 7.09673694e-04 9.99522250e-01 -4.35804896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:-35.06, Z:-4.37 [[ 8.74873392e-01 4.83619210e-01 2.66271873e-02 1.33469150e+02] [-4.83365299e-01 8.75278083e-01 -1.56928400e-02 -3.50649108e+01] [-3.08955523e-02 8.58589824e-04 9.99522250e-01 -4.36790401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.52, Y:-35.10, Z:-4.36 [[ 8.72963566e-01 4.87058305e-01 2.66236955e-02 1.33520968e+02] [-4.86805808e-01 8.73369140e-01 -1.56987616e-02 -3.50995190e+01] [-3.08985263e-02 7.43877298e-04 9.99522250e-01 -4.35662464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.843617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:-35.13, Z:-4.36 [[ 8.71962786e-01 4.88847911e-01 2.66199224e-02 1.33572881e+02] [-4.88596051e-01 8.72368756e-01 -1.57051570e-02 -3.51332303e+01] [-3.08998218e-02 6.87923462e-04 9.99522250e-01 -4.35623556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.903617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:-35.16, Z:-4.36 [[ 8.72662748e-01 4.87597504e-01 2.66158477e-02 1.33626569e+02] [-4.87344852e-01 8.73068226e-01 -1.57120594e-02 -3.51636589e+01] [-3.08986119e-02 7.40232561e-04 9.99522250e-01 -4.35879800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.963617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.68, Y:-35.20, Z:-4.36 [[ 8.72142224e-01 4.88528164e-01 2.66115492e-02 1.33678864e+02] [-4.88275723e-01 8.72547833e-01 -1.57193364e-02 -3.51956376e+01] [-3.08991882e-02 7.15723585e-04 9.99522250e-01 -4.36289502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:-35.23, Z:-4.36 [[ 8.72199903e-01 4.88425393e-01 2.66076021e-02 1.33732571e+02] [-4.88172701e-01 8.72605355e-01 -1.57260147e-02 -3.52262830e+01] [-3.08989210e-02 7.27123473e-04 9.99522250e-01 -4.36224794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:-35.26, Z:-4.37 [[ 8.73291446e-01 4.86471277e-01 2.66035018e-02 1.33786577e+02] [-4.86217467e-01 8.73696200e-01 -1.57329482e-02 -3.52564631e+01] [-3.08970058e-02 8.04361859e-04 9.99522250e-01 -4.36911157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.84, Y:-35.29, Z:-4.37 [[ 8.72228594e-01 4.88374601e-01 2.65994141e-02 1.33840167e+02] [-4.88121464e-01 8.72633768e-01 -1.57398561e-02 -3.52866777e+01] [-3.08984929e-02 7.45007655e-04 9.99522250e-01 -4.36831788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:-35.31, Z:-4.37 [[ 8.73117701e-01 4.86783475e-01 2.65956715e-02 1.33895917e+02] [-4.86529406e-01 8.73522292e-01 -1.57461775e-02 -3.53133598e+01] [-3.08968909e-02 8.08690054e-04 9.99522250e-01 -4.37425341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.95, Y:-35.34, Z:-4.37 [[ 8.72191076e-01 4.88442003e-01 2.65920462e-02 1.33949276e+02] [-4.88188518e-01 8.72596033e-01 -1.57522975e-02 -3.53440389e+01] [-3.08981977e-02 7.57081729e-04 9.99522250e-01 -4.36870211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.00, Y:-35.37, Z:-4.37 [[ 8.72044876e-01 4.88703095e-01 2.65898419e-02 1.34002894e+02] [-4.88449617e-01 8.72449838e-01 -1.57560175e-02 -3.53730612e+01] [-3.08983177e-02 7.52156268e-04 9.99522250e-01 -4.37006387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.06, Y:-35.40, Z:-4.37 [[ 8.71632524e-01 4.89438284e-01 2.65877567e-02 1.34057784e+02] [-4.89185041e-01 8.72037633e-01 -1.57595354e-02 -3.54038892e+01] [-3.08988444e-02 7.30190834e-04 9.99522250e-01 -4.37199397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.11, Y:-35.43, Z:-4.38 [[ 8.71800711e-01 4.89138871e-01 2.65835697e-02 1.34113487e+02] [-4.88885273e-01 8.72205597e-01 -1.57665949e-02 -3.54310088e+01] [-3.08983927e-02 7.49012911e-04 9.99522250e-01 -4.38116596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.503617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:134.17, Y:-35.46, Z:-4.38 [[ 8.71266633e-01 4.90089761e-01 2.65796818e-02 1.34170226e+02] [-4.89836406e-01 8.71671672e-01 -1.57731466e-02 -3.54595048e+01] [-3.08990133e-02 7.22920544e-04 9.99522250e-01 -4.38325976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:-35.49, Z:-4.37 [[ 8.70367956e-01 4.91684239e-01 2.65750049e-02 1.34223611e+02] [-4.91431385e-01 8.70773307e-01 -1.57810223e-02 -3.54907923e+01] [-3.09000849e-02 6.75504633e-04 9.99522250e-01 -4.37470989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.28, Y:-35.52, Z:-4.38 [[ 8.71616363e-01 4.89467976e-01 2.65709855e-02 1.34279037e+02] [-4.89213885e-01 8.72020940e-01 -1.57877871e-02 -3.55183013e+01] [-3.08980719e-02 7.61998533e-04 9.99522250e-01 -4.38260599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.683617865 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:-35.55, Z:-4.38 [[ 8.70065911e-01 4.92218958e-01 2.65670624e-02 1.34333651e+02] [-4.91965946e-01 8.70471163e-01 -1.57943860e-02 -3.55462833e+01] [-3.09001579e-02 6.72066844e-04 9.99522250e-01 -4.38198479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.743617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:-35.57, Z:-4.39 [[ 8.72218498e-01 4.88394622e-01 2.65628432e-02 1.34390936e+02] [-4.88139617e-01 8.72622500e-01 -1.58014786e-02 -3.55719630e+01] [-3.08966918e-02 8.15965866e-04 9.99522250e-01 -4.38625046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.45, Y:-35.60, Z:-4.39 [[ 8.72451807e-01 4.87977963e-01 2.65584647e-02 1.34445641e+02] [-4.87722542e-01 8.72855545e-01 -1.58088344e-02 -3.56006121e+01] [-3.08960660e-02 8.39284241e-04 9.99522250e-01 -4.38854036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86361786499998 meters Centerline goodness : 0.994726 with order 1 Centerline is valid? [True, True] Translation: X:134.50, Y:-35.63, Z:-4.39 [[ 8.68920726e-01 4.94238460e-01 2.65540262e-02 1.34500272e+02] [-4.93985720e-01 8.69326149e-01 -1.58162862e-02 -3.56323115e+01] [-3.09011262e-02 6.25789096e-04 9.99522250e-01 -4.39329280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92361786499998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:134.56, Y:-35.66, Z:-4.39 [[ 8.70102599e-01 4.92155085e-01 2.65488313e-02 1.34556542e+02] [-4.91901109e-01 8.70507248e-01 -1.58250014e-02 -3.56586335e+01] [-3.08993050e-02 7.09975267e-04 9.99522250e-01 -4.38836733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.61, Y:-35.69, Z:-4.39 [[ 8.68755237e-01 4.94529834e-01 2.65439604e-02 1.34613105e+02] [-4.94276715e-01 8.69160423e-01 -1.58331673e-02 -3.56867535e+01] [-3.09009334e-02 6.35085486e-04 9.99522250e-01 -4.38920470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:-35.71, Z:-4.39 [[ 8.67516410e-01 4.96700041e-01 2.65395495e-02 1.34668377e+02] [-4.96447710e-01 8.67922087e-01 -1.58405575e-02 -3.57124318e+01] [-3.09022667e-02 5.66444972e-04 9.99522250e-01 -4.39241458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-35.74, Z:-4.39 [[ 8.67531910e-01 4.96673159e-01 2.65359884e-02 1.34724964e+02] [-4.96420632e-01 8.67937465e-01 -1.58465207e-02 -3.57382572e+01] [-3.09021200e-02 5.74350225e-04 9.99522250e-01 -4.39273311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.163617865 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:-35.77, Z:-4.40 [[ 8.69213416e-01 4.93724705e-01 2.65321112e-02 1.34780058e+02] [-4.93470605e-01 8.69617987e-01 -1.58530097e-02 -3.57678052e+01] [-3.08998237e-02 6.86831802e-04 9.99522250e-01 -4.40021889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:-35.79, Z:-4.40 [[ 8.73112451e-01 4.86796432e-01 2.65307529e-02 1.34836603e+02] [-4.86539054e-01 8.73514945e-01 -1.58552826e-02 -3.57944114e+01] [-3.08933042e-02 9.35197267e-04 9.99522250e-01 -4.39897816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.89, Y:-35.83, Z:-4.40 [[ 8.73680485e-01 4.85776430e-01 2.65267969e-02 1.34890025e+02] [-4.85518381e-01 8.74082549e-01 -1.58618984e-02 -3.58261139e+01] [-3.08919466e-02 9.78983555e-04 9.99522250e-01 -4.39722502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.95, Y:-35.86, Z:-4.40 [[ 8.75327226e-01 4.82803062e-01 2.65226482e-02 1.34946199e+02] [-4.82543438e-01 8.75728275e-01 -1.58688325e-02 -3.58555717e+01] [-3.08881538e-02 1.09209134e-03 9.99522251e-01 -4.39912581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.00, Y:-35.88, Z:-4.40 [[ 8.75307970e-01 4.82838212e-01 2.65182728e-02 1.35002378e+02] [-4.82578383e-01 8.75708886e-01 -1.58761408e-02 -3.58830404e+01] [-3.08878945e-02 1.09936739e-03 9.99522251e-01 -4.39976847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.06, Y:-35.91, Z:-4.40 [[ 8.73309221e-01 4.86444236e-01 2.65143170e-02 1.35056886e+02] [-4.86185863e-01 8.73711076e-01 -1.58827445e-02 -3.59113334e+01] [-3.08919220e-02 9.79661082e-04 9.99522251e-01 -4.40251082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.11, Y:-35.94, Z:-4.40 [[ 8.72069120e-01 4.88664050e-01 2.65121838e-02 1.35112319e+02] [-4.88406591e-01 8.72471562e-01 -1.58863045e-02 -3.59420137e+01] [-3.08941923e-02 9.05230283e-04 9.99522251e-01 -4.40440017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.17, Y:-35.97, Z:-4.41 [[ 8.70946425e-01 4.90662466e-01 2.65078884e-02 1.35169001e+02] [-4.90405714e-01 8.71349318e-01 -1.58934686e-02 -3.59694422e+01] [-3.08959590e-02 8.42739724e-04 9.99522251e-01 -4.40807662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.22, Y:-36.00, Z:-4.41 [[ 8.69346028e-01 4.93492712e-01 2.65033432e-02 1.35224091e+02] [-4.93237040e-01 8.69749607e-01 -1.59010445e-02 -3.59992071e+01] [-3.08983219e-02 7.51079314e-04 9.99522251e-01 -4.40993755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.28, Y:-36.03, Z:-4.41 [[ 8.67019498e-01 4.97569094e-01 2.64987985e-02 1.35280223e+02] [-4.97315088e-01 8.67424129e-01 -1.59086144e-02 -3.60273382e+01] [-3.09013321e-02 6.14826517e-04 9.99522251e-01 -4.41423792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763617865 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:135.34, Y:-36.06, Z:-4.42 [[ 8.64084839e-01 5.02648433e-01 2.64942334e-02 1.35335602e+02] [-5.02396573e-01 8.64490808e-01 -1.59162136e-02 -3.60569866e+01] [-3.09042810e-02 4.42346778e-04 9.99522251e-01 -4.41878007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.39, Y:-36.09, Z:-4.42 [[ 8.60597620e-01 5.08596146e-01 2.64895593e-02 1.35387167e+02] [-5.08346853e-01 8.61005170e-01 -1.59239890e-02 -3.60914283e+01] [-3.09065269e-02 2.38262953e-04 9.99522251e-01 -4.41516031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:-36.12, Z:-4.42 [[ 8.59836382e-01 5.09882270e-01 2.64852428e-02 1.35441359e+02] [-5.09633365e-01 8.60244169e-01 -1.59311651e-02 -3.61240384e+01] [-3.09067943e-02 2.00431897e-04 9.99522251e-01 -4.41680957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943617865 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:135.49, Y:-36.16, Z:-4.42 [[ 8.60309252e-01 5.09084228e-01 2.64809251e-02 1.35494839e+02] [-5.08834724e-01 8.60716674e-01 -1.59383386e-02 -3.61564248e+01] [-3.09065306e-02 2.37485961e-04 9.99522251e-01 -4.42318225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003617865 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:135.55, Y:-36.19, Z:-4.42 [[ 8.62058585e-01 5.06116570e-01 2.64766498e-02 1.35546024e+02] [-5.05865446e-01 8.62465010e-01 -1.59454377e-02 -3.61908659e+01] [-3.09054342e-02 3.52279165e-04 9.99522251e-01 -4.42420748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.60, Y:-36.22, Z:-4.43 [[ 8.64356644e-01 5.02182027e-01 2.64727001e-02 1.35598998e+02] [-5.01928853e-01 8.64761794e-01 -1.59519923e-02 -3.62243204e+01] [-3.09033835e-02 5.00798596e-04 9.99522251e-01 -4.42531670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123617865 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:135.65, Y:-36.26, Z:-4.43 [[ 8.65096208e-01 5.00907172e-01 2.64680076e-02 1.35650151e+02] [-5.00653162e-01 8.65500836e-01 -1.59597743e-02 -3.62584426e+01] [-3.09024482e-02 5.55448540e-04 9.99522251e-01 -4.42732603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183617865 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:135.70, Y:-36.29, Z:-4.44 [[ 8.67255185e-01 4.97160051e-01 2.64636895e-02 1.35702608e+02] [-4.96904076e-01 8.67658572e-01 -1.59669312e-02 -3.62914948e+01] [-3.08995674e-02 6.97488712e-04 9.99522251e-01 -4.43595774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:-36.33, Z:-4.43 [[ 8.69013439e-01 4.94080492e-01 2.64596048e-02 1.35754590e+02] [-4.93822881e-01 8.69415783e-01 -1.59736974e-02 -3.63284084e+01] [-3.08966903e-02 8.14999415e-04 9.99522251e-01 -4.43024475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.81, Y:-36.36, Z:-4.43 [[ 8.68820504e-01 4.94419937e-01 2.64548403e-02 1.35805259e+02] [-4.94162243e-01 8.69222795e-01 -1.59815841e-02 -3.63629702e+01] [-3.08967641e-02 8.12144741e-04 9.99522251e-01 -4.43145857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.86, Y:-36.40, Z:-4.44 [[ 8.67861770e-01 4.96101090e-01 2.64510403e-02 1.35857530e+02] [-4.95843984e-01 8.68264436e-01 -1.59878711e-02 -3.63982528e+01] [-3.08980979e-02 7.59672938e-04 9.99522251e-01 -4.43694385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42361786499998 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:135.91, Y:-36.43, Z:-4.44 [[ 8.66756811e-01 4.98029332e-01 2.64464743e-02 1.35910315e+02] [-4.97772892e-01 8.67159902e-01 -1.59954204e-02 -3.64334022e+01] [-3.08995106e-02 6.99801638e-04 9.99522251e-01 -4.43791407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-36.47, Z:-4.44 [[ 8.65871134e-01 4.99567816e-01 2.64419337e-02 1.35962742e+02] [-4.99311863e-01 8.66274535e-01 -1.60029230e-02 -3.64679885e+01] [-3.09005191e-02 6.53697895e-04 9.99522251e-01 -4.44164332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543617865 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.01, Y:-36.50, Z:-4.44 [[ 8.63121142e-01 5.04304430e-01 2.64373909e-02 1.36013907e+02] [-5.04050462e-01 8.63525795e-01 -1.60104242e-02 -3.65041351e+01] [-3.09034969e-02 4.93156529e-04 9.99522251e-01 -4.43996241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.07, Y:-36.54, Z:-4.44 [[ 8.61358963e-01 5.07308607e-01 2.64331855e-02 1.36065099e+02] [-5.07055837e-01 8.61764366e-01 -1.60173643e-02 -3.65403621e+01] [-3.09049242e-02 3.93599306e-04 9.99522251e-01 -4.44108579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:-36.58, Z:-4.44 [[ 8.60518730e-01 5.08732774e-01 2.64287793e-02 1.36115183e+02] [-5.08480452e-01 8.60924411e-01 -1.60246314e-02 -3.65769918e+01] [-3.09054364e-02 3.50977799e-04 9.99522251e-01 -4.44356714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:-36.61, Z:-4.45 [[ 8.61475037e-01 5.07111916e-01 2.64247063e-02 1.36168268e+02] [-5.06858624e-01 8.61880114e-01 -1.60313449e-02 -3.66113927e+01] [-3.09046149e-02 4.17013158e-04 9.99522251e-01 -4.44994685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.783617865 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.22, Y:-36.65, Z:-4.45 [[ 8.61153359e-01 5.07658089e-01 2.64226668e-02 1.36217075e+02] [-5.07404951e-01 8.61558532e-01 -1.60347057e-02 -3.66484603e+01] [-3.09048221e-02 4.01348724e-04 9.99522251e-01 -4.44881740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.27, Y:-36.69, Z:-4.45 [[ 8.61074104e-01 5.07792704e-01 2.64188935e-02 1.36267519e+02] [-5.07539439e-01 8.61479197e-01 -1.60409203e-02 -3.66863008e+01] [-3.09047894e-02 4.03790721e-04 9.99522251e-01 -4.45149061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.32, Y:-36.72, Z:-4.46 [[ 8.62255209e-01 5.05784771e-01 2.64143921e-02 1.36320432e+02] [-5.05530336e-01 8.62659568e-01 -1.60483292e-02 -3.67195015e+01] [-3.09036286e-02 4.84478983e-04 9.99522251e-01 -4.46049248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.37, Y:-36.76, Z:-4.46 [[ 8.60394893e-01 5.08943165e-01 2.64099045e-02 1.36369944e+02] [-5.08689987e-01 8.60800041e-01 -1.60557109e-02 -3.67572002e+01] [-3.09050912e-02 3.79797698e-04 9.99522251e-01 -4.45878368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:-36.79, Z:-4.46 [[ 8.61607702e-01 5.06887466e-01 2.64057547e-02 1.36421227e+02] [-5.06633113e-01 8.62012113e-01 -1.60625328e-02 -3.67945445e+01] [-3.09039770e-02 4.61572237e-04 9.99522251e-01 -4.46436332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:-36.83, Z:-4.46 [[ 8.61186866e-01 5.07602354e-01 2.64013570e-02 1.36470851e+02] [-5.07348115e-01 8.61591349e-01 -1.60697578e-02 -3.68324289e+01] [-3.09042277e-02 4.44385672e-04 9.99522251e-01 -4.46398016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:-36.87, Z:-4.47 [[ 8.61089685e-01 5.07767403e-01 2.63973102e-02 1.36520820e+02] [-5.07513038e-01 8.61494089e-01 -1.60764027e-02 -3.68697686e+01] [-3.09042000e-02 4.46245492e-04 9.99522252e-01 -4.46553523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.57, Y:-36.91, Z:-4.47 [[ 8.59710332e-01 5.10099537e-01 2.63933120e-02 1.36570899e+02] [-5.09846068e-01 8.60115297e-01 -1.60829640e-02 -3.69080239e+01] [-3.09052039e-02 3.70163996e-04 9.99522252e-01 -4.46745741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263617865 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:-36.94, Z:-4.47 [[ 8.57481627e-01 5.13837411e-01 2.63889192e-02 1.36620674e+02] [-5.13585485e-01 8.57887554e-01 -1.60901686e-02 -3.69443983e+01] [-3.09064559e-02 2.44058096e-04 9.99522252e-01 -4.46880874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:-36.98, Z:-4.47 [[ 8.56013245e-01 5.16280093e-01 2.63854041e-02 1.36672163e+02] [-5.16029149e-01 8.56419780e-01 -1.60959307e-02 -3.69798268e+01] [-3.09069906e-02 1.62692226e-04 9.99522252e-01 -4.47122701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.72, Y:-37.02, Z:-4.47 [[ 8.54227314e-01 5.19229947e-01 2.63810051e-02 1.36721877e+02] [-5.18980184e-01 8.54634575e-01 -1.61031373e-02 -3.70181774e+01] [-3.09073503e-02 6.45208176e-05 9.99522252e-01 -4.47392222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-37.06, Z:-4.48 [[ 8.53103963e-01 5.21073802e-01 2.63765391e-02 1.36771274e+02] [-5.20824693e-01 8.53511624e-01 -1.61104493e-02 -3.70563069e+01] [-3.09074158e-02 6.33530615e-06 9.99522252e-01 -4.47566965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:-37.10, Z:-4.48 [[ 8.53135185e-01 5.21022890e-01 2.63724123e-02 1.36821690e+02] [-5.20773548e-01 8.53542704e-01 -1.61172020e-02 -3.70951817e+01] [-3.09074112e-02 1.60973808e-05 9.99522252e-01 -4.47785791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:-37.13, Z:-4.48 [[ 8.53435935e-01 5.20530336e-01 2.63680519e-02 1.36872600e+02] [-5.20280539e-01 8.53843175e-01 -1.61243324e-02 -3.71328589e+01] [-3.09073853e-02 4.23004222e-05 9.99522252e-01 -4.48016582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.92, Y:-37.17, Z:-4.48 [[ 8.54194943e-01 5.19284079e-01 2.63636809e-02 1.36922366e+02] [-5.19033467e-01 8.54601683e-01 -1.61314759e-02 -3.71727006e+01] [-3.09072647e-02 9.57924434e-05 9.99522252e-01 -4.48312736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.97, Y:-37.21, Z:-4.49 [[ 8.54548186e-01 5.18702796e-01 2.63592037e-02 1.36973929e+02] [-5.18451681e-01 8.54954615e-01 -1.61387884e-02 -3.72096446e+01] [-3.09071576e-02 1.25398906e-04 9.99522252e-01 -4.48554054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74361786499998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:-37.25, Z:-4.49 [[ 8.54574020e-01 5.18660460e-01 2.63547289e-02 1.37023641e+02] [-5.18409100e-01 8.54980297e-01 -1.61460926e-02 -3.72466789e+01] [-3.09071138e-02 1.35500036e-04 9.99522252e-01 -4.48772863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-37.28, Z:-4.49 [[ 8.52174348e-01 5.22594036e-01 2.63505948e-02 1.37077608e+02] [-5.22344343e-01 8.52581652e-01 -1.61528366e-02 -3.72788897e+01] [-3.09074098e-02 9.48895180e-07 9.99522252e-01 -4.48816455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:137.13, Y:-37.31, Z:-4.49 [[ 8.50351327e-01 5.25555416e-01 2.63462554e-02 1.37130272e+02] [-5.25306922e-01 8.50759364e-01 -1.61599114e-02 -3.73112275e+01] [-3.09072524e-02 -9.82682340e-05 9.99522252e-01 -4.49088042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:-37.34, Z:-4.49 [[ 8.50424492e-01 5.25437218e-01 2.63422433e-02 1.37183600e+02] [-5.25188465e-01 8.50832370e-01 -1.61664488e-02 -3.73448345e+01] [-3.09072872e-02 -8.62983004e-05 9.99522252e-01 -4.49315879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.24, Y:-37.38, Z:-4.50 [[ 8.51705477e-01 5.23358477e-01 2.63379068e-02 1.37237060e+02] [-5.23108509e-01 8.52112613e-01 -1.61735106e-02 -3.73764309e+01] [-3.09074065e-02 -2.51559099e-06 9.99522252e-01 -4.49532309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.29, Y:-37.41, Z:-4.50 [[ 8.52825126e-01 5.21532195e-01 2.63338947e-02 1.37291890e+02] [-5.21281155e-01 8.53231601e-01 -1.61800406e-02 -3.74080040e+01] [-3.09073232e-02 7.13821592e-05 9.99522252e-01 -4.49656705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.103617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:137.35, Y:-37.44, Z:-4.50 [[ 8.55014433e-01 5.17935386e-01 2.63297384e-02 1.37345374e+02] [-5.17682427e-01 8.55419717e-01 -1.61868013e-02 -3.74402598e+01] [-3.09066945e-02 2.09505892e-04 9.99522252e-01 -4.49714114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:-37.47, Z:-4.50 [[ 8.55702692e-01 5.16797710e-01 2.63254587e-02 1.37399274e+02] [-5.16543999e-01 8.56107505e-01 -1.61937586e-02 -3.74733635e+01] [-3.09063201e-02 2.58785127e-04 9.99522252e-01 -4.49902350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:-37.50, Z:-4.50 [[ 8.58038019e-01 5.12911251e-01 2.63212180e-02 1.37452578e+02] [-5.12655495e-01 8.58441543e-01 -1.62006484e-02 -3.75042156e+01] [-3.09047219e-02 4.07055232e-04 9.99522252e-01 -4.50140128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.283617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:-37.54, Z:-4.50 [[ 8.59323939e-01 5.10754049e-01 2.63186037e-02 1.37506720e+02] [-5.10497149e-01 8.59726737e-01 -1.62048945e-02 -3.75359127e+01] [-3.09035227e-02 4.89681589e-04 9.99522252e-01 -4.50333943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:-37.57, Z:-4.50 [[ 8.60872867e-01 5.08139224e-01 2.63141854e-02 1.37560176e+02] [-5.07880882e-01 8.61274741e-01 -1.62120658e-02 -3.75682796e+01] [-3.09017298e-02 5.92055904e-04 9.99522252e-01 -4.50472672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.61, Y:-37.60, Z:-4.51 [[ 8.61659787e-01 5.06803912e-01 2.63098030e-02 1.37613712e+02] [-5.06544730e-01 8.62061120e-01 -1.62191747e-02 -3.76011236e+01] [-3.09005994e-02 6.48318539e-04 9.99522252e-01 -4.50628972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.67, Y:-37.63, Z:-4.51 [[ 8.61246240e-01 5.07506588e-01 2.63054690e-02 1.37667606e+02] [-5.07247520e-01 8.61647645e-01 -1.62262008e-02 -3.76332282e+01] [-3.09009493e-02 6.31370532e-04 9.99522252e-01 -4.50832816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.72, Y:-37.67, Z:-4.51 [[ 8.60970300e-01 5.07974808e-01 2.63009051e-02 1.37721035e+02] [-5.07715732e-01 8.61371700e-01 -1.62335951e-02 -3.76662400e+01] [-3.09011127e-02 6.23259947e-04 9.99522252e-01 -4.51090734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.77, Y:-37.70, Z:-4.51 [[ 8.60855072e-01 5.08170290e-01 2.62964115e-02 1.37772301e+02] [-5.07911082e-01 8.61256388e-01 -1.62408709e-02 -3.77003152e+01] [-3.09010805e-02 6.24797301e-04 9.99522252e-01 -4.51332986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:-37.73, Z:-4.51 [[ 8.61176852e-01 5.07625007e-01 2.62922532e-02 1.37825564e+02] [-5.07365340e-01 8.61577871e-01 -1.62476000e-02 -3.77340943e+01] [-3.09005116e-02 6.52279024e-04 9.99522252e-01 -4.51485862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:-37.77, Z:-4.52 [[ 8.60934592e-01 5.08036000e-01 2.62878416e-02 1.37877948e+02] [-5.07776307e-01 8.61335594e-01 -1.62547347e-02 -3.77677554e+01] [-3.09006440e-02 6.45920254e-04 9.99522252e-01 -4.51663424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:-37.80, Z:-4.52 [[ 8.59549730e-01 5.10375698e-01 2.62851317e-02 1.37929496e+02] [-5.10116963e-01 8.59951351e-01 -1.62591156e-02 -3.78043108e+01] [-3.09021920e-02 5.67026910e-04 9.99522252e-01 -4.51633040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:137.98, Y:-37.84, Z:-4.52 [[ 8.57998151e-01 5.12980014e-01 2.62807612e-02 1.37980978e+02] [-5.12722282e-01 8.58400415e-01 -1.62661769e-02 -3.78380551e+01] [-3.09036400e-02 4.81617817e-04 9.99522252e-01 -4.51867173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.883617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:138.04, Y:-37.87, Z:-4.52 [[ 8.57721222e-01 5.13443123e-01 2.62767022e-02 1.38035423e+02] [-5.13185407e-01 8.58123497e-01 -1.62727311e-02 -3.78701220e+01] [-3.09037775e-02 4.72646706e-04 9.99522252e-01 -4.52147189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:-37.90, Z:-4.53 [[ 8.56231720e-01 5.15923462e-01 2.62720943e-02 1.38088804e+02] [-5.15666683e-01 8.56634594e-01 -1.62801672e-02 -3.79029004e+01] [-3.09049051e-02 3.91951832e-04 9.99522252e-01 -4.52568675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.14, Y:-37.94, Z:-4.53 [[ 8.55105728e-01 5.17787806e-01 2.62675113e-02 1.38141903e+02] [-5.17531679e-01 8.55509016e-01 -1.62875584e-02 -3.79360914e+01] [-3.09055919e-02 3.33315223e-04 9.99522253e-01 -4.52782138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.19, Y:-37.97, Z:-4.53 [[ 8.54782057e-01 5.18322032e-01 2.62660719e-02 1.38194600e+02] [-5.18066085e-01 8.55185460e-01 -1.62898793e-02 -3.79690087e+01] [-3.09057661e-02 3.16735538e-04 9.99522253e-01 -4.52906043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.25, Y:-38.00, Z:-4.53 [[ 8.54011366e-01 5.19591080e-01 2.62620532e-02 1.38246568e+02] [-5.19335534e-01 8.54415023e-01 -1.62963556e-02 -3.80035337e+01] [-3.09061338e-02 2.78455505e-04 9.99522253e-01 -4.52710351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:-38.04, Z:-4.53 [[ 8.55433758e-01 5.17246184e-01 2.62578001e-02 1.38299945e+02] [-5.16989321e-01 8.55836578e-01 -1.63032055e-02 -3.80359006e+01] [-3.09051566e-02 3.71310056e-04 9.99522253e-01 -4.53032678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:-38.07, Z:-4.53 [[ 8.55197309e-01 5.17637103e-01 2.62562900e-02 1.38351613e+02] [-5.17380350e-01 8.55600199e-01 -1.63056372e-02 -3.80689095e+01] [-3.09052897e-02 3.60048507e-04 9.99522253e-01 -4.52950330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.40, Y:-38.10, Z:-4.53 [[ 8.55885139e-01 5.16499218e-01 2.62523691e-02 1.38404857e+02] [-5.16241736e-01 8.56287563e-01 -1.63119474e-02 -3.81003208e+01] [-3.09046853e-02 4.08584761e-04 9.99522253e-01 -4.53204569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.46, Y:-38.13, Z:-4.53 [[ 8.56839111e-01 5.14915290e-01 2.62484666e-02 1.38458810e+02] [-5.14656871e-01 8.57240935e-01 -1.63182247e-02 -3.81323976e+01] [-3.09037635e-02 4.73139467e-04 9.99522253e-01 -4.53476302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:-38.17, Z:-4.54 [[ 8.57664921e-01 5.13538835e-01 2.62440106e-02 1.38512196e+02] [-5.13279552e-01 8.58066188e-01 -1.63253880e-02 -3.81651752e+01] [-3.09028189e-02 5.31198609e-04 9.99522253e-01 -4.53639155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.57, Y:-38.20, Z:-4.54 [[ 8.58456316e-01 5.12215033e-01 2.62395175e-02 1.38565704e+02] [-5.11954912e-01 8.58857040e-01 -1.63326065e-02 -3.81976115e+01] [-3.09018009e-02 5.87379331e-04 9.99522253e-01 -4.53816102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543617865 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:138.62, Y:-38.23, Z:-4.54 [[ 8.58636109e-01 5.11913830e-01 2.62347642e-02 1.38618611e+02] [-5.11653334e-01 8.59036590e-01 -1.63402382e-02 -3.82290261e+01] [-3.09014162e-02 6.07213959e-04 9.99522253e-01 -4.53914651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:-38.26, Z:-4.54 [[ 8.58792338e-01 5.11651890e-01 2.62309817e-02 1.38672186e+02] [-5.11391087e-01 8.59192618e-01 -1.63463079e-02 -3.82613487e+01] [-3.09010852e-02 6.23793720e-04 9.99522253e-01 -4.54010259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.663617865 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:138.73, Y:-38.29, Z:-4.55 [[ 8.59413548e-01 5.10607991e-01 2.62265677e-02 1.38726168e+02] [-5.10346486e-01 8.59813370e-01 -1.63533868e-02 -3.82909711e+01] [-3.09001235e-02 6.69685514e-04 9.99522253e-01 -4.54845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.723617865 meters Centerline goodness : 0.996010 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:-38.32, Z:-4.55 [[ 8.55257996e-01 5.17538417e-01 2.62249522e-02 1.38776995e+02] [-5.17280073e-01 8.55659867e-01 -1.63559771e-02 -3.83247518e+01] [-3.09044856e-02 4.22934997e-04 9.99522253e-01 -4.54554801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.783617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:-38.35, Z:-4.55 [[ 8.56944367e-01 5.14741437e-01 2.62222009e-02 1.38831282e+02] [-5.14481647e-01 8.57345305e-01 -1.63603869e-02 -3.83547349e+01] [-3.09028499e-02 5.29100264e-04 9.99522253e-01 -4.54675192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.843617865 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:138.88, Y:-38.39, Z:-4.55 [[ 8.56124370e-01 5.16104365e-01 2.62173091e-02 1.38884293e+02] [-5.15844973e-01 8.56525566e-01 -1.63682222e-02 -3.83867864e+01] [-3.09035064e-02 4.89166829e-04 9.99522253e-01 -4.55122412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.903617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:138.94, Y:-38.42, Z:-4.55 [[ 8.55033489e-01 5.17909854e-01 2.62129067e-02 1.38938604e+02] [-5.17651093e-01 8.55435092e-01 -1.63752693e-02 -3.84195070e+01] [-3.09043536e-02 4.32263870e-04 9.99522253e-01 -4.55097062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.963617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:138.99, Y:-38.45, Z:-4.55 [[ 8.54604923e-01 5.18616989e-01 2.62077204e-02 1.38991566e+02] [-5.18358306e-01 8.55006576e-01 -1.63835655e-02 -3.84518654e+01] [-3.09045687e-02 4.16486224e-04 9.99522253e-01 -4.55262007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.04, Y:-38.48, Z:-4.55 [[ 8.53391429e-01 5.20611618e-01 2.62032855e-02 1.39043425e+02] [-5.20353656e-01 8.53793546e-01 -1.63906554e-02 -3.84833004e+01] [-3.09053617e-02 3.52669420e-04 9.99522253e-01 -4.55161620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:139.10, Y:-38.52, Z:-4.56 [[ 8.53223222e-01 5.20887404e-01 2.62001257e-02 1.39096010e+02] [-5.20629417e-01 8.53625322e-01 -1.63957048e-02 -3.85155965e+01] [-3.09054069e-02 3.48639952e-04 9.99522253e-01 -4.55582392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:139.15, Y:-38.55, Z:-4.56 [[ 8.53136722e-01 5.21029141e-01 2.61986196e-02 1.39150919e+02] [-5.20771147e-01 8.53538818e-01 -1.63981110e-02 -3.85450712e+01] [-3.09054325e-02 3.46345526e-04 9.99522253e-01 -4.56054800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:-38.58, Z:-4.56 [[ 8.50911069e-01 5.24656285e-01 2.61941689e-02 1.39202339e+02] [-5.24399787e-01 8.51314121e-01 -1.64052174e-02 -3.85792228e+01] [-3.09065663e-02 2.23164469e-04 9.99522253e-01 -4.55605809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:-38.61, Z:-4.56 [[ 8.50404277e-01 5.25477522e-01 2.61904309e-02 1.39255842e+02] [-5.25221229e-01 8.50807460e-01 -1.64111830e-02 -3.86121279e+01] [-3.09067217e-02 2.00369889e-04 9.99522253e-01 -4.55766425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.31, Y:-38.64, Z:-4.56 [[ 8.50278868e-01 5.25680652e-01 2.61858601e-02 1.39309907e+02] [-5.25424231e-01 8.50681968e-01 -1.64184728e-02 -3.86443996e+01] [-3.09067125e-02 2.01595054e-04 9.99522253e-01 -4.55982895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.36, Y:-38.68, Z:-4.56 [[ 8.50458693e-01 5.25389902e-01 2.61813273e-02 1.39363340e+02] [-5.25133121e-01 8.50861564e-01 -1.64256977e-02 -3.86770602e+01] [-3.09065809e-02 2.20695289e-04 9.99522253e-01 -4.56168712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.443617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:139.42, Y:-38.71, Z:-4.56 [[ 8.51354877e-01 5.23936683e-01 2.61768067e-02 1.39415876e+02] [-5.23678992e-01 8.51757168e-01 -1.64328990e-02 -3.87094864e+01] [-3.09060813e-02 2.81984943e-04 9.99522253e-01 -4.56343834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:-38.74, Z:-4.56 [[ 8.52579177e-01 5.21942277e-01 2.61726309e-02 1.39469712e+02] [-5.21683442e-01 8.52980731e-01 -1.64395470e-02 -3.87429349e+01] [-3.09052445e-02 3.62187229e-04 9.99522253e-01 -4.56389202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.563617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:139.52, Y:-38.77, Z:-4.57 [[ 8.54345762e-01 5.19045805e-01 2.61681572e-02 1.39524081e+02] [-5.18785390e-01 8.54746294e-01 -1.64466651e-02 -3.87749550e+01] [-3.09037079e-02 4.75481016e-04 9.99522253e-01 -4.56587559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.623617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:139.58, Y:-38.81, Z:-4.57 [[ 8.56696574e-01 5.15156714e-01 2.61637146e-02 1.39578112e+02] [-5.14894266e-01 8.57095776e-01 -1.64537295e-02 -3.88060045e+01] [-3.09010585e-02 6.24307085e-04 9.99522253e-01 -4.56802903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:-38.84, Z:-4.57 [[ 8.58951965e-01 5.11387521e-01 2.61595965e-02 1.39632257e+02] [-5.11123122e-01 8.59349878e-01 -1.64602741e-02 -3.88387956e+01] [-3.08978249e-02 7.67810129e-04 9.99522253e-01 -4.56888876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74361786499998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-38.87, Z:-4.57 [[ 8.59883923e-01 5.09819126e-01 2.61552456e-02 1.39687045e+02] [-5.09553791e-01 8.60281213e-01 -1.64671848e-02 -3.88706429e+01] [-3.08961522e-02 8.32362902e-04 9.99522253e-01 -4.57133957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:-38.90, Z:-4.57 [[ 8.60782724e-01 5.08300348e-01 2.61506764e-02 1.39741043e+02] [-5.08034092e-01 8.61179398e-01 -1.64744377e-02 -3.89017764e+01] [-3.08943862e-02 8.95476245e-04 9.99522253e-01 -4.57434023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86361786499998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:-38.93, Z:-4.58 [[ 8.61135781e-01 5.07702205e-01 2.61464583e-02 1.39793588e+02] [-5.07435470e-01 8.61532133e-01 -1.64811295e-02 -3.89338920e+01] [-3.08935198e-02 9.24849907e-04 9.99522253e-01 -4.57539104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.85, Y:-38.96, Z:-4.58 [[ 8.60772929e-01 5.08317359e-01 2.61424209e-02 1.39847764e+02] [-5.08050714e-01 8.61169341e-01 -1.64875312e-02 -3.89618841e+01] [-3.08939497e-02 9.10344884e-04 9.99522253e-01 -4.58203675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.90, Y:-38.99, Z:-4.58 [[ 8.60800749e-01 5.08270423e-01 2.61389901e-02 1.39903174e+02] [-5.08003591e-01 8.61197035e-01 -1.64929685e-02 -3.89919629e+01] [-3.08937089e-02 9.18458762e-04 9.99522253e-01 -4.58162888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:-39.03, Z:-4.58 [[ 8.59544789e-01 5.10391752e-01 2.61345625e-02 1.39956445e+02] [-5.10125685e-01 8.59941589e-01 -1.64999814e-02 -3.90255881e+01] [-3.08956516e-02 8.50561488e-04 9.99522254e-01 -4.58073326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.01, Y:-39.05, Z:-4.58 [[ 8.59209541e-01 5.10956146e-01 2.61300755e-02 1.40013252e+02] [-5.10690124e-01 8.59606371e-01 -1.65070842e-02 -3.90533890e+01] [-3.08959755e-02 8.38672729e-04 9.99522254e-01 -4.58387761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.07, Y:-39.08, Z:-4.59 [[ 8.57959530e-01 5.13052540e-01 2.61253949e-02 1.40067794e+02] [-5.12787262e-01 8.58356858e-01 -1.65144887e-02 -3.90812948e+01] [-3.08977123e-02 7.71993235e-04 9.99522254e-01 -4.58724840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:-39.11, Z:-4.59 [[ 8.57451479e-01 5.13901298e-01 2.61231105e-02 1.40122064e+02] [-5.13636303e-01 8.57848996e-01 -1.65181016e-02 -3.91125091e+01] [-3.08983579e-02 7.45692729e-04 9.99522254e-01 -4.58833921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.18, Y:-39.14, Z:-4.59 [[ 8.55930488e-01 5.16430693e-01 2.61216373e-02 1.40175807e+02] [-5.16166802e-01 8.56328738e-01 -1.65204308e-02 -3.91430952e+01] [-3.09003663e-02 6.57218374e-04 9.99522254e-01 -4.58735999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:-39.17, Z:-4.59 [[ 8.55696976e-01 5.16817740e-01 2.61172153e-02 1.40230131e+02] [-5.16553817e-01 8.56095204e-01 -1.65274187e-02 -3.91731176e+01] [-3.09004859e-02 6.51514956e-04 9.99522254e-01 -4.59085994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.28, Y:-39.20, Z:-4.59 [[ 8.55133345e-01 5.17749869e-01 2.61157910e-02 1.40284720e+02] [-5.17486311e-01 8.55531816e-01 -1.65296689e-02 -3.92034134e+01] [-3.09011240e-02 6.20506739e-04 9.99522254e-01 -4.58877560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.34, Y:-39.23, Z:-4.59 [[ 8.54849112e-01 5.18219233e-01 2.61117314e-02 1.40340873e+02] [-5.17955697e-01 8.55247598e-01 -1.65360794e-02 -3.92331622e+01] [-3.09013099e-02 6.11132755e-04 9.99522254e-01 -4.58974783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.39, Y:-39.27, Z:-4.59 [[ 8.54575136e-01 5.18671150e-01 2.61069937e-02 1.40394797e+02] [-5.18407597e-01 8.54973610e-01 -1.65435559e-02 -3.92650900e+01] [-3.09014558e-02 6.03647708e-04 9.99522254e-01 -4.59173181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.45, Y:-39.30, Z:-4.59 [[ 8.54593105e-01 5.18641780e-01 2.61022743e-02 1.40449127e+02] [-5.18377987e-01 8.54991419e-01 -1.65509987e-02 -3.92971792e+01] [-3.09012600e-02 6.13524961e-04 9.99522254e-01 -4.59441525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:-39.33, Z:-4.60 [[ 8.53510253e-01 5.20422103e-01 2.60975476e-02 1.40504650e+02] [-5.20158913e-01 8.53908966e-01 -1.65584484e-02 -3.93279110e+01] [-3.09023125e-02 5.57933507e-04 9.99522254e-01 -4.59614307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:-39.36, Z:-4.59 [[ 8.50953830e-01 5.24591985e-01 2.60927054e-02 1.40557302e+02] [-5.24330514e-01 8.51353673e-01 -1.65660753e-02 -3.93610479e+01] [-3.09045509e-02 4.15763600e-04 9.99522254e-01 -4.59447447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.61, Y:-39.39, Z:-4.60 [[ 8.51689324e-01 5.23397267e-01 2.60882356e-02 1.40613053e+02] [-5.23135020e-01 8.52088659e-01 -1.65731113e-02 -3.93899229e+01] [-3.09038108e-02 4.67472274e-04 9.99522254e-01 -4.60339453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:-39.42, Z:-4.60 [[ 8.49665553e-01 5.26676466e-01 2.60834808e-02 1.40665642e+02] [-5.26415531e-01 8.50065746e-01 -1.65805913e-02 -3.94223316e+01] [-3.09052807e-02 3.57207886e-04 9.99522254e-01 -4.60279352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.72, Y:-39.45, Z:-4.60 [[ 8.47954836e-01 5.29426554e-01 2.60791012e-02 1.40718276e+02] [-5.29166706e-01 8.48355735e-01 -1.65874768e-02 -3.94546519e+01] [-3.09062058e-02 2.65239092e-04 9.99522254e-01 -4.60469513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:-39.49, Z:-4.61 [[ 8.47039241e-01 5.30890412e-01 2.60747905e-02 1.40770870e+02] [-5.30631048e-01 8.47440453e-01 -1.65942504e-02 -3.94870885e+01] [-3.09065607e-02 2.19887856e-04 9.99522254e-01 -4.60693756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.82, Y:-39.52, Z:-4.61 [[ 8.45777399e-01 5.32898588e-01 2.60708066e-02 1.40823906e+02] [-5.32639983e-01 8.46179101e-01 -1.66005070e-02 -3.95198514e+01] [-3.09069584e-02 1.53979636e-04 9.99522254e-01 -4.60643403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.88, Y:-39.55, Z:-4.61 [[ 8.44759698e-01 5.34510603e-01 2.60665902e-02 1.40876127e+02] [-5.34252561e-01 8.45161762e-01 -1.66071250e-02 -3.95533313e+01] [-3.09071698e-02 1.02887307e-04 9.99522254e-01 -4.60898070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:-39.59, Z:-4.61 [[ 8.44397156e-01 5.35083381e-01 2.60618268e-02 1.40929220e+02] [-5.34825381e-01 8.44799247e-01 -1.66145969e-02 -3.95870729e+01] [-3.09072064e-02 9.07919297e-05 9.99522254e-01 -4.61101148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.98, Y:-39.62, Z:-4.61 [[ 8.43784287e-01 5.36049528e-01 2.60572399e-02 1.40979124e+02] [-5.35791766e-01 8.44186531e-01 -1.66217876e-02 -3.96231237e+01] [-3.09072724e-02 6.39485861e-05 9.99522254e-01 -4.61484411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:-39.66, Z:-4.61 [[ 8.44616762e-01 5.34736963e-01 2.60558389e-02 1.41031061e+02] [-5.34478508e-01 8.45018560e-01 -1.66239835e-02 -3.96552612e+01] [-3.09071260e-02 1.14609236e-04 9.99522254e-01 -4.61212098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:-39.69, Z:-4.61 [[ 8.45989506e-01 5.32562703e-01 2.60523107e-02 1.41083095e+02] [-5.32303046e-01 8.46390529e-01 -1.66295109e-02 -3.96916624e+01] [-3.09066863e-02 2.00667355e-04 9.99522254e-01 -4.61162401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36361786499998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:-39.73, Z:-4.61 [[ 8.46891497e-01 5.31127389e-01 2.60478282e-02 1.41134226e+02] [-5.30866836e-01 8.47291938e-01 -1.66365292e-02 -3.97263087e+01] [-3.09062312e-02 2.61406992e-04 9.99522254e-01 -4.61338805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.18, Y:-39.76, Z:-4.62 [[ 8.48249172e-01 5.28956518e-01 2.60450652e-02 1.41184959e+02] [-5.28694807e-01 8.48648857e-01 -1.66408536e-02 -3.97624968e+01] [-3.09054028e-02 3.45699582e-04 9.99522254e-01 -4.61533269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.24, Y:-39.80, Z:-4.61 [[ 8.49071597e-01 5.27635561e-01 2.60410830e-02 1.41236620e+02] [-5.27373037e-01 8.49470749e-01 -1.66470830e-02 -3.97989559e+01] [-3.09047313e-02 4.01200270e-04 9.99522254e-01 -4.61484227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.29, Y:-39.83, Z:-4.62 [[ 8.48810992e-01 5.28054924e-01 2.60364567e-02 1.41289157e+02] [-5.27792376e-01 8.49210128e-01 -1.66543155e-02 -3.98343029e+01] [-3.09048161e-02 3.94522768e-04 9.99522254e-01 -4.61682296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:-39.87, Z:-4.62 [[ 8.48295759e-01 5.28882453e-01 2.60318194e-02 1.41341038e+02] [-5.28620073e-01 8.48695005e-01 -1.66615608e-02 -3.98702921e+01] [-3.09050822e-02 3.72989054e-04 9.99522254e-01 -4.61927249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:-39.91, Z:-4.62 [[ 8.48495834e-01 5.28561637e-01 2.60272074e-02 1.41392477e+02] [-5.28298884e-01 8.48894835e-01 -1.66687621e-02 -3.99068975e+01] [-3.09048301e-02 3.93230574e-04 9.99522254e-01 -4.62066137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:-39.94, Z:-4.62 [[ 8.49746626e-01 5.26548662e-01 2.60226536e-02 1.41443216e+02] [-5.26284746e-01 8.50144859e-01 -1.66758684e-02 -3.99438219e+01] [-3.09036813e-02 4.74937252e-04 9.99522254e-01 -4.62160585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.783617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.50, Y:-39.98, Z:-4.62 [[ 8.50631092e-01 5.25118848e-01 2.60180630e-02 1.41495236e+02] [-5.24854045e-01 8.51028735e-01 -1.66830277e-02 -3.99791925e+01] [-3.09026915e-02 5.35416446e-04 9.99522254e-01 -4.62288116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.55, Y:-40.02, Z:-4.63 [[ 8.51300189e-01 5.24033668e-01 2.60135214e-02 1.41545395e+02] [-5.23768141e-01 8.51697349e-01 -1.66901062e-02 -4.00177783e+01] [-3.09018248e-02 5.83236813e-04 9.99522254e-01 -4.62671523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.60, Y:-40.05, Z:-4.63 [[ 8.52377969e-01 5.22278976e-01 2.60090399e-02 1.41597765e+02] [-5.22012418e-01 8.52774438e-01 -1.66970871e-02 -4.00537108e+01] [-3.09003819e-02 6.55187411e-04 9.99522254e-01 -4.62511928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.963617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.65, Y:-40.09, Z:-4.63 [[ 8.51489238e-01 5.23726882e-01 2.60044506e-02 1.41648497e+02] [-5.23460781e-01 8.51886013e-01 -1.67042316e-02 -4.00910592e+01] [-3.09012828e-02 6.11163413e-04 9.99522254e-01 -4.62935670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.70, Y:-40.12, Z:-4.63 [[ 8.51129318e-01 5.24311827e-01 2.59998494e-02 1.41700341e+02] [-5.24045780e-01 8.51526130e-01 -1.67113901e-02 -4.01245244e+01] [-3.09015306e-02 5.98442636e-04 9.99522255e-01 -4.63316422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:-40.16, Z:-4.63 [[ 8.49809338e-01 5.26448782e-01 2.59955473e-02 1.41750268e+02] [-5.26183528e-01 8.50206681e-01 -1.67180796e-02 -4.01601264e+01] [-3.09028006e-02 5.28751317e-04 9.99522255e-01 -4.62986855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.80, Y:-40.20, Z:-4.63 [[ 8.49202026e-01 5.27427981e-01 2.59931591e-02 1.41802333e+02] [-5.27163072e-01 8.49599598e-01 -1.67217920e-02 -4.01959707e+01] [-3.09033185e-02 4.97546109e-04 9.99522255e-01 -4.63126795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.85, Y:-40.23, Z:-4.63 [[ 8.48373885e-01 5.28759253e-01 2.59885337e-02 1.41853472e+02] [-5.28494747e-01 8.48771726e-01 -1.67289775e-02 -4.02324256e+01] [-3.09039343e-02 4.57624052e-04 9.99522255e-01 -4.63354420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.90, Y:-40.27, Z:-4.63 [[ 8.46793315e-01 5.31287037e-01 2.59839645e-02 1.41903048e+02] [-5.31023502e-01 8.47191799e-01 -1.67360715e-02 -4.02690398e+01] [-3.09050595e-02 3.73897595e-04 9.99522255e-01 -4.63441586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.95, Y:-40.31, Z:-4.64 [[ 8.44373923e-01 5.35124034e-01 2.59797347e-02 1.41953344e+02] [-5.34862107e-01 8.44773467e-01 -1.67426350e-02 -4.03071338e+01] [-3.09063769e-02 2.41468803e-04 9.99522255e-01 -4.64099222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.00, Y:-40.34, Z:-4.64 [[ 8.43268649e-01 5.36864299e-01 2.59751876e-02 1.42004662e+02] [-5.36602980e-01 8.43668590e-01 -1.67496865e-02 -4.03426933e+01] [-3.09067586e-02 1.86122448e-04 9.99522255e-01 -4.64330607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:-40.38, Z:-4.65 [[ 8.42335237e-01 5.38327853e-01 2.59705997e-02 1.42055932e+02] [-5.38067009e-01 8.42735488e-01 -1.67567971e-02 -4.03796427e+01] [-3.09069966e-02 1.40917729e-04 9.99522255e-01 -4.64557460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.11, Y:-40.42, Z:-4.65 [[ 8.42073284e-01 5.38737737e-01 2.59660262e-02 1.42105608e+02] [-5.38476870e-01 8.42473520e-01 -1.67638811e-02 -4.04166672e+01] [-3.09070249e-02 1.34311905e-04 9.99522255e-01 -4.64764896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:-40.45, Z:-4.64 [[ 8.42068181e-01 5.38745850e-01 2.59632063e-02 1.42156586e+02] [-5.38484852e-01 8.42468332e-01 -1.67682473e-02 -4.04517759e+01] [-3.09070028e-02 1.39214198e-04 9.99522255e-01 -4.64329575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.623617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:-40.49, Z:-4.65 [[ 8.43224440e-01 5.36934500e-01 2.59593124e-02 1.42205801e+02] [-5.36672457e-01 8.43623907e-01 -1.67742734e-02 -4.04896091e+01] [-3.09065827e-02 2.12829298e-04 9.99522255e-01 -4.64961784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.683617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:142.26, Y:-40.53, Z:-4.65 [[ 8.44246990e-01 5.35325457e-01 2.59552597e-02 1.42256535e+02] [-5.35062460e-01 8.44645830e-01 -1.67805419e-02 -4.05267547e+01] [-3.09060531e-02 2.79236911e-04 9.99522255e-01 -4.65135444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:-40.56, Z:-4.65 [[ 8.45206486e-01 5.33809496e-01 2.59503003e-02 1.42306521e+02] [-5.33545549e-01 8.45604697e-01 -1.67882079e-02 -4.05635023e+01] [-3.09054006e-02 3.43835019e-04 9.99522255e-01 -4.65324601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.36, Y:-40.60, Z:-4.65 [[ 8.47299922e-01 5.30480520e-01 2.59472448e-02 1.42356359e+02] [-5.30214864e-01 8.47696995e-01 -1.67929292e-02 -4.05999671e+01] [-3.09037232e-02 4.71032731e-04 9.99522255e-01 -4.65490524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.41, Y:-40.63, Z:-4.66 [[ 8.47913005e-01 5.29500233e-01 2.59430104e-02 1.42408334e+02] [-5.29233917e-01 8.48309636e-01 -1.67994681e-02 -4.06337656e+01] [-3.09030280e-02 5.14566414e-04 9.99522255e-01 -4.65782317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.46, Y:-40.67, Z:-4.66 [[ 8.48601198e-01 5.28396806e-01 2.59388057e-02 1.42459192e+02] [-5.28129777e-01 8.48997349e-01 -1.68059578e-02 -4.06709754e+01] [-3.09021917e-02 5.62500217e-04 9.99522255e-01 -4.65731001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.51, Y:-40.71, Z:-4.66 [[ 8.48977925e-01 5.27791544e-01 2.59339320e-02 1.42510583e+02] [-5.27524003e-01 8.49373730e-01 -1.68134753e-02 -4.07061778e+01] [-3.09016106e-02 5.93497779e-04 9.99522255e-01 -4.66181764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.043617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:-40.74, Z:-4.66 [[ 8.48634752e-01 5.28343376e-01 2.59294366e-02 1.42562044e+02] [-5.28075880e-01 8.49030588e-01 -1.68204052e-02 -4.07423087e+01] [-3.09018344e-02 5.81670334e-04 9.99522255e-01 -4.66389551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:-40.78, Z:-4.66 [[ 8.46802299e-01 5.31275607e-01 2.59248012e-02 1.42613228e+02] [-5.31009264e-01 8.47198911e-01 -1.68275465e-02 -4.07798830e+01] [-3.09035283e-02 4.83295412e-04 9.99522255e-01 -4.66146155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.163617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:142.66, Y:-40.81, Z:-4.67 [[ 8.45834166e-01 5.32815830e-01 2.59201528e-02 1.42664225e+02] [-5.32549989e-01 8.46231116e-01 -1.68347035e-02 -4.08146364e+01] [-3.09042364e-02 4.35590338e-04 9.99522255e-01 -4.66599199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:-40.85, Z:-4.67 [[ 8.44861659e-01 5.34356758e-01 2.59158564e-02 1.42716280e+02] [-5.34091439e-01 8.45258957e-01 -1.68413150e-02 -4.08501968e+01] [-3.09048802e-02 3.87144238e-04 9.99522255e-01 -4.66597076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.283617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:-40.89, Z:-4.66 [[ 8.43724543e-01 5.36150633e-01 2.59112826e-02 1.42766940e+02] [-5.35885942e-01 8.44122260e-01 -1.68483491e-02 -4.08861586e+01] [-3.09055435e-02 3.29873531e-04 9.99522255e-01 -4.66427141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.343617865 meters Centerline goodness : 0.995208 with order 1 Centerline is valid? [True, True] Translation: X:142.82, Y:-40.92, Z:-4.67 [[ 8.43395027e-01 5.36669035e-01 2.59070560e-02 1.42819660e+02] [-5.36404390e-01 8.43792774e-01 -1.68548456e-02 -4.09183697e+01] [-3.09056604e-02 3.18634375e-04 9.99522255e-01 -4.66518967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:-40.29, Z:-3.64 [[ 8.74601543e-01 4.84149990e-01 2.59022689e-02 1.43306051e+02] [-4.83861327e-01 8.74982218e-01 -1.68621992e-02 -4.02852490e+01] [-3.08278583e-02 2.21459928e-03 9.99522255e-01 -3.63802214e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 146.463617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-40.32, Z:-3.64 [[ 8.73442702e-01 4.86183984e-01 2.68883041e-02 1.43358934e+02] [-4.85949226e-01 8.73856463e-01 -1.51073675e-02 -4.03164361e+01] [-3.08414784e-02 1.29069270e-04 9.99524280e-01 -3.64358294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.41, Y:-40.35, Z:-3.64 [[ 8.72744804e-01 4.87435877e-01 2.68844460e-02 1.43413351e+02] [-4.87201501e-01 8.73158781e-01 -1.51142302e-02 -4.03482675e+01] [-3.08416081e-02 9.27234179e-05 9.99524280e-01 -3.64389655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.47, Y:-40.38, Z:-3.65 [[ 8.72315026e-01 4.88204822e-01 2.68802454e-02 1.43466657e+02] [-4.87970581e-01 8.72729079e-01 -1.51216971e-02 -4.03792250e+01] [-3.08416573e-02 7.41146676e-05 9.99524280e-01 -3.64577042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.52, Y:-40.41, Z:-3.65 [[ 8.72586686e-01 4.87719322e-01 2.68763607e-02 1.43521840e+02] [-4.87484638e-01 8.73000489e-01 -1.51285984e-02 -4.04096576e+01] [-3.08415858e-02 9.92005635e-05 9.99524280e-01 -3.64940561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:-40.44, Z:-3.65 [[ 8.72546879e-01 4.87790761e-01 2.68722474e-02 1.43576319e+02] [-4.87555886e-01 8.72960573e-01 -1.51359011e-02 -4.04401156e+01] [-3.08415652e-02 1.05060861e-04 9.99524280e-01 -3.65178056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:-40.47, Z:-3.65 [[ 8.71613522e-01 4.89456812e-01 2.68681481e-02 1.43630284e+02] [-4.89222504e-01 8.72027537e-01 -1.51431744e-02 -4.04696702e+01] [-3.08416949e-02 5.44928847e-05 9.99524280e-01 -3.65198312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.68, Y:-40.50, Z:-3.65 [[ 8.70788327e-01 4.90923614e-01 2.68643684e-02 1.43684612e+02] [-4.90689796e-01 8.71202620e-01 -1.51498767e-02 -4.05003379e+01] [-3.08417404e-02 1.02643897e-05 9.99524280e-01 -3.65377855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.74, Y:-40.53, Z:-3.66 [[ 8.70410025e-01 4.91594232e-01 2.68607351e-02 1.43739426e+02] [-4.91360535e-01 8.70824386e-01 -1.51563159e-02 -4.05286932e+01] [-3.08417406e-02 -6.09587065e-06 9.99524280e-01 -3.65552397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.79, Y:-40.56, Z:-3.66 [[ 8.70363418e-01 4.91676942e-01 2.68571425e-02 1.43793320e+02] [-4.91443087e-01 8.70777690e-01 -1.51626793e-02 -4.05590795e+01] [-3.08417403e-02 -1.71566981e-06 9.99524280e-01 -3.65695695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.85, Y:-40.59, Z:-3.66 [[ 8.71363048e-01 4.89903383e-01 2.68535492e-02 1.43848697e+02] [-4.89668490e-01 8.71776732e-01 -1.51690404e-02 -4.05882493e+01] [-3.08416636e-02 6.84044438e-05 9.99524280e-01 -3.65872485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.063617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:143.90, Y:-40.62, Z:-3.66 [[ 8.72916420e-01 4.87130403e-01 2.68494716e-02 1.43903021e+02] [-4.86893973e-01 8.73329228e-01 -1.51762545e-02 -4.06178366e+01] [-3.08412432e-02 1.74755839e-04 9.99524280e-01 -3.65892041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-40.65, Z:-3.66 [[ 8.73418520e-01 4.86229708e-01 2.68469606e-02 1.43957792e+02] [-4.85992717e-01 8.73831005e-01 -1.51806952e-02 -4.06485702e+01] [-3.08410115e-02 2.11672994e-04 9.99524280e-01 -3.65953227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:-40.68, Z:-3.66 [[ 8.74347574e-01 4.84557303e-01 2.68428664e-02 1.44013636e+02] [-4.84319300e-01 8.74759477e-01 -1.51879311e-02 -4.06759809e+01] [-3.08404747e-02 2.79012418e-04 9.99524280e-01 -3.66408188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.07, Y:-40.71, Z:-3.67 [[ 8.75675085e-01 4.82154341e-01 2.68390835e-02 1.44067283e+02] [-4.81915004e-01 8.76086213e-01 -1.51946131e-02 -4.07068995e+01] [-3.08394997e-02 3.71387110e-04 9.99524281e-01 -3.66801961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:144.12, Y:-40.74, Z:-3.67 [[ 8.76212829e-01 4.81176611e-01 2.68355675e-02 1.44121203e+02] [-4.80936624e-01 8.76623579e-01 -1.52008203e-02 -4.07371826e+01] [-3.08389704e-02 4.12946533e-04 9.99524281e-01 -3.67196802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.18, Y:-40.77, Z:-3.67 [[ 8.75383640e-01 4.82683667e-01 2.68320815e-02 1.44176203e+02] [-4.82444199e-01 8.75794692e-01 -1.52069711e-02 -4.07672072e+01] [-3.08395512e-02 3.66951593e-04 9.99524281e-01 -3.66833389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:144.23, Y:-40.80, Z:-3.67 [[ 8.75789487e-01 4.81947092e-01 2.68286159e-02 1.44228817e+02] [-4.81707091e-01 8.76200228e-01 -1.52130828e-02 -4.07976522e+01] [-3.08391404e-02 3.99923491e-04 9.99524281e-01 -3.67193782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.28, Y:-40.83, Z:-3.67 [[ 8.75590469e-01 4.82308746e-01 2.68254391e-02 1.44282040e+02] [-4.82068743e-01 8.76001210e-01 -1.52186824e-02 -4.08279633e+01] [-3.08392207e-02 3.93627558e-04 9.99524281e-01 -3.67446530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.543617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:144.34, Y:-40.86, Z:-3.67 [[ 8.72405793e-01 4.88045724e-01 2.68235506e-02 1.44335681e+02] [-4.87808320e-01 8.72818041e-01 -1.52220103e-02 -4.08586927e+01] [-3.08411159e-02 1.95018774e-04 9.99524281e-01 -3.67457841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.603617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.39, Y:-40.89, Z:-3.68 [[ 8.73267339e-01 4.86502658e-01 2.68201241e-02 1.44389228e+02] [-4.86264340e-01 8.73679059e-01 -1.52280451e-02 -4.08887999e+01] [-3.08406652e-02 2.56484472e-04 9.99524281e-01 -3.68002895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.663617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:-40.92, Z:-3.68 [[ 8.71538151e-01 4.89593825e-01 2.68167467e-02 1.44443376e+02] [-4.89356784e-01 8.71950608e-01 -1.52339904e-02 -4.09193248e+01] [-3.08413462e-02 1.54046917e-04 9.99524281e-01 -3.67787525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:-40.95, Z:-3.68 [[ 8.71244363e-01 4.90116636e-01 2.68131012e-02 1.44498888e+02] [-4.89879646e-01 8.71656849e-01 -1.52404042e-02 -4.09493656e+01] [-3.08413989e-02 1.42923695e-04 9.99524281e-01 -3.68114441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.783617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:144.55, Y:-40.98, Z:-3.68 [[ 8.71532298e-01 4.89604674e-01 2.68088879e-02 1.44554132e+02] [-4.89367213e-01 8.71944514e-01 -1.52478120e-02 -4.09801166e+01] [-3.08412627e-02 1.69569868e-04 9.99524281e-01 -3.68410703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:-41.01, Z:-3.68 [[ 8.70785589e-01 4.90931739e-01 2.68045896e-02 1.44607932e+02] [-4.90694674e-01 8.71198032e-01 -1.52553644e-02 -4.10125013e+01] [-3.08414483e-02 1.31282121e-04 9.99524281e-01 -3.68141246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:-41.04, Z:-3.69 [[ 8.71693803e-01 4.89317551e-01 2.68001741e-02 1.44661830e+02] [-4.89079484e-01 8.72105668e-01 -1.52631175e-02 -4.10438969e+01] [-3.08410950e-02 1.97349595e-04 9.99524281e-01 -3.68537868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.72, Y:-41.08, Z:-3.69 [[ 8.72534752e-01 4.87816661e-01 2.67957503e-02 1.44716336e+02] [-4.87577647e-01 8.72946068e-01 -1.52708800e-02 -4.10755933e+01] [-3.08406345e-02 2.59364622e-04 9.99524281e-01 -3.68699346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:-41.11, Z:-3.69 [[ 8.75288386e-01 4.82858648e-01 2.67911917e-02 1.44770937e+02] [-4.82617060e-01 8.75698196e-01 -1.52788733e-02 -4.11051870e+01] [-3.08385343e-02 4.43534125e-04 9.99524281e-01 -3.69315096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:-41.14, Z:-3.69 [[ 8.77726121e-01 4.78413330e-01 2.67869883e-02 1.44824944e+02] [-4.78169442e-01 8.78134566e-01 -1.52862392e-02 -4.11381996e+01] [-3.08357209e-02 6.08412235e-04 9.99524281e-01 -3.69325768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:-41.17, Z:-3.70 [[ 8.78716167e-01 4.76592690e-01 2.67825744e-02 1.44877204e+02] [-4.76347720e-01 8.79123964e-01 -1.52939687e-02 -4.11714227e+01] [-3.08341967e-02 6.81239314e-04 9.99524281e-01 -3.69508904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.93, Y:-41.20, Z:-3.70 [[ 8.78826735e-01 4.76389002e-01 2.67785046e-02 1.44931805e+02] [-4.76143721e-01 8.79234345e-01 -1.53010914e-02 -4.12026528e+01] [-3.08338526e-02 6.96591332e-04 9.99524281e-01 -3.69741082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:-41.23, Z:-3.70 [[ 8.77913023e-01 4.78070991e-01 2.67740975e-02 1.44985792e+02] [-4.77826256e-01 8.78320961e-01 -1.53087991e-02 -4.12339168e+01] [-3.08349438e-02 6.46427352e-04 9.99524281e-01 -3.69888998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.323617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:145.04, Y:-41.26, Z:-3.70 [[ 8.75515346e-01 4.82448178e-01 2.67700237e-02 1.45041165e+02] [-4.82205265e-01 8.75924372e-01 -1.53159195e-02 -4.12641982e+01] [-3.08376536e-02 5.00676174e-04 9.99524281e-01 -3.69998510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.10, Y:-41.29, Z:-3.70 [[ 8.73241843e-01 4.86551422e-01 2.67655968e-02 1.45095977e+02] [-4.86310195e-01 8.73651864e-01 -1.53236519e-02 -4.12923431e+01] [-3.08395582e-02 3.64871393e-04 9.99524281e-01 -3.70425345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.443617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.15, Y:-41.32, Z:-3.71 [[ 8.71739697e-01 4.89237900e-01 2.67615080e-02 1.45151941e+02] [-4.88997717e-01 8.72150331e-01 -1.53307893e-02 -4.13213394e+01] [-3.08404612e-02 2.78141281e-04 9.99524281e-01 -3.70712816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.503617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:-41.35, Z:-3.71 [[ 8.69251432e-01 4.93645619e-01 2.67572672e-02 1.45206312e+02] [-4.93407291e-01 8.69663145e-01 -1.53381873e-02 -4.13511045e+01] [-3.08414381e-02 1.30510498e-04 9.99524281e-01 -3.70689735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.26, Y:-41.38, Z:-3.71 [[ 8.68282277e-01 4.95348509e-01 2.67533502e-02 1.45261051e+02] [-4.95110778e-01 8.68694335e-01 -1.53450165e-02 -4.13822948e+01] [-3.08416148e-02 7.79338711e-05 9.99524281e-01 -3.70602619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.32, Y:-41.41, Z:-3.71 [[ 8.68527744e-01 4.94918218e-01 2.67491080e-02 1.45315542e+02] [-4.94680055e-01 8.68939553e-01 -1.53524078e-02 -4.14119307e+01] [-3.08415443e-02 1.01741941e-04 9.99524281e-01 -3.70688845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.37, Y:-41.44, Z:-3.71 [[ 8.70343664e-01 4.91718008e-01 2.67452380e-02 1.45370201e+02] [-4.91478123e-01 8.70754472e-01 -1.53591468e-02 -4.14396765e+01] [-3.08409046e-02 2.23036713e-04 9.99524281e-01 -3.71248086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:-41.47, Z:-3.71 [[ 8.72365303e-01 4.88122587e-01 2.67417017e-02 1.45424373e+02] [-4.87880820e-01 8.72775007e-01 -1.53653012e-02 -4.14707327e+01] [-3.08396395e-02 3.57392272e-04 9.99524281e-01 -3.71421077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:-41.50, Z:-3.71 [[ 8.73487638e-01 4.86111535e-01 2.67380256e-02 1.45477996e+02] [-4.85868629e-01 8.73896668e-01 -1.53716956e-02 -4.15028161e+01] [-3.08386300e-02 4.35818236e-04 9.99524281e-01 -3.71342569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:145.53, Y:-41.53, Z:-3.71 [[ 8.75468510e-01 4.82535144e-01 2.67343083e-02 1.45531619e+02] [-4.82290371e-01 8.75876424e-01 -1.53781579e-02 -4.15331609e+01] [-3.08364520e-02 5.69393536e-04 9.99524281e-01 -3.71402654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.59, Y:-41.56, Z:-3.72 [[ 8.77503018e-01 4.78825511e-01 2.67316878e-02 1.45587002e+02] [-4.78578875e-01 8.77909809e-01 -1.53827118e-02 -4.15633584e+01] [-3.08336458e-02 7.05154977e-04 9.99524281e-01 -3.71601724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:-41.59, Z:-3.72 [[ 8.79510697e-01 4.75127963e-01 2.67273862e-02 1.45641764e+02] [-4.74879390e-01 8.79916307e-01 -1.53901822e-02 -4.15916924e+01] [-3.08301689e-02 8.43545010e-04 9.99524281e-01 -3.71993451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.70, Y:-41.62, Z:-3.72 [[ 8.80998174e-01 4.72364347e-01 2.67234186e-02 1.45697389e+02] [-4.72114293e-01 8.81402873e-01 -1.53970685e-02 -4.16198482e+01] [-3.08271241e-02 9.48281372e-04 9.99524281e-01 -3.72420743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.75, Y:-41.65, Z:-3.72 [[ 8.79407159e-01 4.75320014e-01 2.67195302e-02 1.45752638e+02] [-4.75071116e-01 8.79812570e-01 -1.54038133e-02 -4.16491020e+01] [-3.08299193e-02 8.52546690e-04 9.99524281e-01 -3.72344789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.81, Y:-41.68, Z:-3.73 [[ 8.78291650e-01 4.77378332e-01 2.67152636e-02 1.45807078e+02] [-4.77130159e-01 8.78697506e-01 -1.54112094e-02 -4.16783994e+01] [-3.08316129e-02 7.88878608e-04 9.99524282e-01 -3.72515456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.86, Y:-41.71, Z:-3.73 [[ 8.77347129e-01 4.79112221e-01 2.67113210e-02 1.45862090e+02] [-4.78864642e-01 8.77753347e-01 -1.54180399e-02 -4.17074320e+01] [-3.08329227e-02 7.35865932e-04 9.99524282e-01 -3.72697337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:-41.74, Z:-3.73 [[ 8.76023841e-01 4.81527647e-01 2.67087274e-02 1.45917043e+02] [-4.81281051e-01 8.76430656e-01 -1.54225315e-02 -4.17372260e+01] [-3.08347228e-02 6.56100886e-04 9.99524282e-01 -3.72930343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:-41.77, Z:-3.73 [[ 8.75027180e-01 4.83336627e-01 2.67046571e-02 1.45972640e+02] [-4.83090658e-01 8.75434374e-01 -1.54295761e-02 -4.17671073e+01] [-3.08358541e-02 6.00528068e-04 9.99524282e-01 -3.73092286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:-41.80, Z:-3.73 [[ 8.72770093e-01 4.87400698e-01 2.67006393e-02 1.46027890e+02] [-4.87156412e-01 8.73178300e-01 -1.54365257e-02 -4.17975295e+01] [-3.08381922e-02 4.65150327e-04 9.99524282e-01 -3.73216195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:-41.83, Z:-3.74 [[ 8.71958308e-01 4.88851712e-01 2.66966664e-02 1.46081091e+02] [-4.88607896e-01 8.72366795e-01 -1.54433937e-02 -4.18276230e+01] [-3.08388147e-02 4.21793435e-04 9.99524282e-01 -3.73643929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52361786499998 meters Centerline goodness : 0.996913 with order 1 Centerline is valid? [True, True] Translation: X:146.14, Y:-41.85, Z:-3.74 [[ 8.72727773e-01 4.87476863e-01 2.66934910e-02 1.46138073e+02] [-4.87232236e-01 8.73135774e-01 -1.54488803e-02 -4.18526296e+01] [-3.08380136e-02 4.76737636e-04 9.99524282e-01 -3.74161047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.19, Y:-41.89, Z:-3.75 [[ 8.72564998e-01 4.87768247e-01 2.66919771e-02 1.46191491e+02] [-4.87523676e-01 8.72973033e-01 -1.54514955e-02 -4.18858359e+01] [-3.08381251e-02 4.69463334e-04 9.99524282e-01 -3.74510836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64361786499998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:146.25, Y:-41.91, Z:-3.75 [[ 8.72489768e-01 4.87903075e-01 2.66869585e-02 1.46246472e+02] [-4.87658302e-01 8.72897682e-01 -1.54601585e-02 -4.19135615e+01] [-3.08380431e-02 4.74713270e-04 9.99524282e-01 -3.74615797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.30, Y:-41.94, Z:-3.75 [[ 8.73456056e-01 4.86171337e-01 2.66823809e-02 1.46300755e+02] [-4.85925514e-01 8.73863339e-01 -1.54680549e-02 -4.19446957e+01] [-3.08368793e-02 5.45016574e-04 9.99524282e-01 -3.75296315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763617865 meters Centerline goodness : 0.995186 with order 1 Centerline is valid? [True, True] Translation: X:146.35, Y:-41.98, Z:-3.75 [[ 8.71107296e-01 4.90367590e-01 2.66778009e-02 1.46353612e+02] [-4.90123488e-01 8.71515612e-01 -1.54759499e-02 -4.19777290e+01] [-3.08390242e-02 4.05795995e-04 9.99524282e-01 -3.74795706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.41, Y:-42.01, Z:-3.75 [[ 8.72265982e-01 4.88303787e-01 2.66733766e-02 1.46408665e+02] [-4.88058485e-01 8.72673578e-01 -1.54835715e-02 -4.20071819e+01] [-3.08378377e-02 4.87624935e-04 9.99524282e-01 -3.75007159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:-42.04, Z:-3.76 [[ 8.73963525e-01 4.85259234e-01 2.66689433e-02 1.46462678e+02] [-4.85012280e-01 8.74370122e-01 -1.54912039e-02 -4.20369293e+01] [-3.08357769e-02 6.03982162e-04 9.99524282e-01 -3.75860382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:-42.07, Z:-3.75 [[ 8.72698921e-01 4.87530085e-01 2.66647562e-02 1.46514055e+02] [-4.87283969e-01 8.73106026e-01 -1.54984077e-02 -4.20707514e+01] [-3.08370993e-02 5.32135408e-04 9.99524282e-01 -3.75343686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:-42.10, Z:-3.76 [[ 8.71772970e-01 4.89184090e-01 2.66611333e-02 1.46567437e+02] [-4.88938555e-01 8.72180426e-01 -1.55046375e-02 -4.21044668e+01] [-3.08379405e-02 4.80867902e-04 9.99524282e-01 -3.75986674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.62, Y:-42.14, Z:-3.76 [[ 8.70677175e-01 4.91132029e-01 2.66568367e-02 1.46620880e+02] [-4.90887181e-01 8.71085044e-01 -1.55120210e-02 -4.21367620e+01] [-3.08388221e-02 4.20463237e-04 9.99524282e-01 -3.76051508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.67, Y:-42.17, Z:-3.76 [[ 8.70037721e-01 4.92264160e-01 2.66526072e-02 1.46673386e+02] [-4.92019619e-01 8.70445774e-01 -1.55192846e-02 -4.21689162e+01] [-3.08392369e-02 3.88757362e-04 9.99524282e-01 -3.76219028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.73, Y:-42.20, Z:-3.76 [[ 8.70374319e-01 4.91668986e-01 2.66487080e-02 1.46726807e+02] [-4.91423961e-01 8.70782082e-01 -1.55259771e-02 -4.22000561e+01] [-3.08388589e-02 4.17598108e-04 9.99524282e-01 -3.76463121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.78, Y:-42.23, Z:-3.76 [[ 8.70440980e-01 4.91551173e-01 2.66447880e-02 1.46779024e+02] [-4.91305888e-01 8.70848586e-01 -1.55327016e-02 -4.22319848e+01] [-3.08386936e-02 4.29558723e-04 9.99524282e-01 -3.76331405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:-42.27, Z:-3.77 [[ 8.70208418e-01 4.91962962e-01 2.66412007e-02 1.46831908e+02] [-4.91717682e-01 8.70616027e-01 -1.55388521e-02 -4.22653605e+01] [-3.08387959e-02 4.22090450e-04 9.99524282e-01 -3.76923414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.89, Y:-42.30, Z:-3.77 [[ 8.69638948e-01 4.92969153e-01 2.66367139e-02 1.46885787e+02] [-4.92724109e-01 8.70046699e-01 -1.55465395e-02 -4.22973873e+01] [-3.08391494e-02 3.95325097e-04 9.99524282e-01 -3.77091638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42361786499998 meters Centerline goodness : 0.994589 with order 1 Centerline is valid? [True, True] Translation: X:146.94, Y:-42.33, Z:-3.77 [[ 8.68861521e-01 4.94338331e-01 2.66321558e-02 1.46939244e+02] [-4.94093690e-01 8.69269514e-01 -1.55543438e-02 -4.23296702e+01] [-3.08396295e-02 3.55790654e-04 9.99524282e-01 -3.76834446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:-42.36, Z:-3.77 [[ 8.68605845e-01 4.94787728e-01 2.66268666e-02 1.46992070e+02] [-4.94543021e-01 8.69013798e-01 -1.55633930e-02 -4.23636056e+01] [-3.08396903e-02 3.50323128e-04 9.99524282e-01 -3.77330772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:-42.39, Z:-3.78 [[ 8.69706432e-01 4.92850929e-01 2.66211043e-02 1.47046331e+02] [-4.92605012e-01 8.70113657e-01 -1.55732431e-02 -4.23940526e+01] [-3.08386738e-02 4.30460252e-04 9.99524282e-01 -3.77977113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.10, Y:-42.43, Z:-3.78 [[ 8.69969268e-01 4.92387042e-01 2.66171787e-02 1.47097956e+02] [-4.92140702e-01 8.70376237e-01 -1.55799497e-02 -4.24270212e+01] [-3.08383252e-02 4.54680457e-04 9.99524282e-01 -3.77500439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.15, Y:-42.46, Z:-3.78 [[ 8.71377930e-01 4.89890008e-01 2.66135916e-02 1.47150791e+02] [-4.89642315e-01 8.71784077e-01 -1.55860747e-02 -4.24604853e+01] [-3.08367677e-02 5.50220869e-04 9.99524282e-01 -3.78020977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:-42.49, Z:-3.78 [[ 8.70422894e-01 4.91585134e-01 2.66090680e-02 1.47203131e+02] [-4.91337996e-01 8.70829379e-01 -1.55937938e-02 -4.24940922e+01] [-3.08376354e-02 4.99148974e-04 9.99524282e-01 -3.77891939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:-42.53, Z:-3.78 [[ 8.71612413e-01 4.89473165e-01 2.66049296e-02 1.47256736e+02] [-4.89224827e-01 8.72018166e-01 -1.56008511e-02 -4.25261091e+01] [-3.08361799e-02 5.82103386e-04 9.99524282e-01 -3.78173182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:147.31, Y:-42.56, Z:-3.78 [[ 8.69929753e-01 4.92457618e-01 2.66030039e-02 1.47308085e+02] [-4.92210572e-01 8.70336294e-01 -1.56041343e-02 -4.25631804e+01] [-3.08379346e-02 4.80220930e-04 9.99524282e-01 -3.78107857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.903617865 meters Centerline goodness : 0.996721 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:-42.59, Z:-3.78 [[ 8.69875615e-01 4.92553483e-01 2.65985258e-02 1.47362379e+02] [-4.92306248e-01 8.70282041e-01 -1.56117639e-02 -4.25934060e+01] [-3.08378480e-02 4.85672267e-04 9.99524282e-01 -3.78295837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.963617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:-42.63, Z:-3.78 [[ 8.68349729e-01 4.95238849e-01 2.65938079e-02 1.47415078e+02] [-4.94992626e-01 8.68756768e-01 -1.56197964e-02 -4.26285221e+01] [-3.08390806e-02 3.99707194e-04 9.99524283e-01 -3.78465298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:-42.66, Z:-3.79 [[ 8.67769876e-01 4.96254449e-01 2.65887933e-02 1.47469286e+02] [-4.96008441e-01 8.68177045e-01 -1.56283278e-02 -4.26609200e+01] [-3.08394072e-02 3.73526177e-04 9.99524283e-01 -3.79040912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08361786499998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:147.52, Y:-42.69, Z:-3.79 [[ 8.66627710e-01 4.98246603e-01 2.65844884e-02 1.47522317e+02] [-4.98001306e-01 8.67035308e-01 -1.56356473e-02 -4.26926959e+01] [-3.08400982e-02 3.11175252e-04 9.99524283e-01 -3.78828901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14361786499998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:147.57, Y:-42.73, Z:-3.79 [[ 8.65318324e-01 5.00517406e-01 2.65805160e-02 1.47574518e+02] [-5.00272971e-01 8.65726440e-01 -1.56423973e-02 -4.27284060e+01] [-3.08407477e-02 2.38139312e-04 9.99524283e-01 -3.79097263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:147.63, Y:-42.76, Z:-3.79 [[ 8.65871826e-01 4.99559509e-01 2.65759029e-02 1.47626528e+02] [-4.99314382e-01 8.66279527e-01 -1.56502310e-02 -4.27605757e+01] [-3.08403823e-02 2.81363565e-04 9.99524283e-01 -3.79486437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:147.68, Y:-42.79, Z:-3.80 [[ 8.65872432e-01 4.99558654e-01 2.65722235e-02 1.47679667e+02] [-4.99313335e-01 8.66280017e-01 -1.56564757e-02 -4.27942303e+01] [-3.08403141e-02 2.88645142e-04 9.99524283e-01 -3.79671831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:147.73, Y:-42.83, Z:-3.80 [[ 8.66690560e-01 4.98138152e-01 2.65679123e-02 1.47733825e+02] [-4.97891941e-01 8.67097607e-01 -1.56637880e-02 -4.28257842e+01] [-3.08397036e-02 3.47707763e-04 9.99524283e-01 -3.79679918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.79, Y:-42.86, Z:-3.80 [[ 8.66483386e-01 4.98498666e-01 2.65635475e-02 1.47785320e+02] [-4.98252398e-01 8.66890398e-01 -1.56711866e-02 -4.28595741e+01] [-3.08397499e-02 3.43471564e-04 9.99524283e-01 -3.80140607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.84, Y:-42.89, Z:-3.80 [[ 8.67406621e-01 4.96890678e-01 2.65595059e-02 1.47838480e+02] [-4.96643446e-01 8.67813048e-01 -1.56780333e-02 -4.28928303e+01] [-3.08389544e-02 4.08625384e-04 9.99524283e-01 -3.80407873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.89, Y:-42.93, Z:-3.81 [[ 8.68294286e-01 4.95338116e-01 2.65553033e-02 1.47891429e+02] [-4.95089940e-01 8.68700137e-01 -1.56851484e-02 -4.29259487e+01] [-3.08380475e-02 4.72061213e-04 9.99524283e-01 -3.80897645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.563617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:147.94, Y:-42.96, Z:-3.81 [[ 8.69490943e-01 4.93234773e-01 2.65510423e-02 1.47944510e+02] [-4.92985395e-01 8.69896057e-01 -1.56923579e-02 -4.29582182e+01] [-3.08366636e-02 5.55087005e-04 9.99524283e-01 -3.80911259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.623617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:148.00, Y:-42.99, Z:-3.81 [[ 8.69493485e-01 4.93230504e-01 2.65471047e-02 1.47998094e+02] [-4.92980921e-01 8.69898473e-01 -1.56990164e-02 -4.29901777e+01] [-3.08365196e-02 5.62976364e-04 9.99524283e-01 -3.81149660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.683617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:-43.02, Z:-3.81 [[ 8.69064788e-01 4.93985705e-01 2.65427554e-02 1.48049890e+02] [-4.93736249e-01 8.69469854e-01 -1.57063665e-02 -4.30237834e+01] [-3.08368462e-02 5.44729649e-04 9.99524283e-01 -3.81052058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:-43.06, Z:-3.81 [[ 8.69905565e-01 4.92503811e-01 2.65387391e-02 1.48102683e+02] [-4.92253458e-01 8.70310077e-01 -1.57131498e-02 -4.30559632e+01] [-3.08357182e-02 6.05170410e-04 9.99524283e-01 -3.80954799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80361786499998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:148.16, Y:-43.09, Z:-3.81 [[ 8.70006646e-01 4.92325441e-01 2.65347871e-02 1.48157527e+02] [-4.92074802e-01 8.70410981e-01 -1.57198208e-02 -4.30878328e+01] [-3.08354378e-02 6.19248478e-04 9.99524283e-01 -3.80938402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:-43.12, Z:-3.81 [[ 8.70170272e-01 4.92036403e-01 2.65306507e-02 1.48212422e+02] [-4.91785417e-01 8.70574392e-01 -1.57267987e-02 -4.31188879e+01] [-3.08350626e-02 6.37605563e-04 9.99524283e-01 -3.81266255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.27, Y:-43.15, Z:-3.82 [[ 8.68967923e-01 4.94156961e-01 2.65263403e-02 1.48267554e+02] [-4.93906739e-01 8.69372516e-01 -1.57340657e-02 -4.31481375e+01] [-3.08363693e-02 5.70860140e-04 9.99524283e-01 -3.81687588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.32, Y:-43.18, Z:-3.82 [[ 8.68320319e-01 4.95294258e-01 2.65220781e-02 1.48322067e+02] [-4.95044347e-01 8.68725105e-01 -1.57412470e-02 -4.31792583e+01] [-3.08369443e-02 5.38839803e-04 9.99524283e-01 -3.81962851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:-43.21, Z:-3.83 [[ 8.68501381e-01 4.94976924e-01 2.65178339e-02 1.48378257e+02] [-4.94726647e-01 8.68905940e-01 -1.57483936e-02 -4.32076160e+01] [-3.08365948e-02 5.58422590e-04 9.99524283e-01 -3.82672666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.103617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:148.43, Y:-43.24, Z:-3.82 [[ 8.68064350e-01 4.95743200e-01 2.65134729e-02 1.48431331e+02] [-4.95493056e-01 8.68468991e-01 -1.57557321e-02 -4.32380553e+01] [-3.08369261e-02 5.39747604e-04 9.99524283e-01 -3.82373461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.49, Y:-43.27, Z:-3.83 [[ 8.66832081e-01 4.97894932e-01 2.65099869e-02 1.48485121e+02] [-4.97645613e-01 8.67237231e-01 -1.57615954e-02 -4.32679724e+01] [-3.08380661e-02 4.70077884e-04 9.99524283e-01 -3.82783996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.54, Y:-43.30, Z:-3.83 [[ 8.65645770e-01 4.99954800e-01 2.65065706e-02 1.48539540e+02] [-4.99706270e-01 8.66051404e-01 -1.57673386e-02 -4.32980481e+01] [-3.08390093e-02 4.03430452e-04 9.99524283e-01 -3.82886089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.59, Y:-43.33, Z:-3.83 [[ 8.67215764e-01 4.97226724e-01 2.65028943e-02 1.48594102e+02] [-4.96976729e-01 8.67620497e-01 -1.57735156e-02 -4.33298950e+01] [-3.08374678e-02 5.07719680e-04 9.99524283e-01 -3.83037917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.343617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:148.65, Y:-43.36, Z:-3.83 [[ 8.67875864e-01 4.96073903e-01 2.64984441e-02 1.48648596e+02] [-4.95823143e-01 8.68280123e-01 -1.57809881e-02 -4.33587315e+01] [-3.08366086e-02 5.57396888e-04 9.99524283e-01 -3.83095477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:-43.39, Z:-3.84 [[ 8.67493273e-01 4.96742896e-01 2.64937033e-02 1.48700654e+02] [-4.96492204e-01 8.67897575e-01 -1.57889430e-02 -4.33930507e+01] [-3.08368661e-02 5.42884713e-04 9.99524283e-01 -3.83640385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.463617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.75, Y:-43.42, Z:-3.84 [[ 8.67186930e-01 4.97277736e-01 2.64892653e-02 1.48753637e+02] [-4.97027066e-01 8.67591246e-01 -1.57963853e-02 -4.34247285e+01] [-3.08370454e-02 5.32537044e-04 9.99524283e-01 -3.83558515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-43.45, Z:-3.84 [[ 8.67720537e-01 4.96346241e-01 2.64854285e-02 1.48806452e+02] [-4.96094941e-01 8.68124461e-01 -1.58028157e-02 -4.34548803e+01] [-3.08363165e-02 5.73140665e-04 9.99524283e-01 -3.84095501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:-43.49, Z:-3.84 [[ 8.67546180e-01 4.96651119e-01 2.64819176e-02 1.48860539e+02] [-4.96399781e-01 8.67950081e-01 -1.58086969e-02 -4.34862169e+01] [-3.08363896e-02 5.69156531e-04 9.99524283e-01 -3.84465794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:-43.52, Z:-3.85 [[ 8.67956707e-01 4.95933549e-01 2.64776996e-02 1.48914852e+02] [-4.95681663e-01 8.68360266e-01 -1.58157584e-02 -4.35158258e+01] [-3.08357475e-02 6.02883423e-04 9.99524283e-01 -3.84665037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:148.97, Y:-43.55, Z:-3.85 [[ 8.68079885e-01 4.95718131e-01 2.64735433e-02 1.48968485e+02] [-4.95465932e-01 8.68483248e-01 -1.58227125e-02 -4.35461495e+01] [-3.08354344e-02 6.18639569e-04 9.99524283e-01 -3.85000750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.02, Y:-43.58, Z:-3.85 [[ 8.67896842e-01 4.96038764e-01 2.64691524e-02 1.49022776e+02] [-4.95786490e-01 8.68300159e-01 -1.58300545e-02 -4.35781698e+01] [-3.08354899e-02 6.15806173e-04 9.99524284e-01 -3.85306845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.08, Y:-43.61, Z:-3.86 [[ 8.67685376e-01 4.96408817e-01 2.64645896e-02 1.49076347e+02] [-4.96156482e-01 8.68088655e-01 -1.58376789e-02 -4.36096162e+01] [-3.08355734e-02 6.11544728e-04 9.99524284e-01 -3.85531512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.13, Y:-43.64, Z:-3.86 [[ 8.67148736e-01 4.97345874e-01 2.64603808e-02 1.49129748e+02] [-4.97093762e-01 8.67552153e-01 -1.58447074e-02 -4.36418891e+01] [-3.08360602e-02 5.86427744e-04 9.99524284e-01 -3.85570619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:-43.68, Z:-3.86 [[ 8.67337351e-01 4.97017063e-01 2.64567298e-02 1.49182435e+02] [-4.96764611e-01 8.67740556e-01 -1.58508014e-02 -4.36755070e+01] [-3.08356962e-02 6.05224948e-04 9.99524284e-01 -3.85780615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:-43.71, Z:-3.86 [[ 8.66108601e-01 4.99155431e-01 2.64527232e-02 1.49234690e+02] [-4.98903771e-01 8.66512301e-01 -1.58574850e-02 -4.37097626e+01] [-3.08369598e-02 5.36940742e-04 9.99524284e-01 -3.85841718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.063617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:-43.74, Z:-3.86 [[ 8.65685836e-01 4.99888502e-01 2.64484366e-02 1.49289198e+02] [-4.99636965e-01 8.66089612e-01 -1.58646313e-02 -4.37392668e+01] [-3.08372630e-02 5.19169986e-04 9.99524284e-01 -3.85920992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.123617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:149.34, Y:-43.77, Z:-3.85 [[ 8.59123262e-01 5.11085045e-01 2.64442188e-02 1.49340791e+02] [-5.10838556e-01 8.59530139e-01 -1.58716588e-02 -4.37730136e+01] [-3.08413705e-02 1.26984782e-04 9.99524284e-01 -3.85493837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.183617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.39, Y:-43.80, Z:-3.86 [[ 8.61556197e-01 5.06973195e-01 2.64404658e-02 1.49394341e+02] [-5.06724572e-01 8.61961774e-01 -1.58779084e-02 -4.38040523e+01] [-3.08403448e-02 2.81676657e-04 9.99524284e-01 -3.86302831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.45, Y:-43.84, Z:-3.87 [[ 8.59350725e-01 5.10702893e-01 2.64364661e-02 1.49446812e+02] [-5.10455826e-01 8.59757251e-01 -1.58845650e-02 -4.38390511e+01] [-3.08412367e-02 1.55764265e-04 9.99524284e-01 -3.86533536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:149.50, Y:-43.87, Z:-3.88 [[ 8.59506377e-01 5.10441110e-01 2.64321888e-02 1.49498499e+02] [-5.10193700e-01 8.59912695e-01 -1.58916794e-02 -4.38721928e+01] [-3.08411412e-02 1.73463553e-04 9.99524284e-01 -3.87515667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:-43.91, Z:-3.87 [[ 8.58903284e-01 5.11455470e-01 2.64282333e-02 1.49551552e+02] [-5.11208338e-01 8.59309770e-01 -1.58982547e-02 -4.39064092e+01] [-3.08412884e-02 1.44729983e-04 9.99524284e-01 -3.87322701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.60, Y:-43.94, Z:-3.87 [[ 8.59958738e-01 5.09679055e-01 2.64240376e-02 1.49604884e+02] [-5.09430868e-01 8.60364582e-01 -1.59052253e-02 -4.39405742e+01] [-3.08408662e-02 2.16617078e-04 9.99524284e-01 -3.87410075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:-43.97, Z:-3.88 [[ 8.59800658e-01 5.09945921e-01 2.64194451e-02 1.49658516e+02] [-5.09697626e-01 8.60206435e-01 -1.59128500e-02 -4.39741886e+01] [-3.08408696e-02 2.15950435e-04 9.99524284e-01 -3.87603916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:-44.01, Z:-3.88 [[ 8.58734910e-01 5.11738810e-01 2.64148533e-02 1.49710736e+02] [-5.11491128e-01 8.59141062e-01 -1.59204686e-02 -4.40080539e+01] [-3.08412068e-02 1.60499085e-04 9.99524284e-01 -3.87587531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.603617865 meters Centerline goodness : 0.996251 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:-44.04, Z:-3.88 [[ 8.62479564e-01 5.05402297e-01 2.64106053e-02 1.49764357e+02] [-5.05151416e-01 8.62883747e-01 -1.59275125e-02 -4.40401042e+01] [-3.08390835e-02 3.95799317e-04 9.99524284e-01 -3.88440719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:-44.08, Z:-3.88 [[ 8.61225882e-01 5.07535862e-01 2.64069689e-02 1.49816671e+02] [-5.07285798e-01 8.61630572e-01 -1.59335392e-02 -4.40754292e+01] [-3.08398943e-02 3.26496099e-04 9.99524284e-01 -3.87972933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.723617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.87, Y:-44.11, Z:-3.88 [[ 8.61295205e-01 5.07418515e-01 2.64011639e-02 1.49869406e+02] [-5.07168100e-01 8.61699677e-01 -1.59431520e-02 -4.41106220e+01] [-3.08397249e-02 3.41932209e-04 9.99524284e-01 -3.88160892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.92, Y:-44.14, Z:-3.89 [[ 8.61760438e-01 5.06628235e-01 2.63965697e-02 1.49923326e+02] [-5.06377216e-01 8.62164537e-01 -1.59507549e-02 -4.41430250e+01] [-3.08392891e-02 3.79108046e-04 9.99524284e-01 -3.88521773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.98, Y:-44.17, Z:-3.89 [[ 8.61362295e-01 5.07305096e-01 2.63919767e-02 1.49978707e+02] [-5.07054163e-01 8.61766446e-01 -1.59583507e-02 -4.41734384e+01] [-3.08394726e-02 3.63759947e-04 9.99524284e-01 -3.88704842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:-44.21, Z:-3.89 [[ 8.61607390e-01 5.06888954e-01 2.63873770e-02 1.50032770e+02] [-5.06637593e-01 8.62011275e-01 -1.59659529e-02 -4.42054841e+01] [-3.08391816e-02 3.87545853e-04 9.99524284e-01 -3.89189434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:-44.24, Z:-3.89 [[ 8.62220481e-01 5.05845628e-01 2.63826430e-02 1.50085326e+02] [-5.05593538e-01 8.62623912e-01 -1.59737716e-02 -4.42383477e+01] [-3.08385612e-02 4.34019173e-04 9.99524284e-01 -3.89210815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02361786499998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:150.14, Y:-44.27, Z:-3.89 [[ 8.62328899e-01 5.05661009e-01 2.63782730e-02 1.50139548e+02] [-5.05408613e-01 8.62732138e-01 -1.59809848e-02 -4.42708681e+01] [-3.08383447e-02 4.49058681e-04 9.99524284e-01 -3.89349839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.19, Y:-44.30, Z:-3.90 [[ 8.61130730e-01 5.07699020e-01 2.63736793e-02 1.50193718e+02] [-5.07447347e-01 8.61534420e-01 -1.59885622e-02 -4.43018795e+01] [-3.08392099e-02 3.84988615e-04 9.99524284e-01 -3.89803673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.25, Y:-44.33, Z:-3.90 [[ 8.62888556e-01 5.04705873e-01 2.63689454e-02 1.50247132e+02] [-5.04452560e-01 8.63291220e-01 -1.59963658e-02 -4.43332187e+01] [-3.08375388e-02 5.01198954e-04 9.99524284e-01 -3.89757909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.30, Y:-44.36, Z:-3.90 [[ 8.63453729e-01 5.03738514e-01 2.63660299e-02 1.50301078e+02] [-5.03484604e-01 8.63856016e-01 -1.60011698e-02 -4.43646282e+01] [-3.08368590e-02 5.41379660e-04 9.99524284e-01 -3.89863454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.36, Y:-44.40, Z:-3.90 [[ 8.64329577e-01 5.02234464e-01 2.63614316e-02 1.50355955e+02] [-5.01979623e-01 8.64731275e-01 -1.60087418e-02 -4.43957809e+01] [-3.08356962e-02 6.03927557e-04 9.99524284e-01 -3.90136740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.41, Y:-44.43, Z:-3.90 [[ 8.64703584e-01 5.01590507e-01 2.63566837e-02 1.50409361e+02] [-5.01335129e-01 8.65104941e-01 -1.60165548e-02 -4.44272749e+01] [-3.08350492e-02 6.36040922e-04 9.99524284e-01 -3.90238994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.383617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.46, Y:-44.46, Z:-3.90 [[ 8.65425749e-01 5.00343710e-01 2.63523142e-02 1.50464436e+02] [-5.00087535e-01 8.65826597e-01 -1.60237409e-02 -4.44579588e+01] [-3.08339125e-02 6.88894166e-04 9.99524284e-01 -3.90367785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.52, Y:-44.49, Z:-3.90 [[ 8.64726050e-01 5.01552254e-01 2.63475740e-02 1.50519086e+02] [-5.01296402e-01 8.65127105e-01 -1.60315312e-02 -4.44880544e+01] [-3.08346511e-02 6.54938594e-04 9.99524285e-01 -3.90407056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:-44.52, Z:-3.91 [[ 8.64657906e-01 5.01669952e-01 2.63432065e-02 1.50575456e+02] [-5.01413936e-01 8.65058856e-01 -1.60387049e-02 -4.45160436e+01] [-3.08345604e-02 6.59142138e-04 9.99524285e-01 -3.90910552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:-44.55, Z:-3.91 [[ 8.62545661e-01 5.05293234e-01 2.63387737e-02 1.50629990e+02] [-5.05038680e-01 8.62947541e-01 -1.60459811e-02 -4.45466296e+01] [-3.08369057e-02 5.38291844e-04 9.99524285e-01 -3.90847847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.623617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:150.68, Y:-44.58, Z:-3.91 [[ 8.61278082e-01 5.07451058e-01 2.63341763e-02 1.50684135e+02] [-5.07197280e-01 8.61680453e-01 -1.60535226e-02 -4.45763450e+01] [-3.08380220e-02 4.69924583e-04 9.99524285e-01 -3.91103704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.683617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.74, Y:-44.60, Z:-3.91 [[ 8.59768663e-01 5.10004478e-01 2.63301818e-02 1.50739028e+02] [-5.09751695e-01 8.60171659e-01 -1.60600715e-02 -4.46049905e+01] [-3.08391846e-02 3.86091388e-04 9.99524285e-01 -3.91207225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:-44.64, Z:-3.91 [[ 8.59304326e-01 5.10786667e-01 2.63259644e-02 1.50793038e+02] [-5.10534039e-01 8.59707419e-01 -1.60669818e-02 -4.46364625e+01] [-3.08394270e-02 3.66126041e-04 9.99524285e-01 -3.91374405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.85, Y:-44.67, Z:-3.92 [[ 8.59772726e-01 5.09998072e-01 2.63216064e-02 1.50847500e+02] [-5.09744856e-01 8.60175450e-01 -1.60741181e-02 -4.46675731e+01] [-3.08389689e-02 4.02784852e-04 9.99524285e-01 -3.91516066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:-44.70, Z:-3.92 [[ 8.59731707e-01 5.10067453e-01 2.63169998e-02 1.50901590e+02] [-5.09814039e-01 8.60134307e-01 -1.60816566e-02 -4.46968766e+01] [-3.08388840e-02 4.09134130e-04 9.99524285e-01 -3.92036688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.96, Y:-44.73, Z:-3.92 [[ 8.58874170e-01 5.11510312e-01 2.63127493e-02 1.50956833e+02] [-5.11257361e-01 8.59277061e-01 -1.60886083e-02 -4.47273514e+01] [-3.08394309e-02 3.65503312e-04 9.99524285e-01 -3.92457993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.01, Y:-44.76, Z:-3.93 [[ 8.59113381e-01 5.11108662e-01 2.63084467e-02 1.51010810e+02] [-5.10855308e-01 8.59516018e-01 -1.60956409e-02 -4.47572947e+01] [-3.08391528e-02 3.88170806e-04 9.99524285e-01 -3.92717616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.07, Y:-44.79, Z:-3.93 [[ 8.59453145e-01 5.10537326e-01 2.63045724e-02 1.51065364e+02] [-5.10283510e-01 8.59855491e-01 -1.61019702e-02 -4.47886150e+01] [-3.08387878e-02 4.16099385e-04 9.99524285e-01 -3.92768885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.12, Y:-44.82, Z:-3.93 [[ 8.59935800e-01 5.09724161e-01 2.63001811e-02 1.51119154e+02] [-5.09469746e-01 8.60337767e-01 -1.61091394e-02 -4.48215599e+01] [-3.08382567e-02 4.53679116e-04 9.99524285e-01 -3.92999047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.17, Y:-44.85, Z:-3.93 [[ 8.61216187e-01 5.07558088e-01 2.62957628e-02 1.51173264e+02] [-5.07302441e-01 8.61617372e-01 -1.61163484e-02 -4.48542497e+01] [-3.08368690e-02 5.39755478e-04 9.99524285e-01 -3.93104325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.23, Y:-44.89, Z:-3.93 [[ 8.63092262e-01 5.04361488e-01 2.62913801e-02 1.51227536e+02] [-5.04104138e-01 8.63492357e-01 -1.61234950e-02 -4.48856959e+01] [-3.08344757e-02 6.62470270e-04 9.99524285e-01 -3.93296806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.283617865 meters Centerline goodness : 0.994168 with order 1 Centerline is valid? [True, True] Translation: X:151.28, Y:-44.92, Z:-3.93 [[ 8.64431257e-01 5.02063359e-01 2.62866117e-02 1.51280914e+02] [-5.01804710e-01 8.64830513e-01 -1.61312653e-02 -4.49166511e+01] [-3.08323811e-02 7.53624332e-04 9.99524285e-01 -3.93272713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.343617865 meters Centerline goodness : 0.994923 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:-44.95, Z:-3.93 [[ 8.65509444e-01 5.00202687e-01 2.62806643e-02 1.51335168e+02] [-4.99942886e-01 8.65907952e-01 -1.61409489e-02 -4.49489342e+01] [-3.08303822e-02 8.31312546e-04 9.99524285e-01 -3.93443380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.39, Y:-44.98, Z:-3.94 [[ 8.65044616e-01 5.01006418e-01 2.62751104e-02 1.51387383e+02] [-5.00746713e-01 8.65443186e-01 -1.61499848e-02 -4.49814201e+01] [-3.08308612e-02 8.13282215e-04 9.99524285e-01 -3.93671207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.44, Y:-45.01, Z:-3.94 [[ 8.64600738e-01 5.01772309e-01 2.62700088e-02 1.51442173e+02] [-5.01512705e-01 8.64999374e-01 -1.61582788e-02 -4.50123780e+01] [-3.08313181e-02 7.95716592e-04 9.99524285e-01 -3.93985661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:-45.04, Z:-3.95 [[ 8.63214808e-01 5.04153060e-01 2.62657239e-02 1.51497564e+02] [-5.03894343e-01 8.63614020e-01 -1.61652411e-02 -4.50427234e+01] [-3.08332032e-02 7.18925760e-04 9.99524285e-01 -3.94641614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:-45.07, Z:-3.95 [[ 8.62650327e-01 5.05118561e-01 2.62612254e-02 1.51551196e+02] [-5.04860070e-01 8.63049685e-01 -1.61725457e-02 -4.50718257e+01] [-3.08337954e-02 6.93007776e-04 9.99524285e-01 -3.94904676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64361786499998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:-45.10, Z:-3.95 [[ 8.60545065e-01 5.08697090e-01 2.62576271e-02 1.51605814e+02] [-5.08440081e-01 8.60945378e-01 -1.61783860e-02 -4.51037191e+01] [-3.08362805e-02 5.71800160e-04 9.99524285e-01 -3.94823951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:-45.13, Z:-3.95 [[ 8.60080298e-01 5.09482761e-01 2.62525788e-02 1.51659815e+02] [-5.09225868e-01 8.60480686e-01 -1.61865735e-02 -4.51343825e+01] [-3.08366172e-02 5.53260744e-04 9.99524285e-01 -3.95385982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.763617865 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:-45.17, Z:-3.95 [[ 8.58731699e-01 5.11752791e-01 2.62478417e-02 1.51713661e+02] [-5.11496722e-01 8.59132615e-01 -1.61942516e-02 -4.51677102e+01] [-3.08378303e-02 4.80832195e-04 9.99524285e-01 -3.95033164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:-45.20, Z:-3.96 [[ 8.59338756e-01 5.10733009e-01 2.62430184e-02 1.51768671e+02] [-5.10476226e-01 8.59739214e-01 -1.62020641e-02 -4.51979746e+01] [-3.08370809e-02 5.26624605e-04 9.99524285e-01 -3.95762215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.82, Y:-45.23, Z:-3.96 [[ 8.58301096e-01 5.12475182e-01 2.62376847e-02 1.51821558e+02] [-5.12218947e-01 8.58701906e-01 -1.62106967e-02 -4.52298772e+01] [-3.08379297e-02 4.74219527e-04 9.99524285e-01 -3.95915073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.88, Y:-45.26, Z:-3.96 [[ 8.58945346e-01 5.11394858e-01 2.62333971e-02 1.51875021e+02] [-5.11137908e-01 8.59345697e-01 -1.62176323e-02 -4.52631830e+01] [-3.08371707e-02 5.21176106e-04 9.99524285e-01 -3.96193131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.93, Y:-45.30, Z:-3.96 [[ 8.57835047e-01 5.13255388e-01 2.62285861e-02 1.51928026e+02] [-5.12999068e-01 8.58235802e-01 -1.62254094e-02 -4.52962034e+01] [-3.08380904e-02 4.63484602e-04 9.99524286e-01 -3.96076263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.98, Y:-45.33, Z:-3.97 [[ 8.57361131e-01 5.14046870e-01 2.62241534e-02 1.51981444e+02] [-5.13790702e-01 8.57761983e-01 -1.62325705e-02 -4.53273628e+01] [-3.08383839e-02 4.43448812e-04 9.99524286e-01 -3.96808982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.03, Y:-45.36, Z:-3.97 [[ 8.55600555e-01 5.16972143e-01 2.62200785e-02 1.52031658e+02] [-5.16717144e-01 8.56002152e-01 -1.62391500e-02 -4.53615962e+01] [-3.08396318e-02 3.45861684e-04 9.99524286e-01 -3.96572019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.183617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.08, Y:-45.40, Z:-3.97 [[ 8.54469039e-01 5.18840375e-01 2.62169210e-02 1.52084572e+02] [-5.18586097e-01 8.54871092e-01 -1.62442460e-02 -4.53951231e+01] [-3.08402586e-02 2.84474575e-04 9.99524286e-01 -3.96842924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.14, Y:-45.43, Z:-3.97 [[ 8.52610327e-01 5.21889393e-01 2.62124158e-02 1.52137000e+02] [-5.21636330e-01 8.53013146e-01 -1.62515125e-02 -4.54274924e+01] [-3.08410273e-02 1.82859052e-04 9.99524286e-01 -3.97232588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.19, Y:-45.46, Z:-3.97 [[ 8.51300128e-01 5.24024064e-01 2.62082538e-02 1.52189873e+02] [-5.23771804e-01 8.51703451e-01 -1.62582216e-02 -4.54621633e+01] [-3.08413596e-02 1.13481750e-04 9.99524286e-01 -3.97389298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:-45.50, Z:-3.98 [[ 8.51081269e-01 5.24379679e-01 2.62035624e-02 1.52241924e+02] [-5.24127355e-01 8.51484551e-01 -1.62657793e-02 -4.54978640e+01] [-3.08413727e-02 1.09496222e-04 9.99524286e-01 -3.97665170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:-45.53, Z:-3.98 [[ 8.50559680e-01 5.25225521e-01 2.61988916e-02 1.52293769e+02] [-5.24973366e-01 8.50963069e-01 -1.62732989e-02 -4.55326173e+01] [-3.08414411e-02 8.76915679e-05 9.99524286e-01 -3.97814573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:-45.57, Z:-3.98 [[ 8.50268790e-01 5.25696519e-01 2.61945672e-02 1.52346435e+02] [-5.25444373e-01 8.50672183e-01 -1.62802568e-02 -4.55671692e+01] [-3.08414640e-02 7.88062580e-05 9.99524286e-01 -3.98036463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.40, Y:-45.61, Z:-3.98 [[ 8.49042508e-01 5.27674994e-01 2.61900844e-02 1.52396865e+02] [-5.27423566e-01 8.49446349e-01 -1.62874651e-02 -4.56056690e+01] [-3.08415597e-02 1.54825114e-05 9.99524286e-01 -3.97980439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.45, Y:-45.64, Z:-3.98 [[ 8.50223426e-01 5.25770342e-01 2.61853740e-02 1.52447848e+02] [-5.25517776e-01 8.50626557e-01 -1.62950346e-02 -4.56420517e+01] [-3.08414204e-02 9.35406358e-05 9.99524286e-01 -3.98494290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.663617865 meters Centerline goodness : 0.996023 with order 1 Centerline is valid? [True, True] Translation: X:152.50, Y:-45.68, Z:-3.99 [[ 8.52180929e-01 5.22591847e-01 2.61806459e-02 1.52500196e+02] [-5.22337544e-01 8.52582966e-01 -1.63026275e-02 -4.56758722e+01] [-3.08407929e-02 2.17653945e-04 9.99524286e-01 -3.98715149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:-45.72, Z:-3.99 [[ 8.54456673e-01 5.18862753e-01 2.61770548e-02 1.52547823e+02] [-5.18606519e-01 8.54857482e-01 -1.63083916e-02 -4.57162339e+01] [-3.08394681e-02 3.59222750e-04 9.99524286e-01 -3.99108613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:-45.76, Z:-3.99 [[ 8.54639252e-01 5.18562227e-01 2.61718531e-02 1.52597299e+02] [-5.18305597e-01 8.55039807e-01 -1.63167351e-02 -4.57557026e+01] [-3.08392187e-02 3.79904367e-04 9.99524286e-01 -3.98966407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.65, Y:-45.79, Z:-3.99 [[ 8.55589548e-01 5.16993044e-01 2.61671134e-02 1.52649019e+02] [-5.16735447e-01 8.55989483e-01 -1.63243327e-02 -4.57923512e+01] [-3.08383403e-02 4.45453421e-04 9.99524286e-01 -3.99143310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.70, Y:-45.83, Z:-3.99 [[ 8.56157467e-01 5.16052252e-01 2.61622887e-02 1.52699024e+02] [-5.15793980e-01 8.56556965e-01 -1.63320613e-02 -4.58296270e+01] [-3.08376876e-02 4.88465215e-04 9.99524286e-01 -3.99326909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.75, Y:-45.86, Z:-4.00 [[ 8.55928649e-01 5.16431907e-01 2.61578567e-02 1.52750852e+02] [-5.16173595e-01 8.56328122e-01 -1.63391567e-02 -4.58634935e+01] [-3.08377701e-02 4.83157409e-04 9.99524286e-01 -3.99603691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.80, Y:-45.90, Z:-4.00 [[ 8.53536504e-01 5.20376238e-01 2.61535293e-02 1.52801572e+02] [-5.20119560e-01 8.53937029e-01 -1.63460805e-02 -4.59006974e+01] [-3.08395789e-02 3.49014283e-04 9.99524286e-01 -3.99814231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:-45.93, Z:-4.00 [[ 8.52284908e-01 5.22423845e-01 2.61488225e-02 1.52854068e+02] [-5.22167899e-01 8.52685901e-01 -1.63536064e-02 -4.59328182e+01] [-3.08402462e-02 2.83856167e-04 9.99524286e-01 -4.00093330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:-45.97, Z:-4.00 [[ 8.50467642e-01 5.25377251e-01 2.61444806e-02 1.52904805e+02] [-5.25122484e-01 8.50869385e-01 -1.63605448e-02 -4.59681327e+01] [-3.08409962e-02 1.85059367e-04 9.99524286e-01 -4.00307605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.96, Y:-46.01, Z:-4.00 [[ 8.48811129e-01 5.28049569e-01 2.61404024e-02 1.52955382e+02] [-5.27795866e-01 8.49213544e-01 -1.63670583e-02 -4.60059672e+01] [-3.08414019e-02 9.57448853e-05 9.99524286e-01 -4.00453043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.01, Y:-46.04, Z:-4.01 [[ 8.48706404e-01 5.28218108e-01 2.61356258e-02 1.53006924e+02] [-5.27964250e-01 8.49108722e-01 -1.63746823e-02 -4.60408421e+01] [-3.08413915e-02 9.86216285e-05 9.99524286e-01 -4.00630929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:-46.08, Z:-4.01 [[ 8.48435592e-01 5.28653196e-01 2.61312745e-02 1.53059116e+02] [-5.28399331e-01 8.48837906e-01 -1.63816233e-02 -4.60751888e+01] [-3.08414138e-02 9.10043554e-05 9.99524286e-01 -4.00885019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.11, Y:-46.11, Z:-4.01 [[ 8.48291517e-01 5.28884586e-01 2.61265616e-02 1.53113150e+02] [-5.28630599e-01 8.48693753e-01 -1.63891362e-02 -4.61070447e+01] [-3.08414112e-02 9.14653204e-05 9.99524286e-01 -4.01090478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.443617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:-46.14, Z:-4.01 [[ 8.47591743e-01 5.30005554e-01 2.61218337e-02 1.53166441e+02] [-5.29751866e-01 8.47994168e-01 -1.63966685e-02 -4.61413610e+01] [-3.08414879e-02 5.95906571e-05 9.99524286e-01 -4.01040445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:-46.17, Z:-4.02 [[ 8.49940915e-01 5.26230309e-01 2.61171165e-02 1.53221405e+02] [-5.25974603e-01 8.50342060e-01 -1.64041786e-02 -4.61726564e+01] [-3.08408587e-02 2.05642610e-04 9.99524286e-01 -4.01675236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.563617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:153.28, Y:-46.21, Z:-4.02 [[ 8.52513558e-01 5.22052465e-01 2.61124048e-02 1.53275044e+02] [-5.21794564e-01 8.52913296e-01 -1.64116753e-02 -4.62055652e+01] [-3.08393728e-02 3.65864824e-04 9.99524286e-01 -4.01905510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.33, Y:-46.24, Z:-4.02 [[ 8.55611594e-01 5.16959568e-01 2.61075544e-02 1.53328177e+02] [-5.16699053e-01 8.56009633e-01 -1.64193877e-02 -4.62363125e+01] [-3.08364777e-02 5.58869899e-04 9.99524287e-01 -4.02450540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:-46.27, Z:-4.02 [[ 8.55892157e-01 5.16495154e-01 2.61030874e-02 1.53380864e+02] [-5.16234206e-01 8.56289913e-01 -1.64264862e-02 -4.62695959e+01] [-3.08360109e-02 5.83994078e-04 9.99524287e-01 -4.02189355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.43, Y:-46.30, Z:-4.02 [[ 8.57053026e-01 5.14566774e-01 2.60987670e-02 1.53434385e+02] [-5.14304722e-01 8.57450055e-01 -1.64333476e-02 -4.63028207e+01] [-3.08344439e-02 6.61531185e-04 9.99524287e-01 -4.02462506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:-46.34, Z:-4.03 [[ 8.58140124e-01 5.12751999e-01 2.60943580e-02 1.53488283e+02] [-5.12488895e-01 8.58536457e-01 -1.64403458e-02 -4.63355417e+01] [-3.08327778e-02 7.35051665e-04 9.99524287e-01 -4.02599157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:-46.37, Z:-4.02 [[ 8.59145677e-01 5.11065590e-01 2.60896205e-02 1.53542281e+02] [-5.10801480e-01 8.59541340e-01 -1.64478602e-02 -4.63658797e+01] [-3.08310428e-02 8.04491241e-04 9.99524287e-01 -4.02460156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:-46.40, Z:-4.03 [[ 8.58695785e-01 5.11821364e-01 2.60852369e-02 1.53596280e+02] [-5.11557392e-01 8.59091540e-01 -1.64548095e-02 -4.63977859e+01] [-3.08315294e-02 7.85579834e-04 9.99524287e-01 -4.02523207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.65, Y:-46.43, Z:-4.03 [[ 8.58627372e-01 5.11936234e-01 2.60831002e-02 1.53649646e+02] [-5.11672211e-01 8.59023094e-01 -1.64581958e-02 -4.64297635e+01] [-3.08315322e-02 7.85459866e-04 9.99524287e-01 -4.02784453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.70, Y:-46.46, Z:-4.03 [[ 8.57947133e-01 5.13075655e-01 2.60785330e-02 1.53703928e+02] [-5.12811939e-01 8.58343058e-01 -1.64654295e-02 -4.64617462e+01] [-3.08323388e-02 7.53084989e-04 9.99524287e-01 -4.03068923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.103617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:153.76, Y:-46.49, Z:-4.03 [[ 8.57895069e-01 5.13162936e-01 2.60739703e-02 1.53756452e+02] [-5.12899040e-01 8.58290875e-01 -1.64726516e-02 -4.64936661e+01] [-3.08322050e-02 7.58492222e-04 9.99524287e-01 -4.03268409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:153.81, Y:-46.53, Z:-4.03 [[ 8.58325376e-01 5.12443086e-01 2.60697527e-02 1.53810344e+02] [-5.12178656e-01 8.58720825e-01 -1.64793237e-02 -4.65266478e+01] [-3.08313550e-02 7.92250783e-04 9.99524287e-01 -4.03434834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.86, Y:-46.56, Z:-4.04 [[ 8.58340944e-01 5.12417250e-01 2.60650453e-02 1.53863651e+02] [-5.12152582e-01 8.58736234e-01 -1.64867660e-02 -4.65585274e+01] [-3.08311021e-02 8.01985994e-04 9.99524287e-01 -4.03726735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.92, Y:-46.59, Z:-4.04 [[ 8.58260746e-01 5.12551784e-01 2.60607091e-02 1.53917872e+02] [-5.12286971e-01 8.58655938e-01 -1.64936174e-02 -4.65906484e+01] [-3.08310156e-02 8.05262674e-04 9.99524287e-01 -4.03705697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.343617865 meters Centerline goodness : 0.993774 with order 1 Centerline is valid? [True, True] Translation: X:153.97, Y:-46.62, Z:-4.04 [[ 8.57087057e-01 5.14512245e-01 2.60562169e-02 1.53971976e+02] [-5.14248120e-01 8.57482710e-01 -1.65007109e-02 -4.66225626e+01] [-3.08325733e-02 7.43185193e-04 9.99524287e-01 -4.03874823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.02, Y:-46.66, Z:-4.04 [[ 8.53710413e-01 5.20095892e-01 2.60536771e-02 1.54024557e+02] [-5.19834233e-01 8.54107701e-01 -1.65047202e-02 -4.66568575e+01] [-3.08366834e-02 5.46658216e-04 9.99524287e-01 -4.04253728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.463617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:154.08, Y:-46.69, Z:-4.05 [[ 8.52462085e-01 5.22139737e-01 2.60478126e-02 1.54078348e+02] [-5.21878748e-01 8.52859813e-01 -1.65139704e-02 -4.66884860e+01] [-3.08377327e-02 4.83733853e-04 9.99524287e-01 -4.04699651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.13, Y:-46.72, Z:-4.05 [[ 8.51052032e-01 5.24435139e-01 2.60427387e-02 1.54132541e+02] [-5.24174978e-01 8.51450302e-01 -1.65219682e-02 -4.67191730e+01] [-3.08387984e-02 4.10102603e-04 9.99524287e-01 -4.04786032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:-46.75, Z:-4.05 [[ 8.50327181e-01 5.25609845e-01 2.60379777e-02 1.54185699e+02] [-5.25350005e-01 8.50725660e-01 -1.65294678e-02 -4.67523729e+01] [-3.08392268e-02 3.76404049e-04 9.99524287e-01 -4.05166473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.24, Y:-46.79, Z:-4.05 [[ 8.49613438e-01 5.26763003e-01 2.60335403e-02 1.54238576e+02] [-5.26503490e-01 8.50012130e-01 -1.65364537e-02 -4.67858403e+01] [-3.08396171e-02 3.42843407e-04 9.99524287e-01 -4.05076491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:154.29, Y:-46.82, Z:-4.06 [[ 8.50435523e-01 5.25434991e-01 2.60286817e-02 1.54291877e+02] [-5.25174621e-01 8.50833656e-01 -1.65440977e-02 -4.68177307e+01] [-3.08389262e-02 4.00085341e-04 9.99524287e-01 -4.05888951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:-46.85, Z:-4.06 [[ 8.52096874e-01 5.22736701e-01 2.60241859e-02 1.54345093e+02] [-5.22474854e-01 8.52494038e-01 -1.65511666e-02 -4.68506542e+01] [-3.08373656e-02 5.06214592e-04 9.99524287e-01 -4.06281336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.40, Y:-46.88, Z:-4.06 [[ 8.53649064e-01 5.20198273e-01 2.60198384e-02 1.54398127e+02] [-5.19935037e-01 8.54045309e-01 -1.65579985e-02 -4.68839214e+01] [-3.08355631e-02 6.06094220e-04 9.99524287e-01 -4.06191548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.883617865 meters Centerline goodness : 0.995362 with order 1 Centerline is valid? [True, True] Translation: X:154.45, Y:-46.92, Z:-4.06 [[ 8.55535263e-01 5.17090518e-01 2.60155537e-02 1.54448440e+02] [-5.16825639e-01 8.55930411e-01 -1.65647277e-02 -4.69186131e+01] [-3.08329673e-02 7.26203507e-04 9.99524287e-01 -4.05615715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:-46.95, Z:-4.06 [[ 8.58119681e-01 5.12790361e-01 2.60126767e-02 1.54501096e+02] [-5.12523365e-01 8.58513401e-01 -1.65692445e-02 -4.69531116e+01] [-3.08287804e-02 8.86290148e-04 9.99524287e-01 -4.05886906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:-46.99, Z:-4.06 [[ 8.58636620e-01 5.11924599e-01 2.60069093e-02 1.54551424e+02] [-5.11656933e-01 8.59029885e-01 -1.65782921e-02 -4.69886429e+01] [-3.08275478e-02 9.28113244e-04 9.99524287e-01 -4.06178080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.063617865 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:154.60, Y:-47.02, Z:-4.06 [[ 8.58466373e-01 5.12210257e-01 2.60026627e-02 1.54603691e+02] [-5.11942520e-01 8.58859590e-01 -1.65849500e-02 -4.70214874e+01] [-3.08276178e-02 9.25753214e-04 9.99524287e-01 -4.06465000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.66, Y:-47.06, Z:-4.07 [[ 8.54775087e-01 5.18347073e-01 2.59973650e-02 1.54656345e+02] [-5.18081908e-01 8.55170042e-01 -1.65932501e-02 -4.70555724e+01] [-3.08332304e-02 7.14732345e-04 9.99524287e-01 -4.06567728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.71, Y:-47.09, Z:-4.07 [[ 8.52788753e-01 5.21608823e-01 2.59918941e-02 1.54709483e+02] [-5.21344907e-01 8.53184545e-01 -1.66018154e-02 -4.70881648e+01] [-3.08355357e-02 6.07099796e-04 9.99524287e-01 -4.06732758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.76, Y:-47.12, Z:-4.07 [[ 8.50181003e-01 5.25848756e-01 2.59874590e-02 1.54761664e+02] [-5.25586602e-01 8.50577964e-01 -1.66087549e-02 -4.71230664e+01] [-3.08380531e-02 4.61787649e-04 9.99524287e-01 -4.06900835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.81, Y:-47.16, Z:-4.07 [[ 8.49479466e-01 5.26981518e-01 2.59830050e-02 1.54813973e+02] [-5.26719680e-01 8.49876636e-01 -1.66157199e-02 -4.71582204e+01] [-3.08385262e-02 4.28952814e-04 9.99524288e-01 -4.07079692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.87, Y:-47.19, Z:-4.07 [[ 8.47718231e-01 5.29810279e-01 2.59782421e-02 1.54865230e+02] [-5.29549540e-01 8.48116122e-01 -1.66231633e-02 -4.71947301e+01] [-3.08396887e-02 3.34992439e-04 9.99524288e-01 -4.07203862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:154.92, Y:-47.23, Z:-4.08 [[ 8.46867614e-01 5.31169110e-01 2.59734741e-02 1.54917080e+02] [-5.30908780e-01 8.47265773e-01 -1.66306099e-02 -4.72304010e+01] [-3.08401019e-02 2.94379435e-04 9.99524288e-01 -4.07512098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.97, Y:-47.26, Z:-4.07 [[ 8.45534004e-01 5.33289673e-01 2.59686885e-02 1.54968100e+02] [-5.33030113e-01 8.45932665e-01 -1.66380793e-02 -4.72649331e+01] [-3.08406777e-02 2.25968811e-04 9.99524288e-01 -4.07417817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.543617865 meters Centerline goodness : 0.994868 with order 1 Centerline is valid? [True, True] Translation: X:155.02, Y:-47.30, Z:-4.08 [[ 8.45332833e-01 5.33608712e-01 2.59642771e-02 1.55020131e+02] [-5.33349090e-01 8.45731455e-01 -1.66449606e-02 -4.73004963e+01] [-3.08407018e-02 2.22508172e-04 9.99524288e-01 -4.07830392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.603617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.48, Y:-46.70, Z:-3.01 [[ 8.77270855e-01 4.79293223e-01 2.59586998e-02 1.55479132e+02] [-4.79008749e-01 8.77652137e-01 -1.66536542e-02 -4.67046518e+01] [-3.07646919e-02 2.17532113e-03 9.99524288e-01 -3.01375008e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 159.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.53, Y:-46.74, Z:-3.02 [[ 8.78561477e-01 4.76871080e-01 2.69017585e-02 1.55532712e+02] [-4.76636547e-01 8.78973191e-01 -1.49576562e-02 -4.67350772e+01] [-3.07787982e-02 3.18859237e-04 9.99526170e-01 -3.01855049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.723617865 meters Centerline goodness : 0.995618 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:-46.77, Z:-3.02 [[ 8.79965455e-01 4.74275454e-01 2.68996685e-02 1.55585530e+02] [-4.74039591e-01 8.80376409e-01 -1.49614138e-02 -4.67696679e+01] [-3.07776649e-02 4.14019440e-04 9.99526170e-01 -3.02347466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.783617865 meters Centerline goodness : 0.996957 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:-46.80, Z:-3.02 [[ 8.81637091e-01 4.71160869e-01 2.68974937e-02 1.55639334e+02] [-4.70923435e-01 8.82047140e-01 -1.49653227e-02 -4.68015216e+01] [-3.07759319e-02 5.27323425e-04 9.99526170e-01 -3.02401978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.843617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:-46.83, Z:-3.03 [[ 8.81685072e-01 4.71071375e-01 2.68922525e-02 1.55694047e+02] [-4.70833612e-01 8.82094931e-01 -1.49747351e-02 -4.68305235e+01] [-3.07756887e-02 5.41223976e-04 9.99526170e-01 -3.02700235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.903617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:-46.86, Z:-3.03 [[ 8.80852660e-01 4.72626243e-01 2.68891273e-02 1.55749428e+02] [-4.72389033e-01 8.81262839e-01 -1.49803447e-02 -4.68605640e+01] [-3.07764927e-02 4.93347663e-04 9.99526170e-01 -3.03082590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:-46.89, Z:-3.03 [[ 8.80640376e-01 4.73021901e-01 2.68851344e-02 1.55804627e+02] [-4.72784656e-01 8.81050534e-01 -1.49875074e-02 -4.68913339e+01] [-3.07765812e-02 4.87725136e-04 9.99526170e-01 -3.03324408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:-46.92, Z:-3.04 [[ 8.79776806e-01 4.74626360e-01 2.68810235e-02 1.55860646e+02] [-4.74389639e-01 8.80187267e-01 -1.49948768e-02 -4.69185394e+01] [-3.07772984e-02 4.40065822e-04 9.99526170e-01 -3.03799320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:-46.95, Z:-3.04 [[ 8.79304794e-01 4.75500466e-01 2.68772309e-02 1.55915992e+02] [-4.75263945e-01 8.79715370e-01 -1.50016717e-02 -4.69475631e+01] [-3.07776150e-02 4.17263045e-04 9.99526170e-01 -3.03818920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:-46.98, Z:-3.04 [[ 8.78589825e-01 4.76820476e-01 2.68729019e-02 1.55970617e+02] [-4.76584335e-01 8.79000620e-01 -1.50094224e-02 -4.69768764e+01] [-3.07780973e-02 3.79921772e-04 9.99526170e-01 -3.04174805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.03, Y:-47.01, Z:-3.04 [[ 8.78247421e-01 4.77451076e-01 2.68688969e-02 1.56025556e+02] [-4.77215010e-01 8.78658259e-01 -1.50165885e-02 -4.70078140e+01] [-3.07782645e-02 3.66039222e-04 9.99526170e-01 -3.03971495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.263617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.08, Y:-47.04, Z:-3.04 [[ 8.78633549e-01 4.76740369e-01 2.68646166e-02 1.56080537e+02] [-4.76503737e-01 8.79044061e-01 -1.50242420e-02 -4.70372089e+01] [-3.07778443e-02 3.99712886e-04 9.99526170e-01 -3.04424101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.13, Y:-47.07, Z:-3.05 [[ 8.78957519e-01 4.76143048e-01 2.68603447e-02 1.56134984e+02] [-4.75905904e-01 8.79367735e-01 -1.50318755e-02 -4.70691527e+01] [-3.07774435e-02 4.29383347e-04 9.99526170e-01 -3.04686215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.383617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.19, Y:-47.10, Z:-3.05 [[ 8.79781888e-01 4.74618357e-01 2.68559829e-02 1.56188026e+02] [-4.74380264e-01 8.80191555e-01 -1.50396642e-02 -4.71005557e+01] [-3.07765101e-02 4.91675905e-04 9.99526170e-01 -3.04887619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.24, Y:-47.13, Z:-3.05 [[ 8.80981878e-01 4.72387449e-01 2.68519580e-02 1.56241954e+02] [-4.72148100e-01 8.81390812e-01 -1.50468469e-02 -4.71329025e+01] [-3.07750107e-02 5.77898548e-04 9.99526170e-01 -3.05260758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.29, Y:-47.17, Z:-3.05 [[ 8.81943413e-01 4.70590076e-01 2.68476680e-02 1.56294848e+02] [-4.70349661e-01 8.82351720e-01 -1.50544975e-02 -4.71650849e+01] [-3.07735832e-02 6.49423410e-04 9.99526170e-01 -3.05166530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.35, Y:-47.20, Z:-3.05 [[ 8.83446867e-01 4.67761744e-01 2.68437145e-02 1.56348669e+02] [-4.67519808e-01 8.83854275e-01 -1.50615438e-02 -4.71980371e+01] [-3.07711458e-02 7.56105410e-04 9.99526170e-01 -3.05378949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.623617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:-47.23, Z:-3.05 [[ 8.83438317e-01 4.67778127e-01 2.68395917e-02 1.56402004e+02] [-4.67535976e-01 8.83845597e-01 -1.50688870e-02 -4.72302010e+01] [-3.07709507e-02 7.63957441e-04 9.99526170e-01 -3.05300497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.683617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:-47.26, Z:-3.06 [[ 8.84426277e-01 4.65907720e-01 2.68357500e-02 1.56456541e+02] [-4.65664500e-01 8.84832920e-01 -1.50757254e-02 -4.72579247e+01] [-3.07690519e-02 8.36911626e-04 9.99526170e-01 -3.05716871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:156.51, Y:-47.29, Z:-3.06 [[ 8.83689511e-01 4.67303758e-01 2.68336766e-02 1.56511441e+02] [-4.67061069e-01 8.84096471e-01 -1.50794150e-02 -4.72886029e+01] [-3.07702261e-02 7.92555224e-04 9.99526170e-01 -3.05967606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:-47.32, Z:-3.06 [[ 8.82365294e-01 4.69799600e-01 2.68295242e-02 1.56567273e+02] [-4.69557837e-01 8.82772805e-01 -1.50867993e-02 -4.73168915e+01] [-3.07721467e-02 7.14054761e-04 9.99526170e-01 -3.06255741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86361786499998 meters Centerline goodness : 0.995277 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:-47.35, Z:-3.07 [[ 8.81899201e-01 4.70674199e-01 2.68253064e-02 1.56622355e+02] [-4.70432613e-01 8.82306817e-01 -1.50942952e-02 -4.73457431e+01] [-3.07726460e-02 6.92147947e-04 9.99526170e-01 -3.06569380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:-47.38, Z:-3.07 [[ 8.81733289e-01 4.70985229e-01 2.68201775e-02 1.56678096e+02] [-4.70743509e-01 8.82140825e-01 -1.51034030e-02 -4.73754752e+01] [-3.07726532e-02 6.91748700e-04 9.99526170e-01 -3.06897325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:-47.40, Z:-3.07 [[ 8.82891261e-01 4.68811246e-01 2.68148450e-02 1.56733231e+02] [-4.68568236e-01 8.83298030e-01 -1.51128644e-02 -4.74040431e+01] [-3.07705806e-02 7.78431257e-04 9.99526170e-01 -3.06947723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.043617865 meters Centerline goodness : 0.994745 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:-47.43, Z:-3.07 [[ 8.84178836e-01 4.66378557e-01 2.68109677e-02 1.56788355e+02] [-4.66134220e-01 8.84584808e-01 -1.51197398e-02 -4.74318222e+01] [-3.07680972e-02 8.71044450e-04 9.99526170e-01 -3.06920755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:-47.46, Z:-3.07 [[ 8.85298983e-01 4.64248989e-01 2.68064540e-02 1.56842312e+02] [-4.64003433e-01 8.85704220e-01 -1.51277382e-02 -4.74614969e+01] [-3.07656266e-02 9.54284548e-04 9.99526171e-01 -3.07456034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:-47.49, Z:-3.08 [[ 8.86778030e-01 4.61417796e-01 2.68019231e-02 1.56898019e+02] [-4.61170704e-01 8.87182332e-01 -1.51357613e-02 -4.74904192e+01] [-3.07621023e-02 1.06179882e-03 9.99526171e-01 -3.07778907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.95, Y:-47.52, Z:-3.08 [[ 8.87178180e-01 4.60648055e-01 2.68001234e-02 1.56954025e+02] [-4.60400517e-01 8.87582208e-01 -1.51389473e-02 -4.75200076e+01] [-3.07610393e-02 1.09215311e-03 9.99526171e-01 -3.07547511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:-47.55, Z:-3.08 [[ 8.86750515e-01 4.61471043e-01 2.67955545e-02 1.57010071e+02] [-4.61223635e-01 8.87154623e-01 -1.51470298e-02 -4.75478197e+01] [-3.07617157e-02 1.07289337e-03 9.99526171e-01 -3.07759351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.07, Y:-47.57, Z:-3.08 [[ 8.86409422e-01 4.62126137e-01 2.67912226e-02 1.57066884e+02] [-4.61878797e-01 8.86813572e-01 -1.51546879e-02 -4.75735127e+01] [-3.07621972e-02 1.05896046e-03 9.99526171e-01 -3.08337519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.12, Y:-47.60, Z:-3.08 [[ 8.84143711e-01 4.66446507e-01 2.67872214e-02 1.57122208e+02] [-4.66200928e-01 8.84548933e-01 -1.51617571e-02 -4.76037084e+01] [-3.07667568e-02 9.16944634e-04 9.99526171e-01 -3.08120523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:157.18, Y:-47.63, Z:-3.09 [[ 8.84854800e-01 4.65096386e-01 2.67831122e-02 1.57179480e+02] [-4.64849970e-01 8.85259514e-01 -1.51690125e-02 -4.76303920e+01] [-3.07650578e-02 9.72244582e-04 9.99526171e-01 -3.08886784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.24, Y:-47.66, Z:-3.09 [[ 8.83366964e-01 4.67916339e-01 2.67788408e-02 1.57235511e+02] [-4.67670987e-01 8.83772324e-01 -1.51765493e-02 -4.76594372e+01] [-3.07677538e-02 8.82775403e-04 9.99526171e-01 -3.08768522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:-47.69, Z:-3.09 [[ 8.81601917e-01 4.71233681e-01 2.67745636e-02 1.57291718e+02] [-4.70989625e-01 8.82008059e-01 -1.51840914e-02 -4.76850695e+01] [-3.07706362e-02 7.75782407e-04 9.99526171e-01 -3.09256588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:157.35, Y:-47.71, Z:-3.10 [[ 8.80794743e-01 4.72740877e-01 2.67709403e-02 1.57346910e+02] [-4.72497323e-01 8.81201186e-01 -1.51904770e-02 -4.77130675e+01] [-3.07717438e-02 7.30494665e-04 9.99526171e-01 -3.09505709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.40, Y:-47.74, Z:-3.10 [[ 8.80471729e-01 4.73342432e-01 2.67670843e-02 1.57402209e+02] [-4.73098949e-01 8.80878214e-01 -1.51972687e-02 -4.77427743e+01] [-3.07720535e-02 7.17286020e-04 9.99526171e-01 -3.09721283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.46, Y:-47.77, Z:-3.10 [[ 8.80105312e-01 4.74023614e-01 2.67629070e-02 1.57457312e+02] [-4.73780222e-01 8.80511852e-01 -1.52046215e-02 -4.77714065e+01] [-3.07724064e-02 7.01932144e-04 9.99526171e-01 -3.09940773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:-47.80, Z:-3.10 [[ 8.81091165e-01 4.72188853e-01 2.67590491e-02 1.57511324e+02] [-4.71944408e-01 8.81497072e-01 -1.52114081e-02 -4.78012812e+01] [-3.07706807e-02 7.73853695e-04 9.99526171e-01 -3.10005710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.57, Y:-47.83, Z:-3.10 [[ 8.82253289e-01 4.70014148e-01 2.67550847e-02 1.57566002e+02] [-4.69768492e-01 8.82658464e-01 -1.52183778e-02 -4.78293740e+01] [-3.07684548e-02 8.57768088e-04 9.99526171e-01 -3.10376987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.62, Y:-47.86, Z:-3.11 [[ 8.82328754e-01 4.69872591e-01 2.67528870e-02 1.57622693e+02] [-4.69626753e-01 8.82733819e-01 -1.52222401e-02 -4.78574556e+01] [-3.07681916e-02 8.67148681e-04 9.99526171e-01 -3.10698610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.68, Y:-47.89, Z:-3.11 [[ 8.81854339e-01 4.70762597e-01 2.67488724e-02 1.57677272e+02] [-4.70516954e-01 8.82259522e-01 -1.52292915e-02 -4.78864041e+01] [-3.07688282e-02 8.44218818e-04 9.99526171e-01 -3.10940134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.73, Y:-47.92, Z:-3.11 [[ 8.80506698e-01 4.73278620e-01 2.67451600e-02 1.57733683e+02] [-4.73033937e-01 8.80912461e-01 -1.52358083e-02 -4.79150027e+01] [-3.07709270e-02 7.63862882e-04 9.99526171e-01 -3.11356485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.79, Y:-47.94, Z:-3.12 [[ 8.78433999e-01 4.77114906e-01 2.67409098e-02 1.57790248e+02] [-4.76871769e-01 8.78840690e-01 -1.52432643e-02 -4.79436178e+01] [-3.07737882e-02 6.38216689e-04 9.99526171e-01 -3.11649577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:-47.97, Z:-3.12 [[ 8.76988605e-01 4.79766752e-01 2.67367053e-02 1.57845321e+02] [-4.79524620e-01 8.77395895e-01 -1.52506354e-02 -4.79734826e+01] [-3.07754233e-02 5.53724969e-04 9.99526171e-01 -3.11895050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:-48.00, Z:-3.12 [[ 8.75428530e-01 4.82607769e-01 2.67325589e-02 1.57900561e+02] [-4.82366737e-01 8.75836473e-01 -1.52579001e-02 -4.80035356e+01] [-3.07769312e-02 4.62303859e-04 9.99526171e-01 -3.12264270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.96, Y:-48.03, Z:-3.13 [[ 8.74864414e-01 4.83629869e-01 2.67284021e-02 1.57956301e+02] [-4.83389091e-01 8.75272507e-01 -1.52651784e-02 -4.80322396e+01] [-3.07773318e-02 4.34743307e-04 9.99526171e-01 -3.12541107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.01, Y:-48.06, Z:-3.13 [[ 8.73606516e-01 4.85898622e-01 2.67242208e-02 1.58009915e+02] [-4.85658680e-01 8.74015101e-01 -1.52724949e-02 -4.80637300e+01] [-3.07782568e-02 3.63301269e-04 9.99526171e-01 -3.12557201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.07, Y:-48.09, Z:-3.13 [[ 8.73446809e-01 4.86185862e-01 2.67203787e-02 1.58065185e+02] [-4.85945850e-01 8.73855352e-01 -1.52792140e-02 -4.80946357e+01] [-3.07782838e-02 3.60923607e-04 9.99526171e-01 -3.12753098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.12, Y:-48.12, Z:-3.13 [[ 8.75079809e-01 4.83240704e-01 2.67161071e-02 1.58119947e+02] [-4.82999088e-01 8.75487406e-01 -1.52866794e-02 -4.81245642e+01] [-3.07767610e-02 4.73209141e-04 9.99526171e-01 -3.13116780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.17, Y:-48.16, Z:-3.13 [[ 8.76239731e-01 4.81134514e-01 2.67116664e-02 1.58174153e+02] [-4.80891682e-01 8.76646605e-01 -1.52944351e-02 -4.81558647e+01] [-3.07753723e-02 5.56173486e-04 9.99526171e-01 -3.13405580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.23, Y:-48.19, Z:-3.14 [[ 8.77945613e-01 4.78014875e-01 2.67072951e-02 1.58227346e+02] [-4.77770366e-01 8.78351481e-01 -1.53020645e-02 -4.81886013e+01] [-3.07730067e-02 6.74426281e-04 9.99526171e-01 -3.13565897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:-48.22, Z:-3.14 [[ 8.79815640e-01 4.74564394e-01 2.67034866e-02 1.58281486e+02] [-4.74318092e-01 8.80220422e-01 -1.53087077e-02 -4.82207953e+01] [-3.07699219e-02 8.02893671e-04 9.99526171e-01 -3.14000478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.34, Y:-48.25, Z:-3.14 [[ 8.79799029e-01 4.74595440e-01 2.66990125e-02 1.58335070e+02] [-4.74348916e-01 8.80203676e-01 -1.53165069e-02 -4.82528757e+01] [-3.07697132e-02 8.10800288e-04 9.99526171e-01 -3.14063815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.39, Y:-48.28, Z:-3.14 [[ 8.79533467e-01 4.75087641e-01 2.66948153e-02 1.58389118e+02] [-4.74841121e-01 8.79938117e-01 -1.53238186e-02 -4.82838303e+01] [-3.07699423e-02 8.02015316e-04 9.99526171e-01 -3.14140152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:-48.32, Z:-3.14 [[ 8.78398780e-01 4.77182479e-01 2.66920606e-02 1.58443141e+02] [-4.76936778e-01 8.78803927e-01 -1.53286154e-02 -4.83159791e+01] [-3.07716344e-02 7.34211629e-04 9.99526171e-01 -3.14343965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.50, Y:-48.35, Z:-3.15 [[ 8.76667597e-01 4.80355803e-01 2.66875715e-02 1.58497150e+02] [-4.80111332e-01 8.77073488e-01 -1.53364270e-02 -4.83454343e+01] [-3.07739032e-02 6.31943084e-04 9.99526172e-01 -3.14587788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.55, Y:-48.38, Z:-3.15 [[ 8.74851352e-01 4.83655904e-01 2.66848184e-02 1.58552691e+02] [-4.83412818e-01 8.75258073e-01 -1.53412159e-02 -4.83756955e+01] [-3.07759724e-02 5.21500171e-04 9.99526172e-01 -3.14800274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.61, Y:-48.41, Z:-3.15 [[ 8.73992678e-01 4.85206089e-01 2.66805237e-02 1.58606670e+02] [-4.84963497e-01 8.74399694e-01 -1.53486813e-02 -4.84078423e+01] [-3.07767154e-02 4.75554937e-04 9.99526172e-01 -3.15124148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.66, Y:-48.44, Z:-3.16 [[ 8.72074706e-01 4.88645157e-01 2.66761581e-02 1.58660885e+02] [-4.88403938e-01 8.72482538e-01 -1.53562651e-02 -4.84368969e+01] [-3.07782467e-02 3.63069729e-04 9.99526172e-01 -3.15582351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.72, Y:-48.47, Z:-3.15 [[ 8.70494231e-01 4.91455381e-01 2.66721342e-02 1.58715552e+02] [-4.91215264e-01 8.70902713e-01 -1.53632509e-02 -4.84690624e+01] [-3.07791864e-02 2.71861800e-04 9.99526172e-01 -3.15377907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.77, Y:-48.50, Z:-3.16 [[ 8.70744175e-01 4.91012628e-01 2.66679919e-02 1.58770417e+02] [-4.90772083e-01 8.71152405e-01 -1.53704379e-02 -4.85002619e+01] [-3.07789644e-02 2.95813378e-04 9.99526172e-01 -3.16050145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.263617865 meters Centerline goodness : 0.994579 with order 1 Centerline is valid? [True, True] Translation: X:158.82, Y:-48.53, Z:-3.16 [[ 8.69208527e-01 4.93726222e-01 2.66637307e-02 1.58821848e+02] [-4.93486725e-01 8.69617372e-01 -1.53778264e-02 -4.85342821e+01] [-3.07796796e-02 2.08340650e-04 9.99526172e-01 -3.15757595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:-48.57, Z:-3.16 [[ 8.69175712e-01 4.93784251e-01 2.66588521e-02 1.58875998e+02] [-4.93544523e-01 8.69584422e-01 -1.53862792e-02 -4.85654393e+01] [-3.07796249e-02 2.16049726e-04 9.99526172e-01 -3.16403679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:-48.60, Z:-3.16 [[ 8.69244150e-01 4.93664068e-01 2.66532420e-02 1.58926984e+02] [-4.93423985e-01 8.69652652e-01 -1.53959913e-02 -4.86000132e+01] [-3.07795103e-02 2.31526533e-04 9.99526172e-01 -3.16452938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.98, Y:-48.63, Z:-3.17 [[ 8.71467841e-01 4.89728096e-01 2.66494653e-02 1.58979254e+02] [-4.89485969e-01 8.71875134e-01 -1.54025259e-02 -4.86344675e+01] [-3.07780558e-02 3.78266666e-04 9.99526172e-01 -3.16545388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-48.67, Z:-3.17 [[ 8.74075533e-01 4.85058749e-01 2.66453070e-02 1.59031387e+02] [-4.84814227e-01 8.74481393e-01 -1.54097161e-02 -4.86681468e+01] [-3.07754428e-02 5.51231933e-04 9.99526172e-01 -3.17010855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:-48.70, Z:-3.17 [[ 8.77008385e-01 4.79735756e-01 2.66439013e-02 1.59082537e+02] [-4.79488697e-01 8.77412705e-01 -1.54121461e-02 -4.87025607e+01] [-3.07714551e-02 7.41131876e-04 9.99526172e-01 -3.16920609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.13, Y:-48.74, Z:-3.17 [[ 8.78909059e-01 4.76244857e-01 2.66402492e-02 1.59134695e+02] [-4.75996001e-01 8.79312276e-01 -1.54184564e-02 -4.87373834e+01] [-3.07680587e-02 8.70768888e-04 9.99526172e-01 -3.17241287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.683617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:159.19, Y:-48.77, Z:-3.17 [[ 8.79123397e-01 4.75849319e-01 2.66360497e-02 1.59188381e+02] [-4.75600063e-01 8.79526366e-01 -1.54257077e-02 -4.87705102e+01] [-3.07674205e-02 8.92993678e-04 9.99526172e-01 -3.17489740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.24, Y:-48.80, Z:-3.18 [[ 8.78128925e-01 4.77682253e-01 2.66318557e-02 1.59240962e+02] [-4.77433618e-01 8.78532278e-01 -1.54329451e-02 -4.88027877e+01] [-3.07689889e-02 8.37172280e-04 9.99526172e-01 -3.17597690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.29, Y:-48.84, Z:-3.18 [[ 8.76029491e-01 4.81521768e-01 2.66292696e-02 1.59294928e+02] [-4.81274766e-01 8.76433846e-01 -1.54374061e-02 -4.88357974e+01] [-3.07722402e-02 7.07627527e-04 9.99526172e-01 -3.17938561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.35, Y:-48.87, Z:-3.18 [[ 8.74732045e-01 4.83874945e-01 2.66249157e-02 1.59347402e+02] [-4.83628803e-01 8.75136924e-01 -1.54449116e-02 -4.88666737e+01] [-3.07738526e-02 6.33582983e-04 9.99526172e-01 -3.18123770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:-48.90, Z:-3.18 [[ 8.72181478e-01 4.88457539e-01 2.66214580e-02 1.59399586e+02] [-4.88213343e-01 8.72587533e-01 -1.54508692e-02 -4.88985573e+01] [-3.07766459e-02 4.79010962e-04 9.99526172e-01 -3.18232324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:-48.93, Z:-3.19 [[ 8.70918401e-01 4.90706172e-01 2.66193845e-02 1.59453320e+02] [-4.90462914e-01 8.71325020e-01 -1.54544407e-02 -4.89313175e+01] [-3.07777251e-02 4.03735905e-04 9.99526172e-01 -3.18617360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.51, Y:-48.96, Z:-3.19 [[ 8.69078317e-01 4.93957996e-01 2.66153534e-02 1.59506592e+02] [-4.93716048e-01 8.69485716e-01 -1.54613799e-02 -4.89636594e+01] [-3.07789418e-02 2.96722938e-04 9.99526172e-01 -3.18712656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:-49.00, Z:-3.19 [[ 8.68256967e-01 4.95400501e-01 2.66117019e-02 1.59558394e+02] [-4.95159037e-01 8.68664653e-01 -1.54676621e-02 -4.89971144e+01] [-3.07793324e-02 2.52880679e-04 9.99526172e-01 -3.18712910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.163617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:159.61, Y:-49.03, Z:-3.19 [[ 8.68756258e-01 4.94524597e-01 2.66080451e-02 1.59611188e+02] [-4.94282529e-01 8.69163586e-01 -1.54739502e-02 -4.90298862e+01] [-3.07789928e-02 2.91199265e-04 9.99526172e-01 -3.18885416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.66, Y:-49.06, Z:-3.19 [[ 8.70923418e-01 4.90698091e-01 2.66041938e-02 1.59664318e+02] [-4.90454032e-01 8.71329556e-01 -1.54805687e-02 -4.90624979e+01] [-3.07773059e-02 4.34255679e-04 9.99526172e-01 -3.19483669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:-49.09, Z:-3.20 [[ 8.72397119e-01 4.88073448e-01 2.66003085e-02 1.59717960e+02] [-4.87827963e-01 8.72802397e-01 -1.54872421e-02 -4.90946180e+01] [-3.07757246e-02 5.34651073e-04 9.99526172e-01 -3.19746603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:-49.13, Z:-3.20 [[ 8.72906517e-01 4.87162059e-01 2.65958881e-02 1.59769800e+02] [-4.86915920e-01 8.73311397e-01 -1.54948294e-02 -4.91290219e+01] [-3.07749852e-02 5.75576188e-04 9.99526172e-01 -3.19778090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.82, Y:-49.16, Z:-3.20 [[ 8.74055636e-01 4.85097538e-01 2.65918126e-02 1.59823333e+02] [-4.84850230e-01 8.74459803e-01 -1.55018204e-02 -4.91618494e+01] [-3.07733662e-02 6.56407029e-04 9.99526172e-01 -3.20032643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:-49.19, Z:-3.20 [[ 8.75305124e-01 4.82839568e-01 2.65874240e-02 1.59876605e+02] [-4.82590989e-01 8.75708512e-01 -1.55093438e-02 -4.91927848e+01] [-3.07713584e-02 7.44556892e-04 9.99526172e-01 -3.20430887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:-49.23, Z:-3.21 [[ 8.75204961e-01 4.83021311e-01 2.65836233e-02 1.59930001e+02] [-4.82772618e-01 8.75608278e-01 -1.55158556e-02 -4.92258957e+01] [-3.07713296e-02 7.45708347e-04 9.99526172e-01 -3.20630847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.98, Y:-49.26, Z:-3.21 [[ 8.73976453e-01 4.85240874e-01 2.65792221e-02 1.59981652e+02] [-4.84992976e-01 8.74380259e-01 -1.55233914e-02 -4.92595726e+01] [-3.07729311e-02 6.76342552e-04 9.99526172e-01 -3.20695127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:-49.29, Z:-3.21 [[ 8.73480580e-01 4.86133132e-01 2.65754390e-02 1.60035760e+02] [-4.85885451e-01 8.73884519e-01 -1.55298651e-02 -4.92910624e+01] [-3.07734467e-02 6.52416446e-04 9.99526172e-01 -3.20936087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:-49.32, Z:-3.21 [[ 8.73269634e-01 4.86512194e-01 2.65712625e-02 1.60088770e+02] [-4.86264470e-01 8.73673547e-01 -1.55370078e-02 -4.93225465e+01] [-3.07735529e-02 6.47336189e-04 9.99526172e-01 -3.20962867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:-49.36, Z:-3.21 [[ 8.72849318e-01 4.87266063e-01 2.65678813e-02 1.60141513e+02] [-4.87018512e-01 8.73253337e-01 -1.55427874e-02 -4.93558400e+01] [-3.07739638e-02 6.27461379e-04 9.99526172e-01 -3.21199421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.19, Y:-49.39, Z:-3.21 [[ 8.72152450e-01 4.88512493e-01 2.65640554e-02 1.60194687e+02] [-4.88265321e-01 8.72556700e-01 -1.55493235e-02 -4.93900628e+01] [-3.07746833e-02 5.91073578e-04 9.99526172e-01 -3.21159932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.25, Y:-49.42, Z:-3.21 [[ 8.71516999e-01 4.89645483e-01 2.65597936e-02 1.60248910e+02] [-4.89398614e-01 8.71921435e-01 -1.55565997e-02 -4.94214553e+01] [-3.07752721e-02 5.59514863e-04 9.99526173e-01 -3.21418689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.30, Y:-49.45, Z:-3.22 [[ 8.71109636e-01 4.90370086e-01 2.65552291e-02 1.60302046e+02] [-4.90123317e-01 8.71514133e-01 -1.55643874e-02 -4.94514223e+01] [-3.07755675e-02 5.42950898e-04 9.99526173e-01 -3.21829202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.36, Y:-49.48, Z:-3.22 [[ 8.68452016e-01 4.95061741e-01 2.65512371e-02 1.60356732e+02] [-4.94816950e-01 8.68857712e-01 -1.55711944e-02 -4.94816316e+01] [-3.07779497e-02 3.84833055e-04 9.99526173e-01 -3.21980332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.41, Y:-49.51, Z:-3.22 [[ 8.63383929e-01 5.03848611e-01 2.65474790e-02 1.60409948e+02] [-5.03607752e-01 8.63791972e-01 -1.55775989e-02 -4.95113672e+01] [-3.07802508e-02 7.99323615e-05 9.99526173e-01 -3.22029756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:160.46, Y:-49.54, Z:-3.23 [[ 8.63193438e-01 5.04175094e-01 2.65436020e-02 1.60463396e+02] [-5.03934186e-01 8.63601453e-01 -1.55842024e-02 -4.95422485e+01] [-3.07802600e-02 7.59527534e-05 9.99526173e-01 -3.22508945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:160.52, Y:-49.57, Z:-3.23 [[ 8.62301005e-01 5.05700149e-01 2.65393193e-02 1.60516998e+02] [-5.05459738e-01 8.62709313e-01 -1.55914922e-02 -4.95711646e+01] [-3.07803379e-02 3.00020026e-05 9.99526173e-01 -3.22844801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-49.60, Z:-3.23 [[ 8.61180956e-01 5.07605373e-01 2.65357523e-02 1.60572996e+02] [-5.07365679e-01 8.61589684e-01 -1.55975608e-02 -4.95993396e+01] [-3.07803361e-02 -3.10076711e-05 9.99526173e-01 -3.23187019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:-49.63, Z:-3.24 [[ 8.62147342e-01 5.05962483e-01 2.65316307e-02 1.60625933e+02] [-5.05721794e-01 8.62555485e-01 -1.56045685e-02 -4.96310834e+01] [-3.07803298e-02 3.58134189e-05 9.99526173e-01 -3.23672909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36361786499998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:-49.67, Z:-3.23 [[ 8.63635588e-01 5.03418160e-01 2.65278430e-02 1.60676106e+02] [-5.03176071e-01 8.64042903e-01 -1.56110050e-02 -4.96684415e+01] [-3.07800579e-02 1.34043684e-04 9.99526173e-01 -3.22954873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.73, Y:-49.70, Z:-3.23 [[ 8.66447057e-01 4.98563914e-01 2.65239603e-02 1.60730341e+02] [-4.98319341e-01 8.66852885e-01 -1.56175990e-02 -4.96988427e+01] [-3.07787428e-02 3.14420293e-04 9.99526173e-01 -3.23344779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:160.79, Y:-49.73, Z:-3.24 [[ 8.69501373e-01 4.93218052e-01 2.65200935e-02 1.60785941e+02] [-4.92970785e-01 8.69905564e-01 -1.56241625e-02 -4.97262838e+01] [-3.07760959e-02 5.11599414e-04 9.99526173e-01 -3.24303587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.543617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:160.84, Y:-49.76, Z:-3.24 [[ 8.69614363e-01 4.93019013e-01 2.65162724e-02 1.60838721e+02] [-4.92771455e-01 8.70018377e-01 -1.56306448e-02 -4.97594356e+01] [-3.07758493e-02 5.26171068e-04 9.99526173e-01 -3.23806167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.603617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:160.89, Y:-49.79, Z:-3.24 [[ 8.69755326e-01 4.92770498e-01 2.65124539e-02 1.60893380e+02] [-4.92522627e-01 8.70159148e-01 -1.56371189e-02 -4.97895014e+01] [-3.07755652e-02 5.42483992e-04 9.99526173e-01 -3.24247768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.95, Y:-49.82, Z:-3.25 [[ 8.69900255e-01 4.92514841e-01 2.65080578e-02 1.60947913e+02] [-4.92266625e-01 8.70303865e-01 -1.56445677e-02 -4.98204784e+01] [-3.07752469e-02 5.60181331e-04 9.99526173e-01 -3.24625652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:-49.85, Z:-3.25 [[ 8.69994420e-01 4.92348724e-01 2.65036488e-02 1.61003534e+02] [-4.92100204e-01 8.70397842e-01 -1.56520335e-02 -4.98509542e+01] [-3.07749774e-02 5.74730816e-04 9.99526173e-01 -3.24979110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.783617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:-49.88, Z:-3.25 [[ 8.69341263e-01 4.93501196e-01 2.65016668e-02 1.61058481e+02] [-4.93253108e-01 8.69744951e-01 -1.56553886e-02 -4.98808378e+01] [-3.07756439e-02 5.37845729e-04 9.99526173e-01 -3.25284726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.11, Y:-49.91, Z:-3.25 [[ 8.67315158e-01 4.97053639e-01 2.64971179e-02 1.61112397e+02] [-4.96806969e-01 8.67719714e-01 -1.56630839e-02 -4.99107398e+01] [-3.07774644e-02 4.20877195e-04 9.99526173e-01 -3.25498239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.17, Y:-49.94, Z:-3.26 [[ 8.65607649e-01 5.00021510e-01 2.64931606e-02 1.61166295e+02] [-4.99776022e-01 8.66012925e-01 -1.56697746e-02 -4.99416591e+01] [-3.07786438e-02 3.23230356e-04 9.99526173e-01 -3.25611595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.963617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.22, Y:-49.97, Z:-3.26 [[ 8.64186824e-01 5.02473351e-01 2.64889671e-02 1.61219903e+02] [-5.02228796e-01 8.64592663e-01 -1.56768603e-02 -4.99722308e+01] [-3.07793711e-02 2.44214019e-04 9.99526173e-01 -3.25897660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.27, Y:-50.00, Z:-3.26 [[ 8.63916367e-01 5.02938426e-01 2.64849153e-02 1.61274325e+02] [-5.02693880e-01 8.64322211e-01 -1.56837026e-02 -5.00046680e+01] [-3.07794372e-02 2.35602511e-04 9.99526173e-01 -3.26009357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.33, Y:-50.04, Z:-3.26 [[ 8.64372477e-01 5.02154363e-01 2.64805120e-02 1.61327144e+02] [-5.01909221e-01 8.64777961e-01 -1.56911337e-02 -5.00377291e+01] [-3.07791344e-02 2.72170943e-04 9.99526173e-01 -3.26130421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.38, Y:-50.07, Z:-3.26 [[ 8.64910100e-01 5.01227938e-01 2.64777993e-02 1.61379092e+02] [-5.00982222e-01 8.65315236e-01 -1.56957098e-02 -5.00713028e+01] [-3.07787714e-02 3.10471208e-04 9.99526173e-01 -3.26363777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.43, Y:-50.10, Z:-3.27 [[ 8.65474509e-01 5.00252945e-01 2.64738668e-02 1.61432762e+02] [-5.00006570e-01 8.65879245e-01 -1.57023400e-02 -5.01041115e+01] [-3.07783136e-02 3.52867653e-04 9.99526173e-01 -3.26540954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.263617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-50.14, Z:-3.27 [[ 8.66776034e-01 4.97994640e-01 2.64697142e-02 1.61485200e+02] [-4.97746997e-01 8.67179995e-01 -1.57093370e-02 -5.01366741e+01] [-3.07771722e-02 4.41256033e-04 9.99526173e-01 -3.26841137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.54, Y:-50.17, Z:-3.27 [[ 8.67825298e-01 4.96164096e-01 2.64658745e-02 1.61538175e+02] [-4.95915404e-01 8.68228614e-01 -1.57158031e-02 -5.01712132e+01] [-3.07760468e-02 5.13736709e-04 9.99526173e-01 -3.27072259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.59, Y:-50.20, Z:-3.27 [[ 8.68320331e-01 4.95297475e-01 2.64615625e-02 1.61591255e+02] [-4.95048159e-01 8.68723262e-01 -1.57230601e-02 -5.02041143e+01] [-3.07753668e-02 5.52904969e-04 9.99526173e-01 -3.27289162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.65, Y:-50.23, Z:-3.27 [[ 8.66755468e-01 4.98031093e-01 2.64573087e-02 1.61645768e+02] [-4.97782830e-01 8.67159048e-01 -1.57302146e-02 -5.02345365e+01] [-3.07768307e-02 4.64255525e-04 9.99526173e-01 -3.27475383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.70, Y:-50.26, Z:-3.28 [[ 8.65505263e-01 5.00200818e-01 2.64533608e-02 1.61698597e+02] [-4.99953364e-01 8.65909340e-01 -1.57368511e-02 -5.02642997e+01] [-3.07777980e-02 3.94880742e-04 9.99526173e-01 -3.27807211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.563617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:161.75, Y:-50.30, Z:-3.28 [[ 8.65538474e-01 5.00143528e-01 2.64499970e-02 1.61752229e+02] [-4.99895874e-01 8.65942428e-01 -1.57425029e-02 -5.02965854e+01] [-3.07776855e-02 4.03497574e-04 9.99526173e-01 -3.28061388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.623617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:161.80, Y:-50.33, Z:-3.27 [[ 8.64827571e-01 5.01372004e-01 2.64458991e-02 1.61803940e+02] [-5.01124713e-01 8.65231748e-01 -1.57493839e-02 -5.03305092e+01] [-3.07781317e-02 3.67807826e-04 9.99526173e-01 -3.27170500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.683617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:-50.36, Z:-3.28 [[ 8.67784327e-01 4.96236864e-01 2.64449800e-02 1.61858538e+02] [-4.95987135e-01 8.68187002e-01 -1.57509270e-02 -5.03559998e+01] [-3.07753785e-02 5.52037738e-04 9.99526173e-01 -3.28347499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.91, Y:-50.39, Z:-3.28 [[ 8.69887536e-01 4.92540778e-01 2.64434746e-02 1.61913340e+02] [-4.92289262e-01 8.70289097e-01 -1.57534540e-02 -5.03874433e+01] [-3.07726861e-02 6.85894681e-04 9.99526173e-01 -3.28362732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-50.42, Z:-3.29 [[ 8.71914953e-01 4.88943026e-01 2.64392061e-02 1.61967732e+02] [-4.88689636e-01 8.72315334e-01 -1.57606145e-02 -5.04193186e+01] [-3.07693675e-02 8.21349474e-04 9.99526173e-01 -3.28522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:-50.45, Z:-3.29 [[ 8.72414659e-01 4.88051079e-01 2.64349522e-02 1.62022107e+02] [-4.87797064e-01 8.72814644e-01 -1.57677463e-02 -5.04508237e+01] [-3.07682790e-02 8.61120930e-04 9.99526173e-01 -3.28764584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.08, Y:-50.48, Z:-3.29 [[ 8.72913261e-01 4.87158965e-01 2.64306964e-02 1.62075591e+02] [-4.86904325e-01 8.73312849e-01 -1.57748769e-02 -5.04816009e+01] [-3.07671395e-02 9.00878871e-04 9.99526174e-01 -3.28978450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.13, Y:-50.52, Z:-3.29 [[ 8.71905593e-01 4.88960320e-01 2.64280731e-02 1.62127376e+02] [-4.88706373e-01 8.72305621e-01 -1.57792705e-02 -5.05160417e+01] [-3.07687939e-02 8.42466434e-04 9.99526174e-01 -3.28798482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:-50.55, Z:-3.29 [[ 8.72566777e-01 4.87779641e-01 2.64242523e-02 1.62180630e+02] [-4.87524959e-01 8.72966338e-01 -1.57856663e-02 -5.05452439e+01] [-3.07674094e-02 8.91565415e-04 9.99526174e-01 -3.29343069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.23, Y:-50.58, Z:-3.30 [[ 8.72044150e-01 4.88713559e-01 2.64207680e-02 1.62234598e+02] [-4.88459129e-01 8.72443871e-01 -1.57914959e-02 -5.05775890e+01] [-3.07681553e-02 8.65416286e-04 9.99526174e-01 -3.29543819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.29, Y:-50.61, Z:-3.30 [[ 8.71650035e-01 4.89416374e-01 2.64164670e-02 1.62288908e+02] [-4.89162048e-01 8.72049822e-01 -1.57986875e-02 -5.06095554e+01] [-3.07686117e-02 8.48993400e-04 9.99526174e-01 -3.29880332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.34, Y:-50.64, Z:-3.30 [[ 8.71531688e-01 4.89627319e-01 2.64122093e-02 1.62342508e+02] [-4.89372875e-01 8.71931400e-01 -1.58058023e-02 -5.06418880e+01] [-3.07685872e-02 8.49838727e-04 9.99526174e-01 -3.30131521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.40, Y:-50.68, Z:-3.30 [[ 8.71485816e-01 4.89709192e-01 2.64079477e-02 1.62395063e+02] [-4.89454570e-01 8.71885414e-01 -1.58129193e-02 -5.06752378e+01] [-3.07684363e-02 8.55244146e-04 9.99526174e-01 -3.30292343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.45, Y:-50.71, Z:-3.30 [[ 8.71749284e-01 4.89240242e-01 2.64040092e-02 1.62449184e+02] [-4.88985205e-01 8.72148618e-01 -1.58194930e-02 -5.07081572e+01] [-3.07677527e-02 8.79461799e-04 9.99526174e-01 -3.30376213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:-50.74, Z:-3.31 [[ 8.71669818e-01 4.89382045e-01 2.63996688e-02 1.62502910e+02] [-4.89126855e-01 8.72069054e-01 -1.58267330e-02 -5.07402107e+01] [-3.07676531e-02 8.82898502e-04 9.99526174e-01 -3.30573088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.463617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.56, Y:-50.77, Z:-3.31 [[ 8.71365247e-01 4.89924372e-01 2.63953895e-02 1.62557356e+02] [-4.89669214e-01 8.71764503e-01 -1.58338666e-02 -5.07722582e+01] [-3.07679608e-02 8.72071449e-04 9.99526174e-01 -3.30744621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:-50.80, Z:-3.31 [[ 8.71095858e-01 4.90403420e-01 2.63911158e-02 1.62611251e+02] [-4.90148267e-01 8.71495117e-01 -1.58409865e-02 -5.08048118e+01] [-3.07682026e-02 8.63458085e-04 9.99526174e-01 -3.30868901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:-50.84, Z:-3.31 [[ 8.71060082e-01 4.90467197e-01 2.63867596e-02 1.62665066e+02] [-4.90211854e-01 8.71459220e-01 -1.58482395e-02 -5.08380455e+01] [-3.07680266e-02 8.69666430e-04 9.99526174e-01 -3.31062692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64361786499998 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:162.72, Y:-50.87, Z:-3.31 [[ 8.70249526e-01 4.91904188e-01 2.63824273e-02 1.62718899e+02] [-4.91649285e-01 8.70648945e-01 -1.58554482e-02 -5.08706879e+01] [-3.07691939e-02 8.27294754e-04 9.99526174e-01 -3.31209078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:-50.90, Z:-3.31 [[ 8.68453387e-01 4.95068589e-01 2.63781458e-02 1.62772806e+02] [-4.94814925e-01 8.68853595e-01 -1.58625680e-02 -5.09015890e+01] [-3.07718059e-02 7.23600648e-04 9.99526174e-01 -3.31369363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.83, Y:-50.93, Z:-3.32 [[ 8.67082674e-01 4.97465616e-01 2.63741858e-02 1.62826999e+02] [-4.97212858e-01 8.67483454e-01 -1.58691495e-02 -5.09330389e+01] [-3.07735260e-02 6.46280265e-04 9.99526174e-01 -3.31603256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:-50.96, Z:-3.32 [[ 8.65423826e-01 5.00346103e-01 2.63700225e-02 1.62881666e+02] [-5.00094469e-01 8.65825313e-01 -1.58760646e-02 -5.09638749e+01] [-3.07753600e-02 5.52022132e-04 9.99526174e-01 -3.31865423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:-51.00, Z:-3.32 [[ 8.64755229e-01 5.01500981e-01 2.63659104e-02 1.62935930e+02] [-5.01249675e-01 8.65156921e-01 -1.58828909e-02 -5.09956862e+01] [-3.07759352e-02 5.18908930e-04 9.99526174e-01 -3.32091985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.99, Y:-51.03, Z:-3.32 [[ 8.63712056e-01 5.03295687e-01 2.63616519e-02 1.62990937e+02] [-5.03045000e-01 8.64114134e-01 -1.58899557e-02 -5.10264665e+01] [-3.07768222e-02 4.63249113e-04 9.99526174e-01 -3.32337708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:-51.06, Z:-3.32 [[ 8.63804298e-01 5.03137454e-01 2.63597642e-02 1.63045553e+02] [-5.02886598e-01 8.64206271e-01 -1.58930866e-02 -5.10558759e+01] [-3.07766806e-02 4.72544360e-04 9.99526174e-01 -3.32436914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.10, Y:-51.09, Z:-3.33 [[ 8.65479622e-01 5.00250336e-01 2.63557290e-02 1.63101035e+02] [-4.99997936e-01 8.65880627e-01 -1.58997754e-02 -5.10861566e+01] [-3.07747832e-02 5.83121544e-04 9.99526174e-01 -3.32640245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:-51.12, Z:-3.33 [[ 8.67330150e-01 4.97035225e-01 2.63514087e-02 1.63155626e+02] [-4.96781121e-01 8.67730077e-01 -1.59069324e-02 -5.11175799e+01] [-3.07722156e-02 7.05679726e-04 9.99526174e-01 -3.32855753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.21, Y:-51.15, Z:-3.33 [[ 8.70591786e-01 4.91300082e-01 2.63471173e-02 1.63210808e+02] [-4.91043130e-01 8.70989890e-01 -1.59140371e-02 -5.11481987e+01] [-3.07666406e-02 9.17059061e-04 9.99526174e-01 -3.33132790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:163.27, Y:-51.18, Z:-3.33 [[ 8.72345340e-01 4.88179950e-01 2.63428210e-02 1.63265437e+02] [-4.87921359e-01 8.72742381e-01 -1.59211457e-02 -5.11791358e+01] [-3.07628805e-02 1.03551223e-03 9.99526174e-01 -3.33344043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30361786499998 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:163.32, Y:-51.21, Z:-3.33 [[ 8.73012206e-01 4.86986626e-01 2.63384698e-02 1.63320199e+02] [-4.86727276e-01 8.73408752e-01 -1.59283407e-02 -5.12097620e+01] [-3.07611389e-02 1.08598419e-03 9.99526174e-01 -3.32835147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36361786499998 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:163.38, Y:-51.23, Z:-3.34 [[ 8.73782273e-01 4.85603779e-01 2.63345534e-02 1.63375753e+02] [-4.85343607e-01 8.74178280e-01 -1.59348131e-02 -5.12345897e+01] [-3.07591001e-02 1.14225004e-03 9.99526174e-01 -3.33939499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42361786499998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:163.43, Y:-51.26, Z:-3.34 [[ 8.73688994e-01 4.85771779e-01 2.63310026e-02 1.63431737e+02] [-4.85511506e-01 8.74084934e-01 -1.59406784e-02 -5.12639137e+01] [-3.07590644e-02 1.14319059e-03 9.99526174e-01 -3.33914372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48361786499999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:-51.29, Z:-3.34 [[ 8.73746354e-01 4.85668841e-01 2.63265234e-02 1.63487507e+02] [-4.85408299e-01 8.74142118e-01 -1.59480726e-02 -5.12915927e+01] [-3.07586048e-02 1.15545738e-03 9.99526174e-01 -3.34428773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.543617865 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:163.54, Y:-51.32, Z:-3.35 [[ 8.73443485e-01 4.86213470e-01 2.63237808e-02 1.63544051e+02] [-4.85953039e-01 8.73839321e-01 -1.59525982e-02 -5.13187396e+01] [-3.07591228e-02 1.14157172e-03 9.99526174e-01 -3.34555404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.603617865 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:163.60, Y:-51.35, Z:-3.34 [[ 8.72458233e-01 4.87979403e-01 2.63198351e-02 1.63598362e+02] [-4.87719577e-01 8.72854467e-01 -1.59591054e-02 -5.13489619e+01] [-3.07611004e-02 1.08695403e-03 9.99526174e-01 -3.34181375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.663617865 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:-51.38, Z:-3.34 [[ 8.71683271e-01 4.89362593e-01 2.63159269e-02 1.63652474e+02] [-4.89103202e-01 8.72079789e-01 -1.59655473e-02 -5.13783479e+01] [-3.07625296e-02 1.04569636e-03 9.99526174e-01 -3.33788196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.723617865 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:-51.40, Z:-3.35 [[ 8.73694764e-01 4.85762412e-01 2.63123370e-02 1.63709079e+02] [-4.85501210e-01 8.74090091e-01 -1.59714615e-02 -5.14045950e+01] [-3.07576887e-02 1.17951080e-03 9.99526174e-01 -3.35151201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783617865 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:-51.43, Z:-3.35 [[ 8.74320810e-01 4.84634889e-01 2.63086789e-02 1.63765456e+02] [-4.84372996e-01 8.74715680e-01 -1.59774849e-02 -5.14329672e+01] [-3.07558606e-02 1.22623390e-03 9.99526174e-01 -3.35355213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843617865 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:-51.47, Z:-3.35 [[ 8.73432464e-01 4.86234321e-01 2.63043025e-02 1.63818889e+02] [-4.85972934e-01 8.73827670e-01 -1.59846868e-02 -5.14650327e+01] [-3.07577307e-02 1.17836534e-03 9.99526174e-01 -3.34705863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903617865 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:-51.49, Z:-3.36 [[ 8.73482927e-01 4.86143880e-01 2.63002723e-02 1.63875292e+02] [-4.85882254e-01 8.73877974e-01 -1.59913151e-02 -5.14888006e+01] [-3.07573086e-02 1.18930519e-03 9.99526175e-01 -3.35775911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96361786499997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:-51.52, Z:-3.35 [[ 8.71712022e-01 4.89312330e-01 2.62981640e-02 1.63928391e+02] [-4.89052036e-01 8.72107948e-01 -1.59947815e-02 -5.15218958e+01] [-3.07612816e-02 1.08167273e-03 9.99526175e-01 -3.34967452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.99, Y:-51.55, Z:-3.36 [[ 8.71558192e-01 4.89586481e-01 2.62944020e-02 1.63986250e+02] [-4.89326125e-01 8.71954077e-01 -1.60009636e-02 -5.15453431e+01] [-3.07613665e-02 1.07923312e-03 9.99526175e-01 -3.36149832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.04, Y:-51.57, Z:-3.36 [[ 8.69696402e-01 4.92886368e-01 2.62906232e-02 1.64042426e+02] [-4.92627327e-01 8.70093149e-01 -1.60071700e-02 -5.15742043e+01] [-3.07650070e-02 9.69898788e-04 9.99526175e-01 -3.36428278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:-51.60, Z:-3.36 [[ 8.68142494e-01 4.95618441e-01 2.62863194e-02 1.64096515e+02] [-4.95360435e-01 8.68539915e-01 -1.60142344e-02 -5.16047487e+01] [-3.07676675e-02 8.81434804e-04 9.99526175e-01 -3.36364547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:-51.64, Z:-3.37 [[ 8.66079565e-01 4.99214810e-01 2.62823175e-02 1.64150975e+02] [-4.98958255e-01 8.66477924e-01 -1.60207996e-02 -5.16355448e+01] [-3.07708683e-02 7.61507847e-04 9.99526175e-01 -3.36578072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:-51.67, Z:-3.37 [[ 8.64826559e-01 5.01382588e-01 2.62778278e-02 1.64203912e+02] [-5.01126808e-01 8.65225416e-01 -1.60281603e-02 -5.16651968e+01] [-3.07724850e-02 6.93054773e-04 9.99526175e-01 -3.36981700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.323617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.26, Y:-51.70, Z:-3.37 [[ 8.64041943e-01 5.02733636e-01 2.62756770e-02 1.64257797e+02] [-5.02478373e-01 8.64441132e-01 -1.60316854e-02 -5.16974750e+01] [-3.07734435e-02 6.49089217e-04 9.99526175e-01 -3.37157392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.31, Y:-51.73, Z:-3.37 [[ 8.65487807e-01 5.00240616e-01 2.62712956e-02 1.64311684e+02] [-4.99983986e-01 8.65886118e-01 -1.60388621e-02 -5.17303125e+01] [-3.07712404e-02 7.46212472e-04 9.99526175e-01 -3.37377744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:-51.77, Z:-3.37 [[ 8.66371025e-01 4.98709639e-01 2.62667794e-02 1.64363483e+02] [-4.98452081e-01 8.66768736e-01 -1.60462548e-02 -5.17650609e+01] [-3.07696451e-02 8.09279368e-04 9.99526175e-01 -3.37449722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:-51.80, Z:-3.38 [[ 8.68559915e-01 4.94887814e-01 2.62626267e-02 1.64415853e+02] [-4.94628301e-01 8.68956353e-01 -1.60530486e-02 -5.17992269e+01] [-3.07655345e-02 9.52796124e-04 9.99526175e-01 -3.37750587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.47, Y:-51.83, Z:-3.38 [[ 8.69688002e-01 4.92902911e-01 2.62583401e-02 1.64468448e+02] [-4.92642282e-01 8.70083707e-01 -1.60600572e-02 -5.18333113e+01] [-3.07630029e-02 1.03127049e-03 9.99526175e-01 -3.37792464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:-51.87, Z:-3.38 [[ 8.70261896e-01 4.91889173e-01 2.62540397e-02 1.64521713e+02] [-4.91627871e-01 8.70657157e-01 -1.60670842e-02 -5.18670331e+01] [-3.07614923e-02 1.07535355e-03 9.99526175e-01 -3.38082998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.57, Y:-51.90, Z:-3.38 [[ 8.69347143e-01 4.93504302e-01 2.62497344e-02 1.64574599e+02] [-4.93243522e-01 8.69742750e-01 -1.60741150e-02 -5.19001425e+01] [-3.07631611e-02 1.02647454e-03 9.99526175e-01 -3.38448958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.63, Y:-51.93, Z:-3.39 [[ 8.68495784e-01 4.95001267e-01 2.62453678e-02 1.64626471e+02] [-4.94740955e-01 8.68891697e-01 -1.60812415e-02 -5.19341397e+01] [-3.07646171e-02 9.81832153e-04 9.99526175e-01 -3.38760275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.68, Y:-51.97, Z:-3.39 [[ 8.67442560e-01 4.96844772e-01 2.62426765e-02 1.64677498e+02] [-4.96585168e-01 8.67838939e-01 -1.60856321e-02 -5.19692320e+01] [-3.07664788e-02 9.21638010e-04 9.99526175e-01 -3.38975129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.73, Y:-52.00, Z:-3.39 [[ 8.67006076e-01 4.97606256e-01 2.62388743e-02 1.64730396e+02] [-4.97346813e-01 8.67402560e-01 -1.60918320e-02 -5.20031015e+01] [-3.07670630e-02 9.01895567e-04 9.99526175e-01 -3.39145057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.78, Y:-52.04, Z:-3.39 [[ 8.66511449e-01 4.98467308e-01 2.62345488e-02 1.64781794e+02] [-4.98208046e-01 8.66908051e-01 -1.60988808e-02 -5.20388505e+01] [-3.07677073e-02 8.79601218e-04 9.99526175e-01 -3.39297006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.83, Y:-52.07, Z:-3.39 [[ 8.66273407e-01 4.98881108e-01 2.62302214e-02 1.64832417e+02] [-4.98621822e-01 8.66669993e-01 -1.61059284e-02 -5.20745256e+01] [-3.07678892e-02 8.73176681e-04 9.99526175e-01 -3.39422583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.043617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.88, Y:-52.11, Z:-3.39 [[ 8.66090111e-01 4.99199465e-01 2.62262227e-02 1.64884736e+02] [-4.98940128e-01 8.66486664e-01 -1.61124370e-02 -5.21085585e+01] [-3.07679922e-02 8.69507436e-04 9.99526175e-01 -3.38871193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.93, Y:-52.14, Z:-3.40 [[ 8.65351611e-01 5.00478748e-01 2.62223545e-02 1.64934815e+02] [-5.00219807e-01 8.65748423e-01 -1.61187300e-02 -5.21424891e+01] [-3.07690438e-02 8.31427836e-04 9.99526175e-01 -3.39763099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.99, Y:-52.18, Z:-3.40 [[ 8.64715718e-01 5.01576729e-01 2.62204595e-02 1.64988039e+02] [-5.01318198e-01 8.65112797e-01 -1.61218119e-02 -5.21768912e+01] [-3.07699808e-02 7.95990658e-04 9.99526175e-01 -3.39872701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:-52.21, Z:-3.39 [[ 8.62874721e-01 5.04737487e-01 2.62161295e-02 1.65038068e+02] [-5.04480197e-01 8.63272605e-01 -1.61288501e-02 -5.22119362e+01] [-3.07725016e-02 6.91658826e-04 9.99526175e-01 -3.39016287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.09, Y:-52.24, Z:-3.40 [[ 8.64460967e-01 5.02015895e-01 2.62159856e-02 1.65089270e+02] [-5.01757346e-01 8.64858034e-01 -1.61290839e-02 -5.22421458e+01] [-3.07701622e-02 7.88900136e-04 9.99526175e-01 -3.40262150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.14, Y:-52.28, Z:-3.40 [[ 8.64675272e-01 5.01646743e-01 2.62148553e-02 1.65141345e+02] [-5.01387969e-01 8.65072193e-01 -1.61309207e-02 -5.22761241e+01] [-3.07697662e-02 8.04195209e-04 9.99526175e-01 -3.40450851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.19, Y:-52.31, Z:-3.41 [[ 8.65238514e-01 5.00674854e-01 2.62107598e-02 1.65193625e+02] [-5.00415433e-01 8.65635012e-01 -1.61375728e-02 -5.23116554e+01] [-3.07686282e-02 8.46580806e-04 9.99526175e-01 -3.40783962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.25, Y:-52.35, Z:-3.41 [[ 8.64818951e-01 5.01399435e-01 2.62066596e-02 1.65246092e+02] [-5.01140144e-01 8.65215534e-01 -1.61442285e-02 -5.23462986e+01] [-3.07691160e-02 8.28625521e-04 9.99526175e-01 -3.41010222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:-52.38, Z:-3.41 [[ 8.63457197e-01 5.03741113e-01 2.62022864e-02 1.65298268e+02] [-5.03482682e-01 8.63854342e-01 -1.61513232e-02 -5.23811828e+01] [-3.07710444e-02 7.53578809e-04 9.99526175e-01 -3.41282405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:-52.42, Z:-3.41 [[ 8.62236480e-01 5.05827953e-01 2.61979781e-02 1.65349517e+02] [-5.05570272e-01 8.62634111e-01 -1.61583084e-02 -5.24171661e+01] [-3.07725936e-02 6.87364081e-04 9.99526175e-01 -3.41445590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:-52.45, Z:-3.42 [[ 8.61992353e-01 5.06244083e-01 2.61937284e-02 1.65401112e+02] [-5.05986384e-01 8.62389973e-01 -1.61651945e-02 -5.24505311e+01] [-3.07727428e-02 6.80604155e-04 9.99526175e-01 -3.41664360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:-52.49, Z:-3.42 [[ 8.62191678e-01 5.05904739e-01 2.61897986e-02 1.65453300e+02] [-5.05646690e-01 8.62589071e-01 -1.61715588e-02 -5.24865144e+01] [-3.07723023e-02 7.00198444e-04 9.99526175e-01 -3.41773735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:-52.52, Z:-3.42 [[ 8.63496609e-01 5.03674432e-01 2.61853457e-02 1.65503359e+02] [-5.03415139e-01 8.63893191e-01 -1.61787658e-02 -5.25236904e+01] [-3.07701725e-02 7.88209967e-04 9.99526175e-01 -3.41896676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:-52.56, Z:-3.41 [[ 8.63025888e-01 5.04480782e-01 2.61812327e-02 1.65552832e+02] [-5.04221658e-01 8.63422580e-01 -1.61854190e-02 -5.25622330e+01] [-3.07707003e-02 7.67291028e-04 9.99526175e-01 -3.41172002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:-52.60, Z:-3.42 [[ 8.64796466e-01 5.01439747e-01 2.61773452e-02 1.65603442e+02] [-5.01179038e-01 8.65192118e-01 -1.61917038e-02 -5.25960791e+01] [-3.07675966e-02 8.82991562e-04 9.99526175e-01 -3.42296719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.65, Y:-52.63, Z:-3.43 [[ 8.64177258e-01 5.02506316e-01 2.61738126e-02 1.65654572e+02] [-5.02245923e-01 8.64573118e-01 -1.61974124e-02 -5.26329202e+01] [-3.07684768e-02 8.51744761e-04 9.99526175e-01 -3.42641424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:-52.67, Z:-3.43 [[ 8.63326834e-01 5.03966205e-01 2.61694764e-02 1.65706330e+02] [-5.03706269e-01 8.63722995e-01 -1.62044151e-02 -5.26684702e+01] [-3.07696561e-02 8.07977071e-04 9.99526175e-01 -3.42928015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:-52.71, Z:-3.43 [[ 8.62247715e-01 5.05810501e-01 2.61651398e-02 1.65755689e+02] [-5.05551201e-01 8.62644291e-01 -1.62114143e-02 -5.27058966e+01] [-3.07711121e-02 7.50437070e-04 9.99526175e-01 -3.43171975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.81, Y:-52.74, Z:-3.43 [[ 8.61320459e-01 5.07388064e-01 2.61613973e-02 1.65805619e+02] [-5.07129307e-01 8.61717390e-01 -1.62174516e-02 -5.27424535e+01] [-3.07722724e-02 7.01211537e-04 9.99526176e-01 -3.43173045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.85, Y:-52.78, Z:-3.44 [[ 8.60673349e-01 5.08485182e-01 2.61573280e-02 1.65854921e+02] [-5.08226731e-01 8.61070480e-01 -1.62240123e-02 -5.27788628e+01] [-3.07729729e-02 6.69721700e-04 9.99526176e-01 -3.43660492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:-52.82, Z:-3.44 [[ 8.60184936e-01 5.09311088e-01 2.61551534e-02 1.65903707e+02] [-5.09052912e-01 8.60582245e-01 -1.62275174e-02 -5.28186207e+01] [-3.07735151e-02 6.44309074e-04 9.99526176e-01 -3.44146587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:-52.86, Z:-3.44 [[ 8.58424178e-01 5.12273275e-01 2.61538293e-02 1.65953930e+02] [-5.12016405e-01 8.58822333e-01 -1.62296511e-02 -5.28558149e+01] [-3.07755092e-02 5.40735206e-04 9.99526176e-01 -3.43895883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.01, Y:-52.89, Z:-3.44 [[ 8.53611252e-01 5.20253786e-01 2.61501315e-02 1.66006363e+02] [-5.20000456e-01 8.54011669e-01 -1.62356070e-02 -5.28899947e+01] [-3.07791535e-02 2.60816527e-04 9.99526176e-01 -3.43998637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:-52.93, Z:-3.44 [[ 8.52314030e-01 5.22376450e-01 2.61464919e-02 1.66054426e+02] [-5.22123939e-01 8.52714963e-01 -1.62414663e-02 -5.29279930e+01] [-3.07796644e-02 1.91120299e-04 9.99526176e-01 -3.44276571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:166.11, Y:-52.96, Z:-3.44 [[ 8.51307937e-01 5.24014629e-01 2.61431571e-02 1.66106759e+02] [-5.23762724e-01 8.51709252e-01 -1.62468324e-02 -5.29624483e+01] [-3.07799466e-02 1.38246160e-04 9.99526176e-01 -3.44176465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.16, Y:-53.00, Z:-3.44 [[ 8.51938467e-01 5.22989115e-01 2.61387246e-02 1.66159877e+02] [-5.22736508e-01 8.52339341e-01 -1.62539606e-02 -5.29956751e+01] [-3.07797077e-02 1.83708639e-04 9.99526176e-01 -3.44357528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.603617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:166.21, Y:-53.03, Z:-3.44 [[ 8.52563275e-01 5.21970176e-01 2.61342313e-02 1.66211466e+02] [-5.21716869e-01 8.52963706e-01 -1.62611820e-02 -5.30275531e+01] [-3.07794028e-02 2.29017243e-04 9.99526176e-01 -3.44432524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:-53.06, Z:-3.45 [[ 8.54847439e-01 5.18220956e-01 2.61322926e-02 1.66264877e+02] [-5.17965797e-01 8.55246693e-01 -1.62642968e-02 -5.30611962e+01] [-3.07780563e-02 3.67858731e-04 9.99526176e-01 -3.44500067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:-53.09, Z:-3.45 [[ 8.57681656e-01 5.13516804e-01 2.61279431e-02 1.66317767e+02] [-5.13259243e-01 8.58079364e-01 -1.62712812e-02 -5.30947998e+01] [-3.07754251e-02 5.45171098e-04 9.99526176e-01 -3.44655087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.783617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.37, Y:-53.13, Z:-3.45 [[ 8.58684678e-01 5.11838051e-01 2.61234223e-02 1.66371146e+02] [-5.11579492e-01 8.59081738e-01 -1.62785361e-02 -5.31264273e+01] [-3.07741292e-02 6.13922469e-04 9.99526176e-01 -3.44977418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.43, Y:-53.16, Z:-3.45 [[ 8.58957159e-01 5.11380848e-01 2.61194737e-02 1.66425470e+02] [-5.11121885e-01 8.59353956e-01 -1.62848693e-02 -5.31573514e+01] [-3.07736433e-02 6.37770480e-04 9.99526176e-01 -3.45332912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:-53.19, Z:-3.45 [[ 8.58009917e-01 5.12968770e-01 2.61155844e-02 1.66479539e+02] [-5.12710352e-01 8.58407069e-01 -1.62911040e-02 -5.31890940e+01] [-3.07746298e-02 5.88198331e-04 9.99526176e-01 -3.45487618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96361786499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:166.53, Y:-53.22, Z:-3.46 [[ 8.56420854e-01 5.15617620e-01 2.61111221e-02 1.66532242e+02] [-5.15360212e-01 8.56818661e-01 -1.62982530e-02 -5.32199771e+01] [-3.07761631e-02 5.01530367e-04 9.99526176e-01 -3.45593448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.59, Y:-53.25, Z:-3.46 [[ 8.56062557e-01 5.16212451e-01 2.61075518e-02 1.66585912e+02] [-5.15955145e-01 8.56460430e-01 -1.63039702e-02 -5.32522401e+01] [-3.07763974e-02 4.86892776e-04 9.99526176e-01 -3.45727403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.64, Y:-53.29, Z:-3.46 [[ 8.57148279e-01 5.14407865e-01 2.61031774e-02 1.66638900e+02] [-5.14149508e-01 8.57545471e-01 -1.63109707e-02 -5.32868633e+01] [-3.07751532e-02 5.59984648e-04 9.99526176e-01 -3.45808041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.69, Y:-53.32, Z:-3.46 [[ 8.58957205e-01 5.11381828e-01 2.60987740e-02 1.66691153e+02] [-5.11121858e-01 8.59353343e-01 -1.63180134e-02 -5.33220914e+01] [-3.07728042e-02 6.76821339e-04 9.99526176e-01 -3.45826430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:-53.36, Z:-3.46 [[ 8.59940303e-01 5.09727149e-01 2.60942462e-02 1.66743158e+02] [-5.09466198e-01 8.60335795e-01 -1.63252507e-02 -5.33566642e+01] [-3.07712375e-02 7.44604610e-04 9.99526176e-01 -3.45902740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.80, Y:-53.39, Z:-3.46 [[ 8.59444049e-01 5.10563646e-01 2.60900249e-02 1.66796767e+02] [-5.10302876e-01 8.59839660e-01 -1.63319941e-02 -5.33886788e+01] [-3.07717606e-02 7.22620355e-04 9.99526176e-01 -3.46043760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:-53.42, Z:-3.46 [[ 8.58488396e-01 5.12169130e-01 2.60855631e-02 1.66850079e+02] [-5.11908883e-01 8.58884351e-01 -1.63391175e-02 -5.34219873e+01] [-3.07728735e-02 6.73511303e-04 9.99526176e-01 -3.46261452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.383617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-53.45, Z:-3.47 [[ 8.57852266e-01 5.13234126e-01 2.60810673e-02 1.66903291e+02] [-5.12974153e-01 8.58248401e-01 -1.63462906e-02 -5.34549195e+01] [-3.07735085e-02 6.43789033e-04 9.99526176e-01 -3.46570204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:-53.49, Z:-3.47 [[ 8.57710263e-01 5.13471633e-01 2.60765349e-02 1.66957034e+02] [-5.13211550e-01 8.58106326e-01 -1.63535177e-02 -5.34874996e+01] [-3.07735070e-02 6.43801030e-04 9.99526176e-01 -3.46746645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.01, Y:-53.52, Z:-3.47 [[ 8.57852797e-01 5.13233700e-01 2.60719946e-02 1.67010773e+02] [-5.12973287e-01 8.58248643e-01 -1.63607531e-02 -5.35199899e+01] [-3.07731438e-02 6.60881006e-04 9.99526176e-01 -3.46992675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:-53.55, Z:-3.47 [[ 8.57659310e-01 5.13557196e-01 2.60674940e-02 1.67064268e+02] [-5.13296714e-01 8.58055111e-01 -1.63679207e-02 -5.35535952e+01] [-3.07732099e-02 6.57740610e-04 9.99526176e-01 -3.47164713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.623617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:167.12, Y:-53.59, Z:-3.47 [[ 8.57019224e-01 5.14624883e-01 2.60629940e-02 1.67118193e+02] [-5.14364678e-01 8.57415206e-01 -1.63750830e-02 -5.35866716e+01] [-3.07738325e-02 6.27877362e-04 9.99526176e-01 -3.47370893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.683617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.17, Y:-53.62, Z:-3.48 [[ 8.57133339e-01 5.14435025e-01 2.60584884e-02 1.67170613e+02] [-5.14174513e-01 8.57529120e-01 -1.63822499e-02 -5.36191102e+01] [-3.07735157e-02 6.43161955e-04 9.99526176e-01 -3.47720789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.22, Y:-53.65, Z:-3.48 [[ 8.57983366e-01 5.13016292e-01 2.60543246e-02 1.67223271e+02] [-5.12754925e-01 8.58378583e-01 -1.63888693e-02 -5.36537483e+01] [-3.07722312e-02 7.01893975e-04 9.99526176e-01 -3.47887074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:-53.69, Z:-3.48 [[ 8.59787144e-01 5.09987714e-01 2.60499275e-02 1.67274755e+02] [-5.09724744e-01 8.60181296e-01 -1.63958555e-02 -5.36883043e+01] [-3.07693452e-02 8.18653159e-04 9.99526176e-01 -3.48027861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:-53.72, Z:-3.48 [[ 8.61135773e-01 5.07707390e-01 2.60458696e-02 1.67327097e+02] [-5.07443181e-01 8.61529096e-01 -1.64022992e-02 -5.37217947e+01] [-3.07668430e-02 9.07807678e-04 9.99526176e-01 -3.48030849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.38, Y:-53.76, Z:-3.48 [[ 8.61932498e-01 5.06353816e-01 2.60419412e-02 1.67380323e+02] [-5.06088802e-01 8.62325278e-01 -1.64085339e-02 -5.37554984e+01] [-3.07651479e-02 9.63513771e-04 9.99526176e-01 -3.48173337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98361786499999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:-53.79, Z:-3.48 [[ 8.62388615e-01 5.05576826e-01 2.60374791e-02 1.67433400e+02] [-5.05311244e-01 8.62781012e-01 -1.64156114e-02 -5.37886920e+01] [-3.07639953e-02 9.99605429e-04 9.99526176e-01 -3.48354730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-53.82, Z:-3.49 [[ 8.62198577e-01 5.05901070e-01 2.60330804e-02 1.67486822e+02] [-5.05635426e-01 8.62590932e-01 -1.64225842e-02 -5.38220970e+01] [-3.07641020e-02 9.96281005e-04 9.99526176e-01 -3.48538977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.103617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:167.54, Y:-53.85, Z:-3.49 [[ 8.61757732e-01 5.06651880e-01 2.60285209e-02 1.67540426e+02] [-5.06386360e-01 8.62150170e-01 -1.64298075e-02 -5.38549013e+01] [-3.07646866e-02 9.78025685e-04 9.99526177e-01 -3.48998265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.163617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:167.59, Y:-53.89, Z:-3.49 [[ 8.60621897e-01 5.08579111e-01 2.60237984e-02 1.67591775e+02] [-5.08314244e-01 8.61014776e-01 -1.64372843e-02 -5.38872140e+01] [-3.07665344e-02 9.18019429e-04 9.99526177e-01 -3.49098816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.223617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:167.64, Y:-53.92, Z:-3.49 [[ 8.58478717e-01 5.12188686e-01 2.60200293e-02 1.67643692e+02] [-5.11925290e-01 8.58872585e-01 -1.64432485e-02 -5.39198184e+01] [-3.07699357e-02 7.95867807e-04 9.99526177e-01 -3.49215722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.70, Y:-53.95, Z:-3.49 [[ 8.55825177e-01 5.16610506e-01 2.60163763e-02 1.67697774e+02] [-5.16348970e-01 8.56220282e-01 -1.64490263e-02 -5.39528559e+01] [-3.07734888e-02 6.43961763e-04 9.99526177e-01 -3.49343306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.75, Y:-53.99, Z:-3.50 [[ 8.53985858e-01 5.19645583e-01 2.60119728e-02 1.67751164e+02] [-5.19385239e-01 8.54381749e-01 -1.64559869e-02 -5.39857244e+01] [-3.07754357e-02 5.42945379e-04 9.99526177e-01 -3.49588096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:167.80, Y:-54.02, Z:-3.50 [[ 8.51161343e-01 5.24259466e-01 2.60073102e-02 1.67803456e+02] [-5.24001044e-01 8.51558491e-01 -1.64633525e-02 -5.40197601e+01] [-3.07778142e-02 3.85111481e-04 9.99526177e-01 -3.49764043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.86, Y:-54.05, Z:-3.50 [[ 8.49590393e-01 5.26801607e-01 2.60044452e-02 1.67855935e+02] [-5.26544235e-01 8.49988222e-01 -1.64678766e-02 -5.40543743e+01] [-3.07787760e-02 2.98459071e-04 9.99526177e-01 -3.49909406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:-54.09, Z:-3.50 [[ 8.47949238e-01 5.29439412e-01 2.59999937e-02 1.67907788e+02] [-5.29183062e-01 8.48347726e-01 -1.64749017e-02 -5.40891238e+01] [-3.07794978e-02 2.11124091e-04 9.99526177e-01 -3.49995229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:-54.13, Z:-3.50 [[ 8.47251516e-01 5.30555437e-01 2.59960829e-02 1.67959085e+02] [-5.30299423e-01 8.47650221e-01 -1.64810704e-02 -5.41258305e+01] [-3.07797069e-02 1.77904136e-04 9.99526177e-01 -3.50003993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:-54.16, Z:-3.50 [[ 8.48773362e-01 5.28117613e-01 2.59916765e-02 1.68010557e+02] [-5.27860241e-01 8.49171191e-01 -1.64880167e-02 -5.41594603e+01] [-3.07789949e-02 2.74616761e-04 9.99526177e-01 -3.50219219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:-54.20, Z:-3.50 [[ 8.48799359e-01 5.28076001e-01 2.59881545e-02 1.68059479e+02] [-5.27818440e-01 8.49197066e-01 -1.64935660e-02 -5.41993712e+01] [-3.07789210e-02 2.82701125e-04 9.99526177e-01 -3.49977664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.763617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:168.11, Y:-54.23, Z:-3.51 [[ 8.50181649e-01 5.25847744e-01 2.59868171e-02 1.68111356e+02] [-5.25589075e-01 8.50578636e-01 -1.64956729e-02 -5.42330450e+01] [-3.07780439e-02 3.65931227e-04 9.99526177e-01 -3.50514468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.823617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:-54.27, Z:-3.51 [[ 8.50669526e-01 5.25058315e-01 2.59831275e-02 1.68163370e+02] [-5.24799101e-01 8.51066158e-01 -1.65014826e-02 -5.42669018e+01] [-3.07776011e-02 4.01386448e-04 9.99526177e-01 -3.50507619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883617865 meters Centerline goodness : 0.995525 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:-54.30, Z:-3.51 [[ 8.52413887e-01 5.22221849e-01 2.59789450e-02 1.68215263e+02] [-5.21961115e-01 8.52809521e-01 -1.65080646e-02 -5.42987579e+01] [-3.07759637e-02 5.11704452e-04 9.99526177e-01 -3.51478045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:-54.33, Z:-3.51 [[ 8.52936169e-01 5.21368631e-01 2.59738782e-02 1.68266943e+02] [-5.21107259e-01 8.53331381e-01 -1.65160329e-02 -5.43312572e+01] [-3.07752668e-02 5.51945307e-04 9.99526177e-01 -3.51246814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:-54.36, Z:-3.51 [[ 8.53987361e-01 5.19645250e-01 2.59692318e-02 1.68321014e+02] [-5.19382858e-01 8.54381897e-01 -1.65233355e-02 -5.43640407e+01] [-3.07739144e-02 6.22745802e-04 9.99526177e-01 -3.51320993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.38, Y:-54.40, Z:-3.51 [[ 8.54791628e-01 5.18321430e-01 2.59647570e-02 1.68376247e+02] [-5.18058213e-01 8.55185614e-01 -1.65303642e-02 -5.43952413e+01] [-3.07727287e-02 6.78761299e-04 9.99526177e-01 -3.51379253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:-54.43, Z:-3.52 [[ 8.55209194e-01 5.17632397e-01 2.59602560e-02 1.68430859e+02] [-5.17368649e-01 8.55602825e-01 -1.65374299e-02 -5.44264106e+01] [-3.07719778e-02 7.11939561e-04 9.99526177e-01 -3.51725085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:-54.46, Z:-3.52 [[ 8.53755289e-01 5.20027128e-01 2.59555967e-02 1.68484618e+02] [-5.19764262e-01 8.54149509e-01 -1.65447395e-02 -5.44573150e+01] [-3.07736735e-02 6.34367298e-04 9.99526177e-01 -3.51868141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:-54.49, Z:-3.52 [[ 8.51974118e-01 5.22940370e-01 2.59513094e-02 1.68539398e+02] [-5.22678648e-01 8.52369099e-01 -1.65514616e-02 -5.44862736e+01] [-3.07755216e-02 5.37221647e-04 9.99526177e-01 -3.51849122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:-54.52, Z:-3.52 [[ 8.49608965e-01 5.26774480e-01 2.59471245e-02 1.68592857e+02] [-5.26514339e-01 8.50004990e-01 -1.65580194e-02 -5.45180051e+01] [-3.07775274e-02 4.06308635e-04 9.99526177e-01 -3.51797084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:-54.55, Z:-3.52 [[ 8.49295054e-01 5.27280636e-01 2.59430643e-02 1.68646734e+02] [-5.27020538e-01 8.49691105e-01 -1.65643786e-02 -5.45499378e+01] [-3.07776670e-02 3.95517074e-04 9.99526177e-01 -3.51965494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.70, Y:-54.58, Z:-3.52 [[ 8.50552162e-01 5.25250620e-01 2.59384913e-02 1.68702583e+02] [-5.24989358e-01 8.50947447e-01 -1.65715364e-02 -5.45797810e+01] [-3.07765027e-02 4.77524253e-04 9.99526177e-01 -3.52211704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.76, Y:-54.61, Z:-3.52 [[ 8.50770582e-01 5.24896993e-01 2.59338315e-02 1.68755293e+02] [-5.24635344e-01 8.51165612e-01 -1.65788257e-02 -5.46123143e+01] [-3.07761613e-02 4.98972573e-04 9.99526177e-01 -3.52389798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:-54.64, Z:-3.53 [[ 8.53155393e-01 5.21012030e-01 2.59295363e-02 1.68809850e+02] [-5.20748379e-01 8.53549088e-01 -1.65855406e-02 -5.46395980e+01] [-3.07733983e-02 6.47279402e-04 9.99526177e-01 -3.52954539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.87, Y:-54.67, Z:-3.53 [[ 8.55043387e-01 5.17907882e-01 2.59274267e-02 1.68865014e+02] [-5.17642702e-01 8.55436055e-01 -1.65888379e-02 -5.46702793e+01] [-3.07707455e-02 7.63032903e-04 9.99526177e-01 -3.53149251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.92, Y:-54.70, Z:-3.53 [[ 8.57127805e-01 5.14451091e-01 2.59229873e-02 1.68920681e+02] [-5.14184118e-01 8.57519255e-01 -1.65957723e-02 -5.47001871e+01] [-3.07671739e-02 8.95509482e-04 9.99526177e-01 -3.53402519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:-54.73, Z:-3.54 [[ 8.59112822e-01 5.11129521e-01 2.59185840e-02 1.68976788e+02] [-5.10860828e-01 8.59503093e-01 -1.66026464e-02 -5.47300320e+01] [-3.07632058e-02 1.02275716e-03 9.99526177e-01 -3.53693034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.03, Y:-54.76, Z:-3.54 [[ 8.60466749e-01 5.08847163e-01 2.59140659e-02 1.69030560e+02] [-5.08577223e-01 8.60856159e-01 -1.66096954e-02 -5.47607601e+01] [-3.07600796e-02 1.11278696e-03 9.99526177e-01 -3.53872371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.09, Y:-54.79, Z:-3.54 [[ 8.62088588e-01 5.06094727e-01 2.59112826e-02 1.69086392e+02] [-5.05823413e-01 8.62477042e-01 -1.66140362e-02 -5.47886864e+01] [-3.07561625e-02 1.21623753e-03 9.99526177e-01 -3.54002278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:169.14, Y:-54.82, Z:-3.54 [[ 8.62519637e-01 5.05359895e-01 2.59085408e-02 1.69141908e+02] [-5.05088123e-01 8.62907770e-01 -1.66183108e-02 -5.48187004e+01] [-3.07549090e-02 1.24752315e-03 9.99526177e-01 -3.54187610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96361786499997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:169.20, Y:-54.85, Z:-3.54 [[ 8.62252012e-01 5.05816616e-01 2.59040487e-02 1.69198034e+02] [-5.05544839e-01 8.62640142e-01 -1.66253100e-02 -5.48473440e+01] [-3.07552303e-02 1.23954886e-03 9.99526177e-01 -3.54357523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02361786499998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:169.25, Y:-54.87, Z:-3.55 [[ 8.61627336e-01 5.06880210e-01 2.58995663e-02 1.69254477e+02] [-5.06608703e-01 8.62015655e-01 -1.66322900e-02 -5.48747250e+01] [-3.07564102e-02 1.20989003e-03 9.99526177e-01 -3.54679575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08361786499998 meters Centerline goodness : 0.994403 with order 1 Centerline is valid? [True, True] Translation: X:169.31, Y:-54.90, Z:-3.55 [[ 8.59758098e-01 5.10044547e-01 2.58954238e-02 1.69310369e+02] [-5.09774276e-01 8.60147278e-01 -1.66387370e-02 -5.49046047e+01] [-3.07603754e-02 1.10446800e-03 9.99526177e-01 -3.54626471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14361786499998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:-54.93, Z:-3.54 [[ 8.58474645e-01 5.12202113e-01 2.58897504e-02 1.69367144e+02] [-5.11932554e-01 8.58864319e-01 -1.66475600e-02 -5.49324751e+01] [-3.07626983e-02 1.03770213e-03 9.99526178e-01 -3.54489413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20361786499998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:-54.96, Z:-3.54 [[ 8.57885968e-01 5.13187783e-01 2.58836702e-02 1.69420193e+02] [-5.12918388e-01 8.58275755e-01 -1.66570082e-02 -5.49632868e+01] [-3.07634997e-02 1.01360321e-03 9.99526178e-01 -3.54138553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263617865 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:-54.99, Z:-3.54 [[ 8.58087963e-01 5.12850151e-01 2.58799242e-02 1.69474483e+02] [-5.12580427e-01 8.58477522e-01 -1.66628264e-02 -5.49931101e+01] [-3.07628662e-02 1.03262813e-03 9.99526178e-01 -3.53703391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.323617865 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:169.53, Y:-55.02, Z:-3.55 [[ 8.60724034e-01 5.08413642e-01 2.58786720e-02 1.69529983e+02] [-5.08141852e-01 8.61112155e-01 -1.66647709e-02 -5.50200316e+01] [-3.07570359e-02 1.19373255e-03 9.99526178e-01 -3.54503141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383617865 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:169.58, Y:-55.05, Z:-3.54 [[ 8.61111212e-01 5.07757786e-01 2.58748989e-02 1.69583090e+02] [-5.07485525e-01 8.61499003e-01 -1.66706272e-02 -5.50508463e+01] [-3.07558404e-02 1.22412734e-03 9.99526178e-01 -3.54176475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.443617865 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:169.64, Y:-55.08, Z:-3.56 [[ 8.62518115e-01 5.05364251e-01 2.58742274e-02 1.69638020e+02] [-5.05090883e-01 8.62905125e-01 -1.66716694e-02 -5.50750959e+01] [-3.07522692e-02 1.31078055e-03 9.99526178e-01 -3.55822432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.69, Y:-55.10, Z:-3.56 [[ 8.61474915e-01 5.07140508e-01 2.58742274e-02 1.69694921e+02] [-5.06867937e-01 8.61862489e-01 -1.66716694e-02 -5.51024097e+01] [-3.07549049e-02 1.24740877e-03 9.99526178e-01 -3.55688342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.75, Y:-55.13, Z:-3.56 [[ 8.59642233e-01 5.10241125e-01 2.58694059e-02 1.69749322e+02] [-5.09969728e-01 8.60030629e-01 -1.66791476e-02 -5.51320601e+01] [-3.07588684e-02 1.14548575e-03 9.99526178e-01 -3.56274755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.80, Y:-55.16, Z:-3.57 [[ 8.55458167e-01 5.17225608e-01 2.58649435e-02 1.69803937e+02] [-5.16957175e-01 8.55848617e-01 -1.66860646e-02 -5.51625801e+01] [-3.07669361e-02 9.03162129e-04 9.99526178e-01 -3.56786538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-55.20, Z:-3.57 [[ 8.49602972e-01 5.26788260e-01 2.58634707e-02 1.69856143e+02] [-5.26524153e-01 8.49996362e-01 -1.66883472e-02 -5.51961560e+01] [-3.07750814e-02 5.60727357e-04 9.99526178e-01 -3.56722782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.91, Y:-55.23, Z:-3.57 [[ 8.46073240e-01 5.32439076e-01 2.58592805e-02 1.69907517e+02] [-5.32177399e-01 8.46468250e-01 -1.66948376e-02 -5.52310303e+01] [-3.07780438e-02 3.63330707e-04 9.99526178e-01 -3.56672477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.96, Y:-55.27, Z:-3.56 [[ 8.39647071e-01 5.42516657e-01 2.58548470e-02 1.69956078e+02] [-5.42259510e-01 8.40045044e-01 -1.67017008e-02 -5.52699851e+01] [-3.07801870e-02 3.49750736e-06 9.99526178e-01 -3.55832629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:-55.30, Z:-3.57 [[ 8.39183038e-01 5.43234205e-01 2.58539436e-02 1.70007973e+02] [-5.42977355e-01 8.39581204e-01 -1.67030991e-02 -5.53004391e+01] [-3.07801799e-02 -2.11485123e-05 9.99526178e-01 -3.57075866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.06, Y:-55.34, Z:-3.57 [[ 8.39166634e-01 5.43259575e-01 2.58533424e-02 1.70059231e+02] [-5.43002709e-01 8.39564788e-01 -1.67040296e-02 -5.53369833e+01] [-3.07801800e-02 -2.09706563e-05 9.99526178e-01 -3.57165516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:-55.38, Z:-3.57 [[ 8.39671618e-01 5.42478956e-01 2.58487076e-02 1.70109210e+02] [-5.42221499e-01 8.40069391e-01 -1.67111988e-02 -5.53763493e+01] [-3.07801817e-02 1.61943468e-05 9.99526178e-01 -3.57377415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:-55.41, Z:-3.57 [[ 8.40411440e-01 5.41332336e-01 2.58439993e-02 1.70159540e+02] [-5.41074113e-01 8.40808716e-01 -1.67184769e-02 -5.54145174e+01] [-3.07801121e-02 6.68802491e-05 9.99526178e-01 -3.57468706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:-55.45, Z:-3.58 [[ 8.41421930e-01 5.39760564e-01 2.58393131e-02 1.70208713e+02] [-5.39501376e-01 8.41818577e-01 -1.67257166e-02 -5.54548812e+01] [-3.07798960e-02 1.33039765e-04 9.99526178e-01 -3.57745024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:-55.50, Z:-3.58 [[ 8.42598394e-01 5.37922406e-01 2.58347138e-02 1.70256916e+02] [-5.37662134e-01 8.42994331e-01 -1.67328178e-02 -5.54954486e+01] [-3.07794748e-02 2.08698044e-04 9.99526178e-01 -3.58020503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.30, Y:-55.54, Z:-3.58 [[ 8.43760871e-01 5.36097374e-01 2.58301849e-02 1.70303593e+02] [-5.35836033e-01 8.44156102e-01 -1.67398060e-02 -5.55350772e+01] [-3.07788742e-02 2.83649515e-04 9.99526178e-01 -3.58266949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:-55.57, Z:-3.59 [[ 8.44739486e-01 5.34554129e-01 2.58279854e-02 1.70352556e+02] [-5.34291962e-01 8.45134170e-01 -1.67431989e-02 -5.55732504e+01] [-3.07782591e-02 3.43956242e-04 9.99526178e-01 -3.58624446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:-55.61, Z:-3.59 [[ 8.44421572e-01 5.35056381e-01 2.58239894e-02 1.70401600e+02] [-5.34794260e-01 8.44816287e-01 -1.67493599e-02 -5.56117897e+01] [-3.07783787e-02 3.32999546e-04 9.99526178e-01 -3.58880277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.45, Y:-55.65, Z:-3.58 [[ 8.43781379e-01 5.36065625e-01 2.58191894e-02 1.70449943e+02] [-5.35803750e-01 8.44176257e-01 -1.67567559e-02 -5.56519679e+01] [-3.07786675e-02 3.05020063e-04 9.99526178e-01 -3.58284029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:-55.69, Z:-3.58 [[ 8.44128074e-01 5.35519751e-01 2.58145382e-02 1.70498864e+02] [-5.35257402e-01 8.44522637e-01 -1.67639182e-02 -5.56915019e+01] [-3.07783712e-02 3.33471323e-04 9.99526178e-01 -3.58360767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-55.73, Z:-3.59 [[ 8.43914789e-01 5.35856002e-01 2.58103557e-02 1.70548078e+02] [-5.35593612e-01 8.44309326e-01 -1.67703552e-02 -5.57290552e+01] [-3.07784195e-02 3.28889122e-04 9.99526178e-01 -3.58509916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:-55.77, Z:-3.59 [[ 8.43441887e-01 5.36600259e-01 2.58059380e-02 1.70596141e+02] [-5.36338010e-01 8.43836516e-01 -1.67771504e-02 -5.57676459e+01] [-3.07786161e-02 3.09845902e-04 9.99526178e-01 -3.58881441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:-55.80, Z:-3.59 [[ 8.42681527e-01 5.37793651e-01 2.58037249e-02 1.70646478e+02] [-5.37531857e-01 8.43076459e-01 -1.67805536e-02 -5.58045363e+01] [-3.07789882e-02 2.70338363e-04 9.99526178e-01 -3.59174621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:-55.84, Z:-3.60 [[ 8.41143274e-01 5.40196606e-01 2.57995917e-02 1.70695744e+02] [-5.39935746e-01 8.41538823e-01 -1.67869058e-02 -5.58400243e+01] [-3.07795876e-02 1.90071147e-04 9.99526178e-01 -3.59519463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.75, Y:-55.88, Z:-3.60 [[ 8.39640874e-01 5.42529057e-01 2.57958172e-02 1.70746293e+02] [-5.42269117e-01 8.40037029e-01 -1.67927039e-02 -5.58778804e+01] [-3.07799715e-02 1.11565542e-04 9.99526178e-01 -3.59950410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.80, Y:-55.91, Z:-3.60 [[ 8.37713038e-01 5.45501308e-01 2.57912534e-02 1.70796938e+02] [-5.45242558e-01 8.38109971e-01 -1.67997104e-02 -5.59145687e+01] [-3.07801706e-02 1.08474848e-05 9.99526178e-01 -3.60378347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.85, Y:-55.95, Z:-3.60 [[ 8.35914364e-01 5.48253810e-01 2.57863543e-02 1.70846223e+02] [-5.47996135e-01 8.36311995e-01 -1.68072267e-02 -5.59520629e+01] [-3.07800635e-02 -8.14202543e-05 9.99526178e-01 -3.60417428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.89, Y:-55.99, Z:-3.60 [[ 8.33913541e-01 5.51292505e-01 2.57833331e-02 1.70893944e+02] [-5.51036136e-01 8.34312015e-01 -1.68118602e-02 -5.59912628e+01] [-3.07795971e-02 -1.87910411e-04 9.99526178e-01 -3.60082909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.003617865 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:170.94, Y:-56.03, Z:-3.61 [[ 8.36386359e-01 5.47533739e-01 2.57810683e-02 1.70943379e+02] [-5.47275472e-01 8.36783605e-01 -1.68153325e-02 -5.60288208e+01] [-3.07801372e-02 -4.52316004e-05 9.99526178e-01 -3.61045862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:-56.07, Z:-3.61 [[ 8.36527246e-01 5.47318676e-01 2.57766123e-02 1.70992941e+02] [-5.47060097e-01 8.36924289e-01 -1.68221606e-02 -5.60668403e+01] [-3.07801555e-02 -2.91603579e-05 9.99526178e-01 -3.60651542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123617865 meters Centerline goodness : 0.995890 with order 1 Centerline is valid? [True, True] Translation: X:171.04, Y:-56.10, Z:-3.61 [[ 8.39469598e-01 5.42795164e-01 2.57721512e-02 1.71041859e+02] [-5.42534235e-01 8.39865102e-01 -1.68289923e-02 -5.61048267e+01] [-3.07798260e-02 1.45153090e-04 9.99526178e-01 -3.61090102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:-56.14, Z:-3.61 [[ 8.42526101e-01 5.38038713e-01 2.57703734e-02 1.71090388e+02] [-5.37775468e-01 8.42920067e-01 -1.68317142e-02 -5.61424489e+01] [-3.07784787e-02 3.22483959e-04 9.99526178e-01 -3.61335149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.14, Y:-56.18, Z:-3.61 [[ 8.43913220e-01 5.35860620e-01 2.57657551e-02 1.71138735e+02] [-5.35596142e-01 8.44306359e-01 -1.68387809e-02 -5.61826944e+01] [-3.07774304e-02 4.10430798e-04 9.99526178e-01 -3.61193287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.19, Y:-56.22, Z:-3.61 [[ 8.45393557e-01 5.33522233e-01 2.57635487e-02 1.71188347e+02] [-5.33256566e-01 8.45785893e-01 -1.68421560e-02 -5.62225080e+01] [-3.07761107e-02 4.99668701e-04 9.99526178e-01 -3.61366259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:-56.26, Z:-3.61 [[ 8.44360804e-01 5.35155415e-01 2.57587744e-02 1.71239943e+02] [-5.34890283e-01 8.44753503e-01 -1.68494548e-02 -5.62591626e+01] [-3.07768919e-02 4.48901097e-04 9.99526178e-01 -3.61304962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.28, Y:-56.30, Z:-3.59 [[ 8.35012751e-01 5.49627546e-01 2.57539589e-02 1.71284171e+02] [-5.49368995e-01 8.35409813e-01 -1.68568119e-02 -5.63046638e+01] [-3.07800782e-02 -7.27736105e-05 9.99526178e-01 -3.58578916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:-56.32, Z:-3.62 [[ 8.38613819e-01 5.44117430e-01 2.57504312e-02 1.71343245e+02] [-5.43856105e-01 8.39009060e-01 -1.68621990e-02 -5.63225274e+01] [-3.07798615e-02 1.36343900e-04 9.99526179e-01 -3.61731187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:-56.36, Z:-3.62 [[ 8.37501296e-01 5.45828346e-01 2.57486964e-02 1.71394555e+02] [-5.45567747e-01 8.37897017e-01 -1.68648477e-02 -5.63562606e+01] [-3.07800679e-02 7.66735058e-05 9.99526179e-01 -3.62043127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:171.44, Y:-56.39, Z:-3.61 [[ 8.33964865e-01 5.51216612e-01 2.57458956e-02 1.71443745e+02] [-5.50958437e-01 8.34362172e-01 -1.68691224e-02 -5.63939252e+01] [-3.07799418e-02 -1.16662968e-04 9.99526179e-01 -3.60820095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.49, Y:-56.43, Z:-3.61 [[ 8.34554233e-01 5.50324055e-01 2.57423107e-02 1.71494116e+02] [-5.50065287e-01 8.34951153e-01 -1.68745911e-02 -5.64274193e+01] [-3.07800654e-02 -7.71900874e-05 9.99526179e-01 -3.60595523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:171.55, Y:-56.46, Z:-3.61 [[ 8.38443787e-01 5.44379822e-01 2.57415087e-02 1.71546426e+02] [-5.44118202e-01 8.38838834e-01 -1.68758145e-02 -5.64611655e+01] [-3.07798300e-02 1.42998436e-04 9.99526179e-01 -3.61146159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:-56.50, Z:-3.61 [[ 8.40184891e-01 5.41688825e-01 2.57403589e-02 1.71596954e+02] [-5.41425886e-01 8.40579061e-01 -1.68775681e-02 -5.64967323e+01] [-3.07791967e-02 2.43781091e-04 9.99526179e-01 -3.61123532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:-56.53, Z:-3.61 [[ 8.42549344e-01 5.38003950e-01 2.57362157e-02 1.71647529e+02] [-5.37739095e-01 8.42942228e-01 -1.68838836e-02 -5.65307223e+01] [-3.07777391e-02 3.86135667e-04 9.99526179e-01 -3.61347597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.70, Y:-56.57, Z:-3.62 [[ 8.43534096e-01 5.36458826e-01 2.57324252e-02 1.71699112e+02] [-5.36193075e-01 8.43926375e-01 -1.68896586e-02 -5.65655807e+01] [-3.07768788e-02 4.49454671e-04 9.99526179e-01 -3.61761136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96361786499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:171.75, Y:-56.59, Z:-3.63 [[ 8.46137230e-01 5.32343722e-01 2.57283960e-02 1.71753286e+02] [-5.32075876e-01 8.46528082e-01 -1.68957942e-02 -5.65924454e+01] [-3.07741797e-02 6.06701619e-04 9.99526179e-01 -3.63175172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:-56.63, Z:-3.63 [[ 8.40608771e-01 5.41031424e-01 2.57272459e-02 1.71799971e+02] [-5.40767566e-01 8.41002326e-01 -1.68975453e-02 -5.66309480e+01] [-3.07787766e-02 2.91764628e-04 9.99526179e-01 -3.62867624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08361786499998 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:-56.66, Z:-3.64 [[ 8.38359356e-01 5.44510526e-01 2.57269671e-02 1.71851741e+02] [-5.44248288e-01 8.38753992e-01 -1.68979698e-02 -5.66634297e+01] [-3.07797188e-02 1.64713296e-04 9.99526179e-01 -3.63736064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14361786499998 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:-56.69, Z:-3.64 [[ 8.37268929e-01 5.46185770e-01 2.57263324e-02 1.71904881e+02] [-5.45924292e-01 8.37664070e-01 -1.68989359e-02 -5.66930211e+01] [-3.07799827e-02 1.04324147e-04 9.99526179e-01 -3.63765192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:171.96, Y:-56.73, Z:-3.64 [[ 8.36444792e-01 5.47447149e-01 2.57241065e-02 1.71956183e+02] [-5.47186162e-01 8.36840257e-01 -1.69023237e-02 -5.67303345e+01] [-3.07800968e-02 6.19855607e-05 9.99526179e-01 -3.63821632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.263617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.01, Y:-56.77, Z:-3.63 [[ 8.35180194e-01 5.49374678e-01 2.57197521e-02 1.72005324e+02] [-5.49114400e-01 8.35576126e-01 -1.69089470e-02 -5.67697161e+01] [-3.07801582e-02 -1.06863654e-06 9.99526179e-01 -3.63447047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.323617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:-56.80, Z:-3.64 [[ 8.36410593e-01 5.47499710e-01 2.57174678e-02 1.72056369e+02] [-5.47238437e-01 8.36805869e-01 -1.69124206e-02 -5.68046192e+01] [-3.07800733e-02 7.21408826e-05 9.99526179e-01 -3.63806248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.11, Y:-56.84, Z:-3.64 [[ 8.37833130e-01 5.45320525e-01 2.57132511e-02 1.72108014e+02] [-5.45058028e-01 8.38227594e-01 -1.69188291e-02 -5.68401323e+01] [-3.07797414e-02 1.59941559e-04 9.99526179e-01 -3.64170665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.16, Y:-56.87, Z:-3.64 [[ 8.38814158e-01 5.43810519e-01 2.57084961e-02 1.72161027e+02] [-5.43547091e-01 8.39208001e-01 -1.69260514e-02 -5.68747556e+01] [-3.07793404e-02 2.24033338e-04 9.99526179e-01 -3.64417776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.503617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.21, Y:-56.91, Z:-3.65 [[ 8.39708373e-01 5.42428951e-01 2.57037133e-02 1.72213097e+02] [-5.42164653e-01 8.40101632e-01 -1.69333114e-02 -5.69076676e+01] [-3.07788498e-02 2.83398553e-04 9.99526179e-01 -3.64632143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.563617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:-56.94, Z:-3.65 [[ 8.40972934e-01 5.40466506e-01 2.56998282e-02 1.72265408e+02] [-5.40201109e-01 8.41365453e-01 -1.69392058e-02 -5.69402002e+01] [-3.07780209e-02 3.62337933e-04 9.99526179e-01 -3.64820048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.623617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:172.32, Y:-56.97, Z:-3.65 [[ 8.41980716e-01 5.38895370e-01 2.56954075e-02 1.72317425e+02] [-5.38629037e-01 8.42372600e-01 -1.69459089e-02 -5.69745520e+01] [-3.07771791e-02 4.27835963e-04 9.99526179e-01 -3.65276049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.683617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:-57.01, Z:-3.65 [[ 8.42227440e-01 5.38509764e-01 2.56938281e-02 1.72370816e+02] [-5.38243178e-01 8.42619153e-01 -1.69483034e-02 -5.70060904e+01] [-3.07769385e-02 4.44798502e-04 9.99526179e-01 -3.65331514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:172.42, Y:-57.04, Z:-3.65 [[ 8.42984958e-01 5.37323396e-01 2.56890859e-02 1.72424762e+02] [-5.37056040e-01 8.43376144e-01 -1.69554882e-02 -5.70391994e+01] [-3.07761427e-02 4.96742695e-04 9.99526179e-01 -3.65442675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.48, Y:-57.07, Z:-3.66 [[ 8.43577233e-01 5.36393281e-01 2.56846170e-02 1.72477183e+02] [-5.36125288e-01 8.43967984e-01 -1.69622551e-02 -5.70724641e+01] [-3.07754341e-02 5.38799568e-04 9.99526179e-01 -3.65579925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.53, Y:-57.11, Z:-3.66 [[ 8.43505183e-01 5.36506774e-01 2.56804842e-02 1.72529077e+02] [-5.36238643e-01 8.43895839e-01 -1.69685098e-02 -5.71062741e+01] [-3.07753742e-02 5.42157960e-04 9.99526179e-01 -3.65542110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92361786499998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:172.58, Y:-57.14, Z:-3.66 [[ 8.42886158e-01 5.37478974e-01 2.56763945e-02 1.72582516e+02] [-5.37211105e-01 8.43276994e-01 -1.69746960e-02 -5.71358316e+01] [-3.07758549e-02 5.14092039e-04 9.99526179e-01 -3.65907123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:-57.17, Z:-3.66 [[ 8.42263897e-01 5.38453750e-01 2.56726712e-02 1.72635867e+02] [-5.38186162e-01 8.42654925e-01 -1.69803252e-02 -5.71694903e+01] [-3.07763226e-02 4.85238453e-04 9.99526179e-01 -3.66036527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.69, Y:-57.20, Z:-3.66 [[ 8.42206800e-01 5.38543272e-01 2.56680776e-02 1.72690159e+02] [-5.38275514e-01 8.42597712e-01 -1.69872663e-02 -5.72018954e+01] [-3.07762414e-02 4.90293525e-04 9.99526179e-01 -3.66371559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103617865 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:-57.23, Z:-3.67 [[ 8.42808547e-01 5.37601281e-01 2.56635094e-02 1.72743860e+02] [-5.37332876e-01 8.43199015e-01 -1.69941649e-02 -5.72337899e+01] [-3.07755306e-02 5.32980119e-04 9.99526179e-01 -3.66647427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.80, Y:-57.27, Z:-3.67 [[ 8.43462202e-01 5.36575370e-01 2.56590287e-02 1.72796912e+02] [-5.36306284e-01 8.43852201e-01 -1.70009274e-02 -5.72670353e+01] [-3.07747068e-02 5.78541308e-04 9.99526179e-01 -3.66808414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.85, Y:-57.30, Z:-3.67 [[ 8.43650006e-01 5.36280270e-01 2.56542418e-02 1.72849831e+02] [-5.36010829e-01 8.44039759e-01 -1.70081477e-02 -5.73005693e+01] [-3.07743342e-02 5.97972522e-04 9.99526179e-01 -3.66812182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.90, Y:-57.33, Z:-3.67 [[ 8.43335364e-01 5.36775158e-01 2.56494270e-02 1.72902705e+02] [-5.36505725e-01 8.43725123e-01 -1.70154057e-02 -5.73334229e+01] [-3.07745131e-02 5.88628950e-04 9.99526179e-01 -3.66899544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.96, Y:-57.37, Z:-3.67 [[ 8.43560004e-01 5.36422272e-01 2.56449954e-02 1.72956424e+02] [-5.36152473e-01 8.43949510e-01 -1.70220822e-02 -5.73662336e+01] [-3.07741053e-02 6.09520008e-04 9.99526179e-01 -3.67192186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:-57.40, Z:-3.67 [[ 8.43815981e-01 5.36019749e-01 2.56401920e-02 1.73009103e+02] [-5.35749544e-01 8.44205205e-01 -1.70293144e-02 -5.73993377e+01] [-3.07736324e-02 6.32886476e-04 9.99526179e-01 -3.67227407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:-57.43, Z:-3.67 [[ 8.44479294e-01 5.34974325e-01 2.56357803e-02 1.73062589e+02] [-5.34703437e-01 8.44868043e-01 -1.70359533e-02 -5.74320752e+01] [-3.07726491e-02 6.78970003e-04 9.99526179e-01 -3.67323558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:-57.46, Z:-3.68 [[ 8.45588913e-01 5.33218937e-01 2.56311284e-02 1.73117260e+02] [-5.32947031e-01 8.45976950e-01 -1.70429493e-02 -5.74633015e+01] [-3.07709672e-02 7.51295183e-04 9.99526179e-01 -3.67545930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.17, Y:-57.50, Z:-3.68 [[ 8.45848692e-01 5.32806984e-01 2.56263091e-02 1.73171564e+02] [-5.32534669e-01 8.46236443e-01 -1.70501927e-02 -5.74953240e+01] [-3.07703784e-02 7.74985205e-04 9.99526179e-01 -3.67691737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:-57.53, Z:-3.68 [[ 8.43245049e-01 5.36918363e-01 2.56214284e-02 1.73224179e+02] [-5.36647717e-01 8.43633966e-01 -1.70575238e-02 -5.75274733e+01] [-3.07736050e-02 6.33991479e-04 9.99526179e-01 -3.67796610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:-57.56, Z:-3.68 [[ 8.42744359e-01 5.37704117e-01 2.56169372e-02 1.73277837e+02] [-5.37433628e-01 8.43133386e-01 -1.70642660e-02 -5.75599474e+01] [-3.07740211e-02 6.13410461e-04 9.99526179e-01 -3.68042597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.33, Y:-57.59, Z:-3.68 [[ 8.41011393e-01 5.40410815e-01 2.56122726e-02 1.73332321e+02] [-5.40141365e-01 8.41401140e-01 -1.70712643e-02 -5.75905290e+01] [-3.07756912e-02 5.22879869e-04 9.99526179e-01 -3.68100268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:-57.62, Z:-3.68 [[ 8.40073500e-01 5.41867834e-01 2.56079025e-02 1.73386066e+02] [-5.41598860e-01 8.40463576e-01 -1.70778172e-02 -5.76225469e+01] [-3.07764292e-02 4.77410857e-04 9.99526179e-01 -3.68064319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.44, Y:-57.65, Z:-3.69 [[ 8.39857691e-01 5.42202503e-01 2.56028195e-02 1.73438136e+02] [-5.41933453e-01 8.40247714e-01 -1.70854342e-02 -5.76543792e+01] [-3.07764758e-02 4.74308966e-04 9.99526180e-01 -3.68553529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:-57.69, Z:-3.69 [[ 8.39972024e-01 5.42025554e-01 2.55987702e-02 1.73490959e+02] [-5.41756237e-01 8.40361863e-01 -1.70914991e-02 -5.76864377e+01] [-3.07762595e-02 4.88087644e-04 9.99526180e-01 -3.68746107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:-57.72, Z:-3.69 [[ 8.41561478e-01 5.39554641e-01 2.55942881e-02 1.73546139e+02] [-5.39283975e-01 8.41950382e-01 -1.70982083e-02 -5.77172434e+01] [-3.07745383e-02 5.86604066e-04 9.99526180e-01 -3.69034533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:-57.75, Z:-3.69 [[ 8.40315301e-01 5.41493658e-01 2.55893146e-02 1.73597041e+02] [-5.41223663e-01 8.40704671e-01 -1.71056484e-02 -5.77524304e+01] [-3.07756565e-02 5.24595528e-04 9.99526180e-01 -3.69177166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:-57.78, Z:-3.70 [[ 8.41878502e-01 5.39060301e-01 2.55847558e-02 1.73652108e+02] [-5.38788973e-01 8.42266944e-01 -1.71124644e-02 -5.77825784e+01] [-3.07738442e-02 6.21831580e-04 9.99526180e-01 -3.69510971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.70, Y:-57.82, Z:-3.70 [[ 8.41640493e-01 5.39432068e-01 2.55797825e-02 1.73704465e+02] [-5.39160686e-01 8.42028897e-01 -1.71198952e-02 -5.78159764e+01] [-3.07739365e-02 6.17183888e-04 9.99526180e-01 -3.69931767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.76, Y:-57.85, Z:-3.70 [[ 8.41912022e-01 5.39008328e-01 2.55767386e-02 1.73757132e+02] [-5.38736614e-01 8.42300193e-01 -1.71244416e-02 -5.78494792e+01] [-3.07735084e-02 6.38147686e-04 9.99526180e-01 -3.70177614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.81, Y:-57.88, Z:-3.70 [[ 8.42586992e-01 5.37952815e-01 2.55720358e-02 1.73810364e+02] [-5.37680401e-01 8.42974673e-01 -1.71314613e-02 -5.78840454e+01] [-3.07724964e-02 6.85163997e-04 9.99526180e-01 -3.70156995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.86, Y:-57.92, Z:-3.70 [[ 8.42342330e-01 5.38336075e-01 2.55669728e-02 1.73862276e+02] [-5.38063608e-01 8.42729973e-01 -1.71390140e-02 -5.79182210e+01] [-3.07726038e-02 6.80259386e-04 9.99526180e-01 -3.70243019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.91, Y:-57.95, Z:-3.70 [[ 8.42100280e-01 5.38714847e-01 2.55623014e-02 1.73914513e+02] [-5.38442343e-01 8.42487898e-01 -1.71459784e-02 -5.79530252e+01] [-3.07727227e-02 6.74807758e-04 9.99526180e-01 -3.70460375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:-57.99, Z:-3.71 [[ 8.40599078e-01 5.41054538e-01 2.55573279e-02 1.73966400e+02] [-5.40782888e-01 8.40987294e-01 -1.71533886e-02 -5.79866675e+01] [-3.07743068e-02 5.98157105e-04 9.99526180e-01 -3.70602696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-58.02, Z:-3.71 [[ 8.38859558e-01 5.43747755e-01 2.55542613e-02 1.74018552e+02] [-5.43477213e-01 8.39248547e-01 -1.71579558e-02 -5.80208280e+01] [-3.07759767e-02 5.04956554e-04 9.99526180e-01 -3.70772913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.07, Y:-58.05, Z:-3.71 [[ 8.37548582e-01 5.45765123e-01 2.55500172e-02 1.74069616e+02] [-5.45495324e-01 8.37938088e-01 -1.71642735e-02 -5.80549834e+01] [-3.07769944e-02 4.38498029e-04 9.99526180e-01 -3.71097069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.12, Y:-58.09, Z:-3.71 [[ 8.37088721e-01 5.46470296e-01 2.55477501e-02 1.74120084e+02] [-5.46200724e-01 8.37478383e-01 -1.71676472e-02 -5.80911761e+01] [-3.07772977e-02 4.16644245e-04 9.99526180e-01 -3.71060590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.17, Y:-58.12, Z:-3.71 [[ 8.36779495e-01 5.46943878e-01 2.55434930e-02 1.74170609e+02] [-5.46674333e-01 8.37169176e-01 -1.71739789e-02 -5.81248380e+01] [-3.07774276e-02 4.06861386e-04 9.99526180e-01 -3.71238855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-58.16, Z:-3.72 [[ 8.37619966e-01 5.45656046e-01 2.55396178e-02 1.74223555e+02] [-5.45385726e-01 8.38009109e-01 -1.71797399e-02 -5.81588391e+01] [-3.07766613e-02 4.61150106e-04 9.99526180e-01 -3.71784296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:-58.19, Z:-3.72 [[ 8.36609553e-01 5.47204196e-01 2.55347371e-02 1.74275868e+02] [-5.46934375e-01 8.36999042e-01 -1.71869912e-02 -5.81939158e+01] [-3.07773442e-02 4.12975553e-04 9.99526180e-01 -3.72116317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:-58.23, Z:-3.72 [[ 8.34267171e-01 5.50769017e-01 2.55299353e-02 1.74324503e+02] [-5.50500642e-01 8.34657658e-01 -1.71941208e-02 -5.82322299e+01] [-3.07787451e-02 2.90244749e-04 9.99526180e-01 -3.71817537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.38, Y:-58.27, Z:-3.72 [[ 8.34377141e-01 5.50602542e-01 2.55269824e-02 1.74377388e+02] [-5.50333955e-01 8.34767482e-01 -1.71985037e-02 -5.82657242e+01] [-3.07786347e-02 3.01673149e-04 9.99526180e-01 -3.72499400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.42, Y:-58.31, Z:-3.72 [[ 8.32101851e-01 5.54035310e-01 2.55222379e-02 1.74424331e+02] [-5.53768117e-01 8.32493148e-01 -1.72055416e-02 -5.83051807e+01] [-3.07795658e-02 1.83361392e-04 9.99526180e-01 -3.72294694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:-58.34, Z:-3.72 [[ 8.32348749e-01 5.53664491e-01 2.55184543e-02 1.74474454e+02] [-5.53396952e-01 8.32739809e-01 -1.72111514e-02 -5.83411634e+01] [-3.07794362e-02 2.03845518e-04 9.99526180e-01 -3.72101091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.52, Y:-58.38, Z:-3.73 [[ 8.34111105e-01 5.51006064e-01 2.55143448e-02 1.74523928e+02] [-5.50737093e-01 8.34501181e-01 -1.72172413e-02 -5.83781866e+01] [-3.07785553e-02 3.09396041e-04 9.99526180e-01 -3.72612693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-58.42, Z:-3.73 [[ 8.35388872e-01 5.49067107e-01 2.55096879e-02 1.74573860e+02] [-5.48797020e-01 8.35778176e-01 -1.72241385e-02 -5.84155644e+01] [-3.07776483e-02 3.89212930e-04 9.99526180e-01 -3.72751670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:-58.45, Z:-3.73 [[ 8.34777903e-01 5.49995759e-01 2.55052692e-02 1.74624013e+02] [-5.49725904e-01 8.35167369e-01 -1.72306791e-02 -5.84534145e+01] [-3.07779690e-02 3.62882961e-04 9.99526180e-01 -3.72674420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.67, Y:-58.49, Z:-3.73 [[ 8.36057959e-01 5.48048185e-01 2.55005032e-02 1.74674145e+02] [-5.47777209e-01 8.36446645e-01 -1.72377296e-02 -5.84915894e+01] [-3.07769168e-02 4.43146499e-04 9.99526180e-01 -3.72976826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.72, Y:-58.53, Z:-3.73 [[ 8.35991928e-01 5.48149145e-01 2.54953299e-02 1.74723766e+02] [-5.47877982e-01 8.36380484e-01 -1.72453778e-02 -5.85302212e+01] [-3.07768354e-02 4.48666701e-04 9.99526180e-01 -3.73150142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:-58.57, Z:-3.73 [[ 8.36347128e-01 5.47607277e-01 2.54902169e-02 1.74773606e+02] [-5.47335632e-01 8.36735348e-01 -1.72529319e-02 -5.85665384e+01] [-3.07763966e-02 4.77736116e-04 9.99526180e-01 -3.73406176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:-58.61, Z:-3.73 [[ 8.35702795e-01 5.48590310e-01 2.54854882e-02 1.74821801e+02] [-5.48318910e-01 8.36091184e-01 -1.72599141e-02 -5.86060727e+01] [-3.07768137e-02 4.49983360e-04 9.99526180e-01 -3.73474390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-58.64, Z:-3.73 [[ 8.34917470e-01 5.49784981e-01 2.54812227e-02 1.74870999e+02] [-5.49513943e-01 8.35306114e-01 -1.72662091e-02 -5.86441073e+01] [-3.07773236e-02 4.13572493e-04 9.99526180e-01 -3.73485311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:-58.68, Z:-3.74 [[ 8.34366191e-01 5.50621458e-01 2.54768334e-02 1.74920472e+02] [-5.50350613e-01 8.34754968e-01 -1.72726833e-02 -5.86799456e+01] [-3.07776233e-02 3.90552150e-04 9.99526180e-01 -3.73755811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:-58.72, Z:-3.74 [[ 8.33706416e-01 5.51620110e-01 2.54728281e-02 1.74970749e+02] [-5.51349550e-01 8.34095392e-01 -1.72785881e-02 -5.87180494e+01] [-3.07779852e-02 3.60837500e-04 9.99526180e-01 -3.73884178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:-58.76, Z:-3.74 [[ 8.32253163e-01 5.53810481e-01 2.54680988e-02 1.75017943e+02] [-5.53540731e-01 8.32642701e-01 -1.72855561e-02 -5.87589768e+01] [-3.07787487e-02 2.88328704e-04 9.99526180e-01 -3.73882211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80361786499998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:175.07, Y:-58.80, Z:-3.74 [[ 8.31860369e-01 5.54400499e-01 2.54639689e-02 1.75067242e+02] [-5.54130840e-01 8.32249969e-01 -1.72916378e-02 -5.87977808e+01] [-3.07788800e-02 2.73857754e-04 9.99526181e-01 -3.73939297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:-58.84, Z:-3.74 [[ 8.30684544e-01 5.56160968e-01 2.54590960e-02 1.75116379e+02] [-5.55891915e-01 8.31074563e-01 -1.72988094e-02 -5.88363969e+01] [-3.07793297e-02 2.17347917e-04 9.99526181e-01 -3.73884392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:175.16, Y:-58.88, Z:-3.73 [[ 8.28726133e-01 5.59075172e-01 2.54548180e-02 1.75162543e+02] [-5.58807297e-01 8.29116963e-01 -1.73051021e-02 -5.88782711e+01] [-3.07798743e-02 1.16852265e-04 9.99526181e-01 -3.73324206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.21, Y:-58.91, Z:-3.74 [[ 8.31215941e-01 5.55366688e-01 2.54539011e-02 1.75212389e+02] [-5.55097028e-01 8.31605541e-01 -1.73064507e-02 -5.89148734e+01] [-3.07790314e-02 2.56012852e-04 9.99526181e-01 -3.74048655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:175.26, Y:-58.96, Z:-3.73 [[ 8.28998400e-01 5.58671470e-01 2.54527175e-02 1.75258259e+02] [-5.58403310e-01 8.29389034e-01 -1.73081912e-02 -5.89570825e+01] [-3.07797974e-02 1.35581159e-04 9.99526181e-01 -3.73085053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:175.31, Y:-58.99, Z:-3.74 [[ 8.32120390e-01 5.54010834e-01 2.54490345e-02 1.75309190e+02] [-5.53740320e-01 8.32509398e-01 -1.73136048e-02 -5.89898278e+01] [-3.07784850e-02 3.14847082e-04 9.99526181e-01 -3.74263977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:175.36, Y:-59.02, Z:-3.74 [[ 8.31028629e-01 5.55647324e-01 2.54454101e-02 1.75360502e+02] [-5.55377413e-01 8.31418056e-01 -1.73189298e-02 -5.90247335e+01] [-3.07789904e-02 2.60720468e-04 9.99526181e-01 -3.74232466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223617865 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:175.41, Y:-59.06, Z:-3.74 [[ 8.29053951e-01 5.58589564e-01 2.54410023e-02 1.75412101e+02] [-5.58320837e-01 8.29444195e-01 -1.73254024e-02 -5.90613914e+01] [-3.07796807e-02 1.59451618e-04 9.99526181e-01 -3.74334319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:-59.10, Z:-3.75 [[ 8.27051987e-01 5.61549662e-01 2.54359488e-02 1.75462523e+02] [-5.61282103e-01 8.27443034e-01 -1.73328185e-02 -5.90952820e+01] [-3.07800370e-02 5.83991651e-05 9.99526181e-01 -3.74837365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.343617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:175.51, Y:-59.13, Z:-3.75 [[ 8.25423938e-01 5.63940192e-01 2.54319084e-02 1.75514034e+02] [-5.63673584e-01 8.25815633e-01 -1.73387448e-02 -5.91307455e+01] [-3.07800826e-02 -2.34798881e-05 9.99526181e-01 -3.75023003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.57, Y:-59.16, Z:-3.75 [[ 8.25123774e-01 5.64379353e-01 2.54303690e-02 1.75566370e+02] [-5.64112883e-01 8.25515563e-01 -1.73410023e-02 -5.91639682e+01] [-3.07800690e-02 -3.71255398e-05 9.99526181e-01 -3.75167279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46361786499997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:175.62, Y:-59.20, Z:-3.76 [[ 8.27098114e-01 5.61482176e-01 2.54258734e-02 1.75617851e+02] [-5.61214132e-01 8.27488827e-01 -1.73475914e-02 -5.91966657e+01] [-3.07799895e-02 7.88006490e-05 9.99526181e-01 -3.75747266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52361786499998 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:175.67, Y:-59.23, Z:-3.76 [[ 8.27956050e-01 5.60216488e-01 2.54217620e-02 1.75669120e+02] [-5.59947661e-01 8.28346225e-01 -1.73536143e-02 -5.92323323e+01] [-3.07798014e-02 1.33173756e-04 9.99526181e-01 -3.75722197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58361786499998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:175.72, Y:-59.27, Z:-3.76 [[ 8.29255218e-01 5.58291809e-01 2.54173190e-02 1.75720138e+02] [-5.58021877e-01 8.29644629e-01 -1.73601194e-02 -5.92667333e+01] [-3.07793546e-02 2.12549536e-04 9.99526181e-01 -3.75910026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64361786499998 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:175.77, Y:-59.30, Z:-3.76 [[ 8.30864881e-01 5.55893567e-01 2.54143913e-02 1.75771836e+02] [-5.55622380e-01 8.31253420e-01 -1.73644043e-02 -5.93020445e+01] [-3.07785603e-02 3.06669095e-04 9.99526181e-01 -3.76123453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70361786499998 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:-59.34, Z:-3.76 [[ 8.31885235e-01 5.54365529e-01 2.54129010e-02 1.75822375e+02] [-5.54093562e-01 8.32273228e-01 -1.73665851e-02 -5.93372374e+01] [-3.07779133e-02 3.65880908e-04 9.99526181e-01 -3.76325334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:-59.37, Z:-3.76 [[ 8.33163186e-01 5.52443212e-01 2.54087053e-02 1.75872584e+02] [-5.52170163e-01 8.33550418e-01 -1.73727216e-02 -5.93735932e+01] [-3.07768790e-02 4.44383182e-04 9.99526181e-01 -3.76468950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823617865 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:-59.41, Z:-3.77 [[ 8.33492005e-01 5.51947177e-01 2.54045626e-02 1.75924502e+02] [-5.51673713e-01 8.33878944e-01 -1.73787774e-02 -5.94088573e+01] [-3.07764970e-02 4.70042601e-04 9.99526181e-01 -3.76715696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.98, Y:-59.44, Z:-3.77 [[ 8.33655648e-01 5.51700199e-01 2.53998172e-02 1.75975646e+02] [-5.51426408e-01 8.34042357e-01 -1.73857102e-02 -5.94438182e+01] [-3.07762232e-02 4.87565522e-04 9.99526181e-01 -3.76852201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.03, Y:-59.48, Z:-3.77 [[ 8.34785804e-01 5.49988839e-01 2.53956426e-02 1.76025302e+02] [-5.49714070e-01 8.35171818e-01 -1.73918061e-02 -5.94787696e+01] [-3.07750242e-02 5.58090774e-04 9.99526181e-01 -3.77049703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.08, Y:-59.52, Z:-3.77 [[ 8.35841075e-01 5.48383946e-01 2.53918237e-02 1.76076108e+02] [-5.48108267e-01 8.36226440e-01 -1.73973798e-02 -5.95150222e+01] [-3.07737581e-02 6.23976100e-04 9.99526181e-01 -3.77157354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:-59.55, Z:-3.77 [[ 8.36469551e-01 5.47425021e-01 2.53877224e-02 1.76127865e+02] [-5.47148719e-01 8.36854469e-01 -1.74033628e-02 -5.95513133e+01] [-3.07728651e-02 6.66523284e-04 9.99526181e-01 -3.77296540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:-59.59, Z:-3.78 [[ 8.35585795e-01 5.48773255e-01 2.53829465e-02 1.76180193e+02] [-5.48497363e-01 8.35971006e-01 -1.74103256e-02 -5.95865044e+01] [-3.07737284e-02 6.25341545e-04 9.99526181e-01 -3.77574770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.23, Y:-59.62, Z:-3.78 [[ 8.34715510e-01 5.50096325e-01 2.53781573e-02 1.76232628e+02] [-5.49820831e-01 8.35101006e-01 -1.74173038e-02 -5.96218775e+01] [-3.07745195e-02 5.85054019e-04 9.99526181e-01 -3.77901847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:176.28, Y:-59.66, Z:-3.78 [[ 8.34888037e-01 5.49834663e-01 2.53733742e-02 1.76284586e+02] [-5.49558837e-01 8.35273296e-01 -1.74242690e-02 -5.96569593e+01] [-3.07741690e-02 6.03151720e-04 9.99526181e-01 -3.78129796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.34, Y:-59.69, Z:-3.78 [[ 8.35091929e-01 5.49525162e-01 2.53686040e-02 1.76336771e+02] [-5.49248982e-01 8.35476935e-01 -1.74312114e-02 -5.96920536e+01] [-3.07737727e-02 6.22984055e-04 9.99526181e-01 -3.78275895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36361786499998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:-59.73, Z:-3.79 [[ 8.34429369e-01 5.50530929e-01 2.53638403e-02 1.76386668e+02] [-5.50255003e-01 8.34814556e-01 -1.74381401e-02 -5.97287410e+01] [-3.07743386e-02 5.94316250e-04 9.99526181e-01 -3.78900622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:-59.76, Z:-3.79 [[ 8.34127874e-01 5.50987852e-01 2.53589612e-02 1.76440124e+02] [-5.50711922e-01 8.34513058e-01 -1.74452326e-02 -5.97623096e+01] [-3.07744955e-02 5.86072503e-04 9.99526181e-01 -3.78520412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:-59.80, Z:-3.79 [[ 8.33463360e-01 5.51992771e-01 2.53536587e-02 1.76492473e+02] [-5.51717071e-01 8.33848708e-01 -1.74529355e-02 -5.97965536e+01] [-3.07750098e-02 5.58335972e-04 9.99526181e-01 -3.78767280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:-59.83, Z:-3.79 [[ 8.33261736e-01 5.52297306e-01 2.53488595e-02 1.76544404e+02] [-5.52021535e-01 8.33647034e-01 -1.74599031e-02 -5.98318582e+01] [-3.07750590e-02 5.55552913e-04 9.99526181e-01 -3.78982473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603617865 meters Centerline goodness : 0.995282 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:-59.87, Z:-3.80 [[ 8.32735213e-01 5.53091079e-01 2.53441004e-02 1.76596514e+02] [-5.52815464e-01 8.33120623e-01 -1.74668085e-02 -5.98653206e+01] [-3.07754287e-02 5.34615859e-04 9.99526181e-01 -3.79802734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:-59.90, Z:-3.79 [[ 8.31879495e-01 5.54377374e-01 2.53423159e-02 1.76648067e+02] [-5.54102277e-01 8.32265274e-01 -1.74693972e-02 -5.99006475e+01] [-3.07761680e-02 4.90198345e-04 9.99526181e-01 -3.79214964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:-59.94, Z:-3.79 [[ 8.31707932e-01 5.54634958e-01 2.53373156e-02 1.76699826e+02] [-5.54359760e-01 8.32093639e-01 -1.74766465e-02 -5.99359244e+01] [-3.07761783e-02 4.89477312e-04 9.99526181e-01 -3.79388398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.75, Y:-59.97, Z:-3.80 [[ 8.31458259e-01 5.55009387e-01 2.53326599e-02 1.76751883e+02] [-5.54734157e-01 8.31843944e-01 -1.74833924e-02 -5.99688203e+01] [-3.07762666e-02 4.83819307e-04 9.99526181e-01 -3.80305987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.843617865 meters Centerline goodness : 0.994875 with order 1 Centerline is valid? [True, True] Translation: X:176.80, Y:-60.00, Z:-3.81 [[ 8.30692174e-01 5.56155531e-01 2.53285828e-02 1.76803602e+02] [-5.55880653e-01 8.31078109e-01 -1.74892970e-02 -6.00036101e+01] [-3.07768000e-02 4.48552941e-04 9.99526181e-01 -3.80904611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.903617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:-60.04, Z:-3.80 [[ 8.31624137e-01 5.54761246e-01 2.53230081e-02 1.76855300e+02] [-5.54485476e-01 8.32009435e-01 -1.74973650e-02 -6.00380065e+01] [-3.07758417e-02 5.09990809e-04 9.99526181e-01 -3.80179772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96361786499997 meters Centerline goodness : 0.994924 with order 1 Centerline is valid? [True, True] Translation: X:176.91, Y:-60.07, Z:-3.81 [[ 8.30773618e-01 5.56034381e-01 2.53172577e-02 1.76907010e+02] [-5.55758947e-01 8.31159157e-01 -1.75056815e-02 -6.00741744e+01] [-3.07764313e-02 4.72965891e-04 9.99526182e-01 -3.80565139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:-60.11, Z:-3.81 [[ 8.30609053e-01 5.56280471e-01 2.53108399e-02 1.76960944e+02] [-5.56004869e-01 8.30994472e-01 -1.75149558e-02 -6.01063051e+01] [-3.07763959e-02 4.75130670e-04 9.99526182e-01 -3.80581959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08361786499998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:177.01, Y:-60.14, Z:-3.81 [[ 8.29642904e-01 5.57720665e-01 2.53043620e-02 1.77014652e+02] [-5.57445447e-01 8.30028597e-01 -1.75243096e-02 -6.01386576e+01] [-3.07770137e-02 4.33117699e-04 9.99526182e-01 -3.80835470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.07, Y:-60.17, Z:-3.81 [[ 8.28997631e-01 5.58679581e-01 2.52992884e-02 1.77066675e+02] [-5.58404585e-01 8.29383483e-01 -1.75316311e-02 -6.01718473e+01] [-3.07773762e-02 4.06442043e-04 9.99526182e-01 -3.80696888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20361786499998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:177.12, Y:-60.21, Z:-3.81 [[ 8.29289503e-01 5.58246453e-01 2.52946086e-02 1.77120073e+02] [-5.57971050e-01 8.29675064e-01 -1.75383805e-02 -6.02057688e+01] [-3.07770447e-02 4.30735549e-04 9.99526182e-01 -3.80838280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:-60.24, Z:-3.81 [[ 8.29894568e-01 5.57346784e-01 2.52897088e-02 1.77175075e+02] [-5.57070748e-01 8.30279675e-01 -1.75454431e-02 -6.02376374e+01] [-3.07764275e-02 4.72710928e-04 9.99526182e-01 -3.80985175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:-60.27, Z:-3.81 [[ 8.30475445e-01 5.56481096e-01 2.52848622e-02 1.77229823e+02] [-5.56204447e-01 8.30860112e-01 -1.75524247e-02 -6.02689871e+01] [-3.07757760e-02 5.13304969e-04 9.99526182e-01 -3.81172306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.383617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:-60.30, Z:-3.81 [[ 8.30317525e-01 5.56716918e-01 2.52800671e-02 1.77282870e+02] [-5.56440167e-01 8.30702119e-01 -1.75593282e-02 -6.03010545e+01] [-3.07757804e-02 5.12973132e-04 9.99526182e-01 -3.81316977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:-60.33, Z:-3.82 [[ 8.30725029e-01 5.56108864e-01 2.52756377e-02 1.77337495e+02] [-5.55831638e-01 8.31109281e-01 -1.75657017e-02 -6.03318550e+01] [-3.07752595e-02 5.43268971e-04 9.99526182e-01 -3.81801802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:-60.36, Z:-3.82 [[ 8.30256367e-01 5.56808542e-01 2.52707739e-02 1.77391115e+02] [-5.56531427e-01 8.30640699e-01 -1.75726962e-02 -6.03627624e+01] [-3.07755607e-02 5.25863084e-04 9.99526182e-01 -3.81929371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:-60.39, Z:-3.82 [[ 8.30112786e-01 5.57022779e-01 2.52662807e-02 1.77445741e+02] [-5.56745567e-01 8.30497048e-01 -1.75791543e-02 -6.03937535e+01] [-3.07755609e-02 5.25790970e-04 9.99526182e-01 -3.82363681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623617865 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:177.50, Y:-60.43, Z:-3.82 [[ 8.30342143e-01 5.56681040e-01 2.52615595e-02 1.77500422e+02] [-5.56403463e-01 8.30726141e-01 -1.75859361e-02 -6.04256475e+01] [-3.07751950e-02 5.46724737e-04 9.99526182e-01 -3.82406323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.55, Y:-60.46, Z:-3.83 [[ 8.30949168e-01 5.55774758e-01 2.52566577e-02 1.77553613e+02] [-5.55496549e-01 8.31332708e-01 -1.75929732e-02 -6.04571984e+01] [-3.07744161e-02 5.88880281e-04 9.99526182e-01 -3.82862657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.61, Y:-60.49, Z:-3.82 [[ 8.31073795e-01 5.55588586e-01 2.52521277e-02 1.77606685e+02] [-5.55310094e-01 8.31457130e-01 -1.75994729e-02 -6.04907028e+01] [-3.07741279e-02 6.03699319e-04 9.99526182e-01 -3.82285960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.66, Y:-60.52, Z:-3.83 [[ 8.34446235e-01 5.50510720e-01 2.52473221e-02 1.77661309e+02] [-5.50229687e-01 8.34827711e-01 -1.76063641e-02 -6.05209736e+01] [-3.07696563e-02 7.99738107e-04 9.99526182e-01 -3.82788589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.71, Y:-60.55, Z:-3.83 [[ 8.36732972e-01 5.47029002e-01 2.52429045e-02 1.77714826e+02] [-5.46746191e-01 8.37113132e-01 -1.76126955e-02 -6.05533261e+01] [-3.07658221e-02 9.35661124e-04 9.99526182e-01 -3.83396376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.77, Y:-60.59, Z:-3.83 [[ 8.37691217e-01 5.45560683e-01 2.52381875e-02 1.77767044e+02] [-5.45277003e-01 8.38070728e-01 -1.76194522e-02 -6.05884617e+01] [-3.07638665e-02 9.97857096e-04 9.99526182e-01 -3.83191613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:-60.62, Z:-3.83 [[ 8.39251149e-01 5.43158157e-01 2.52334177e-02 1.77822144e+02] [-5.42873185e-01 8.39629692e-01 -1.76262806e-02 -6.06193255e+01] [-3.07605848e-02 1.09433042e-03 9.99526182e-01 -3.83388383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.87, Y:-60.66, Z:-3.83 [[ 8.38880073e-01 5.43731320e-01 2.52284280e-02 1.77873759e+02] [-5.43446393e-01 8.39258649e-01 -1.76334194e-02 -6.06558035e+01] [-3.07610188e-02 1.08202602e-03 9.99526182e-01 -3.83220026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.93, Y:-60.69, Z:-3.84 [[ 8.40601568e-01 5.41066338e-01 2.52234350e-02 1.77927226e+02] [-5.40779997e-01 8.40979076e-01 -1.76405586e-02 -6.06869289e+01] [-3.07570935e-02 1.18835216e-03 9.99526182e-01 -3.83896207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.98, Y:-60.72, Z:-3.84 [[ 8.40428997e-01 5.41334565e-01 2.52188335e-02 1.77979273e+02] [-5.41048148e-01 8.40806447e-01 -1.76471344e-02 -6.07203403e+01] [-3.07571616e-02 1.18656028e-03 9.99526182e-01 -3.83978800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.03, Y:-60.76, Z:-3.83 [[ 8.36660732e-01 5.47140796e-01 2.52144576e-02 1.78029605e+02] [-5.46856811e-01 8.37040015e-01 -1.76533845e-02 -6.07589097e+01] [-3.07643969e-02 9.81195746e-04 9.99526182e-01 -3.83427746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.08, Y:-60.79, Z:-3.84 [[ 8.33611467e-01 5.51775685e-01 2.52094480e-02 1.78082798e+02] [-5.51493592e-01 8.33992160e-01 -1.76605356e-02 -6.07926513e+01] [-3.07691361e-02 8.19175931e-04 9.99526182e-01 -3.83553983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.14, Y:-60.82, Z:-3.85 [[ 8.32542265e-01 5.53387858e-01 2.52042837e-02 1.78135630e+02] [-5.53106281e-01 8.32923338e-01 -1.76679027e-02 -6.08241115e+01] [-3.07704390e-02 7.68628152e-04 9.99526182e-01 -3.84517362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403617865 meters Centerline goodness : 0.995326 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:-60.86, Z:-3.84 [[ 8.31638105e-01 5.54745901e-01 2.52001521e-02 1.78186510e+02] [-5.54464767e-01 8.32019507e-01 -1.76737937e-02 -6.08603847e+01] [-3.07714827e-02 7.25603813e-04 9.99526182e-01 -3.84267537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:-60.89, Z:-3.85 [[ 8.32757219e-01 5.53064607e-01 2.51983000e-02 1.78236953e+02] [-5.52782623e-01 8.33137993e-01 -1.76764339e-02 -6.08938727e+01] [-3.07698711e-02 7.90995528e-04 9.99526182e-01 -3.84974038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:-60.93, Z:-3.85 [[ 8.34167152e-01 5.50935977e-01 2.51934889e-02 1.78287912e+02] [-5.50652815e-01 8.34547050e-01 -1.76832884e-02 -6.09308093e+01] [-3.07675116e-02 8.77952739e-04 9.99526182e-01 -3.85059072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.34, Y:-60.97, Z:-3.85 [[ 8.34159120e-01 5.50948349e-01 2.51888515e-02 1.78337788e+02] [-5.50664994e-01 8.34538874e-01 -1.76898915e-02 -6.09667847e+01] [-3.07672924e-02 8.85565578e-04 9.99526182e-01 -3.85201270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.39, Y:-61.00, Z:-3.86 [[ 8.36654432e-01 5.47151713e-01 2.51865987e-02 1.78388345e+02] [-5.46866538e-01 8.37032821e-01 -1.76930985e-02 -6.10001802e+01] [-3.07628189e-02 1.02930126e-03 9.99526183e-01 -3.85511078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.44, Y:-61.04, Z:-3.85 [[ 8.37254357e-01 5.46233353e-01 2.51846322e-02 1.78438512e+02] [-5.45947680e-01 8.37632369e-01 -1.76958972e-02 -6.10380350e+01] [-3.07615524e-02 1.06647555e-03 9.99526183e-01 -3.85466406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.49, Y:-61.08, Z:-3.85 [[ 8.36210399e-01 5.47830399e-01 2.51798026e-02 1.78488671e+02] [-5.47545241e-01 8.36588801e-01 -1.77027667e-02 -6.10751853e+01] [-3.07632546e-02 1.01615659e-03 9.99526183e-01 -3.85279377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.54, Y:-61.11, Z:-3.86 [[ 8.35384213e-01 5.49089623e-01 2.51754335e-02 1.78540249e+02] [-5.48804848e-01 8.35762903e-01 -1.77089778e-02 -6.11080503e+01] [-3.07645094e-02 9.77400535e-04 9.99526183e-01 -3.85636811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:-61.14, Z:-3.86 [[ 8.34553640e-01 5.50351287e-01 2.51730510e-02 1.78590909e+02] [-5.50066982e-01 8.34932684e-01 -1.77123639e-02 -6.11436119e+01] [-3.07658253e-02 9.35053611e-04 9.99526183e-01 -3.85560522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.943617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:-61.18, Z:-3.86 [[ 8.32977835e-01 5.52733634e-01 2.51685620e-02 1.78643954e+02] [-5.52450222e-01 8.33357545e-01 -1.77187404e-02 -6.11780924e+01] [-3.07681548e-02 8.54940348e-04 9.99526183e-01 -3.86116671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.70, Y:-61.21, Z:-3.86 [[ 8.32048832e-01 5.54131323e-01 2.51638309e-02 1.78697710e+02] [-5.53848345e-01 8.32428867e-01 -1.77254569e-02 -6.12109760e+01] [-3.07693301e-02 8.11499591e-04 9.99526183e-01 -3.86486783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.75, Y:-61.25, Z:-3.87 [[ 8.30332692e-01 5.56699775e-01 2.51591295e-02 1.78748644e+02] [-5.56417771e-01 8.30713450e-01 -1.77321273e-02 -6.12466892e+01] [-3.07714986e-02 7.24578225e-04 9.99526183e-01 -3.86920498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:-61.28, Z:-3.87 [[ 8.27177596e-01 5.61377290e-01 2.51547750e-02 1.78800977e+02] [-5.61097252e-01 8.27559802e-01 -1.77383025e-02 -6.12809942e+01] [-3.07749608e-02 5.58451344e-04 9.99526183e-01 -3.86767913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.85, Y:-61.32, Z:-3.87 [[ 8.23264526e-01 5.67100514e-01 2.51501089e-02 1.78853423e+02] [-5.66822931e-01 8.23648519e-01 -1.77449158e-02 -6.13159779e+01] [-3.07780008e-02 3.53101236e-04 9.99526183e-01 -3.86734815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.90, Y:-61.35, Z:-3.87 [[ 8.19069367e-01 5.73143175e-01 2.51450415e-02 1.78904689e+02] [-5.72868205e-01 8.19455235e-01 -1.77520936e-02 -6.13512352e+01] [-3.07797272e-02 1.35401275e-04 9.99526183e-01 -3.86786596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:-61.39, Z:-3.88 [[ 8.22241538e-01 5.68583165e-01 2.51403623e-02 1.78955347e+02] [-5.68305853e-01 8.22625726e-01 -1.77587177e-02 -6.13877384e+01] [-3.07784167e-02 3.14540260e-04 9.99526183e-01 -3.87571642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:-61.42, Z:-3.88 [[ 8.21708665e-01 5.69353204e-01 2.51356062e-02 1.79007355e+02] [-5.69076046e-01 8.22092965e-01 -1.77654469e-02 -6.14240579e+01] [-3.07786192e-02 2.93950272e-04 9.99526183e-01 -3.87644121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.06, Y:-61.46, Z:-3.87 [[ 8.24123588e-01 5.65852248e-01 2.51305786e-02 1.79055016e+02] [-5.65573241e-01 8.24506547e-01 -1.77725561e-02 -6.14622446e+01] [-3.07769674e-02 4.33599923e-04 9.99526183e-01 -3.87417043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-61.50, Z:-3.88 [[ 8.26468337e-01 5.62422143e-01 2.51281068e-02 1.79105041e+02] [-5.62141440e-01 8.26850055e-01 -1.77760502e-02 -6.14998842e+01] [-3.07748207e-02 5.65792521e-04 9.99526183e-01 -3.87577175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:-61.54, Z:-3.88 [[ 8.30155091e-01 5.56966169e-01 2.51239260e-02 1.79154220e+02] [-5.56682779e-01 8.30534819e-01 -1.77819571e-02 -6.15385386e+01] [-3.07702439e-02 7.75725266e-04 9.99526183e-01 -3.87704247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:-61.57, Z:-3.88 [[ 8.32669398e-01 5.53200426e-01 2.51189461e-02 1.79205603e+02] [-5.52915108e-01 8.33047679e-01 -1.77889890e-02 -6.15744428e+01] [-3.07661561e-02 9.23701985e-04 9.99526183e-01 -3.87951515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:-61.61, Z:-3.88 [[ 8.33708067e-01 5.51634086e-01 2.51136344e-02 1.79254633e+02] [-5.51347832e-01 8.34085639e-01 -1.77964846e-02 -6.16115799e+01] [-3.07640694e-02 9.90724881e-04 9.99526183e-01 -3.88261639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:-61.65, Z:-3.89 [[ 8.34925898e-01 5.49789320e-01 2.51087388e-02 1.79303941e+02] [-5.49502025e-01 8.35302678e-01 -1.78033891e-02 -6.16493230e+01] [-3.07615100e-02 1.06720783e-03 9.99526183e-01 -3.88586732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.36, Y:-61.68, Z:-3.89 [[ 8.33204625e-01 5.52394633e-01 2.51042373e-02 1.79355212e+02] [-5.52108324e-01 8.33582156e-01 -1.78097343e-02 -6.16842900e+01] [-3.07644459e-02 9.78894597e-04 9.99526183e-01 -3.88594254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:-61.72, Z:-3.89 [[ 8.29854940e-01 5.57414362e-01 2.50999459e-02 1.79405324e+02] [-5.57130155e-01 8.30234057e-01 -1.78157803e-02 -6.17226515e+01] [-3.07696017e-02 8.00576590e-04 9.99526183e-01 -3.88529254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.903617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:-61.76, Z:-3.89 [[ 8.26940519e-01 5.61729130e-01 2.50950510e-02 1.79454103e+02] [-5.61446693e-01 8.27320955e-01 -1.78226726e-02 -6.17595358e+01] [-3.07731759e-02 6.48756741e-04 9.99526183e-01 -3.88567327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:-61.80, Z:-3.89 [[ 8.23509218e-01 5.66747742e-01 2.50911368e-02 1.79504930e+02] [-5.66467456e-01 8.23891241e-01 -1.78281814e-02 -6.17972232e+01] [-3.07764494e-02 4.68359262e-04 9.99526183e-01 -3.88724334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.56, Y:-61.84, Z:-3.89 [[ 8.19540706e-01 5.72471585e-01 2.50861464e-02 1.79555248e+02] [-5.72193753e-01 8.19924518e-01 -1.78352006e-02 -6.18357349e+01] [-3.07788921e-02 2.62536689e-04 9.99526183e-01 -3.88755576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:-61.88, Z:-3.88 [[ 8.15334687e-01 5.78446456e-01 2.50807848e-02 1.79602713e+02] [-5.78171204e-01 8.15720354e-01 -1.78427372e-02 -6.18756656e+01] [-3.07799747e-02 4.68150706e-05 9.99526183e-01 -3.88101999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:-61.91, Z:-3.89 [[ 8.15802090e-01 5.77787262e-01 2.50764884e-02 1.79650845e+02] [-5.77511513e-01 8.16187401e-01 -1.78487734e-02 -6.19137629e+01] [-3.07799078e-02 7.91058157e-05 9.99526183e-01 -3.88582841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.70, Y:-61.95, Z:-3.89 [[ 8.16660175e-01 5.76573888e-01 2.50741050e-02 1.79699884e+02] [-5.76297464e-01 8.17045002e-01 -1.78521210e-02 -6.19512132e+01] [-3.07797390e-02 1.28973130e-04 9.99526183e-01 -3.89102807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:-61.99, Z:-3.89 [[ 8.18557259e-01 5.73877613e-01 2.50698665e-02 1.79748902e+02] [-5.73599739e-01 8.18941041e-01 -1.78580711e-02 -6.19901576e+01] [-3.07790898e-02 2.37784865e-04 9.99526183e-01 -3.89080168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.323617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.80, Y:-62.03, Z:-3.89 [[ 8.20174341e-01 5.71564312e-01 2.50656466e-02 1.79796330e+02] [-5.71285175e-01 8.20557205e-01 -1.78639922e-02 -6.20311290e+01] [-3.07782174e-02 3.31955708e-04 9.99526183e-01 -3.89091784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.85, Y:-62.07, Z:-3.89 [[ 8.23272465e-01 5.67092920e-01 2.50612877e-02 1.79846086e+02] [-5.66811518e-01 8.23653667e-01 -1.78701052e-02 -6.20656647e+01] [-3.07758317e-02 5.06939016e-04 9.99526183e-01 -3.89464197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.89, Y:-62.11, Z:-3.89 [[ 8.23437049e-01 5.66854007e-01 2.50591373e-02 1.79889768e+02] [-5.66572402e-01 8.23818102e-01 -1.78731202e-02 -6.21101049e+01] [-3.07756207e-02 5.19573782e-04 9.99526183e-01 -3.88894223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.94, Y:-62.15, Z:-3.89 [[ 8.25920485e-01 5.63229459e-01 2.50585041e-02 1.79937358e+02] [-5.62946155e-01 8.26300276e-01 -1.78740080e-02 -6.21502922e+01] [-3.07730167e-02 6.55920865e-04 9.99526183e-01 -3.89255164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:-62.19, Z:-3.90 [[ 8.27354658e-01 5.61120811e-01 2.50540599e-02 1.79983555e+02] [-5.60836350e-01 8.27733584e-01 -1.78802352e-02 -6.21909634e+01] [-3.07710589e-02 7.42068383e-04 9.99526183e-01 -3.89635352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.03, Y:-62.23, Z:-3.90 [[ 8.26550509e-01 5.62304857e-01 2.50500022e-02 1.80032468e+02] [-5.62020768e-01 8.26929713e-01 -1.78859182e-02 -6.22297552e+01] [-3.07719298e-02 7.04993308e-04 9.99526183e-01 -3.89759442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-62.27, Z:-3.91 [[ 8.25854098e-01 5.63327372e-01 2.50455681e-02 1.80080317e+02] [-5.63043564e-01 8.26233512e-01 -1.78921251e-02 -6.22672019e+01] [-3.07726115e-02 6.74538864e-04 9.99526183e-01 -3.90691061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.13, Y:-62.30, Z:-3.91 [[ 8.24837152e-01 5.64815541e-01 2.50415086e-02 1.80129472e+02] [-5.64532245e-01 8.25216949e-01 -1.78978049e-02 -6.23046595e+01] [-3.07736357e-02 6.26035407e-04 9.99526183e-01 -3.90540413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:-62.34, Z:-3.91 [[ 8.23556280e-01 5.66681750e-01 2.50369398e-02 1.80178518e+02] [-5.66399121e-01 8.23936573e-01 -1.79041939e-02 -6.23415175e+01] [-3.07748303e-02 5.64210680e-04 9.99526183e-01 -3.91085452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:-62.38, Z:-3.91 [[ 8.19966222e-01 5.71864309e-01 2.50321170e-02 1.80226663e+02] [-5.71583878e-01 8.20348139e-01 -1.79109342e-02 -6.23822577e+01] [-3.07776746e-02 3.78406491e-04 9.99526184e-01 -3.90992119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.28, Y:-62.42, Z:-3.91 [[ 8.18228560e-01 5.74348043e-01 2.50269901e-02 1.80276481e+02] [-5.74068552e-01 8.18611165e-01 -1.79180951e-02 -6.24208792e+01] [-3.07785964e-02 2.93889233e-04 9.99526184e-01 -3.91222736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98361786499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:-62.46, Z:-3.91 [[ 8.15157229e-01 5.78699067e-01 2.50216280e-02 1.80322715e+02] [-5.78421389e-01 8.15541152e-01 -1.79255798e-02 -6.24621012e+01] [-3.07796837e-02 1.39121124e-04 9.99526184e-01 -3.90962034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043617865 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:180.37, Y:-62.50, Z:-3.92 [[ 8.17066630e-01 5.76000150e-01 2.50189840e-02 1.80372955e+02] [-5.75721090e-01 8.17449550e-01 -1.79292693e-02 -6.24975039e+01] [-3.07790191e-02 2.45450901e-04 9.99526184e-01 -3.91755059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.42, Y:-62.54, Z:-3.92 [[ 8.18851518e-01 5.73459995e-01 2.50164959e-02 1.80422470e+02] [-5.73179642e-01 8.19233492e-01 -1.79327404e-02 -6.25351582e+01] [-3.07780605e-02 3.45305564e-04 9.99526184e-01 -3.92189366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.47, Y:-62.58, Z:-3.92 [[ 8.21168981e-01 5.70136757e-01 2.50116763e-02 1.80471543e+02] [-5.69854653e-01 8.21549664e-01 -1.79394599e-02 -6.25752890e+01] [-3.07762798e-02 4.78307875e-04 9.99526184e-01 -3.92277692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:-62.62, Z:-3.92 [[ 8.20318605e-01 5.71359833e-01 2.50065464e-02 1.80516481e+02] [-5.71078080e-01 8.20699547e-01 -1.79466079e-02 -6.26171448e+01] [-3.07768322e-02 4.41245880e-04 9.99526184e-01 -3.91602088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283617865 meters Centerline goodness : 0.995153 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-62.66, Z:-3.92 [[ 8.23334659e-01 5.67005217e-01 2.50024627e-02 1.80565255e+02] [-5.66721276e-01 8.23713974e-01 -1.79522952e-02 -6.26556823e+01] [-3.07739230e-02 6.11319307e-04 9.99526184e-01 -3.92281203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.05, Y:-62.10, Z:-2.88 [[ 8.43243751e-01 5.36949670e-01 2.50005856e-02 1.81047231e+02] [-5.36652160e-01 8.43612518e-01 -1.79549089e-02 -6.20964724e+01] [-3.07316894e-02 1.72374648e-03 9.99526184e-01 -2.87795364e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 188.403617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:-62.13, Z:-2.88 [[ 8.43225365e-01 5.36951301e-01 2.55789773e-02 1.81097891e+02] [-5.36679722e-01 8.43612965e-01 -1.70892073e-02 -6.21323518e+01] [-3.07548290e-02 6.82334643e-04 9.99526725e-01 -2.88054204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.15, Y:-62.16, Z:-2.90 [[ 8.46597201e-01 5.31619331e-01 2.55747131e-02 1.81150640e+02] [-5.31345119e-01 8.46982943e-01 -1.70955865e-02 -6.21644725e+01] [-3.07496900e-02 8.84076663e-04 9.99526725e-01 -2.89730865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:181.20, Y:-62.20, Z:-2.89 [[ 8.42568060e-01 5.37982515e-01 2.55710280e-02 1.81201560e+02] [-5.37711050e-01 8.42955740e-01 -1.71010968e-02 -6.21985212e+01] [-3.07553359e-02 6.59013616e-04 9.99526726e-01 -2.88818421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.25, Y:-62.23, Z:-2.89 [[ 8.41746055e-01 5.39267905e-01 2.55676635e-02 1.81253913e+02] [-5.38996879e-01 8.42134042e-01 -1.71061255e-02 -6.22338411e+01] [-3.07561843e-02 6.18122782e-04 9.99526726e-01 -2.88877980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:181.31, Y:-62.27, Z:-2.89 [[ 8.40379261e-01 5.41395645e-01 2.55627097e-02 1.81306310e+02] [-5.41125377e-01 8.40767776e-01 -1.71135252e-02 -6.22685737e+01] [-3.07574906e-02 5.49220722e-04 9.99526726e-01 -2.89006042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.36, Y:-62.30, Z:-2.89 [[ 8.37928794e-01 5.45180834e-01 2.55576559e-02 1.81357938e+02] [-5.44912091e-01 8.38318366e-01 -1.71210693e-02 -6.23032651e+01] [-3.07595311e-02 4.19561242e-04 9.99526726e-01 -2.89091607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.41, Y:-62.34, Z:-2.90 [[ 8.37141709e-01 5.46388875e-01 2.55529863e-02 1.81410760e+02] [-5.46120482e-01 8.37531522e-01 -1.71280357e-02 -6.23371301e+01] [-3.07599997e-02 3.83583895e-04 9.99526726e-01 -2.89548673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:181.46, Y:-62.37, Z:-2.89 [[ 8.35026782e-01 5.49615840e-01 2.55480054e-02 1.81461552e+02] [-5.49348726e-01 8.35417472e-01 -1.71354619e-02 -6.23729908e+01] [-3.07611714e-02 2.73805369e-04 9.99526726e-01 -2.89289515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:-62.41, Z:-2.89 [[ 8.34675663e-01 5.50149065e-01 2.55449295e-02 1.81514075e+02] [-5.49882060e-01 8.35066428e-01 -1.71400462e-02 -6.24078875e+01] [-3.07612934e-02 2.59680969e-04 9.99526726e-01 -2.89437919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:-62.44, Z:-2.90 [[ 8.36361651e-01 5.47582763e-01 2.55402997e-02 1.81564976e+02] [-5.47314348e-01 8.36751448e-01 -1.71469422e-02 -6.24428394e+01] [-3.07602528e-02 3.62472398e-04 9.99526726e-01 -2.90344354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.003617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:181.62, Y:-62.48, Z:-2.90 [[ 8.38413749e-01 5.44435753e-01 2.55361913e-02 1.81615620e+02] [-5.44165689e-01 8.38802406e-01 -1.71530585e-02 -6.24768450e+01] [-3.07585570e-02 4.85440901e-04 9.99526726e-01 -2.89835369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.063617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:181.67, Y:-62.51, Z:-2.91 [[ 8.41368865e-01 5.39857805e-01 2.55339608e-02 1.81666786e+02] [-5.39585526e-01 8.41755974e-01 -1.71563781e-02 -6.25125263e+01] [-3.07553687e-02 6.57086717e-04 9.99526726e-01 -2.90892790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.123617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:-62.55, Z:-2.91 [[ 8.44926728e-01 5.34272322e-01 2.55325423e-02 1.81718309e+02] [-5.33997421e-01 8.45311978e-01 -1.71584890e-02 -6.25470773e+01] [-3.07502696e-02 8.63354239e-04 9.99526726e-01 -2.90763293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:-62.58, Z:-2.91 [[ 8.46962235e-01 5.31039811e-01 2.55282614e-02 1.81770262e+02] [-5.30763248e-01 8.47346294e-01 -1.71648557e-02 -6.25824441e+01] [-3.07464994e-02 9.88521586e-04 9.99526726e-01 -2.91005748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:-62.62, Z:-2.91 [[ 8.47957769e-01 5.29448939e-01 2.55233638e-02 1.81820683e+02] [-5.29171437e-01 8.48341151e-01 -1.71721352e-02 -6.26183067e+01] [-3.07442885e-02 1.05501035e-03 9.99526726e-01 -2.90648092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30361786499998 meters Centerline goodness : 0.994771 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:-62.65, Z:-2.91 [[ 8.48759679e-01 5.28162661e-01 2.55188495e-02 1.81871845e+02] [-5.27884377e-01 8.49142492e-01 -1.71788410e-02 -6.26540641e+01] [-3.07423619e-02 1.10970560e-03 9.99526726e-01 -2.91020031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:-62.69, Z:-2.92 [[ 8.49609948e-01 5.26793941e-01 2.55162929e-02 1.81924578e+02] [-5.26514926e-01 8.49992229e-01 -1.71826376e-02 -6.26875006e+01] [-3.07403600e-02 1.16383076e-03 9.99526726e-01 -2.91524462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.98, Y:-62.72, Z:-2.92 [[ 8.48018565e-01 5.29352188e-01 2.55102995e-02 1.81976966e+02] [-5.29074060e-01 8.48401491e-01 -1.71915311e-02 -6.27227026e+01] [-3.07433508e-02 1.08189983e-03 9.99526726e-01 -2.91673911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48361786499999 meters Centerline goodness : 0.993819 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:-62.76, Z:-2.91 [[ 8.41829419e-01 5.39140708e-01 2.55054009e-02 1.82027315e+02] [-5.38866815e-01 8.42215387e-01 -1.71987956e-02 -6.27574682e+01] [-3.07536119e-02 7.34437974e-04 9.99526726e-01 -2.91369792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:-62.79, Z:-2.92 [[ 8.40728164e-01 5.40856520e-01 2.55025144e-02 1.82079537e+02] [-5.40583285e-01 8.41114598e-01 -1.72030747e-02 -6.27904918e+01] [-3.07549323e-02 6.76876419e-04 9.99526726e-01 -2.91956734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.13, Y:-62.82, Z:-2.92 [[ 8.36974467e-01 5.46647641e-01 2.54970326e-02 1.82130821e+02] [-5.46376833e-01 8.37362605e-01 -1.72111956e-02 -6.28247287e+01] [-3.07587211e-02 4.74343372e-04 9.99526726e-01 -2.92240050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.663617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:-62.86, Z:-2.93 [[ 8.34225544e-01 5.50833800e-01 2.54924927e-02 1.82182249e+02] [-5.50564734e-01 8.34614892e-01 -1.72179172e-02 -6.28594604e+01] [-3.07606248e-02 3.28358889e-04 9.99526726e-01 -2.92715330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.723617865 meters Centerline goodness : 0.997880 with order 1 Centerline is valid? [True, True] Translation: X:182.23, Y:-62.90, Z:-2.93 [[ 8.33145667e-01 5.52465979e-01 2.54880252e-02 1.82233493e+02] [-5.52197473e-01 8.33535402e-01 -1.72245281e-02 -6.28959691e+01] [-3.07611371e-02 2.76117814e-04 9.99526726e-01 -2.92934597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.783617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.29, Y:-62.93, Z:-2.93 [[ 8.33228984e-01 5.52340565e-01 2.54825530e-02 1.82285151e+02] [-5.52071753e-01 8.33618507e-01 -1.72326200e-02 -6.29312335e+01] [-3.07610029e-02 2.90520746e-04 9.99526726e-01 -2.92958537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:-62.97, Z:-2.93 [[ 8.34561217e-01 5.50325818e-01 2.54768248e-02 1.82336601e+02] [-5.50055808e-01 8.34949911e-01 -1.72410845e-02 -6.29663449e+01] [-3.07600865e-02 3.75065060e-04 9.99526726e-01 -2.93091882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.903617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.39, Y:-63.00, Z:-2.93 [[ 8.36761329e-01 5.46974969e-01 2.54727436e-02 1.82387926e+02] [-5.46703219e-01 8.37148808e-01 -1.72471121e-02 -6.30015907e+01] [-3.07582156e-02 5.05685505e-04 9.99526726e-01 -2.93414678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96361786499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:-63.04, Z:-2.94 [[ 8.38134147e-01 5.44869260e-01 2.54684236e-02 1.82439763e+02] [-5.44596343e-01 8.38520805e-01 -1.72534890e-02 -6.30378456e+01] [-3.07566988e-02 5.90727967e-04 9.99526726e-01 -2.93625858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.49, Y:-63.07, Z:-2.94 [[ 8.40986426e-01 5.40456679e-01 2.54638839e-02 1.82491224e+02] [-5.40181531e-01 8.41371499e-01 -1.72601863e-02 -6.30743423e+01] [-3.07529692e-02 7.60462599e-04 9.99526726e-01 -2.94133102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:-63.11, Z:-2.94 [[ 8.42905241e-01 5.37459371e-01 2.54593663e-02 1.82541500e+02] [-5.37182652e-01 8.43289188e-01 -1.72668475e-02 -6.31120248e+01] [-3.07498373e-02 8.77986329e-04 9.99526726e-01 -2.93696375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:-63.15, Z:-2.94 [[ 8.45132707e-01 5.33949998e-01 2.54579337e-02 1.82591442e+02] [-5.33671622e-01 8.45515454e-01 -1.72689593e-02 -6.31465630e+01] [-3.07458372e-02 1.00838557e-03 9.99526726e-01 -2.94062097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.64, Y:-63.18, Z:-2.94 [[ 8.45320524e-01 5.33652785e-01 2.54542131e-02 1.82643573e+02] [-5.33374110e-01 8.45703052e-01 -1.72744418e-02 -6.31818219e+01] [-3.07452597e-02 1.02582190e-03 9.99526726e-01 -2.93976186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:-63.22, Z:-2.94 [[ 8.44890131e-01 5.34334156e-01 2.54494754e-02 1.82696351e+02] [-5.34055580e-01 8.45272731e-01 -1.72814187e-02 -6.32167335e+01] [-3.07457999e-02 1.00946582e-03 9.99526726e-01 -2.94452848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.75, Y:-63.25, Z:-2.94 [[ 8.41766288e-01 5.39242134e-01 2.54448091e-02 1.82747693e+02] [-5.38965581e-01 8.42150353e-01 -1.72882866e-02 -6.32531206e+01] [-3.07509275e-02 8.38820554e-04 9.99526726e-01 -2.94334264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.80, Y:-63.29, Z:-2.94 [[ 8.39400796e-01 5.42917228e-01 2.54398841e-02 1.82799155e+02] [-5.42642138e-01 8.39785910e-01 -1.72955306e-02 -6.32890149e+01] [-3.07540978e-02 7.13129059e-04 9.99526726e-01 -2.94406879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:-63.32, Z:-2.94 [[ 8.35696474e-01 5.48602284e-01 2.54349450e-02 1.82850354e+02] [-5.48329594e-01 8.36083291e-01 -1.73027912e-02 -6.33236835e+01] [-3.07580833e-02 5.13148533e-04 9.99526727e-01 -2.94488402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.90, Y:-63.36, Z:-2.95 [[ 8.32965353e-01 5.52740460e-01 2.54303821e-02 1.82902382e+02] [-5.52469487e-01 8.33353375e-01 -1.73094948e-02 -6.33593650e+01] [-3.07601529e-02 3.68699355e-04 9.99526727e-01 -2.94775034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.96, Y:-63.39, Z:-2.95 [[ 8.32129628e-01 5.53998030e-01 2.54256812e-02 1.82955189e+02] [-5.53727432e-01 8.32517912e-01 -1.73163971e-02 -6.33915422e+01] [-3.07605849e-02 3.30589931e-04 9.99526727e-01 -2.95222796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:-63.43, Z:-2.95 [[ 8.29488211e-01 5.57945384e-01 2.54215831e-02 1.83006268e+02] [-5.57676449e-01 8.29877649e-01 -1.73224113e-02 -6.34271597e+01] [-3.07617630e-02 1.91717752e-04 9.99526727e-01 -2.95401579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.06, Y:-63.46, Z:-2.95 [[ 8.26721200e-01 5.62037375e-01 2.54174363e-02 1.83055438e+02] [-5.61770181e-01 8.27111835e-01 -1.73284938e-02 -6.34647359e+01] [-3.07623235e-02 4.70754291e-05 9.99526727e-01 -2.94956009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.11, Y:-63.50, Z:-2.96 [[ 8.29167952e-01 5.58421602e-01 2.54130482e-02 1.83108397e+02] [-5.58152507e-01 8.29557279e-01 -1.73349268e-02 -6.34977437e+01] [-3.07617767e-02 1.89209184e-04 9.99526727e-01 -2.95843313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.16, Y:-63.53, Z:-2.96 [[ 8.28327229e-01 5.59668127e-01 2.54084243e-02 1.83160524e+02] [-5.59399411e-01 8.28716818e-01 -1.73417015e-02 -6.35335537e+01] [-3.07619862e-02 1.51145957e-04 9.99526727e-01 -2.95904957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:-63.57, Z:-2.96 [[ 8.28884597e-01 5.58842533e-01 2.54036975e-02 1.83212147e+02] [-5.58573217e-01 8.29273771e-01 -1.73486231e-02 -6.35685386e+01] [-3.07617685e-02 1.90181431e-04 9.99526727e-01 -2.96231915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:-63.60, Z:-2.96 [[ 8.30111285e-01 5.57018990e-01 2.53987996e-02 1.83262758e+02] [-5.56748600e-01 8.30499713e-01 -1.73557908e-02 -6.36034239e+01] [-3.07612008e-02 2.66491695e-04 9.99526727e-01 -2.96317010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.32, Y:-63.64, Z:-2.96 [[ 8.29497660e-01 5.57932511e-01 2.53957833e-02 1.83316004e+02] [-5.57662413e-01 8.29886292e-01 -1.73602032e-02 -6.36377802e+01] [-3.07614342e-02 2.37974138e-04 9.99526727e-01 -2.96186049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.043617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.37, Y:-63.67, Z:-2.96 [[ 8.28907692e-01 5.58808871e-01 2.53906203e-02 1.83367261e+02] [-5.58538952e-01 8.29296449e-01 -1.73677512e-02 -6.36727360e+01] [-3.07616047e-02 2.14612086e-04 9.99526727e-01 -2.95960821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.42, Y:-63.71, Z:-2.96 [[ 8.28257446e-01 5.59772347e-01 2.53874372e-02 1.83419464e+02] [-5.59502738e-01 8.28646418e-01 -1.73724028e-02 -6.37070714e+01] [-3.07617996e-02 1.84481350e-04 9.99526727e-01 -2.96390246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:-63.74, Z:-2.97 [[ 8.28113033e-01 5.59986197e-01 2.53823584e-02 1.83472293e+02] [-5.59716461e-01 8.28501916e-01 -1.73798201e-02 -6.37407372e+01] [-3.07617920e-02 1.85531720e-04 9.99526727e-01 -2.96667576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223617865 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:183.53, Y:-63.78, Z:-2.97 [[ 8.27560233e-01 5.60803042e-01 2.53773423e-02 1.83525218e+02] [-5.60533465e-01 8.27949226e-01 -1.73871414e-02 -6.37753308e+01] [-3.07619127e-02 1.64057109e-04 9.99526727e-01 -2.96833694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.58, Y:-63.81, Z:-2.97 [[ 8.26682361e-01 5.62096539e-01 2.53723310e-02 1.83578249e+02] [-5.61827347e-01 8.27071621e-01 -1.73944511e-02 -6.38081708e+01] [-3.07620957e-02 1.24816462e-04 9.99526727e-01 -2.97014676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343617865 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:-63.84, Z:-2.97 [[ 8.26070595e-01 5.62995427e-01 2.53677026e-02 1.83630469e+02] [-5.62726452e-01 8.26460004e-01 -1.74011984e-02 -6.38428642e+01] [-3.07621868e-02 9.95410499e-05 9.99526727e-01 -2.97068118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.68, Y:-63.88, Z:-2.97 [[ 8.26710241e-01 5.62055968e-01 2.53626747e-02 1.83683437e+02] [-5.61786325e-01 8.27099189e-01 -1.74085237e-02 -6.38771179e+01] [-3.07620123e-02 1.43400964e-04 9.99526727e-01 -2.97447556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:-63.91, Z:-2.97 [[ 8.25906384e-01 5.63236747e-01 2.53576710e-02 1.83735516e+02] [-5.62967437e-01 8.26295561e-01 -1.74158091e-02 -6.39121758e+01] [-3.07621547e-02 1.08284865e-04 9.99526727e-01 -2.97322634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.79, Y:-63.94, Z:-2.97 [[ 8.26559057e-01 5.62278728e-01 2.53526584e-02 1.83787330e+02] [-5.62008742e-01 8.26947767e-01 -1.74231031e-02 -6.39446364e+01] [-3.07619645e-02 1.52808054e-04 9.99526727e-01 -2.97457817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.83, Y:-63.99, Z:-2.96 [[ 8.22121303e-01 5.68747754e-01 2.53486555e-02 1.83833160e+02] [-5.68480648e-01 8.22511997e-01 -1.74289249e-02 -6.39868061e+01] [-3.07622352e-02 -8.15296915e-05 9.99526727e-01 -2.96313811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.89, Y:-64.02, Z:-2.97 [[ 8.24068334e-01 5.65923155e-01 2.53448991e-02 1.83885769e+02] [-5.65654541e-01 8.24457993e-01 -1.74343857e-02 -6.40164583e+01] [-3.07623272e-02 3.06679374e-05 9.99526727e-01 -2.97266648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:-64.05, Z:-2.97 [[ 8.23968315e-01 5.66068845e-01 2.53432156e-02 1.83937776e+02] [-5.65800225e-01 8.24357970e-01 -1.74368325e-02 -6.40521368e+01] [-3.07623294e-02 2.82004485e-05 9.99526727e-01 -2.97301795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:-64.09, Z:-2.97 [[ 8.23248819e-01 5.67114925e-01 2.53385694e-02 1.83988689e+02] [-5.66846593e-01 8.23638672e-01 -1.74435816e-02 -6.40876852e+01] [-3.07623411e-02 -2.67378130e-06 9.99526727e-01 -2.97086312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.823617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.04, Y:-64.12, Z:-2.98 [[ 8.23821333e-01 5.66283127e-01 2.53343868e-02 1.84041636e+02] [-5.66014214e-01 8.24210785e-01 -1.74496542e-02 -6.41207380e+01] [-3.07623196e-02 3.57743330e-05 9.99526727e-01 -2.97591732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:-64.15, Z:-2.98 [[ 8.24711459e-01 5.64986185e-01 2.53302168e-02 1.84094309e+02] [-5.64716474e-01 8.25100359e-01 -1.74557053e-02 -6.41519285e+01] [-3.07622033e-02 9.15294503e-05 9.99526727e-01 -2.98065889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.15, Y:-64.18, Z:-2.99 [[ 8.28381846e-01 5.59591004e-01 2.53263987e-02 1.84150146e+02] [-5.59318591e-01 8.28768858e-01 -1.74612432e-02 -6.41805586e+01] [-3.07608851e-02 2.99051202e-04 9.99526727e-01 -2.99175032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.20, Y:-64.21, Z:-2.99 [[ 8.30978765e-01 5.55727515e-01 2.53223551e-02 1.84203154e+02] [-5.55453124e-01 8.31364377e-01 -1.74671053e-02 -6.42144038e+01] [-3.07590550e-02 4.49412321e-04 9.99526727e-01 -2.99430493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.25, Y:-64.25, Z:-3.00 [[ 8.31631627e-01 5.54750261e-01 2.53176629e-02 1.84253532e+02] [-5.54475210e-01 8.32016769e-01 -1.74739038e-02 -6.42493231e+01] [-3.07583728e-02 4.93834610e-04 9.99526727e-01 -2.99550723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:-64.28, Z:-2.99 [[ 8.34208691e-01 5.50867489e-01 2.53153862e-02 1.84306302e+02] [-5.50590546e-01 8.34592474e-01 -1.74772015e-02 -6.42845495e+01] [-3.07556529e-02 6.41221128e-04 9.99526727e-01 -2.99429778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.36, Y:-64.32, Z:-3.00 [[ 8.34839428e-01 5.49911359e-01 2.53106286e-02 1.84358349e+02] [-5.49633767e-01 8.35222742e-01 -1.74840888e-02 -6.43174201e+01] [-3.07547116e-02 6.84830531e-04 9.99526727e-01 -2.99657879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.41, Y:-64.35, Z:-3.00 [[ 8.35892465e-01 5.48309567e-01 2.53062305e-02 1.84411604e+02] [-5.48031049e-01 8.36275107e-01 -1.74904523e-02 -6.43508197e+01] [-3.07531529e-02 7.51537266e-04 9.99526727e-01 -3.00334181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.46, Y:-64.39, Z:-3.00 [[ 8.33971668e-01 5.51226889e-01 2.53016332e-02 1.84464428e+02] [-5.50949508e-01 8.34355135e-01 -1.74971001e-02 -6.43856415e+01] [-3.07554197e-02 6.52163389e-04 9.99526727e-01 -2.99876696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.52, Y:-64.42, Z:-3.00 [[ 8.32715961e-01 5.53122229e-01 2.52967925e-02 1.84519077e+02] [-5.52845508e-01 8.33099904e-01 -1.75040960e-02 -6.44166959e+01] [-3.07566599e-02 5.90722009e-04 9.99526727e-01 -3.00273113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.57, Y:-64.45, Z:-3.00 [[ 8.31752409e-01 5.54570325e-01 2.52919775e-02 1.84571605e+02] [-5.54294061e-01 8.32136682e-01 -1.75110504e-02 -6.44511689e+01] [-3.07574911e-02 5.45665425e-04 9.99526728e-01 -3.00382176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.62, Y:-64.49, Z:-3.00 [[ 8.28938005e-01 5.58768606e-01 2.52869413e-02 1.84623349e+02] [-5.58494067e-01 8.29323511e-01 -1.75183200e-02 -6.44876012e+01] [-3.07597422e-02 3.98994572e-04 9.99526728e-01 -2.99956640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:-64.52, Z:-3.00 [[ 8.29121292e-01 5.58496830e-01 2.52818960e-02 1.84673306e+02] [-5.58221943e-01 8.29506550e-01 -1.75255982e-02 -6.45222501e+01] [-3.07594893e-02 4.17937496e-04 9.99526728e-01 -3.00391017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.72, Y:-64.56, Z:-3.00 [[ 8.27832055e-01 5.60406209e-01 2.52778604e-02 1.84724765e+02] [-5.60132032e-01 8.28217819e-01 -1.75314169e-02 -6.45580530e+01] [-3.07602893e-02 3.54129583e-04 9.99526728e-01 -2.99990851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.78, Y:-64.59, Z:-3.00 [[ 8.27717614e-01 5.60575410e-01 2.52737442e-02 1.84777365e+02] [-5.60301131e-01 8.28103305e-01 -1.75373489e-02 -6.45931870e+01] [-3.07602777e-02 3.55065149e-04 9.99526728e-01 -3.00155092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.83, Y:-64.63, Z:-3.00 [[ 8.27877168e-01 5.60339977e-01 2.52686642e-02 1.84826500e+02] [-5.60065365e-01 8.28262622e-01 -1.75446653e-02 -6.46291426e+01] [-3.07600675e-02 3.72724181e-04 9.99526728e-01 -3.00199440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:-64.66, Z:-3.00 [[ 8.27158061e-01 5.61401141e-01 2.52646171e-02 1.84878230e+02] [-5.61126846e-01 8.27543741e-01 -1.75504914e-02 -6.46635894e+01] [-3.07604416e-02 3.40375495e-04 9.99526728e-01 -3.00148356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.93, Y:-64.70, Z:-3.01 [[ 8.26226969e-01 5.62770747e-01 2.52602856e-02 1.84928946e+02] [-5.62496901e-01 8.26612967e-01 -1.75567234e-02 -6.46981969e+01] [-3.07608900e-02 2.97005950e-04 9.99526728e-01 -3.00632576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:-64.73, Z:-3.01 [[ 8.28140370e-01 5.59951467e-01 2.52563330e-02 1.84980979e+02] [-5.59676133e-01 8.28525309e-01 -1.75624077e-02 -6.47319586e+01] [-3.07596070e-02 4.08772054e-04 9.99526728e-01 -3.00735457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:-64.76, Z:-3.02 [[ 8.31518737e-01 5.54922449e-01 2.52520438e-02 1.85036664e+02] [-5.54644601e-01 8.31901864e-01 -1.75685727e-02 -6.47579360e+01] [-3.07564177e-02 6.02687629e-04 9.99526728e-01 -3.01618101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.08, Y:-64.80, Z:-3.01 [[ 8.29171341e-01 5.58423969e-01 2.52499273e-02 1.85084779e+02] [-5.58147646e-01 8.29555570e-01 -1.75716140e-02 -6.47977999e+01] [-3.07586283e-02 4.76691294e-04 9.99526728e-01 -3.01307126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.14, Y:-64.83, Z:-3.01 [[ 8.29321016e-01 5.58201849e-01 2.52457572e-02 1.85137678e+02] [-5.57925241e-01 8.29705040e-01 -1.75776034e-02 -6.48327573e+01] [-3.07583827e-02 4.92230729e-04 9.99526728e-01 -3.01492854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.19, Y:-64.87, Z:-3.01 [[ 8.29589443e-01 5.57803057e-01 2.52409723e-02 1.85188577e+02] [-5.57526055e-01 8.29973183e-01 -1.75844717e-02 -6.48685365e+01] [-3.07580021e-02 5.15392351e-04 9.99526728e-01 -3.01403830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.24, Y:-64.90, Z:-3.01 [[ 8.29258710e-01 5.58294825e-01 2.52364677e-02 1.85239437e+02] [-5.58017855e-01 8.29642473e-01 -1.75909341e-02 -6.49042969e+01] [-3.07581729e-02 5.05035734e-04 9.99526728e-01 -3.01455820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:-64.94, Z:-3.03 [[ 8.30963354e-01 5.55754667e-01 2.52320061e-02 1.85290834e+02] [-5.55476329e-01 8.31346126e-01 -1.75973313e-02 -6.49361458e+01] [-3.07563296e-02 6.06955283e-04 9.99526728e-01 -3.02533669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:-64.97, Z:-3.02 [[ 8.31968092e-01 5.54249538e-01 2.52298082e-02 1.85339380e+02] [-5.53970412e-01 8.32350290e-01 -1.76004820e-02 -6.49748253e+01] [-3.07550972e-02 6.66472182e-04 9.99526728e-01 -3.02414005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.39, Y:-65.01, Z:-3.03 [[ 8.31960589e-01 5.54260996e-01 2.52255354e-02 1.85389069e+02] [-5.53981690e-01 8.32342655e-01 -1.76066038e-02 -6.50112327e+01] [-3.07549428e-02 6.73515767e-04 9.99526728e-01 -3.02549456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.443617865 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.44, Y:-65.05, Z:-3.03 [[ 8.33978722e-01 5.51219892e-01 2.52214359e-02 1.85440340e+02] [-5.50939016e-01 8.34359636e-01 -1.76124743e-02 -6.50465583e+01] [-3.07520943e-02 7.92955738e-04 9.99526728e-01 -3.03386452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.49, Y:-65.08, Z:-3.04 [[ 8.34044140e-01 5.51121109e-01 2.52169627e-02 1.85491643e+02] [-5.50839994e-01 8.34424877e-01 -1.76188766e-02 -6.50836145e+01] [-3.07517958e-02 8.04409178e-04 9.99526728e-01 -3.03572552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563617865 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:185.54, Y:-65.12, Z:-3.04 [[ 8.34250981e-01 5.50808196e-01 2.52117303e-02 1.85540232e+02] [-5.50526713e-01 8.34631446e-01 -1.76263608e-02 -6.51222106e+01] [-3.07512469e-02 8.25077773e-04 9.99526728e-01 -3.03844268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623617865 meters Centerline goodness : 0.996965 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:-65.16, Z:-3.04 [[ 8.33632115e-01 5.51744531e-01 2.52085088e-02 1.85589495e+02] [-5.51463336e-01 8.34012793e-01 -1.76309667e-02 -6.51611178e+01] [-3.07520083e-02 7.96171731e-04 9.99526728e-01 -3.04315612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.64, Y:-65.19, Z:-3.05 [[ 8.35799691e-01 5.48455598e-01 2.52058416e-02 1.85642835e+02] [-5.48172790e-01 8.36179172e-01 -1.76347790e-02 -6.51945478e+01] [-3.07484930e-02 9.21986311e-04 9.99526728e-01 -3.04823739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.69, Y:-65.23, Z:-3.05 [[ 8.36735303e-01 5.47027431e-01 2.51996598e-02 1.85694418e+02] [-5.46743709e-01 8.37114102e-01 -1.76436083e-02 -6.52309148e+01] [-3.07465283e-02 9.85274501e-04 9.99526728e-01 -3.05125610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:-65.27, Z:-3.04 [[ 8.34766697e-01 5.50027088e-01 2.51945349e-02 1.85742580e+02] [-5.49744508e-01 8.35146347e-01 -1.76509235e-02 -6.52698679e+01] [-3.07496098e-02 8.83845909e-04 9.99526728e-01 -3.04179698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.79, Y:-65.30, Z:-3.04 [[ 8.33775162e-01 5.51529194e-01 2.51898297e-02 1.85793914e+02] [-5.51247095e-01 8.34155171e-01 -1.76576358e-02 -6.53049770e+01] [-3.07509283e-02 8.36677723e-04 9.99526728e-01 -3.04443967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.85, Y:-65.34, Z:-3.05 [[ 8.30687321e-01 5.56169283e-01 2.51853765e-02 1.85845891e+02] [-5.55889115e-01 8.31068755e-01 -1.76639852e-02 -6.53396800e+01] [-3.07549454e-02 6.72971867e-04 9.99526728e-01 -3.04739727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:-65.37, Z:-3.05 [[ 8.28025984e-01 5.60124009e-01 2.51806325e-02 1.85897538e+02] [-5.59845458e-01 8.28408600e-01 -1.76707453e-02 -6.53749186e+01] [-3.07576612e-02 5.34573529e-04 9.99526728e-01 -3.04938695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:-65.41, Z:-3.05 [[ 8.24537790e-01 5.65246507e-01 2.51757734e-02 1.85949157e+02] [-5.64970122e-01 8.24921973e-01 -1.76776653e-02 -6.54092475e+01] [-3.07602873e-02 3.52343322e-04 9.99526728e-01 -3.05155908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.103617865 meters Centerline goodness : 0.996002 with order 1 Centerline is valid? [True, True] Translation: X:186.00, Y:-65.44, Z:-3.06 [[ 8.21822549e-01 5.69187232e-01 2.51712806e-02 1.86001917e+02] [-5.68912493e-01 8.22207911e-01 -1.76840604e-02 -6.54439766e+01] [-3.07615674e-02 2.12903593e-04 9.99526728e-01 -3.05593616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.05, Y:-65.48, Z:-3.06 [[ 8.20378253e-01 5.71267200e-01 2.51656078e-02 1.86054173e+02] [-5.70993190e-01 8.20764135e-01 -1.76921296e-02 -6.54796906e+01] [-3.07619616e-02 1.44847691e-04 9.99526728e-01 -3.05528398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.11, Y:-65.52, Z:-3.06 [[ 8.20085283e-01 5.71687947e-01 2.51599045e-02 1.86105346e+02] [-5.71413886e-01 8.20471128e-01 -1.77002364e-02 -6.55152392e+01] [-3.07619871e-02 1.38984520e-04 9.99526728e-01 -3.05706998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:-65.55, Z:-3.06 [[ 8.21009424e-01 5.70360170e-01 2.51555741e-02 1.86156668e+02] [-5.70085297e-01 8.21394691e-01 -1.77063887e-02 -6.55507574e+01] [-3.07616739e-02 1.96289099e-04 9.99526728e-01 -3.05986602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:-65.58, Z:-3.07 [[ 8.23826837e-01 5.66283293e-01 2.51510218e-02 1.86209219e+02] [-5.66006317e-01 8.24210595e-01 -1.77128526e-02 -6.55827534e+01] [-3.07602312e-02 3.56686065e-04 9.99526728e-01 -3.07317261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:-65.62, Z:-3.07 [[ 8.24723869e-01 5.64976270e-01 2.51466533e-02 1.86256599e+02] [-5.64698496e-01 8.25107050e-01 -1.77190524e-02 -6.56221274e+01] [-3.07595250e-02 4.13048113e-04 9.99526729e-01 -3.06541051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.31, Y:-65.66, Z:-3.07 [[ 8.28079364e-01 5.60046796e-01 2.51426633e-02 1.86306381e+02] [-5.59766570e-01 8.28460755e-01 -1.77247123e-02 -6.56584350e+01] [-3.07563781e-02 6.03446082e-04 9.99526729e-01 -3.06741989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:-65.70, Z:-3.07 [[ 8.30384620e-01 5.56623257e-01 2.51382620e-02 1.86357252e+02] [-5.56341269e-01 8.30764711e-01 -1.77309522e-02 -6.56953228e+01] [-3.07534413e-02 7.38057474e-04 9.99526729e-01 -3.07073847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.41, Y:-65.73, Z:-3.07 [[ 8.33173275e-01 5.52440594e-01 2.51333281e-02 1.86406694e+02] [-5.52156488e-01 8.33551785e-01 -1.77379432e-02 -6.57319036e+01] [-3.07490903e-02 9.01250038e-04 9.99526729e-01 -3.07197449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.46, Y:-65.77, Z:-3.08 [[ 8.34096990e-01 5.51045149e-01 2.51287689e-02 1.86457541e+02] [-5.50760216e-01 8.34474877e-01 -1.77443997e-02 -6.57685743e+01] [-3.07472917e-02 9.60624165e-04 9.99526729e-01 -3.07507689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:-65.80, Z:-3.08 [[ 8.34270481e-01 5.50782677e-01 2.51238361e-02 1.86507212e+02] [-5.50497415e-01 8.34648120e-01 -1.77513812e-02 -6.58037725e+01] [-3.07467158e-02 9.78846485e-04 9.99526729e-01 -3.07644981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.56, Y:-65.84, Z:-3.08 [[ 8.33006135e-01 5.52693196e-01 2.51198969e-02 1.86557247e+02] [-5.52408633e-01 8.33384301e-01 -1.77569537e-02 -6.58400326e+01] [-3.07486752e-02 9.15203507e-04 9.99526729e-01 -3.07704950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.61, Y:-65.87, Z:-3.08 [[ 8.31191834e-01 5.55418178e-01 2.51154098e-02 1.86607522e+02] [-5.55134662e-01 8.31570786e-01 -1.77632980e-02 -6.58742240e+01] [-3.07512997e-02 8.22273665e-04 9.99526729e-01 -3.08040790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:-65.91, Z:-3.08 [[ 8.28795498e-01 5.58987874e-01 2.51113297e-02 1.86657609e+02] [-5.58705817e-01 8.29175537e-01 -1.77690640e-02 -6.59102144e+01] [-3.07543916e-02 6.97074275e-04 9.99526729e-01 -3.07915031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.943617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.71, Y:-65.94, Z:-3.08 [[ 8.25156107e-01 5.64346548e-01 2.51072270e-02 1.86708234e+02] [-5.64066783e-01 8.25537836e-01 -1.77748592e-02 -6.59445188e+01] [-3.07581463e-02 5.04880816e-04 9.99526729e-01 -3.08471619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.003617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:-65.98, Z:-3.09 [[ 8.21199701e-01 5.70088484e-01 2.51032154e-02 1.86758804e+02] [-5.69811215e-01 8.21583247e-01 -1.77805228e-02 -6.59809672e+01] [-3.07608526e-02 2.97266360e-04 9.99526729e-01 -3.08530292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:-66.02, Z:-3.09 [[ 8.19261966e-01 5.72869859e-01 2.50989330e-02 1.86809284e+02] [-5.72593707e-01 8.19646317e-01 -1.77865659e-02 -6.60170897e+01] [-3.07616355e-02 2.00365910e-04 9.99526729e-01 -3.09008920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.86, Y:-66.06, Z:-3.09 [[ 8.17025393e-01 5.76055347e-01 2.50947009e-02 1.86858530e+02] [-5.75780511e-01 8.17410686e-01 -1.77925349e-02 -6.60551044e+01] [-3.07621615e-02 8.79131107e-05 9.99526729e-01 -3.09118002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:-66.09, Z:-3.09 [[ 8.17049922e-01 5.76020750e-01 2.50902659e-02 1.86907880e+02] [-5.75745705e-01 8.17435066e-01 -1.77987866e-02 -6.60913103e+01] [-3.07621336e-02 9.68843817e-05 9.99526729e-01 -3.09466569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:-66.13, Z:-3.10 [[ 8.17097773e-01 5.75953047e-01 2.50862105e-02 1.86956579e+02] [-5.75677794e-01 8.17482768e-01 -1.78045007e-02 -6.61289676e+01] [-3.07621012e-02 1.06443487e-04 9.99526729e-01 -3.09630705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.00, Y:-66.17, Z:-3.10 [[ 8.16722447e-01 5.76485347e-01 2.50816560e-02 1.87003160e+02] [-5.76210149e-01 8.17107481e-01 -1.78109144e-02 -6.61700186e+01] [-3.07621399e-02 9.42688707e-05 9.99526729e-01 -3.09677154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.05, Y:-66.20, Z:-3.11 [[ 8.19715875e-01 5.72221121e-01 2.50773445e-02 1.87053185e+02] [-5.71943735e-01 8.20099335e-01 -1.78169829e-02 -6.62042561e+01] [-3.07611675e-02 2.62033654e-04 9.99526729e-01 -3.10701883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.10, Y:-66.24, Z:-3.11 [[ 8.19359144e-01 5.72731977e-01 2.50734077e-02 1.87102289e+02] [-5.72454660e-01 8.19742655e-01 -1.78225213e-02 -6.62425991e+01] [-3.07612696e-02 2.49656666e-04 9.99526729e-01 -3.10604825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48361786499999 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:-65.72, Z:-2.07 [[ 8.52869060e-01 5.21522672e-01 2.50692969e-02 1.87553395e+02] [-5.21222239e-01 8.53234745e-01 -1.78283017e-02 -6.57244157e+01] [-3.06878587e-02 2.13853183e-03 9.99526729e-01 -2.06607634e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 195.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.60, Y:-65.76, Z:-2.07 [[ 8.53219122e-01 5.20901156e-01 2.60598554e-02 1.87603949e+02] [-5.20648057e-01 8.53616954e-01 -1.62387619e-02 -6.57613896e+01] [-3.07039242e-02 2.87209112e-04 9.99528482e-01 -2.07367359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:-65.80, Z:-2.08 [[ 8.53449973e-01 5.20523146e-01 2.60537462e-02 1.87654369e+02] [-5.20269572e-01 8.53847502e-01 -1.62485577e-02 -6.57965682e+01] [-3.07036765e-02 3.12359735e-04 9.99528482e-01 -2.07592418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.70, Y:-65.83, Z:-2.08 [[ 8.54855097e-01 5.18212483e-01 2.60496798e-02 1.87704805e+02] [-5.17957636e-01 8.55251811e-01 -1.62550744e-02 -6.58320351e+01] [-3.07026183e-02 4.03102682e-04 9.99528482e-01 -2.07770023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.76, Y:-65.87, Z:-2.07 [[ 8.54298290e-01 5.19130095e-01 2.60456492e-02 1.87755015e+02] [-5.18875478e-01 8.54695151e-01 -1.62615301e-02 -6.58686158e+01] [-3.07029397e-02 3.77748664e-04 9.99528482e-01 -2.07330998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:-65.90, Z:-2.08 [[ 8.56287453e-01 5.15842636e-01 2.60417530e-02 1.87807174e+02] [-5.15586305e-01 8.56683210e-01 -1.62677671e-02 -6.59012751e+01] [-3.07011405e-02 5.03113651e-04 9.99528482e-01 -2.08133722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.86, Y:-65.94, Z:-2.08 [[ 8.56246640e-01 5.15910572e-01 2.60379179e-02 1.87858648e+02] [-5.15654086e-01 8.56642296e-01 -1.62739033e-02 -6.59354586e+01] [-3.07010605e-02 5.07916330e-04 9.99528482e-01 -2.08062838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.91, Y:-65.97, Z:-2.09 [[ 8.54329537e-01 5.19079130e-01 2.60365062e-02 1.87909725e+02] [-5.18824043e-01 8.54726096e-01 -1.62761616e-02 -6.59713562e+01] [-3.07026971e-02 3.96840204e-04 9.99528482e-01 -2.08527605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-66.01, Z:-2.09 [[ 8.53748270e-01 5.20034834e-01 2.60319659e-02 1.87962548e+02] [-5.19779969e-01 8.54144972e-01 -1.62834200e-02 -6.60055884e+01] [-3.07030184e-02 3.71047176e-04 9.99528482e-01 -2.08799992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02361786499998 meters Centerline goodness : 0.995573 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:-66.04, Z:-2.09 [[ 8.52873766e-01 5.21468027e-01 2.60276249e-02 1.88014646e+02] [-5.21213617e-01 8.53270760e-01 -1.62903558e-02 -6.60397591e+01] [-3.07035110e-02 3.27664590e-04 9.99528482e-01 -2.08533443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08361786499998 meters Centerline goodness : 0.995214 with order 1 Centerline is valid? [True, True] Translation: X:188.07, Y:-66.07, Z:-2.08 [[ 8.51359830e-01 5.23936148e-01 2.60259877e-02 1.88065698e+02] [-5.23682809e-01 8.51757509e-01 -1.62929710e-02 -6.60748977e+01] [-3.07043069e-02 2.41818693e-04 9.99528482e-01 -2.08480457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14361786499998 meters Centerline goodness : 0.993162 with order 1 Centerline is valid? [True, True] Translation: X:188.12, Y:-66.11, Z:-2.09 [[ 8.51104417e-01 5.24351179e-01 2.60213968e-02 1.88117271e+02] [-5.24097810e-01 8.51502076e-01 -1.63002998e-02 -6.61095731e+01] [-3.07043548e-02 2.35500051e-04 9.99528482e-01 -2.08814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:-66.15, Z:-2.10 [[ 8.50569583e-01 5.25218437e-01 2.60188045e-02 1.88169130e+02] [-5.24965347e-01 8.50967420e-01 -1.63044367e-02 -6.61451374e+01] [-3.07045457e-02 2.09087184e-04 9.99528482e-01 -2.09648830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.263617865 meters Centerline goodness : 0.995954 with order 1 Centerline is valid? [True, True] Translation: X:188.22, Y:-66.18, Z:-2.10 [[ 8.51126549e-01 5.24315667e-01 2.60130404e-02 1.88220862e+02] [-5.24061874e-01 8.51523938e-01 -1.63136278e-02 -6.61793796e+01] [-3.07042173e-02 2.52519014e-04 9.99528482e-01 -2.09534390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.27, Y:-66.22, Z:-2.10 [[ 8.50339961e-01 5.25590641e-01 2.60082677e-02 1.88271104e+02] [-5.25337211e-01 8.50737581e-01 -1.63212333e-02 -6.62163946e+01] [-3.07044982e-02 2.15486052e-04 9.99528483e-01 -2.10193634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.32, Y:-66.25, Z:-2.10 [[ 8.49363109e-01 5.27168030e-01 2.60033955e-02 1.88322531e+02] [-5.26915102e-01 8.49761049e-01 -1.63289920e-02 -6.62531799e+01] [-3.07047952e-02 1.67661601e-04 9.99528483e-01 -2.10039427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:-66.29, Z:-2.11 [[ 8.49262767e-01 5.27329885e-01 2.59989308e-02 1.88374214e+02] [-5.27076815e-01 8.49660616e-01 -1.63360976e-02 -6.62892114e+01] [-3.07047801e-02 1.70205791e-04 9.99528483e-01 -2.10535718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:-66.33, Z:-2.11 [[ 8.49261559e-01 5.27332065e-01 2.59941789e-02 1.88423555e+02] [-5.27078764e-01 8.49659262e-01 -1.63436554e-02 -6.63274452e+01] [-3.07047284e-02 1.79058540e-04 9.99528483e-01 -2.10636066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:188.47, Y:-66.36, Z:-2.11 [[ 8.49834559e-01 5.26408338e-01 2.59900554e-02 1.88473280e+02] [-5.26154405e-01 8.50231858e-01 -1.63502100e-02 -6.63646448e+01] [-3.07044600e-02 2.20191393e-04 9.99528483e-01 -2.10800292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.53, Y:-66.40, Z:-2.11 [[ 8.48946055e-01 5.27840188e-01 2.59871483e-02 1.88527026e+02] [-5.27586783e-01 8.49343691e-01 -1.63548294e-02 -6.63975981e+01] [-3.07047567e-02 1.73891903e-04 9.99528483e-01 -2.10858395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:188.58, Y:-66.43, Z:-2.11 [[ 8.47271712e-01 5.30523854e-01 2.59824279e-02 1.88579840e+02] [-5.30271479e-01 8.47670003e-01 -1.63623251e-02 -6.64316012e+01] [-3.07051285e-02 8.55948039e-05 9.99528483e-01 -2.10782860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.63, Y:-66.46, Z:-2.11 [[ 8.46885779e-01 5.31139940e-01 2.59777053e-02 1.88633598e+02] [-5.30887624e-01 8.47284108e-01 -1.63698196e-02 -6.64640980e+01] [-3.07051618e-02 7.21251689e-05 9.99528483e-01 -2.11088431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:188.68, Y:-66.50, Z:-2.10 [[ 8.44441346e-01 5.35017957e-01 2.59730459e-02 1.88683474e+02] [-5.34767244e-01 8.44840684e-01 -1.63772090e-02 -6.65000651e+01] [-3.07051868e-02 -5.99417299e-05 9.99528483e-01 -2.10466689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.74, Y:-66.53, Z:-2.11 [[ 8.47056088e-01 5.30868702e-01 2.59693257e-02 1.88738172e+02] [-5.30615852e-01 8.47454077e-01 -1.63831060e-02 -6.65287985e+01] [-3.07050891e-02 9.76737632e-05 9.99528483e-01 -2.11320126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92361786499998 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:-66.56, Z:-2.11 [[ 8.47720919e-01 5.29806617e-01 2.59652045e-02 1.88789198e+02] [-5.29553068e-01 8.48118463e-01 -1.63896349e-02 -6.65617259e+01] [-3.07049064e-02 1.43882622e-04 9.99528483e-01 -2.11229490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98361786499999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-66.59, Z:-2.11 [[ 8.49818170e-01 5.26436211e-01 2.59613995e-02 1.88842095e+02] [-5.26180901e-01 8.50214586e-01 -1.63956599e-02 -6.65940502e+01] [-3.07040296e-02 2.72937060e-04 9.99528483e-01 -2.11322845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:188.90, Y:-66.63, Z:-2.12 [[ 8.51345677e-01 5.23962555e-01 2.59572715e-02 1.88895382e+02] [-5.23705894e-01 8.51741219e-01 -1.64021927e-02 -6.66264500e+01] [-3.07030128e-02 3.69959823e-04 9.99528483e-01 -2.11619659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.103617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:188.95, Y:-66.66, Z:-2.12 [[ 8.53671885e-01 5.20164169e-01 2.59528459e-02 1.88949342e+02] [-5.19905536e-01 8.54066141e-01 -1.64091922e-02 -6.66573231e+01] [-3.07009208e-02 5.15037724e-04 9.99528483e-01 -2.12272625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.163617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:189.00, Y:-66.69, Z:-2.13 [[ 8.54779348e-01 5.18342484e-01 2.59487211e-02 1.89003666e+02] [-5.18082813e-01 8.55172920e-01 -1.64157124e-02 -6.66893938e+01] [-3.06996047e-02 5.88225571e-04 9.99528483e-01 -2.12715031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.223617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:-66.72, Z:-2.13 [[ 8.55056386e-01 5.17885588e-01 2.59440727e-02 1.89057694e+02] [-5.17625484e-01 8.55449672e-01 -1.64230556e-02 -6.67209807e+01] [-3.06991123e-02 6.13325372e-04 9.99528483e-01 -2.12939850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:189.11, Y:-66.75, Z:-2.14 [[ 8.55995919e-01 5.16331421e-01 2.59393504e-02 1.89111291e+02] [-5.16070377e-01 8.56388582e-01 -1.64305109e-02 -6.67531717e+01] [-3.06977525e-02 6.77919944e-04 9.99528483e-01 -2.13569879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:-66.79, Z:-2.14 [[ 8.55505219e-01 5.17144289e-01 2.59346388e-02 1.89163772e+02] [-5.16883393e-01 8.55897980e-01 -1.64379444e-02 -6.67869872e+01] [-3.06981941e-02 6.57563142e-04 9.99528483e-01 -2.13706906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403617865 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:189.22, Y:-66.82, Z:-2.14 [[ 8.54811469e-01 5.18290460e-01 2.59297513e-02 1.89216561e+02] [-5.18029857e-01 8.55204424e-01 -1.64456507e-02 -6.68210711e+01] [-3.06988619e-02 6.25545471e-04 9.99528483e-01 -2.13744770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.27, Y:-66.85, Z:-2.14 [[ 8.54787495e-01 5.18330237e-01 2.59249517e-02 1.89269347e+02] [-5.18069423e-01 8.55180311e-01 -1.64532132e-02 -6.68527364e+01] [-3.06987062e-02 6.33076088e-04 9.99528483e-01 -2.13535030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52361786499998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-66.89, Z:-2.14 [[ 8.54956252e-01 5.18052056e-01 2.59205225e-02 1.89322330e+02] [-5.17790903e-01 8.55348843e-01 -1.64601881e-02 -6.68869824e+01] [-3.06983232e-02 6.51329948e-04 9.99528483e-01 -2.14368047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:-66.92, Z:-2.14 [[ 8.54861540e-01 5.18208567e-01 2.59157989e-02 1.89374957e+02] [-5.17947261e-01 8.55254028e-01 -1.64676218e-02 -6.69199918e+01] [-3.06982541e-02 6.54519482e-04 9.99528483e-01 -2.13993921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:-66.95, Z:-2.14 [[ 8.55888405e-01 5.16510950e-01 2.59128867e-02 1.89427096e+02] [-5.16248726e-01 8.56280281e-01 -1.64722031e-02 -6.69531288e+01] [-3.06967671e-02 7.20872854e-04 9.99528483e-01 -2.14315296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.48, Y:-66.99, Z:-2.15 [[ 8.58215346e-01 5.12635505e-01 2.59086628e-02 1.89480173e+02] [-5.12371312e-01 8.58605897e-01 -1.64788441e-02 -6.69874917e+01] [-3.06929712e-02 8.67541342e-04 9.99528483e-01 -2.14552847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:-67.02, Z:-2.15 [[ 8.59845432e-01 5.09896858e-01 2.59041958e-02 1.89533058e+02] [-5.09631210e-01 8.60234995e-01 -1.64858631e-02 -6.70218333e+01] [-3.06897855e-02 9.73707388e-04 9.99528483e-01 -2.14729738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.59, Y:-67.06, Z:-2.15 [[ 8.62043284e-01 5.06172482e-01 2.58996989e-02 1.89586087e+02] [-5.05904940e-01 8.62431548e-01 -1.64929248e-02 -6.70555176e+01] [-3.06849821e-02 1.11482946e-03 9.99528483e-01 -2.14889453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.64, Y:-67.09, Z:-2.15 [[ 8.61232581e-01 5.07550864e-01 2.58952175e-02 1.89636484e+02] [-5.07283732e-01 8.61621127e-01 -1.64999579e-02 -6.70928258e+01] [-3.06864344e-02 1.07407872e-03 9.99528483e-01 -2.14958670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:-67.12, Z:-2.15 [[ 8.62046003e-01 5.06168322e-01 2.58905095e-02 1.89692056e+02] [-5.05900345e-01 8.62433968e-01 -1.65073421e-02 -6.71209178e+01] [-3.06843485e-02 1.13207057e-03 9.99528483e-01 -2.15264815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.003617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:-67.15, Z:-2.16 [[ 8.60266310e-01 5.09187374e-01 2.58861795e-02 1.89747148e+02] [-5.08920556e-01 8.60655071e-01 -1.65141294e-02 -6.71517617e+01] [-3.06878579e-02 1.03254033e-03 9.99528483e-01 -2.15501397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.063617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:189.80, Y:-67.18, Z:-2.16 [[ 8.57426211e-01 5.13955660e-01 2.58818901e-02 1.89801378e+02] [-5.13690801e-01 8.57816311e-01 -1.65208492e-02 -6.71836169e+01] [-3.06928915e-02 8.70120292e-04 9.99528483e-01 -2.15757636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.85, Y:-67.22, Z:-2.16 [[ 8.54100917e-01 5.19463160e-01 2.58775961e-02 1.89851934e+02] [-5.19200613e-01 8.54492576e-01 -1.65275725e-02 -6.72194377e+01] [-3.06976788e-02 6.80551039e-04 9.99528484e-01 -2.15687797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.183617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:-67.25, Z:-2.16 [[ 8.51599443e-01 5.23554154e-01 2.58734669e-02 1.89905070e+02] [-5.23293293e-01 8.51992227e-01 -1.65340340e-02 -6.72498861e+01] [-3.07004549e-02 5.40962457e-04 9.99528484e-01 -2.16344020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:-67.28, Z:-2.16 [[ 8.48885441e-01 5.27943431e-01 2.58697038e-02 1.89957880e+02] [-5.27684422e-01 8.49279449e-01 -1.65399199e-02 -6.72819231e+01] [-3.07027498e-02 3.89457449e-04 9.99528484e-01 -2.16143386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:-67.32, Z:-2.16 [[ 8.46273650e-01 5.32120168e-01 2.58657287e-02 1.90011419e+02] [-5.31862914e-01 8.46668805e-01 -1.65461340e-02 -6.73154667e+01] [-3.07042372e-02 2.45535371e-04 9.99528484e-01 -2.16051685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:-67.35, Z:-2.16 [[ 8.44643293e-01 5.34704517e-01 2.58609035e-02 1.90062636e+02] [-5.34448241e-01 8.45039084e-01 -1.65536720e-02 -6.73485060e+01] [-3.07047975e-02 1.60633656e-04 9.99528484e-01 -2.16039134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:-67.38, Z:-2.16 [[ 8.44687790e-01 5.34634409e-01 2.58570439e-02 1.90115766e+02] [-5.34377915e-01 8.45083440e-01 -1.65596987e-02 -6.73818735e+01] [-3.07047443e-02 1.70342101e-04 9.99528484e-01 -2.16334646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48361786499999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:190.17, Y:-67.42, Z:-2.16 [[ 8.46064316e-01 5.32453601e-01 2.58522013e-02 1.90167052e+02] [-5.32195857e-01 8.46459152e-01 -1.65672552e-02 -6.74160651e+01] [-3.07041271e-02 2.58529035e-04 9.99528484e-01 -2.16371948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.543617865 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:-67.45, Z:-2.17 [[ 8.48539849e-01 5.28499782e-01 2.58477302e-02 1.90219354e+02] [-5.28239986e-01 8.48933338e-01 -1.65742280e-02 -6.74500982e+01] [-3.07024758e-02 4.10088247e-04 9.99528484e-01 -2.16813046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:-67.48, Z:-2.17 [[ 8.50026640e-01 5.26105362e-01 2.58429816e-02 1.90271754e+02] [-5.25844232e-01 8.50419245e-01 -1.65816288e-02 -6.74843790e+01] [-3.07010527e-02 5.05443423e-04 9.99528484e-01 -2.17215265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.663617865 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:-67.52, Z:-2.18 [[ 8.54199647e-01 5.19302760e-01 2.58380879e-02 1.90323212e+02] [-5.19038275e-01 8.54589999e-01 -1.65892509e-02 -6.75176126e+01] [-3.06958153e-02 7.59575671e-04 9.99528484e-01 -2.18205227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.723617865 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:190.38, Y:-67.55, Z:-2.18 [[ 8.55639084e-01 5.16927803e-01 2.58341779e-02 1.90376372e+02] [-5.16662050e-01 8.56028575e-01 -1.65953376e-02 -6.75500936e+01] [-3.06933859e-02 8.52080133e-04 9.99528484e-01 -2.18398191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.783617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:-67.58, Z:-2.19 [[ 8.56935073e-01 5.14776737e-01 2.58300581e-02 1.90429103e+02] [-5.14509814e-01 8.57323762e-01 -1.66017475e-02 -6.75848547e+01] [-3.06909160e-02 9.36801386e-04 9.99528484e-01 -2.18653025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.843617865 meters Centerline goodness : 0.993864 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:-67.62, Z:-2.18 [[ 8.55949955e-01 5.16413328e-01 2.58253467e-02 1.90479589e+02] [-5.16146928e-01 8.56339003e-01 -1.66090733e-02 -6.76212908e+01] [-3.06923984e-02 8.86862185e-04 9.99528484e-01 -2.18315019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:-67.66, Z:-2.18 [[ 8.56496928e-01 5.15505931e-01 2.58195400e-02 1.90531074e+02] [-5.15238846e-01 8.56885506e-01 -1.66180951e-02 -6.76553309e+01] [-3.06911162e-02 9.30117408e-04 9.99528484e-01 -2.18252989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.58, Y:-67.69, Z:-2.18 [[ 8.55906674e-01 5.16485614e-01 2.58142381e-02 1.90584199e+02] [-5.16218727e-01 8.56295388e-01 -1.66263269e-02 -6.76891856e+01] [-3.06918717e-02 9.04791076e-04 9.99528484e-01 -2.18375625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02361786499998 meters Centerline goodness : 0.995482 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:-67.72, Z:-2.19 [[ 8.55053619e-01 5.17896873e-01 2.58096540e-02 1.90638315e+02] [-5.17630412e-01 8.55442625e-01 -1.66334399e-02 -6.77216791e+01] [-3.06930847e-02 8.62621100e-04 9.99528484e-01 -2.18785145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:-67.75, Z:-2.19 [[ 8.50795750e-01 5.24862597e-01 2.58039842e-02 1.90692152e+02] [-5.24599055e-01 8.51186741e-01 -1.66422310e-02 -6.77544197e+01] [-3.06988938e-02 6.22393662e-04 9.99528484e-01 -2.18861248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:190.75, Y:-67.79, Z:-2.19 [[ 8.48480505e-01 5.28597466e-01 2.57982784e-02 1.90745438e+02] [-5.28335378e-01 8.48872470e-01 -1.66510712e-02 -6.77871053e+01] [-3.07011624e-02 4.97966099e-04 9.99528484e-01 -2.19169583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20361786499998 meters Centerline goodness : 0.995730 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:-67.82, Z:-2.20 [[ 8.47154292e-01 5.30720540e-01 2.57936583e-02 1.90798859e+02] [-5.30459216e-01 8.47546768e-01 -1.66582250e-02 -6.78197189e+01] [-3.07021939e-02 4.29603077e-04 9.99528484e-01 -2.19577143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.85, Y:-67.85, Z:-2.20 [[ 8.45262630e-01 5.33728304e-01 2.57911478e-02 1.90851368e+02] [-5.33468258e-01 8.45655954e-01 -1.66621111e-02 -6.78526333e+01] [-3.07034779e-02 3.25101137e-04 9.99528484e-01 -2.19582878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.90, Y:-67.89, Z:-2.20 [[ 8.44248838e-01 5.35330732e-01 2.57857826e-02 1.90904752e+02] [-5.35071179e-01 8.44642487e-01 -1.66704099e-02 -6.78860805e+01] [-3.07039503e-02 2.76745115e-04 9.99528484e-01 -2.19837343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.383617865 meters Centerline goodness : 0.997075 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:-67.92, Z:-2.20 [[ 8.44185049e-01 5.35431531e-01 2.57813574e-02 1.90958044e+02] [-5.35171816e-01 8.44578591e-01 -1.66772508e-02 -6.79195800e+01] [-3.07039085e-02 2.81229942e-04 9.99528484e-01 -2.20038380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.443617865 meters Centerline goodness : 0.996799 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:-67.95, Z:-2.20 [[ 8.43453426e-01 5.36583415e-01 2.57789881e-02 1.91011676e+02] [-5.36324126e-01 8.43847249e-01 -1.66809123e-02 -6.79527410e+01] [-3.07042291e-02 2.43679403e-04 9.99528484e-01 -2.20405096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.06, Y:-67.99, Z:-2.21 [[ 8.43848433e-01 5.35962261e-01 2.57735552e-02 1.91064821e+02] [-5.35702426e-01 8.44241895e-01 -1.66893025e-02 -6.79861016e+01] [-3.07039514e-02 2.76285675e-04 9.99528484e-01 -2.20676435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:-68.02, Z:-2.21 [[ 8.44485526e-01 5.34958133e-01 2.57680496e-02 1.91117142e+02] [-5.34697570e-01 8.44878507e-01 -1.66977988e-02 -6.80201508e+01] [-3.07034945e-02 3.22935938e-04 9.99528484e-01 -2.20949781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:-68.05, Z:-2.21 [[ 8.46211914e-01 5.32223294e-01 2.57635602e-02 1.91168893e+02] [-5.31961251e-01 8.46603910e-01 -1.67047227e-02 -6.80537604e+01] [-3.07021733e-02 4.30519637e-04 9.99528484e-01 -2.21200497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.683617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.22, Y:-68.09, Z:-2.21 [[ 8.48617903e-01 5.28378754e-01 2.57594130e-02 1.91220294e+02] [-5.28114741e-01 8.49008574e-01 -1.67111154e-02 -6.80882224e+01] [-3.06997609e-02 5.77426006e-04 9.99528484e-01 -2.21453134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74361786499998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:191.27, Y:-68.12, Z:-2.22 [[ 8.51655145e-01 5.23469297e-01 2.57567196e-02 1.91273452e+02] [-5.23202907e-01 8.52044199e-01 -1.67152657e-02 -6.81206707e+01] [-3.06957919e-02 7.59651408e-04 9.99528484e-01 -2.22302882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:-68.16, Z:-2.23 [[ 8.53050208e-01 5.21193012e-01 2.57524045e-02 1.91323264e+02] [-5.20925383e-01 8.53438412e-01 -1.67219112e-02 -6.81555222e+01] [-3.06934344e-02 8.49548663e-04 9.99528485e-01 -2.22613904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:-68.19, Z:-2.22 [[ 8.50949569e-01 5.24615903e-01 2.57484833e-02 1.91371959e+02] [-5.24349654e-01 8.51338720e-01 -1.67279469e-02 -6.81921338e+01] [-3.06964278e-02 7.33430917e-04 9.99528485e-01 -2.22146550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92361786499998 meters Centerline goodness : 0.996602 with order 1 Centerline is valid? [True, True] Translation: X:191.42, Y:-68.23, Z:-2.22 [[ 8.48101692e-01 5.29207661e-01 2.57443287e-02 1.91422391e+02] [-5.28943326e-01 8.48492145e-01 -1.67343384e-02 -6.82284676e+01] [-3.06998008e-02 5.75129857e-04 9.99528485e-01 -2.22389340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98361786499999 meters Centerline goodness : 0.995442 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:-68.26, Z:-2.23 [[ 8.47132056e-01 5.30758689e-01 2.57389469e-02 1.91475131e+02] [-5.30494816e-01 8.47522822e-01 -1.67426120e-02 -6.82631252e+01] [-3.07006317e-02 5.28825471e-04 9.99528485e-01 -2.22632907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.53, Y:-68.30, Z:-2.23 [[ 8.45083457e-01 5.34014590e-01 2.57364950e-02 1.91527710e+02] [-5.33752109e-01 8.45475159e-01 -1.67463802e-02 -6.82978580e+01] [-3.07023785e-02 4.15180440e-04 9.99528485e-01 -2.22836047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.103617865 meters Centerline goodness : 0.996257 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:-68.33, Z:-2.24 [[ 8.43458400e-01 5.36577909e-01 2.57308144e-02 1.91578257e+02] [-5.36316352e-01 8.43850720e-01 -1.67551039e-02 -6.83333378e+01] [-3.07033848e-02 3.32376581e-04 9.99528485e-01 -2.23582366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.163617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:-68.37, Z:-2.24 [[ 8.43599096e-01 5.36356818e-01 2.57279986e-02 1.91629996e+02] [-5.36095026e-01 8.43991259e-01 -1.67594266e-02 -6.83666245e+01] [-3.07032386e-02 3.45585042e-04 9.99528485e-01 -2.23927545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223617865 meters Centerline goodness : 0.996042 with order 1 Centerline is valid? [True, True] Translation: X:191.68, Y:-68.40, Z:-2.24 [[ 8.43641790e-01 5.36289798e-01 2.57251546e-02 1.91679685e+02] [-5.36027842e-01 8.44033843e-01 -1.67637908e-02 -6.84020754e+01] [-3.07031511e-02 3.53235347e-04 9.99528485e-01 -2.23735520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:-67.81, Z:-1.16 [[ 8.71238570e-01 4.90185514e-01 2.57199513e-02 1.92144386e+02] [-4.89902637e-01 8.71615806e-01 -1.67717701e-02 -6.78089034e+01] [-3.06391949e-02 2.01194105e-03 9.99528485e-01 -1.16226230e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 200.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:-67.84, Z:-1.16 [[ 8.73248324e-01 4.86552462e-01 2.65342401e-02 1.92196114e+02] [-4.86310043e-01 8.73651210e-01 -1.53656970e-02 -6.78432613e+01] [-3.06578887e-02 5.14201733e-04 9.99529804e-01 -1.16289580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.25, Y:-67.87, Z:-1.17 [[ 8.76753421e-01 4.80207851e-01 2.65303245e-02 1.92250553e+02] [-4.79962313e-01 8.77154414e-01 -1.53724548e-02 -6.78735099e+01] [-3.06531647e-02 7.44296487e-04 9.99529804e-01 -1.17227412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46361786499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:-67.91, Z:-1.17 [[ 8.76708556e-01 4.80289865e-01 2.65283629e-02 1.92301340e+02] [-4.80044262e-01 8.77109509e-01 -1.53758393e-02 -6.79090543e+01] [-3.06531391e-02 7.45341465e-04 9.99529804e-01 -1.16723093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52361786499998 meters Centerline goodness : 0.993686 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:-67.94, Z:-1.17 [[ 8.77854784e-01 4.78191808e-01 2.65249632e-02 1.92354329e+02] [-4.77945070e-01 8.78255039e-01 -1.53817018e-02 -6.79416412e+01] [-3.06510864e-02 8.25425092e-04 9.99529804e-01 -1.16739178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:-67.97, Z:-1.17 [[ 8.78470059e-01 4.77060715e-01 2.65222569e-02 1.92407475e+02] [-4.76813320e-01 8.78869909e-01 -1.53863668e-02 -6.79724033e+01] [-3.06498446e-02 8.70297179e-04 9.99529804e-01 -1.17045875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:-68.00, Z:-1.18 [[ 8.79776538e-01 4.74647194e-01 2.65194992e-02 1.92461243e+02] [-4.74398560e-01 8.80175619e-01 -1.53911184e-02 -6.80008376e+01] [-3.06471678e-02 9.59932645e-04 9.99529804e-01 -1.17986603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:-68.03, Z:-1.18 [[ 8.80200728e-01 4.73860285e-01 2.65162032e-02 1.92515536e+02] [-4.73611123e-01 8.80599479e-01 -1.53967947e-02 -6.80309075e+01] [-3.06460843e-02 9.93901168e-04 9.99529804e-01 -1.18144483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.57, Y:-68.06, Z:-1.18 [[ 8.80138744e-01 4.73975617e-01 2.65123712e-02 1.92569829e+02] [-4.73726309e-01 8.80537404e-01 -1.54033904e-02 -6.80604243e+01] [-3.06459660e-02 9.97512926e-04 9.99529804e-01 -1.18339512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.62, Y:-68.09, Z:-1.18 [[ 8.79264423e-01 4.75595815e-01 2.65084057e-02 1.92623294e+02] [-4.75347037e-01 8.79663413e-01 -1.54102118e-02 -6.80895829e+01] [-3.06475069e-02 9.48958888e-04 9.99529804e-01 -1.18489639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.68, Y:-68.12, Z:-1.18 [[ 8.76523747e-01 4.80628357e-01 2.65047820e-02 1.92676191e+02] [-4.80381681e-01 8.76924041e-01 -1.54164419e-02 -6.81221601e+01] [-3.06522596e-02 7.80465730e-04 9.99529804e-01 -1.18040423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.73, Y:-68.15, Z:-1.19 [[ 8.78029390e-01 4.77872452e-01 2.65011175e-02 1.92733609e+02] [-4.77624330e-01 8.78428789e-01 -1.54227386e-02 -6.81474439e+01] [-3.06494465e-02 8.84039215e-04 9.99529804e-01 -1.19186723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003617865 meters Centerline goodness : 0.995117 with order 1 Centerline is valid? [True, True] Translation: X:192.78, Y:-68.18, Z:-1.19 [[ 8.75964879e-01 4.81646442e-01 2.64997376e-02 1.92784506e+02] [-4.81399969e-01 8.76365298e-01 -1.54251092e-02 -6.81820427e+01] [-3.06528994e-02 7.54881039e-04 9.99529804e-01 -1.18675660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:-68.21, Z:-1.19 [[ 8.76944807e-01 4.79860186e-01 2.64954051e-02 1.92839331e+02] [-4.79612674e-01 8.77344584e-01 -1.54325474e-02 -6.82132020e+01] [-3.06510653e-02 8.25960254e-04 9.99529804e-01 -1.18899373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:-68.24, Z:-1.19 [[ 8.77841129e-01 4.78218801e-01 2.64902005e-02 1.92892862e+02] [-4.77970272e-01 8.78240274e-01 -1.54414760e-02 -6.82437942e+01] [-3.06491652e-02 8.93634385e-04 9.99529805e-01 -1.19049395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18361786499997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:-68.27, Z:-1.20 [[ 8.79086496e-01 4.75925841e-01 2.64863268e-02 1.92948456e+02] [-4.75676071e-01 8.79484867e-01 -1.54481178e-02 -6.82733318e+01] [-3.06464820e-02 9.81319865e-04 9.99529805e-01 -1.19675691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24361786499998 meters Centerline goodness : 0.993913 with order 1 Centerline is valid? [True, True] Translation: X:193.00, Y:-68.31, Z:-1.19 [[ 8.77546539e-01 4.78759616e-01 2.64821128e-02 1.93002044e+02] [-4.78510915e-01 8.77945577e-01 -1.54553383e-02 -6.83056766e+01] [-3.06492456e-02 8.90798627e-04 9.99529805e-01 -1.19329677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:-68.33, Z:-1.21 [[ 8.79583090e-01 4.75007922e-01 2.64775692e-02 1.93058060e+02] [-4.74757286e-01 8.79980915e-01 -1.54631182e-02 -6.83312612e+01] [-3.06448593e-02 1.03067843e-03 9.99529805e-01 -1.20550458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:-68.36, Z:-1.21 [[ 8.79073886e-01 4.75949894e-01 2.64726585e-02 1.93112184e+02] [-4.75699431e-01 8.79471821e-01 -1.54715207e-02 -6.83591572e+01] [-3.06456258e-02 1.00758118e-03 9.99529805e-01 -1.20828204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42361786499998 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:-68.39, Z:-1.20 [[ 8.76973665e-01 4.79808895e-01 2.64691473e-02 1.93164928e+02] [-4.79560002e-01 8.77372584e-01 -1.54775256e-02 -6.83923326e+01] [-3.06495585e-02 8.79837993e-04 9.99529805e-01 -1.20107930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:-68.42, Z:-1.20 [[ 8.75066042e-01 4.83279476e-01 2.64645293e-02 1.93220372e+02] [-4.83031927e-01 8.75465796e-01 -1.54854176e-02 -6.84220176e+01] [-3.06525747e-02 7.67550485e-04 9.99529805e-01 -1.20341053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.543617865 meters Centerline goodness : 0.994997 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:-68.45, Z:-1.20 [[ 8.73464014e-01 4.86169235e-01 2.64592356e-02 1.93275981e+02] [-4.85922736e-01 8.73864415e-01 -1.54944574e-02 -6.84524093e+01] [-3.06547130e-02 6.76706789e-04 9.99529805e-01 -1.20222181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.33, Y:-68.48, Z:-1.21 [[ 8.71933893e-01 4.88908361e-01 2.64556200e-02 1.93331389e+02] [-4.88662932e-01 8.72334952e-01 -1.55006285e-02 -6.84793814e+01] [-3.06565488e-02 5.87642493e-04 9.99529805e-01 -1.21252486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.39, Y:-68.51, Z:-1.21 [[ 8.68574338e-01 4.94852465e-01 2.64510226e-02 1.93385380e+02] [-4.94609543e-01 8.68976920e-01 -1.55084697e-02 -6.85109134e+01] [-3.06597326e-02 3.87330595e-04 9.99529805e-01 -1.21280410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:-68.54, Z:-1.22 [[ 8.68356903e-01 4.95233987e-01 2.64497002e-02 1.93442004e+02] [-4.94991172e-01 8.68759551e-01 -1.55107247e-02 -6.85376189e+01] [-3.06598677e-02 3.76476755e-04 9.99529805e-01 -1.22260313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.50, Y:-68.57, Z:-1.22 [[ 8.67727280e-01 4.96336469e-01 2.64476214e-02 1.93495600e+02] [-4.96094059e-01 8.68130170e-01 -1.55142684e-02 -6.85689124e+01] [-3.06602753e-02 3.41646029e-04 9.99529805e-01 -1.22371282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:-68.60, Z:-1.22 [[ 8.68913165e-01 4.94257670e-01 2.64436663e-02 1.93548951e+02] [-4.94014091e-01 8.69315349e-01 -1.55210069e-02 -6.86012537e+01] [-3.06592617e-02 4.22863480e-04 9.99529805e-01 -1.22384896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.60, Y:-68.63, Z:-1.22 [[ 8.71387145e-01 4.89883033e-01 2.64396956e-02 1.93602525e+02] [-4.89637229e-01 8.71787974e-01 -1.55277680e-02 -6.86338541e+01] [-3.06565987e-02 5.84838116e-04 9.99529805e-01 -1.22486484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.66, Y:-68.67, Z:-1.23 [[ 8.73303558e-01 4.86458713e-01 2.64351203e-02 1.93655068e+02] [-4.86211103e-01 8.73703274e-01 -1.55355532e-02 -6.86657997e+01] [-3.06538564e-02 7.14204833e-04 9.99529805e-01 -1.22743981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:-68.70, Z:-1.23 [[ 8.75209838e-01 4.83020825e-01 2.64314637e-02 1.93707827e+02] [-4.82771457e-01 8.75608459e-01 -1.55417720e-02 -6.86995675e+01] [-3.06506127e-02 8.41955513e-04 9.99529805e-01 -1.22629059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:-68.73, Z:-1.23 [[ 8.78658414e-01 4.76718983e-01 2.64273044e-02 1.93762559e+02] [-4.76466545e-01 8.79055098e-01 -1.55488413e-02 -6.87304894e+01] [-3.06434844e-02 1.07039382e-03 9.99529805e-01 -1.23186907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:-68.76, Z:-1.23 [[ 8.78997460e-01 4.76093789e-01 2.64228988e-02 1.93816653e+02] [-4.75840844e-01 8.79393821e-01 -1.55563243e-02 -6.87615004e+01] [-3.06424033e-02 1.10087510e-03 9.99529805e-01 -1.23404988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:-68.79, Z:-1.24 [[ 8.80943267e-01 4.72483868e-01 2.64188308e-02 1.93871120e+02] [-4.72229093e-01 8.81338454e-01 -1.55632297e-02 -6.87934398e+01] [-3.06373065e-02 1.23458188e-03 9.99529805e-01 -1.23732188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:-68.83, Z:-1.24 [[ 8.79981404e-01 4.74273142e-01 2.64142933e-02 1.93925136e+02] [-4.74018940e-01 8.80376960e-01 -1.55709270e-02 -6.88256410e+01] [-3.06394077e-02 1.18125093e-03 9.99529805e-01 -1.23783805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:-68.86, Z:-1.24 [[ 8.77683598e-01 4.78512301e-01 2.64098236e-02 1.93979287e+02] [-4.78259782e-01 8.78080231e-01 -1.55785044e-02 -6.88553465e+01] [-3.06444500e-02 1.04224128e-03 9.99529805e-01 -1.24096679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.383617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:194.03, Y:-68.88, Z:-1.24 [[ 8.74623154e-01 4.84083751e-01 2.64056986e-02 1.94034556e+02] [-4.83833548e-01 8.75021252e-01 -1.55854933e-02 -6.88839618e+01] [-3.06502315e-02 8.55470444e-04 9.99529805e-01 -1.24398508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.443617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:194.09, Y:-68.91, Z:-1.25 [[ 8.72200126e-01 4.88436167e-01 2.64017058e-02 1.94088246e+02] [-4.88187747e-01 8.72599339e-01 -1.55922540e-02 -6.89134803e+01] [-3.06539318e-02 7.10576654e-04 9.99529805e-01 -1.24713090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.14, Y:-68.95, Z:-1.24 [[ 8.65963153e-01 4.99410613e-01 2.63980552e-02 1.94139499e+02] [-4.99167065e-01 8.66365356e-01 -1.55984322e-02 -6.89462259e+01] [-3.06603831e-02 3.30627738e-04 9.99529805e-01 -1.24276107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:-68.97, Z:-1.25 [[ 8.65246716e-01 5.00650940e-01 2.63961429e-02 1.94195312e+02] [-5.00407870e-01 8.65649208e-01 -1.56016675e-02 -6.89739305e+01] [-3.06607897e-02 2.90453931e-04 9.99529805e-01 -1.25076259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.623617865 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:-69.00, Z:-1.25 [[ 8.63840701e-01 5.03073253e-01 2.63921609e-02 1.94249400e+02] [-5.02831105e-01 8.64243749e-01 -1.56084007e-02 -6.90040556e+01] [-3.06614290e-02 2.12372405e-04 9.99529805e-01 -1.25487222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:-69.04, Z:-1.25 [[ 8.61043853e-01 5.07845590e-01 2.63882542e-02 1.94301595e+02] [-5.07605474e-01 8.61448115e-01 -1.56150028e-02 -6.90351437e+01] [-3.06621221e-02 5.03799271e-05 9.99529805e-01 -1.25449868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:-69.07, Z:-1.25 [[ 8.56465850e-01 5.15528875e-01 2.63861306e-02 1.94350959e+02] [-5.15292275e-01 8.56872179e-01 -1.56185904e-02 -6.90721918e+01] [-3.06613755e-02 -2.19779932e-04 9.99529805e-01 -1.25069839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:194.41, Y:-69.10, Z:-1.26 [[ 8.60572312e-01 5.08644529e-01 2.63825459e-02 1.94406029e+02] [-5.08404493e-01 8.60976621e-01 -1.56246432e-02 -6.91014366e+01] [-3.06621445e-02 3.31304241e-05 9.99529805e-01 -1.25860438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:-69.13, Z:-1.26 [[ 8.61767610e-01 5.06616956e-01 2.63788819e-02 1.94457925e+02] [-5.06375780e-01 8.62171240e-01 -1.56308266e-02 -6.91347641e+01] [-3.06619551e-02 1.12513220e-04 9.99529805e-01 -1.26407337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:-69.17, Z:-1.26 [[ 8.63611829e-01 5.03466934e-01 2.63752847e-02 1.94509408e+02] [-5.03224100e-01 8.64014463e-01 -1.56368942e-02 -6.91705995e+01] [-3.06612866e-02 2.31527854e-04 9.99529805e-01 -1.26379384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98361786499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:194.56, Y:-69.21, Z:-1.27 [[ 8.67555210e-01 4.96641249e-01 2.63709718e-02 1.94560078e+02] [-4.96395026e-01 8.67955781e-01 -1.56441643e-02 -6.92070287e+01] [-3.06583747e-02 4.81757041e-04 9.99529805e-01 -1.26753552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:-69.24, Z:-1.27 [[ 8.67311639e-01 4.97066698e-01 2.63669955e-02 1.94613519e+02] [-4.96820469e-01 8.67712206e-01 -1.56508632e-02 -6.92413764e+01] [-3.06584867e-02 4.74512704e-04 9.99529805e-01 -1.26784128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.103617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:-69.28, Z:-1.26 [[ 8.70513627e-01 4.91437588e-01 2.63651816e-02 1.94664373e+02] [-4.91188676e-01 8.70912533e-01 -1.56539183e-02 -6.92786362e+01] [-3.06546909e-02 6.76670537e-04 9.99529805e-01 -1.26399747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.163617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:194.72, Y:-69.31, Z:-1.27 [[ 8.72320988e-01 4.88222503e-01 2.63605974e-02 1.94716011e+02] [-4.87971888e-01 8.72718826e-01 -1.56616342e-02 -6.93131317e+01] [-3.06517518e-02 7.98741739e-04 9.99529806e-01 -1.26704059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:-69.35, Z:-1.27 [[ 8.73506522e-01 4.86098368e-01 2.63577820e-02 1.94767909e+02] [-4.85846643e-01 8.73903659e-01 -1.56663708e-02 -6.93499061e+01] [-3.06495594e-02 8.78837180e-04 9.99529806e-01 -1.26756170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.82, Y:-69.39, Z:-1.27 [[ 8.73322025e-01 4.86429997e-01 2.63533337e-02 1.94819793e+02] [-4.86178198e-01 8.73719114e-01 -1.56738500e-02 -6.93855751e+01] [-3.06496422e-02 8.75902136e-04 9.99529806e-01 -1.26942758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.87, Y:-69.42, Z:-1.27 [[ 8.72305697e-01 4.88250454e-01 2.63488975e-02 1.94871802e+02] [-4.87999258e-01 8.72703169e-01 -1.56813040e-02 -6.94202869e+01] [-3.06511702e-02 8.20648419e-04 9.99529806e-01 -1.27136372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.403617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:-69.46, Z:-1.27 [[ 8.70152019e-01 4.92078687e-01 2.63444581e-02 1.94923553e+02] [-4.91829014e-01 8.70550449e-01 -1.56887587e-02 -6.94571019e+01] [-3.06542836e-02 6.94636170e-04 9.99529806e-01 -1.27057979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.98, Y:-69.49, Z:-1.28 [[ 8.68986018e-01 4.94135107e-01 2.63400177e-02 1.94976646e+02] [-4.93886152e-01 8.69384896e-01 -1.56962102e-02 -6.94900637e+01] [-3.06556620e-02 6.30817221e-04 9.99529806e-01 -1.27548338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:195.03, Y:-69.52, Z:-1.28 [[ 8.67664267e-01 4.96452573e-01 2.63355811e-02 1.95029474e+02] [-4.96204458e-01 8.68063668e-01 -1.57036504e-02 -6.95244893e+01] [-3.06570788e-02 5.57663564e-04 9.99529806e-01 -1.27667414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:195.08, Y:-69.56, Z:-1.28 [[ 8.66050174e-01 4.99263226e-01 2.63311184e-02 1.95083284e+02] [-4.99016179e-01 8.66450237e-01 -1.57111297e-02 -6.95568334e+01] [-3.06585931e-02 4.66972518e-04 9.99529806e-01 -1.27829016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:-69.59, Z:-1.27 [[ 8.63159667e-01 5.04244283e-01 2.63266596e-02 1.95132395e+02] [-5.03999317e-01 8.63561008e-01 -1.57185976e-02 -6.95945630e+01] [-3.06606897e-02 2.99041022e-04 9.99529806e-01 -1.27044321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:-69.62, Z:-1.28 [[ 8.65001960e-01 5.01077543e-01 2.63230916e-02 1.95187287e+02] [-5.00830926e-01 8.65402289e-01 -1.57245706e-02 -6.96212053e+01] [-3.06592929e-02 4.18366093e-04 9.99529806e-01 -1.28091755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:-69.66, Z:-1.28 [[ 8.65582451e-01 5.00074295e-01 2.63195851e-02 1.95239842e+02] [-4.99827036e-01 8.65982383e-01 -1.57304375e-02 -6.96554704e+01] [-3.06586845e-02 4.60750465e-04 9.99529806e-01 -1.27822477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.29, Y:-69.68, Z:-1.29 [[ 8.68227757e-01 4.95467369e-01 2.63182261e-02 1.95293417e+02] [-4.95217919e-01 8.68626326e-01 -1.57327110e-02 -6.96837212e+01] [-3.06557489e-02 6.26319190e-04 9.99529806e-01 -1.28688448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.883617865 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:-69.71, Z:-1.29 [[ 8.71498505e-01 4.89691531e-01 2.63165319e-02 1.95349395e+02] [-4.89439355e-01 8.71895355e-01 -1.57355443e-02 -6.97122344e+01] [-3.06508247e-02 8.33156898e-04 9.99529806e-01 -1.29099953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:-69.74, Z:-1.29 [[ 8.73880865e-01 4.85427559e-01 2.63119302e-02 1.95403461e+02] [-4.85173216e-01 8.74276330e-01 -1.57432352e-02 -6.97421925e+01] [-3.06460980e-02 9.91868168e-04 9.99529806e-01 -1.29396582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:-69.77, Z:-1.30 [[ 8.75028750e-01 4.83355553e-01 2.63077056e-02 1.95458437e+02] [-4.83100062e-01 8.75423474e-01 -1.57502915e-02 -6.97723148e+01] [-3.06433739e-02 1.07270371e-03 9.99529806e-01 -1.29524193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.51, Y:-69.80, Z:-1.30 [[ 8.75030231e-01 4.83353114e-01 2.63032815e-02 1.95513154e+02] [-4.83097400e-01 8.75424810e-01 -1.57576765e-02 -6.98034861e+01] [-3.06430672e-02 1.08139642e-03 9.99529806e-01 -1.29663974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:-69.83, Z:-1.30 [[ 8.75028207e-01 4.83357019e-01 2.62988574e-02 1.95568956e+02] [-4.83101085e-01 8.75422643e-01 -1.57650566e-02 -6.98307367e+01] [-3.06427660e-02 1.08986264e-03 9.99529806e-01 -1.30398676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:-69.86, Z:-1.30 [[ 8.72970045e-01 4.87064560e-01 2.62947676e-02 1.95624323e+02] [-4.86810097e-01 8.73365432e-01 -1.57718751e-02 -6.98610759e+01] [-3.06468625e-02 9.67816121e-04 9.99529806e-01 -1.30074322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:195.68, Y:-69.89, Z:-1.30 [[ 8.70239622e-01 4.91926641e-01 2.62903179e-02 1.95679349e+02] [-4.91674164e-01 8.70636279e-01 -1.57792889e-02 -6.98907394e+01] [-3.06515571e-02 8.05492304e-04 9.99529806e-01 -1.30272512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:195.73, Y:-69.92, Z:-1.30 [[ 8.66624107e-01 4.98268720e-01 2.62857319e-02 1.95732902e+02] [-4.98018915e-01 8.67022453e-01 -1.57869247e-02 -6.99213969e+01] [-3.06564505e-02 5.90537834e-04 9.99529806e-01 -1.30447775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.78, Y:-69.96, Z:-1.30 [[ 8.62104388e-01 5.06048721e-01 2.62814946e-02 1.95784162e+02] [-5.05802296e-01 8.62504834e-01 -1.57939757e-02 -6.99552918e+01] [-3.06604373e-02 3.22815462e-04 9.99529806e-01 -1.29943005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:-69.99, Z:-1.30 [[ 8.60748468e-01 5.08351793e-01 2.62779339e-02 1.95837419e+02] [-5.08106259e-01 8.61149460e-01 -1.57998978e-02 -6.99866348e+01] [-3.06611349e-02 2.47755123e-04 9.99529806e-01 -1.30159189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48361786499999 meters Centerline goodness : 0.994408 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:-70.02, Z:-1.31 [[ 8.61302947e-01 5.07411980e-01 2.62738779e-02 1.95890695e+02] [-5.07165802e-01 8.61703545e-01 -1.58066396e-02 -7.00187839e+01] [-3.06607720e-02 2.89092930e-04 9.99529806e-01 -1.30758789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:-70.05, Z:-1.31 [[ 8.61532157e-01 5.07022950e-01 2.62692049e-02 1.95943595e+02] [-5.06776355e-01 8.61932498e-01 -1.58144019e-02 -7.00515686e+01] [-3.06605461e-02 3.12003809e-04 9.99529806e-01 -1.30508557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:-70.08, Z:-1.31 [[ 8.63188848e-01 5.04197577e-01 2.62643658e-02 1.95997741e+02] [-5.03949427e-01 8.63588227e-01 -1.58224345e-02 -7.00844814e+01] [-3.06592303e-02 4.21836907e-04 9.99529806e-01 -1.30680648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.05, Y:-70.12, Z:-1.31 [[ 8.65299915e-01 5.00566147e-01 2.62600360e-02 1.96050573e+02] [-5.00316103e-01 8.65698112e-01 -1.58296174e-02 -7.01183130e+01] [-3.06570341e-02 5.59047750e-04 9.99529806e-01 -1.30821356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:-70.15, Z:-1.31 [[ 8.67699175e-01 4.96395789e-01 2.62557123e-02 1.96103753e+02] [-4.96143615e-01 8.68096025e-01 -1.58367856e-02 -7.01519222e+01] [-3.06537932e-02 7.14961713e-04 9.99529806e-01 -1.31071673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783617865 meters Centerline goodness : 0.996635 with order 1 Centerline is valid? [True, True] Translation: X:196.16, Y:-70.19, Z:-1.32 [[ 8.69032500e-01 4.94058073e-01 2.62513630e-02 1.96157108e+02] [-4.93804614e-01 8.69428531e-01 -1.58439918e-02 -7.01858248e+01] [-3.06515360e-02 8.05899605e-04 9.99529806e-01 -1.31672956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843617865 meters Centerline goodness : 0.995014 with order 1 Centerline is valid? [True, True] Translation: X:196.21, Y:-70.22, Z:-1.32 [[ 8.70903179e-01 4.90753292e-01 2.62461293e-02 1.96208730e+02] [-4.90498069e-01 8.71298076e-01 -1.58526569e-02 -7.02185504e+01] [-3.06479455e-02 9.32453538e-04 9.99529806e-01 -1.32102296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:-70.25, Z:-1.32 [[ 8.71552983e-01 4.89598573e-01 2.62418553e-02 1.96261959e+02] [-4.89342615e-01 8.71947404e-01 -1.58597288e-02 -7.02515540e+01] [-3.06464181e-02 9.81335874e-04 9.99529806e-01 -1.31701166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:-70.28, Z:-1.33 [[ 8.73012372e-01 4.86991831e-01 2.62365067e-02 1.96314752e+02] [-4.86734430e-01 8.73405853e-01 -1.58685719e-02 -7.02835136e+01] [-3.06429834e-02 1.08324844e-03 9.99529807e-01 -1.32595729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:-70.32, Z:-1.32 [[ 8.72282138e-01 4.88298797e-01 2.62327373e-02 1.96366452e+02] [-4.88041798e-01 8.72675881e-01 -1.58748007e-02 -7.03173674e+01] [-3.06443233e-02 1.04463281e-03 9.99529807e-01 -1.31925545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:-70.35, Z:-1.32 [[ 8.71465402e-01 4.89755078e-01 2.62300840e-02 1.96419530e+02] [-4.89498606e-01 8.71859488e-01 -1.58791836e-02 -7.03509527e+01] [-3.06458584e-02 9.98569564e-04 9.99529807e-01 -1.31989857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14361786499998 meters Centerline goodness : 0.993829 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:-70.39, Z:-1.32 [[ 8.66287546e-01 4.98856784e-01 2.62258828e-02 1.96469393e+02] [-4.98604244e-01 8.66684163e-01 -1.58861193e-02 -7.03872135e+01] [-3.06544557e-02 6.85610884e-04 9.99529807e-01 -1.32070665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.52, Y:-70.42, Z:-1.32 [[ 8.67992699e-01 4.95884155e-01 2.62217366e-02 1.96524116e+02] [-4.95630051e-01 8.68388315e-01 -1.58929601e-02 -7.04164820e+01] [-3.06517167e-02 7.98692663e-04 9.99529807e-01 -1.32476139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.58, Y:-70.45, Z:-1.33 [[ 8.67201928e-01 4.97265999e-01 2.62172295e-02 1.96576938e+02] [-4.97012300e-01 8.67597805e-01 -1.59003915e-02 -7.04498247e+01] [-3.06527349e-02 7.58564651e-04 9.99529807e-01 -1.32904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.323617865 meters Centerline goodness : 0.995484 with order 1 Centerline is valid? [True, True] Translation: X:196.63, Y:-70.48, Z:-1.34 [[ 8.64989495e-01 5.01104689e-01 2.62157369e-02 1.96628937e+02] [-5.00852673e-01 8.65386445e-01 -1.59028521e-02 -7.04832112e+01] [-3.06557371e-02 6.25578133e-04 9.99529807e-01 -1.33583795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:-70.52, Z:-1.34 [[ 8.65489538e-01 5.00240783e-01 2.62110380e-02 1.96681898e+02] [-4.99988136e-01 8.65886088e-01 -1.59105930e-02 -7.05154773e+01] [-3.06549007e-02 6.65243753e-04 9.99529807e-01 -1.33537117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:-70.55, Z:-1.33 [[ 8.65762097e-01 4.99769188e-01 2.62059083e-02 1.96734030e+02] [-4.99516070e-01 8.66158346e-01 -1.59190375e-02 -7.05495898e+01] [-3.06543107e-02 6.91826958e-04 9.99529807e-01 -1.33372778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.503617865 meters Centerline goodness : 0.995895 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:-70.58, Z:-1.34 [[ 8.67458909e-01 4.96818393e-01 2.62016520e-02 1.96785925e+02] [-4.96563716e-01 8.67854157e-01 -1.59260401e-02 -7.05839685e+01] [-3.06515622e-02 8.04395673e-04 9.99529807e-01 -1.34400903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:-70.62, Z:-1.34 [[ 8.68705410e-01 4.94635900e-01 2.61961358e-02 1.96839677e+02] [-4.94379957e-01 8.69099839e-01 -1.59351083e-02 -7.06150010e+01] [-3.06491340e-02 8.92070278e-04 9.99529807e-01 -1.33797339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.623617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:-70.65, Z:-1.34 [[ 8.69525294e-01 4.93193468e-01 2.61909592e-02 1.96894056e+02] [-4.92936615e-01 8.69919131e-01 -1.59436121e-02 -7.06468945e+01] [-3.06473018e-02 9.52891238e-04 9.99529807e-01 -1.34079044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.95, Y:-70.68, Z:-1.34 [[ 8.69774184e-01 4.92754635e-01 2.61866214e-02 1.96948431e+02] [-4.92497369e-01 8.70167752e-01 -1.59507335e-02 -7.06789519e+01] [-3.06465513e-02 9.76694105e-04 9.99529807e-01 -1.34331302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74361786499998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:197.00, Y:-70.71, Z:-1.35 [[ 8.69403777e-01 4.93408106e-01 2.61823228e-02 1.97003283e+02] [-4.93150923e-01 8.69797399e-01 -1.59577864e-02 -7.07093953e+01] [-3.06470174e-02 9.61923089e-04 9.99529807e-01 -1.34669319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:-70.74, Z:-1.35 [[ 8.68745602e-01 4.94566269e-01 2.61779298e-02 1.97057108e+02] [-4.94309395e-01 8.69139426e-01 -1.59649896e-02 -7.07405911e+01] [-3.06480162e-02 9.29517852e-04 9.99529807e-01 -1.35084296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:-70.77, Z:-1.35 [[ 8.66720498e-01 4.98106922e-01 2.61738720e-02 1.97112706e+02] [-4.97851456e-01 8.67115237e-01 -1.59716393e-02 -7.07697652e+01] [-3.06513473e-02 8.12246900e-04 9.99529807e-01 -1.35033213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:-70.80, Z:-1.35 [[ 8.63949313e-01 5.02898343e-01 2.61694694e-02 1.97168250e+02] [-5.02644849e-01 8.64345320e-01 -1.59788497e-02 -7.08004427e+01] [-3.06551955e-02 6.50967200e-04 9.99529807e-01 -1.35131194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:197.22, Y:-70.83, Z:-1.35 [[ 8.61735185e-01 5.06683194e-01 2.61650811e-02 1.97222530e+02] [-5.06431221e-01 8.62132163e-01 -1.59860322e-02 -7.08313043e+01] [-3.06576118e-02 5.24912477e-04 9.99529807e-01 -1.35280635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.043617865 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:197.28, Y:-70.86, Z:-1.36 [[ 8.62107311e-01 5.06049998e-01 2.61607236e-02 1.97279210e+02] [-5.05797517e-01 8.62503966e-01 -1.59931600e-02 -7.08593388e+01] [-3.06570664e-02 5.55791169e-04 9.99529807e-01 -1.35694799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:-70.89, Z:-1.36 [[ 8.59480802e-01 5.10498389e-01 2.61561971e-02 1.97332540e+02] [-5.10247736e-01 8.59878613e-01 -1.60005596e-02 -7.08927623e+01] [-3.06594144e-02 4.06033417e-04 9.99529807e-01 -1.35872661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.163617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:-70.92, Z:-1.36 [[ 8.59192983e-01 5.10982881e-01 2.61517525e-02 1.97386133e+02] [-5.10732231e-01 8.59590797e-01 -1.60078206e-02 -7.09238325e+01] [-3.06595280e-02 3.97264205e-04 9.99529807e-01 -1.36154276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:-70.95, Z:-1.36 [[ 8.59599369e-01 5.10299155e-01 2.61476043e-02 1.97439608e+02] [-5.10047983e-01 8.59996853e-01 -1.60145935e-02 -7.09548786e+01] [-3.06590910e-02 4.29601667e-04 9.99529807e-01 -1.36373200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:-70.98, Z:-1.37 [[ 8.62143453e-01 5.05989310e-01 2.61435358e-02 1.97495306e+02] [-5.05735950e-01 8.62539546e-01 -1.60212326e-02 -7.09826511e+01] [-3.06564059e-02 5.90874888e-04 9.99529807e-01 -1.37341658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.55, Y:-71.01, Z:-1.37 [[ 8.63096178e-01 5.04362547e-01 2.61421062e-02 1.97548588e+02] [-5.04108370e-01 8.63491747e-01 -1.60235649e-02 -7.10145799e+01] [-3.06551789e-02 6.51423038e-04 9.99529807e-01 -1.37414390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:-71.05, Z:-1.37 [[ 8.61889911e-01 5.06421351e-01 2.61380184e-02 1.97598433e+02] [-5.06167917e-01 8.62285957e-01 -1.60302302e-02 -7.10505348e+01] [-3.06564971e-02 5.86067307e-04 9.99529807e-01 -1.37089341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:-71.08, Z:-1.38 [[ 8.62926770e-01 5.04652743e-01 2.61342333e-02 1.97651971e+02] [-5.04398311e-01 8.63322175e-01 -1.60363988e-02 -7.10812141e+01] [-3.06550758e-02 6.56174653e-04 9.99529807e-01 -1.37606618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:-71.11, Z:-1.38 [[ 8.65673117e-01 4.99927128e-01 2.61327456e-02 1.97707277e+02] [-4.99670464e-01 8.66067078e-01 -1.60388227e-02 -7.11102245e+01] [-3.06509532e-02 8.26616489e-04 9.99529807e-01 -1.38115026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:-71.15, Z:-1.38 [[ 8.65029341e-01 5.01040485e-01 2.61279784e-02 1.97758872e+02] [-5.00784094e-01 8.65423479e-01 -1.60465849e-02 -7.11470674e+01] [-3.06517547e-02 7.96290722e-04 9.99529807e-01 -1.37701807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:-71.18, Z:-1.38 [[ 8.66923743e-01 4.97755741e-01 2.61236555e-02 1.97814874e+02] [-4.97497645e-01 8.67316767e-01 -1.60536194e-02 -7.11758958e+01] [-3.06482657e-02 9.20806742e-04 9.99529807e-01 -1.38340385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:-71.21, Z:-1.39 [[ 8.67097826e-01 4.97452650e-01 2.61193743e-02 1.97867771e+02] [-4.97194207e-01 8.67490622e-01 -1.60605821e-02 -7.12079025e+01] [-3.06476913e-02 9.39694205e-04 9.99529807e-01 -1.38627097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:-71.24, Z:-1.39 [[ 8.66578598e-01 4.98356816e-01 2.61154488e-02 1.97921210e+02] [-4.98098591e-01 8.66971537e-01 -1.60669626e-02 -7.12407998e+01] [-3.06484311e-02 9.15217665e-04 9.99529807e-01 -1.38606521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:-71.27, Z:-1.39 [[ 8.66130069e-01 4.99136185e-01 2.61107490e-02 1.97975676e+02] [-4.98878084e-01 8.66523089e-01 -1.60745966e-02 -7.12731833e+01] [-3.06489798e-02 8.96611035e-04 9.99529808e-01 -1.38809465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.883617865 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:-71.30, Z:-1.39 [[ 8.65645432e-01 4.99976457e-01 2.61060926e-02 1.98030662e+02] [-4.99718510e-01 8.66038553e-01 -1.60821555e-02 -7.13033381e+01] [-3.06495817e-02 8.75746752e-04 9.99529808e-01 -1.38977898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.943617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:-71.33, Z:-1.39 [[ 8.65628047e-01 5.00006632e-01 2.61046499e-02 1.98084654e+02] [-4.99748627e-01 8.66021130e-01 -1.60844969e-02 -7.13343910e+01] [-3.06495335e-02 8.77428730e-04 9.99529808e-01 -1.39274458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:-71.36, Z:-1.40 [[ 8.66669071e-01 4.98200108e-01 2.61031479e-02 1.98139229e+02] [-4.97941211e-01 8.67061567e-01 -1.60869340e-02 -7.13646638e+01] [-3.06475486e-02 9.44215082e-04 9.99529808e-01 -1.39561147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:-71.40, Z:-1.40 [[ 8.68140265e-01 4.95632264e-01 2.60986391e-02 1.98192659e+02] [-4.95371987e-01 8.68531847e-01 -1.60942456e-02 -7.13954243e+01] [-3.06443266e-02 1.04352788e-03 9.99529808e-01 -1.39854339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:-71.43, Z:-1.40 [[ 8.68195991e-01 4.95534868e-01 2.60943728e-02 1.98245954e+02] [-4.95274340e-01 8.68587406e-01 -1.61011597e-02 -7.14292051e+01] [-3.06439297e-02 1.05508904e-03 9.99529808e-01 -1.39784258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:-71.46, Z:-1.40 [[ 8.68933782e-01 4.94240220e-01 2.60899943e-02 1.98300801e+02] [-4.93978896e-01 8.69324666e-01 -1.61082515e-02 -7.14609703e+01] [-3.06420213e-02 1.10909733e-03 9.99529808e-01 -1.40202033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:-71.49, Z:-1.40 [[ 8.68629187e-01 4.94775453e-01 2.60880755e-02 1.98355899e+02] [-4.94514276e-01 8.69020169e-01 -1.61113585e-02 -7.14881534e+01] [-3.06425685e-02 1.09387047e-03 9.99529808e-01 -1.40380254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.41, Y:-71.52, Z:-1.41 [[ 8.68906714e-01 4.94288094e-01 2.60845247e-02 1.98411615e+02] [-4.94026526e-01 8.69297435e-01 -1.61171053e-02 -7.15171192e+01] [-3.06417036e-02 1.11781391e-03 9.99529808e-01 -1.40926349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.47, Y:-71.55, Z:-1.41 [[ 8.68010570e-01 4.95860343e-01 2.60800618e-02 1.98466383e+02] [-4.95599266e-01 8.68401620e-01 -1.61243238e-02 -7.15456057e+01] [-3.06433806e-02 1.07082400e-03 9.99529808e-01 -1.41351738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:-71.58, Z:-1.42 [[ 8.66991914e-01 4.97639490e-01 2.60760406e-02 1.98520968e+02] [-4.97379020e-01 8.67383368e-01 -1.61308240e-02 -7.15756521e+01] [-3.06452590e-02 1.01561845e-03 9.99529808e-01 -1.41833148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.58, Y:-71.61, Z:-1.42 [[ 8.65238296e-01 5.00682456e-01 2.60723828e-02 1.98575132e+02] [-5.00423185e-01 8.65630546e-01 -1.61367341e-02 -7.16060991e+01] [-3.06484306e-02 9.14895494e-04 9.99529808e-01 -1.42063874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.63, Y:-71.64, Z:-1.42 [[ 8.63887626e-01 5.03009548e-01 2.60684443e-02 1.98629039e+02] [-5.02751142e-01 8.64280446e-01 -1.61430942e-02 -7.16382188e+01] [-3.06505771e-02 8.39879159e-04 9.99529808e-01 -1.42281442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.68, Y:-71.67, Z:-1.42 [[ 8.61613770e-01 5.06894847e-01 2.60638652e-02 1.98681569e+02] [-5.06637990e-01 8.62007604e-01 -1.61504839e-02 -7.16703388e+01] [-3.06538471e-02 7.10535005e-04 9.99529808e-01 -1.42288968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:-71.71, Z:-1.42 [[ 8.58403287e-01 5.12313051e-01 2.60602056e-02 1.98732157e+02] [-5.12058501e-01 8.58798616e-01 -1.61563869e-02 -7.17078416e+01] [-3.06575963e-02 5.24345820e-04 9.99529808e-01 -1.41686383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.78, Y:-71.74, Z:-1.42 [[ 8.57806447e-01 5.13311960e-01 2.60563004e-02 1.98784923e+02] [-5.13057679e-01 8.58201949e-01 -1.61626826e-02 -7.17411588e+01] [-3.06580660e-02 4.96068306e-04 9.99529808e-01 -1.41867184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.84, Y:-71.78, Z:-1.42 [[ 8.57777117e-01 5.13361182e-01 2.60521539e-02 1.98837343e+02] [-5.13106721e-01 8.58172503e-01 -1.61693634e-02 -7.17752494e+01] [-3.06579656e-02 5.02174634e-04 9.99529808e-01 -1.42218210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:-71.81, Z:-1.42 [[ 8.58927075e-01 5.11434913e-01 2.60501360e-02 1.98889753e+02] [-5.11179466e-01 8.59321826e-01 -1.61726137e-02 -7.18097540e+01] [-3.06566897e-02 5.74801104e-04 9.99529808e-01 -1.42323074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.94, Y:-71.84, Z:-1.43 [[ 8.62483768e-01 5.05414070e-01 2.60454909e-02 1.98941929e+02] [-5.05155643e-01 8.62876574e-01 -1.61800911e-02 -7.18424752e+01] [-3.06516896e-02 7.98039214e-04 9.99529808e-01 -1.43088485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:-71.88, Z:-1.43 [[ 8.64131419e-01 5.02592024e-01 2.60412612e-02 1.98992171e+02] [-5.02332110e-01 8.64523242e-01 -1.61868957e-02 -7.18771903e+01] [-3.06486803e-02 9.06243524e-04 9.99529808e-01 -1.43349538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:-71.92, Z:-1.43 [[ 8.65316901e-01 5.00548332e-01 2.60389728e-02 1.99042765e+02] [-5.00287382e-01 8.65708034e-01 -1.61905761e-02 -7.19152704e+01] [-3.06463138e-02 9.83009627e-04 9.99529808e-01 -1.43155318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.09, Y:-71.95, Z:-1.43 [[ 8.65719223e-01 4.99852403e-01 2.60346430e-02 1.99094231e+02] [-4.99590929e-01 8.66110007e-01 -1.61975355e-02 -7.19511373e+01] [-3.06452419e-02 1.01584635e-03 9.99529808e-01 -1.43240797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:-71.98, Z:-1.43 [[ 8.64836673e-01 5.01378062e-01 2.60301557e-02 1.99146267e+02] [-5.01117061e-01 8.65227772e-01 -1.62047436e-02 -7.19835513e+01] [-3.06467166e-02 9.70301470e-04 9.99529808e-01 -1.43440487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:-72.02, Z:-1.43 [[ 8.63855305e-01 5.03067222e-01 2.60265743e-02 1.99197928e+02] [-5.02806813e-01 8.64246799e-01 -1.62104937e-02 -7.20202385e+01] [-3.06483515e-02 9.17182104e-04 9.99529808e-01 -1.43453636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:-72.06, Z:-1.44 [[ 8.62467415e-01 5.05443178e-01 2.60221546e-02 1.99250018e+02] [-5.05183634e-01 8.62859482e-01 -1.62175854e-02 -7.20552382e+01] [-3.06505307e-02 8.41172388e-04 9.99529808e-01 -1.43604485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:-72.09, Z:-1.44 [[ 8.61408871e-01 5.07245345e-01 2.60176416e-02 1.99301997e+02] [-5.06986402e-01 8.61801336e-01 -1.62248223e-02 -7.20907162e+01] [-3.06520039e-02 7.85615371e-04 9.99529808e-01 -1.44013369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.383617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:199.35, Y:-72.13, Z:-1.44 [[ 8.60009474e-01 5.09614579e-01 2.60131741e-02 1.99354988e+02] [-5.09356502e-01 8.60402509e-01 -1.62319819e-02 -7.21257013e+01] [-3.06538549e-02 7.09678912e-04 9.99529808e-01 -1.43719970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:199.41, Y:-72.16, Z:-1.44 [[ 8.59508422e-01 5.10459437e-01 2.60083681e-02 1.99407916e+02] [-5.10201513e-01 8.59901558e-01 -1.62396788e-02 -7.21597043e+01] [-3.06543336e-02 6.88631898e-04 9.99529808e-01 -1.43938480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.503617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.46, Y:-72.19, Z:-1.44 [[ 8.58943564e-01 5.11409586e-01 2.60036245e-02 1.99458931e+02] [-5.11151867e-01 8.59336834e-01 -1.62472709e-02 -7.21939227e+01] [-3.06548825e-02 6.63687548e-04 9.99529808e-01 -1.44169350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.51, Y:-72.23, Z:-1.44 [[ 8.57865045e-01 5.13216918e-01 2.59992468e-02 1.99509182e+02] [-5.12959815e-01 8.58258718e-01 -1.62542732e-02 -7.22299906e+01] [-3.06560482e-02 6.07403977e-04 9.99529808e-01 -1.44472946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.56, Y:-72.27, Z:-1.44 [[ 8.55940783e-01 5.16420019e-01 2.59949831e-02 1.99557265e+02] [-5.16164183e-01 8.56335281e-01 -1.62610891e-02 -7.22691554e+01] [-3.06579731e-02 5.00850088e-04 9.99529808e-01 -1.43675485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:-72.30, Z:-1.45 [[ 8.58145285e-01 5.12748565e-01 2.59919155e-02 1.99608056e+02] [-5.12490893e-01 8.58538585e-01 -1.62659909e-02 -7.23018032e+01] [-3.06554259e-02 6.37963424e-04 9.99529808e-01 -1.44711119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:199.66, Y:-72.34, Z:-1.45 [[ 8.58489494e-01 5.12172154e-01 2.59898722e-02 1.99659873e+02] [-5.11914120e-01 8.58882556e-01 -1.62692551e-02 -7.23352558e+01] [-3.06549073e-02 6.62401981e-04 9.99529808e-01 -1.45025543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:-72.37, Z:-1.45 [[ 8.58767249e-01 5.11706517e-01 2.59856123e-02 1.99710831e+02] [-5.11448063e-01 8.59160037e-01 -1.62760562e-02 -7.23719978e+01] [-3.06543637e-02 6.87052940e-04 9.99529808e-01 -1.45293521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.76, Y:-72.41, Z:-1.45 [[ 8.57711575e-01 5.13474292e-01 2.59808623e-02 1.99759013e+02] [-5.13216419e-01 8.58104743e-01 -1.62836350e-02 -7.24104270e+01] [-3.06555291e-02 6.32857152e-04 9.99529808e-01 -1.45052642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.81, Y:-72.45, Z:-1.45 [[ 8.55207269e-01 5.17634735e-01 2.59770603e-02 1.99808555e+02] [-5.17378590e-01 8.55601566e-01 -1.62896980e-02 -7.24475250e+01] [-3.06581270e-02 4.91093253e-04 9.99529809e-01 -1.44712612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.86, Y:-72.47, Z:-1.46 [[ 8.54975664e-01 5.18017386e-01 2.59730977e-02 1.99863527e+02] [-5.17761226e-01 8.55369951e-01 -1.62960137e-02 -7.24731455e+01] [-3.06582257e-02 4.84832263e-04 9.99529809e-01 -1.45765597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:199.92, Y:-72.51, Z:-1.46 [[ 8.53763837e-01 5.20012287e-01 2.59717466e-02 1.99916838e+02] [-5.19756983e-01 8.54158679e-01 -1.62981668e-02 -7.25069757e+01] [-3.06592397e-02 4.15788786e-04 9.99529809e-01 -1.46023281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.97, Y:-72.54, Z:-1.46 [[ 8.52659229e-01 5.21821749e-01 2.59673113e-02 1.99968881e+02] [-5.21567068e-01 8.53054473e-01 -1.63052303e-02 -7.25412629e+01] [-3.06599548e-02 3.59110648e-04 9.99529809e-01 -1.45957008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.02, Y:-72.57, Z:-1.46 [[ 8.54214610e-01 5.19271903e-01 2.59632543e-02 2.00023623e+02] [-5.19015846e-01 8.54608964e-01 -1.63116879e-02 -7.25711973e+01] [-3.06586310e-02 4.58341709e-04 9.99529809e-01 -1.46256812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:-72.60, Z:-1.46 [[ 8.56862177e-01 5.14891580e-01 2.59590204e-02 2.00077760e+02] [-5.14633303e-01 8.57255080e-01 -1.63184230e-02 -7.26019394e+01] [-3.06557207e-02 6.23263086e-04 9.99529809e-01 -1.46457016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.13, Y:-72.63, Z:-1.47 [[ 8.58991914e-01 5.11330865e-01 2.59545574e-02 2.00131796e+02] [-5.11070745e-01 8.59383600e-01 -1.63255184e-02 -7.26339097e+01] [-3.06526624e-02 7.58873293e-04 9.99529809e-01 -1.46634156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.19, Y:-72.67, Z:-1.47 [[ 8.61621785e-01 5.06887070e-01 2.59499232e-02 2.00185862e+02] [-5.06624709e-01 8.62011973e-01 -1.63328813e-02 -7.26667840e+01] [-3.06480708e-02 9.25893993e-04 9.99529809e-01 -1.46769045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:-72.70, Z:-1.47 [[ 8.62239645e-01 5.05835590e-01 2.59451415e-02 2.00238634e+02] [-5.05572526e-01 8.62629359e-01 -1.63404736e-02 -7.26983355e+01] [-3.06466339e-02 9.72253442e-04 9.99529809e-01 -1.47021451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:-72.73, Z:-1.46 [[ 8.59047547e-01 5.11238095e-01 2.59407337e-02 2.00290603e+02] [-5.10977271e-01 8.59438764e-01 -1.63474680e-02 -7.27335933e+01] [-3.06519205e-02 7.88127037e-04 9.99529809e-01 -1.46420997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:-72.76, Z:-1.47 [[ 8.59008316e-01 5.11304087e-01 2.59392343e-02 2.00345426e+02] [-5.11043221e-01 8.59399505e-01 -1.63498468e-02 -7.27627035e+01] [-3.06519086e-02 7.88584521e-04 9.99529809e-01 -1.47286572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:-72.79, Z:-1.48 [[ 8.56709160e-01 5.15147346e-01 2.59350778e-02 2.00398990e+02] [-5.14888035e-01 8.57101381e-01 -1.63564374e-02 -7.27931388e+01] [-3.06549664e-02 6.59048485e-04 9.99529809e-01 -1.47779047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.45, Y:-72.82, Z:-1.48 [[ 8.54637090e-01 5.18577905e-01 2.59306768e-02 2.00453447e+02] [-5.18319958e-01 8.55030210e-01 -1.63634117e-02 -7.28241672e+01] [-3.06572157e-02 5.44391279e-04 9.99529809e-01 -1.48151302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.51, Y:-72.86, Z:-1.48 [[ 8.54248012e-01 5.19218812e-01 2.59260307e-02 2.00506203e+02] [-5.18960937e-01 8.54641178e-01 -1.63707696e-02 -7.28570681e+01] [-3.06574649e-02 5.30100240e-04 9.99529809e-01 -1.48356953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763617865 meters Centerline goodness : 0.997547 with order 1 Centerline is valid? [True, True] Translation: X:200.56, Y:-72.89, Z:-1.48 [[ 8.54346833e-01 5.19056334e-01 2.59231627e-02 2.00557905e+02] [-5.18798246e-01 8.54739860e-01 -1.63753098e-02 -7.28931397e+01] [-3.06572687e-02 5.41302715e-04 9.99529809e-01 -1.48420305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:-72.93, Z:-1.48 [[ 8.55883866e-01 5.16518072e-01 2.59208280e-02 2.00610017e+02] [-5.16258707e-01 8.56276051e-01 -1.63790046e-02 -7.29265965e+01] [-3.06554361e-02 6.36672686e-04 9.99529809e-01 -1.47573928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.883617865 meters Centerline goodness : 0.996162 with order 1 Centerline is valid? [True, True] Translation: X:200.66, Y:-72.96, Z:-1.49 [[ 8.56035115e-01 5.16267616e-01 2.59158387e-02 2.00662379e+02] [-5.16007897e-01 8.56427066e-01 -1.63868951e-02 -7.29602747e+01] [-3.06550490e-02 6.54980223e-04 9.99529809e-01 -1.48762875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.943617865 meters Centerline goodness : 0.996477 with order 1 Centerline is valid? [True, True] Translation: X:200.72, Y:-72.99, Z:-1.49 [[ 8.54921544e-01 5.18109827e-01 2.59106389e-02 2.00716303e+02] [-5.17850703e-01 8.55313889e-01 -1.63951128e-02 -7.29932122e+01] [-3.06561984e-02 5.98692574e-04 9.99529809e-01 -1.48962696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:-73.02, Z:-1.49 [[ 8.52931243e-01 5.21380121e-01 2.59049166e-02 2.00769534e+02] [-5.21122228e-01 8.53324398e-01 -1.64041494e-02 -7.30239841e+01] [-3.06580947e-02 4.91983717e-04 9.99529809e-01 -1.48561456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:-73.06, Z:-1.49 [[ 8.51223610e-01 5.24163567e-01 2.59021438e-02 2.00822020e+02] [-5.23906827e-01 8.51617518e-01 -1.64085264e-02 -7.30560251e+01] [-3.06594712e-02 3.97015089e-04 9.99529809e-01 -1.48948660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:-73.09, Z:-1.49 [[ 8.49438095e-01 5.27052379e-01 2.58981109e-02 2.00875931e+02] [-5.26796785e-01 8.49832748e-01 -1.64148892e-02 -7.30893659e+01] [-3.06605692e-02 3.00390703e-04 9.99529809e-01 -1.49062742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.93, Y:-73.12, Z:-1.49 [[ 8.48336203e-01 5.28824349e-01 2.58939130e-02 2.00929118e+02] [-5.28569377e-01 8.48731258e-01 -1.64215085e-02 -7.31221650e+01] [-3.06610669e-02 2.44230698e-04 9.99529809e-01 -1.49143313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24361786499998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:-73.16, Z:-1.49 [[ 8.47262730e-01 5.30542748e-01 2.58893626e-02 2.00982844e+02] [-5.30288358e-01 8.47658160e-01 -1.64286794e-02 -7.31554422e+01] [-3.06614462e-02 1.90580204e-04 9.99529809e-01 -1.49331777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.03, Y:-73.19, Z:-1.49 [[ 8.47331930e-01 5.30432441e-01 2.58848519e-02 2.01034358e+02] [-5.30177782e-01 8.47727188e-01 -1.64357833e-02 -7.31889392e+01] [-3.06613654e-02 2.02990649e-04 9.99529809e-01 -1.49498983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:-73.22, Z:-1.50 [[ 8.47973855e-01 5.29405829e-01 2.58806844e-02 2.01086919e+02] [-5.29150492e-01 8.48368674e-01 -1.64423431e-02 -7.32238635e+01] [-3.06610342e-02 2.47900209e-04 9.99529809e-01 -1.49668818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-73.26, Z:-1.50 [[ 8.49065321e-01 5.27653770e-01 2.58762534e-02 2.01139344e+02] [-5.27397405e-01 8.49459474e-01 -1.64493135e-02 -7.32592412e+01] [-3.06603708e-02 3.19472771e-04 9.99529809e-01 -1.49979274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:201.19, Y:-73.29, Z:-1.50 [[ 8.49808299e-01 5.26456562e-01 2.58716682e-02 2.01189846e+02] [-5.26199423e-01 8.50201947e-01 -1.64565219e-02 -7.32942848e+01] [-3.06597866e-02 3.71232006e-04 9.99529809e-01 -1.50250113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.543617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:201.24, Y:-73.33, Z:-1.50 [[ 8.50223856e-01 5.25785384e-01 2.58674354e-02 2.01241005e+02] [-5.25527732e-01 8.50617169e-01 -1.64631727e-02 -7.33286441e+01] [-3.06593802e-02 4.03327592e-04 9.99529809e-01 -1.50445272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.29, Y:-73.36, Z:-1.51 [[ 8.50480789e-01 5.25369883e-01 2.58633872e-02 2.01293081e+02] [-5.25111845e-01 8.50873848e-01 -1.64695298e-02 -7.33632901e+01] [-3.06590748e-02 4.25847745e-04 9.99529809e-01 -1.50576688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.663617865 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:201.35, Y:-73.40, Z:-1.51 [[ 8.50306435e-01 5.25652248e-01 2.58588675e-02 2.01345711e+02] [-5.25394124e-01 8.50699439e-01 -1.64766232e-02 -7.33971443e+01] [-3.06590981e-02 4.24081698e-04 9.99529809e-01 -1.50780618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:-73.43, Z:-1.51 [[ 8.50067922e-01 5.26038102e-01 2.58542764e-02 2.01397136e+02] [-5.25779938e-01 8.50460899e-01 -1.64838242e-02 -7.34318178e+01] [-3.06591707e-02 4.18710353e-04 9.99529809e-01 -1.50893655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.783617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.45, Y:-73.47, Z:-1.51 [[ 8.49633627e-01 5.26739466e-01 2.58502335e-02 2.01448411e+02] [-5.26481434e-01 8.50026691e-01 -1.64901620e-02 -7.34650772e+01] [-3.06594075e-02 4.00928149e-04 9.99529809e-01 -1.51156834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.50, Y:-73.50, Z:-1.51 [[ 8.48976450e-01 5.27798203e-01 2.58465604e-02 2.01500777e+02] [-5.27540486e-01 8.49369720e-01 -1.64959171e-02 -7.34980103e+01] [-3.06598012e-02 3.69538056e-04 9.99529809e-01 -1.51202117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.56, Y:-73.53, Z:-1.52 [[ 8.49515627e-01 5.26930138e-01 2.58423859e-02 2.01555112e+02] [-5.26671821e-01 8.49908502e-01 -1.65024543e-02 -7.35287872e+01] [-3.06593040e-02 4.08636359e-04 9.99529810e-01 -1.51831932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.61, Y:-73.56, Z:-1.52 [[ 8.49560543e-01 5.26857939e-01 2.58378738e-02 2.01607282e+02] [-5.26599373e-01 8.49953255e-01 -1.65095158e-02 -7.35612650e+01] [-3.06591544e-02 4.19625112e-04 9.99529810e-01 -1.52069658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:201.66, Y:-73.60, Z:-1.52 [[ 8.48978907e-01 5.27794812e-01 2.58350967e-02 2.01660331e+02] [-5.27536548e-01 8.49371817e-01 -1.65138605e-02 -7.35957705e+01] [-3.06595329e-02 3.90961490e-04 9.99529810e-01 -1.51992618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.71, Y:-73.63, Z:-1.52 [[ 8.48941862e-01 5.27854615e-01 2.58305884e-02 2.01714575e+02] [-5.27596164e-01 8.49334650e-01 -1.65209092e-02 -7.36285441e+01] [-3.06594519e-02 3.97172029e-04 9.99529810e-01 -1.52139099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.77, Y:-73.66, Z:-1.52 [[ 8.49480449e-01 5.26987644e-01 2.58261331e-02 2.01769214e+02] [-5.26728580e-01 8.49872833e-01 -1.65278710e-02 -7.36597316e+01] [-3.06589127e-02 4.36740844e-04 9.99529810e-01 -1.52258831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.82, Y:-73.69, Z:-1.53 [[ 8.49945229e-01 5.26237919e-01 2.58217198e-02 2.01822167e+02] [-5.25978299e-01 8.50337245e-01 -1.65347630e-02 -7.36899434e+01] [-3.06583894e-02 4.71978661e-04 9.99529810e-01 -1.52581481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:-73.72, Z:-1.53 [[ 8.50679590e-01 5.25050146e-01 2.58181879e-02 2.01876180e+02] [-5.24789812e-01 8.51071132e-01 -1.65402761e-02 -7.37229664e+01] [-3.06575888e-02 5.21353281e-04 9.99529810e-01 -1.52842272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.93, Y:-73.76, Z:-1.53 [[ 8.49950610e-01 5.26229624e-01 2.58136189e-02 2.01928312e+02] [-5.25969617e-01 8.50342369e-01 -1.65474037e-02 -7.37550799e+01] [-3.06581479e-02 4.87296629e-04 9.99529810e-01 -1.53295298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:-73.79, Z:-1.53 [[ 8.51721039e-01 5.23359453e-01 2.58099698e-02 2.01982163e+02] [-5.23097953e-01 8.52111804e-01 -1.65530934e-02 -7.37872250e+01] [-3.06561978e-02 5.97475557e-04 9.99529810e-01 -1.53369314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.443617865 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:-73.82, Z:-1.54 [[ 8.51263699e-01 5.24103080e-01 2.58084493e-02 2.02035140e+02] [-5.23841850e-01 8.51654644e-01 -1.65554638e-02 -7.38193573e+01] [-3.06566552e-02 5.73519484e-04 9.99529810e-01 -1.53512265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.503617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.09, Y:-73.85, Z:-1.54 [[ 8.51001643e-01 5.24528703e-01 2.58039618e-02 2.02088753e+02] [-5.24267456e-01 8.51392576e-01 -1.65624552e-02 -7.38518589e+01] [-3.06567846e-02 5.66499123e-04 9.99529810e-01 -1.53748397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.14, Y:-73.88, Z:-1.54 [[ 8.50845083e-01 5.24782842e-01 2.57994928e-02 2.02141462e+02] [-5.24521501e-01 8.51235954e-01 -1.65694136e-02 -7.38831618e+01] [-3.06567999e-02 5.65615371e-04 9.99529810e-01 -1.53802962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.20, Y:-73.92, Z:-1.54 [[ 8.52228405e-01 5.22533555e-01 2.57959222e-02 2.02196110e+02] [-5.22271015e-01 8.52618471e-01 -1.65749707e-02 -7.39153211e+01] [-3.06550581e-02 6.53198389e-04 9.99529810e-01 -1.53997429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.25, Y:-73.95, Z:-1.54 [[ 8.52862726e-01 5.21497822e-01 2.57913292e-02 2.02249918e+02] [-5.21234592e-01 8.53252327e-01 -1.65821144e-02 -7.39465327e+01] [-3.06540482e-02 6.98934359e-04 9.99529810e-01 -1.54304509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.31, Y:-73.98, Z:-1.54 [[ 8.54281932e-01 5.19169921e-01 2.57870892e-02 2.02305306e+02] [-5.18905431e-01 8.54670678e-01 -1.65887056e-02 -7.39761624e+01] [-3.06518260e-02 7.90370818e-04 9.99529810e-01 -1.54273512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:-74.01, Z:-1.55 [[ 8.56338963e-01 5.15770137e-01 2.57826668e-02 2.02359845e+02] [-5.15503897e-01 8.56726514e-01 -1.65955761e-02 -7.40052499e+01] [-3.06481968e-02 9.20373229e-04 9.99529810e-01 -1.54658055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.41, Y:-74.03, Z:-1.55 [[ 8.57566077e-01 5.13727440e-01 2.57786983e-02 2.02414977e+02] [-5.13460092e-01 8.57952864e-01 -1.66017384e-02 -7.40339786e+01] [-3.06456765e-02 1.00075487e-03 9.99529810e-01 -1.54815569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.47, Y:-74.06, Z:-1.55 [[ 8.58223000e-01 5.12629455e-01 2.57745005e-02 2.02469074e+02] [-5.12361417e-01 8.58609308e-01 -1.66082530e-02 -7.40645828e+01] [-3.06441057e-02 1.04772509e-03 9.99529810e-01 -1.54894447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.53, Y:-74.09, Z:-1.55 [[ 8.58597981e-01 5.12001341e-01 2.57707743e-02 2.02525516e+02] [-5.11732848e-01 8.58983973e-01 -1.66140327e-02 -7.40935213e+01] [-3.06430892e-02 1.07702323e-03 9.99529810e-01 -1.55196919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.58, Y:-74.12, Z:-1.55 [[ 8.57670259e-01 5.13554104e-01 2.57664581e-02 2.02581902e+02] [-5.13286108e-01 8.58056596e-01 -1.66207241e-02 -7.41217379e+01] [-3.06447204e-02 1.02953572e-03 9.99529810e-01 -1.55295997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:-74.15, Z:-1.55 [[ 8.56702529e-01 5.15167060e-01 2.57619266e-02 2.02637959e+02] [-5.14899581e-01 8.57089225e-01 -1.66277449e-02 -7.41517808e+01] [-3.06463361e-02 9.80225901e-04 9.99529810e-01 -1.55431135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:-74.18, Z:-1.56 [[ 8.55553113e-01 5.17073908e-01 2.57573990e-02 2.02694948e+02] [-5.16807081e-01 8.55940259e-01 -1.66347554e-02 -7.41774472e+01] [-3.06481928e-02 9.20310547e-04 9.99529810e-01 -1.55675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.75, Y:-74.20, Z:-1.56 [[ 8.52330133e-01 5.22369712e-01 2.57532189e-02 2.02751205e+02] [-5.22105095e-01 8.52718793e-01 -1.66412244e-02 -7.42040014e+01] [-3.06531253e-02 7.37930252e-04 9.99529810e-01 -1.55927278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.81, Y:-74.23, Z:-1.56 [[ 8.53266266e-01 5.20839375e-01 2.57492599e-02 2.02806492e+02] [-5.20573876e-01 8.53654324e-01 -1.66473479e-02 -7.42337932e+01] [-3.06515613e-02 8.00228361e-04 9.99529810e-01 -1.56107622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:-74.26, Z:-1.56 [[ 8.51275850e-01 5.24086480e-01 2.57446832e-02 2.02862172e+02] [-5.23822248e-01 8.51664772e-01 -1.66544226e-02 -7.42620994e+01] [-3.06541975e-02 6.91869945e-04 9.99529810e-01 -1.56212608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.92, Y:-74.29, Z:-1.57 [[ 8.50359462e-01 5.25572273e-01 2.57404558e-02 2.02918498e+02] [-5.25308522e-01 8.50748711e-01 -1.66609538e-02 -7.42900939e+01] [-3.06551949e-02 6.46118929e-04 9.99529810e-01 -1.56557593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.97, Y:-74.33, Z:-1.56 [[ 8.47245591e-01 5.30577585e-01 2.57358803e-02 2.02969727e+02] [-5.30315920e-01 8.47636244e-01 -1.66680185e-02 -7.43261837e+01] [-3.06583419e-02 4.73758193e-04 9.99529810e-01 -1.55822313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:-74.35, Z:-1.57 [[ 8.47991551e-01 5.29384741e-01 2.57318040e-02 2.03024851e+02] [-5.29122336e-01 8.48381707e-01 -1.66743090e-02 -7.43532589e+01] [-3.06575166e-02 5.24400912e-04 9.99529810e-01 -1.56599041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.08, Y:-74.39, Z:-1.57 [[ 8.48080014e-01 5.29243192e-01 2.57280787e-02 2.03077498e+02] [-5.28980548e-01 8.48470009e-01 -1.66800551e-02 -7.43852641e+01] [-3.06573088e-02 5.36368187e-04 9.99529810e-01 -1.56862993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.13, Y:-74.42, Z:-1.57 [[ 8.46903509e-01 5.31123957e-01 2.57252438e-02 2.03130421e+02] [-5.30862046e-01 8.47293997e-01 -1.66844261e-02 -7.44186196e+01] [-3.06583431e-02 4.73543489e-04 9.99529810e-01 -1.57039013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.18, Y:-74.45, Z:-1.57 [[ 8.48098183e-01 5.29214436e-01 2.57206701e-02 2.03179718e+02] [-5.28951432e-01 8.48487936e-01 -1.66914741e-02 -7.44546509e+01] [-3.06570473e-02 5.51023568e-04 9.99529810e-01 -1.56534336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.23, Y:-74.49, Z:-1.57 [[ 8.48848760e-01 5.28009865e-01 2.57170035e-02 2.03232388e+02] [-5.27746137e-01 8.49238024e-01 -1.66971214e-02 -7.44874885e+01] [-3.06561020e-02 6.01281529e-04 9.99529810e-01 -1.56732607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:-74.52, Z:-1.57 [[ 8.51585550e-01 5.23584653e-01 2.57130848e-02 2.03282854e+02] [-5.23318720e-01 8.51973310e-01 -1.67031539e-02 -7.45220753e+01] [-3.06523770e-02 7.68025843e-04 9.99529810e-01 -1.57150183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:-74.56, Z:-1.57 [[ 8.53319542e-01 5.20754051e-01 2.57094996e-02 2.03333922e+02] [-5.20486666e-01 8.53706302e-01 -1.67086703e-02 -7.45576085e+01] [-3.06494696e-02 8.76383152e-04 9.99529810e-01 -1.56962070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:-74.59, Z:-1.57 [[ 8.54302345e-01 5.19140371e-01 2.57056278e-02 2.03385624e+02] [-5.18872077e-01 8.54688475e-01 -1.67146249e-02 -7.45929504e+01] [-3.06475404e-02 9.41410735e-04 9.99529810e-01 -1.56702138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.44, Y:-74.62, Z:-1.57 [[ 8.56347684e-01 5.15759741e-01 2.57008283e-02 2.03437443e+02] [-5.15489702e-01 8.56732596e-01 -1.67220015e-02 -7.46241008e+01] [-3.06432725e-02 1.07133494e-03 9.99529811e-01 -1.57476626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:-74.66, Z:-1.57 [[ 8.53909143e-01 5.19787214e-01 2.56987673e-02 2.03484870e+02] [-5.19518896e-01 8.54295257e-01 -1.67251683e-02 -7.46647985e+01] [-3.06478636e-02 9.30778951e-04 9.99529811e-01 -1.56982821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:-74.70, Z:-1.57 [[ 8.53285433e-01 5.20810511e-01 2.56978806e-02 2.03536523e+02] [-5.20542614e-01 8.53671840e-01 -1.67265306e-02 -7.46994872e+01] [-3.06489099e-02 8.95662939e-04 9.99529811e-01 -1.57462000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.59, Y:-74.74, Z:-1.58 [[ 8.51644170e-01 5.23490251e-01 2.56936635e-02 2.03586249e+02] [-5.23223375e-01 8.52031282e-01 -1.67330060e-02 -7.47357281e+01] [-3.06513705e-02 8.07041671e-04 9.99529811e-01 -1.57926334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.64, Y:-74.77, Z:-1.58 [[ 8.49181243e-01 5.27476227e-01 2.56913660e-02 2.03636319e+02] [-5.27211062e-01 8.49569529e-01 -1.67365327e-02 -7.47720827e+01] [-3.06547248e-02 6.67577252e-04 9.99529811e-01 -1.58204426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:-74.81, Z:-1.59 [[ 8.46623064e-01 5.31572726e-01 2.56870362e-02 2.03686857e+02] [-5.31309239e-01 8.47012490e-01 -1.67431754e-02 -7.48081945e+01] [-3.06574559e-02 5.27398772e-04 9.99529811e-01 -1.58565787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.74, Y:-74.84, Z:-1.59 [[ 8.45365503e-01 5.33570578e-01 2.56827590e-02 2.03737207e+02] [-5.33307812e-01 8.45755416e-01 -1.67497337e-02 -7.48442590e+01] [-3.06584976e-02 4.62831045e-04 9.99529811e-01 -1.58762404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.79, Y:-74.88, Z:-1.60 [[ 8.45406604e-01 5.33505530e-01 2.56812031e-02 2.03787434e+02] [-5.33242661e-01 8.45796447e-01 -1.67521189e-02 -7.48795634e+01] [-3.06584184e-02 4.68038802e-04 9.99529811e-01 -1.59760509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.84, Y:-74.92, Z:-1.59 [[ 8.43554464e-01 5.36429501e-01 2.56759930e-02 2.03837751e+02] [-5.36167741e-01 8.43945053e-01 -1.67601006e-02 -7.49172840e+01] [-3.06597397e-02 3.71418540e-04 9.99529811e-01 -1.58938287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:-74.95, Z:-1.59 [[ 8.42940620e-01 5.37393790e-01 2.56715160e-02 2.03887880e+02] [-5.37132268e-01 8.43331368e-01 -1.67669553e-02 -7.49540962e+01] [-3.06600523e-02 3.44548036e-04 9.99529811e-01 -1.59223074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-74.99, Z:-1.59 [[ 8.43141339e-01 5.37079024e-01 2.56671883e-02 2.03939551e+02] [-5.36817155e-01 8.43531854e-01 -1.67735776e-02 -7.49898589e+01] [-3.06598276e-02 3.63909639e-04 9.99529811e-01 -1.59426567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:-75.03, Z:-1.60 [[ 8.43960921e-01 5.35790444e-01 2.56625106e-02 2.03989621e+02] [-5.35527761e-01 8.44350889e-01 -1.67807312e-02 -7.50259598e+01] [-3.06591190e-02 4.19294517e-04 9.99529811e-01 -1.59629408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.04, Y:-75.06, Z:-1.60 [[ 8.44221625e-01 5.35379707e-01 2.56596249e-02 2.04042053e+02] [-5.35116701e-01 8.44611376e-01 -1.67851426e-02 -7.50616127e+01] [-3.06588358e-02 4.39486574e-04 9.99529811e-01 -1.59837314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:-75.10, Z:-1.60 [[ 8.43938962e-01 5.35825390e-01 2.56550273e-02 2.04093670e+02] [-5.35562375e-01 8.44328707e-01 -1.67921667e-02 -7.50974235e+01] [-3.06589453e-02 4.31696390e-04 9.99529811e-01 -1.60180753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.14, Y:-75.13, Z:-1.60 [[ 8.43346866e-01 5.36757038e-01 2.56504518e-02 2.04144816e+02] [-5.36494241e-01 8.43736758e-01 -1.67991531e-02 -7.51330652e+01] [-3.06592927e-02 4.06193445e-04 9.99529811e-01 -1.60427313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.903617865 meters Centerline goodness : 0.995737 with order 1 Centerline is valid? [True, True] Translation: X:204.20, Y:-75.17, Z:-1.61 [[ 8.43390359e-01 5.36688899e-01 2.56462195e-02 2.04196271e+02] [-5.36425875e-01 8.43780097e-01 -1.68056118e-02 -7.51681306e+01] [-3.06591548e-02 4.16395212e-04 9.99529811e-01 -1.61125197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.25, Y:-75.20, Z:-1.61 [[ 8.42383557e-01 5.38267910e-01 2.56437170e-02 2.04248026e+02] [-5.38005500e-01 8.42773709e-01 -1.68094295e-02 -7.52033244e+01] [-3.06598269e-02 3.63526181e-04 9.99529811e-01 -1.60570839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:-75.24, Z:-1.61 [[ 8.42735435e-01 5.37717059e-01 2.56388600e-02 2.04299085e+02] [-5.37454169e-01 8.43125264e-01 -1.68168344e-02 -7.52397776e+01] [-3.06594693e-02 3.92430012e-04 9.99529811e-01 -1.60654324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.35, Y:-75.28, Z:-1.61 [[ 8.43503730e-01 5.36511268e-01 2.56342810e-02 2.04349804e+02] [-5.36247609e-01 8.43893039e-01 -1.68238113e-02 -7.52751935e+01] [-3.06587557e-02 4.44625709e-04 9.99529811e-01 -1.60901309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:-75.31, Z:-1.61 [[ 8.42824452e-01 5.37577942e-01 2.56300489e-02 2.04400851e+02] [-5.37314579e-01 8.43213962e-01 -1.68302562e-02 -7.53117520e+01] [-3.06591896e-02 4.13552547e-04 9.99529811e-01 -1.61349188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:-75.35, Z:-1.61 [[ 8.43080547e-01 5.37176449e-01 2.56252556e-02 2.04453798e+02] [-5.36912679e-01 8.43469781e-01 -1.68375512e-02 -7.53467259e+01] [-3.06588647e-02 4.36887239e-04 9.99529811e-01 -1.61294313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.50, Y:-75.38, Z:-1.61 [[ 8.43000447e-01 5.37302372e-01 2.56204501e-02 2.04504028e+02] [-5.37038439e-01 8.43389570e-01 -1.68448602e-02 -7.53834089e+01] [-3.06588037e-02 4.41058123e-04 9.99529811e-01 -1.61477742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:-75.42, Z:-1.62 [[ 8.42790114e-01 5.37632444e-01 2.56160100e-02 2.04555500e+02] [-5.37368457e-01 8.43179201e-01 -1.68516096e-02 -7.54188427e+01] [-3.06588589e-02 4.37134181e-04 9.99529811e-01 -1.61750832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:-75.45, Z:-1.62 [[ 8.42242179e-01 5.38490639e-01 2.56114047e-02 2.04607141e+02] [-5.38226836e-01 8.42631390e-01 -1.68586059e-02 -7.54548398e+01] [-3.06591750e-02 4.14283664e-04 9.99529811e-01 -1.61984703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:-75.49, Z:-1.62 [[ 8.41982279e-01 5.38897148e-01 2.56067366e-02 2.04658622e+02] [-5.38633318e-01 8.42371472e-01 -1.68656934e-02 -7.54909958e+01] [-3.06592585e-02 4.07973477e-04 9.99529811e-01 -1.62103174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.71, Y:-75.53, Z:-1.62 [[ 8.41780575e-01 5.39212389e-01 2.56020143e-02 2.04710185e+02] [-5.38948487e-01 8.42169719e-01 -1.68728587e-02 -7.55271564e+01] [-3.06592957e-02 4.05077859e-04 9.99529811e-01 -1.62229537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.76, Y:-75.57, Z:-1.62 [[ 8.39473674e-01 5.42797134e-01 2.55972923e-02 2.04757942e+02] [-5.42534675e-01 8.39863793e-01 -1.68800193e-02 -7.55675935e+01] [-3.06606651e-02 2.82913117e-04 9.99529811e-01 -1.62419889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.81, Y:-75.60, Z:-1.63 [[ 8.40937809e-01 5.40526218e-01 2.55931560e-02 2.04811355e+02] [-5.40262514e-01 8.41327088e-01 -1.68862884e-02 -7.55976315e+01] [-3.06596970e-02 3.73295541e-04 9.99529811e-01 -1.62507697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:-75.63, Z:-1.63 [[ 8.40125878e-01 5.41787498e-01 2.55893684e-02 2.04862665e+02] [-5.41524205e-01 8.40515434e-01 -1.68920261e-02 -7.56339036e+01] [-3.06601477e-02 3.34165819e-04 9.99529811e-01 -1.62695278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:-75.67, Z:-1.63 [[ 8.39509386e-01 5.42742490e-01 2.55847858e-02 2.04913513e+02] [-5.42479428e-01 8.39899098e-01 -1.68989642e-02 -7.56709127e+01] [-3.06604244e-02 3.07619072e-04 9.99529811e-01 -1.62877444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:-75.71, Z:-1.63 [[ 8.39245581e-01 5.43150537e-01 2.55802435e-02 2.04962661e+02] [-5.42887456e-01 8.39635280e-01 -1.69058371e-02 -7.57084298e+01] [-3.06604894e-02 3.00955820e-04 9.99529811e-01 -1.63048149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.01, Y:-75.75, Z:-1.63 [[ 8.36580188e-01 5.47247160e-01 2.55760489e-02 2.05009064e+02] [-5.46985793e-01 8.36971039e-01 -1.69121806e-02 -7.57507995e+01] [-3.06615550e-02 1.58659824e-04 9.99529811e-01 -1.63026006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.06, Y:-75.78, Z:-1.63 [[ 8.38518579e-01 5.44272617e-01 2.55716654e-02 2.05061389e+02] [-5.44009662e-01 8.38908363e-01 -1.69188059e-02 -7.57841401e+01] [-3.06607267e-02 2.75500027e-04 9.99529811e-01 -1.63407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.11, Y:-75.82, Z:-1.64 [[ 8.37454286e-01 5.45909048e-01 2.55661816e-02 2.05110027e+02] [-5.45646601e-01 8.37844413e-01 -1.69270885e-02 -7.58240714e+01] [-3.06611332e-02 2.25562710e-04 9.99529811e-01 -1.63627973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:-75.86, Z:-1.64 [[ 8.37201274e-01 5.46297233e-01 2.55609142e-02 2.05161336e+02] [-5.46034724e-01 8.37591359e-01 -1.69350388e-02 -7.58603060e+01] [-3.06611657e-02 2.20889314e-04 9.99529812e-01 -1.63888154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.21, Y:-75.90, Z:-1.64 [[ 8.36090754e-01 5.47995555e-01 2.55562790e-02 2.05211237e+02] [-5.47733625e-01 8.36481227e-01 -1.69420309e-02 -7.58980356e+01] [-3.06615052e-02 1.67042040e-04 9.99529812e-01 -1.64028557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:-75.94, Z:-1.64 [[ 8.34929935e-01 5.49762784e-01 2.55516174e-02 2.05259371e+02] [-5.49501466e-01 8.35320818e-01 -1.69490584e-02 -7.59359980e+01] [-3.06617595e-02 1.10624951e-04 9.99529812e-01 -1.64222772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:-75.98, Z:-1.64 [[ 8.33763695e-01 5.51530059e-01 2.55478902e-02 2.05307778e+02] [-5.51269396e-01 8.34155017e-01 -1.69546746e-02 -7.59764632e+01] [-3.06619135e-02 5.24221446e-05 9.99529812e-01 -1.64133494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.36, Y:-76.01, Z:-1.64 [[ 8.33932540e-01 5.51274795e-01 2.55464311e-02 2.05358209e+02] [-5.51013945e-01 8.34323736e-01 -1.69568729e-02 -7.60138485e+01] [-3.06618905e-02 6.44482884e-05 9.99529812e-01 -1.64089931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.40, Y:-76.06, Z:-1.63 [[ 8.32838563e-01 5.52926350e-01 2.55417222e-02 2.05404086e+02] [-5.52666059e-01 8.33230131e-01 -1.69639628e-02 -7.60555028e+01] [-3.06619546e-02 1.21994450e-05 9.99529812e-01 -1.63476895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:-76.09, Z:-1.64 [[ 8.35404344e-01 5.49042133e-01 2.55405245e-02 2.05454204e+02] [-5.48779967e-01 8.35794658e-01 -1.69657658e-02 -7.60880491e+01] [-3.06615542e-02 1.57146248e-04 9.99529812e-01 -1.64006482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46361786499997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:-76.13, Z:-1.64 [[ 8.35547311e-01 5.48824609e-01 2.55389687e-02 2.05503589e+02] [-5.48562269e-01 8.35937510e-01 -1.69681075e-02 -7.61267175e+01] [-3.06614969e-02 1.67942022e-04 9.99529812e-01 -1.63997502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:-76.16, Z:-1.64 [[ 8.37099005e-01 5.46455146e-01 2.55348638e-02 2.05553954e+02] [-5.46191513e-01 8.37488331e-01 -1.69742826e-02 -7.61606083e+01] [-3.06608346e-02 2.62229228e-04 9.99529812e-01 -1.64425467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:-76.20, Z:-1.65 [[ 8.37690600e-01 5.45547929e-01 2.55326344e-02 2.05604183e+02] [-5.45283773e-01 8.38079571e-01 -1.69776354e-02 -7.61958147e+01] [-3.06604931e-02 2.99474330e-04 9.99529812e-01 -1.64715998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:-76.23, Z:-1.65 [[ 8.37935947e-01 5.45171185e-01 2.55289533e-02 2.05655546e+02] [-5.44906685e-01 8.38324685e-01 -1.69831689e-02 -7.62307490e+01] [-3.06602860e-02 3.19910428e-04 9.99529812e-01 -1.65013322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:-76.26, Z:-1.65 [[ 8.40342701e-01 5.41454170e-01 2.55250376e-02 2.05710448e+02] [-5.41187772e-01 8.40730140e-01 -1.69890519e-02 -7.62604569e+01] [-3.06584614e-02 4.62787489e-04 9.99529812e-01 -1.65268874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.76, Y:-76.30, Z:-1.65 [[ 8.36556763e-01 5.47285461e-01 2.55226638e-02 2.05756248e+02] [-5.47021655e-01 8.36945972e-01 -1.69926174e-02 -7.63029175e+01] [-3.06609031e-02 2.53839205e-04 9.99529812e-01 -1.64661062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.81, Y:-76.34, Z:-1.65 [[ 8.37366062e-01 5.46046520e-01 2.55201048e-02 2.05808748e+02] [-5.45782021e-01 8.37754801e-01 -1.69964596e-02 -7.63381012e+01] [-3.06604480e-02 3.03844080e-04 9.99529812e-01 -1.64572427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.86, Y:-76.37, Z:-1.65 [[ 8.36960776e-01 5.46667751e-01 2.55152594e-02 2.05858752e+02] [-5.46403319e-01 8.37349560e-01 -1.70037305e-02 -7.63733168e+01] [-3.06605824e-02 2.89833060e-04 9.99529812e-01 -1.65060287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.943617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.91, Y:-76.41, Z:-1.65 [[ 8.36622274e-01 5.47185837e-01 2.55113919e-02 2.05911234e+02] [-5.46921469e-01 8.37011101e-01 -1.70095312e-02 -7.64067365e+01] [-3.06606927e-02 2.77824757e-04 9.99529812e-01 -1.65158852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.96, Y:-76.44, Z:-1.66 [[ 8.36496909e-01 5.47377661e-01 2.55071982e-02 2.05963178e+02] [-5.47113191e-01 8.36885666e-01 -1.70158176e-02 -7.64409185e+01] [-3.06606870e-02 2.78354288e-04 9.99529812e-01 -1.65663565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:-76.47, Z:-1.66 [[ 8.35703813e-01 5.48587959e-01 2.55027010e-02 2.06014272e+02] [-5.48323846e-01 8.36092814e-01 -1.70225553e-02 -7.64748875e+01] [-3.06609938e-02 2.42075294e-04 9.99529812e-01 -1.66043108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.123617865 meters Centerline goodness : 0.997158 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:-76.50, Z:-1.66 [[ 8.35156442e-01 5.49421071e-01 2.54990852e-02 2.06069403e+02] [-5.49157181e-01 8.35545594e-01 -1.70279699e-02 -7.65034780e+01] [-3.06611737e-02 2.18013013e-04 9.99529812e-01 -1.66483390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:-75.91, Z:-0.60 [[ 8.69029774e-01 4.94102515e-01 2.54942489e-02 2.06543951e+02] [-4.93813732e-01 8.69400828e-01 -1.70352076e-02 -7.59080059e+01] [-3.05818600e-02 2.21469241e-03 9.99529812e-01 -5.97247945e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 216.24361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.60, Y:-75.94, Z:-0.60 [[ 8.67840430e-01 4.96135302e-01 2.65094437e-02 2.06597627e+02] [-4.95900168e-01 8.68245213e-01 -1.52732874e-02 -7.59401165e+01] [-3.05943146e-02 1.08738711e-04 9.99531878e-01 -5.96843113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:-75.97, Z:-0.60 [[ 8.68713562e-01 4.94605082e-01 2.65058452e-02 2.06650003e+02] [-4.94369045e-01 8.69117819e-01 -1.52795298e-02 -7.59731324e+01] [-3.05940355e-02 1.69865411e-04 9.99531879e-01 -5.97731019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:-76.00, Z:-0.60 [[ 8.67668691e-01 4.96435973e-01 2.65022313e-02 2.06703918e+02] [-4.96200597e-01 8.68073333e-01 -1.52857956e-02 -7.60042510e+01] [-3.05942990e-02 1.12583251e-04 9.99531879e-01 -5.97310515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:-76.03, Z:-0.60 [[ 8.69409844e-01 4.93380549e-01 2.64982362e-02 2.06757219e+02] [-4.93143540e-01 8.69813533e-01 -1.52927180e-02 -7.60338760e+01] [-3.05936540e-02 2.28205577e-04 9.99531879e-01 -6.00296815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48361786499999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:-76.07, Z:-0.60 [[ 8.71158695e-01 4.90286208e-01 2.64945854e-02 2.06808525e+02] [-4.90047573e-01 8.71561424e-01 -1.52990404e-02 -7.60662090e+01] [-3.05925671e-02 3.44284817e-04 9.99531879e-01 -6.03969443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.543617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:206.86, Y:-76.10, Z:-0.60 [[ 8.70927639e-01 4.90696637e-01 2.64925935e-02 2.06861708e+02] [-4.90458087e-01 8.71330419e-01 -1.53024889e-02 -7.60977502e+01] [-3.05926824e-02 3.33853826e-04 9.99531879e-01 -6.02080800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.603617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:-76.12, Z:-0.61 [[ 8.72754042e-01 4.87440987e-01 2.64889850e-02 2.06918357e+02] [-4.87200745e-01 8.73155815e-01 -1.53087327e-02 -7.61216659e+01] [-3.05911151e-02 4.55305152e-04 9.99531879e-01 -6.09396887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:-76.16, Z:-0.61 [[ 8.72260904e-01 4.88322933e-01 2.64882572e-02 2.06969872e+02] [-4.88083059e-01 8.72662897e-01 -1.53099920e-02 -7.61562372e+01] [-3.05915394e-02 4.25837870e-04 9.99531879e-01 -6.05058951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.723617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:-76.19, Z:-0.61 [[ 8.71902241e-01 4.88963263e-01 2.64841272e-02 2.07025212e+02] [-4.88723467e-01 8.72304281e-01 -1.53171329e-02 -7.61867770e+01] [-3.05917328e-02 4.11628053e-04 9.99531879e-01 -6.07568335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.783617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:207.08, Y:-76.21, Z:-0.61 [[ 8.72388848e-01 4.88094790e-01 2.64796827e-02 2.07079242e+02] [-4.87854361e-01 8.72790509e-01 -1.53248125e-02 -7.62141791e+01] [-3.05911769e-02 4.50966818e-04 9.99531879e-01 -6.13225966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.13, Y:-76.24, Z:-0.61 [[ 8.71893033e-01 4.88980088e-01 2.64766653e-02 2.07133874e+02] [-4.88739908e-01 8.72294843e-01 -1.53300239e-02 -7.62448758e+01] [-3.05915350e-02 4.25938036e-04 9.99531879e-01 -6.14589613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.903617865 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:207.19, Y:-76.27, Z:-0.62 [[ 8.74178599e-01 4.84882289e-01 2.64753350e-02 2.07189278e+02] [-4.84640156e-01 8.74579235e-01 -1.53323211e-02 -7.62700179e+01] [-3.05891492e-02 5.72176522e-04 9.99531879e-01 -6.21526577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96361786499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:207.24, Y:-76.30, Z:-0.62 [[ 8.72797647e-01 4.87363870e-01 2.64712212e-02 2.07241766e+02] [-4.87122662e-01 8.73198840e-01 -1.53394203e-02 -7.63046703e+01] [-3.05905189e-02 4.93478194e-04 9.99531879e-01 -6.15505790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:-76.33, Z:-0.62 [[ 8.74834439e-01 4.83698320e-01 2.64695795e-02 2.07297954e+02] [-4.83455345e-01 8.75234565e-01 -1.53422526e-02 -7.63285321e+01] [-3.05881127e-02 6.25071233e-04 9.99531879e-01 -6.23400679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:-76.36, Z:-0.63 [[ 8.74334676e-01 4.84601308e-01 2.64659633e-02 2.07352989e+02] [-4.84358558e-01 8.74734938e-01 -1.53484881e-02 -7.63571775e+01] [-3.05886002e-02 6.00699568e-04 9.99531879e-01 -6.26520246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14361786499998 meters Centerline goodness : 0.995198 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-76.39, Z:-0.63 [[ 8.73692514e-01 4.85758250e-01 2.64634206e-02 2.07408063e+02] [-4.85515897e-01 8.74093017e-01 -1.53528709e-02 -7.63858426e+01] [-3.05892749e-02 5.65276933e-04 9.99531879e-01 -6.31184205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.46, Y:-76.42, Z:-0.62 [[ 8.69216670e-01 4.93722902e-01 2.64589479e-02 2.07459728e+02] [-4.93483985e-01 8.69619232e-01 -1.53605753e-02 -7.64216211e+01] [-3.05930778e-02 2.94601083e-04 9.99531879e-01 -6.21969201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.52, Y:-76.45, Z:-0.62 [[ 8.68085708e-01 4.95708975e-01 2.64540214e-02 2.07515814e+02] [-4.95470721e-01 8.68488663e-01 -1.53690550e-02 -7.64511285e+01] [-3.05935962e-02 2.34463967e-04 9.99531879e-01 -6.23990613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.57, Y:-76.48, Z:-0.63 [[ 8.66532779e-01 4.98418869e-01 2.64494504e-02 2.07571483e+02] [-4.98181635e-01 8.66936335e-01 -1.53769175e-02 -7.64800900e+01] [-3.05941354e-02 1.47972584e-04 9.99531879e-01 -6.27685162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.383617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.63, Y:-76.50, Z:-0.64 [[ 8.67923409e-01 4.95993569e-01 2.64449661e-02 2.07628550e+02] [-4.95754972e-01 8.68326160e-01 -1.53846257e-02 -7.65028185e+01] [-3.05935313e-02 2.42453382e-04 9.99531879e-01 -6.35207264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:-76.54, Z:-0.63 [[ 8.64339085e-01 5.02213898e-01 2.64413788e-02 2.07681407e+02] [-5.01978012e-01 8.64743430e-01 -1.53907886e-02 -7.65359032e+01] [-3.05944766e-02 2.98693277e-05 9.99531879e-01 -6.32808273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.74, Y:-76.56, Z:-0.63 [[ 8.63571781e-01 5.03532351e-01 2.64376789e-02 2.07736936e+02] [-5.03296887e-01 8.63976372e-01 -1.53971415e-02 -7.65637252e+01] [-3.05944888e-02 -9.46464031e-06 9.99531879e-01 -6.33976158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:-76.59, Z:-0.63 [[ 8.63572327e-01 5.03531618e-01 2.64338039e-02 2.07793111e+02] [-5.03295950e-01 8.63976800e-01 -1.54037912e-02 -7.65929493e+01] [-3.05944892e-02 -1.73860560e-06 9.99531879e-01 -6.34008434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:-76.62, Z:-0.64 [[ 8.67649872e-01 4.96472745e-01 2.64294074e-02 2.07850325e+02] [-4.96233557e-01 8.68052273e-01 -1.54113310e-02 -7.66169663e+01] [-3.05934130e-02 2.56480519e-04 9.99531879e-01 -6.42721812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.90, Y:-76.65, Z:-0.64 [[ 8.68381582e-01 4.95192002e-01 2.64255341e-02 2.07901417e+02] [-4.94952018e-01 8.68783509e-01 -1.54179696e-02 -7.66504261e+01] [-3.05929235e-02 3.09309360e-04 9.99531879e-01 -6.38189030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74361786499998 meters Centerline goodness : 0.993900 with order 1 Centerline is valid? [True, True] Translation: X:207.96, Y:-76.68, Z:-0.65 [[ 8.71611118e-01 4.89485380e-01 2.64220028e-02 2.07956018e+02] [-4.89242582e-01 8.72011351e-01 -1.54240189e-02 -7.66784260e+01] [-3.05901181e-02 5.16977528e-04 9.99531879e-01 -6.45610371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.01, Y:-76.71, Z:-0.65 [[ 8.74041127e-01 4.85133231e-01 2.64169852e-02 2.08010566e+02] [-4.84888181e-01 8.74439985e-01 -1.54326078e-02 -7.67083841e+01] [-3.05869390e-02 6.79450030e-04 9.99531879e-01 -6.45497910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:-76.74, Z:-0.65 [[ 8.75642367e-01 4.82237317e-01 2.64123934e-02 2.08065781e+02] [-4.81990711e-01 8.76040265e-01 -1.54404626e-02 -7.67390161e+01] [-3.05842874e-02 7.89794970e-04 9.99531879e-01 -6.45420921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.12, Y:-76.77, Z:-0.65 [[ 8.76596708e-01 4.80500603e-01 2.64079984e-02 2.08121227e+02] [-4.80252983e-01 8.76993975e-01 -1.54479758e-02 -7.67694838e+01] [-3.05824171e-02 8.59124747e-04 9.99531879e-01 -6.47091195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:-76.80, Z:-0.65 [[ 8.76508810e-01 4.80661169e-01 2.64035171e-02 2.08176487e+02] [-4.80413392e-01 8.76905979e-01 -1.54556313e-02 -7.67990338e+01] [-3.05823238e-02 8.62393823e-04 9.99531879e-01 -6.49387813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:-76.83, Z:-0.66 [[ 8.77054939e-01 4.79664176e-01 2.63990948e-02 2.08232611e+02] [-4.79415720e-01 8.77451684e-01 -1.54631811e-02 -7.68254782e+01] [-3.05810642e-02 9.05918303e-04 9.99531879e-01 -6.56454707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.29, Y:-76.85, Z:-0.66 [[ 8.76155680e-01 4.81305025e-01 2.63950058e-02 2.08288767e+02] [-4.81057102e-01 8.76552759e-01 -1.54701577e-02 -7.68549823e+01] [-3.05824798e-02 8.56761544e-04 9.99531879e-01 -6.59012671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.34, Y:-76.89, Z:-0.66 [[ 8.74892186e-01 4.83598042e-01 2.63931206e-02 2.08344024e+02] [-4.83351063e-01 8.75289852e-01 -1.54733733e-02 -7.68855964e+01] [-3.05845237e-02 7.80390523e-04 9.99531879e-01 -6.59691800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.40, Y:-76.91, Z:-0.66 [[ 8.73506789e-01 4.86096205e-01 2.63888121e-02 2.08400029e+02] [-4.85850142e-01 8.73905022e-01 -1.54807178e-02 -7.69136216e+01] [-3.05864336e-02 7.01504046e-04 9.99531879e-01 -6.62402750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.45, Y:-76.95, Z:-0.66 [[ 8.71615388e-01 4.89479792e-01 2.63846219e-02 2.08453189e+02] [-4.89235059e-01 8.72014440e-01 -1.54878561e-02 -7.69465976e+01] [-3.05887639e-02 5.91171621e-04 9.99531879e-01 -6.58179968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.51, Y:-76.97, Z:-0.67 [[ 8.72630820e-01 4.87667410e-01 2.63808324e-02 2.08508848e+02] [-4.87421653e-01 8.73029243e-01 -1.54943080e-02 -7.69730060e+01] [-3.05873072e-02 6.62221778e-04 9.99531879e-01 -6.66739914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.56, Y:-77.00, Z:-0.67 [[ 8.72344027e-01 4.88180355e-01 2.63787768e-02 2.08562722e+02] [-4.87934727e-01 8.72742528e-01 -1.54978069e-02 -7.70029881e+01] [-3.05876053e-02 6.48298027e-04 9.99531879e-01 -6.70294464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.62, Y:-77.04, Z:-0.66 [[ 8.71542811e-01 4.89609532e-01 2.63748748e-02 2.08616128e+02] [-4.89364357e-01 8.71941591e-01 -1.55044446e-02 -7.70358250e+01] [-3.05884742e-02 6.05863597e-04 9.99531880e-01 -6.61873054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:-77.07, Z:-0.66 [[ 8.70111929e-01 4.92148141e-01 2.63711517e-02 2.08670765e+02] [-4.91903937e-01 8.70511305e-01 -1.55107746e-02 -7.70661661e+01] [-3.05899846e-02 5.24036677e-04 9.99531880e-01 -6.61161851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.73, Y:-77.09, Z:-0.67 [[ 8.70517883e-01 4.91429943e-01 2.63671539e-02 2.08726253e+02] [-4.91185204e-01 8.70916931e-01 -1.55175676e-02 -7.70927821e+01] [-3.05893981e-02 5.57164252e-04 9.99531880e-01 -6.68145495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:-77.12, Z:-0.67 [[ 8.69947400e-01 4.92439234e-01 2.63651591e-02 2.08781586e+02] [-4.92194855e-01 8.70346669e-01 -1.55209562e-02 -7.71234928e+01] [-3.05899562e-02 5.25619810e-04 9.99531880e-01 -6.70385902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:-77.15, Z:-0.68 [[ 8.70975787e-01 4.90618274e-01 2.63607193e-02 2.08837415e+02] [-4.90372833e-01 8.71374403e-01 -1.55284931e-02 -7.71492581e+01] [-3.05886185e-02 5.98360914e-04 9.99531880e-01 -6.78396128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.89, Y:-77.18, Z:-0.68 [[ 8.70481828e-01 4.91494341e-01 2.63571681e-02 2.08891884e+02] [-4.91249118e-01 8.70880579e-01 -1.55345183e-02 -7.71787942e+01] [-3.05890737e-02 5.74580246e-04 9.99531880e-01 -6.79861311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:-77.21, Z:-0.68 [[ 8.69797489e-01 4.92704603e-01 2.63533947e-02 2.08946216e+02] [-4.92459741e-01 8.70196462e-01 -1.55409171e-02 -7.72098452e+01] [-3.05897122e-02 5.39464781e-04 9.99531880e-01 -6.81340059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.883617865 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:-77.24, Z:-0.68 [[ 8.67174886e-01 4.97306187e-01 2.63490605e-02 2.08999168e+02] [-4.97063220e-01 8.67575015e-01 -1.55482621e-02 -7.72422198e+01] [-3.05920335e-02 3.85913582e-04 9.99531880e-01 -6.82500974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.05, Y:-77.28, Z:-0.68 [[ 8.66800283e-01 4.97959109e-01 2.63438000e-02 2.09053204e+02] [-4.97716172e-01 8.67200431e-01 -1.55571700e-02 -7.72753253e+01] [-3.05921892e-02 3.73224066e-04 9.99531880e-01 -6.83754217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:-77.31, Z:-0.68 [[ 8.64839130e-01 5.01357726e-01 2.63383682e-02 2.09106563e+02] [-5.01116082e-01 8.65240060e-01 -1.55663606e-02 -7.73096906e+01] [-3.05933264e-02 2.63817844e-04 9.99531880e-01 -6.84992511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.16, Y:-77.34, Z:-0.69 [[ 8.63407371e-01 5.03819637e-01 2.63340850e-02 2.09159155e+02] [-5.03578915e-01 8.63808855e-01 -1.55736032e-02 -7.73436279e+01] [-3.05939030e-02 1.85073873e-04 9.99531880e-01 -6.86464676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.21, Y:-77.38, Z:-0.69 [[ 8.61798352e-01 5.06567216e-01 2.63297600e-02 2.09210050e+02] [-5.06327551e-01 8.62200468e-01 -1.55809119e-02 -7.73797489e+01] [-3.05943106e-02 9.61212687e-05 9.99531880e-01 -6.87162258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:-77.42, Z:-0.69 [[ 8.61016202e-01 5.07895642e-01 2.63270911e-02 2.09261926e+02] [-5.07656460e-01 8.61418605e-01 -1.55854203e-02 -7.74159986e+01] [-3.05944131e-02 5.41815343e-05 9.99531880e-01 -6.88262156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24361786499998 meters Centerline goodness : 0.995177 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:-77.45, Z:-0.69 [[ 8.60699869e-01 5.08431753e-01 2.63227836e-02 2.09313368e+02] [-5.08192599e-01 8.61102288e-01 -1.55926920e-02 -7.74534669e+01] [-3.05944289e-02 4.35841611e-05 9.99531880e-01 -6.90945450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.36, Y:-77.49, Z:-0.69 [[ 8.60886535e-01 5.08115749e-01 2.63203232e-02 2.09364712e+02] [-5.07876320e-01 8.61288791e-01 -1.55968441e-02 -7.74891881e+01] [-3.05944014e-02 5.96441749e-05 9.99531880e-01 -6.91360832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36361786499998 meters Centerline goodness : 0.996465 with order 1 Centerline is valid? [True, True] Translation: X:209.41, Y:-77.53, Z:-0.69 [[ 8.61000635e-01 5.07922656e-01 2.63150666e-02 2.09414882e+02] [-5.07682866e-01 8.61402676e-01 -1.56057079e-02 -7.75267416e+01] [-3.05943614e-02 7.68159816e-05 9.99531880e-01 -6.94352045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.47, Y:-77.56, Z:-0.70 [[ 8.60951804e-01 5.08005687e-01 2.63099584e-02 2.09466587e+02] [-5.07765672e-01 8.61353711e-01 -1.56143152e-02 -7.75632733e+01] [-3.05943412e-02 8.38791118e-05 9.99531880e-01 -6.95602917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.51, Y:-77.61, Z:-0.69 [[ 8.58452644e-01 5.12217847e-01 2.63046655e-02 2.09512783e+02] [-5.11979532e-01 8.58855560e-01 -1.56232269e-02 -7.76074514e+01] [-3.05944038e-02 -5.56499210e-05 9.99531880e-01 -6.92040079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:-77.64, Z:-0.70 [[ 8.61938144e-01 5.06330835e-01 2.63006102e-02 2.09564939e+02] [-5.06089559e-01 8.62339295e-01 -1.56300507e-02 -7.76393421e+01] [-3.05940262e-02 1.61672628e-04 9.99531880e-01 -6.99295349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.603617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:209.61, Y:-77.68, Z:-0.70 [[ 8.60560926e-01 5.08668227e-01 2.62968989e-02 2.09611323e+02] [-5.08427851e-01 8.60962617e-01 -1.56362922e-02 -7.76836819e+01] [-3.05943319e-02 8.59063387e-05 9.99531880e-01 -6.96445329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.663617865 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:209.66, Y:-77.72, Z:-0.70 [[ 8.62396840e-01 5.05549573e-01 2.62929475e-02 2.09662846e+02] [-5.05307541e-01 8.62797536e-01 -1.56429339e-02 -7.77187492e+01] [-3.05937688e-02 2.04392153e-04 9.99531880e-01 -6.96856521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.71, Y:-77.75, Z:-0.70 [[ 8.64045781e-01 5.02726343e-01 2.62890160e-02 2.09712436e+02] [-5.02482801e-01 8.64445560e-01 -1.56495382e-02 -7.77545785e+01] [-3.05928583e-02 3.12139046e-04 9.99531880e-01 -7.00587756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.76, Y:-77.79, Z:-0.70 [[ 8.64193635e-01 5.02472325e-01 2.62854268e-02 2.09764814e+02] [-5.02228482e-01 8.64593231e-01 -1.56555644e-02 -7.77903146e+01] [-3.05926899e-02 3.28149105e-04 9.99531880e-01 -7.02706456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.82, Y:-77.82, Z:-0.71 [[ 8.63736711e-01 5.03257584e-01 2.62811283e-02 2.09816958e+02] [-5.03013885e-01 8.64136395e-01 -1.56627771e-02 -7.78246329e+01] [-3.05928908e-02 3.08743090e-04 9.99531880e-01 -7.06528137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:-77.86, Z:-0.71 [[ 8.62865131e-01 5.04750736e-01 2.62766284e-02 2.09869577e+02] [-5.04507499e-01 8.63265095e-01 -1.56703227e-02 -7.78599946e+01] [-3.05933030e-02 2.64618994e-04 9.99531880e-01 -7.08833398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.92, Y:-77.89, Z:-0.71 [[ 8.61559529e-01 5.06976288e-01 2.62720625e-02 2.09919728e+02] [-5.06733851e-01 8.61959979e-01 -1.56779738e-02 -7.78946659e+01] [-3.05938274e-02 1.94564314e-04 9.99531880e-01 -7.07412486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.97, Y:-77.93, Z:-0.71 [[ 8.61849482e-01 5.06483407e-01 2.62684135e-02 2.09973091e+02] [-5.06240554e-01 8.62249680e-01 -1.56840854e-02 -7.79266376e+01] [-3.05936601e-02 2.19184659e-04 9.99531880e-01 -7.12074891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:210.03, Y:-77.96, Z:-0.71 [[ 8.61126253e-01 5.07712272e-01 2.62645425e-02 2.10025829e+02] [-5.07469793e-01 8.61526677e-01 -1.56905651e-02 -7.79610731e+01] [-3.05938965e-02 1.83095647e-04 9.99531880e-01 -7.13927511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:-77.99, Z:-0.72 [[ 8.60309796e-01 5.09094744e-01 2.62601597e-02 2.10079313e+02] [-5.08852685e-01 8.60710475e-01 -1.56978969e-02 -7.79943296e+01] [-3.05941113e-02 1.42501729e-04 9.99531880e-01 -7.16206599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:-78.03, Z:-0.72 [[ 8.58786216e-01 5.11660891e-01 2.62558325e-02 2.10133222e+02] [-5.11419807e-01 8.59187482e-01 -1.57051310e-02 -7.80275530e+01] [-3.05943840e-02 5.95972373e-05 9.99531880e-01 -7.19087391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:-78.06, Z:-0.72 [[ 8.55898310e-01 5.16477434e-01 2.62515260e-02 2.10184459e+02] [-5.16238388e-01 8.56300794e-01 -1.57123261e-02 -7.80612871e+01] [-3.05942645e-02 -1.03892089e-04 9.99531881e-01 -7.19576763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.323617865 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:-78.09, Z:-0.72 [[ 8.53970799e-01 5.19658458e-01 2.62480810e-02 2.10238702e+02] [-5.19420734e-01 8.54374065e-01 -1.57180792e-02 -7.80908993e+01] [-3.05937124e-02 -2.11016858e-04 9.99531881e-01 -7.23424322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:-78.12, Z:-0.73 [[ 8.52997246e-01 5.21255147e-01 2.62444216e-02 2.10291254e+02] [-5.21017991e-01 8.53400846e-01 -1.57241868e-02 -7.81217866e+01] [-3.05933249e-02 -2.61127749e-04 9.99531881e-01 -7.26391459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.443617865 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:-78.15, Z:-0.73 [[ 8.52612877e-01 5.21883788e-01 2.62410689e-02 2.10345155e+02] [-5.21646757e-01 8.53016550e-01 -1.57297799e-02 -7.81529919e+01] [-3.05931832e-02 -2.77155601e-04 9.99531881e-01 -7.29700906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.503617865 meters Centerline goodness : 0.997805 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:-78.18, Z:-0.74 [[ 8.57387756e-01 5.14001782e-01 2.62374512e-02 2.10401270e+02] [-5.13760855e-01 8.57789116e-01 -1.57358119e-02 -7.81798724e+01] [-3.05944355e-02 1.19170729e-05 9.99531881e-01 -7.35644846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.563617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:-78.22, Z:-0.73 [[ 8.58487826e-01 5.12162406e-01 2.62359046e-02 2.10449710e+02] [-5.11920541e-01 8.58888621e-01 -1.57383901e-02 -7.82201518e+01] [-3.05943317e-02 8.05177617e-05 9.99531881e-01 -7.27820210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:-78.24, Z:-0.74 [[ 8.63764236e-01 5.03212927e-01 2.62315547e-02 2.10507585e+02] [-5.02966689e-01 8.64162360e-01 -1.57456370e-02 -7.82445988e+01] [-3.05917302e-02 4.06919886e-04 9.99531881e-01 -7.37200692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:-78.28, Z:-0.73 [[ 8.63156256e-01 5.04255153e-01 2.62300960e-02 2.10557272e+02] [-5.04009322e-01 8.63554631e-01 -1.57480665e-02 -7.82840240e+01] [-3.05921646e-02 3.72829164e-04 9.99531881e-01 -7.31535457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:-78.31, Z:-0.74 [[ 8.63576334e-01 5.03535522e-01 2.62277393e-02 2.10612419e+02] [-5.03289240e-01 8.63974430e-01 -1.57519905e-02 -7.83138072e+01] [-3.05917829e-02 4.02907204e-04 9.99531881e-01 -7.35377112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:-78.34, Z:-0.74 [[ 8.64316530e-01 5.02264157e-01 2.62231146e-02 2.10666289e+02] [-5.02017056e-01 8.64714119e-01 -1.57596856e-02 -7.83433111e+01] [-3.05910227e-02 4.56906004e-04 9.99531881e-01 -7.41540816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:-78.37, Z:-0.74 [[ 8.64049869e-01 5.02722871e-01 2.62209827e-02 2.10720752e+02] [-5.02475873e-01 8.64447522e-01 -1.57632320e-02 -7.83743470e+01] [-3.05912007e-02 4.44807339e-04 9.99531881e-01 -7.43354880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:-78.40, Z:-0.75 [[ 8.65194337e-01 5.00750892e-01 2.62164590e-02 2.10776177e+02] [-5.00502761e-01 8.65591284e-01 -1.57707519e-02 -7.83998475e+01] [-3.05899565e-02 5.23355154e-04 9.99531881e-01 -7.47633305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:-78.44, Z:-0.75 [[ 8.62949205e-01 5.04610339e-01 2.62121197e-02 2.10826670e+02] [-5.04363763e-01 8.63347120e-01 -1.57779609e-02 -7.84362318e+01] [-3.05918802e-02 3.95135441e-04 9.99531881e-01 -7.46889958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:-78.47, Z:-0.75 [[ 8.60523611e-01 5.08735964e-01 2.62075351e-02 2.10879866e+02] [-5.08491064e-01 8.60922559e-01 -1.57855724e-02 -7.84692337e+01] [-3.05933465e-02 2.57560314e-04 9.99531881e-01 -7.47820426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.93, Y:-78.50, Z:-0.75 [[ 8.58719302e-01 5.11775729e-01 2.62061646e-02 2.10932652e+02] [-5.11532173e-01 8.59119072e-01 -1.57878472e-02 -7.84989942e+01] [-3.05940528e-02 1.52032776e-04 9.99531881e-01 -7.51542816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:-78.53, Z:-0.75 [[ 8.55555400e-01 5.17047725e-01 2.62031862e-02 2.10984064e+02] [-5.16806481e-01 8.55956570e-01 -1.57927889e-02 -7.85330391e+01] [-3.05944150e-02 -3.03706166e-05 9.99531881e-01 -7.48615783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:-78.57, Z:-0.75 [[ 8.55020015e-01 5.17932775e-01 2.61995141e-02 2.11038468e+02] [-5.17691760e-01 8.55421322e-01 -1.57988784e-02 -7.85650192e+01] [-3.05943799e-02 -5.49153317e-05 9.99531881e-01 -7.50329716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.09, Y:-78.60, Z:-0.76 [[ 8.55750400e-01 5.16725339e-01 2.61949763e-02 2.11091290e+02] [-5.16483527e-01 8.56151228e-01 -1.58063987e-02 -7.85956341e+01] [-3.05944278e-02 -2.94170544e-06 9.99531881e-01 -7.56644650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.343617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:211.14, Y:-78.63, Z:-0.76 [[ 8.57268512e-01 5.14202987e-01 2.61913455e-02 2.11144508e+02] [-5.13959812e-01 8.57668513e-01 -1.58124127e-02 -7.86271347e+01] [-3.05942822e-02 9.41845015e-05 9.99531881e-01 -7.58923748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.403617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:-78.66, Z:-0.76 [[ 8.60023075e-01 5.09582694e-01 2.61875493e-02 2.11198753e+02] [-5.09337179e-01 8.60421645e-01 -1.58186973e-02 -7.86570578e+01] [-3.05932686e-02 2.66152198e-04 9.99531881e-01 -7.61279420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:-78.69, Z:-0.76 [[ 8.60682040e-01 5.08469054e-01 2.61848746e-02 2.11249330e+02] [-5.08222888e-01 8.61080208e-01 -1.58231234e-02 -7.86944230e+01] [-3.05928459e-02 3.10925561e-04 9.99531881e-01 -7.62612204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.30, Y:-78.73, Z:-0.76 [[ 8.62205196e-01 5.05882189e-01 2.61803512e-02 2.11301043e+02] [-5.05634601e-01 8.62602482e-01 -1.58306042e-02 -7.87285069e+01] [-3.05916566e-02 4.11537756e-04 9.99531881e-01 -7.64889928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:-78.76, Z:-0.77 [[ 8.62123507e-01 5.06021607e-01 2.61761809e-02 2.11353276e+02] [-5.05773875e-01 8.62520702e-01 -1.58374968e-02 -7.87614028e+01] [-3.05916135e-02 4.14649797e-04 9.99531881e-01 -7.67626513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.41, Y:-78.79, Z:-0.77 [[ 8.62602676e-01 5.05204551e-01 2.61722180e-02 2.11406521e+02] [-5.04956244e-01 8.62999512e-01 -1.58440430e-02 -7.87945210e+01] [-3.05910940e-02 4.51289016e-04 9.99531881e-01 -7.68007363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:211.46, Y:-78.82, Z:-0.77 [[ 8.62747396e-01 5.04957604e-01 2.61676993e-02 2.11461140e+02] [-5.04708958e-01 8.63144019e-01 -1.58515025e-02 -7.88248346e+01] [-3.05908298e-02 4.68770289e-04 9.99531881e-01 -7.68612775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.763617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:211.51, Y:-78.86, Z:-0.77 [[ 8.60611155e-01 5.08590121e-01 2.61635189e-02 2.11514786e+02] [-5.08342938e-01 8.61008692e-01 -1.58583994e-02 -7.88575927e+01] [-3.05924424e-02 3.47875339e-04 9.99531881e-01 -7.69748740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.823617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:211.57, Y:-78.89, Z:-0.77 [[ 8.59830258e-01 5.09909426e-01 2.61592185e-02 2.11568410e+02] [-5.09662638e-01 8.60228040e-01 -1.58654899e-02 -7.88888158e+01] [-3.05928561e-02 3.09251949e-04 9.99531881e-01 -7.73092944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.883617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:-78.92, Z:-0.77 [[ 8.57416749e-01 5.13957480e-01 2.61577214e-02 2.11623185e+02] [-5.13712495e-01 8.57815645e-01 -1.58679578e-02 -7.89199503e+01] [-3.05939583e-02 1.67904465e-04 9.99531881e-01 -7.72801334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.943617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:-78.95, Z:-0.77 [[ 8.56930691e-01 5.14767730e-01 2.61529271e-02 2.11677193e+02] [-5.14522881e-01 8.57329670e-01 -1.58758556e-02 -7.89519891e+01] [-3.05940585e-02 1.48228522e-04 9.99531881e-01 -7.74788430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.003617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:-78.98, Z:-0.78 [[ 8.57639459e-01 5.13586224e-01 2.61486042e-02 2.11731693e+02] [-5.13340608e-01 8.58037966e-01 -1.58829726e-02 -7.89830467e+01] [-3.05937711e-02 1.98723591e-04 9.99531881e-01 -7.81358416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:-79.02, Z:-0.78 [[ 8.57526185e-01 5.13775567e-01 2.61440234e-02 2.11784989e+02] [-5.13529809e-01 8.57924604e-01 -1.58905092e-02 -7.90154247e+01] [-3.05937563e-02 2.00792405e-04 9.99531881e-01 -7.78780726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.123617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:-79.05, Z:-0.79 [[ 8.59164766e-01 5.11030934e-01 2.61398034e-02 2.11839036e+02] [-5.10783693e-01 8.59562267e-01 -1.58974480e-02 -7.90476567e+01] [-3.05928764e-02 3.06741921e-04 9.99531881e-01 -7.85124544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:-79.08, Z:-0.79 [[ 8.59817641e-01 5.09931938e-01 2.61350965e-02 2.11891923e+02] [-5.09683954e-01 8.60214678e-01 -1.59051824e-02 -7.90802660e+01] [-3.05923541e-02 3.54917076e-04 9.99531881e-01 -7.87712971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.95, Y:-79.11, Z:-0.79 [[ 8.60898660e-01 5.08104990e-01 2.61307673e-02 2.11945344e+02] [-5.07855947e-01 8.61295034e-01 -1.59122917e-02 -7.91137532e+01] [-3.05914149e-02 4.28205063e-04 9.99531881e-01 -7.89369506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30361786499998 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:212.00, Y:-79.15, Z:-0.79 [[ 8.61671547e-01 5.06793414e-01 2.61262257e-02 2.11998087e+02] [-5.06543542e-01 8.62067400e-01 -1.59197450e-02 -7.91467445e+01] [-3.05905894e-02 4.83520383e-04 9.99531881e-01 -7.90719295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36361786499998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:212.05, Y:-79.18, Z:-0.79 [[ 8.63453064e-01 5.03752365e-01 2.61220376e-02 2.12050894e+02] [-5.03500891e-01 8.63847901e-01 -1.59266141e-02 -7.91800793e+01] [-3.05885368e-02 5.99414532e-04 9.99531881e-01 -7.93226553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:-79.21, Z:-0.80 [[ 8.64849406e-01 5.01351561e-01 2.61173747e-02 2.12103937e+02] [-5.01098761e-01 8.65243394e-01 -1.59342568e-02 -7.92116075e+01] [-3.05865505e-02 6.93348433e-04 9.99531882e-01 -7.96718944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48361786499999 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:212.16, Y:-79.24, Z:-0.80 [[ 8.65546666e-01 5.00147054e-01 2.61130675e-02 2.12155754e+02] [-4.99893493e-01 8.65940165e-01 -1.59413125e-02 -7.92446756e+01] [-3.05853544e-02 7.44197384e-04 9.99531882e-01 -7.97398824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.543617865 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:212.21, Y:-79.28, Z:-0.80 [[ 8.63889169e-01 5.03004872e-01 2.61075126e-02 2.12208231e+02] [-5.02752338e-01 8.64283328e-01 -1.59504046e-02 -7.92787562e+01] [-3.05874191e-02 6.53768770e-04 9.99531882e-01 -7.97766859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.603617865 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:-79.31, Z:-0.80 [[ 8.63360594e-01 5.03911866e-01 2.61020293e-02 2.12262282e+02] [-5.03659475e-01 8.63754845e-01 -1.59593728e-02 -7.93113816e+01] [-3.05878716e-02 6.32159229e-04 9.99531882e-01 -7.99127732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:-79.34, Z:-0.80 [[ 8.61349382e-01 5.07342307e-01 2.60964606e-02 2.12315428e+02] [-5.07091210e-01 8.61744459e-01 -1.59684734e-02 -7.93443309e+01] [-3.05899624e-02 5.21148932e-04 9.99531882e-01 -8.01223928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:212.37, Y:-79.37, Z:-0.81 [[ 8.59131386e-01 5.11089505e-01 2.60917646e-02 2.12369173e+02] [-5.10839899e-01 8.59527405e-01 -1.59761427e-02 -7.93743280e+01] [-3.05918256e-02 3.96891260e-04 9.99531882e-01 -8.06265129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:-79.40, Z:-0.81 [[ 8.56813512e-01 5.14966068e-01 2.60874312e-02 2.12422612e+02] [-5.14718039e-01 8.57210521e-01 -1.59832156e-02 -7.94039841e+01] [-3.05932342e-02 2.66963638e-04 9.99531882e-01 -8.08203836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:212.48, Y:-79.43, Z:-0.81 [[ 8.55613006e-01 5.16958432e-01 2.60837934e-02 2.12477848e+02] [-5.16711146e-01 8.56010478e-01 -1.59891501e-02 -7.94348399e+01] [-3.05937264e-02 2.02737966e-04 9.99531882e-01 -8.10797421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.903617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:212.53, Y:-79.47, Z:-0.81 [[ 8.54048778e-01 5.19538782e-01 2.60794510e-02 2.12532604e+02] [-5.19292481e-01 8.54446862e-01 -1.59962298e-02 -7.94663765e+01] [-3.05941668e-02 1.18697704e-04 9.99531882e-01 -8.14347665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96361786499997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:-79.50, Z:-0.81 [[ 8.53957064e-01 5.19689740e-01 2.60750380e-02 2.12585027e+02] [-5.19443289e-01 8.54355055e-01 -1.60034201e-02 -7.94988521e+01] [-3.05941537e-02 1.21730165e-04 9.99531882e-01 -8.14601593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.64, Y:-79.53, Z:-0.82 [[ 8.53877649e-01 5.19820417e-01 2.60709484e-02 2.12640105e+02] [-5.19573825e-01 8.54275552e-01 -1.60100797e-02 -7.95295851e+01] [-3.05941401e-02 1.24866840e-04 9.99531882e-01 -8.17026459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.69, Y:-79.56, Z:-0.82 [[ 8.54570325e-01 5.18681128e-01 2.60662111e-02 2.12693305e+02] [-5.18433770e-01 8.54967752e-01 -1.60177887e-02 -7.95612177e+01] [-3.05938946e-02 1.74722804e-04 9.99531882e-01 -8.17532530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:-79.59, Z:-0.82 [[ 8.55977376e-01 5.16355994e-01 2.60618473e-02 2.12747984e+02] [-5.16107340e-01 8.56373994e-01 -1.60248857e-02 -7.95929070e+01] [-3.05932341e-02 2.66228914e-04 9.99531882e-01 -8.19794898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:-79.63, Z:-0.82 [[ 8.56552821e-01 5.15401098e-01 2.60571003e-02 2.12800375e+02] [-5.15151767e-01 8.56949014e-01 -1.60326009e-02 -7.96260279e+01] [-3.05928265e-02 3.09408317e-04 9.99531882e-01 -8.18279553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:-79.66, Z:-0.82 [[ 8.57794276e-01 5.13332516e-01 2.60520177e-02 2.12854188e+02] [-5.13081979e-01 8.58189707e-01 -1.60408555e-02 -7.96560412e+01] [-3.05918662e-02 3.92933256e-04 9.99531882e-01 -8.21352253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.91, Y:-79.69, Z:-0.82 [[ 8.58813880e-01 5.11625103e-01 2.60475177e-02 2.12909704e+02] [-5.11373559e-01 8.59208671e-01 -1.60481595e-02 -7.96863239e+01] [-3.05908943e-02 4.62370311e-04 9.99531882e-01 -8.22507339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.96, Y:-79.72, Z:-0.82 [[ 8.58435202e-01 5.12260457e-01 2.60428144e-02 2.12964281e+02] [-5.12008974e-01 8.58830031e-01 -1.60557882e-02 -7.97170116e+01] [-3.05910965e-02 4.48699093e-04 9.99531882e-01 -8.24438664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:-79.75, Z:-0.83 [[ 8.59256030e-01 5.10882640e-01 2.60384941e-02 2.13019215e+02] [-5.10630312e-01 8.59650319e-01 -1.60627916e-02 -7.97452784e+01] [-3.05902012e-02 5.06006188e-04 9.99531882e-01 -8.30458481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.503617865 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:-79.78, Z:-0.83 [[ 8.59073707e-01 5.11189369e-01 2.60345012e-02 2.13074427e+02] [-5.10936985e-01 8.59467961e-01 -1.60692608e-02 -7.97762917e+01] [-3.05902549e-02 5.02689910e-04 9.99531882e-01 -8.30321010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:-79.81, Z:-0.83 [[ 8.59771137e-01 5.10015745e-01 2.60294542e-02 2.13130609e+02] [-5.09762575e-01 8.60164887e-01 -1.60774318e-02 -7.98052744e+01] [-3.05893659e-02 5.54070220e-04 9.99531882e-01 -8.30964487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:-79.83, Z:-0.83 [[ 8.61134566e-01 5.07710563e-01 2.60238999e-02 2.13185595e+02] [-5.07456068e-01 8.61527461e-01 -1.60864174e-02 -7.98346711e+01] [-3.05875484e-02 6.46584156e-04 9.99531882e-01 -8.34278922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.24, Y:-79.86, Z:-0.83 [[ 8.60725071e-01 5.08404691e-01 2.60196509e-02 2.13241901e+02] [-5.08150305e-01 8.61118037e-01 -1.60932872e-02 -7.98636198e+01] [-3.05878934e-02 6.30002222e-04 9.99531882e-01 -8.34846422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.30, Y:-79.89, Z:-0.84 [[ 8.60469011e-01 5.08838173e-01 2.60152688e-02 2.13296993e+02] [-5.08583772e-01 8.60861967e-01 -1.61003678e-02 -7.98932466e+01] [-3.05880372e-02 6.22924067e-04 9.99531882e-01 -8.35108238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.35, Y:-79.92, Z:-0.84 [[ 8.60389726e-01 5.08972432e-01 2.60112134e-02 2.13352053e+02] [-5.08717894e-01 8.60782592e-01 -1.61069170e-02 -7.99236618e+01] [-3.05879764e-02 6.25856166e-04 9.99531882e-01 -8.38469121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.41, Y:-79.95, Z:-0.84 [[ 8.60923978e-01 5.08068450e-01 2.60068229e-02 2.13407434e+02] [-5.07813285e-01 8.61316438e-01 -1.61140028e-02 -7.99526332e+01] [-3.05871205e-02 6.66321207e-04 9.99531882e-01 -8.42037036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.46, Y:-79.98, Z:-0.84 [[ 8.61661400e-01 5.06817008e-01 2.60029160e-02 2.13463780e+02] [-5.06561083e-01 8.62053365e-01 -1.61203049e-02 -7.99810986e+01] [-3.05859460e-02 7.18179219e-04 9.99531882e-01 -8.41973836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.52, Y:-80.01, Z:-0.84 [[ 8.61684801e-01 5.06777458e-01 2.59983111e-02 2.13517886e+02] [-5.06521291e-01 8.62076608e-01 -1.61277281e-02 -8.00125719e+01] [-3.05857049e-02 7.28320045e-04 9.99531883e-01 -8.43519319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:-80.04, Z:-0.85 [[ 8.62389464e-01 5.05577629e-01 2.59937132e-02 2.13573764e+02] [-5.05320694e-01 8.62780768e-01 -1.61351353e-02 -8.00410002e+01] [-3.05844393e-02 7.79609469e-04 9.99531883e-01 -8.45914616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:-80.07, Z:-0.84 [[ 8.62214968e-01 5.05875399e-01 2.59890328e-02 2.13627522e+02] [-5.05618372e-01 8.62606211e-01 -1.61426707e-02 -8.00720982e+01] [-3.05844811e-02 7.77919829e-04 9.99531883e-01 -8.44842763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:-80.10, Z:-0.85 [[ 8.63656405e-01 5.03410760e-01 2.59850080e-02 2.13683163e+02] [-5.03152423e-01 8.64046784e-01 -1.61491468e-02 -8.00982877e+01] [-3.05819168e-02 8.72894343e-04 9.99531883e-01 -8.49816537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:-80.13, Z:-0.85 [[ 8.63556473e-01 5.03582279e-01 2.59828099e-02 2.13740861e+02] [-5.03323913e-01 8.63946833e-01 -1.61526826e-02 -8.01250410e+01] [-3.05819710e-02 8.70984086e-04 9.99531883e-01 -8.52374647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:-80.15, Z:-0.86 [[ 8.62824597e-01 5.04835465e-01 2.59782083e-02 2.13797403e+02] [-5.04577444e-01 8.63215185e-01 -1.61600799e-02 -8.01531845e+01] [-3.05829653e-02 8.35296472e-04 9.99531883e-01 -8.56178254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:-80.18, Z:-0.86 [[ 8.61596304e-01 5.06929168e-01 2.59735949e-02 2.13853402e+02] [-5.06671872e-01 8.61987370e-01 -1.61674914e-02 -8.01785803e+01] [-3.05846838e-02 7.69760910e-04 9.99531883e-01 -8.61262178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:-80.21, Z:-0.86 [[ 8.60528488e-01 5.08739899e-01 2.59699076e-02 2.13909368e+02] [-5.08483248e-01 8.60919977e-01 -1.61734122e-02 -8.02083936e+01] [-3.05860724e-02 7.12418958e-04 9.99531883e-01 -8.64636570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:-80.24, Z:-0.87 [[ 8.61231754e-01 5.07548694e-01 2.59651393e-02 2.13963345e+02] [-5.07291271e-01 8.61622736e-01 -1.61810638e-02 -8.02374767e+01] [-3.05848322e-02 7.63757447e-04 9.99531883e-01 -8.67579306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:-80.27, Z:-0.86 [[ 8.58559387e-01 5.12056430e-01 2.59613368e-02 2.14013131e+02] [-5.11800875e-01 8.58951593e-01 -1.61871623e-02 -8.02732407e+01] [-3.05882722e-02 6.10605202e-04 9.99531883e-01 -8.56201592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:-80.30, Z:-0.86 [[ 8.57916491e-01 5.13133021e-01 2.59576000e-02 2.14068167e+02] [-5.12877777e-01 8.58308900e-01 -1.61931524e-02 -8.03046433e+01] [-3.05888803e-02 5.79296309e-04 9.99531883e-01 -8.56927660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:-80.34, Z:-0.86 [[ 8.57149729e-01 5.14413045e-01 2.59530829e-02 2.14121781e+02] [-5.14158168e-01 8.57542375e-01 -1.62003888e-02 -8.03358245e+01] [-3.05895597e-02 5.42169261e-04 9.99531883e-01 -8.59486022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:-80.37, Z:-0.86 [[ 8.56438919e-01 5.15595803e-01 2.59489059e-02 2.14176219e+02] [-5.15341266e-01 8.56831787e-01 -1.62070765e-02 -8.03676816e+01] [-3.05901480e-02 5.07829061e-04 9.99531883e-01 -8.61971609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.23, Y:-80.40, Z:-0.87 [[ 8.55865837e-01 5.16546755e-01 2.59445606e-02 2.14229350e+02] [-5.16292444e-01 8.56258850e-01 -1.62140295e-02 -8.03999082e+01] [-3.05905640e-02 4.82053323e-04 9.99531883e-01 -8.66974340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:-80.43, Z:-0.87 [[ 8.55720985e-01 5.16786796e-01 2.59422892e-02 2.14281566e+02] [-5.16532485e-01 8.56113999e-01 -1.62176631e-02 -8.04309111e+01] [-3.05906310e-02 4.77759516e-04 9.99531883e-01 -8.72422891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.33, Y:-80.46, Z:-0.88 [[ 8.56349641e-01 5.15744525e-01 2.59398917e-02 2.14334650e+02] [-5.15489620e-01 8.56742269e-01 -1.62214969e-02 -8.04629709e+01] [-3.05899499e-02 5.19528113e-04 9.99531883e-01 -8.77955425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.39, Y:-80.50, Z:-0.87 [[ 8.56401633e-01 5.15658398e-01 2.59356832e-02 2.14386655e+02] [-5.15403249e-01 8.56794103e-01 -1.62282228e-02 -8.04984444e+01] [-3.05897598e-02 5.30541148e-04 9.99531883e-01 -8.70986288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.44, Y:-80.53, Z:-0.87 [[ 8.56141736e-01 5.16090020e-01 2.59310452e-02 2.14439561e+02] [-5.15834845e-01 8.56534189e-01 -1.62356305e-02 -8.05325409e+01] [-3.05898736e-02 5.23864191e-04 9.99531883e-01 -8.73596115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.49, Y:-80.57, Z:-0.88 [[ 8.55685638e-01 5.16846111e-01 2.59265731e-02 2.14490368e+02] [-5.16591066e-01 8.56078176e-01 -1.62427688e-02 -8.05672906e+01] [-3.05901853e-02 5.05267876e-04 9.99531883e-01 -8.75498610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:-80.60, Z:-0.88 [[ 8.54980805e-01 5.18011438e-01 2.59224413e-02 2.14542290e+02] [-5.17756729e-01 8.55373560e-01 -1.62493602e-02 -8.06022729e+01] [-3.05907254e-02 4.71372587e-04 9.99531883e-01 -8.76822076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:-80.64, Z:-0.88 [[ 8.53956953e-01 5.19697783e-01 2.59178782e-02 2.14593522e+02] [-5.19443629e-01 8.54350068e-01 -1.62566351e-02 -8.06374392e+01] [-3.05914783e-02 4.19589869e-04 9.99531883e-01 -8.81116250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.64, Y:-80.67, Z:-0.88 [[ 8.53774184e-01 5.19998205e-01 2.59135027e-02 2.14644928e+02] [-5.19743978e-01 8.54167251e-01 -1.62636068e-02 -8.06741234e+01] [-3.05915117e-02 4.17060611e-04 9.99531883e-01 -8.84534362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:-80.71, Z:-0.88 [[ 8.54560107e-01 5.18705871e-01 2.59083717e-02 2.14696231e+02] [-5.18450801e-01 8.54952628e-01 -1.62717765e-02 -8.07095862e+01] [-3.05906965e-02 4.72995008e-04 9.99531883e-01 -8.82563858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36361786499998 meters Centerline goodness : 0.996084 with order 1 Centerline is valid? [True, True] Translation: X:214.75, Y:-80.75, Z:-0.89 [[ 8.55614990e-01 5.16964179e-01 2.59041782e-02 2.14746061e+02] [-5.16708108e-01 8.56006859e-01 -1.62784497e-02 -8.07468123e+01] [-3.05895296e-02 5.43186624e-04 9.99531883e-01 -8.88460292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.80, Y:-80.78, Z:-0.89 [[ 8.58075249e-01 5.12870437e-01 2.58994585e-02 2.14796970e+02] [-5.12612271e-01 8.58465740e-01 -1.62859554e-02 -8.07821649e+01] [-3.05863829e-02 6.98195039e-04 9.99531883e-01 -8.92237845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48361786499999 meters Centerline goodness : 0.994217 with order 1 Centerline is valid? [True, True] Translation: X:214.85, Y:-80.82, Z:-0.89 [[ 8.58299152e-01 5.12495883e-01 2.58947216e-02 2.14845369e+02] [-5.12237319e-01 8.58689380e-01 -1.62934836e-02 -8.08197807e+01] [-3.05858657e-02 7.20440409e-04 9.99531883e-01 -8.94520058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:-80.85, Z:-0.90 [[ 8.61740717e-01 5.06687915e-01 2.58900260e-02 2.14896101e+02] [-5.06426499e-01 8.62129039e-01 -1.63009415e-02 -8.08538863e+01] [-3.05800333e-02 9.35789780e-04 9.99531883e-01 -9.01271860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:-80.89, Z:-0.89 [[ 8.60431721e-01 5.08907833e-01 2.58857111e-02 2.14948358e+02] [-5.08647213e-01 8.60820579e-01 -1.63077906e-02 -8.08884041e+01] [-3.05821152e-02 8.65045580e-04 9.99531883e-01 -8.93918340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:-80.93, Z:-0.89 [[ 8.58229356e-01 5.12613424e-01 2.58814652e-02 2.14999054e+02] [-5.12354280e-01 8.58619198e-01 -1.63145263e-02 -8.09265915e+01] [-3.05853681e-02 7.41125957e-04 9.99531883e-01 -8.94061981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.05, Y:-80.96, Z:-0.90 [[ 8.58400445e-01 5.12327113e-01 2.58767381e-02 2.15053249e+02] [-5.12067613e-01 8.58790051e-01 -1.63220207e-02 -8.09571452e+01] [-3.05848989e-02 7.60190294e-04 9.99531883e-01 -8.96220635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:-80.99, Z:-0.90 [[ 8.55551509e-01 5.17070750e-01 2.58738320e-02 2.15106416e+02] [-5.16813271e-01 8.55942454e-01 -1.63266261e-02 -8.09899281e+01] [-3.05885321e-02 5.96329849e-04 9.99531883e-01 -8.98319139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.16, Y:-81.02, Z:-0.90 [[ 8.52495935e-01 5.22093340e-01 2.58693843e-02 2.15160059e+02] [-5.21837951e-01 8.52888248e-01 -1.63336704e-02 -8.10230029e+01] [-3.05913944e-02 4.24761099e-04 9.99531884e-01 -9.00222756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.21, Y:-81.06, Z:-0.90 [[ 8.51489569e-01 5.23733254e-01 2.58649056e-02 2.15213089e+02] [-5.23478405e-01 8.51882233e-01 -1.63407595e-02 -8.10566738e+01] [-3.05920527e-02 3.74266765e-04 9.99531884e-01 -9.01789476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.27, Y:-81.09, Z:-0.90 [[ 8.48652449e-01 5.28318331e-01 2.58604329e-02 2.15266123e+02] [-5.28065389e-01 8.49046344e-01 -1.63478348e-02 -8.10901556e+01] [-3.05935668e-02 2.17630476e-04 9.99531884e-01 -9.03771525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.32, Y:-81.12, Z:-0.91 [[ 8.46736532e-01 5.31383770e-01 2.58560263e-02 2.15319365e+02] [-5.31132041e-01 8.47131203e-01 -1.63548014e-02 -8.11236896e+01] [-3.05941227e-02 1.15243747e-04 9.99531884e-01 -9.05620828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:-81.16, Z:-0.91 [[ 8.45253673e-01 5.33739570e-01 2.58515096e-02 2.15370766e+02] [-5.33488722e-01 8.45648905e-01 -1.63619377e-02 -8.11579067e+01] [-3.05943144e-02 3.84991150e-05 9.99531884e-01 -9.07056125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14361786499998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:-81.19, Z:-0.91 [[ 8.44943132e-01 5.34231241e-01 2.58473313e-02 2.15422681e+02] [-5.33980422e-01 8.45338382e-01 -1.63685356e-02 -8.11929334e+01] [-3.05943243e-02 2.85129249e-05 9.99531884e-01 -9.09187146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-81.23, Z:-0.91 [[ 8.45515616e-01 5.33324935e-01 2.58429361e-02 2.15474844e+02] [-5.33073480e-01 8.45910461e-01 -1.63754719e-02 -8.12289797e+01] [-3.05942575e-02 6.95333527e-05 9.99531884e-01 -9.11538941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-81.26, Z:-0.92 [[ 8.46120168e-01 5.32365511e-01 2.58384411e-02 2.15526242e+02] [-5.32113391e-01 8.46514590e-01 -1.63825614e-02 -8.12649511e+01] [-3.05941280e-02 1.12635067e-04 9.99531884e-01 -9.17935843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:-81.30, Z:-0.92 [[ 8.47182524e-01 5.30673515e-01 2.58339302e-02 2.15577248e+02] [-5.30420391e-01 8.47576302e-01 -1.63896716e-02 -8.13006382e+01] [-3.05937916e-02 1.82200042e-04 9.99531884e-01 -9.16843300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:-81.34, Z:-0.92 [[ 8.48521350e-01 5.28530360e-01 2.58297690e-02 2.15628073e+02] [-5.28276042e-01 8.48914358e-01 -1.63962270e-02 -8.13376856e+01] [-3.05931655e-02 2.67300499e-04 9.99531884e-01 -9.19982355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.68, Y:-81.37, Z:-0.92 [[ 8.49968006e-01 5.26200964e-01 2.58250573e-02 2.15678630e+02] [-5.25945344e-01 8.50360168e-01 -1.64036448e-02 -8.13736169e+01] [-3.05922138e-02 3.60004618e-04 9.99531884e-01 -9.19157376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.73, Y:-81.41, Z:-0.92 [[ 8.51067708e-01 5.24420677e-01 2.58207324e-02 2.15730137e+02] [-5.24164030e-01 8.51459198e-01 -1.64104497e-02 -8.14102682e+01] [-3.05912793e-02 4.32104662e-04 9.99531884e-01 -9.20983128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563617865 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:-81.45, Z:-0.93 [[ 8.52692185e-01 5.21775383e-01 2.58164351e-02 2.15780754e+02] [-5.21517317e-01 8.53082741e-01 -1.64172073e-02 -8.14474623e+01] [-3.05896499e-02 5.35106431e-04 9.99531884e-01 -9.25337654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.83, Y:-81.48, Z:-0.93 [[ 8.52861046e-01 5.21499438e-01 2.58141854e-02 2.15831088e+02] [-5.21241139e-01 8.53251448e-01 -1.64207440e-02 -8.14840066e+01] [-3.05893998e-02 5.49197506e-04 9.99531884e-01 -9.25602360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:-81.52, Z:-0.93 [[ 8.52679949e-01 5.21795726e-01 2.58093773e-02 2.15882464e+02] [-5.21537334e-01 8.53070290e-01 -1.64282977e-02 -8.15204085e+01] [-3.05894285e-02 5.47526181e-04 9.99531884e-01 -9.26726141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:-81.56, Z:-0.93 [[ 8.52398959e-01 5.22254846e-01 2.58048403e-02 2.15931801e+02] [-5.21996449e-01 8.52789297e-01 -1.64354211e-02 -8.15574344e+01] [-3.05895699e-02 5.39500872e-04 9.99531884e-01 -9.32202883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80361786499998 meters Centerline goodness : 0.995763 with order 1 Centerline is valid? [True, True] Translation: X:215.98, Y:-81.59, Z:-0.93 [[ 8.52137519e-01 5.22681456e-01 2.58020397e-02 2.15983731e+02] [-5.22423120e-01 8.52527897e-01 -1.64398166e-02 -8.15927024e+01] [-3.05897459e-02 5.29402461e-04 9.99531884e-01 -9.30197666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.03, Y:-81.63, Z:-0.93 [[ 8.51170308e-01 5.24255168e-01 2.57997030e-02 2.16033782e+02] [-5.23997444e-01 8.51561091e-01 -1.64434828e-02 -8.16310927e+01] [-3.05906041e-02 4.77225881e-04 9.99531884e-01 -9.34068660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92361786499998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:216.08, Y:-81.67, Z:-0.93 [[ 8.49319500e-01 5.27248584e-01 2.57937493e-02 2.16083413e+02] [-5.26991953e-01 8.49711002e-01 -1.64528168e-02 -8.16664799e+01] [-3.05919569e-02 3.80599821e-04 9.99531884e-01 -9.34843606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98361786499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:-81.70, Z:-0.94 [[ 8.48610893e-01 5.28388448e-01 2.57914582e-02 2.16135438e+02] [-5.28132235e-01 8.49002668e-01 -1.64564074e-02 -8.17025473e+01] [-3.05923924e-02 3.43786129e-04 9.99531884e-01 -9.38469092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:-81.74, Z:-0.94 [[ 8.46195830e-01 5.32247744e-01 2.57867457e-02 2.16186746e+02] [-5.31993092e-01 8.46588621e-01 -1.64637884e-02 -8.17389681e+01] [-3.05935798e-02 2.13218531e-04 9.99531884e-01 -9.39166101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.103617865 meters Centerline goodness : 0.994017 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:-81.77, Z:-0.94 [[ 8.45215758e-01 5.33802969e-01 2.57820182e-02 2.16237770e+02] [-5.33548814e-01 8.45608871e-01 -1.64711883e-02 -8.17733209e+01] [-3.05938726e-02 1.65742702e-04 9.99531884e-01 -9.40557041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.163617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:216.68, Y:-81.20, Z:0.11 [[ 8.80159607e-01 4.73977487e-01 2.57761220e-02 2.16681700e+02] [-4.73696446e-01 8.80533971e-01 -1.64804103e-02 -8.11991317e+01] [-3.05080945e-02 2.29533405e-03 9.99531884e-01 1.11962507e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 227.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.74, Y:-81.23, Z:0.10 [[ 8.83596931e-01 4.67479297e-01 2.68248008e-02 2.16735262e+02] [-4.67253022e-01 8.84003962e-01 -1.45467599e-02 -8.12270082e+01] [-3.05135393e-02 3.19503142e-04 9.99534302e-01 1.03539168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.79, Y:-81.26, Z:0.11 [[ 8.82737537e-01 4.69100161e-01 2.68231271e-02 2.16789269e+02] [-4.68874540e-01 8.83144930e-01 -1.45498454e-02 -8.12603915e+01] [-3.05140436e-02 2.67013299e-04 9.99534302e-01 1.06564457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:-81.29, Z:0.11 [[ 8.83590768e-01 4.67491268e-01 2.68192031e-02 2.16843120e+02] [-4.67264685e-01 8.83997627e-01 -1.45570749e-02 -8.12931842e+01] [-3.05134173e-02 3.30830487e-04 9.99534303e-01 1.06232865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.403617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:-81.33, Z:0.10 [[ 8.84910018e-01 4.64989466e-01 2.68152131e-02 2.16896789e+02] [-4.64761511e-01 8.85316110e-01 -1.45644210e-02 -8.13250807e+01] [-3.05122425e-02 4.25523024e-04 9.99534303e-01 1.03579536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:-81.36, Z:0.10 [[ 8.85308309e-01 4.64230841e-01 2.68127537e-02 2.16951952e+02] [-4.64002401e-01 8.85714129e-01 -1.45689474e-02 -8.13560343e+01] [-3.05117894e-02 4.56828124e-04 9.99534303e-01 9.84295624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.01, Y:-81.39, Z:0.09 [[ 8.85945700e-01 4.63013500e-01 2.68088780e-02 2.17006741e+02] [-4.62784287e-01 8.86351083e-01 -1.45760757e-02 -8.13874495e+01] [-3.05109979e-02 5.06884054e-04 9.99534303e-01 9.46250659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:-81.42, Z:0.09 [[ 8.84959844e-01 4.64895230e-01 2.68048289e-02 2.17059732e+02] [-4.64666654e-01 8.85365587e-01 -1.45835180e-02 -8.14187443e+01] [-3.05118810e-02 4.50517631e-04 9.99534303e-01 9.34429452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.11, Y:-81.45, Z:0.10 [[ 8.84858433e-01 4.65088439e-01 2.68010899e-02 2.17113270e+02] [-4.64859743e-01 8.85264108e-01 -1.45903861e-02 -8.14525705e+01] [-3.05118629e-02 4.51678425e-04 9.99534303e-01 9.52169014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:-81.48, Z:0.09 [[ 8.85549651e-01 4.63771209e-01 2.67970261e-02 2.17166506e+02] [-4.63541684e-01 8.85954858e-01 -1.45978460e-02 -8.14840455e+01] [-3.05110162e-02 5.05578862e-04 9.99534303e-01 9.32591084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:-81.52, Z:0.09 [[ 8.85167476e-01 4.64500441e-01 2.67932661e-02 2.17220753e+02] [-4.64271041e-01 8.85572754e-01 -1.46047439e-02 -8.15165472e+01] [-3.05112965e-02 4.88306738e-04 9.99534303e-01 9.39076745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.823617865 meters Centerline goodness : 0.994677 with order 1 Centerline is valid? [True, True] Translation: X:217.28, Y:-81.54, Z:0.09 [[ 8.86616672e-01 4.61728506e-01 2.67892589e-02 2.17275666e+02] [-4.61497617e-01 8.87021103e-01 -1.46120907e-02 -8.15438567e+01] [-3.05094567e-02 5.92144098e-04 9.99534303e-01 9.01675403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.33, Y:-81.58, Z:0.09 [[ 8.84830947e-01 4.65141638e-01 2.67852804e-02 2.17328294e+02] [-4.64912089e-01 8.85236140e-01 -1.46193800e-02 -8.15777636e+01] [-3.05113806e-02 4.82879236e-04 9.99534303e-01 9.04612668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.38, Y:-81.61, Z:0.09 [[ 8.84925592e-01 4.64961799e-01 2.67810041e-02 2.17381250e+02] [-4.64731931e-01 8.85330603e-01 -1.46272094e-02 -8.16073576e+01] [-3.05111361e-02 4.98004142e-04 9.99534303e-01 8.55528563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:-81.64, Z:0.09 [[ 8.84359648e-01 4.66037507e-01 2.67778931e-02 2.17435679e+02] [-4.65807959e-01 8.84764841e-01 -1.46329026e-02 -8.16368089e+01] [-3.05116197e-02 4.67392873e-04 9.99534303e-01 8.53442030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:-81.67, Z:0.08 [[ 8.84057295e-01 4.66610992e-01 2.67746166e-02 2.17490848e+02] [-4.66381526e-01 8.84462535e-01 -1.46388953e-02 -8.16672425e+01] [-3.05118147e-02 4.54435624e-04 9.99534303e-01 8.11325667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:-81.70, Z:0.08 [[ 8.83934370e-01 4.66844045e-01 2.67706190e-02 2.17544883e+02] [-4.66614464e-01 8.84339545e-01 -1.46462022e-02 -8.16984586e+01] [-3.05118093e-02 4.54723500e-04 9.99534303e-01 8.19840654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18361786499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:-81.73, Z:0.08 [[ 8.84561631e-01 4.65654651e-01 2.67669058e-02 2.17599845e+02] [-4.65424320e-01 8.84966379e-01 -1.46529851e-02 -8.17293377e+01] [-3.05110424e-02 5.03499415e-04 9.99534303e-01 8.05335896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.65, Y:-81.76, Z:0.08 [[ 8.84882315e-01 4.65045195e-01 2.67629489e-02 2.17654994e+02] [-4.64814367e-01 8.85286780e-01 -1.46602086e-02 -8.17590204e+01] [-3.05105444e-02 5.32756208e-04 9.99534303e-01 8.01756146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:-81.79, Z:0.08 [[ 8.84558396e-01 4.65661249e-01 2.67590304e-02 2.17710794e+02] [-4.65430486e-01 8.84962898e-01 -1.46673575e-02 -8.17878913e+01] [-3.05107691e-02 5.19665698e-04 9.99534303e-01 7.73857378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:-81.82, Z:0.07 [[ 8.84041218e-01 4.66642581e-01 2.67549496e-02 2.17766135e+02] [-4.66412042e-01 8.84445848e-01 -1.46747976e-02 -8.18178355e+01] [-3.05111895e-02 4.94295318e-04 9.99534303e-01 7.43370487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:-81.85, Z:0.07 [[ 8.82679076e-01 4.69214276e-01 2.67509106e-02 2.17820521e+02] [-4.68984693e-01 8.83084249e-01 -1.46821567e-02 -8.18462383e+01] [-3.05123853e-02 4.13864936e-04 9.99534303e-01 7.03433202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.87, Y:-81.88, Z:0.07 [[ 8.81957180e-01 4.70569982e-01 2.67474224e-02 2.17874806e+02] [-4.70340829e-01 8.82362597e-01 -1.46885085e-02 -8.18772848e+01] [-3.05128963e-02 3.74230722e-04 9.99534303e-01 6.92618102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.93, Y:-81.91, Z:0.07 [[ 8.81618667e-01 4.71204116e-01 2.67433583e-02 2.17929764e+02] [-4.70975031e-01 8.82024121e-01 -1.46959044e-02 -8.19068142e+01] [-3.05130577e-02 3.60729617e-04 9.99534303e-01 6.77462127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.603617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:-81.94, Z:0.06 [[ 8.83121608e-01 4.68381489e-01 2.67396052e-02 2.17984470e+02] [-4.68150901e-01 8.83526210e-01 -1.47027301e-02 -8.19372090e+01] [-3.05116286e-02 4.66128321e-04 9.99534303e-01 6.26759597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.04, Y:-81.97, Z:0.06 [[ 8.82669771e-01 4.69232651e-01 2.67356539e-02 2.18039738e+02] [-4.69002235e-01 8.83074471e-01 -1.47099118e-02 -8.19673553e+01] [-3.05119443e-02 4.44913012e-04 9.99534303e-01 6.35799511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:-82.00, Z:0.06 [[ 8.82857625e-01 4.68879350e-01 2.67314344e-02 2.18093324e+02] [-4.68648541e-01 8.83262100e-01 -1.47175756e-02 -8.19979492e+01] [-3.05116301e-02 4.65876078e-04 9.99534303e-01 6.05444639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783617865 meters Centerline goodness : 0.994052 with order 1 Centerline is valid? [True, True] Translation: X:218.15, Y:-82.03, Z:0.07 [[ 8.82242413e-01 4.70036129e-01 2.67275477e-02 2.18147682e+02] [-4.69805637e-01 8.82647069e-01 -1.47246306e-02 -8.20310139e+01] [-3.05121000e-02 4.33941065e-04 9.99534303e-01 6.62149876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.20, Y:-82.06, Z:0.06 [[ 8.83827293e-01 4.67049323e-01 2.67253598e-02 2.18203158e+02] [-4.66817344e-01 8.84231099e-01 -1.47286006e-02 -8.20600126e+01] [-3.05103772e-02 5.41677746e-04 9.99534303e-01 5.77580496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903617865 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:218.26, Y:-82.09, Z:0.06 [[ 8.82123271e-01 4.70260136e-01 2.67196544e-02 2.18256258e+02] [-4.70029313e-01 8.82527738e-01 -1.47389436e-02 -8.20922361e+01] [-3.05119738e-02 4.42544348e-04 9.99534303e-01 6.16362488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96361786499997 meters Centerline goodness : 0.995952 with order 1 Centerline is valid? [True, True] Translation: X:218.31, Y:-82.12, Z:0.05 [[ 8.82119828e-01 4.70266899e-01 2.67142895e-02 2.18310448e+02] [-4.70035785e-01 8.82524129e-01 -1.47486610e-02 -8.21212041e+01] [-3.05118122e-02 4.53414285e-04 9.99534303e-01 5.15367906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.36, Y:-82.15, Z:0.05 [[ 8.81474449e-01 4.71475753e-01 2.67097258e-02 2.18364816e+02] [-4.71244943e-01 8.81878924e-01 -1.47569212e-02 -8.21519858e+01] [-3.05122748e-02 4.21025812e-04 9.99534303e-01 5.31783853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.42, Y:-82.18, Z:0.05 [[ 8.80017861e-01 4.74189227e-01 2.67046974e-02 2.18419145e+02] [-4.73959389e-01 8.80422889e-01 -1.47660152e-02 -8.21833214e+01] [-3.05133122e-02 3.37415060e-04 9.99534304e-01 5.38675209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.47, Y:-82.21, Z:0.05 [[ 8.79856267e-01 4.74489223e-01 2.67006827e-02 2.18474922e+02] [-4.74259302e-01 8.80261248e-01 -1.47732712e-02 -8.22132543e+01] [-3.05133343e-02 3.35308129e-04 9.99534304e-01 5.12820837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:-82.24, Z:0.05 [[ 8.77872065e-01 4.78150544e-01 2.66963634e-02 2.18529191e+02] [-4.77922075e-01 8.78277866e-01 -1.47810725e-02 -8.22429107e+01] [-3.05144029e-02 2.17109234e-04 9.99534304e-01 5.05571571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:218.58, Y:-82.27, Z:0.05 [[ 8.77584917e-01 4.78677584e-01 2.66923731e-02 2.18583687e+02] [-4.78449140e-01 8.77990733e-01 -1.47882748e-02 -8.22735210e+01] [-3.05144719e-02 2.07023907e-04 9.99534304e-01 4.94278366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.323617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.64, Y:-82.30, Z:0.05 [[ 8.77156285e-01 4.79462828e-01 2.66879712e-02 2.18638004e+02] [-4.79234505e-01 8.77562169e-01 -1.47962145e-02 -8.23036621e+01] [-3.05145888e-02 1.88795900e-04 9.99534304e-01 4.71871520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.383617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:218.69, Y:-82.33, Z:0.05 [[ 8.75958191e-01 4.81648436e-01 2.66839062e-02 2.18691453e+02] [-4.81420903e-01 8.76364519e-01 -1.48035419e-02 -8.23343452e+01] [-3.05149314e-02 1.21093534e-04 9.99534304e-01 4.66136792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.74, Y:-82.37, Z:0.05 [[ 8.73725376e-01 4.85687221e-01 2.66812668e-02 2.18741911e+02] [-4.85461421e-01 8.74132669e-01 -1.48082975e-02 -8.23705560e+01] [-3.05151678e-02 -1.43404374e-05 9.99534304e-01 5.31946564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:-82.39, Z:0.05 [[ 8.76580060e-01 4.80515914e-01 2.66805865e-02 2.18798145e+02] [-4.80287674e-01 8.76985991e-01 -1.48095232e-02 -8.23949205e+01] [-3.05147121e-02 1.67375876e-04 9.99534304e-01 4.53254474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:-82.42, Z:0.04 [[ 8.78171947e-01 4.77600504e-01 2.66793876e-02 2.18852118e+02] [-4.77370851e-01 8.78577080e-01 -1.48116826e-02 -8.24239162e+01] [-3.05139655e-02 2.71242192e-04 9.99534304e-01 4.21344534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623617865 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:-82.45, Z:0.04 [[ 8.79666087e-01 4.74843095e-01 2.66760184e-02 2.18906864e+02] [-4.74611988e-01 8.80070392e-01 -1.48177481e-02 -8.24547320e+01] [-3.05128793e-02 3.73912333e-04 9.99534304e-01 3.75104156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68361786499997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:218.96, Y:-82.49, Z:0.04 [[ 8.80083057e-01 4.74070060e-01 2.66719313e-02 2.18959962e+02] [-4.73838375e-01 8.80487031e-01 -1.48251012e-02 -8.24858176e+01] [-3.05124262e-02 4.09135792e-04 9.99534304e-01 3.64651405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:219.01, Y:-82.52, Z:0.04 [[ 8.80768903e-01 4.72794827e-01 2.66681452e-02 2.19014224e+02] [-4.72562351e-01 8.81172423e-01 -1.48319086e-02 -8.25159909e+01] [-3.05116838e-02 4.61122479e-04 9.99534304e-01 3.50371772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:-82.55, Z:0.03 [[ 8.81145415e-01 4.72092892e-01 2.66656693e-02 2.19067204e+02] [-4.71859960e-01 8.81548672e-01 -1.48363586e-02 -8.25465494e+01] [-3.05112248e-02 4.90527699e-04 9.99534304e-01 2.95939182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:-82.57, Z:0.03 [[ 8.81526371e-01 4.71381338e-01 2.66625412e-02 2.19122658e+02] [-4.71147910e-01 8.81929341e-01 -1.48419782e-02 -8.25743510e+01] [-3.05107089e-02 5.21594626e-04 9.99534304e-01 2.83645212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92361786499998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:-82.60, Z:0.02 [[ 8.81281423e-01 4.71839345e-01 2.66587021e-02 2.19177595e+02] [-4.71605919e-01 8.81684393e-01 -1.48488705e-02 -8.26035135e+01] [-3.05108429e-02 5.13632023e-04 9.99534304e-01 2.21183379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98361786499999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:-82.63, Z:0.03 [[ 8.80778181e-01 4.72778305e-01 2.66546407e-02 2.19234067e+02] [-4.72545088e-01 8.81181272e-01 -1.48561575e-02 -8.26308045e+01] [-3.05112392e-02 4.89459822e-04 9.99534304e-01 2.50830299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:219.29, Y:-82.66, Z:0.02 [[ 8.79063525e-01 4.75959094e-01 2.66506800e-02 2.19287855e+02] [-4.75727120e-01 8.79467333e-01 -1.48632593e-02 -8.26624284e+01] [-3.05127059e-02 3.87297852e-04 9.99534304e-01 1.84384955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103617865 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:-82.69, Z:0.02 [[ 8.77369846e-01 4.79074081e-01 2.66491846e-02 2.19342975e+02] [-4.78843459e-01 8.77774428e-01 -1.48659399e-02 -8.26897124e+01] [-3.05138593e-02 2.82139712e-04 9.99534304e-01 2.04282279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:219.40, Y:-82.72, Z:0.02 [[ 8.76997731e-01 4.79755155e-01 2.66452995e-02 2.19398598e+02] [-4.79524636e-01 8.77402371e-01 -1.48729002e-02 -8.27199813e+01] [-3.05139995e-02 2.66422151e-04 9.99534304e-01 1.86694176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.45, Y:-82.75, Z:0.02 [[ 8.76182086e-01 4.81243264e-01 2.66434427e-02 2.19453900e+02] [-4.81013331e-01 8.76587060e-01 -1.48762258e-02 -8.27500975e+01] [-3.05143805e-02 2.18431478e-04 9.99534304e-01 1.54264078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.283617865 meters Centerline goodness : 0.997704 with order 1 Centerline is valid? [True, True] Translation: X:219.51, Y:-82.78, Z:0.01 [[ 8.76480311e-01 4.80700158e-01 2.66387548e-02 2.19509509e+02] [-4.80469719e-01 8.76884997e-01 -1.48846156e-02 -8.27799797e+01] [-3.05141615e-02 2.46957442e-04 9.99534304e-01 1.33381850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.343617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:-82.81, Z:0.01 [[ 8.76746226e-01 4.80215267e-01 2.66336927e-02 2.19564475e+02] [-4.79984329e-01 8.77150627e-01 -1.48936680e-02 -8.28108223e+01] [-3.05139270e-02 2.74212046e-04 9.99534304e-01 1.02211893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.62, Y:-82.84, Z:0.01 [[ 8.76848752e-01 4.80028315e-01 2.66286058e-02 2.19618331e+02] [-4.79797015e-01 8.77252947e-01 -1.49027575e-02 -8.28404109e+01] [-3.05137684e-02 2.91138721e-04 9.99534304e-01 6.14445746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.67, Y:-82.87, Z:0.00 [[ 8.77430138e-01 4.78965028e-01 2.66243208e-02 2.19672548e+02] [-4.78733006e-01 8.77833919e-01 -1.49104088e-02 -8.28704161e+01] [-3.05132962e-02 3.36900959e-04 9.99534304e-01 4.64437337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:-82.90, Z:0.00 [[ 8.76648881e-01 4.80393687e-01 2.66203740e-02 2.19724751e+02] [-4.80162110e-01 8.77052916e-01 -1.49174518e-02 -8.29046720e+01] [-3.05137264e-02 2.95272475e-04 9.99534304e-01 2.05255372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:219.78, Y:-82.93, Z:-0.01 [[ 8.79508395e-01 4.75138452e-01 2.66164188e-02 2.19781448e+02] [-4.74904248e-01 8.79910913e-01 -1.49245056e-02 -8.29310868e+01] [-3.05112839e-02 4.85977653e-04 9.99534304e-01 -5.17938599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.83, Y:-82.96, Z:-0.00 [[ 8.80529054e-01 4.73244537e-01 2.66119235e-02 2.19834124e+02] [-4.73009224e-01 8.80930925e-01 -1.49325168e-02 -8.29625033e+01] [-3.05099984e-02 5.60829607e-04 9.99534304e-01 -4.31783128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:-82.99, Z:-0.01 [[ 8.80569042e-01 4.73170251e-01 2.66096886e-02 2.19888729e+02] [-4.72934784e-01 8.80970823e-01 -1.49364983e-02 -8.29933052e+01] [-3.05098660e-02 5.67970645e-04 9.99534304e-01 -6.65003202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.763617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.94, Y:-83.02, Z:-0.01 [[ 8.81701411e-01 4.71057073e-01 2.66055539e-02 2.19943031e+02] [-4.70820422e-01 8.82102495e-01 -1.49438596e-02 -8.30218840e+01] [-3.05082363e-02 6.49583964e-04 9.99534304e-01 -7.86480597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.00, Y:-83.05, Z:-0.01 [[ 8.81494716e-01 4.71443940e-01 2.66022063e-02 2.19997349e+02] [-4.71207285e-01 8.81895797e-01 -1.49498165e-02 -8.30509396e+01] [-3.05083743e-02 6.43030835e-04 9.99534304e-01 -1.07723790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.883617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:-83.08, Z:-0.01 [[ 8.80215117e-01 4.73828852e-01 2.66001512e-02 2.20051253e+02] [-4.73593173e-01 8.80616773e-01 -1.49534723e-02 -8.30801977e+01] [-3.05099259e-02 5.64622363e-04 9.99534304e-01 -1.29708097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:220.11, Y:-83.11, Z:-0.02 [[ 8.80313210e-01 4.73646703e-01 2.65979735e-02 2.20107507e+02] [-4.73410824e-01 8.80714749e-01 -1.49573447e-02 -8.31074149e+01] [-3.05097246e-02 5.75379513e-04 9.99534304e-01 -1.69290883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.003617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:220.16, Y:-83.14, Z:-0.02 [[ 8.79143656e-01 4.75814251e-01 2.65938086e-02 2.20161702e+02] [-4.75579138e-01 8.79545644e-01 -1.49647462e-02 -8.31367885e+01] [-3.05109080e-02 5.08701133e-04 9.99534304e-01 -1.96353079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:-83.17, Z:-0.02 [[ 8.79151684e-01 4.75799658e-01 2.65895248e-02 2.20216299e+02] [-4.75564308e-01 8.79553533e-01 -1.49723537e-02 -8.31659339e+01] [-3.05107513e-02 5.17941016e-04 9.99534304e-01 -2.06364176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:-83.19, Z:-0.02 [[ 8.80394684e-01 4.73495930e-01 2.65858018e-02 2.20271830e+02] [-4.73259330e-01 8.80795798e-01 -1.49789616e-02 -8.31920155e+01] [-3.05091399e-02 6.05419432e-04 9.99534304e-01 -2.42108517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.33, Y:-83.22, Z:-0.03 [[ 8.79768006e-01 4.74659491e-01 2.65823978e-02 2.20326020e+02] [-4.74423238e-01 8.80169325e-01 -1.49850002e-02 -8.32225566e+01] [-3.05097837e-02 5.72016551e-04 9.99534305e-01 -2.51391472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.38, Y:-83.25, Z:-0.03 [[ 8.79923943e-01 4.74370563e-01 2.65786230e-02 2.20380836e+02] [-4.74133977e-01 8.80325066e-01 -1.49916926e-02 -8.32522704e+01] [-3.05094456e-02 5.89721033e-04 9.99534305e-01 -3.01499169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30361786499998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:220.44, Y:-83.28, Z:-0.03 [[ 8.80585082e-01 4.73142387e-01 2.65743227e-02 2.20436504e+02] [-4.72905012e-01 8.80985738e-01 -1.49993113e-02 -8.32815176e+01] [-3.05084093e-02 6.41039394e-04 9.99534305e-01 -3.47410949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:220.49, Y:-83.31, Z:-0.04 [[ 8.81310458e-01 4.71790113e-01 2.65700251e-02 2.20490623e+02] [-4.71551894e-01 8.81710612e-01 -1.50069203e-02 -8.33089370e+01] [-3.05071897e-02 6.96610198e-04 9.99534305e-01 -3.93366582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.55, Y:-83.34, Z:-0.04 [[ 8.81290382e-01 4.71827806e-01 2.65665917e-02 2.20545194e+02] [-4.71589421e-01 8.81690438e-01 -1.50129959e-02 -8.33403254e+01] [-3.05070588e-02 7.02285271e-04 9.99534305e-01 -4.13667268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.60, Y:-83.37, Z:-0.04 [[ 8.80621118e-01 4.73075990e-01 2.65622891e-02 2.20598912e+02] [-4.72837942e-01 8.81021374e-01 -1.50206046e-02 -8.33705088e+01] [-3.05078319e-02 6.67803492e-04 9.99534305e-01 -4.14788907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.543617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:220.65, Y:-83.40, Z:-0.04 [[ 8.79406362e-01 4.75330523e-01 2.65583082e-02 2.20652065e+02] [-4.75093289e-01 8.79807102e-01 -1.50276400e-02 -8.34016582e+01] [-3.05092842e-02 5.97728221e-04 9.99534305e-01 -4.37026554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.603617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:220.71, Y:-83.43, Z:-0.04 [[ 8.79338008e-01 4.75457176e-01 2.65545105e-02 2.20706503e+02] [-4.75219797e-01 8.79738662e-01 -1.50343477e-02 -8.34309092e+01] [-3.05092181e-02 6.01044280e-04 9.99534305e-01 -4.41758561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.663617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:-83.46, Z:-0.05 [[ 8.78798355e-01 4.76453976e-01 2.65529886e-02 2.20759565e+02] [-4.76216970e-01 8.79199229e-01 -1.50370352e-02 -8.34611783e+01] [-3.05098223e-02 5.69538058e-04 9.99534305e-01 -4.76390899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.723617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:220.81, Y:-83.49, Z:-0.05 [[ 8.78276112e-01 4.77416191e-01 2.65490346e-02 2.20814627e+02] [-4.77179414e-01 8.78677122e-01 -1.50440132e-02 -8.34918399e+01] [-3.05102847e-02 5.44144654e-04 9.99534305e-01 -5.31540973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:-83.52, Z:-0.06 [[ 8.77824739e-01 4.78245880e-01 2.65444053e-02 2.20868308e+02] [-4.78009236e-01 8.78225827e-01 -1.50521768e-02 -8.35224983e+01] [-3.05106238e-02 5.24702323e-04 9.99534305e-01 -5.62972594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.843617865 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:220.92, Y:-83.55, Z:-0.06 [[ 8.77898164e-01 4.78111295e-01 2.65406066e-02 2.20922407e+02] [-4.77874387e-01 8.78299095e-01 -1.50588718e-02 -8.35517633e+01] [-3.05104075e-02 5.37079813e-04 9.99534305e-01 -5.86024254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.98, Y:-83.58, Z:-0.06 [[ 8.79290138e-01 4.75546667e-01 2.65371568e-02 2.20977637e+02] [-4.75308406e-01 8.79690268e-01 -1.50649488e-02 -8.35820092e+01] [-3.05085647e-02 6.33127252e-04 9.99534305e-01 -6.33926474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:-83.62, Z:-0.06 [[ 8.77607202e-01 4.78645597e-01 2.65328263e-02 2.21029245e+02] [-4.78408519e-01 8.78008033e-01 -1.50725718e-02 -8.36172899e+01] [-3.05104548e-02 5.34267467e-04 9.99534305e-01 -5.67199364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:221.08, Y:-83.64, Z:-0.07 [[ 8.80101676e-01 4.74043509e-01 2.65290622e-02 2.21084390e+02] [-4.73804135e-01 8.80501141e-01 -1.50791940e-02 -8.36427144e+01] [-3.05070636e-02 7.01644561e-04 9.99534305e-01 -6.50294412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08361786499998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:221.14, Y:-83.67, Z:-0.07 [[ 8.80174450e-01 4.73908566e-01 2.65256077e-02 2.21139809e+02] [-4.73668948e-01 8.80573769e-01 -1.50852684e-02 -8.36722978e+01] [-3.05067923e-02 7.13311101e-04 9.99534305e-01 -6.78644274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14361786499998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:221.20, Y:-83.70, Z:-0.08 [[ 8.80968655e-01 4.72430777e-01 2.65215010e-02 2.21195609e+02] [-4.72190272e-01 8.81367440e-01 -1.50924851e-02 -8.36993187e+01] [-3.05053419e-02 7.72811527e-04 9.99534305e-01 -7.52885209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:-83.73, Z:-0.07 [[ 8.79586856e-01 4.74998709e-01 2.65177147e-02 2.21248021e+02] [-4.74759168e-01 8.79986220e-01 -1.50991347e-02 -8.37315174e+01] [-3.05072930e-02 6.91472210e-04 9.99534305e-01 -7.33107495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.263617865 meters Centerline goodness : 0.995696 with order 1 Centerline is valid? [True, True] Translation: X:221.30, Y:-83.76, Z:-0.08 [[ 8.78858692e-01 4.76344746e-01 2.65157117e-02 2.21302661e+02] [-4.76105711e-01 8.79258359e-01 -1.51026514e-02 -8.37617397e+01] [-3.05082298e-02 6.48814714e-04 9.99534305e-01 -7.50393751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.323617865 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:221.36, Y:-83.79, Z:-0.08 [[ 8.77952216e-01 4.78013645e-01 2.65115331e-02 2.21357356e+02] [-4.77775149e-01 8.78352205e-01 -1.51099830e-02 -8.37911037e+01] [-3.05092416e-02 5.99291404e-04 9.99534305e-01 -7.82464602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.41, Y:-83.82, Z:-0.08 [[ 8.77053980e-01 4.79659963e-01 2.65072656e-02 2.21411771e+02] [-4.79421991e-01 8.77454282e-01 -1.51174658e-02 -8.38203237e+01] [-3.05101567e-02 5.50667507e-04 9.99534305e-01 -7.88173535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.47, Y:-83.85, Z:-0.08 [[ 8.76124612e-01 4.81355611e-01 2.65035995e-02 2.21468298e+02] [-4.81118219e-01 8.76525258e-01 -1.51238904e-02 -8.38478531e+01] [-3.05110438e-02 4.99048014e-04 9.99534305e-01 -8.42531293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.52, Y:-83.88, Z:-0.08 [[ 8.72419450e-01 4.88039018e-01 2.64994488e-02 2.21521329e+02] [-4.87804475e-01 8.72821770e-01 -1.51311594e-02 -8.38793645e+01] [-3.05138920e-02 2.74168072e-04 9.99534305e-01 -8.05184727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.58, Y:-83.91, Z:-0.09 [[ 8.74193848e-01 4.84853686e-01 2.64956511e-02 2.21576821e+02] [-4.84617476e-01 8.74595192e-01 -1.51378065e-02 -8.39064270e+01] [-3.05125904e-02 3.93121744e-04 9.99534305e-01 -9.18691399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.63, Y:-83.94, Z:-0.10 [[ 8.74013400e-01 4.85179106e-01 2.64917125e-02 2.21631680e+02] [-4.84942837e-01 8.74414709e-01 -1.51446961e-02 -8.39356213e+01] [-3.05126332e-02 3.89701157e-04 9.99534305e-01 -9.55152348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.69, Y:-83.97, Z:-0.10 [[ 8.74011965e-01 4.85181890e-01 2.64880978e-02 2.21686239e+02] [-4.84945431e-01 8.74413161e-01 -1.51510156e-02 -8.39672680e+01] [-3.05125397e-02 3.96886877e-04 9.99534305e-01 -9.50485045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74361786499998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:-84.00, Z:-0.10 [[ 8.76259407e-01 4.81111269e-01 2.64839268e-02 2.21740333e+02] [-4.80872726e-01 8.76659368e-01 -1.51583030e-02 -8.39963197e+01] [-3.05102129e-02 5.47207479e-04 9.99534305e-01 -9.98430326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80361786499998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:221.79, Y:-84.03, Z:-0.10 [[ 8.78528007e-01 4.76956308e-01 2.64805939e-02 2.21792842e+02] [-4.76715698e-01 8.78926728e-01 -1.51641231e-02 -8.40277971e+01] [-3.05071259e-02 6.98391998e-04 9.99534305e-01 -1.01802396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:221.85, Y:-84.06, Z:-0.10 [[ 8.78967848e-01 4.76145433e-01 2.64773231e-02 2.21846618e+02] [-4.75904284e-01 8.79366243e-01 -1.51698319e-02 -8.40585444e+01] [-3.05063104e-02 7.33123021e-04 9.99534305e-01 -1.00482833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.90, Y:-84.09, Z:-0.10 [[ 8.80038786e-01 4.74163340e-01 2.64738018e-02 2.21899769e+02] [-4.73921109e-01 8.80436524e-01 -1.51759748e-02 -8.40876372e+01] [-3.05043929e-02 8.08952913e-04 9.99534305e-01 -1.03637703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.96, Y:-84.12, Z:-0.11 [[ 8.78963079e-01 4.76154530e-01 2.64720428e-02 2.21955083e+02] [-4.75913107e-01 8.79361309e-01 -1.51790424e-02 -8.41178056e+01] [-3.05060600e-02 7.43425668e-04 9.99534305e-01 -1.09119845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.01, Y:-84.15, Z:-0.11 [[ 8.78098262e-01 4.77747732e-01 2.64678616e-02 2.22008647e+02] [-4.77506812e-01 8.78496795e-01 -1.51863296e-02 -8.41478097e+01] [-3.05071662e-02 6.96505410e-04 9.99534305e-01 -1.12872500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.06, Y:-84.18, Z:-0.11 [[ 8.76926510e-01 4.79895327e-01 2.64645183e-02 2.22062875e+02] [-4.79655208e-01 8.77325527e-01 -1.51921537e-02 -8.41786429e+01] [-3.05086410e-02 6.28558355e-04 9.99534305e-01 -1.14503036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.12, Y:-84.21, Z:-0.11 [[ 8.75783755e-01 4.81977837e-01 2.64608804e-02 2.22115660e+02] [-4.81738476e-01 8.76183227e-01 -1.51984873e-02 -8.42114307e+01] [-3.05099136e-02 5.63364076e-04 9.99534305e-01 -1.13032922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.17, Y:-84.24, Z:-0.12 [[ 8.75052628e-01 4.83304170e-01 2.64570823e-02 2.22168958e+02] [-4.83065214e-01 8.75452343e-01 -1.52050961e-02 -8.42403672e+01] [-3.05106010e-02 5.24763135e-04 9.99534305e-01 -1.18060088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:-84.27, Z:-0.12 [[ 8.75059115e-01 4.83292615e-01 2.64536283e-02 2.22222719e+02] [-4.83053472e-01 8.75458717e-01 -1.52111029e-02 -8.42726381e+01] [-3.05104732e-02 5.32097272e-04 9.99534306e-01 -1.19642482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:-84.31, Z:-0.11 [[ 8.71884742e-01 4.88996338e-01 2.64495342e-02 2.22273771e+02] [-4.88759594e-01 8.72285770e-01 -1.52182186e-02 -8.43087378e+01] [-3.05132055e-02 3.41068982e-04 9.99534306e-01 -1.12496804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.33, Y:-84.34, Z:-0.12 [[ 8.74381781e-01 4.84517421e-01 2.64456026e-02 2.22327977e+02] [-4.84278417e-01 8.74781466e-01 -1.52250478e-02 -8.43361912e+01] [-3.05109239e-02 5.05469855e-04 9.99534306e-01 -1.23476241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:-84.37, Z:-0.13 [[ 8.75476814e-01 4.82536181e-01 2.64420540e-02 2.22379618e+02] [-4.82296086e-01 8.75875845e-01 -1.52312082e-02 -8.43685912e+01] [-3.05095654e-02 5.81670409e-04 9.99534306e-01 -1.26507124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.43, Y:-84.40, Z:-0.13 [[ 8.75990361e-01 4.81603385e-01 2.64398909e-02 2.22434012e+02] [-4.81362752e-01 8.76389067e-01 -1.52349623e-02 -8.44003751e+01] [-3.05088407e-02 6.18501464e-04 9.99534306e-01 -1.28459602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.49, Y:-84.43, Z:-0.13 [[ 8.77115021e-01 4.79552283e-01 2.64357512e-02 2.22487919e+02] [-4.79310501e-01 8.77513032e-01 -1.52421421e-02 -8.44318010e+01] [-3.05071202e-02 6.98178639e-04 9.99534306e-01 -1.30081555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.54, Y:-84.46, Z:-0.13 [[ 8.78580981e-01 4.76861420e-01 2.64319283e-02 2.22541864e+02] [-4.76618220e-01 8.78978127e-01 -1.52487687e-02 -8.44631317e+01] [-3.05046363e-02 7.99339543e-04 9.99534306e-01 -1.31693055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.59, Y:-84.49, Z:-0.14 [[ 8.79371357e-01 4.75402536e-01 2.64281228e-02 2.22594105e+02] [-4.75158479e-01 8.79767977e-01 -1.52553612e-02 -8.44939920e+01] [-3.05030535e-02 8.57581067e-04 9.99534306e-01 -1.36518279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:-84.53, Z:-0.14 [[ 8.79581434e-01 4.75013934e-01 2.64246690e-02 2.22648059e+02] [-4.74769523e-01 8.79977836e-01 -1.52613413e-02 -8.45251859e+01] [-3.05024729e-02 8.77964958e-04 9.99534306e-01 -1.37896142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:222.70, Y:-84.56, Z:-0.14 [[ 8.78813081e-01 4.76434162e-01 2.64208114e-02 2.22702618e+02] [-4.76190190e-01 8.79209753e-01 -1.52680168e-02 -8.45571883e+01] [-3.05036399e-02 8.36401636e-04 9.99534306e-01 -1.40038384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.76, Y:-84.59, Z:-0.14 [[ 8.76555234e-01 4.80575791e-01 2.64164890e-02 2.22756038e+02] [-4.80333470e-01 8.76952916e-01 -1.52754918e-02 -8.45876686e+01] [-3.05070486e-02 7.01088443e-04 9.99534306e-01 -1.43401400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.81, Y:-84.62, Z:-0.15 [[ 8.76091937e-01 4.81420069e-01 2.64127705e-02 2.22812037e+02] [-4.81177937e-01 8.76489735e-01 -1.52819187e-02 -8.46164369e+01] [-3.05075446e-02 6.79123324e-04 9.99534306e-01 -1.47581710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:-84.65, Z:-0.15 [[ 8.74492716e-01 4.84319198e-01 2.64084120e-02 2.22865562e+02] [-4.84078157e-01 8.74891176e-01 -1.52894468e-02 -8.46472584e+01] [-3.05094592e-02 5.86774414e-04 9.99534306e-01 -1.50977538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.92, Y:-84.68, Z:-0.15 [[ 8.72896923e-01 4.87189655e-01 2.64045694e-02 2.22918827e+02] [-4.86949724e-01 8.73296053e-01 -1.52960801e-02 -8.46793903e+01] [-3.05110982e-02 4.94203459e-04 9.99534306e-01 -1.53726728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.97, Y:-84.72, Z:-0.15 [[ 8.70183426e-01 4.92020126e-01 2.64007651e-02 2.22968769e+02] [-4.91782212e-01 8.70583761e-01 -1.53026434e-02 -8.47153049e+01] [-3.05132859e-02 3.32680069e-04 9.99534306e-01 -1.51615649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18361786499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:223.02, Y:-84.75, Z:-0.16 [[ 8.70850439e-01 4.90838768e-01 2.63972796e-02 2.23023539e+02] [-4.90600129e-01 8.71250342e-01 -1.53086536e-02 -8.47469104e+01] [-3.05127195e-02 3.81038885e-04 9.99534306e-01 -1.56248218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:223.07, Y:-84.78, Z:-0.16 [[ 8.69949391e-01 4.92434240e-01 2.63927538e-02 2.23073249e+02] [-4.92196097e-01 8.70349590e-01 -1.53164523e-02 -8.47835445e+01] [-3.05132679e-02 3.34127939e-04 9.99534306e-01 -1.55421685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30361786499998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:223.13, Y:-84.82, Z:-0.16 [[ 8.70935948e-01 4.90687464e-01 2.63891628e-02 2.23126131e+02] [-4.90448332e-01 8.71335556e-01 -1.53226368e-02 -8.48174323e+01] [-3.05124416e-02 4.02514364e-04 9.99534306e-01 -1.59630747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36361786499998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:223.18, Y:-84.85, Z:-0.16 [[ 8.73702732e-01 4.85744144e-01 2.63848894e-02 2.23179824e+02] [-4.85502529e-01 8.74100844e-01 -1.53299918e-02 -8.48490668e+01] [-3.05095079e-02 5.83925132e-04 9.99534306e-01 -1.62458826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.23, Y:-84.88, Z:-0.17 [[ 8.74588697e-01 4.84147345e-01 2.63810568e-02 2.23232821e+02] [-4.83904804e-01 8.74986245e-01 -1.53365845e-02 -8.48807634e+01] [-3.05082285e-02 6.47283358e-04 9.99534306e-01 -1.66919710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48361786499999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:223.29, Y:-84.91, Z:-0.17 [[ 8.74971976e-01 4.83454532e-01 2.63771793e-02 2.23286215e+02] [-4.83211476e-01 8.75369210e-01 -1.53432505e-02 -8.49139001e+01] [-3.05075346e-02 6.79158484e-04 9.99534306e-01 -1.70787527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.34, Y:-84.95, Z:-0.17 [[ 8.72156721e-01 4.88515237e-01 2.63726572e-02 2.23336791e+02] [-4.88274251e-01 8.72555214e-01 -1.53510193e-02 -8.49495729e+01] [-3.05108064e-02 5.11405167e-04 9.99534306e-01 -1.69447570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:-84.98, Z:-0.17 [[ 8.71041243e-01 4.90501639e-01 2.63684702e-02 2.23390524e+02] [-4.90261344e-01 8.71440153e-01 -1.53582080e-02 -8.49804569e+01] [-3.05117699e-02 4.50190900e-04 9.99534306e-01 -1.71694878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:-85.01, Z:-0.18 [[ 8.71398798e-01 4.89866285e-01 2.63658428e-02 2.23446912e+02] [-4.89625563e-01 8.71797451e-01 -1.53627171e-02 -8.50079772e+01] [-3.05113517e-02 4.77662565e-04 9.99534306e-01 -1.79386987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.723617865 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:-85.04, Z:-0.18 [[ 8.68960315e-01 4.94179162e-01 2.63614629e-02 2.23497988e+02] [-4.93940192e-01 8.69360019e-01 -1.53702291e-02 -8.50434792e+01] [-3.05132488e-02 3.35133048e-04 9.99534306e-01 -1.75965212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.783617865 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:-85.07, Z:-0.18 [[ 8.69914691e-01 4.92497427e-01 2.63574355e-02 2.23552642e+02] [-4.92257475e-01 8.70313807e-01 -1.53771324e-02 -8.50725779e+01] [-3.05124381e-02 4.02148710e-04 9.99534306e-01 -1.79635955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.61, Y:-85.10, Z:-0.18 [[ 8.70283890e-01 4.91844935e-01 2.63535744e-02 2.23605397e+02] [-4.91604483e-01 8.70682705e-01 -1.53837468e-02 -8.51041931e+01] [-3.05120193e-02 4.32691698e-04 9.99534306e-01 -1.80616835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90361786499997 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:223.66, Y:-85.14, Z:-0.18 [[ 8.71839853e-01 4.89081734e-01 2.63500983e-02 2.23659289e+02] [-4.88839838e-01 8.72237794e-01 -1.53896984e-02 -8.51361347e+01] [-3.05103720e-02 5.36374574e-04 9.99534306e-01 -1.82872973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96361786499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:223.71, Y:-85.17, Z:-0.19 [[ 8.73083681e-01 4.86858067e-01 2.63459572e-02 2.23713174e+02] [-4.86614944e-01 8.73480873e-01 -1.53967845e-02 -8.51679164e+01] [-3.05087384e-02 6.22344808e-04 9.99534306e-01 -1.85557531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.77, Y:-85.20, Z:-0.19 [[ 8.74709120e-01 4.83931883e-01 2.63417517e-02 2.23767721e+02] [-4.83687215e-01 8.75105362e-01 -1.54039761e-02 -8.51999809e+01] [-3.05062833e-02 7.32829841e-04 9.99534306e-01 -1.87387680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.82, Y:-85.23, Z:-0.19 [[ 8.75692014e-01 4.82151254e-01 2.63375243e-02 2.23822531e+02] [-4.81905563e-01 8.76087623e-01 -1.54112007e-02 -8.52306413e+01] [-3.05045088e-02 8.03265948e-04 9.99534306e-01 -1.90580169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.88, Y:-85.26, Z:-0.19 [[ 8.76775272e-01 4.80178800e-01 2.63332771e-02 2.23878044e+02] [-4.79932002e-01 8.77170191e-01 -1.54184544e-02 -8.52600813e+01] [-3.05023807e-02 8.80337179e-04 9.99534306e-01 -1.94176208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:-85.29, Z:-0.20 [[ 8.76270829e-01 4.81098973e-01 2.63289154e-02 2.23931038e+02] [-4.80852366e-01 8.76665868e-01 -1.54258991e-02 -8.52929852e+01] [-3.05030457e-02 8.56944162e-04 9.99534306e-01 -1.95248490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.99, Y:-85.32, Z:-0.20 [[ 8.76534652e-01 4.80618354e-01 2.63249073e-02 2.23985848e+02] [-4.80371326e-01 8.76929427e-01 -1.54327360e-02 -8.53225414e+01] [-3.05023421e-02 8.81597261e-04 9.99534307e-01 -1.98754088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.04, Y:-85.35, Z:-0.20 [[ 8.76452307e-01 4.80768715e-01 2.63210299e-02 2.24040210e+02] [-4.80521555e-01 8.76847000e-01 -1.54393462e-02 -8.53522777e+01] [-3.05022707e-02 8.84028321e-04 9.99534307e-01 -2.01559794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.10, Y:-85.38, Z:-0.20 [[ 8.76149810e-01 4.81319972e-01 2.63172247e-02 2.24095713e+02] [-4.81072866e-01 8.76544536e-01 -1.54458296e-02 -8.53821355e+01] [-3.05026058e-02 8.72357921e-04 9.99534307e-01 -2.03313227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:-85.41, Z:-0.21 [[ 8.76038591e-01 4.81522591e-01 2.63131306e-02 2.24150802e+02] [-4.81275368e-01 8.76433244e-01 -1.54528011e-02 -8.54132714e+01] [-3.05025752e-02 8.73388500e-04 9.99534307e-01 -2.05385015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:-85.44, Z:-0.21 [[ 8.76489737e-01 4.80701138e-01 2.63088741e-02 2.24205153e+02] [-4.80453327e-01 8.76884022e-01 -1.54600446e-02 -8.54422161e+01] [-3.05014923e-02 9.10384347e-04 9.99534307e-01 -2.08621783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.26, Y:-85.47, Z:-0.21 [[ 8.77074574e-01 4.79633445e-01 2.63049488e-02 2.24260100e+02] [-4.79384954e-01 8.77468430e-01 -1.54667205e-02 -8.54730114e+01] [-3.05001186e-02 9.55270635e-04 9.99534307e-01 -2.10780671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.32, Y:-85.50, Z:-0.21 [[ 8.77931429e-01 4.78063461e-01 2.63008009e-02 2.24315012e+02] [-4.77814056e-01 8.78324707e-01 -1.54737706e-02 -8.55032110e+01] [-3.04980876e-02 1.01801721e-03 9.99534307e-01 -2.12436170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:-85.53, Z:-0.21 [[ 8.77924691e-01 4.78076070e-01 2.62965376e-02 2.24370431e+02] [-4.77826454e-01 8.78317835e-01 -1.54810125e-02 -8.55335458e+01] [-3.04978196e-02 1.02598180e-03 9.99534307e-01 -2.14021550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.42, Y:-85.57, Z:-0.21 [[ 8.75373566e-01 4.82731639e-01 2.62922870e-02 2.24423377e+02] [-4.82483897e-01 8.75767894e-01 -1.54882282e-02 -8.55664308e+01] [-3.05025986e-02 8.72380438e-04 9.99534307e-01 -2.14221457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.48, Y:-85.59, Z:-0.22 [[ 8.75297306e-01 4.82870120e-01 2.62882658e-02 2.24477927e+02] [-4.82622236e-01 8.75691544e-01 -1.54950504e-02 -8.55943425e+01] [-3.05025089e-02 8.75474229e-04 9.99534307e-01 -2.21460541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.53, Y:-85.62, Z:-0.22 [[ 8.73404324e-01 4.86285930e-01 2.62846027e-02 2.24531809e+02] [-4.86039401e-01 8.73799411e-01 -1.55012617e-02 -8.56249694e+01] [-3.05055158e-02 7.63516449e-04 9.99534307e-01 -2.24539958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.59, Y:-85.66, Z:-0.23 [[ 8.72504153e-01 4.87899342e-01 2.62818464e-02 2.24585732e+02] [-4.87653403e-01 8.72899607e-01 -1.55059334e-02 -8.56569582e+01] [-3.05067481e-02 7.12559403e-04 9.99534307e-01 -2.25727033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.64, Y:-85.69, Z:-0.23 [[ 8.71951724e-01 4.88886167e-01 2.62775047e-02 2.24639936e+02] [-4.88640454e-01 8.72347319e-01 -1.55132878e-02 -8.56897871e+01] [-3.05073425e-02 6.86586167e-04 9.99534307e-01 -2.27721700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.043617865 meters Centerline goodness : 0.995118 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:-85.72, Z:-0.23 [[ 8.70721276e-01 4.91074513e-01 2.62732217e-02 2.24692288e+02] [-4.90829576e-01 8.71117352e-01 -1.55205379e-02 -8.57231069e+01] [-3.05087999e-02 6.18388335e-04 9.99534307e-01 -2.29742025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.74, Y:-85.76, Z:-0.23 [[ 8.71445002e-01 4.89789341e-01 2.62680556e-02 2.24744246e+02] [-4.89543556e-01 8.71840552e-01 -1.55292766e-02 -8.57551099e+01] [-3.05076302e-02 6.73553117e-04 9.99534307e-01 -2.34485881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.163617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:224.80, Y:-85.79, Z:-0.24 [[ 8.71457872e-01 4.89766664e-01 2.62639126e-02 2.24797552e+02] [-4.89520658e-01 8.71853284e-01 -1.55362802e-02 -8.57874859e+01] [-3.05074306e-02 6.82485910e-04 9.99534307e-01 -2.35604266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.85, Y:-85.82, Z:-0.23 [[ 8.70081776e-01 4.92207390e-01 2.62600240e-02 2.24849133e+02] [-4.91962295e-01 8.70477754e-01 -1.55428502e-02 -8.58202693e+01] [-3.05090724e-02 6.04609034e-04 9.99534307e-01 -2.32330243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283617865 meters Centerline goodness : 0.994140 with order 1 Centerline is valid? [True, True] Translation: X:224.90, Y:-85.85, Z:-0.24 [[ 8.68911488e-01 4.94270527e-01 2.62578225e-02 2.24901645e+02] [-4.94026260e-01 8.69307977e-01 -1.55465684e-02 -8.58506247e+01] [-3.05103451e-02 5.36537989e-04 9.99534307e-01 -2.40044167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:-85.88, Z:-0.24 [[ 8.67938628e-01 4.95977098e-01 2.62536889e-02 2.24954261e+02] [-4.95733400e-01 8.68335467e-01 -1.55535457e-02 -8.58837236e+01] [-3.05112117e-02 4.84692657e-04 9.99534307e-01 -2.36235352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.01, Y:-85.92, Z:-0.24 [[ 8.67827024e-01 4.96172616e-01 2.62486551e-02 2.25006066e+02] [-4.95928750e-01 8.68223760e-01 -1.55620363e-02 -8.59155435e+01] [-3.05111623e-02 4.87692895e-04 9.99534307e-01 -2.39535272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.06, Y:-85.95, Z:-0.23 [[ 8.67758785e-01 4.96292138e-01 2.62450901e-02 2.25056997e+02] [-4.96048146e-01 8.68155443e-01 -1.55680464e-02 -8.59504954e+01] [-3.05111168e-02 4.90480746e-04 9.99534307e-01 -2.33786890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.11, Y:-85.98, Z:-0.24 [[ 8.69768921e-01 4.92760841e-01 2.62445747e-02 2.25111608e+02] [-4.92515212e-01 8.70164568e-01 -1.55689151e-02 -8.59790341e+01] [-3.05088507e-02 6.15506252e-04 9.99534307e-01 -2.37148104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.16, Y:-86.01, Z:-0.24 [[ 8.69073898e-01 4.93985805e-01 2.62408933e-02 2.25163177e+02] [-4.93740546e-01 8.69469774e-01 -1.55751175e-02 -8.60122158e+01] [-3.05095506e-02 5.79735048e-04 9.99534307e-01 -2.38276323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.22, Y:-86.04, Z:-0.24 [[ 8.69465090e-01 4.93297136e-01 2.62372575e-02 2.25218243e+02] [-4.93051379e-01 8.69860657e-01 -1.55812398e-02 -8.60422741e+01] [-3.05089390e-02 6.11028062e-04 9.99534307e-01 -2.44261738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.27, Y:-86.07, Z:-0.24 [[ 8.68013839e-01 4.95846552e-01 2.62330447e-02 2.25271209e+02] [-4.95601743e-01 8.68409993e-01 -1.55883295e-02 -8.60742656e+01] [-3.05104576e-02 5.29743075e-04 9.99534307e-01 -2.42800958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.33, Y:-86.11, Z:-0.24 [[ 8.68635531e-01 4.94756855e-01 2.62291522e-02 2.25325406e+02] [-4.94511351e-01 8.69031256e-01 -1.55948762e-02 -8.61057464e+01] [-3.05096250e-02 5.75650086e-04 9.99534307e-01 -2.42344531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823617865 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:225.38, Y:-86.13, Z:-0.25 [[ 8.68957144e-01 4.94192022e-01 2.62245361e-02 2.25380328e+02] [-4.93946028e-01 8.69352563e-01 -1.56026349e-02 -8.61348095e+01] [-3.05090654e-02 6.04515606e-04 9.99534307e-01 -2.50243719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.43, Y:-86.17, Z:-0.25 [[ 8.67930636e-01 4.95992930e-01 2.62187595e-02 2.25432524e+02] [-4.95747463e-01 8.68326383e-01 -1.56123359e-02 -8.61665425e+01] [-3.05100488e-02 5.52541178e-04 9.99534307e-01 -2.46843862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.48, Y:-86.20, Z:-0.24 [[ 8.65867925e-01 4.99585362e-01 2.62145348e-02 2.25482775e+02] [-4.99341323e-01 8.66264554e-01 -1.56194264e-02 -8.62030551e+01] [-3.05119591e-02 4.34359834e-04 9.99534307e-01 -2.44908195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003617865 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:-86.24, Z:-0.25 [[ 8.64574682e-01 5.01820310e-01 2.62106030e-02 2.25535735e+02] [-5.01577095e-01 8.64971817e-01 -1.56260215e-02 -8.62357848e+01] [-3.05128878e-02 3.63224444e-04 9.99534307e-01 -2.47953997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:225.59, Y:-86.27, Z:-0.25 [[ 8.65518853e-01 5.00190301e-01 2.62064598e-02 2.25588476e+02] [-4.99946129e-01 8.65915399e-01 -1.56329669e-02 -8.62697162e+01] [-3.05120355e-02 4.28809495e-04 9.99534307e-01 -2.49685070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123617865 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:225.64, Y:-86.30, Z:-0.25 [[ 8.65164163e-01 5.00803616e-01 2.62051490e-02 2.25641773e+02] [-5.00559658e-01 8.65560842e-01 -1.56351639e-02 -8.63024670e+01] [-3.05122974e-02 4.09743097e-04 9.99534307e-01 -2.47658081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18361786499997 meters Centerline goodness : 0.994783 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:-86.33, Z:-0.26 [[ 8.67634675e-01 4.96511396e-01 2.62012123e-02 2.25697390e+02] [-4.96265277e-01 8.68030017e-01 -1.56417581e-02 -8.63281888e+01] [-3.05097499e-02 5.68579857e-04 9.99534308e-01 -2.60968900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:-86.36, Z:-0.26 [[ 8.65217045e-01 5.00712706e-01 2.61963939e-02 2.25749476e+02] [-5.00468262e-01 8.65613425e-01 -1.56498238e-02 -8.63622146e+01] [-3.05120158e-02 4.30030610e-04 9.99534308e-01 -2.56272977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.80, Y:-86.39, Z:-0.26 [[ 8.64218638e-01 5.02434199e-01 2.61919898e-02 2.25803113e+02] [-5.02190322e-01 8.64615367e-01 -1.56571911e-02 -8.63946171e+01] [-3.05127051e-02 3.77872621e-04 9.99534308e-01 -2.56085016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.86, Y:-86.43, Z:-0.26 [[ 8.66208014e-01 4.98996867e-01 2.61878262e-02 2.25857368e+02] [-4.98751206e-01 8.66603640e-01 -1.56641519e-02 -8.64257961e+01] [-3.05108283e-02 5.07204018e-04 9.99534308e-01 -2.57213349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.91, Y:-86.46, Z:-0.26 [[ 8.67984571e-01 4.95900385e-01 2.61838310e-02 2.25910742e+02] [-4.95653111e-01 8.68379191e-01 -1.56708273e-02 -8.64569416e+01] [-3.05086633e-02 6.23939026e-04 9.99534308e-01 -2.58746790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.97, Y:-86.49, Z:-0.26 [[ 8.68788100e-01 4.94491508e-01 2.61798872e-02 2.25965298e+02] [-4.94243395e-01 8.69182193e-01 -1.56774132e-02 -8.64864996e+01] [-3.05074394e-02 6.81113701e-04 9.99534308e-01 -2.57107158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.02, Y:-86.51, Z:-0.27 [[ 8.72680917e-01 4.87588800e-01 2.61759208e-02 2.26021082e+02] [-4.87337373e-01 8.73072904e-01 -1.56840329e-02 -8.65092522e+01] [-3.05008460e-02 9.30651742e-04 9.99534308e-01 -2.70617590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.07, Y:-86.55, Z:-0.26 [[ 8.70862495e-01 4.90829255e-01 2.61755103e-02 2.26070763e+02] [-4.90579267e-01 8.71255400e-01 -1.56847179e-02 -8.65468040e+01] [-3.05040732e-02 8.18069917e-04 9.99534308e-01 -2.63729021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.13, Y:-86.57, Z:-0.27 [[ 8.73217721e-01 4.86626842e-01 2.61749462e-02 2.26126357e+02] [-4.86374935e-01 8.73609399e-01 -1.56856593e-02 -8.65694845e+01] [-3.04997419e-02 9.66157965e-04 9.99534308e-01 -2.72775600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:-86.61, Z:-0.26 [[ 8.70263572e-01 4.91890489e-01 2.61736887e-02 2.26175862e+02] [-4.91640888e-01 8.70656724e-01 -1.56877574e-02 -8.66059573e+01] [-3.05049567e-02 7.84428259e-04 9.99534308e-01 -2.62921512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.23, Y:-86.63, Z:-0.28 [[ 8.73211934e-01 4.86637316e-01 2.61732793e-02 2.26231407e+02] [-4.86385330e-01 8.73603562e-01 -1.56884404e-02 -8.66291659e+01] [-3.04996505e-02 9.69034300e-04 9.99534308e-01 -2.75825230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.28, Y:-86.66, Z:-0.27 [[ 8.71100402e-01 4.90407037e-01 2.61730453e-02 2.26283952e+02] [-4.90156734e-01 8.71493108e-01 -1.56888307e-02 -8.66633404e+01] [-3.05035416e-02 8.37652275e-04 9.99534308e-01 -2.69008241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:-86.69, Z:-0.27 [[ 8.71896304e-01 4.88990802e-01 2.61692573e-02 2.26337856e+02] [-4.88739672e-01 8.72288482e-01 -1.56951466e-02 -8.66946879e+01] [-3.05019241e-02 8.94586114e-04 9.99534308e-01 -2.69742957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.39, Y:-86.72, Z:-0.27 [[ 8.71986609e-01 4.88829960e-01 2.61653298e-02 2.26389928e+02] [-4.88578562e-01 8.72378614e-01 -1.57016914e-02 -8.67249612e+01] [-3.05015313e-02 9.07845463e-04 9.99534308e-01 -2.71169259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.45, Y:-86.75, Z:-0.27 [[ 8.72937153e-01 4.87130493e-01 2.61650499e-02 2.26445580e+02] [-4.86878318e-01 8.73328659e-01 -1.57021579e-02 -8.67510366e+01] [-3.04996878e-02 9.67801504e-04 9.99534308e-01 -2.73339245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:-86.78, Z:-0.28 [[ 8.73090029e-01 4.86856615e-01 2.61617438e-02 2.26501313e+02] [-4.86604152e-01 8.73481350e-01 -1.57076643e-02 -8.67799198e+01] [-3.04991755e-02 9.83791926e-04 9.99534308e-01 -2.78214515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:-86.80, Z:-0.28 [[ 8.72688393e-01 4.87576431e-01 2.61570762e-02 2.26557622e+02] [-4.87324059e-01 8.73079771e-01 -1.57154331e-02 -8.68048518e+01] [-3.04996889e-02 9.67703501e-04 9.99534308e-01 -2.84067417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:-86.83, Z:-0.29 [[ 8.70903609e-01 4.90757400e-01 2.61548952e-02 2.26613728e+02] [-4.90506348e-01 8.71295836e-01 -1.57190621e-02 -8.68330034e+01] [-3.05028973e-02 8.60645760e-04 9.99534308e-01 -2.85638142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:-86.86, Z:-0.28 [[ 8.69496019e-01 4.93247064e-01 2.61535459e-02 2.26669981e+02] [-4.92997067e-01 8.69888919e-01 -1.57213067e-02 -8.68626571e+01] [-3.05051682e-02 7.75992102e-04 9.99534308e-01 -2.83555059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:-86.89, Z:-0.28 [[ 8.67119203e-01 4.97413829e-01 2.61490145e-02 2.26725708e+02] [-4.97165494e-01 8.67513156e-01 -1.57288401e-02 -8.68915643e+01] [-3.05083567e-02 6.38391551e-04 9.99534308e-01 -2.80721400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.78, Y:-86.91, Z:-0.29 [[ 8.66681370e-01 4.98176381e-01 2.61475956e-02 2.26783684e+02] [-4.97928321e-01 8.67075496e-01 -1.57311986e-02 -8.69130372e+01] [-3.05088510e-02 6.14308329e-04 9.99534308e-01 -2.90151260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.84, Y:-86.94, Z:-0.29 [[ 8.65224015e-01 5.00703403e-01 2.61439734e-02 2.26839306e+02] [-5.00456312e-01 8.65618749e-01 -1.57372160e-02 -8.69407752e+01] [-3.05103912e-02 5.32300706e-04 9.99534308e-01 -2.92408480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.89, Y:-86.97, Z:-0.29 [[ 8.61565884e-01 5.06972313e-01 2.61400456e-02 2.26894098e+02] [-5.06727898e-01 8.61962280e-01 -1.57437376e-02 -8.69711596e+01] [-3.05133724e-02 3.18376853e-04 9.99534308e-01 -2.86735981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:-87.00, Z:-0.29 [[ 8.62135178e-01 5.06003797e-01 2.61360403e-02 2.26949997e+02] [-5.05758734e-01 8.62531175e-01 -1.57503839e-02 -8.69957508e+01] [-3.05129036e-02 3.60429344e-04 9.99534308e-01 -2.92007893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.00, Y:-87.03, Z:-0.29 [[ 8.61407046e-01 5.07242385e-01 2.61354739e-02 2.27003857e+02] [-5.06997864e-01 8.61803378e-01 -1.57513237e-02 -8.70270021e+01] [-3.05133787e-02 3.17671796e-04 9.99534308e-01 -2.91888226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:-87.05, Z:-0.30 [[ 8.64216030e-01 5.02441706e-01 2.61339904e-02 2.27061229e+02] [-5.02194909e-01 8.64610948e-01 -1.57537848e-02 -8.70504182e+01] [-3.05110927e-02 4.90316407e-04 9.99534308e-01 -2.99382625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:-87.08, Z:-0.30 [[ 8.65131226e-01 5.00864431e-01 2.61301377e-02 2.27116388e+02] [-5.00616721e-01 8.65525572e-01 -1.57601724e-02 -8.70804412e+01] [-3.05100122e-02 5.53433390e-04 9.99534308e-01 -3.02492976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.17, Y:-87.11, Z:-0.31 [[ 8.66741402e-01 4.98073069e-01 2.61258640e-02 2.27172040e+02] [-4.97823875e-01 8.67134812e-01 -1.57672538e-02 -8.71096371e+01] [-3.05078907e-02 6.60052820e-04 9.99534308e-01 -3.05321958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:-87.14, Z:-0.31 [[ 8.68108354e-01 4.95686951e-01 2.61214821e-02 2.27227301e+02] [-4.95436459e-01 8.68500938e-01 -1.57745099e-02 -8.71398498e+01] [-3.05057505e-02 7.52449255e-04 9.99534308e-01 -3.08887371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:-87.17, Z:-0.31 [[ 8.69489120e-01 4.93261154e-01 2.61171453e-02 2.27281718e+02] [-4.93009351e-01 8.69880865e-01 -1.57816870e-02 -8.71704588e+01] [-3.05032980e-02 8.46008271e-04 9.99534308e-01 -3.11504689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:-87.20, Z:-0.31 [[ 8.70922370e-01 4.90726329e-01 2.61131454e-02 2.27337319e+02] [-4.90473188e-01 8.71313251e-01 -1.57883027e-02 -8.72004517e+01] [-3.05004654e-02 9.42588316e-04 9.99534308e-01 -3.13665286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.39, Y:-87.24, Z:-0.30 [[ 8.67579934e-01 4.96611897e-01 2.61090231e-02 2.27385684e+02] [-4.96361203e-01 8.67972390e-01 -1.57951167e-02 -8.72381680e+01] [-3.05059540e-02 7.44020194e-04 9.99534308e-01 -2.98152266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.44, Y:-87.26, Z:-0.32 [[ 8.72065152e-01 4.88692846e-01 2.61088595e-02 2.27442750e+02] [-4.88438582e-01 8.72455304e-01 -1.57953871e-02 -8.72609355e+01] [-3.04979056e-02 1.02203230e-03 9.99534308e-01 -3.17343814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.50, Y:-87.29, Z:-0.32 [[ 8.71818251e-01 4.89133193e-01 2.61085415e-02 2.27498071e+02] [-4.88879110e-01 8.72208521e-01 -1.57959127e-02 -8.72919286e+01] [-3.04983976e-02 1.00724442e-03 9.99534308e-01 -3.18878666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:-87.32, Z:-0.32 [[ 8.70734877e-01 4.91059411e-01 2.61041931e-02 2.27552027e+02] [-4.90805976e-01 8.71125568e-01 -1.58030956e-02 -8.73217417e+01] [-3.05002889e-02 9.48212492e-04 9.99534308e-01 -3.20779408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.61, Y:-87.35, Z:-0.32 [[ 8.69405783e-01 4.93408923e-01 2.61001808e-02 2.27607189e+02] [-4.93156346e-01 8.69797029e-01 -1.58097195e-02 -8.73531029e+01] [-3.05025164e-02 8.73591782e-04 9.99534308e-01 -3.22347888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.66, Y:-87.38, Z:-0.32 [[ 8.67903538e-01 4.96046824e-01 2.60959172e-02 2.27661517e+02] [-4.95795225e-01 8.68295414e-01 -1.58167540e-02 -8.73846726e+01] [-3.05048158e-02 7.89185649e-04 9.99534308e-01 -3.24134862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.72, Y:-87.42, Z:-0.33 [[ 8.66654771e-01 4.98225583e-01 2.60916873e-02 2.27716174e+02] [-4.97974759e-01 8.67047143e-01 -1.58237286e-02 -8.74166283e+01] [-3.05065094e-02 7.20708170e-04 9.99534308e-01 -3.26263126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:-87.45, Z:-0.33 [[ 8.65790505e-01 4.99726173e-01 2.60874064e-02 2.27769465e+02] [-4.99475817e-01 8.66183176e-01 -1.58307830e-02 -8.74487991e+01] [-3.05075292e-02 6.76112994e-04 9.99534308e-01 -3.28367319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:-87.48, Z:-0.33 [[ 8.64941688e-01 5.01194103e-01 2.60834511e-02 2.27822590e+02] [-5.00944217e-01 8.65334659e-01 -1.58372973e-02 -8.74825285e+01] [-3.05084743e-02 6.31984678e-04 9.99534308e-01 -3.29959687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:-87.52, Z:-0.33 [[ 8.64159512e-01 5.02541753e-01 2.60792039e-02 2.27875671e+02] [-5.02292269e-01 8.64552737e-01 -1.58442880e-02 -8.75158222e+01] [-3.05092634e-02 5.92609692e-04 9.99534308e-01 -3.32369628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.93, Y:-87.55, Z:-0.33 [[ 8.63615223e-01 5.03476755e-01 2.60749603e-02 2.27929104e+02] [-5.03227486e-01 8.64008585e-01 -1.58512687e-02 -8.75495687e+01] [-3.05097349e-02 5.67760202e-04 9.99534308e-01 -3.34685268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:-87.58, Z:-0.34 [[ 8.63470202e-01 5.03725651e-01 2.60706522e-02 2.27981551e+02] [-5.03476282e-01 8.63863500e-01 -1.58583510e-02 -8.75842970e+01] [-3.05097431e-02 5.67258525e-04 9.99534308e-01 -3.36534540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:-87.62, Z:-0.34 [[ 8.63625548e-01 5.03459493e-01 2.60662840e-02 2.28033290e+02] [-5.03209786e-01 8.64018632e-01 -1.58655277e-02 -8.76176884e+01] [-3.05094056e-02 5.85065880e-04 9.99534309e-01 -3.38651797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.09, Y:-87.65, Z:-0.34 [[ 8.64541214e-01 5.01885692e-01 2.60622507e-02 2.28085574e+02] [-5.01635070e-01 8.64933715e-01 -1.58721506e-02 -8.76536485e+01] [-3.05081246e-02 6.48389434e-04 9.99534309e-01 -3.40804452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.14, Y:-87.69, Z:-0.34 [[ 8.65406835e-01 5.00391839e-01 2.60579667e-02 2.28136473e+02] [-5.00140328e-01 8.65798767e-01 -1.58791806e-02 -8.76909061e+01] [-3.05067678e-02 7.09311412e-04 9.99534309e-01 -3.42246930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:-87.73, Z:-0.34 [[ 8.65916059e-01 4.99510343e-01 2.60537118e-02 2.28187835e+02] [-4.99258223e-01 8.66307599e-01 -1.58861588e-02 -8.77270336e+01] [-3.05058292e-02 7.48550204e-04 9.99534309e-01 -3.44547214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.24, Y:-87.76, Z:-0.35 [[ 8.65753148e-01 4.99792870e-01 2.60494579e-02 2.28240758e+02] [-4.99540668e-01 8.66144635e-01 -1.58931310e-02 -8.77618772e+01] [-3.05058718e-02 7.46764601e-04 9.99534309e-01 -3.47034443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:-87.80, Z:-0.33 [[ 8.62177740e-01 5.05935961e-01 2.60451170e-02 2.28288789e+02] [-5.05686334e-01 8.62570875e-01 -1.59002416e-02 -8.78022598e+01] [-3.05102634e-02 5.38174666e-04 9.99534309e-01 -3.30167847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:-87.83, Z:-0.35 [[ 8.62158370e-01 5.05968999e-01 2.60445320e-02 2.28340082e+02] [-5.05719359e-01 8.62551495e-01 -1.59011998e-02 -8.78315681e+01] [-3.05102642e-02 5.38128480e-04 9.99534309e-01 -3.50104862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.39, Y:-87.87, Z:-0.35 [[ 8.60910162e-01 5.08089993e-01 2.60432835e-02 2.28392684e+02] [-5.07841259e-01 8.61303862e-01 -1.59032444e-02 -8.78665088e+01] [-3.05114600e-02 4.65410820e-04 9.99534309e-01 -3.51572368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:-87.90, Z:-0.34 [[ 8.58939946e-01 5.11413867e-01 2.60389191e-02 2.28441347e+02] [-5.11166441e-01 8.59334469e-01 -1.59103871e-02 -8.79044742e+01] [-3.05129333e-02 3.55845466e-04 9.99534309e-01 -3.40262149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.49, Y:-87.94, Z:-0.34 [[ 8.58845534e-01 5.11572425e-01 2.60385008e-02 2.28491144e+02] [-5.11325050e-01 8.59240089e-01 -1.59110717e-02 -8.79403697e+01] [-3.05129893e-02 3.51015159e-04 9.99534309e-01 -3.44941664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.54, Y:-87.98, Z:-0.35 [[ 8.59574692e-01 5.10346486e-01 2.60348361e-02 2.28541830e+02] [-5.10098367e-01 8.59968780e-01 -1.59170659e-02 -8.79767598e+01] [-3.05123649e-02 4.01579691e-04 9.99534309e-01 -3.49595418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.59, Y:-88.01, Z:-0.35 [[ 8.59267448e-01 5.10863827e-01 2.60308211e-02 2.28591779e+02] [-5.10615746e-01 8.59661560e-01 -1.59236293e-02 -8.80146688e+01] [-3.05125025e-02 3.90909200e-04 9.99534309e-01 -3.51617139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.64, Y:-88.05, Z:-0.35 [[ 8.60360408e-01 5.09021205e-01 2.60265666e-02 2.28640990e+02] [-5.08772070e-01 8.60753854e-01 -1.59305801e-02 -8.80526133e+01] [-3.05114706e-02 4.64450240e-04 9.99534309e-01 -3.52349457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.69, Y:-88.09, Z:-0.36 [[ 8.61531264e-01 5.07037187e-01 2.60225297e-02 2.28691653e+02] [-5.06786948e-01 8.61924008e-01 -1.59371716e-02 -8.80875710e+01] [-3.05101818e-02 5.42493208e-04 9.99534309e-01 -3.57352553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:-88.13, Z:-0.36 [[ 8.62586449e-01 5.05240196e-01 2.60185189e-02 2.28739338e+02] [-5.04988941e-01 8.62978544e-01 -1.59437169e-02 -8.81262034e+01] [-3.05088302e-02 6.13769856e-04 9.99534309e-01 -3.59305593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:-88.17, Z:-0.36 [[ 8.63550820e-01 5.03590321e-01 2.60147912e-02 2.28788168e+02] [-5.03338133e-01 8.63942317e-01 -1.59497969e-02 -8.81654078e+01] [-3.05074423e-02 6.79223815e-04 9.99534309e-01 -3.62420034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.84, Y:-88.20, Z:-0.37 [[ 8.64587518e-01 5.01808590e-01 2.60108145e-02 2.28836681e+02] [-5.01555401e-01 8.64978368e-01 -1.59562795e-02 -8.82027592e+01] [-3.05057900e-02 7.49735612e-04 9.99534309e-01 -3.66724074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.89, Y:-88.24, Z:-0.37 [[ 8.65654954e-01 4.99965129e-01 2.60071236e-02 2.28888028e+02] [-4.99710927e-01 8.66045146e-01 -1.59622930e-02 -8.82387468e+01] [-3.05039330e-02 8.21794165e-04 9.99534309e-01 -3.69709961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.94, Y:-88.28, Z:-0.37 [[ 8.63456545e-01 5.03752587e-01 2.60024241e-02 2.28935172e+02] [-5.03499867e-01 8.63847698e-01 -1.59699448e-02 -8.82795339e+01] [-3.05070352e-02 6.97136302e-04 9.99534309e-01 -3.69530811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.98, Y:-88.32, Z:-0.37 [[ 8.61503450e-01 5.07085697e-01 2.59981022e-02 2.28984986e+02] [-5.06834278e-01 8.61895441e-01 -1.59769774e-02 -8.83163941e+01] [-3.05093425e-02 5.87491748e-04 9.99534309e-01 -3.66335181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.03, Y:-88.35, Z:-0.37 [[ 8.59594191e-01 5.10315560e-01 2.59972428e-02 2.29034280e+02] [-5.10065572e-01 8.59987095e-01 -1.59783757e-02 -8.83521537e+01] [-3.05113071e-02 4.74620367e-04 9.99534309e-01 -3.71673944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:-88.39, Z:-0.37 [[ 8.56428809e-01 5.15610256e-01 2.59953593e-02 2.29082239e+02] [-5.15362605e-01 8.56823190e-01 -1.59814394e-02 -8.83913643e+01] [-3.05136208e-02 2.89929003e-04 9.99534309e-01 -3.70019862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.13, Y:-88.43, Z:-0.37 [[ 8.55618014e-01 5.16954777e-01 2.59917768e-02 2.29131135e+02] [-5.16707568e-01 8.56012673e-01 -1.59872637e-02 -8.84290818e+01] [-3.05139827e-02 2.48843000e-04 9.99534309e-01 -3.71411766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.18, Y:-88.46, Z:-0.37 [[ 8.55571245e-01 5.17032352e-01 2.59882895e-02 2.29183458e+02] [-5.16785007e-01 8.55965819e-01 -1.59929306e-02 -8.84637952e+01] [-3.05139500e-02 2.52733170e-04 9.99534309e-01 -3.72831338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:-88.50, Z:-0.37 [[ 8.55143971e-01 5.17738943e-01 2.59841643e-02 2.29236988e+02] [-5.17491720e-01 8.55538621e-01 -1.59996301e-02 -8.84976352e+01] [-3.05140877e-02 2.35397363e-04 9.99534309e-01 -3.73739631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.263617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.29, Y:-88.53, Z:-0.37 [[ 8.55644013e-01 5.16912346e-01 2.59797953e-02 2.29288524e+02] [-5.16664526e-01 8.56038289e-01 -1.60067212e-02 -8.85330789e+01] [-3.05137713e-02 2.73216523e-04 9.99534309e-01 -3.73544100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:-88.57, Z:-0.38 [[ 8.57456479e-01 5.13900448e-01 2.59752893e-02 2.29339562e+02] [-5.13651023e-01 8.57849741e-01 -1.60140300e-02 -8.85666178e+01] [-3.05125124e-02 3.89099871e-04 9.99534309e-01 -3.78743176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:-88.60, Z:-0.38 [[ 8.59343973e-01 5.10738120e-01 2.59713254e-02 2.29393342e+02] [-5.10487053e-01 8.59736188e-01 -1.60204562e-02 -8.85977544e+01] [-3.05107460e-02 5.09057091e-04 9.99534309e-01 -3.76807135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.45, Y:-88.63, Z:-0.38 [[ 8.60516761e-01 5.08759865e-01 2.59673437e-02 2.29446557e+02] [-5.08507702e-01 8.60908273e-01 -1.60269074e-02 -8.86289403e+01] [-3.05093483e-02 5.86828210e-04 9.99534309e-01 -3.79873921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.50, Y:-88.66, Z:-0.38 [[ 8.62306000e-01 5.05721532e-01 2.59633418e-02 2.29500212e+02] [-5.05467795e-01 8.62696493e-01 -1.60333878e-02 -8.86616597e+01] [-3.05069134e-02 7.02053366e-04 9.99534309e-01 -3.82098517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:-88.69, Z:-0.38 [[ 8.63943470e-01 5.02919285e-01 2.59590837e-02 2.29554241e+02] [-5.02664074e-01 8.64333002e-01 -1.60402790e-02 -8.86938748e+01] [-3.05042584e-02 8.09195541e-04 9.99534309e-01 -3.83998452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.61, Y:-88.73, Z:-0.39 [[ 8.64968930e-01 5.01153773e-01 2.59547036e-02 2.29608532e+02] [-5.00897555e-01 8.65357800e-01 -1.60473633e-02 -8.87258362e+01] [-3.05023019e-02 8.79823049e-04 9.99534309e-01 -3.85242767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:-88.76, Z:-0.39 [[ 8.66462659e-01 4.98566988e-01 2.59503206e-02 2.29662637e+02] [-4.98309397e-01 8.66850621e-01 -1.60544480e-02 -8.87581086e+01] [-3.04992693e-02 9.79291085e-04 9.99534309e-01 -3.85656685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:-88.79, Z:-0.39 [[ 8.67465310e-01 4.96820638e-01 2.59458941e-02 2.29717319e+02] [-4.96562052e-01 8.67852610e-01 -1.60615984e-02 -8.87901509e+01] [-3.04969455e-02 1.04913302e-03 9.99534309e-01 -3.86255313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.77, Y:-88.82, Z:-0.39 [[ 8.67914332e-01 4.96036038e-01 2.59414832e-02 2.29771235e+02] [-4.95776890e-01 8.68301256e-01 -1.60687196e-02 -8.88219604e+01] [-3.04956864e-02 1.08508417e-03 9.99534309e-01 -3.89090808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:-88.85, Z:-0.39 [[ 8.67381364e-01 4.96967642e-01 2.59370781e-02 2.29824808e+02] [-4.96708698e-01 8.67768424e-01 -1.60758268e-02 -8.88533258e+01] [-3.04965431e-02 1.06070025e-03 9.99534309e-01 -3.89406919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.88, Y:-88.89, Z:-0.39 [[ 8.66519381e-01 4.98469297e-01 2.59330176e-02 2.29878352e+02] [-4.98210828e-01 8.66906759e-01 -1.60823744e-02 -8.88858579e+01] [-3.04980781e-02 1.01557900e-03 9.99534309e-01 -3.91629766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.93, Y:-88.92, Z:-0.39 [[ 8.65622854e-01 5.00024780e-01 2.59286442e-02 2.29932388e+02] [-4.99766796e-01 8.66010554e-01 -1.60894223e-02 -8.89163272e+01] [-3.04995894e-02 9.69096263e-04 9.99534310e-01 -3.94674990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.99, Y:-88.95, Z:-0.40 [[ 8.65159294e-01 5.00826628e-01 2.59246028e-02 2.29986521e+02] [-5.00568809e-01 8.65547104e-01 -1.60959315e-02 -8.89473957e+01] [-3.05002360e-02 9.48497174e-04 9.99534310e-01 -3.97386090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:-88.98, Z:-0.40 [[ 8.65025060e-01 5.01058660e-01 2.59203365e-02 2.30040534e+02] [-5.00800739e-01 8.65412803e-01 -1.61027989e-02 -8.89797191e+01] [-3.05002379e-02 9.48400963e-04 9.99534310e-01 -4.00196195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:-89.01, Z:-0.41 [[ 8.65667733e-01 4.99947728e-01 2.59161240e-02 2.30096194e+02] [-4.99689107e-01 8.66055009e-01 -1.61095757e-02 -8.90089613e+01] [-3.04987348e-02 9.95535048e-04 9.99534310e-01 -4.08732400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.15, Y:-89.04, Z:-0.40 [[ 8.65985225e-01 4.99397798e-01 2.59119617e-02 2.30148702e+02] [-4.99138731e-01 8.66372202e-01 -1.61162679e-02 -8.90436793e+01] [-3.04978320e-02 1.02278619e-03 9.99534310e-01 -4.03939800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.20, Y:-89.08, Z:-0.41 [[ 8.65940059e-01 4.99476322e-01 2.59078584e-02 2.30202421e+02] [-4.99217093e-01 8.66326928e-01 -1.61228615e-02 -8.90767654e+01] [-3.04976630e-02 1.02778586e-03 9.99534310e-01 -4.05045005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.26, Y:-89.11, Z:-0.41 [[ 8.65043874e-01 5.01027041e-01 2.59036626e-02 2.30255988e+02] [-5.00768304e-01 8.65431073e-01 -1.61295998e-02 -8.91090952e+01] [-3.04992002e-02 9.81078329e-04 9.99534310e-01 -4.07172520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.31, Y:-89.14, Z:-0.41 [[ 8.62960006e-01 5.04608027e-01 2.58991941e-02 2.30310532e+02] [-5.04350682e-01 8.63348131e-01 -1.61367717e-02 -8.91397394e+01] [-3.05027653e-02 8.63112385e-04 9.99534310e-01 -4.10971434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:-89.18, Z:-0.41 [[ 8.59526628e-01 5.10434570e-01 2.58945120e-02 2.30361810e+02] [-5.10179631e-01 8.59916337e-01 -1.61442815e-02 -8.91750392e+01] [-3.05077133e-02 6.65587283e-04 9.99534310e-01 -4.05525223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:-89.21, Z:-0.41 [[ 8.57038306e-01 5.14601813e-01 2.58904703e-02 2.30413391e+02] [-5.14348573e-01 8.57429121e-01 -1.61507605e-02 -8.92078964e+01] [-3.05104539e-02 5.25093944e-04 9.99534310e-01 -4.06261781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:-89.24, Z:-0.42 [[ 8.56935783e-01 5.14772634e-01 2.58882151e-02 2.30467248e+02] [-5.14519363e-01 8.57326578e-01 -1.61543746e-02 -8.92373488e+01] [-3.05104848e-02 5.23273705e-04 9.99534310e-01 -4.15026766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:-89.27, Z:-0.41 [[ 8.56448346e-01 5.15583377e-01 2.58845924e-02 2.30520838e+02] [-5.15330300e-01 8.56839267e-01 -1.61601773e-02 -8.92708946e+01] [-3.05108540e-02 5.01242302e-04 9.99534310e-01 -4.14157100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.57, Y:-89.30, Z:-0.42 [[ 8.56879176e-01 5.14867270e-01 2.58799612e-02 2.30573093e+02] [-5.14613643e-01 8.57269740e-01 -1.61675905e-02 -8.93032190e+01] [-3.05102709e-02 5.35490517e-04 9.99534310e-01 -4.17064146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.63, Y:-89.34, Z:-0.42 [[ 8.56649118e-01 5.15250170e-01 2.58756803e-02 2.30625125e+02] [-5.14996510e-01 8.57039662e-01 -1.61744391e-02 -8.93376458e+01] [-3.05103668e-02 5.29933910e-04 9.99534310e-01 -4.18037492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.68, Y:-89.37, Z:-0.42 [[ 8.58094368e-01 5.12839790e-01 2.58728731e-02 2.30678637e+02] [-5.12584898e-01 8.58484108e-01 -1.61789284e-02 -8.93706661e+01] [-3.05086486e-02 6.21003333e-04 9.99534310e-01 -4.20493962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:-89.40, Z:-0.42 [[ 8.59344049e-01 5.10743214e-01 2.58684108e-02 2.30731230e+02] [-5.10487157e-01 8.59733025e-01 -1.61860600e-02 -8.94031079e+01] [-3.05068473e-02 7.03902886e-04 9.99534310e-01 -4.22675632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.79, Y:-89.44, Z:-0.43 [[ 8.61254528e-01 5.07515199e-01 2.58642915e-02 2.30785263e+02] [-5.07257487e-01 8.61642409e-01 -1.61926396e-02 -8.94355859e+01] [-3.05037812e-02 8.26128641e-04 9.99534310e-01 -4.25792818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.84, Y:-89.47, Z:-0.43 [[ 8.62032226e-01 5.06193346e-01 2.58599622e-02 2.30839128e+02] [-5.05934832e-01 8.62419573e-01 -1.61995506e-02 -8.94678670e+01] [-3.05022423e-02 8.81079011e-04 9.99534310e-01 -4.27106926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.89, Y:-89.50, Z:-0.43 [[ 8.61850132e-01 5.06503551e-01 2.58554165e-02 2.30892085e+02] [-5.06244960e-01 8.62237427e-01 -1.62068027e-02 -8.94998881e+01] [-3.05023109e-02 8.78660761e-04 9.99534310e-01 -4.28285672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.95, Y:-89.53, Z:-0.43 [[ 8.62038087e-01 5.06183812e-01 2.58512203e-02 2.30945835e+02] [-5.05924876e-01 8.62425152e-01 -1.62134931e-02 -8.95313043e+01] [-3.05017504e-02 8.97873104e-04 9.99534310e-01 -4.30564995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.00, Y:-89.56, Z:-0.43 [[ 8.59913864e-01 5.09784334e-01 2.58472386e-02 2.30999142e+02] [-5.09526828e-01 8.60301882e-01 -1.62198383e-02 -8.95633458e+01] [-3.05050474e-02 7.77802278e-04 9.99534310e-01 -4.28021048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:-89.59, Z:-0.43 [[ 8.57748406e-01 5.13419715e-01 2.58431388e-02 2.31053176e+02] [-5.13163658e-01 8.58137381e-01 -1.62263678e-02 -8.95944656e+01] [-3.05079006e-02 6.56381438e-04 9.99534310e-01 -4.29110519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.11, Y:-89.62, Z:-0.43 [[ 8.57092277e-01 5.14514502e-01 2.58390289e-02 2.31106701e+02] [-5.14258745e-01 8.57481449e-01 -1.62329098e-02 -8.96239105e+01] [-3.05085555e-02 6.25155051e-04 9.99534310e-01 -4.33311443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:-89.65, Z:-0.44 [[ 8.56788133e-01 5.15021003e-01 2.58352706e-02 2.31161563e+02] [-5.14765296e-01 8.57177338e-01 -1.62388892e-02 -8.96532797e+01] [-3.05087774e-02 6.14186837e-04 9.99534310e-01 -4.37393365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:-89.69, Z:-0.44 [[ 8.57064920e-01 5.14560465e-01 2.58312099e-02 2.31215347e+02] [-5.14304353e-01 8.57453859e-01 -1.62453460e-02 -8.96852505e+01] [-3.05082834e-02 6.38212454e-04 9.99534310e-01 -4.38096206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.27, Y:-89.72, Z:-0.44 [[ 8.58109366e-01 5.12817025e-01 2.58266283e-02 2.31268971e+02] [-5.12559904e-01 8.58497639e-01 -1.62526263e-02 -8.97166250e+01] [-3.05067229e-02 7.08836731e-04 9.99534310e-01 -4.40579708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.32, Y:-89.75, Z:-0.44 [[ 8.59988323e-01 5.09659973e-01 2.58223954e-02 2.31323039e+02] [-5.09401226e-01 8.60375514e-01 -1.62593489e-02 -8.97477393e+01] [-3.05036960e-02 8.28890350e-04 9.99534310e-01 -4.42924354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.38, Y:-89.78, Z:-0.44 [[ 8.61128215e-01 5.07731760e-01 2.58196848e-02 2.31377457e+02] [-5.07472017e-01 8.61514739e-01 -1.62636523e-02 -8.97801607e+01] [-3.05016118e-02 9.02322325e-04 9.99534310e-01 -4.44928606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:-89.82, Z:-0.45 [[ 8.61413243e-01 5.07248258e-01 2.58152916e-02 2.31428460e+02] [-5.06988089e-01 8.61799480e-01 -1.62706225e-02 -8.98154079e+01] [-3.05008498e-02 9.27684288e-04 9.99534310e-01 -4.45135898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.48, Y:-89.84, Z:-0.45 [[ 8.64290202e-01 5.02330792e-01 2.58112966e-02 2.31482942e+02] [-5.02068237e-01 8.64674821e-01 -1.62769577e-02 -8.98437308e+01] [-3.04947953e-02 1.10898288e-03 9.99534310e-01 -4.50807604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.54, Y:-89.88, Z:-0.45 [[ 8.64722233e-01 5.01586907e-01 2.58076504e-02 2.31536191e+02] [-5.01323850e-01 8.65106508e-01 -1.62827367e-02 -8.98765168e+01] [-3.04935739e-02 1.14205375e-03 9.99534310e-01 -4.52320859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.59, Y:-89.91, Z:-0.45 [[ 8.64848261e-01 5.01369802e-01 2.58032558e-02 2.31589624e+02] [-5.01106440e-01 8.65232328e-01 -1.62896980e-02 -8.99089591e+01] [-3.04929737e-02 1.15793931e-03 9.99534310e-01 -4.53898260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.64, Y:-89.94, Z:-0.46 [[ 8.64002631e-01 5.02825885e-01 2.57988828e-02 2.31643381e+02] [-5.02562965e-01 8.64387001e-01 -1.62966208e-02 -8.99425842e+01] [-3.04945817e-02 1.11476023e-03 9.99534310e-01 -4.55138946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.70, Y:-89.98, Z:-0.46 [[ 8.61532050e-01 5.07047505e-01 2.57944719e-02 2.31697346e+02] [-5.06786260e-01 8.61917559e-01 -1.63035993e-02 -8.99757036e+01] [-3.04994076e-02 9.73789356e-04 9.99534311e-01 -4.57922988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.75, Y:-90.01, Z:-0.46 [[ 8.59421918e-01 5.10616160e-01 2.57896205e-02 2.31750743e+02] [-5.10356286e-01 8.59808353e-01 -1.63112698e-02 -9.00075379e+01] [-3.05029291e-02 8.56367855e-04 9.99534311e-01 -4.57849765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.80, Y:-90.04, Z:-0.46 [[ 8.56015223e-01 5.16307141e-01 2.57851561e-02 2.31804725e+02] [-5.16049624e-01 8.56403233e-01 -1.63183242e-02 -9.00401968e+01] [-3.05077584e-02 6.62313837e-04 9.99534311e-01 -4.57914931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.86, Y:-90.07, Z:-0.46 [[ 8.53635718e-01 5.20232088e-01 2.57805303e-02 2.31857143e+02] [-5.19976135e-01 8.54024761e-01 -1.63256291e-02 -9.00728931e+01] [-3.05103273e-02 5.30879633e-04 9.99534311e-01 -4.60363378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.91, Y:-90.11, Z:-0.46 [[ 8.51084448e-01 5.24395698e-01 2.57762499e-02 2.31910751e+02] [-5.24141444e-01 8.51474603e-01 -1.63323844e-02 -9.01053432e+01] [-3.05124543e-02 3.89837540e-04 9.99534311e-01 -4.62422087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.263617865 meters Centerline goodness : 0.995552 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:-90.14, Z:-0.47 [[ 8.50622169e-01 5.25145448e-01 2.57717598e-02 2.31963796e+02] [-5.24891324e-01 8.51012409e-01 -1.63394666e-02 -9.01385180e+01] [-3.05126839e-02 3.71339371e-04 9.99534311e-01 -4.65572772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:-90.17, Z:-0.47 [[ 8.51090774e-01 5.24385769e-01 2.57693489e-02 2.32015685e+02] [-5.24131180e-01 8.51480712e-01 -1.63432680e-02 -9.01725585e+01] [-3.05122807e-02 4.03085423e-04 9.99534311e-01 -4.65822526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.07, Y:-90.21, Z:-0.47 [[ 8.52126044e-01 5.22702029e-01 2.57641961e-02 2.32068401e+02] [-5.22446425e-01 8.52515317e-01 -1.63513870e-02 -9.02062098e+01] [-3.05112750e-02 4.73030572e-04 9.99534311e-01 -4.67002002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.12, Y:-90.24, Z:-0.47 [[ 8.54775252e-01 5.18358664e-01 2.57597438e-02 2.32121089e+02] [-5.18100871e-01 8.55163078e-01 -1.63583981e-02 -9.02398583e+01] [-3.05082992e-02 6.36608128e-04 9.99534311e-01 -4.68889743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.17, Y:-90.27, Z:-0.47 [[ 8.57298487e-01 5.14175036e-01 2.57553184e-02 2.32174161e+02] [-5.13915142e-01 8.57684908e-01 -1.63653627e-02 -9.02726764e+01] [-3.05046089e-02 7.93952595e-04 9.99534311e-01 -4.74217736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:-90.31, Z:-0.47 [[ 8.59066847e-01 5.11215283e-01 2.57504580e-02 2.32224984e+02] [-5.10953829e-01 8.59452215e-01 -1.63730068e-02 -9.03059598e+01] [-3.05014195e-02 9.08212186e-04 9.99534311e-01 -4.74991014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.28, Y:-90.34, Z:-0.48 [[ 8.59149132e-01 5.11077178e-01 2.57465999e-02 2.32278574e+02] [-5.10815480e-01 8.59534334e-01 -1.63790715e-02 -9.03387345e+01] [-3.05010562e-02 9.20303294e-04 9.99534311e-01 -4.75148701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:-90.37, Z:-0.48 [[ 8.57473939e-01 5.13883045e-01 2.57421724e-02 2.32331342e+02] [-5.13622400e-01 8.57859854e-01 -1.63860269e-02 -9.03716539e+01] [-3.05036777e-02 8.28834664e-04 9.99534311e-01 -4.76386520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.38, Y:-90.40, Z:-0.48 [[ 8.55576704e-01 5.17035834e-01 2.57381034e-02 2.32384822e+02] [-5.16776419e-01 8.55963447e-01 -1.63924157e-02 -9.04044431e+01] [-3.05063421e-02 7.24124117e-04 9.99534311e-01 -4.76599802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:-90.44, Z:-0.48 [[ 8.53008942e-01 5.21261475e-01 2.57336458e-02 2.32438792e+02] [-5.21003764e-01 8.53396823e-01 -1.63994106e-02 -9.04360517e+01] [-3.05093925e-02 5.81517591e-04 9.99534311e-01 -4.80335405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:-90.47, Z:-0.48 [[ 8.50329923e-01 5.25620623e-01 2.57290169e-02 2.32491320e+02] [-5.25364682e-01 8.50718974e-01 -1.64066697e-02 -9.04699195e+01] [-3.05118468e-02 4.33965385e-04 9.99534311e-01 -4.80781992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.54, Y:-90.50, Z:-0.48 [[ 8.49773630e-01 5.26519742e-01 2.57243122e-02 2.32544247e+02] [-5.26263989e-01 8.50162804e-01 -1.64140429e-02 -9.05033153e+01] [-3.05121710e-02 4.10441650e-04 9.99534311e-01 -4.82534327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:-90.54, Z:-0.48 [[ 8.48238902e-01 5.28988909e-01 2.57196311e-02 2.32595715e+02] [-5.28734067e-01 8.48628673e-01 -1.64213747e-02 -9.05385553e+01] [-3.05131415e-02 3.30403673e-04 9.99534311e-01 -4.80923748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.043617865 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.65, Y:-90.57, Z:-0.48 [[ 8.48277780e-01 5.28926789e-01 2.57149634e-02 2.32648770e+02] [-5.28671697e-01 8.48667388e-01 -1.64286807e-02 -9.05714804e+01] [-3.05130202e-02 3.41311485e-04 9.99534311e-01 -4.83301347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.103617865 meters Centerline goodness : 0.995413 with order 1 Centerline is valid? [True, True] Translation: X:232.70, Y:-90.61, Z:-0.49 [[ 8.48376636e-01 5.28768447e-01 2.57101689e-02 2.32698410e+02] [-5.28513055e-01 8.48766047e-01 -1.64361805e-02 -9.06068130e+01] [-3.05128521e-02 3.55911633e-04 9.99534311e-01 -4.85923777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:-90.65, Z:-0.48 [[ 8.48708685e-01 5.28235456e-01 2.57074130e-02 2.32747666e+02] [-5.27979689e-01 8.49097850e-01 -1.64404898e-02 -9.06458757e+01] [-3.05125587e-02 3.80194605e-04 9.99534311e-01 -4.81924068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.223617865 meters Centerline goodness : 0.993681 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:-90.68, Z:-0.49 [[ 8.51014109e-01 5.24513458e-01 2.57024906e-02 2.32800072e+02] [-5.24255757e-01 8.51401996e-01 -1.64481817e-02 -9.06774287e+01] [-3.05104445e-02 5.22956026e-04 9.99534311e-01 -4.94190629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:-90.72, Z:-0.48 [[ 8.50798970e-01 5.24862426e-01 2.57011030e-02 2.32846521e+02] [-5.24604818e-01 8.51186919e-01 -1.64503496e-02 -9.07190193e+01] [-3.05106131e-02 5.13018068e-04 9.99534311e-01 -4.84132435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:-90.76, Z:-0.49 [[ 8.52365620e-01 5.22314404e-01 2.57004390e-02 2.32895762e+02] [-5.22055606e-01 8.52752776e-01 -1.64513870e-02 -9.07555225e+01] [-3.05089171e-02 6.05538417e-04 9.99534311e-01 -4.86126877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.95, Y:-90.79, Z:-0.49 [[ 8.54822527e-01 5.18283811e-01 2.56970530e-02 2.32947796e+02] [-5.18023028e-01 8.55208349e-01 -1.64566741e-02 -9.07886586e+01] [-3.05055621e-02 7.55870567e-04 9.99534311e-01 -4.93112552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.00, Y:-90.83, Z:-0.50 [[ 8.55133553e-01 5.17770680e-01 2.56930050e-02 2.32999417e+02] [-5.17509476e-01 8.55519089e-01 -1.64629916e-02 -9.08252584e+01] [-3.05049106e-02 7.81682920e-04 9.99534311e-01 -4.95995516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52361786499998 meters Centerline goodness : 0.995726 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:-90.86, Z:-0.50 [[ 8.55906163e-01 5.16492733e-01 2.56884503e-02 2.33050890e+02] [-5.16230741e-01 8.56291164e-01 -1.64700957e-02 -9.08585332e+01] [-3.05034777e-02 8.35688701e-04 9.99534311e-01 -4.99351261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58361786499998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:233.10, Y:-90.89, Z:-0.50 [[ 8.54870121e-01 5.18205953e-01 2.56839783e-02 2.33102674e+02] [-5.17944523e-01 8.55255504e-01 -1.64770665e-02 -9.08946588e+01] [-3.05048777e-02 7.82875956e-04 9.99534311e-01 -5.00969358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:-90.93, Z:-0.50 [[ 8.52236798e-01 5.22525664e-01 2.56782239e-02 2.33152829e+02] [-5.22265918e-01 8.52623318e-01 -1.64860294e-02 -9.09323729e+01] [-3.05082259e-02 6.39139759e-04 9.99534311e-01 -4.99142273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.20, Y:-90.97, Z:-0.50 [[ 8.50115901e-01 5.25969435e-01 2.56731151e-02 2.33203772e+02] [-5.25711015e-01 8.50503308e-01 -1.64939814e-02 -9.09676412e+01] [-3.05103994e-02 5.25156445e-04 9.99534311e-01 -5.01590092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.25, Y:-91.00, Z:-0.50 [[ 8.48001705e-01 5.29371527e-01 2.56689571e-02 2.33253414e+02] [-5.29114465e-01 8.48390015e-01 -1.65004497e-02 -9.10048061e+01] [-3.05121552e-02 4.10592935e-04 9.99534311e-01 -5.01076874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.31, Y:-91.04, Z:-0.51 [[ 8.47374641e-01 5.30374889e-01 2.56650479e-02 2.33305189e+02] [-5.30118103e-01 8.47763134e-01 -1.65065280e-02 -9.10380297e+01] [-3.05125294e-02 3.81706706e-04 9.99534311e-01 -5.05907073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.883617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:233.35, Y:-91.08, Z:-0.50 [[ 8.44870668e-01 5.34354798e-01 2.56613323e-02 2.33353253e+02] [-5.34099666e-01 8.45260250e-01 -1.65123022e-02 -9.10787583e+01] [-3.05139321e-02 2.45050778e-04 9.99534312e-01 -5.04281412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:-91.12, Z:-0.51 [[ 8.45357696e-01 5.33584176e-01 2.56572386e-02 2.33403865e+02] [-5.33328496e-01 8.45746918e-01 -1.65186606e-02 -9.11155545e+01] [-3.05136264e-02 2.80440389e-04 9.99534312e-01 -5.07779695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:-91.15, Z:-0.51 [[ 8.45986011e-01 5.32587659e-01 2.56525698e-02 2.33454569e+02] [-5.32331302e-01 8.46374787e-01 -1.65259079e-02 -9.11522656e+01] [-3.05131829e-02 3.25020981e-04 9.99534312e-01 -5.08611061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.063617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:-91.19, Z:-0.51 [[ 8.48412877e-01 5.28713325e-01 2.56478156e-02 2.33503968e+02] [-5.28454970e-01 8.48800327e-01 -1.65332830e-02 -9.11884128e+01] [-3.05112413e-02 4.73334601e-04 9.99534312e-01 -5.10853549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.123617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:-91.23, Z:-0.51 [[ 8.50495784e-01 5.25356284e-01 2.56455741e-02 2.33553609e+02] [-5.25096294e-01 8.50882141e-01 -1.65367591e-02 -9.12252395e+01] [-3.05090513e-02 5.98047987e-04 9.99534312e-01 -5.14358760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.60, Y:-91.26, Z:-0.51 [[ 8.50962204e-01 5.24600659e-01 2.56412699e-02 2.33604297e+02] [-5.24340126e-01 8.51348194e-01 -1.65434304e-02 -9.12630185e+01] [-3.05083433e-02 6.33087270e-04 9.99534312e-01 -5.12818596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:-91.30, Z:-0.52 [[ 8.51325876e-01 5.24010526e-01 2.56363146e-02 2.33653415e+02] [-5.23749494e-01 8.51711529e-01 -1.65511058e-02 -9.12988621e+01] [-3.05076983e-02 6.63377830e-04 9.99534312e-01 -5.19078389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:-91.34, Z:-0.52 [[ 8.50658631e-01 5.25093207e-01 2.56323627e-02 2.33702945e+02] [-5.24832481e-01 8.51044491e-01 -1.65572237e-02 -9.13362538e+01] [-3.05083668e-02 6.31848762e-04 9.99534312e-01 -5.17946721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36361786499998 meters Centerline goodness : 0.994404 with order 1 Centerline is valid? [True, True] Translation: X:233.76, Y:-91.37, Z:-0.52 [[ 8.46531899e-01 5.31720732e-01 2.56282521e-02 2.33756197e+02] [-5.31462835e-01 8.46919655e-01 -1.65635839e-02 -9.13687305e+01] [-3.05122714e-02 4.01138596e-04 9.99534312e-01 -5.21373010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.22, Y:-90.78, Z:0.58 [[ 8.73192972e-01 4.86700434e-01 2.56265686e-02 2.34218854e+02] [-4.86422527e-01 8.73566647e-01 -1.65661882e-02 -9.07754572e+01] [-3.04492866e-02 2.00013882e-03 9.99534312e-01 5.79277700e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 246.48361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:-90.81, Z:0.58 [[ 8.73111129e-01 4.86804266e-01 2.64303231e-02 2.34271053e+02] [-4.86568132e-01 8.73510997e-01 -1.51654896e-02 -9.08063330e+01] [-3.04698029e-02 3.81004836e-04 9.99535615e-01 5.76068586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.543617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:-90.83, Z:0.58 [[ 8.71523940e-01 4.89640238e-01 2.64283738e-02 2.34326275e+02] [-4.89405302e-01 8.71924512e-01 -1.51688858e-02 -9.08345729e+01] [-3.04708438e-02 2.85860912e-04 9.99535615e-01 5.76068873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:-90.86, Z:0.58 [[ 8.70150206e-01 4.92077599e-01 2.64245421e-02 2.34379292e+02] [-4.91843582e-01 8.70551316e-01 -1.51755577e-02 -9.08644678e+01] [-3.04714719e-02 2.08273182e-04 9.99535615e-01 5.78147719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.663617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:234.43, Y:-90.90, Z:0.58 [[ 8.69814501e-01 4.92670874e-01 2.64224046e-02 2.34431939e+02] [-4.92437018e-01 8.70215705e-01 -1.51792784e-02 -9.08961063e+01] [-3.04715798e-02 1.91786349e-04 9.99535615e-01 5.75133855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.49, Y:-90.93, Z:0.57 [[ 8.70333045e-01 4.91754397e-01 2.64197524e-02 2.34486323e+02] [-4.91519978e-01 8.70733920e-01 -1.51838932e-02 -9.09284395e+01] [-3.04713209e-02 2.29207844e-04 9.99535615e-01 5.73058292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.783617865 meters Centerline goodness : 0.995905 with order 1 Centerline is valid? [True, True] Translation: X:234.54, Y:-90.96, Z:0.57 [[ 8.72291013e-01 4.88273074e-01 2.64157802e-02 2.34540718e+02] [-4.88036846e-01 8.72690825e-01 -1.51908006e-02 -9.09599055e+01] [-3.04700680e-02 3.58924806e-04 9.99535615e-01 5.68048758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.843617865 meters Centerline goodness : 0.994681 with order 1 Centerline is valid? [True, True] Translation: X:234.59, Y:-90.99, Z:0.57 [[ 8.73960384e-01 4.85279014e-01 2.64107193e-02 2.34593487e+02] [-4.85041151e-01 8.74359225e-01 -1.51995944e-02 -9.09914864e+01] [-3.04685003e-02 4.73557631e-04 9.99535615e-01 5.65330090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90361786499997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:234.65, Y:-91.02, Z:0.57 [[ 8.75973499e-01 4.81635932e-01 2.64056453e-02 2.34646752e+02] [-4.81396145e-01 8.76371186e-01 -1.52084042e-02 -9.10244387e+01] [-3.04660606e-02 6.10583178e-04 9.99535615e-01 5.67406294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96361786499997 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:234.70, Y:-91.06, Z:0.56 [[ 8.77738588e-01 4.78411905e-01 2.64011394e-02 2.34700493e+02] [-4.78170422e-01 8.78135248e-01 -1.52162222e-02 -9.10561403e+01] [-3.04633930e-02 7.31621399e-04 9.99535615e-01 5.63247716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02361786499998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:234.76, Y:-91.09, Z:0.56 [[ 8.80456012e-01 4.73392303e-01 2.63995856e-02 2.34756252e+02] [-4.73148479e-01 8.80851237e-01 -1.52189176e-02 -9.10853168e+01] [-3.04586261e-02 9.08663708e-04 9.99535615e-01 5.56669183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.81, Y:-91.12, Z:0.56 [[ 8.79979260e-01 4.74278220e-01 2.63945474e-02 2.34811523e+02] [-4.74034531e-01 8.80374569e-01 -1.52276504e-02 -9.11161699e+01] [-3.04592312e-02 8.88089664e-04 9.99535615e-01 5.56250556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.87, Y:-91.15, Z:0.55 [[ 8.79777757e-01 4.74652138e-01 2.63902710e-02 2.34867172e+02] [-4.74408396e-01 8.80173032e-01 -1.52350580e-02 -9.11460419e+01] [-3.04593577e-02 8.83698954e-04 9.99535615e-01 5.53396674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20361786499998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:234.92, Y:-91.17, Z:0.55 [[ 8.78004682e-01 4.77924231e-01 2.63857665e-02 2.34922714e+02] [-4.77681728e-01 8.78400718e-01 -1.52428554e-02 -9.11745045e+01] [-3.04622062e-02 7.79299887e-04 9.99535616e-01 5.52960742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.98, Y:-91.20, Z:0.55 [[ 8.77421366e-01 4.78994527e-01 2.63816090e-02 2.34977083e+02] [-4.78752291e-01 8.77817567e-01 -1.52500477e-02 -9.12036509e+01] [-3.04629292e-02 7.50461961e-04 9.99535616e-01 5.48441605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:-91.23, Z:0.55 [[ 8.75929570e-01 4.81717357e-01 2.63775499e-02 2.35031077e+02] [-4.81476142e-01 8.76326393e-01 -1.52570652e-02 -9.12338152e+01] [-3.04649363e-02 6.63953629e-04 9.99535616e-01 5.51426906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.09, Y:-91.26, Z:0.55 [[ 8.75159844e-01 4.83114558e-01 2.63736978e-02 2.35086920e+02] [-4.82873776e-01 8.75556929e-01 -1.52637212e-02 -9.12626005e+01] [-3.04657998e-02 6.23028787e-04 9.99535616e-01 5.50658111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.443617865 meters Centerline goodness : 0.995664 with order 1 Centerline is valid? [True, True] Translation: X:235.14, Y:-91.29, Z:0.55 [[ 8.74079072e-01 4.85067436e-01 2.63696491e-02 2.35140525e+02] [-4.84827330e-01 8.74476566e-01 -1.52707125e-02 -9.12931142e+01] [-3.04669656e-02 5.63083646e-04 9.99535616e-01 5.50358727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.503617865 meters Centerline goodness : 0.995461 with order 1 Centerline is valid? [True, True] Translation: X:235.20, Y:-91.32, Z:0.55 [[ 8.73548965e-01 4.86021530e-01 2.63681337e-02 2.35195059e+02] [-4.85781779e-01 8.73946674e-01 -1.52733288e-02 -9.13240904e+01] [-3.04675094e-02 5.32841624e-04 9.99535616e-01 5.49208694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.563617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:235.25, Y:-91.35, Z:0.54 [[ 8.75119473e-01 4.83188258e-01 2.63631639e-02 2.35251666e+02] [-4.82946961e-01 8.75516246e-01 -1.52819023e-02 -9.13514608e+01] [-3.04654140e-02 6.41480395e-04 9.99535616e-01 5.41228351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.623617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:-91.38, Z:0.54 [[ 8.76386338e-01 4.80886928e-01 2.63580852e-02 2.35306060e+02] [-4.80644326e-01 8.76782315e-01 -1.52906570e-02 -9.13823836e+01] [-3.04633800e-02 7.31658790e-04 9.99535616e-01 5.38344071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-91.41, Z:0.54 [[ 8.75002208e-01 4.83401099e-01 2.63536373e-02 2.35358851e+02] [-4.83159405e-01 8.75398738e-01 -1.52983192e-02 -9.14131171e+01] [-3.04651651e-02 6.53055413e-04 9.99535616e-01 5.37307408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.41, Y:-91.44, Z:0.54 [[ 8.76785770e-01 4.80158631e-01 2.63515183e-02 2.35413617e+02] [-4.79915361e-01 8.77181336e-01 -1.53019683e-02 -9.14445845e+01] [-3.04624322e-02 7.70049688e-04 9.99535616e-01 5.35385204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:235.47, Y:-91.48, Z:0.54 [[ 8.75649982e-01 4.82227064e-01 2.63470755e-02 2.35466566e+02] [-4.81984499e-01 8.76045980e-01 -1.53096142e-02 -9.14765816e+01] [-3.04639598e-02 7.06981411e-04 9.99535616e-01 5.36099903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.52, Y:-91.51, Z:0.53 [[ 8.74455763e-01 4.84389505e-01 2.63424859e-02 2.35520366e+02] [-4.84147681e-01 8.74852214e-01 -1.53175072e-02 -9.15080907e+01] [-3.04654218e-02 6.40828997e-04 9.99535616e-01 5.31681369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.57, Y:-91.54, Z:0.53 [[ 8.75380606e-01 4.82716364e-01 2.63383021e-02 2.35574719e+02] [-4.82473566e-01 8.75776462e-01 -1.53246978e-02 -9.15397356e+01] [-3.04639474e-02 7.07408775e-04 9.99535616e-01 5.29710012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98361786499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.63, Y:-91.57, Z:0.53 [[ 8.75542728e-01 4.82422477e-01 2.63341054e-02 2.35627600e+02] [-4.82179329e-01 8.75938369e-01 -1.53319061e-02 -9.15714008e+01] [-3.04635094e-02 7.25977653e-04 9.99535616e-01 5.27187343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.68, Y:-91.60, Z:0.53 [[ 8.76269011e-01 4.81102214e-01 2.63302052e-02 2.35681559e+02] [-4.80858269e-01 8.76664162e-01 -1.53386012e-02 -9.16046773e+01] [-3.04621822e-02 7.79644015e-04 9.99535616e-01 5.25388173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:-91.64, Z:0.52 [[ 8.76730297e-01 4.80261314e-01 2.63259659e-02 2.35735424e+02] [-4.80016773e-01 8.77125078e-01 -1.53458738e-02 -9.16365584e+01] [-3.04611943e-02 8.17287280e-04 9.99535616e-01 5.24101012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:-91.67, Z:0.52 [[ 8.78030016e-01 4.77881215e-01 2.63217733e-02 2.35790623e+02] [-4.77635388e-01 8.78423998e-01 -1.53530616e-02 -9.16674994e+01] [-3.04586171e-02 9.08238515e-04 9.99535616e-01 5.19589491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.84, Y:-91.70, Z:0.52 [[ 8.76315197e-01 4.81018774e-01 2.63175588e-02 2.35842888e+02] [-4.80774141e-01 8.76709922e-01 -1.53602825e-02 -9.16992433e+01] [-3.04614492e-02 8.07647232e-04 9.99535616e-01 5.18415739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.90, Y:-91.73, Z:0.52 [[ 8.77386546e-01 4.79062013e-01 2.63141989e-02 2.35895625e+02] [-4.78816328e-01 8.77780616e-01 -1.53660363e-02 -9.17318197e+01] [-3.04593780e-02 8.82285446e-04 9.99535616e-01 5.15102782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.343617865 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.95, Y:-91.76, Z:0.51 [[ 8.75519573e-01 4.82465782e-01 2.63105925e-02 2.35948708e+02] [-4.82221444e-01 8.75914479e-01 -1.53722090e-02 -9.17646264e+01] [-3.04623937e-02 7.71137937e-04 9.99535616e-01 5.14587765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:-91.80, Z:0.51 [[ 8.75325963e-01 4.82817163e-01 2.63067782e-02 2.36003925e+02] [-4.82572787e-01 8.75720846e-01 -1.53787336e-02 -9.17950651e+01] [-3.04625106e-02 7.66469496e-04 9.99535616e-01 5.08918074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:-91.83, Z:0.51 [[ 8.75139237e-01 4.83155747e-01 2.63028444e-02 2.36058235e+02] [-4.82911322e-01 8.75534090e-01 -1.53854589e-02 -9.18266288e+01] [-3.04626098e-02 7.62477386e-04 9.99535616e-01 5.07198659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.11, Y:-91.86, Z:0.51 [[ 8.74261749e-01 4.84741957e-01 2.62988512e-02 2.36110607e+02] [-4.84498043e-01 8.74656918e-01 -1.53922815e-02 -9.18596287e+01] [-3.04637568e-02 7.15141017e-04 9.99535616e-01 5.08606579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.17, Y:-91.89, Z:0.51 [[ 8.74497199e-01 4.84317265e-01 2.62951580e-02 2.36165074e+02] [-4.84072970e-01 8.74892133e-01 -1.53985882e-02 -9.18915446e+01] [-3.04632290e-02 7.37247100e-04 9.99535616e-01 5.06391354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.22, Y:-91.92, Z:0.50 [[ 8.75420561e-01 4.82646473e-01 2.62911232e-02 2.36220145e+02] [-4.82401218e-01 8.75814899e-01 -1.54054740e-02 -9.19218939e+01] [-3.04615551e-02 8.03398819e-04 9.99535616e-01 5.02082317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.27, Y:-91.95, Z:0.50 [[ 8.76043458e-01 4.81515176e-01 2.62868027e-02 2.36274551e+02] [-4.81269190e-01 8.76437340e-01 -1.54128426e-02 -9.19525453e+01] [-3.04602531e-02 8.51291629e-04 9.99535616e-01 4.99189023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.33, Y:-91.98, Z:0.50 [[ 8.76232814e-01 4.81170748e-01 2.62824532e-02 2.36328452e+02] [-4.80924385e-01 8.76626461e-01 -1.54202559e-02 -9.19841504e+01] [-3.04596700e-02 8.71861573e-04 9.99535616e-01 4.96603132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.38, Y:-92.02, Z:0.49 [[ 8.77164981e-01 4.79469558e-01 2.62780888e-02 2.36381745e+02] [-4.79222210e-01 8.77558009e-01 -1.54276899e-02 -9.20161966e+01] [-3.04576550e-02 9.39585523e-04 9.99535616e-01 4.94967021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883617865 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:-92.05, Z:0.49 [[ 8.77540827e-01 4.78781548e-01 2.62740527e-02 2.36435285e+02] [-4.78533686e-01 8.77933531e-01 -1.54345606e-02 -9.20488380e+01] [-3.04566546e-02 9.71437768e-04 9.99535616e-01 4.93524532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.49, Y:-92.08, Z:0.49 [[ 8.78362754e-01 4.77272216e-01 2.62698334e-02 2.36489779e+02] [-4.77023465e-01 8.78754895e-01 -1.54417384e-02 -9.20793405e+01] [-3.04546575e-02 1.03212092e-03 9.99535616e-01 4.92435995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:-92.11, Z:0.49 [[ 8.78028944e-01 4.77886278e-01 2.62655687e-02 2.36543873e+02] [-4.77637584e-01 8.78421122e-01 -1.54489891e-02 -9.21125056e+01] [-3.04550902e-02 1.01923675e-03 9.99535616e-01 4.94755336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:-92.14, Z:0.49 [[ 8.78377050e-01 4.77246380e-01 2.62611924e-02 2.36598505e+02] [-4.76997179e-01 8.78768906e-01 -1.54564246e-02 -9.21412354e+01] [-3.04540420e-02 1.05005396e-03 9.99535617e-01 4.87883801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.123617865 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:236.65, Y:-92.17, Z:0.48 [[ 8.78082052e-01 4.77789148e-01 2.62571755e-02 2.36654583e+02] [-4.77539986e-01 8.78473933e-01 -1.54632455e-02 -9.21706066e+01] [-3.04544151e-02 1.03914709e-03 9.99535617e-01 4.84036345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:-92.20, Z:0.49 [[ 8.77129165e-01 4.79536454e-01 2.62529454e-02 2.36707333e+02] [-4.79287858e-01 8.77521404e-01 -1.54704239e-02 -9.22019746e+01] [-3.04561537e-02 9.86841997e-04 9.99535617e-01 4.85909445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:-92.23, Z:0.48 [[ 8.77144797e-01 4.79508045e-01 2.62495644e-02 2.36762673e+02] [-4.79259264e-01 8.77536920e-01 -1.54761585e-02 -9.22311265e+01] [-3.04559044e-02 9.94484969e-04 9.99535617e-01 4.84211206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:-92.26, Z:0.48 [[ 8.77084971e-01 4.79617679e-01 2.62456570e-02 2.36816410e+02] [-4.79368750e-01 8.77477000e-01 -1.54827821e-02 -9.22600912e+01] [-3.04557764e-02 9.98367670e-04 9.99535617e-01 4.77516696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.87, Y:-92.29, Z:0.48 [[ 8.76532434e-01 4.80626929e-01 2.62420876e-02 2.36869407e+02] [-4.80378271e-01 8.76924634e-01 -1.54888296e-02 -9.22920150e+01] [-3.04566817e-02 9.70332893e-04 9.99535617e-01 4.80038361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.92, Y:-92.32, Z:0.48 [[ 8.76647254e-01 4.80417679e-01 2.62382622e-02 2.36923684e+02] [-4.80168733e-01 8.77039271e-01 -1.54953072e-02 -9.23212393e+01] [-3.04562059e-02 9.85125437e-04 9.99535617e-01 4.77643903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:-92.35, Z:0.47 [[ 8.77205665e-01 4.79397512e-01 2.62344548e-02 2.36976676e+02] [-4.79147918e-01 8.77597270e-01 -1.55017506e-02 -9.23509580e+01] [-3.04547866e-02 1.02803904e-03 9.99535617e-01 4.72311042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:-92.38, Z:0.47 [[ 8.78348739e-01 4.77300146e-01 2.62309692e-02 2.37031921e+02] [-4.77049441e-01 8.78739633e-01 -1.55076464e-02 -9.23820012e+01] [-3.04519942e-02 1.10765246e-03 9.99535617e-01 4.70356922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:-92.41, Z:0.47 [[ 8.78672215e-01 4.76704604e-01 2.62270661e-02 2.37087310e+02] [-4.76453438e-01 8.79062813e-01 -1.55142447e-02 -9.24127668e+01] [-3.04509504e-02 1.13595995e-03 9.99535617e-01 4.68850103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.663617865 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:237.14, Y:-92.44, Z:0.47 [[ 8.78776169e-01 4.76513179e-01 2.62228054e-02 2.37141950e+02] [-4.76261713e-01 8.79166574e-01 -1.55214431e-02 -9.24413798e+01] [-3.04503862e-02 1.15095605e-03 9.99535617e-01 4.66823162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.20, Y:-92.47, Z:0.47 [[ 8.78686716e-01 4.76678326e-01 2.62188696e-02 2.37196672e+02] [-4.76426736e-01 8.79077041e-01 -1.55280885e-02 -9.24718582e+01] [-3.04503096e-02 1.15295464e-03 9.99535617e-01 4.65229374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.25, Y:-92.50, Z:0.46 [[ 8.78417919e-01 4.77173716e-01 2.62145754e-02 2.37251286e+02] [-4.76922130e-01 8.78808247e-01 -1.55353346e-02 -9.25012280e+01] [-3.04506384e-02 1.14420517e-03 9.99535617e-01 4.62974489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:-92.53, Z:0.46 [[ 8.76253343e-01 4.81137280e-01 2.62106081e-02 2.37305515e+02] [-4.80887260e-01 8.76644677e-01 -1.55420253e-02 -9.25323533e+01] [-3.04552378e-02 1.01440409e-03 9.99535617e-01 4.64193806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.36, Y:-92.56, Z:0.46 [[ 8.74726959e-01 4.83906966e-01 2.62067918e-02 2.37361221e+02] [-4.83657993e-01 8.75118959e-01 -1.55484576e-02 -9.25582620e+01] [-3.04580673e-02 9.25530663e-04 9.99535617e-01 4.58372125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.42, Y:-92.59, Z:0.46 [[ 8.72735790e-01 4.87489105e-01 2.62033102e-02 2.37416013e+02] [-4.87241565e-01 8.73128696e-01 -1.55543227e-02 -9.25883271e+01] [-3.04614250e-02 8.07472248e-04 9.99535617e-01 4.56781246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.47, Y:-92.62, Z:0.46 [[ 8.70379590e-01 4.91683818e-01 2.61991046e-02 2.37471091e+02] [-4.91437958e-01 8.70773550e-01 -1.55614033e-02 -9.26186888e+01] [-3.04647775e-02 6.69093295e-04 9.99535617e-01 4.55336431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:-92.65, Z:0.45 [[ 8.69837559e-01 4.92642317e-01 2.61948274e-02 2.37526561e+02] [-4.92396675e-01 8.70231655e-01 -1.55685999e-02 -9.26492257e+01] [-3.04653191e-02 6.43907017e-04 9.99535617e-01 4.52718746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:-92.68, Z:0.45 [[ 8.69370258e-01 4.93466734e-01 2.61903933e-02 2.37579398e+02] [-4.93221242e-01 8.69764447e-01 -1.55760557e-02 -9.26808091e+01] [-3.04657383e-02 6.23701288e-04 9.99535617e-01 4.52030776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:-92.71, Z:0.45 [[ 8.70398986e-01 4.91650162e-01 2.61863237e-02 2.37632022e+02] [-4.91403641e-01 8.70792533e-01 -1.55828943e-02 -9.27126272e+01] [-3.04641877e-02 6.95280586e-04 9.99535617e-01 4.50096938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:-92.74, Z:0.45 [[ 8.73089320e-01 4.86856774e-01 2.61824727e-02 2.37686576e+02] [-4.86607899e-01 8.73481382e-01 -1.55893622e-02 -9.27429288e+01] [-3.04596890e-02 8.70307598e-04 9.99535617e-01 4.45961063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.74, Y:-92.78, Z:0.44 [[ 8.75015721e-01 4.83386182e-01 2.61780000e-02 2.37740178e+02] [-4.83135528e-01 8.75406648e-01 -1.55968692e-02 -9.27753885e+01] [-3.04557063e-02 9.99983875e-04 9.99535617e-01 4.43217263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.79, Y:-92.81, Z:0.44 [[ 8.75653158e-01 4.82230742e-01 2.61736153e-02 2.37792448e+02] [-4.81979352e-01 8.76043613e-01 -1.56042240e-02 -9.28091808e+01] [-3.04540650e-02 1.04874586e-03 9.99535617e-01 4.41981883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.85, Y:-92.84, Z:0.44 [[ 8.76856448e-01 4.80039500e-01 2.61695779e-02 2.37846654e+02] [-4.79786934e-01 8.77246143e-01 -1.56109921e-02 -9.28417097e+01] [-3.04510541e-02 1.13277754e-03 9.99535617e-01 4.40430528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.503617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.90, Y:-92.87, Z:0.44 [[ 8.77915885e-01 4.78099436e-01 2.61653957e-02 2.37900621e+02] [-4.77845800e-01 8.78304884e-01 -1.56179986e-02 -9.28745242e+01] [-3.04481512e-02 1.20826460e-03 9.99535617e-01 4.38773421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.563617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.96, Y:-92.91, Z:0.44 [[ 8.77935125e-01 4.78064342e-01 2.61610767e-02 2.37955115e+02] [-4.77810476e-01 8.78323973e-01 -1.56252299e-02 -9.29067529e+01] [-3.04477660e-02 1.21790165e-03 9.99535617e-01 4.36250682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.623617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.01, Y:-92.94, Z:0.43 [[ 8.78054542e-01 4.77845209e-01 2.61567886e-02 2.38008328e+02] [-4.77591032e-01 8.78443188e-01 -1.56324049e-02 -9.29376057e+01] [-3.04471225e-02 1.23385651e-03 9.99535617e-01 4.30952479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.06, Y:-92.97, Z:0.43 [[ 8.75989843e-01 4.81619928e-01 2.61541454e-02 2.38062117e+02] [-4.81367295e-01 8.76379494e-01 -1.56368259e-02 -9.29699988e+01] [-3.04519637e-02 1.10795044e-03 9.99535617e-01 4.32252672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.12, Y:-93.00, Z:0.43 [[ 8.74472460e-01 4.84369797e-01 2.61498734e-02 2.38116712e+02] [-4.84118176e-01 8.74862765e-01 -1.56439668e-02 -9.30013625e+01] [-3.04550156e-02 1.02058912e-03 9.99535617e-01 4.30873249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.17, Y:-93.03, Z:0.43 [[ 8.73503562e-01 4.86115147e-01 2.61455812e-02 2.38170698e+02] [-4.85864092e-01 8.73894231e-01 -1.56511371e-02 -9.30330205e+01] [-3.04567273e-02 9.68124912e-04 9.99535617e-01 4.29056556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:-93.06, Z:0.43 [[ 8.72887582e-01 4.87220586e-01 2.61413395e-02 2.38225004e+02] [-4.86969813e-01 8.73278433e-01 -1.56582186e-02 -9.30643587e+01] [-3.04576744e-02 9.37821347e-04 9.99535617e-01 4.26487794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:-93.10, Z:0.43 [[ 8.72712217e-01 4.87534862e-01 2.61370448e-02 2.38278950e+02] [-4.87284015e-01 8.73103020e-01 -1.56653840e-02 -9.30969442e+01] [-3.04577536e-02 9.35207825e-04 9.99535617e-01 4.25842515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98361786499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:-93.13, Z:0.43 [[ 8.70964694e-01 4.90650172e-01 2.61325481e-02 2.38331229e+02] [-4.90400499e-01 8.71356248e-01 -1.56728817e-02 -9.31316277e+01] [-3.04606612e-02 8.35112010e-04 9.99535618e-01 4.29241119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.043617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.38, Y:-93.16, Z:0.43 [[ 8.70838065e-01 4.90875095e-01 2.61286528e-02 2.38383995e+02] [-4.90625329e-01 8.71229559e-01 -1.56793731e-02 -9.31623200e+01] [-3.04606684e-02 8.34816033e-04 9.99535618e-01 4.25969159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.103617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.44, Y:-93.19, Z:0.42 [[ 8.71105295e-01 4.90400825e-01 2.61265260e-02 2.38438973e+02] [-4.90150740e-01 8.71496585e-01 -1.56829162e-02 -9.31909258e+01] [-3.04600932e-02 8.55535275e-04 9.99535618e-01 4.18784974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.49, Y:-93.22, Z:0.42 [[ 8.70370203e-01 4.91704509e-01 2.61225182e-02 2.38491638e+02] [-4.91454809e-01 8.70761740e-01 -1.56895889e-02 -9.32228965e+01] [-3.04611310e-02 8.17713424e-04 9.99535618e-01 4.16343744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.223617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.54, Y:-93.25, Z:0.41 [[ 8.69413283e-01 4.93394731e-01 2.61186275e-02 2.38544602e+02] [-4.93145599e-01 8.69805181e-01 -1.56960631e-02 -9.32541766e+01] [-3.04624724e-02 7.66079495e-04 9.99535618e-01 4.12879744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.283617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.60, Y:-93.29, Z:0.41 [[ 8.67643319e-01 4.96500829e-01 2.61150810e-02 2.38597971e+02] [-4.96252922e-01 8.68035994e-01 -1.57019616e-02 -9.32875515e+01] [-3.04648672e-02 6.64016822e-04 9.99535618e-01 4.09761196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.343617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.65, Y:-93.32, Z:0.41 [[ 8.67066710e-01 4.97507334e-01 2.61107631e-02 2.38651972e+02] [-4.97259667e-01 8.67459536e-01 -1.57091386e-02 -9.33193315e+01] [-3.04654421e-02 6.37041755e-04 9.99535618e-01 4.05648019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.70, Y:-93.35, Z:0.40 [[ 8.65267060e-01 5.00630978e-01 2.61063038e-02 2.38704898e+02] [-5.00384506e-01 8.65660636e-01 -1.57165458e-02 -9.33539342e+01] [-3.04673892e-02 5.35819448e-04 9.99535618e-01 4.03970092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:-93.39, Z:0.40 [[ 8.64879854e-01 5.01299845e-01 2.61017772e-02 2.38757680e+02] [-5.01053450e-01 8.65273479e-01 -1.57240599e-02 -9.33890419e+01] [-3.04676443e-02 5.21037124e-04 9.99535618e-01 3.99880831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52361786499998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:-93.42, Z:0.40 [[ 8.64346290e-01 5.02219497e-01 2.60972698e-02 2.38809430e+02] [-5.01973296e-01 8.64740036e-01 -1.57315373e-02 -9.34249507e+01] [-3.04680387e-02 4.97363351e-04 9.99535618e-01 4.00939733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58361786499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.86, Y:-93.46, Z:0.40 [[ 8.64676157e-01 5.01651587e-01 2.60926885e-02 2.38859081e+02] [-5.01404897e-01 8.65069598e-01 -1.57391323e-02 -9.34622839e+01] [-3.04675522e-02 5.26250610e-04 9.99535618e-01 4.01068864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.91, Y:-93.50, Z:0.40 [[ 8.63758081e-01 5.03230916e-01 2.60887473e-02 2.38910181e+02] [-5.02984749e-01 8.64151848e-01 -1.57456623e-02 -9.34960327e+01] [-3.04683433e-02 4.78201062e-04 9.99535618e-01 4.00375633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:-93.53, Z:0.39 [[ 8.68056014e-01 4.95780517e-01 2.60851361e-02 2.38961230e+02] [-4.95530792e-01 8.68447534e-01 -1.57516426e-02 -9.35319110e+01] [-3.04629296e-02 7.47319942e-04 9.99535618e-01 3.94435995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.763617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.01, Y:-93.57, Z:0.39 [[ 8.69291862e-01 4.93610584e-01 2.60815912e-02 2.39013219e+02] [-4.93359705e-01 8.69682644e-01 -1.57575100e-02 -9.35670557e+01] [-3.04607810e-02 8.30269048e-04 9.99535618e-01 3.90811071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.823617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:-93.60, Z:0.39 [[ 8.69281449e-01 4.93629150e-01 2.60772883e-02 2.39063971e+02] [-4.93378066e-01 8.69672099e-01 -1.57646277e-02 -9.36019970e+01] [-3.04605699e-02 8.37936296e-04 9.99535618e-01 3.90987221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.883617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.11, Y:-93.64, Z:0.39 [[ 8.68081231e-01 4.95736987e-01 2.60732781e-02 2.39114577e+02] [-4.95486653e-01 8.68472363e-01 -1.57712574e-02 -9.36387288e+01] [-3.04623171e-02 7.71771254e-04 9.99535618e-01 3.91185291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.943617865 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:239.17, Y:-93.67, Z:0.39 [[ 8.66470004e-01 4.98548015e-01 2.60692926e-02 2.39166189e+02] [-4.98298752e-01 8.66861819e-01 -1.57778426e-02 -9.36733548e+01] [-3.04644865e-02 6.80731329e-04 9.99535618e-01 3.89546625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.003617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:-93.71, Z:0.39 [[ 8.64381559e-01 5.02160449e-01 2.60653801e-02 2.39218362e+02] [-5.01912629e-01 8.64774288e-01 -1.57843036e-02 -9.37052514e+01] [-3.04669235e-02 5.61117513e-04 9.99535618e-01 3.85228878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.063617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.27, Y:-93.74, Z:0.38 [[ 8.61644923e-01 5.06841996e-01 2.60617979e-02 2.39270091e+02] [-5.06596131e-01 8.62038879e-01 -1.57902160e-02 -9.37403729e+01] [-3.04694276e-02 4.02753505e-04 9.99535618e-01 3.84747351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.123617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.32, Y:-93.78, Z:0.38 [[ 8.60642628e-01 5.08542307e-01 2.60574197e-02 2.39322906e+02] [-5.08297002e-01 8.61036932e-01 -1.57974377e-02 -9.37752667e+01] [-3.04700661e-02 3.51040033e-04 9.99535618e-01 3.82476219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.38, Y:-93.81, Z:0.38 [[ 8.59091996e-01 5.11157569e-01 2.60553596e-02 2.39375652e+02] [-5.10913362e-01 8.59486981e-01 -1.58008348e-02 -9.38103327e+01] [-3.04709586e-02 2.62339369e-04 9.99535618e-01 3.80623484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.43, Y:-93.85, Z:0.38 [[ 8.59233540e-01 5.10919843e-01 2.60506601e-02 2.39427806e+02] [-5.10675291e-01 8.59628312e-01 -1.58085789e-02 -9.38450017e+01] [-3.04708017e-02 2.79832792e-04 9.99535618e-01 3.82312961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.48, Y:-93.88, Z:0.38 [[ 8.59522854e-01 5.10433213e-01 2.60460720e-02 2.39479464e+02] [-5.10188209e-01 8.59917346e-01 -1.58161346e-02 -9.38800763e+01] [-3.04705495e-02 3.05930334e-04 9.99535618e-01 3.81688598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36361786499998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:-93.91, Z:0.38 [[ 8.59578548e-01 5.10339625e-01 2.60420091e-02 2.39532635e+02] [-5.10094375e-01 8.59972887e-01 -1.58228215e-02 -9.39141778e+01] [-3.04704346e-02 3.17075595e-04 9.99535618e-01 3.82480678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.59, Y:-93.94, Z:0.37 [[ 8.59499458e-01 5.10473041e-01 2.60375765e-02 2.39587814e+02] [-5.10227632e-01 8.59893698e-01 -1.58301123e-02 -9.39448017e+01] [-3.04703936e-02 3.20881942e-04 9.99535618e-01 3.73998497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48361786499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:-93.98, Z:0.37 [[ 8.58798451e-01 5.11651610e-01 2.60355553e-02 2.39640781e+02] [-5.11406641e-01 8.59192964e-01 -1.58334359e-02 -9.39760369e+01] [-3.04707689e-02 2.82974347e-04 9.99535618e-01 3.72624021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.543617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:-94.01, Z:0.37 [[ 8.59187869e-01 5.10997603e-01 2.60318175e-02 2.39693889e+02] [-5.10752147e-01 8.59582080e-01 -1.58395790e-02 -9.40096095e+01] [-3.04704707e-02 3.13367439e-04 9.99535618e-01 3.72610979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.603617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.75, Y:-94.04, Z:0.37 [[ 8.61488326e-01 5.07109899e-01 2.60271919e-02 2.39747846e+02] [-5.06862435e-01 8.61881279e-01 -1.58471760e-02 -9.40412638e+01] [-3.04686092e-02 4.59951262e-04 9.99535618e-01 3.70690755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.663617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:-94.07, Z:0.37 [[ 8.65258577e-01 5.00649998e-01 2.60225909e-02 2.39802043e+02] [-5.00399374e-01 8.65649522e-01 -1.58547277e-02 -9.40704426e+01] [-3.04641127e-02 6.96750920e-04 9.99535618e-01 3.67069567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.723617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:-94.10, Z:0.37 [[ 8.67678195e-01 4.96444849e-01 2.60204092e-02 2.39855598e+02] [-4.96192223e-01 8.68067850e-01 -1.58583073e-02 -9.41024043e+01] [-3.04602557e-02 8.48782725e-04 9.99535618e-01 3.65988401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.783617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.91, Y:-94.13, Z:0.36 [[ 8.71161067e-01 4.90307606e-01 2.60162925e-02 2.39908721e+02] [-4.90052035e-01 8.71548796e-01 -1.58650582e-02 -9.41349284e+01] [-3.04532271e-02 1.07168398e-03 9.99535618e-01 3.64305279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.843617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:-94.17, Z:0.36 [[ 8.72165405e-01 4.88519059e-01 2.60122295e-02 2.39961519e+02] [-4.88262495e-01 8.72552477e-01 -1.58717170e-02 -9.41672155e+01] [-3.04506715e-02 1.14196644e-03 9.99535618e-01 3.62421201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.02, Y:-94.19, Z:0.36 [[ 8.72703171e-01 4.87557927e-01 2.60085218e-02 2.40016356e+02] [-4.87300756e-01 8.73089840e-01 -1.58777903e-02 -9.41933158e+01] [-3.04491187e-02 1.18262562e-03 9.99535618e-01 3.56485053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96361786499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.07, Y:-94.22, Z:0.36 [[ 8.71438577e-01 4.89814718e-01 2.60067023e-02 2.40071044e+02] [-4.89558459e-01 8.71825852e-01 -1.58807701e-02 -9.42227915e+01] [-3.04519503e-02 1.10731460e-03 9.99535618e-01 3.57626092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:-94.25, Z:0.36 [[ 8.70077448e-01 4.92228693e-01 2.60028314e-02 2.40125122e+02] [-4.91973320e-01 8.70465308e-01 -1.58871057e-02 -9.42537135e+01] [-3.04546519e-02 1.03031306e-03 9.99535618e-01 3.56148329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:-94.28, Z:0.35 [[ 8.68476294e-01 4.95048476e-01 2.59987370e-02 2.40179914e+02] [-4.94794162e-01 8.68864848e-01 -1.58938031e-02 -9.42842497e+01] [-3.04575917e-02 9.39367948e-04 9.99535619e-01 3.54218191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:-94.32, Z:0.35 [[ 8.68101084e-01 4.95706359e-01 2.59944920e-02 2.40234102e+02] [-4.95452132e-01 8.68489696e-01 -1.59007429e-02 -9.43161806e+01] [-3.04580478e-02 9.24425657e-04 9.99535619e-01 3.53500162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20361786499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:-94.35, Z:0.35 [[ 8.68488451e-01 4.95027597e-01 2.59901792e-02 2.40288744e+02] [-4.94772856e-01 8.68876725e-01 -1.59077892e-02 -9.43478136e+01] [-3.04570564e-02 9.56496049e-04 9.99535619e-01 3.51624107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.263617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:-94.38, Z:0.35 [[ 8.69571465e-01 4.93122923e-01 2.59855750e-02 2.40341368e+02] [-4.92867107e-01 8.69959032e-01 -1.59153065e-02 -9.43801418e+01] [-3.04545882e-02 1.03206124e-03 9.99535619e-01 3.51769819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.323617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.40, Y:-94.41, Z:0.35 [[ 8.70977555e-01 4.90635373e-01 2.59813343e-02 2.40395604e+02] [-4.90378244e-01 8.71364252e-01 -1.59222264e-02 -9.44122668e+01] [-3.04512134e-02 1.12722073e-03 9.99535619e-01 3.50141940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.383617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:-94.44, Z:0.35 [[ 8.72997461e-01 4.87032471e-01 2.59769957e-02 2.40448962e+02] [-4.86773537e-01 8.73382952e-01 -1.59293017e-02 -9.44443079e+01] [-3.04459524e-02 1.26132584e-03 9.99535619e-01 3.49108187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.443617865 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.50, Y:-94.48, Z:0.35 [[ 8.73857175e-01 4.85488457e-01 2.59729885e-02 2.40503458e+02] [-4.85228648e-01 8.74242077e-01 -1.59358328e-02 -9.44764989e+01] [-3.04433423e-02 1.32280370e-03 9.99535619e-01 3.47513214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.503617865 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:-94.51, Z:0.33 [[ 8.75118610e-01 4.83211187e-01 2.59685911e-02 2.40558759e+02] [-4.82950165e-01 8.75502689e-01 -1.59429954e-02 -9.45050128e+01] [-3.04394051e-02 1.41047662e-03 9.99535619e-01 3.32545357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.563617865 meters Centerline goodness : 0.990318 with order 1 Centerline is valid? [True, True] Translation: X:240.61, Y:-94.54, Z:0.34 [[ 8.72782512e-01 4.87418217e-01 2.59647578e-02 2.40610987e+02] [-4.87158862e-01 8.73167719e-01 -1.59492360e-02 -9.45384575e+01] [-3.04455365e-02 1.27125246e-03 9.99535619e-01 3.38786763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.623617865 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:240.67, Y:-94.57, Z:0.33 [[ 8.71957507e-01 4.88892655e-01 2.59630091e-02 2.40666621e+02] [-4.88633867e-01 8.72343095e-01 -1.59520821e-02 -9.45668582e+01] [-3.04475075e-02 1.22313222e-03 9.99535619e-01 3.27942594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68361786499997 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:240.72, Y:-94.60, Z:0.34 [[ 8.69678446e-01 4.92935511e-01 2.59611686e-02 2.40720917e+02] [-4.92678426e-01 8.70065172e-01 -1.59550769e-02 -9.45962381e+01] [-3.04527326e-02 1.08527877e-03 9.99535619e-01 3.35863546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74361786499998 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:240.78, Y:-94.62, Z:0.32 [[ 8.71044823e-01 4.90517080e-01 2.59597713e-02 2.40775683e+02] [-4.90258854e-01 8.71430789e-01 -1.59573500e-02 -9.46227930e+01] [-3.04494967e-02 1.17255938e-03 9.99535619e-01 3.21475140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80361786499998 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:240.83, Y:-94.65, Z:0.34 [[ 8.71739612e-01 4.89281266e-01 2.59594273e-02 2.40828030e+02] [-4.89022476e-01 8.72125199e-01 -1.59579096e-02 -9.46546533e+01] [-3.04477769e-02 1.21639854e-03 9.99535619e-01 3.36956915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86361786499998 meters Centerline goodness : 0.996084 with order 1 Centerline is valid? [True, True] Translation: X:240.88, Y:-94.68, Z:0.34 [[ 8.73755633e-01 4.85671928e-01 2.59590584e-02 2.40883158e+02] [-4.85411527e-01 8.74140135e-01 -1.59585097e-02 -9.46828375e+01] [-3.04424550e-02 1.34301151e-03 9.99535619e-01 3.38092246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92361786499998 meters Centerline goodness : 0.992619 with order 1 Centerline is valid? [True, True] Translation: X:240.95, Y:-94.68, Z:0.29 [[ 8.87873322e-01 4.59355375e-01 2.59538906e-02 2.40951541e+02] [-4.59083362e-01 8.88249697e-01 -1.59669098e-02 -9.46836939e+01] [-3.03880213e-02 2.26159384e-03 9.99535619e-01 2.86631392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98361786499999 meters Centerline goodness : 0.992824 with order 1 Centerline is valid? [True, True] Translation: X:241.00, Y:-94.72, Z:0.29 [[ 8.86021140e-01 4.62917868e-01 2.59535714e-02 2.41002156e+02] [-4.62647353e-01 8.86398594e-01 -1.59674286e-02 -9.47187283e+01] [-3.03968172e-02 2.14012814e-03 9.99535619e-01 2.89529074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.043617865 meters Centerline goodness : 0.995447 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:-94.76, Z:0.30 [[ 8.78017835e-01 4.77923769e-01 2.59528946e-02 2.41048569e+02] [-4.77659682e-01 8.78399814e-01 -1.59685286e-02 -9.47600101e+01] [-3.04287572e-02 1.62400156e-03 9.99535619e-01 3.02790501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.103617865 meters Centerline goodness : 0.996738 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:-94.79, Z:0.33 [[ 8.77391248e-01 4.79073141e-01 2.59523407e-02 2.41102455e+02] [-4.78809529e-01 8.77773554e-01 -1.59694287e-02 -9.47894609e+01] [-3.04308027e-02 1.58520898e-03 9.99535619e-01 3.27337369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.163617865 meters Centerline goodness : 0.993960 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:-94.80, Z:0.29 [[ 8.84076244e-01 4.66621578e-01 2.59518481e-02 2.41165543e+02] [-4.66352564e-01 8.84454769e-01 -1.59702292e-02 -9.47988523e+01] [-3.04052894e-02 2.01618938e-03 9.99535619e-01 2.94649189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.223617865 meters Centerline goodness : 0.994313 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:-94.83, Z:0.30 [[ 8.81220540e-01 4.71992450e-01 2.59516413e-02 2.41217127e+02] [-4.71725734e-01 8.81600688e-01 -1.59705653e-02 -9.48317609e+01] [-3.04169711e-02 1.83153313e-03 9.99535619e-01 2.97875069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.283617865 meters Centerline goodness : 0.994179 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:-94.85, Z:0.30 [[ 8.82418028e-01 4.69749892e-01 2.59511726e-02 2.41277796e+02] [-4.69482188e-01 8.82797481e-01 -1.59713269e-02 -9.48529412e+01] [-3.04121589e-02 1.90977346e-03 9.99535619e-01 2.98783305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.343617865 meters Centerline goodness : 0.991942 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:-94.88, Z:0.30 [[ 8.81561071e-01 4.71356302e-01 2.59482955e-02 2.41333823e+02] [-4.71089153e-01 8.81940915e-01 -1.59759999e-02 -9.48758089e+01] [-3.04152517e-02 1.85985907e-03 9.99535619e-01 3.02971827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40361786499997 meters Centerline goodness : 0.989612 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:-94.90, Z:0.30 [[ 8.82171171e-01 4.70213486e-01 2.59480594e-02 2.41390803e+02] [-4.69945834e-01 8.82550661e-01 -1.59763834e-02 -9.48972374e+01] [-3.04127879e-02 1.89972241e-03 9.99535619e-01 2.96487783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46361786499997 meters Centerline goodness : 0.984744 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:-94.92, Z:0.29 [[ 8.82959552e-01 4.68731397e-01 2.59481565e-02 2.41448448e+02] [-4.68463112e-01 8.83338595e-01 -1.59762256e-02 -9.49158667e+01] [-3.04095667e-02 1.95060684e-03 9.99535619e-01 2.87919199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52361786499998 meters Centerline goodness : 0.979452 with order 2 Centerline is valid? [True, True] Translation: X:241.47, Y:-94.91, Z:0.31 [[ 8.84077496e-01 4.66619410e-01 2.59481678e-02 2.41472706e+02] [-4.66350221e-01 8.84455896e-01 -1.59762073e-02 -9.49146276e+01] [-3.04048184e-02 2.02327151e-03 9.99535619e-01 3.05990257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58361786499998 meters Centerline goodness : 0.964175 with order 1 Centerline is valid? [True, True] Translation: X:241.54, Y:-94.99, Z:0.30 [[ 8.70835643e-01 4.90801700e-01 2.75495006e-02 2.41543751e+02] [-4.90621869e-01 8.71269370e-01 -1.34114199e-02 -9.49945931e+01] [-3.05853837e-02 -1.83724496e-03 9.99530469e-01 3.02998750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3062.31 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%| | 0/8488 [00:00