+ python -m lidar_slam --result /working/result.json --no-model /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 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 0.02587156 Adjusted end_distance from 9.223372036854776e+18 to 310.00587156 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02587156 meters Centerline goodness : 0.664680 with order 2 Centerline is valid? [0, False] SLAMing on 0.08587156 meters Centerline goodness : 0.661869 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998524e-01 -1.61014331e-03 -6.00253787e-04 9.40109452e-03] [ 1.60946209e-03 9.99998062e-01 -1.13364134e-03 -2.06529762e-03] [ 6.02077949e-04 1.13267358e-03 9.99999177e-01 -5.89513602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14587155999999998 meters Centerline goodness : 0.432195 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999509 -0.00290898 -0.00116256 0.02015811] [ 0.00290712 0.9999945 -0.00159563 -0.00476325] [ 0.00116719 0.00159225 0.99999805 -0.01362208] [ 0. 0. 0. 1. ]] SLAMing on 0.20587155999999998 meters Centerline goodness : 0.430051 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99999085 -0.00401917 -0.00146318 0.03104629] [ 0.00401659 0.99999037 -0.00176736 -0.01083521] [ 0.00147027 0.00176147 0.99999737 -0.0217579 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26587156 meters Centerline goodness : 0.427198 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.9999858 -0.00494171 -0.00199387 0.04037821] [ 0.00493796 0.99998603 -0.001884 -0.01338877] [ 0.00200315 0.00187412 0.99999624 -0.02761019] [ 0. 0. 0. 1. ]] SLAMing on 0.32587156 meters Centerline goodness : 0.437072 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.04 [[ 0.99998237 -0.00514958 -0.00295752 0.05402322] [ 0.00514582 0.99998594 -0.00127893 -0.02332198] [ 0.00296406 0.00126369 0.99999481 -0.03660838] [ 0. 0. 0. 1. ]] SLAMing on 0.38587156 meters Centerline goodness : 0.440241 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 9.99988555e-01 -3.18241042e-03 -3.57234058e-03 6.29505922e-02] [ 3.18353293e-03 9.99994885e-01 3.08579169e-04 -2.68235200e-02] [ 3.57134028e-03 -3.19948301e-04 9.99993572e-01 -4.16000067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44587156 meters Centerline goodness : 0.436951 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 9.99989438e-01 -2.00313346e-04 -4.59170391e-03 7.99395452e-02] [ 2.07853131e-04 9.99998631e-01 1.64162673e-03 -3.18108247e-02] [ 4.59136879e-03 -1.64256379e-03 9.99988111e-01 -5.12387609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.50587156 meters Centerline goodness : 0.444904 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99998288 0.00218835 -0.00542643 0.0896256 ] [-0.0021731 0.99999368 0.0028156 -0.03398213] [ 0.00543255 -0.00280376 0.99998131 -0.05580098] [ 0. 0. 0. 1. ]] SLAMing on 0.56587156 meters Centerline goodness : 0.445847 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.06 [[ 0.99994289 0.00848749 -0.00649512 0.10590557] [-0.0084373 0.99993464 0.00771508 -0.03927411] [ 0.00656018 -0.00765984 0.99994914 -0.06460357] [ 0. 0. 0. 1. ]] SLAMing on 0.62587156 meters Centerline goodness : 0.441647 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.07 [[ 0.99991508 0.01089204 -0.00715519 0.11636461] [-0.01083061 0.99990463 0.00856895 -0.0385275 ] [ 0.00724784 -0.00849073 0.99993769 -0.07041443] [ 0. 0. 0. 1. ]] SLAMing on 0.6858715599999999 meters Centerline goodness : 0.452638 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.08 [[ 0.99987884 0.01326532 -0.00814421 0.13113694] [-0.01319307 0.9998737 0.00886194 -0.03731153] [ 0.00826074 -0.00875342 0.99992757 -0.0783654 ] [ 0. 0. 0. 1. ]] SLAMing on 0.74587156 meters Centerline goodness : 0.440542 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.08 [[ 0.99984392 0.01526082 -0.00890235 0.14105941] [-0.01517773 0.9998413 0.00932841 -0.03551568] [ 0.0090433 -0.00919183 0.99991686 -0.08338539] [ 0. 0. 0. 1. ]] SLAMing on 0.80587156 meters Centerline goodness : 0.473770 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.09 [[ 0.99975581 0.01993589 -0.00953272 0.15263546] [-0.01980923 0.99971661 0.01320172 -0.03190285] [ 0.0097932 -0.01300966 0.99986741 -0.0901712 ] [ 0. 0. 0. 1. ]] SLAMing on 0.86587156 meters Centerline goodness : 0.471359 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.09 [[ 0.99974929 0.02015281 -0.00975817 0.15747771] [-0.02002712 0.99971736 0.01281095 -0.02896189] [ 0.01001358 -0.01261231 0.99987032 -0.09177237] [ 0. 0. 0. 1. ]] SLAMing on 0.9258715599999999 meters Centerline goodness : 0.462308 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.09 [[ 0.99974769 0.02012186 -0.00998297 0.15989848] [-0.01999559 0.99972078 0.01259108 -0.02751925] [ 0.01023354 -0.01238829 0.99987089 -0.09354797] [ 0. 0. 0. 1. ]] SLAMing on 0.98587156 meters Centerline goodness : 0.476739 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.10 [[ 0.99973724 0.02015177 -0.01092473 0.17323932] [-0.02002169 0.99972886 0.01188892 -0.022875 ] [ 0.01116135 -0.01166706 0.99986964 -0.10112682] [ 0. 0. 0. 1. ]] SLAMing on 1.04587156 meters Centerline goodness : 0.478805 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.11 [[ 0.99978698 0.01980851 -0.00579773 0.2241451 ] [-0.01974394 0.99974466 0.01099051 -0.01006687] [ 0.00601395 -0.0108737 0.99992279 -0.11098721] [ 0. 0. 0. 1. ]] SLAMing on 1.10587156 meters Centerline goodness : 0.443992 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.00, Z:-0.11 [[ 0.99979449 0.01938871 -0.00592059 0.22798082] [-0.0193286 0.99976272 0.01004539 -0.00450068] [ 0.00611395 -0.00992889 0.99993202 -0.11179467] [ 0. 0. 0. 1. ]] SLAMing on 1.1658715599999998 meters Centerline goodness : 0.356218 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.00, Z:-0.12 [[ 9.99882475e-01 1.53303606e-02 1.29762685e-04 2.70753801e-01] [-1.53308495e-02 9.99866451e-01 5.66079323e-03 3.39897167e-03] [-4.29633545e-05 -5.66211731e-03 9.99983969e-01 -1.15544133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2258715599999999 meters Centerline goodness : 0.085106 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.01, Z:-0.11 [[ 0.99997531 0.00591161 -0.00379924 0.29951025] [-0.00590275 0.99997984 0.00234039 0.01184941] [ 0.003813 -0.0023179 0.99999004 -0.11347678] [ 0. 0. 0. 1. ]] SLAMing on 1.28587156 meters Centerline goodness : 0.283021 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.12 [[ 9.99983995e-01 -5.65027163e-03 2.90735609e-04 3.30818642e-01] [ 5.64914772e-03 9.99977082e-01 3.73133985e-03 1.52624714e-02] [-3.11812029e-04 -3.72963772e-03 9.99992996e-01 -1.24890890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3458715599999997 meters Centerline goodness : 0.311278 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.13 [[ 9.99941639e-01 -1.07947396e-02 -4.37483292e-04 3.41623152e-01] [ 1.07946698e-02 9.99941723e-01 -1.61543973e-04 1.22054127e-02] [ 4.39201622e-04 1.56812057e-04 9.99999891e-01 -1.31240526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4058715599999998 meters Centerline goodness : 0.301191 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.00, Z:-0.14 [[ 0.99987124 -0.01600038 -0.00122212 0.35397078] [ 0.01599557 0.99986464 -0.00385379 0.00490009] [ 0.00128361 0.00383375 0.99999183 -0.13806145] [ 0. 0. 0. 1. ]] SLAMing on 1.4658715599999999 meters Centerline goodness : 0.320935 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.00, Z:-0.14 [[ 0.99987489 -0.01573487 -0.00161583 0.35883078] [ 0.01573053 0.99987271 -0.00266705 -0.00278921] [ 0.00165759 0.0026413 0.99999514 -0.13952706] [ 0. 0. 0. 1. ]] SLAMing on 1.52587156 meters Centerline goodness : 0.324688 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.14 [[ 0.99991194 -0.01196638 -0.00573781 0.38905752] [ 0.01195248 0.99992556 -0.00245143 -0.01423141] [ 0.00576672 0.00238264 0.99998053 -0.13913645] [ 0. 0. 0. 1. ]] SLAMing on 1.58587156 meters Centerline goodness : 0.322260 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:-0.14 [[ 0.99992543 -0.00731312 -0.00978045 0.42062921] [ 0.00729336 0.99997129 -0.00205423 -0.0306816 ] [ 0.0097952 0.00198274 0.99995006 -0.13953175] [ 0. 0. 0. 1. ]] SLAMing on 1.6458715599999998 meters Centerline goodness : 0.334967 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:-0.14 [[ 9.99930138e-01 -5.91883792e-03 -1.02316088e-02 4.27521506e-01] [ 5.91205710e-03 9.99982284e-01 -6.92851305e-04 -3.87344090e-02] [ 1.02355284e-02 6.32313046e-04 9.99947416e-01 -1.42270389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7058715599999998 meters Centerline goodness : 0.317171 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.05, Z:-0.15 [[ 0.99997926 -0.00389272 -0.00513142 0.48053718] [ 0.00390054 0.99999124 0.00151626 -0.05155404] [ 0.00512547 -0.00153624 0.99998568 -0.15229454] [ 0. 0. 0. 1. ]] SLAMing on 1.76587156 meters Centerline goodness : 0.055488 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.16 [[ 9.99998412e-01 -1.54303045e-03 8.91709428e-04 5.25220097e-01] [ 1.53934241e-03 9.99990320e-01 4.12191027e-03 -5.79874217e-02] [-8.98061030e-04 -4.12053108e-03 9.99991107e-01 -1.57535731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8258715599999997 meters Centerline goodness : 0.304662 with order 2 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.16 [[ 0.99997834 0.00570293 -0.00328606 0.55985361] [-0.0056889 0.99997473 0.0042625 -0.06754526] [ 0.00331029 -0.00424371 0.99998552 -0.15842649] [ 0. 0. 0. 1. ]] SLAMing on 1.8858715599999998 meters Centerline goodness : 0.130251 with order 3 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.16 [[ 0.99996207 0.00754992 -0.00434235 0.57334527] [-0.00752884 0.9999599 0.00484945 -0.06901524] [ 0.00437879 -0.00481657 0.99997881 -0.16478619] [ 0. 0. 0. 1. ]] SLAMing on 1.9458715599999998 meters Centerline goodness : 0.055562 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:-0.17 [[ 0.99994305 0.00926104 -0.00530396 0.58695774] [-0.00922988 0.99994018 0.00586976 -0.07543158] [ 0.005358 -0.00582047 0.99996871 -0.16949122] [ 0. 0. 0. 1. ]] SLAMing on 2.00587156 meters Centerline goodness : 0.055328 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.17 [[ 0.99995546 0.00729499 -0.00598762 0.59866036] [-0.00727646 0.99996869 0.00311066 -0.07954017] [ 0.00601012 -0.00306695 0.99997724 -0.17329232] [ 0. 0. 0. 1. ]] SLAMing on 2.06587156 meters Centerline goodness : 0.105251 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.18 [[ 0.99994789 0.00725646 -0.00718103 0.61151155] [-0.00723087 0.99996744 0.00358358 -0.08357721] [ 0.0072068 -0.00353147 0.99996779 -0.1803314 ] [ 0. 0. 0. 1. ]] SLAMing on 2.12587156 meters Centerline goodness : 0.054144 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.19 [[ 9.99955627e-01 4.62530454e-03 -8.20678687e-03 6.26523767e-01] [-4.62476132e-03 9.99989302e-01 8.51681537e-05 -8.44874052e-02] [ 8.20709300e-03 -4.72099441e-05 9.99966320e-01 -1.87207525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1858715600000003 meters Centerline goodness : 0.073851 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.19 [[ 9.99944326e-01 5.03877112e-03 -9.27122771e-03 6.39168767e-01] [-5.03564780e-03 9.99987256e-01 3.60196014e-04 -8.52002488e-02] [ 9.27292450e-03 -3.13489323e-04 9.99956956e-01 -1.93843318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24587156 meters Centerline goodness : 0.171373 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.20 [[ 0.99998965 0.00248994 -0.00380872 0.69099114] [-0.00249828 0.99999448 -0.00218853 -0.08756129] [ 0.00380325 0.00219802 0.99999035 -0.20410121] [ 0. 0. 0. 1. ]] SLAMing on 2.30587156 meters Centerline goodness : 0.199705 with order 2 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.09, Z:-0.21 [[ 0.99998663 0.00188207 -0.00481669 0.70476087] [-0.00189048 0.9999967 -0.00174191 -0.09182844] [ 0.0048134 0.001751 0.99998688 -0.2095144 ] [ 0. 0. 0. 1. ]] SLAMing on 2.36587156 meters Centerline goodness : 0.183573 with order 3 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.10, Z:-0.21 [[ 0.99998526 0.00173928 -0.00514418 0.71000737] [-0.00174524 0.99999781 -0.00115299 -0.0958312 ] [ 0.00514217 0.00116196 0.9999861 -0.21061685] [ 0. 0. 0. 1. ]] SLAMing on 2.42587156 meters Centerline goodness : 0.198440 with order 3 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:-0.22 [[ 9.99979116e-01 9.38362245e-04 -6.39430433e-03 7.22562491e-01] [-9.45200223e-04 9.99998985e-01 -1.06644762e-03 -9.93326230e-02] [ 6.39329713e-03 1.07246925e-03 9.99978988e-01 -2.16729636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.48587156 meters Centerline goodness : 0.206286 with order 2 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.22 [[ 9.99974637e-01 2.27161644e-05 -7.12211004e-03 7.36177732e-01] [-3.04512871e-05 9.99999410e-01 -1.08596522e-03 -1.05584573e-01] [ 7.12208116e-03 1.08615456e-03 9.99974048e-01 -2.22051645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.54587156 meters Centerline goodness : 0.244971 with order 3 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.23 [[ 0.99999629 0.00185257 -0.00199588 0.78746943] [-0.00184845 0.99999616 0.00206553 -0.10730369] [ 0.0019997 -0.00206183 0.99999588 -0.2326192 ] [ 0. 0. 0. 1. ]] SLAMing on 2.60587156 meters Centerline goodness : 0.536022 with order 3 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:-0.24 [[ 0.99999224 0.00216017 -0.0032942 0.80057191] [-0.00215286 0.99999521 0.00222208 -0.10840588] [ 0.00329898 -0.00221497 0.99999211 -0.23950841] [ 0. 0. 0. 1. ]] SLAMing on 2.66587156 meters SLAMing on 2.72587156 meters SLAMing on 2.78587156 meters SLAMing on 2.84587156 meters Centerline goodness : 0.122858 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.11, Z:-0.24 [[ 0.99998078 0.00490687 -0.00379032 0.97012644] [-0.00489044 0.99997866 0.00433233 -0.11370246] [ 0.0038115 -0.00431371 0.99998343 -0.23874114] [ 0. 0. 0. 1. ]] SLAMing on 2.90587156 meters Centerline goodness : 0.189670 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.11, Z:-0.24 [[ 9.99987474e-01 2.27078449e-03 -4.46033380e-03 9.83063037e-01] [-2.26817813e-03 9.99997254e-01 5.89312839e-04 -1.13443911e-01] [ 4.46165976e-03 -5.79188625e-04 9.99989879e-01 -2.43815209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96587156 meters Centerline goodness : 0.191183 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.24 [[ 9.99985271e-01 2.49753818e-03 -4.81881179e-03 9.87806017e-01] [-2.49371950e-03 9.99996572e-01 7.98299273e-04 -1.15047477e-01] [ 4.82078906e-03 -7.86270750e-04 9.99988071e-01 -2.44678998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.02587156 meters Centerline goodness : 0.196589 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.12, Z:-0.25 [[ 0.99997872 0.00287925 -0.00585362 1.00214879] [-0.00287203 0.99999511 0.00124052 -0.1190359 ] [ 0.00585716 -0.00122368 0.9999821 -0.25156897] [ 0. 0. 0. 1. ]] SLAMing on 3.08587156 meters Centerline goodness : 0.197569 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.25 [[ 0.99997452 0.00316502 -0.00639783 1.00743293] [-0.00315557 0.99999391 0.00148773 -0.1201848 ] [ 0.0064025 -0.00146751 0.99997843 -0.25263658] [ 0. 0. 0. 1. ]] SLAMing on 3.1458715600000002 meters Centerline goodness : 0.114516 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.25 [[ 0.99997175 0.00392524 -0.00641 1.01399415] [-0.00391074 0.99998977 0.00227333 -0.12583305] [ 0.00641886 -0.0022482 0.99997687 -0.25336162] [ 0. 0. 0. 1. ]] SLAMing on 3.20587156 meters Centerline goodness : 0.555228 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.26 [[ 9.99992468e-01 3.88054732e-03 6.90108512e-05 1.05932424e+00] [-3.88067634e-03 9.99990511e-01 1.97966938e-03 -1.30747543e-01] [-6.13279957e-05 -1.97992228e-03 9.99998038e-01 -2.59073692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26587156 meters Centerline goodness : 0.112406 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.23 [[ 0.99988927 0.00484175 -0.01407155 1.08401631] [-0.00481156 0.99998605 0.00217857 -0.13480623] [ 0.0140819 -0.00211062 0.99989862 -0.23361315] [ 0. 0. 0. 1. ]] SLAMing on 3.32587156 meters Centerline goodness : 0.112726 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:-0.24 [[ 0.99995094 0.00668124 -0.00731356 1.12758723] [-0.00665071 0.9999691 0.00419029 -0.13858362] [ 0.00734133 -0.00414144 0.99996448 -0.23902507] [ 0. 0. 0. 1. ]] SLAMing on 3.38587156 meters Centerline goodness : 0.111006 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.25 [[ 0.99993382 0.0077034 -0.00854509 1.14204182] [-0.00766329 0.99995951 0.00471675 -0.14159629] [ 0.00858108 -0.00465095 0.99995237 -0.24565348] [ 0. 0. 0. 1. ]] SLAMing on 3.44587156 meters Centerline goodness : 0.111508 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:-0.25 [[ 0.99992437 0.00816171 -0.00920047 1.14739564] [-0.00811859 0.99995593 0.00471402 -0.14076164] [ 0.00923853 -0.00463897 0.99994656 -0.24673788] [ 0. 0. 0. 1. ]] SLAMing on 3.50587156 meters Centerline goodness : 0.111401 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.14, Z:-0.25 [[ 0.99990225 0.00904192 -0.01066458 1.16213045] [-0.00899011 0.9999476 0.0048962 -0.13945404] [ 0.01070829 -0.00479984 0.99993114 -0.25363359] [ 0. 0. 0. 1. ]] SLAMing on 3.56587156 meters Centerline goodness : 0.111053 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.14, Z:-0.26 [[ 0.99995526 0.0087588 -0.00357369 1.20364498] [-0.00874484 0.99995414 0.00390391 -0.13853019] [ 0.00360772 -0.00387248 0.99998599 -0.25791962] [ 0. 0. 0. 1. ]] SLAMing on 3.6258715599999998 meters Centerline goodness : 0.111575 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.26 [[ 0.99995338 0.00871821 -0.00415151 1.20760731] [-0.00870265 0.99995509 0.00375257 -0.13740074] [ 0.00418403 -0.00371626 0.99998434 -0.25804191] [ 0. 0. 0. 1. ]] SLAMing on 3.68587156 meters Centerline goodness : 0.110559 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.13, Z:-0.26 [[ 9.99969302e-01 5.97997904e-03 -5.06308741e-03 1.21780718e+00] [-5.97923824e-03 9.99982111e-01 1.61438542e-04 -1.34796876e-01] [ 5.06396224e-03 -1.31160180e-04 9.99987169e-01 -2.61682572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74587156 meters Centerline goodness : 0.111391 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.26 [[ 9.99968054e-01 5.40711137e-03 -5.88672790e-03 1.22299252e+00] [-5.40531827e-03 9.99985340e-01 3.20468639e-04 -1.37721970e-01] [ 5.88837441e-03 -2.88638764e-04 9.99982622e-01 -2.62636074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80587156 meters Centerline goodness : 0.111404 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:-0.26 [[ 9.99969716e-01 4.73958924e-03 -6.17276561e-03 1.22778094e+00] [-4.73679480e-03 9.99988672e-01 4.67244905e-04 -1.40230689e-01] [ 6.17491023e-03 -4.37991631e-04 9.99980839e-01 -2.62818893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86587156 meters Centerline goodness : 0.109765 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:-0.26 [[ 9.99965841e-01 4.62895250e-03 -6.84754320e-03 1.23206115e+00] [-4.62522129e-03 9.99989146e-01 5.60632590e-04 -1.41243901e-01] [ 6.85006403e-03 -5.28942037e-04 9.99976398e-01 -2.63269586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92587156 meters Centerline goodness : 0.110742 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.14, Z:-0.26 [[ 9.99961239e-01 5.06690873e-03 -7.20042552e-03 1.23668734e+00] [-5.06468934e-03 9.99987121e-01 3.26431404e-04 -1.38799881e-01] [ 7.20198679e-03 -2.89950833e-04 9.99974023e-01 -2.64384027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98587156 meters Centerline goodness : 0.111489 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.26 [[ 9.99952159e-01 5.95426364e-03 -7.76059501e-03 1.24029426e+00] [-5.95398444e-03 9.99982273e-01 5.90803079e-05 -1.34108838e-01] [ 7.76080922e-03 -1.28710195e-05 9.99969884e-01 -2.64765571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045871559999999 meters Centerline goodness : 0.112243 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.27 [[ 0.99991212 0.01052921 -0.0080552 1.24432018] [-0.01049982 0.99993809 0.00368321 -0.12907943] [ 0.00809349 -0.00359831 0.99996077 -0.26519912] [ 0. 0. 0. 1. ]] SLAMing on 4.10587156 meters Centerline goodness : 0.112225 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.12, Z:-0.27 [[ 0.99988374 0.01243879 -0.00881958 1.25336206] [-0.01240507 0.99991557 0.00386745 -0.12249718] [ 0.00886695 -0.0037576 0.99995363 -0.26977102] [ 0. 0. 0. 1. ]] SLAMing on 4.165871559999999 meters Centerline goodness : 0.112662 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:-0.27 [[ 0.9998718 0.01292397 -0.00945248 1.25753109] [-0.01289515 0.99991204 0.00310354 -0.11498902] [ 0.00949176 -0.00298125 0.99995051 -0.27099448] [ 0. 0. 0. 1. ]] SLAMing on 4.22587156 meters Centerline goodness : 0.115484 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:-0.27 [[ 0.99986421 0.01314003 -0.00994462 1.26197373] [-0.01311962 0.9999117 0.00211453 -0.10608424] [ 0.00997152 -0.00198377 0.99994832 -0.27157826] [ 0. 0. 0. 1. ]] SLAMing on 4.2858715599999995 meters Centerline goodness : 0.117797 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:-0.27 [[ 0.99986469 0.01276042 -0.01038178 1.26427136] [-0.01274378 0.9999174 0.00166768 -0.10373623] [ 0.0104022 -0.00153515 0.99994472 -0.27150148] [ 0. 0. 0. 1. ]] SLAMing on 4.34587156 meters Centerline goodness : 0.114215 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.10, Z:-0.28 [[ 0.9999715 0.00730071 -0.0019245 1.28552052] [-0.00729126 0.99996156 0.00487014 -0.10222357] [ 0.00195998 -0.00485597 0.99998629 -0.27977084] [ 0. 0. 0. 1. ]] SLAMing on 4.40587156 meters Centerline goodness : 0.106801 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.10, Z:-0.28 [[ 0.99997548 0.00649797 -0.00260967 1.28939942] [-0.00648742 0.99997082 0.00403275 -0.09810529] [ 0.0026358 -0.00401572 0.99998846 -0.28021951] [ 0. 0. 0. 1. ]] SLAMing on 4.465871559999999 meters Centerline goodness : 0.101702 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.09, Z:-0.28 [[ 9.99990148e-01 2.80176344e-03 -3.44285083e-03 1.29439781e+00] [-2.80478873e-03 9.99995684e-01 -8.74203330e-04 -9.08460444e-02] [ 3.44038666e-03 8.83851187e-04 9.99993691e-01 -2.81153376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52587156 meters Centerline goodness : 0.098458 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.09, Z:-0.28 [[ 9.99989305e-01 2.45701669e-03 -3.91818995e-03 1.29666118e+00] [-2.46198900e-03 9.99996170e-01 -1.26471628e-03 -8.90569190e-02] [ 3.91506751e-03 1.27434929e-03 9.99991524e-01 -2.81029488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.585871559999999 meters Centerline goodness : 0.098352 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.09, Z:-0.28 [[ 0.999988 0.00197348 -0.00448318 1.29919125] [-0.00197969 0.99999709 -0.00138179 -0.08970928] [ 0.00448044 0.00139065 0.999989 -0.28071613] [ 0. 0. 0. 1. ]] SLAMing on 4.64587156 meters Centerline goodness : 0.106520 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.09, Z:-0.28 [[ 0.99998665 0.00151807 -0.00493981 1.3016101 ] [-0.00152881 0.99999648 -0.00216964 -0.08564186] [ 0.0049365 0.00217717 0.99998545 -0.28022784] [ 0. 0. 0. 1. ]] SLAMing on 4.705871559999999 meters Centerline goodness : 0.101163 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.09, Z:-0.28 [[ 9.99969138e-01 -1.21151362e-03 -7.76246779e-03 1.32256338e+00] [ 1.24050108e-03 9.99992272e-01 3.73058273e-03 -8.55018147e-02] [ 7.75788815e-03 -3.74009695e-03 9.99962913e-01 -2.75558683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76587156 meters Centerline goodness : 0.102247 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:-0.28 [[ 0.99996225 -0.00183676 -0.00849305 1.32636646] [ 0.00186711 0.9999919 0.00356649 -0.08641388] [ 0.00848643 -0.00358221 0.99995757 -0.275759 ] [ 0. 0. 0. 1. ]] SLAMing on 4.8258715599999995 meters Centerline goodness : 0.106005 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:-0.28 [[ 0.99995734 -0.00215653 -0.00898169 1.32854074] [ 0.00218715 0.99999183 0.00340033 -0.08609927] [ 0.00897428 -0.00341983 0.99995388 -0.27582602] [ 0. 0. 0. 1. ]] SLAMing on 4.885871559999999 meters Centerline goodness : 0.111509 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.27 [[ 0.99995164 -0.00240972 -0.00953429 1.33084481] [ 0.00243932 0.99999224 0.00309422 -0.08460574] [ 0.00952676 -0.00311733 0.99994976 -0.27496957] [ 0. 0. 0. 1. ]] SLAMing on 4.94587156 meters Centerline goodness : 0.108627 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.08, Z:-0.28 [[ 9.99993512e-01 7.00423952e-04 -3.53341322e-03 1.34707258e+00] [-7.15652513e-04 9.99990454e-01 -4.31045088e-03 -8.11853139e-02] [ 3.53036035e-03 4.31295161e-03 9.99984467e-01 -2.76735463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005871559999999 meters Centerline goodness : 0.105107 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.08, Z:-0.28 [[ 0.99997997 0.00566406 -0.00282535 1.41066291] [-0.00569528 0.99992145 -0.01116483 -0.07513019] [ 0.00276189 0.01118069 0.99993368 -0.27687432] [ 0. 0. 0. 1. ]] SLAMing on 5.06587156 meters Centerline goodness : 0.102741 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:-0.28 [[ 0.99990605 0.01320468 -0.00367669 1.41431104] [-0.01321789 0.99990619 -0.00359024 -0.07156292] [ 0.00362893 0.0036385 0.9999868 -0.27639526] [ 0. 0. 0. 1. ]] SLAMing on 5.125871559999999 meters Centerline goodness : 0.102442 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:-0.28 [[ 0.99990521 0.01312051 -0.00417524 1.41541057] [-0.01314102 0.99990153 -0.00492321 -0.06476909] [ 0.00411023 0.00497761 0.99997916 -0.27634714] [ 0. 0. 0. 1. ]] SLAMing on 5.18587156 meters Centerline goodness : 0.100918 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.06, Z:-0.28 [[ 0.99993281 0.01074418 -0.00435245 1.44157824] [-0.01073259 0.99993882 0.0026778 -0.061296 ] [ 0.00438095 -0.0026309 0.99998694 -0.27725226] [ 0. 0. 0. 1. ]] SLAMing on 5.245871559999999 meters Centerline goodness : 0.080905 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.05, Z:-0.28 [[ 0.99996365 0.00672556 -0.00524138 1.44347682] [-0.00674349 0.99997145 -0.00341084 -0.05184312] [ 0.00521829 0.00344607 0.99998045 -0.2781889 ] [ 0. 0. 0. 1. ]] SLAMing on 5.305871559999999 meters Centerline goodness : 0.081543 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.04, Z:-0.28 [[ 0.99998483 0.00411263 -0.00366391 1.40190358] [-0.00414768 0.99994522 -0.00961035 -0.03845671] [ 0.00362418 0.0096254 0.99994711 -0.280488 ] [ 0. 0. 0. 1. ]] SLAMing on 5.3658715599999995 meters Centerline goodness : 0.086864 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.03, Z:-0.28 [[ 0.99998637 0.00349656 -0.00387743 1.40255833] [-0.00353708 0.99993867 -0.01049484 -0.03486924] [ 0.00384049 0.01050841 0.99993741 -0.27984861] [ 0. 0. 0. 1. ]] SLAMing on 5.425871559999999 meters Centerline goodness : 0.703778 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.02, Z:-0.28 [[ 9.99998154e-01 3.44781663e-04 1.89037146e-03 1.42106361e+00] [-2.99857153e-04 9.99718741e-01 -2.37139059e-02 -2.44185528e-02] [-1.89801589e-03 2.37132953e-02 9.99716999e-01 -2.81639150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.48587156 meters Centerline goodness : 0.086990 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.02, Z:-0.28 [[ 0.99997131 -0.00737679 0.00172293 1.48448065] [ 0.00741 0.99976985 -0.02013305 -0.01930481] [-0.00157402 0.02014524 0.99979582 -0.28005924] [ 0. 0. 0. 1. ]] SLAMing on 5.545871559999999 meters Centerline goodness : 0.936616 with order 3 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.02, Z:-0.28 [[ 9.99948867e-01 -1.00752715e-02 8.67181189e-04 1.49046615e+00] [ 1.00923794e-02 9.99690802e-01 -2.27254192e-02 -1.75453312e-02] [-6.37948289e-04 2.27330092e-02 9.99741368e-01 -2.83621992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60587156 meters Centerline goodness : 0.987122 with order 2 Centerline is valid? [False, True] Translation: X:1.51, Y:-0.02, Z:-0.29 [[ 0.99987945 -0.01473029 0.00491034 1.5126385 ] [ 0.01480877 0.99975667 -0.01634918 -0.02022165] [-0.00466832 0.01641993 0.99985429 -0.28911269] [ 0. 0. 0. 1. ]] SLAMing on 5.665871559999999 meters Centerline goodness : 0.985702 with order 2 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.03, Z:-0.31 [[ 9.99849086e-01 -1.66629177e-02 4.91443572e-03 1.57301390e+00] [ 1.66641118e-02 9.99861124e-01 -2.02123022e-04 -2.96691116e-02] [-4.91038526e-03 2.83987225e-04 9.99987904e-01 -3.09487672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72587156 meters Centerline goodness : 0.992641 with order 2 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:-0.27 [[ 9.99870336e-01 -1.53348660e-02 4.91453899e-03 1.62168573e+00] [ 1.53346965e-02 9.99882414e-01 7.21745623e-05 -3.10535480e-02] [-4.91506790e-03 3.19776010e-06 9.99987921e-01 -2.72525218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7858715599999995 meters Centerline goodness : 0.994184 with order 2 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.04, Z:-0.27 [[ 9.99814349e-01 -1.86310060e-02 4.91459468e-03 1.68430050e+00] [ 1.86304437e-02 9.99826425e-01 1.60173681e-04 -3.55476925e-02] [-4.91672583e-03 -6.85828649e-05 9.99987910e-01 -2.65535660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845871559999999 meters Centerline goodness : 0.995520 with order 2 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.27 [[ 9.99773295e-01 -2.07172955e-02 4.91458126e-03 1.74734144e+00] [ 2.07168061e-02 9.99785373e-01 1.50477521e-04 -3.91815699e-02] [-4.91664394e-03 -4.86289805e-05 9.99987912e-01 -2.65521421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90587156 meters Centerline goodness : 0.973460 with order 1 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.05, Z:-0.36 [[ 9.99836627e-01 -1.73944137e-02 4.91454991e-03 1.82393835e+00] [ 1.73939717e-02 9.99848705e-01 1.32666843e-04 -4.89162671e-02] [-4.91611402e-03 -4.71616271e-05 9.99987915e-01 -3.62141925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965871559999999 meters Centerline goodness : 0.992606 with order 1 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.05, Z:-0.35 [[ 9.99713058e-01 -2.34446917e-02 4.91414664e-03 1.88497538e+00] [ 2.34450413e-02 9.99725127e-01 -1.35545336e-05 -4.88434488e-02] [-4.91247809e-03 1.28763015e-04 9.99987925e-01 -3.52089693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02587156 meters Centerline goodness : 0.995332 with order 1 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:-0.34 [[ 9.99903168e-01 -1.30194187e-02 4.91414657e-03 1.94602281e+00] [ 1.30196426e-02 9.99915241e-01 -1.35815539e-05 -6.24215314e-02] [-4.91355322e-03 7.75606710e-05 9.99987925e-01 -3.39205145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.085871559999999 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.06, Z:-0.26 [[ 9.99764896e-01 -2.11188172e-02 4.91414652e-03 2.00690602e+00] [ 2.11191390e-02 9.99776966e-01 -1.35981934e-05 -6.18633081e-02] [-4.91276332e-03 1.17377540e-04 9.99987925e-01 -2.62525798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14587156 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.07, Z:-0.25 [[ 9.99825921e-01 -1.79994291e-02 4.91414648e-03 2.06853514e+00] [ 1.79997133e-02 9.99837992e-01 -1.36138973e-05 -6.54657121e-02] [-4.91310530e-03 1.02064755e-04 9.99987925e-01 -2.54977964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205871559999999 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.07, Z:-0.26 [[ 9.99932102e-01 -1.05660792e-02 4.91414619e-03 2.12941786e+00] [ 1.05662742e-02 9.99944175e-01 -1.37166959e-05 -7.18639573e-02] [-4.91372693e-03 6.56399808e-05 9.99987925e-01 -2.64992408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26587156 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.07, Z:-0.26 [[ 9.99965044e-01 -6.76481129e-03 4.91414590e-03 2.19103205e+00] [ 6.76496089e-03 9.99977117e-01 -1.38197260e-05 -7.31820615e-02] [-4.91393996e-03 4.70632477e-05 9.99987925e-01 -2.58906254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3258715599999995 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.07, Z:-0.25 [[ 9.99987925e-01 -3.26609957e-05 4.91414561e-03 2.25114813e+00] [ 3.27298144e-05 9.99999999e-01 -1.39237779e-05 -7.46526973e-02] [-4.91414515e-03 1.40844488e-05 9.99987925e-01 -2.45821961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385871559999999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.08, Z:-0.25 [[ 9.99974338e-01 5.21285540e-03 4.91414558e-03 2.31183268e+00] [-5.21284988e-03 9.99986413e-01 -1.39322050e-05 -7.52648822e-02] [-4.91415144e-03 -1.16848558e-05 9.99987925e-01 -2.48715323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.08, Z:-0.24 [[ 9.99973972e-01 5.28267373e-03 4.91414534e-03 2.37522067e+00] [-5.28266864e-03 9.99986047e-01 -1.40155636e-05 -7.70201884e-02] [-4.91415082e-03 -1.19446027e-05 9.99987925e-01 -2.43315034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505871559999999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.08, Z:-0.25 [[ 9.99984611e-01 2.57481729e-03 4.91414206e-03 2.43500048e+00] [-2.57477424e-03 9.99996685e-01 -1.50868955e-05 -7.64876668e-02] [-4.91416461e-03 2.43385693e-06 9.99987925e-01 -2.47081376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56587156 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.08, Z:-0.24 [[ 9.99985892e-01 2.01643650e-03 4.91414206e-03 2.49644785e+00] [-2.01638671e-03 9.99997967e-01 -1.50868955e-05 -7.75781291e-02] [-4.91416249e-03 5.17787188e-06 9.99987925e-01 -2.41262065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.625871559999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.08, Z:-0.24 [[ 9.99987742e-01 6.06144530e-04 4.91413959e-03 2.55865457e+00] [-6.06073947e-04 9.99999816e-01 -1.58523586e-05 -8.01821544e-02] [-4.91414829e-03 1.28738323e-05 9.99987925e-01 -2.44454768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.08, Z:-0.25 [[ 9.99987692e-01 -6.83512273e-04 4.91413678e-03 2.62025253e+00] [ 6.83602494e-04 9.99999766e-01 -1.66796965e-05 -8.09771829e-02] [-4.91412423e-03 2.00388074e-05 9.99987925e-01 -2.49524180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745871559999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.09, Z:-0.25 [[ 9.99985320e-01 -2.28288716e-03 4.91413387e-03 2.68349102e+00] [ 2.28300071e-03 9.99997394e-01 -1.74970230e-05 -8.52293945e-02] [-4.91408112e-03 2.87157372e-05 9.99987925e-01 -2.51371658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.09, Z:-0.25 [[ 9.99974292e-01 -5.22183550e-03 4.91413050e-03 2.74532859e+00] [ 5.22198895e-03 9.99986365e-01 -1.83964244e-05 -9.12757292e-02] [-4.91396743e-03 4.40574866e-05 9.99987925e-01 -2.51081291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8658715599999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:-0.24 [[ 9.99969104e-01 -6.13540664e-03 4.91412735e-03 2.80719628e+00] [ 6.13557508e-03 9.99981177e-01 -1.92026520e-05 -9.78187736e-02] [-4.91391704e-03 4.93530561e-05 9.99987925e-01 -2.43512198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925871559999999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.10, Z:-0.24 [[ 9.99971149e-01 -5.79253277e-03 4.91412639e-03 2.86901057e+00] [ 5.79269826e-03 9.99983222e-01 -1.94451032e-05 -1.00815092e-01] [-4.91393131e-03 4.79105936e-05 9.99987925e-01 -2.41673279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.11, Z:-0.24 [[ 9.99980355e-01 -3.89115495e-03 4.91412543e-03 2.93037331e+00] [ 3.89129867e-03 9.99992429e-01 -1.96855846e-05 -1.07525305e-01] [-4.91401162e-03 3.88075276e-05 9.99987925e-01 -2.40294272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.11, Z:-0.24 [[ 9.99986081e-01 -1.92074432e-03 4.91412470e-03 2.99267016e+00] [ 1.92086513e-03 9.99998155e-01 -1.98646164e-05 -1.10701678e-01] [-4.91407748e-03 2.93037107e-05 9.99987925e-01 -2.40407681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.12, Z:-0.25 [[ 9.99987387e-01 -1.03777883e-03 4.91412374e-03 3.05458748e+00] [ 1.03789014e-03 9.99999461e-01 -2.00996066e-05 -1.17079938e-01] [-4.91410024e-03 2.51996737e-05 9.99987925e-01 -2.45986329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.165871559999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.13, Z:-0.25 [[ 9.99985648e-01 -2.13423157e-03 4.91412310e-03 3.11542954e+00] [ 2.13435688e-03 9.99997722e-01 -2.02553483e-05 -1.26950501e-01] [-4.91406868e-03 3.07435500e-05 9.99987925e-01 -2.47113200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.13, Z:-0.25 [[ 9.99983216e-01 -3.06896791e-03 4.91412122e-03 3.17739206e+00] [ 3.06910669e-03 9.99995290e-01 -2.07016419e-05 -1.33835444e-01] [-4.91403454e-03 3.57832568e-05 9.99987925e-01 -2.48345876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2858715599999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.14, Z:-0.25 [[ 9.99986830e-01 -1.48028978e-03 4.91411999e-03 3.23994573e+00] [ 1.48041081e-03 9.99998904e-01 -2.09903634e-05 -1.41850697e-01] [-4.91408353e-03 2.82650033e-05 9.99987925e-01 -2.47464504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345871559999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.15, Z:-0.25 [[ 9.99985197e-01 2.33588757e-03 4.91411895e-03 3.30180747e+00] [-2.33581145e-03 9.99997272e-01 -2.12308445e-05 -1.45900574e-01] [-4.91415513e-03 9.75207491e-06 9.99987925e-01 -2.51965095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.15, Z:-0.25 [[ 9.99911686e-01 1.23479302e-02 4.91411815e-03 3.36195538e+00] [-1.23479740e-02 9.99923761e-01 -2.14134417e-05 -1.48866596e-01] [-4.91400792e-03 -3.92678527e-05 9.99987925e-01 -2.49344656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.15, Z:-0.25 [[ 9.99805130e-01 1.91194426e-02 4.91411789e-03 3.42394498e+00] [-1.91195680e-02 9.99817204e-01 -2.14741317e-05 -1.48307216e-01] [-4.91363018e-03 -7.24858640e-05 9.99987925e-01 -2.48855435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52587156 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.15, Z:-0.24 [[ 9.99627307e-01 2.68532787e-02 4.91411681e-03 3.48648563e+00] [-2.68534962e-02 9.99639380e-01 -2.17179610e-05 -1.47915887e-01] [-4.91292788e-03 -1.10251350e-04 9.99987925e-01 -2.42343914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.585871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.15, Z:-0.24 [[ 9.99592095e-01 2.81335168e-02 4.91411277e-03 3.54823979e+00] [-2.81337455e-02 9.99604168e-01 -2.25974124e-05 -1.45670175e-01] [-4.91280335e-03 -1.15664203e-04 9.99987925e-01 -2.42953269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.15, Z:-0.24 [[ 9.99683205e-01 2.46848383e-02 4.91410984e-03 3.61064959e+00] [-2.46850223e-02 9.99695278e-01 -2.32166666e-05 -1.45947533e-01] [-4.91318550e-03 -9.80955994e-05 9.99987925e-01 -2.40018617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.15, Z:-0.24 [[ 9.99849024e-01 1.66667373e-02 4.91410562e-03 3.67239986e+00] [-1.66668202e-02 9.99861099e-01 -2.40772052e-05 -1.48203554e-01] [-4.91382434e-03 -5.78289450e-05 9.99987925e-01 -2.42609053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.15, Z:-0.25 [[ 9.99956816e-01 7.88777392e-03 4.91410099e-03 3.73438058e+00] [-7.88774636e-03 9.99968891e-01 -2.49892035e-05 -1.50106455e-01] [-4.91414522e-03 -1.37730578e-05 9.99987925e-01 -2.46489794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8258715599999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.15, Z:-0.25 [[ 9.99984494e-01 2.61996233e-03 4.91409633e-03 3.79540507e+00] [-2.61986682e-03 9.99996568e-01 -2.58731113e-05 -1.52931576e-01] [-4.91414725e-03 1.29984321e-05 9.99987925e-01 -2.51435119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885871559999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.16, Z:-0.25 [[ 9.99983515e-01 -2.97016325e-03 4.91409191e-03 3.85851805e+00] [ 2.97033026e-03 9.99995588e-01 -2.66883361e-05 -1.58031135e-01] [-4.91399096e-03 4.12843720e-05 9.99987925e-01 -2.51852844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.16, Z:-0.25 [[ 9.99971658e-01 -5.70387029e-03 4.91408650e-03 3.92082644e+00] [ 5.70407503e-03 9.99983731e-01 -2.76485241e-05 -1.61600442e-01] [-4.91384885e-03 5.56780586e-05 9.99987925e-01 -2.50212215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.17, Z:-0.25 [[ 9.99959170e-01 -7.58351646e-03 4.91408159e-03 3.98284353e+00] [ 7.58374804e-03 9.99971243e-01 -2.84953021e-05 -1.69492455e-01] [-4.91372418e-03 6.57612953e-05 9.99987925e-01 -2.50161550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.06587156 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.18, Z:-0.25 [[ 9.99969186e-01 -6.12204118e-03 4.91408018e-03 4.04366733e+00] [ 6.12225631e-03 9.99981258e-01 -2.87372950e-05 -1.77751218e-01] [-4.91381215e-03 5.88216679e-05 9.99987925e-01 -2.50742902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.18, Z:-0.25 [[ 9.99984458e-01 -2.63345730e-03 4.91407784e-03 4.10433155e+00] [ 2.63363225e-03 9.99996532e-01 -2.91308783e-05 -1.81456466e-01] [-4.91398409e-03 4.20722994e-05 9.99987925e-01 -2.51283625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.19, Z:-0.25 [[ 9.99966955e-01 6.47618887e-03 4.91407714e-03 4.16558028e+00] [-6.47612333e-03 9.99979029e-01 -2.92494097e-05 -1.86539404e-01] [-4.91416351e-03 -2.57572641e-06 9.99987925e-01 -2.50630661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:-0.25 [[ 9.99890322e-01 1.39712513e-02 4.91407609e-03 4.22784581e+00] [-1.39712754e-02 9.99902397e-01 -2.94244789e-05 -1.88915279e-01] [-4.91400756e-03 -3.92346588e-05 9.99987925e-01 -2.50549173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.19, Z:-0.25 [[ 9.99685144e-01 2.46061891e-02 4.91407467e-03 4.28864249e+00] [-2.46063405e-02 9.99697218e-01 -2.96600461e-05 -1.89672224e-01] [-4.91331659e-03 -9.12666871e-05 9.99987925e-01 -2.52660133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.19, Z:-0.25 [[ 9.99446265e-01 3.29092091e-02 4.91407361e-03 4.35067641e+00] [-3.29094599e-02 9.99458337e-01 -2.98341673e-05 -1.87138348e-01] [-4.91239366e-03 -1.31901861e-04 9.99987925e-01 -2.52689193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425871560000001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.18, Z:-0.25 [[ 9.99322421e-01 3.64767271e-02 4.91406829e-03 4.41283426e+00] [-3.64770168e-02 9.99334492e-01 -3.06868561e-05 -1.84864303e-01] [-4.91191729e-03 -1.48584488e-04 9.99987925e-01 -2.52313408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.18, Z:-0.25 [[ 9.99258600e-01 3.81851036e-02 4.91406323e-03 4.47445999e+00] [-3.81854101e-02 9.99270671e-01 -3.14761142e-05 -1.82959953e-01] [-4.91168118e-03 -1.56192742e-04 9.99987925e-01 -2.52888134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.18, Z:-0.25 [[ 9.99245410e-01 3.85287350e-02 4.91405848e-03 4.53701912e+00] [-3.85290421e-02 9.99257480e-01 -3.22009846e-05 -1.80121454e-01] [-4.91165036e-03 -1.57157280e-04 9.99987925e-01 -2.53319486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.18, Z:-0.25 [[ 9.99281563e-01 3.75793795e-02 4.91405245e-03 4.60049578e+00] [-3.75796707e-02 9.99293634e-01 -3.30968093e-05 -1.77808863e-01] [-4.91182509e-03 -1.51595441e-04 9.99987925e-01 -2.52737714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.17, Z:-0.26 [[ 9.99353984e-01 3.56015136e-02 4.91404615e-03 4.66309558e+00] [-3.56017765e-02 9.99366055e-01 -3.40071877e-05 -1.73394379e-01] [-4.91214162e-03 -1.40963554e-04 9.99987925e-01 -2.55231789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.17, Z:-0.25 [[ 9.99440198e-01 3.30929430e-02 4.91404406e-03 4.72540559e+00] [-3.30931741e-02 9.99452270e-01 -3.43056329e-05 -1.68953873e-01] [-4.91248777e-03 -1.28334887e-04 9.99987925e-01 -2.52732781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.16, Z:-0.25 [[ 9.99500261e-01 3.12262799e-02 4.91403803e-03 4.78647254e+00] [-3.12264843e-02 9.99512334e-01 -3.51488373e-05 -1.62174179e-01] [-4.91273919e-03 -1.18316859e-04 9.99987925e-01 -2.52041744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.16, Z:-0.25 [[ 9.99515531e-01 3.07336144e-02 4.91403237e-03 4.84928342e+00] [-3.07338090e-02 9.99527604e-01 -3.59241096e-05 -1.57838082e-01] [-4.91281508e-03 -1.15120227e-04 9.99987925e-01 -2.50519698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.15, Z:-0.25 [[ 9.99505695e-01 3.10518546e-02 4.91402507e-03 4.91088097e+00] [-3.10520483e-02 9.99517768e-01 -3.68956618e-05 -1.52653429e-01] [-4.91280105e-03 -1.15713120e-04 9.99987925e-01 -2.54398298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.15, Z:-0.26 [[ 9.99500645e-01 3.12139864e-02 4.91401909e-03 4.97294607e+00] [-3.12141782e-02 9.99512718e-01 -3.76758837e-05 -1.49773961e-01] [-4.91280059e-03 -1.15729997e-04 9.99987925e-01 -2.56521068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.14, Z:-0.26 [[ 9.99502825e-01 3.11440894e-02 4.91401275e-03 5.03397083e+00] [-3.11442764e-02 9.99514899e-01 -3.84849902e-05 -1.43619474e-01] [-4.91282754e-03 -1.14577515e-04 9.99987925e-01 -2.60468617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.14, Z:-0.26 [[ 9.99494981e-01 3.13948257e-02 4.91400681e-03 5.09576373e+00] [-3.13950121e-02 9.99507054e-01 -3.92293102e-05 -1.39219012e-01] [-4.91281607e-03 -1.15065805e-04 9.99987925e-01 -2.57414222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.14, Z:-0.26 [[ 9.99451326e-01 3.27551510e-02 4.91399997e-03 5.15769478e+00] [-3.27553497e-02 9.99463399e-01 -4.00684489e-05 -1.35636084e-01] [-4.91267556e-03 -1.20913323e-04 9.99987925e-01 -2.56197287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.13, Z:-0.26 [[ 9.99276412e-01 3.77161014e-02 4.91399301e-03 5.21987050e+00] [-3.77163559e-02 9.99288484e-01 -4.09040804e-05 -1.27404752e-01] [-4.91203937e-03 -1.44463427e-04 9.99987925e-01 -2.55699044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.12, Z:-0.26 [[ 9.99043053e-01 4.34606850e-02 4.91398588e-03 5.28107167e+00] [-4.34610048e-02 9.99055123e-01 -4.17434762e-05 -1.18823248e-01] [-4.91115697e-03 -1.71863234e-04 9.99987925e-01 -2.59581763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.11, Z:-0.26 [[ 9.98946597e-01 4.56240019e-02 4.91398486e-03 5.34101777e+00] [-4.56243473e-02 9.98958666e-01 -4.18630602e-05 -1.10577591e-01] [-4.91077773e-03 -1.82378390e-04 9.99987925e-01 -2.60710770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.10, Z:-0.26 [[ 9.99002230e-01 4.43891626e-02 4.91398436e-03 5.40213126e+00] [-4.43894927e-02 9.99014300e-01 -4.19222033e-05 -1.03255508e-01] [-4.91100153e-03 -1.76248898e-04 9.99987925e-01 -2.58817877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.10, Z:-0.26 [[ 9.99207502e-01 3.94996374e-02 4.91398334e-03 5.46341085e+00] [-3.94999078e-02 9.99219573e-01 -4.20413865e-05 -9.69142790e-02] [-4.91180895e-03 -1.52093820e-04 9.99987925e-01 -2.60845455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.09, Z:-0.26 [[ 9.99395533e-01 3.44154243e-02 4.91397666e-03 5.52444902e+00] [-3.44156295e-02 9.99407606e-01 -4.28082282e-05 -9.22821996e-02] [-4.91253891e-03 -1.26335248e-04 9.99987925e-01 -2.58174384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.09, Z:-0.26 [[ 9.99638738e-01 2.64243444e-02 4.91397561e-03 5.58690212e+00] [-2.64244525e-02 9.99650812e-01 -4.29278545e-05 -8.76966982e-02] [-4.91339405e-03 -8.69367688e-05 9.99987925e-01 -2.60751310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.09, Z:-0.26 [[ 9.99767957e-01 2.09734300e-02 4.91396817e-03 5.64851843e+00] [-2.09734682e-02 9.99780032e-01 -4.37636104e-05 -8.66327691e-02] [-4.91380513e-03 -5.93094998e-05 9.99987925e-01 -2.61004931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.08, Z:-0.26 [[ 9.99883480e-01 1.44526642e-02 4.91396118e-03 5.71119014e+00] [-1.44526198e-02 9.99895554e-01 -4.45346927e-05 -8.12439700e-02] [-4.91409159e-03 -2.64901093e-05 9.99987925e-01 -2.59471440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.74587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.08, Z:-0.26 [[ 9.99921092e-01 1.15612638e-02 4.91395357e-03 5.77258001e+00] [-1.15611805e-02 9.99933166e-01 -4.53593498e-05 -8.02468608e-02] [-4.91414956e-03 -1.14553334e-05 9.99987925e-01 -2.58270848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.08, Z:-0.26 [[ 9.99918870e-01 1.17518432e-02 4.91394941e-03 5.83427264e+00] [-1.17517600e-02 9.99930945e-01 -4.58051711e-05 -7.80042260e-02] [-4.91414837e-03 -1.19460992e-05 9.99987925e-01 -2.56517451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.08, Z:-0.25 [[ 9.99911452e-01 1.23669652e-02 4.91394235e-03 5.89522224e+00] [-1.23668858e-02 9.99923526e-01 -4.65506030e-05 -7.69231441e-02] [-4.91414225e-03 -1.42236828e-05 9.99987925e-01 -2.53920563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.08, Z:-0.26 [[ 9.99904462e-01 1.29197857e-02 4.91393526e-03 5.95650900e+00] [-1.29197093e-02 9.99916536e-01 -4.72877955e-05 -7.55620121e-02] [-4.91413607e-03 -1.62033373e-05 9.99987925e-01 -2.56216803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.08, Z:-0.26 [[ 9.99904989e-01 1.28788705e-02 4.91393099e-03 6.01824077e+00] [-1.28787914e-02 9.99917064e-01 -4.77275880e-05 -7.69221753e-02] [-4.91413812e-03 -1.55624390e-05 9.99987925e-01 -2.59145847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.08, Z:-0.26 [[ 9.99910239e-01 1.24646608e-02 4.91392326e-03 6.08012534e+00] [-1.24645730e-02 9.99922313e-01 -4.85098535e-05 -7.83269693e-02] [-4.91414618e-03 -1.27444558e-05 9.99987925e-01 -2.60245841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.08, Z:-0.26 [[ 9.99918283e-01 1.18017393e-02 4.91391506e-03 6.14197673e+00] [-1.18016394e-02 9.99930357e-01 -4.93270206e-05 -7.93503401e-02] [-4.91415499e-03 -8.66926403e-06 9.99987925e-01 -2.60273506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.08, Z:-0.26 [[ 9.99919606e-01 1.16890929e-02 4.91390647e-03 6.20391480e+00] [-1.16889875e-02 9.99931680e-01 -5.01686262e-05 -8.23700147e-02] [-4.91415718e-03 -7.27399812e-06 9.99987925e-01 -2.60357788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.22587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.09, Z:-0.26 [[ 9.99889011e-01 1.40648293e-02 4.91389776e-03 6.26479691e+00] [-1.40647485e-02 9.99901085e-01 -5.10074844e-05 -8.51770823e-02] [-4.91412912e-03 -1.81109129e-05 9.99987925e-01 -2.61944267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.28587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.09, Z:-0.26 [[ 9.99799102e-01 1.94321902e-02 4.91388964e-03 6.32660983e+00] [-1.94321704e-02 9.99811176e-01 -5.17786656e-05 -8.64682246e-02] [-4.91396795e-03 -4.37192772e-05 9.99987925e-01 -2.62437797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.09, Z:-0.26 [[ 9.99707149e-01 2.36953402e-02 4.91388086e-03 6.38763770e+00] [-2.36953679e-02 9.99719224e-01 -5.25983051e-05 -8.55240938e-02] [-4.91374750e-03 -6.38533129e-05 9.99987925e-01 -2.62233816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.08, Z:-0.26 [[ 9.99549437e-01 2.96104206e-02 4.91387961e-03 6.44874226e+00] [-2.96105191e-02 9.99561511e-01 -5.27146097e-05 -8.42188409e-02] [-4.91328583e-03 -9.28116679e-05 9.99987925e-01 -2.60047834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.08, Z:-0.26 [[ 9.99496640e-01 3.13420021e-02 4.91387830e-03 6.50892870e+00] [-3.13421209e-02 9.99508714e-01 -5.28372698e-05 -8.38206248e-02] [-4.91312020e-03 -1.01200694e-04 9.99987925e-01 -2.61683428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.08, Z:-0.27 [[ 9.99434074e-01 3.32773890e-02 4.91387764e-03 6.56907037e+00] [-3.32775309e-02 9.99446148e-01 -5.28978425e-05 -8.18331866e-02] [-4.91291639e-03 -1.10653809e-04 9.99987925e-01 -2.67116026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.08, Z:-0.27 [[ 9.99522895e-01 3.04932292e-02 4.91387701e-03 6.63071962e+00] [-3.04933372e-02 9.99534969e-01 -5.29570011e-05 -7.87382010e-02] [-4.91320673e-03 -9.69087734e-05 9.99987925e-01 -2.66888164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.08, Z:-0.27 [[ 9.99605949e-01 2.76369574e-02 4.91387575e-03 6.69201101e+00] [-2.76370303e-02 9.99618023e-01 -5.30734433e-05 -7.77471640e-02] [-4.91346555e-03 -8.27524033e-05 9.99987925e-01 -2.66222214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.08, Z:-0.26 [[ 9.99679343e-01 2.48407967e-02 4.91387443e-03 6.75235807e+00] [-2.48408353e-02 9.99691417e-01 -5.31948740e-05 -7.57118604e-02] [-4.91367950e-03 -6.88869286e-05 9.99987925e-01 -2.64155449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.07, Z:-0.26 [[ 9.99736619e-01 2.24175693e-02 4.91387378e-03 6.81405663e+00] [-2.24175783e-02 9.99748693e-01 -5.32549722e-05 -7.43805120e-02] [-4.91383274e-03 -5.69162046e-05 9.99987925e-01 -2.61686872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.07, Z:-0.26 [[ 9.99794142e-01 1.96857142e-02 4.91387245e-03 6.87433557e+00] [-1.96856896e-02 9.99806217e-01 -5.33772105e-05 -7.40445631e-02] [-4.91397100e-03 -4.33667453e-05 9.99987925e-01 -2.64154771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.88587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.07, Z:-0.26 [[ 9.99894593e-01 1.36622373e-02 4.91387180e-03 6.93519666e+00] [-1.36621397e-02 9.99906667e-01 -5.34376475e-05 -7.48193484e-02] [-4.91414325e-03 -1.37019879e-05 9.99987925e-01 -2.62701326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.08, Z:-0.26 [[ 9.99960242e-01 7.44102034e-03 4.91387054e-03 6.99736885e+00] [-7.44084702e-03 9.99972315e-01 -5.35527430e-05 -7.75130385e-02] [-4.91413299e-03 1.69872549e-05 9.99987925e-01 -2.62365665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.08, Z:-0.26 [[ 9.99976667e-01 4.74538481e-03 4.91386144e-03 7.05923195e+00] [-4.74517491e-03 9.99988740e-01 -5.43754992e-05 -8.02273526e-02] [-4.91406414e-03 3.10570985e-05 9.99987925e-01 -2.62723118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.06587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.09, Z:-0.26 [[ 9.99982839e-01 3.18981835e-03 4.91385224e-03 7.11999851e+00] [-3.18958564e-03 9.99994912e-01 -5.51945121e-05 -8.58436631e-02] [-4.91400330e-03 3.95204124e-05 9.99987925e-01 -2.64688017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.09, Z:-0.27 [[ 9.99977743e-01 4.51300626e-03 4.91384367e-03 7.18242748e+00] [-4.51278582e-03 9.99989816e-01 -5.59469487e-05 -8.90991043e-02] [-4.91404612e-03 3.37705795e-05 9.99987925e-01 -2.66766648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.09, Z:-0.26 [[ 9.99925490e-01 1.11744956e-02 4.91383443e-03 7.24422753e+00] [-1.11743517e-02 9.99937563e-01 -5.67472771e-05 -9.11367870e-02] [-4.91416175e-03 1.83413473e-06 9.99987925e-01 -2.64616680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.09, Z:-0.27 [[ 9.99778852e-01 2.04475097e-02 4.91383160e-03 7.30490614e+00] [-2.04474766e-02 9.99790927e-01 -5.69913769e-05 -9.25093227e-02] [-4.91396958e-03 -4.34966830e-05 9.99987925e-01 -2.65131141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.09, Z:-0.26 [[ 9.99596254e-01 2.79854273e-02 4.91382665e-03 7.36648360e+00] [-2.79854831e-02 9.99608328e-01 -5.74149049e-05 -9.32946071e-02] [-4.91350882e-03 -8.01240888e-05 9.99987925e-01 -2.62592276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.09, Z:-0.26 [[ 9.99489505e-01 3.15687180e-02 4.91382524e-03 7.42731858e+00] [-3.15688165e-02 9.99501579e-01 -5.75350434e-05 -9.22606499e-02] [-4.91319240e-03 -9.76179751e-05 9.99987925e-01 -2.63402471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.09, Z:-0.27 [[ 9.99320793e-01 3.65213157e-02 4.91382524e-03 7.48644444e+00] [-3.65214740e-02 9.99332867e-01 -5.75350434e-05 -8.78413905e-02] [-4.91264832e-03 -1.21964176e-04 9.99987925e-01 -2.65376781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.09, Z:-0.27 [[ 9.99201125e-01 3.96606446e-02 4.91382595e-03 7.54664890e+00] [-3.96608411e-02 9.99213198e-01 -5.74747653e-05 -8.54626981e-02] [-4.91223922e-03 -1.37457620e-04 9.99987925e-01 -2.66033204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.08, Z:-0.27 [[ 9.99201452e-01 3.96523894e-02 4.91382595e-03 7.60678880e+00] [-3.96525858e-02 9.99213525e-01 -5.74747653e-05 -8.17402935e-02] [-4.91224036e-03 -1.37417036e-04 9.99987925e-01 -2.65739498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.08, Z:-0.26 [[ 9.99313667e-01 3.67157804e-02 4.91382595e-03 7.66686941e+00] [-3.67159414e-02 9.99325741e-01 -5.74747653e-05 -7.75986510e-02] [-4.91262299e-03 -1.22980427e-04 9.99987925e-01 -2.64686950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.07, Z:-0.26 [[ 9.99481252e-01 3.18289321e-02 4.91382664e-03 7.72732433e+00] [-3.18290343e-02 9.99493326e-01 -5.74151616e-05 -7.26191374e-02] [-4.91316440e-03 -9.90169791e-05 9.99987925e-01 -2.64018186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.07, Z:-0.27 [[ 9.99600937e-01 2.78176307e-02 4.91382664e-03 7.78743978e+00] [-2.78176845e-02 9.99613012e-01 -5.74151616e-05 -6.98150231e-02] [-4.91352220e-03 -7.92990300e-05 9.99987925e-01 -2.69475191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.07, Z:-0.27 [[ 9.99616651e-01 2.72471173e-02 4.91382664e-03 7.84828606e+00] [-2.72471642e-02 9.99628725e-01 -5.74151616e-05 -6.56072800e-02] [-4.91356666e-03 -7.64946900e-05 9.99987925e-01 -2.70398007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.06, Z:-0.27 [[ 9.99626769e-01 2.68733364e-02 4.91382664e-03 7.90906045e+00] [-2.68733788e-02 9.99638844e-01 -5.74151616e-05 -5.87521930e-02] [-4.91359492e-03 -7.46573920e-05 9.99987925e-01 -2.70502421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.06, Z:-0.27 [[ 9.99693266e-01 2.42740191e-02 4.91382664e-03 7.97008543e+00] [-2.42740300e-02 9.99705341e-01 -5.74151616e-05 -5.50643440e-02] [-4.91377244e-03 -6.18808251e-05 9.99987925e-01 -2.68264182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.05, Z:-0.27 [[ 9.99877544e-01 1.48576920e-02 4.91382664e-03 8.03064873e+00] [-1.48575893e-02 9.99889618e-01 -5.74151616e-05 -5.02993022e-02] [-4.91413730e-03 -1.55994873e-05 9.99987925e-01 -2.65327366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.05, Z:-0.27 [[ 9.99980454e-01 3.86600564e-03 4.91382595e-03 8.09183458e+00] [-3.86576988e-03 9.99992526e-01 -5.74747070e-05 -4.87445147e-02] [-4.91401142e-03 3.84778632e-05 9.99987925e-01 -2.65519858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.05, Z:-0.27 [[ 9.99981788e-01 -3.50391446e-03 4.91382457e-03 8.15387582e+00] [ 3.50423975e-03 9.99993858e-01 -5.75920714e-05 -4.97834661e-02] [-4.91359260e-03 7.48102420e-05 9.99987925e-01 -2.70575349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.14587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.05, Z:-0.27 [[ 9.99961825e-01 -7.22510246e-03 4.91381496e-03 8.21524554e+00] [ 7.22547664e-03 9.99973894e-01 -5.84010247e-05 -5.24591076e-02] [-4.91326473e-03 9.39034505e-05 9.99987925e-01 -2.70881625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.05, Z:-0.27 [[ 9.99929458e-01 -1.08135503e-02 4.91380602e-03 8.27796490e+00] [ 1.08139714e-02 9.99941526e-01 -5.91438894e-05 -5.45602089e-02] [-4.91287913e-03 1.12277475e-04 9.99987925e-01 -2.71230219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.06, Z:-0.27 [[ 9.99917910e-01 -1.18332997e-02 4.91380186e-03 8.33995793e+00] [ 1.18337349e-02 9.99929977e-01 -5.94873006e-05 -5.88923698e-02] [-4.91275385e-03 1.17631046e-04 9.99987925e-01 -2.69654905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.32587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.06, Z:-0.27 [[ 9.99922565e-01 -1.14332130e-02 4.91379911e-03 8.40173701e+00] [ 1.14336444e-02 9.99934632e-01 -5.97131211e-05 -6.45806338e-02] [-4.91279520e-03 1.15891129e-04 9.99987925e-01 -2.69883200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.07, Z:-0.27 [[ 9.99942253e-01 -9.55750404e-03 4.91379639e-03 8.46250765e+00] [ 9.55791392e-03 9.99954320e-01 -5.99368417e-05 -6.91766834e-02] [-4.91299908e-03 1.06899023e-04 9.99987925e-01 -2.73425153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.07, Z:-0.28 [[ 9.99979377e-01 -4.13517420e-03 4.91379165e-03 8.52490263e+00] [ 4.13552053e-03 9.99991447e-01 -6.03222348e-05 -7.49004464e-02] [-4.91350018e-03 8.06420770e-05 9.99987925e-01 -2.76528201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505871560000001 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.08, Z:-0.27 [[ 9.99986342e-01 1.78074010e-03 4.91378894e-03 8.58743040e+00] [-1.78046410e-03 9.99998413e-01 -6.05424638e-05 -8.19389289e-02] [-4.91388895e-03 5.17928121e-05 9.99987925e-01 -2.72509809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.09, Z:-0.27 [[ 9.99960277e-01 7.43628723e-03 4.91378611e-03 8.64942299e+00] [-7.43607838e-03 9.99972350e-01 -6.07717200e-05 -8.88888198e-02] [-4.91410216e-03 2.42300074e-05 9.99987925e-01 -2.72948541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.09, Z:-0.27 [[ 9.99926807e-01 1.10559840e-02 4.91378310e-03 8.71110302e+00] [-1.10558177e-02 9.99938881e-01 -6.10141543e-05 -9.32583141e-02] [-4.91415734e-03 6.68379839e-06 9.99987925e-01 -2.73695086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.10, Z:-0.28 [[ 9.99866045e-01 1.56123717e-02 4.91377248e-03 8.77228915e+00] [-1.56122562e-02 9.99878119e-01 -6.18574441e-05 -1.00127996e-01] [-4.91413933e-03 -1.48659171e-05 9.99987925e-01 -2.79051943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.10, Z:-0.27 [[ 9.99822697e-01 1.81777469e-02 4.91376258e-03 8.83405448e+00] [-1.81776586e-02 9.99834771e-01 -6.26343376e-05 -1.02479461e-01] [-4.91408923e-03 -2.66974663e-05 9.99987925e-01 -2.73272142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.11, Z:-0.28 [[ 9.99779843e-01 2.03990549e-02 4.91376104e-03 8.89545895e+00] [-2.03989929e-02 9.99791917e-01 -6.27547425e-05 -1.06800997e-01] [-4.91401871e-03 -3.74948499e-05 9.99987925e-01 -2.78173711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.11, Z:-0.28 [[ 9.99818247e-01 1.84208509e-02 4.91375514e-03 8.95626351e+00] [-1.84207627e-02 9.99830321e-01 -6.32129746e-05 -1.12085238e-01] [-4.91408582e-03 -2.73136322e-05 9.99987925e-01 -2.78533105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925871560000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.12, Z:-0.27 [[ 9.99853771e-01 1.63796150e-02 4.91374986e-03 9.01809798e+00] [-1.63795001e-02 9.99865845e-01 -6.36210595e-05 -1.15167909e-01] [-4.91413274e-03 -1.68730100e-05 9.99987925e-01 -2.73217239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.12, Z:-0.27 [[ 9.99853676e-01 1.63854017e-02 4.91374686e-03 9.08028940e+00] [-1.63852858e-02 9.99865750e-01 -6.38522798e-05 -1.19523559e-01] [-4.91413343e-03 -1.66702097e-05 9.99987925e-01 -2.72865935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.12, Z:-0.28 [[ 9.99837606e-01 1.73382940e-02 4.91373581e-03 9.14130373e+00] [-1.73381854e-02 9.99849680e-01 -6.46911104e-05 -1.21913541e-01] [-4.91411881e-03 -2.05146577e-05 9.99987925e-01 -2.75344056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.12, Z:-0.27 [[ 9.99814710e-01 1.86118698e-02 4.91372951e-03 9.20302354e+00] [-1.86117743e-02 9.99826784e-01 -6.51662918e-05 -1.22668227e-01] [-4.91409124e-03 -2.62990073e-05 9.99987925e-01 -2.73626440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.12, Z:-0.27 [[ 9.99784291e-01 2.01798807e-02 4.91371855e-03 9.26446119e+00] [-2.01798002e-02 9.99796365e-01 -6.59826853e-05 -1.22958628e-01] [-4.91404947e-03 -3.31894061e-05 9.99987925e-01 -2.69803149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.13, Z:-0.27 [[ 9.99854369e-01 1.63430782e-02 4.91371240e-03 9.32649530e+00] [-1.63429491e-02 9.99866443e-01 -6.64377364e-05 -1.27480022e-01] [-4.91414193e-03 -1.38764904e-05 9.99987925e-01 -2.69144140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.28587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.13, Z:-0.27 [[ 9.99909399e-01 1.25319489e-02 4.91370092e-03 9.38855605e+00] [-1.25317696e-02 9.99921472e-01 -6.72760429e-05 -1.30020203e-01] [-4.91415815e-03 5.69257994e-06 9.99987925e-01 -2.70031195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.14, Z:-0.27 [[ 9.99954617e-01 8.16210574e-03 4.91368943e-03 9.45019819e+00] [-8.16186962e-03 9.99966689e-01 -6.81045754e-05 -1.36529691e-01] [-4.91408163e-03 2.79965921e-05 9.99987925e-01 -2.72617565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.14, Z:-0.27 [[ 9.99959954e-01 7.47971123e-03 4.91367770e-03 9.51233647e+00] [-7.47946276e-03 9.99972026e-01 -6.89410583e-05 -1.42157557e-01] [-4.91405590e-03 3.21866281e-05 9.99987925e-01 -2.73156122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.15, Z:-0.28 [[ 9.99948881e-01 8.83689798e-03 4.91366575e-03 9.57480707e+00] [-8.83666176e-03 9.99960954e-01 -6.97820974e-05 -1.45281196e-01] [-4.91409055e-03 2.63581279e-05 9.99987925e-01 -2.75118274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.15, Z:-0.27 [[ 9.99892009e-01 1.38501502e-02 4.91365294e-03 9.63687983e+00] [-1.38499701e-02 9.99904082e-01 -7.06733081e-05 -1.52559580e-01] [-4.91416046e-03 2.61172952e-06 9.99987925e-01 -2.74985397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.16, Z:-0.27 [[ 9.99771121e-01 2.08221331e-02 4.91364957e-03 9.69884628e+00] [-2.08220361e-02 9.99783195e-01 -7.09068482e-05 -1.56492966e-01] [-4.91406070e-03 -3.14215693e-05 9.99987925e-01 -2.73029916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.16, Z:-0.27 [[ 9.99647597e-01 2.60871219e-02 4.91363736e-03 9.76067863e+00] [-2.60870843e-02 9.99659672e-01 -7.17429377e-05 -1.56795200e-01] [-4.91383667e-03 -5.64648169e-05 9.99987925e-01 -2.73303275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.16, Z:-0.27 [[ 9.99602485e-01 2.77619891e-02 4.91362508e-03 9.82197719e+00] [-2.77619677e-02 9.99614560e-01 -7.25745201e-05 -1.58620476e-01] [-4.91374598e-03 -6.38662298e-05 9.99987925e-01 -2.74099718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.16, Z:-0.27 [[ 9.99584418e-01 2.84050731e-02 4.91361365e-03 9.88320451e+00] [-2.84050557e-02 9.99596492e-01 -7.33399013e-05 -1.61134123e-01] [-4.91371420e-03 -6.62620470e-05 9.99987925e-01 -2.73405788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.16, Z:-0.27 [[ 9.99570121e-01 2.89038078e-02 4.91361188e-03 9.94462955e+00] [-2.89037958e-02 9.99582195e-01 -7.34584504e-05 -1.58757564e-01] [-4.91368218e-03 -6.85951624e-05 9.99987925e-01 -2.73366463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.16, Z:-0.27 [[ 9.99579053e-01 2.85932501e-02 4.91360036e-03 1.00056521e+01] [-2.85932306e-02 9.99591127e-01 -7.42209295e-05 -1.58846373e-01] [-4.91371354e-03 -6.63060219e-05 9.99987925e-01 -2.73157643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.16, Z:-0.27 [[ 9.99663588e-01 2.54669842e-02 4.91359860e-03 1.00669532e+01] [-2.54669265e-02 9.99675662e-01 -7.43376090e-05 -1.57640928e-01] [-4.91389809e-03 -5.08216531e-05 9.99987925e-01 -2.74175138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.00587156 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.16, Z:-0.27 [[ 9.99791489e-01 1.98200634e-02 4.91359678e-03 1.01279295e+01] [-1.98199368e-02 9.99803563e-01 -7.44576382e-05 -1.58103227e-01] [-4.91410732e-03 -2.29450647e-05 9.99987925e-01 -2.73042545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.06587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.16, Z:-0.27 [[ 9.99858633e-01 1.60801401e-02 4.91358496e-03 1.01905153e+01] [-1.60799646e-02 9.99870706e-01 -7.52294834e-05 -1.58553127e-01] [-4.91415936e-03 -3.79142366e-06 9.99987925e-01 -2.74034105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.16, Z:-0.28 [[ 9.99919303e-01 1.17151216e-02 4.91357208e-03 1.02523040e+01] [-1.17148892e-02 9.99931375e-01 -7.60615704e-05 -1.63155110e-01] [-4.91412596e-03 1.84934798e-05 9.99987925e-01 -2.75934724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.17, Z:-0.27 [[ 9.99940562e-01 9.73293231e-03 4.91355833e-03 1.03139567e+01] [-9.73267173e-03 9.99952633e-01 -7.69399235e-05 -1.68046741e-01] [-4.91407444e-03 2.91133001e-05 9.99987925e-01 -2.74928507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.24587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.17, Z:-0.27 [[ 9.99938207e-01 9.97190415e-03 4.91354509e-03 1.03757151e+01] [-9.97164235e-03 9.99950279e-01 -7.77763838e-05 -1.69061055e-01] [-4.91407636e-03 2.87754635e-05 9.99987925e-01 -2.74762280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.30587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.17, Z:-0.28 [[ 9.99901015e-01 1.31840144e-02 4.91353188e-03 1.04379319e+01] [-1.31837874e-02 9.99913087e-01 -7.86017260e-05 -1.71122954e-01] [-4.91414112e-03 1.38149861e-05 9.99987925e-01 -2.76150998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.17, Z:-0.28 [[ 9.99861438e-01 1.59048087e-02 4.91351827e-03 1.04996366e+01] [-1.59046104e-02 9.99873511e-01 -7.94439217e-05 -1.74441605e-01] [-4.91416030e-03 1.28532024e-06 9.99987925e-01 -2.77626378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.18, Z:-0.28 [[ 9.99808051e-01 1.89662342e-02 4.91350455e-03 1.05612559e+01] [-1.89660686e-02 9.99820125e-01 -8.02834949e-05 -1.79130437e-01] [-4.91414340e-03 -1.29217799e-05 9.99987925e-01 -2.79810119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.48587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.18, Z:-0.28 [[ 9.99717163e-01 2.32691216e-02 4.91348981e-03 1.06237776e+01] [-2.32690037e-02 9.99729237e-01 -8.11757890e-05 -1.80553741e-01] [-4.91404830e-03 -3.31791828e-05 9.99987925e-01 -2.78317674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.18, Z:-0.28 [[ 9.99607321e-01 2.75873411e-02 4.91347604e-03 1.06848412e+01] [-2.75872713e-02 9.99619395e-01 -8.20003660e-05 -1.81653200e-01] [-4.91386812e-03 -5.35812303e-05 9.99987925e-01 -2.80582807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.18, Z:-0.28 [[ 9.99564557e-01 2.90956143e-02 4.91346322e-03 1.07470278e+01] [-2.90955589e-02 9.99576631e-01 -8.27616503e-05 -1.83488297e-01] [-4.91379102e-03 -6.02343464e-05 9.99987925e-01 -2.79289611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.19, Z:-0.28 [[ 9.99572714e-01 2.88140145e-02 4.91344865e-03 1.08086019e+01] [-2.88139515e-02 9.99584788e-01 -8.36177121e-05 -1.85388034e-01] [-4.91381789e-03 -5.79938879e-05 9.99987925e-01 -2.79389218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.72587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.19, Z:-0.28 [[ 9.99624754e-01 2.69482576e-02 4.91343517e-03 1.08707532e+01] [-2.69481682e-02 9.99636829e-01 -8.44025758e-05 -1.87115245e-01] [-4.91392525e-03 -4.80371736e-05 9.99987925e-01 -2.76281284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.78587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.19, Z:-0.28 [[ 9.99653787e-01 2.58488671e-02 4.91342030e-03 1.09315463e+01] [-2.58487602e-02 9.99665861e-01 -8.52597180e-05 -1.89772414e-01] [-4.91398240e-03 -4.17756232e-05 9.99987925e-01 -2.81072531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.19, Z:-0.28 [[ 9.99692892e-01 2.42894965e-02 4.91340652e-03 1.09938525e+01] [-2.42893670e-02 9.99704966e-01 -8.60465642e-05 -1.94369185e-01] [-4.91404692e-03 -3.33233954e-05 9.99987925e-01 -2.80882955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.90587156 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.20, Z:-0.28 [[ 9.99720603e-01 2.31208718e-02 4.91339159e-03 1.10561053e+01] [-2.31207240e-02 9.99732677e-01 -8.68908415e-05 -1.96677274e-01] [-4.91408711e-03 -2.67346062e-05 9.99987925e-01 -2.80653458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.96587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.20, Z:-0.28 [[ 9.99715233e-01 2.33519138e-02 4.91337636e-03 1.11180835e+01] [-2.33517646e-02 9.99727307e-01 -8.77436474e-05 -1.97729865e-01] [-4.91408549e-03 -2.70173470e-05 9.99987925e-01 -2.84199547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.20, Z:-0.28 [[ 9.99680627e-01 2.47891592e-02 4.91336114e-03 1.11803177e+01] [-2.47890232e-02 9.99692701e-01 -8.85876570e-05 -2.03261449e-01] [-4.91404728e-03 -3.32380589e-05 9.99987925e-01 -2.82100697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.08587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.21, Z:-0.28 [[ 9.99587007e-01 2.83138704e-02 4.91334562e-03 1.12411155e+01] [-2.83137728e-02 9.99599081e-01 -8.94403236e-05 -2.05104255e-01] [-4.91390817e-03 -4.97119661e-05 9.99987925e-01 -2.77911917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.14587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.20, Z:-0.28 [[ 9.99396890e-01 3.43761008e-02 4.91333125e-03 1.13033086e+01] [-3.43760726e-02 9.99408964e-01 -9.02227396e-05 -2.04440111e-01] [-4.91352880e-03 -7.87327062e-05 9.99987925e-01 -2.77405436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.20, Z:-0.28 [[ 9.99217695e-01 3.92410264e-02 4.91331555e-03 1.13643835e+01] [-3.92410528e-02 9.99229769e-01 -9.10699180e-05 -2.03678878e-01] [-4.91310484e-03 -1.01805001e-04 9.99987925e-01 -2.78102796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.20, Z:-0.28 [[ 9.98986058e-01 4.47517132e-02 4.91331329e-03 1.14259288e+01] [-4.47518056e-02 9.98998132e-01 -9.11915205e-05 -2.00165433e-01] [-4.91247178e-03 -1.28780584e-04 9.99987925e-01 -2.80311791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.20, Z:-0.28 [[ 9.98896969e-01 4.66980110e-02 4.91331105e-03 1.14878167e+01] [-4.66981263e-02 9.98909043e-01 -9.13121401e-05 -1.97500685e-01] [-4.91221493e-03 -1.38231000e-04 9.99987925e-01 -2.82056401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.38587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.19, Z:-0.28 [[ 9.98923757e-01 4.61214429e-02 4.91330766e-03 1.15478464e+01] [-4.61215503e-02 9.98935831e-01 -9.14940597e-05 -1.94272629e-01] [-4.91229891e-03 -1.35213777e-04 9.99987925e-01 -2.80594272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.19, Z:-0.28 [[ 9.99031641e-01 4.37223014e-02 4.91330654e-03 1.16094006e+01] [-4.37223796e-02 9.99043715e-01 -9.15541337e-05 -1.87549357e-01] [-4.91261098e-03 -1.23355977e-04 9.99987925e-01 -2.82564621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.50587156 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.18, Z:-0.28 [[ 9.99119203e-01 4.16734713e-02 4.91330431e-03 1.16712000e+01] [-4.16735241e-02 9.99131277e-01 -9.16740010e-05 -1.81004698e-01] [-4.91285638e-03 -1.13161451e-04 9.99987925e-01 -2.81032217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.18, Z:-0.29 [[ 9.99264517e-01 3.80300581e-02 4.91330200e-03 1.17318150e+01] [-3.80300662e-02 9.99276591e-01 -9.17974709e-05 -1.76430189e-01] [-4.91323874e-03 -9.51232450e-05 9.99987925e-01 -2.85395167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.17, Z:-0.29 [[ 9.99519035e-01 3.06195871e-02 4.91330086e-03 1.17933096e+01] [-3.06195054e-02 9.99531109e-01 -9.18585141e-05 -1.72444015e-01] [-4.91380972e-03 -5.86285089e-05 9.99987925e-01 -2.88615065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.17, Z:-0.29 [[ 9.99738392e-01 2.23384653e-02 4.91329860e-03 1.18555967e+01] [-2.23382830e-02 9.99750465e-01 -9.19790554e-05 -1.69536661e-01] [-4.91412723e-03 -1.77996616e-05 9.99987925e-01 -2.86956485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.17, Z:-0.29 [[ 9.99840628e-01 1.71632669e-02 4.91328252e-03 1.19163397e+01] [-1.71630179e-02 9.99852700e-01 -9.28299657e-05 -1.68481141e-01] [-4.91415206e-03 8.48841521e-06 9.99987925e-01 -2.89363013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.80587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.17, Z:-0.29 [[ 9.99912656e-01 1.22694798e-02 4.91326772e-03 1.19773513e+01] [-1.22691679e-02 9.99924727e-01 -9.36071676e-05 -1.68487367e-01] [-4.91404639e-03 3.33172849e-05 9.99987925e-01 -2.89168522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.17, Z:-0.29 [[ 9.99942912e-01 9.48856296e-03 4.91325312e-03 1.20392490e+01] [-9.48821381e-03 9.99954981e-01 -9.43669286e-05 -1.69282784e-01] [-4.91392734e-03 4.77435452e-05 9.99987925e-01 -2.87649604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.17, Z:-0.29 [[ 9.99945060e-01 9.25941641e-03 4.91323725e-03 1.20999484e+01] [-9.25906048e-03 9.99957129e-01 -9.51860898e-05 -1.71583393e-01] [-4.91390799e-03 4.96888994e-05 9.99987925e-01 -2.87925231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.98587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.17, Z:-0.28 [[ 9.99919557e-01 1.16935955e-02 4.91322261e-03 1.21617780e+01] [-1.16932653e-02 9.99931627e-01 -9.59361971e-05 -1.74574354e-01] [-4.91400851e-03 3.84768643e-05 9.99987925e-01 -2.84340338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.18, Z:-0.29 [[ 9.99871292e-01 1.52728215e-02 4.91320622e-03 1.22235555e+01] [-1.52725304e-02 9.99883363e-01 -9.67682221e-05 -1.76486603e-01] [-4.91411109e-03 2.17186761e-05 9.99987925e-01 -2.87488667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.18, Z:-0.29 [[ 9.99762212e-01 2.12456970e-02 4.91318973e-03 1.22852498e+01] [-2.12454739e-02 9.99774285e-01 -9.75984517e-05 -1.78561531e-01] [-4.91415429e-03 -6.80780031e-06 9.99987925e-01 -2.90855013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.18, Z:-0.29 [[ 9.99713987e-01 2.34052433e-02 4.91317322e-03 1.23462238e+01] [-2.34050422e-02 9.99726060e-01 -9.84223485e-05 -1.80629430e-01] [-4.91413091e-03 -1.65988283e-05 9.99987925e-01 -2.90633003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225871559999998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.18, Z:-0.29 [[ 9.99601984e-01 2.77801254e-02 4.91315788e-03 1.24073619e+01] [-2.77799735e-02 9.99614057e-01 -9.91822018e-05 -1.78352285e-01] [-4.91401698e-03 -3.73446702e-05 9.99987925e-01 -2.92258412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285871559999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.18, Z:-0.29 [[ 9.99537361e-01 3.00154035e-02 4.91315548e-03 1.24682938e+01] [-3.00152780e-02 9.99549435e-01 -9.93012546e-05 -1.77147295e-01] [-4.91392235e-03 -4.82144134e-05 9.99987925e-01 -2.89901283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.18, Z:-0.29 [[ 9.99554834e-01 2.94278043e-02 4.91315548e-03 1.25291057e+01] [-2.94276716e-02 9.99566907e-01 -9.93012546e-05 -1.76600468e-01] [-4.91394985e-03 -4.53256771e-05 9.99987925e-01 -2.88423687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.18, Z:-0.29 [[ 9.99619281e-01 2.71505740e-02 4.91315548e-03 1.25898402e+01] [-2.71504138e-02 9.99631355e-01 -9.93012546e-05 -1.75896100e-01] [-4.91404035e-03 -3.41307557e-05 9.99987925e-01 -2.91546929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465871559999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.17, Z:-0.29 [[ 9.99677741e-01 2.49053255e-02 4.91314982e-03 1.26512117e+01] [-2.49051369e-02 9.99689814e-01 -9.95805359e-05 -1.74285664e-01] [-4.91410591e-03 -2.28142235e-05 9.99987925e-01 -2.91045918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.18, Z:-0.30 [[ 9.99808504e-01 1.89424274e-02 4.91314736e-03 1.27115645e+01] [-1.89421662e-02 9.99820576e-01 -9.97014835e-05 -1.76577462e-01] [-4.91415442e-03 6.61673733e-06 9.99987925e-01 -2.99288714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.18, Z:-0.30 [[ 9.99903772e-01 1.29733672e-02 4.91314615e-03 1.27728359e+01] [-1.29730336e-02 9.99915842e-01 -9.97613532e-05 -1.75358036e-01] [-4.91402691e-03 3.60133432e-05 9.99987925e-01 -2.97281100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.18, Z:-0.30 [[ 9.99953451e-01 8.30400640e-03 4.91314380e-03 1.28350632e+01] [-8.30361589e-03 9.99965519e-01 -9.98766698e-05 -1.79116953e-01] [-4.91380377e-03 5.90751617e-05 9.99987925e-01 -2.95042811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.18, Z:-0.29 [[ 9.99966619e-01 6.52853712e-03 4.91312708e-03 1.28973259e+01] [-6.52812117e-03 9.99978687e-01 -1.00692593e-04 -1.84274451e-01] [-4.91367974e-03 6.86157432e-05 9.99987925e-01 -2.92939007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765871559999997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.19, Z:-0.29 [[ 9.99958303e-01 7.69769897e-03 4.91310969e-03 1.29596184e+01] [-7.69729299e-03 9.99970370e-01 -1.01534063e-04 -1.86160237e-01] [-4.91374570e-03 6.37121840e-05 9.99987925e-01 -2.87792003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.19, Z:-0.29 [[ 9.99917073e-01 1.19041279e-02 4.91309219e-03 1.30215690e+01] [-1.19037685e-02 9.99929142e-01 -1.02374089e-04 -1.88941095e-01] [-4.91396273e-03 4.38812869e-05 9.99987925e-01 -2.89720558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.19, Z:-0.29 [[ 9.99829700e-01 1.77885349e-02 4.91308718e-03 1.30841055e+01] [-1.77882454e-02 9.99841771e-01 -1.02614053e-04 -1.92733117e-01] [-4.91413514e-03 1.52013776e-05 9.99987925e-01 -2.90251284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.19, Z:-0.29 [[ 9.99743014e-01 2.21306751e-02 4.91308215e-03 1.31451567e+01] [-2.21304369e-02 9.99755087e-01 -1.02854242e-04 -1.93493219e-01] [-4.91415510e-03 -5.90084485e-06 9.99987925e-01 -2.92251678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.20, Z:-0.29 [[ 9.99560065e-01 2.92495801e-02 4.91307961e-03 1.32065042e+01] [-2.92494272e-02 9.99572139e-01 -1.02975574e-04 -1.95325649e-01] [-4.91398948e-03 -4.07744934e-05 9.99987925e-01 -2.92554567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.20, Z:-0.30 [[ 9.99411924e-01 3.39362178e-02 4.91307702e-03 1.32668572e+01] [-3.39361209e-02 9.99423999e-01 -1.03098928e-04 -1.97433352e-01] [-4.91374587e-03 -6.36924777e-05 9.99987925e-01 -2.99901988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125871559999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.20, Z:-0.30 [[ 9.99410985e-01 3.39638825e-02 4.91307573e-03 1.33274488e+01] [-3.39637857e-02 9.99423059e-01 -1.03160049e-04 -1.97887538e-01] [-4.91374489e-03 -6.37673653e-05 9.99987925e-01 -2.96654454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.20, Z:-0.30 [[ 9.99500463e-01 3.12199743e-02 4.91307449e-03 1.33885634e+01] [-3.12198440e-02 9.99512537e-01 -1.03219307e-04 -1.98406813e-01] [-4.91390205e-03 -5.02176744e-05 9.99987925e-01 -2.96518508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245871559999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.20, Z:-0.29 [[ 9.99624472e-01 2.69588118e-02 4.91307197e-03 1.34495322e+01] [-2.69586295e-02 9.99636545e-01 -1.03339126e-04 -2.01936129e-01] [-4.91407219e-03 -2.91493680e-05 9.99987925e-01 -2.92877651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.20, Z:-0.29 [[ 9.99622794e-01 2.70209419e-02 4.91306942e-03 1.35096756e+01] [-2.70207598e-02 9.99634867e-01 -1.03460264e-04 -2.02959198e-01] [-4.91407109e-03 -2.93336305e-05 9.99987925e-01 -2.94925914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.20, Z:-0.30 [[ 9.99545611e-01 2.97394377e-02 4.91306816e-03 1.35703653e+01] [-2.97392881e-02 9.99557684e-01 -1.03520129e-04 -2.01013983e-01] [-4.91397366e-03 -4.26380593e-05 9.99987925e-01 -2.96774950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.20, Z:-0.30 [[ 9.99370607e-01 3.51319249e-02 4.91306816e-03 1.36313095e+01] [-3.51318405e-02 9.99382681e-01 -1.03520129e-04 -1.96978114e-01] [-4.91367209e-03 -6.91501529e-05 9.99987925e-01 -2.96668002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.19, Z:-0.30 [[ 9.99263582e-01 3.80546336e-02 4.91306816e-03 1.36907642e+01] [-3.80545844e-02 9.99275657e-01 -1.03520129e-04 -1.93992462e-01] [-4.91344883e-03 -8.35208724e-05 9.99987925e-01 -2.95695840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.19, Z:-0.29 [[ 9.99194854e-01 3.98183958e-02 4.91306942e-03 1.37510648e+01] [-3.98183682e-02 9.99206929e-01 -1.03459972e-04 -1.88049114e-01] [-4.91329262e-03 -9.22537353e-05 9.99987925e-01 -2.94548307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.19, Z:-0.30 [[ 9.99191369e-01 3.99057603e-02 4.91307068e-03 1.38112043e+01] [-3.99057341e-02 9.99203444e-01 -1.03400295e-04 -1.85017969e-01] [-4.91328341e-03 -9.27430102e-05 9.99987925e-01 -2.97699643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.18, Z:-0.30 [[ 9.99316363e-01 3.66424413e-02 4.91307319e-03 1.38706195e+01] [-3.66423763e-02 9.99328437e-01 -1.03280892e-04 -1.82033577e-01] [-4.91355822e-03 -7.68163914e-05 9.99987925e-01 -2.98210623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725871559999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.18, Z:-0.30 [[ 9.99563287e-01 2.91392787e-02 4.91307569e-03 1.39306777e+01] [-2.91391236e-02 9.99575360e-01 -1.03161778e-04 -1.78250934e-01] [-4.91399546e-03 -4.00459940e-05 9.99987925e-01 -2.97613826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785871559999997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.18, Z:-0.30 [[ 9.99766439e-01 2.10458810e-02 4.91307692e-03 1.39919971e+01] [-2.10456284e-02 9.99778511e-01 -1.03103264e-04 -1.76967139e-01] [-4.91415862e-03 -3.19608276e-07 9.99987925e-01 -2.98173523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.18, Z:-0.30 [[ 9.99863993e-01 1.57434547e-02 4.91307453e-03 1.40530069e+01] [-1.57431376e-02 9.99876064e-01 -1.03216778e-04 -1.77062201e-01] [-4.91409061e-03 2.58555317e-05 9.99987925e-01 -3.02582733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905871559999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.18, Z:-0.30 [[ 9.99955669e-01 8.03255631e-03 4.91307215e-03 1.41138922e+01] [-8.03214556e-03 9.99967736e-01 -1.03330254e-04 -1.79909150e-01] [-4.91374364e-03 6.38631630e-05 9.99987925e-01 -3.02625137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.18, Z:-0.30 [[ 9.99980929e-01 3.74201670e-03 4.91305666e-03 1.41760994e+01] [-3.74155058e-03 9.99992995e-01 -1.04061414e-04 -1.81980766e-01] [-4.91341164e-03 8.56769790e-05 9.99987925e-01 -2.98376366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02587156 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.19, Z:-0.29 [[ 9.99986677e-01 1.58378200e-03 4.91303990e-03 1.42386143e+01] [-1.58328598e-03 9.99998741e-01 -1.04846951e-04 -1.86808763e-01] [-4.91319977e-03 9.70668065e-05 9.99987925e-01 -2.94797362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085871559999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.19, Z:-0.29 [[ 9.99987415e-01 1.01560105e-03 4.91302262e-03 1.43014506e+01] [-1.01509423e-03 9.99999479e-01 -1.05650477e-04 -1.89028257e-01] [-4.91312736e-03 1.00661967e-04 9.99987925e-01 -2.94576451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.19, Z:-0.29 [[ 9.99987875e-01 3.36211417e-04 4.91300172e-03 1.43623244e+01] [-3.35691674e-04 9.99999938e-01 -1.06613478e-04 -1.94909879e-01] [-4.91303726e-03 1.04962932e-04 9.99987925e-01 -2.92708699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.20, Z:-0.29 [[ 9.99987626e-01 -7.81357176e-04 4.91299173e-03 1.44245835e+01] [ 7.81892652e-04 9.99999689e-01 -1.07072069e-04 -2.02406914e-01] [-4.91290653e-03 1.10912176e-04 9.99987925e-01 -2.94910587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265871559999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.21, Z:-0.30 [[ 9.99987763e-01 -5.80944845e-04 4.91297379e-03 1.44857936e+01] [ 5.81481915e-04 9.99999825e-01 -1.07888956e-04 -2.12334648e-01] [-4.91291025e-03 1.10744442e-04 9.99987925e-01 -2.98423184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.22, Z:-0.30 [[ 9.99987318e-01 1.10754684e-03 4.91296994e-03 1.45481589e+01] [-1.10702928e-03 9.99999381e-01 -1.08063718e-04 -2.18925240e-01] [-4.91308659e-03 1.02623546e-04 9.99987925e-01 -2.99787838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.23, Z:-0.30 [[ 9.99967633e-01 6.37139964e-03 4.91296467e-03 1.46094438e+01] [-6.37094442e-03 9.99979699e-01 -1.08302784e-04 -2.27521544e-01] [-4.91355498e-03 7.69990541e-05 9.99987925e-01 -3.00365548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445871559999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.23, Z:-0.30 [[ 9.99858775e-01 1.60715127e-02 4.91296075e-03 1.46703411e+01] [-1.60711737e-02 9.99870844e-01 -1.08480291e-04 -2.31694390e-01] [-4.91406966e-03 2.95079257e-05 9.99987925e-01 -2.99318661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.24, Z:-0.30 [[ 9.99559208e-01 2.92788866e-02 4.91295688e-03 1.47302774e+01] [-2.92787062e-02 9.99571281e-01 -1.08655590e-04 -2.35608526e-01] [-4.91403191e-03 -3.52373253e-05 9.99987925e-01 -3.00578136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.24, Z:-0.30 [[ 9.99174268e-01 4.03316967e-02 4.91295440e-03 1.47905743e+01] [-4.03316492e-02 9.99186342e-01 -1.08767454e-04 -2.35921617e-01] [-4.91334371e-03 -8.94699127e-05 9.99987925e-01 -3.02498350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.23, Z:-0.31 [[ 9.98953711e-01 4.54680804e-02 4.91295440e-03 1.48497468e+01] [-4.54680950e-02 9.98965785e-01 -1.08767454e-04 -2.34856811e-01] [-4.91281880e-03 -1.14729026e-04 9.99987925e-01 -3.05485807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.23, Z:-0.30 [[ 9.98751024e-01 4.97217748e-02 4.91295574e-03 1.49093445e+01] [-4.97218411e-02 9.98763098e-01 -1.08706731e-04 -2.31319514e-01] [-4.91228399e-03 -1.35710246e-04 9.99987925e-01 -3.04328616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.23, Z:-0.31 [[ 9.98674764e-01 5.12306450e-02 4.91295850e-03 1.49684553e+01] [-5.12307302e-02 9.98686838e-01 -1.08581912e-04 -2.31525058e-01] [-4.91206971e-03 -1.43256437e-04 9.99987925e-01 -3.05407674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805871559999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.23, Z:-0.30 [[ 9.98806309e-01 4.85985533e-02 4.91296121e-03 1.50278630e+01] [-4.85986073e-02 9.98818384e-01 -1.08459199e-04 -2.27924192e-01] [-4.91242694e-03 -1.30433341e-04 9.99987925e-01 -3.00126550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.22, Z:-0.30 [[ 9.98986238e-01 4.47477229e-02 4.91296382e-03 1.50888592e+01] [-4.47477310e-02 9.98998313e-01 -1.08340897e-04 -2.22757083e-01] [-4.91289057e-03 -1.11612918e-04 9.99987925e-01 -2.99847790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.22, Z:-0.30 [[ 9.99220076e-01 3.91803838e-02 4.91296382e-03 1.51481643e+01] [-3.91803246e-02 9.99232150e-01 -1.08340897e-04 -2.18419019e-01] [-4.91343624e-03 -8.42351179e-05 9.99987925e-01 -3.04575387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.22, Z:-0.30 [[ 9.99402417e-01 3.42150691e-02 4.91296516e-03 1.52090384e+01] [-3.42149501e-02 9.99414491e-01 -1.08279984e-04 -2.15853486e-01] [-4.91379339e-03 -5.98815806e-05 9.99987925e-01 -3.03008702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.21, Z:-0.30 [[ 9.99651758e-01 2.59273178e-02 4.91296516e-03 1.52698023e+01] [-2.59270987e-02 9.99663830e-01 -1.08279984e-04 -2.11409708e-01] [-4.91412098e-03 -1.91366568e-05 9.99987925e-01 -3.03123968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105871559999997 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.21, Z:-0.30 [[ 9.99844578e-01 1.69317091e-02 4.91296516e-03 1.53307746e+01] [-1.69313815e-02 9.99856648e-01 -1.08279984e-04 -2.11234138e-01] [-4.91409424e-03 2.50798672e-05 9.99987925e-01 -3.04875284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.21, Z:-0.30 [[ 9.99931640e-01 1.06102763e-02 4.91294827e-03 1.53921608e+01] [-1.06098686e-02 9.99943708e-01 -1.09041188e-04 -2.12600200e-01] [-4.91382866e-03 5.69079986e-05 9.99987925e-01 -3.04885170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225871559999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.22, Z:-0.30 [[ 9.99987931e-01 2.38316161e-05 4.91294431e-03 1.54532851e+01] [-2.32953089e-05 9.99999994e-01 -1.09219284e-04 -2.17733474e-01] [-4.91294688e-03 1.09103517e-04 9.99987925e-01 -3.02531442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285871559999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.22, Z:-0.30 [[ 9.99956344e-01 -7.94819603e-03 4.91292702e-03 1.55159550e+01] [ 7.94883227e-03 9.99968401e-01 -1.09991628e-04 -2.24910412e-01] [-4.91189754e-03 1.49038859e-04 9.99987925e-01 -3.00695965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.23, Z:-0.30 [[ 9.99960707e-01 -7.37891887e-03 4.91290546e-03 1.55780372e+01] [ 7.37955293e-03 9.99972765e-01 -1.10946404e-04 -2.31904927e-01] [-4.91195299e-03 1.47197090e-04 9.99987925e-01 -3.03004051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405871559999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.24, Z:-0.30 [[ 9.99983962e-01 -2.81754266e-03 4.91290009e-03 1.56393499e+01] [ 2.81812288e-03 9.99996023e-01 -1.11183350e-04 -2.35600374e-01] [-4.91256729e-03 1.25026723e-04 9.99987925e-01 -3.03787211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465871559999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.24, Z:-0.31 [[ 9.99971456e-01 5.74032665e-03 4.91289611e-03 1.57014078e+01] [-5.73984880e-03 9.99983521e-01 -1.11358916e-04 -2.41960416e-01] [-4.91345439e-03 8.31564569e-05 9.99987925e-01 -3.05286072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.25, Z:-0.31 [[ 9.99934761e-01 1.03119516e-02 4.91289072e-03 1.57622285e+01] [-1.03115278e-02 9.99946829e-01 -1.11596165e-04 -2.46332859e-01] [-4.91378027e-03 6.09294751e-05 9.99987925e-01 -3.05718930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.25, Z:-0.31 [[ 9.99899707e-01 1.32830531e-02 4.91288190e-03 1.58247719e+01] [-1.32826632e-02 9.99911775e-01 -1.11983257e-04 -2.51996107e-01] [-4.91393594e-03 4.67158705e-05 9.99987925e-01 -3.05775442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.26, Z:-0.30 [[ 9.99825392e-01 1.80291100e-02 4.91286284e-03 1.58866542e+01] [-1.80287734e-02 9.99837462e-01 -1.12813178e-04 -2.58369635e-01] [-4.91409824e-03 2.42205888e-05 9.99987925e-01 -3.04981106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.26, Z:-0.31 [[ 9.99645329e-01 2.61740503e-02 4.91284299e-03 1.59479327e+01] [-2.61738077e-02 9.99657401e-01 -1.13671447e-04 -2.60870883e-01] [-4.91413509e-03 -1.49566769e-05 9.99987925e-01 -3.07323601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.26, Z:-0.31 [[ 9.99493180e-01 3.14523144e-02 4.91284014e-03 1.60082248e+01] [-3.14521350e-02 9.99505253e-01 -1.13794324e-04 -2.62241079e-01] [-4.91398862e-03 -4.07826609e-05 9.99987925e-01 -3.12768865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.26, Z:-0.31 [[ 9.99344867e-01 3.58566676e-02 4.91283257e-03 1.60687360e+01] [-3.58565398e-02 9.99356941e-01 -1.14120353e-04 -2.62320026e-01] [-4.91376530e-03 -6.21115876e-05 9.99987925e-01 -3.14165458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.26, Z:-0.31 [[ 9.99361898e-01 3.53788300e-02 4.91283121e-03 1.61305318e+01] [-3.53786961e-02 9.99373971e-01 -1.14178747e-04 -2.63702686e-01] [-4.91379515e-03 -5.97036735e-05 9.99987925e-01 -3.12856529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.27, Z:-0.31 [[ 9.99464316e-01 3.23565174e-02 4.91282850e-03 1.61919570e+01] [-3.23563464e-02 9.99476390e-01 -1.14295197e-04 -2.65893570e-01] [-4.91395429e-03 -4.47272103e-05 9.99987925e-01 -3.09989432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.27, Z:-0.31 [[ 9.99676898e-01 2.49391877e-02 4.91282569e-03 1.62532434e+01] [-2.49389265e-02 9.99688970e-01 -1.14415996e-04 -2.68676962e-01] [-4.91415109e-03 -8.14157081e-06 9.99987925e-01 -3.06873128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065871559999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.28, Z:-0.31 [[ 9.99848659e-01 1.66890033e-02 4.91281510e-03 1.63149028e+01] [-1.66886403e-02 9.99860728e-01 -1.14868682e-04 -2.75460960e-01] [-4.91404793e-03 3.28630934e-05 9.99987925e-01 -3.06039414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125871559999997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.28, Z:-0.31 [[ 9.99900851e-01 1.31967168e-02 4.91281229e-03 1.63773135e+01] [-1.31963111e-02 9.99912918e-01 -1.14989020e-04 -2.79483830e-01] [-4.91390195e-03 5.01466199e-05 9.99987925e-01 -3.08203519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.29, Z:-0.31 [[ 9.99911414e-01 1.23704418e-02 4.91279268e-03 1.64393727e+01] [-1.23700221e-02 9.99923482e-01 -1.15820589e-04 -2.86985115e-01] [-4.91384951e-03 5.50389753e-05 9.99987925e-01 -3.10214472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.29, Z:-0.31 [[ 9.99870457e-01 1.53275824e-02 4.91277311e-03 1.65014556e+01] [-1.53271943e-02 9.99882525e-01 -1.16645048e-04 -2.94795070e-01] [-4.91398386e-03 4.13309098e-05 9.99987925e-01 -3.11721603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305871559999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.30, Z:-0.31 [[ 9.99803703e-01 1.91943022e-02 4.91275221e-03 1.65638766e+01] [-1.91939564e-02 9.99815772e-01 -1.17518486e-04 -2.97872508e-01] [-4.91410283e-03 2.32002654e-05 9.99987925e-01 -3.12137954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.30, Z:-0.31 [[ 9.99632234e-01 2.66695032e-02 4.91273274e-03 1.66258637e+01] [-2.66692437e-02 9.99644305e-01 -1.18326776e-04 -3.00691457e-01] [-4.91414103e-03 -1.27356078e-05 9.99987925e-01 -3.14399085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.31, Z:-0.31 [[ 9.99502517e-01 3.11541872e-02 4.91271249e-03 1.66873986e+01] [-3.11539778e-02 9.99514590e-01 -1.19161932e-04 -3.05176711e-01] [-4.91404020e-03 -3.39478845e-05 9.99987925e-01 -3.14857804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.31, Z:-0.31 [[ 9.99284256e-01 3.75078876e-02 4.91270954e-03 1.67489007e+01] [-3.75077544e-02 9.99296329e-01 -1.19283211e-04 -3.07556159e-01] [-4.91372667e-03 -6.50668678e-05 9.99987925e-01 -3.09159586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.31, Z:-0.31 [[ 9.99159469e-01 4.06966826e-02 4.91270660e-03 1.68094158e+01] [-4.06965873e-02 9.99171544e-01 -1.19404121e-04 -3.09638793e-01] [-4.91349599e-03 -8.06266345e-05 9.99987925e-01 -3.08671220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.31, Z:-0.31 [[ 9.99059879e-01 4.30723114e-02 4.91270514e-03 1.68703012e+01] [-4.30722445e-02 9.99071953e-01 -1.19464097e-04 -3.10767148e-01] [-4.91329152e-03 -9.22494506e-05 9.99987925e-01 -3.10127996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.31, Z:-0.31 [[ 9.98902898e-01 4.65710750e-02 4.91270233e-03 1.69313266e+01] [-4.65710498e-02 9.98914973e-01 -1.19579715e-04 -3.10087703e-01] [-4.91294087e-03 -1.09341181e-04 9.99987925e-01 -3.06482598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.31, Z:-0.31 [[ 9.98705712e-01 5.06237796e-02 4.91269940e-03 1.69921633e+01] [-5.06238028e-02 9.98717786e-01 -1.19700171e-04 -3.06857388e-01] [-4.91245994e-03 -1.29154281e-04 9.99987925e-01 -3.08951273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.30, Z:-0.32 [[ 9.98560842e-01 5.34051442e-02 4.91269183e-03 1.70518149e+01] [-5.34051996e-02 9.98572917e-01 -1.20009825e-04 -2.99301826e-01] [-4.91209015e-03 -1.42526176e-04 9.99987925e-01 -3.16522824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.30, Z:-0.32 [[ 9.98644597e-01 5.18153778e-02 4.91269477e-03 1.71113365e+01] [-5.18154145e-02 9.98656672e-01 -1.19889234e-04 -2.96368354e-01] [-4.91230752e-03 -1.34826580e-04 9.99987925e-01 -3.16941855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.30, Z:-0.32 [[ 9.98703021e-01 5.06768341e-02 4.91269623e-03 1.71716699e+01] [-5.06768573e-02 9.98715095e-01 -1.19829606e-04 -2.95155210e-01] [-4.91245647e-03 -1.29285816e-04 9.99987925e-01 -3.16415433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.29, Z:-0.32 [[ 9.99070788e-01 4.28185276e-02 4.91269623e-03 1.72313920e+01] [-4.28184558e-02 9.99082862e-01 -1.19829606e-04 -2.90437680e-01] [-4.91332154e-03 -9.06358077e-05 9.99987925e-01 -3.16136336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.29, Z:-0.31 [[ 9.99402702e-01 3.42067945e-02 4.91269767e-03 1.72917528e+01] [-3.42066190e-02 9.99414775e-01 -1.19770270e-04 -2.89920570e-01] [-4.91391960e-03 -4.83480462e-05 9.99987925e-01 -3.14694343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085871559999998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.29, Z:-0.31 [[ 9.99790877e-01 1.98511217e-02 4.91269767e-03 1.73534482e+01] [-1.98507728e-02 9.99802947e-01 -1.19770270e-04 -2.89160143e-01] [-4.91410719e-03 2.22243778e-05 9.99987925e-01 -3.14347912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145871559999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.29, Z:-0.32 [[ 9.99963932e-01 6.92815245e-03 4.91269471e-03 1.74142736e+01] [-6.92764702e-03 9.99975996e-01 -1.19891548e-04 -2.89936172e-01] [-4.91340742e-03 8.58538093e-05 9.99987925e-01 -3.15230758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.29, Z:-0.31 [[ 9.99987340e-01 -1.08846508e-03 4.91267566e-03 1.74763764e+01] [ 1.08907101e-03 9.99999400e-01 -1.20667326e-04 -2.94223856e-01] [-4.91254137e-03 1.26016051e-04 9.99987925e-01 -3.13477805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.30, Z:-0.31 [[ 9.99986490e-01 -1.69852311e-03 4.91265543e-03 1.75383037e+01] [ 1.69914042e-03 9.99998549e-01 -1.21485272e-04 -2.96947117e-01] [-4.91244196e-03 1.29830922e-04 9.99987925e-01 -3.14354820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.30, Z:-0.32 [[ 9.99986637e-01 1.60958446e-03 4.91264948e-03 1.75990681e+01] [-1.60900587e-03 9.99998698e-01 -1.21725388e-04 -3.00474735e-01] [-4.91283902e-03 1.13819279e-04 9.99987925e-01 -3.15561149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.31, Z:-0.31 [[ 9.99982067e-01 3.42516947e-03 4.91264506e-03 1.76612936e+01] [-3.42461190e-03 9.99994129e-01 -1.21903590e-04 -3.06494049e-01] [-4.91303376e-03 1.05077501e-04 9.99987925e-01 -3.14068980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.31, Z:-0.32 [[ 9.99983504e-01 2.97634200e-03 4.91263936e-03 1.77231621e+01] [-2.97577789e-03 9.99995565e-01 -1.22132981e-04 -3.14797735e-01] [-4.91298108e-03 1.07512043e-04 9.99987925e-01 -3.15797998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.32, Z:-0.32 [[ 9.99985444e-01 2.23100974e-03 4.91261849e-03 1.77855555e+01] [-2.23043255e-03 9.99997505e-01 -1.22966575e-04 -3.21586604e-01] [-4.91288058e-03 1.12007521e-04 9.99987925e-01 -3.18065047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.33, Z:-0.32 [[ 9.99987093e-01 1.29657116e-03 4.91259764e-03 1.78480745e+01] [-1.29597864e-03 9.99999153e-01 -1.23793910e-04 -3.31192386e-01] [-4.91275399e-03 1.17425690e-04 9.99987925e-01 -3.17745421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625871559999997 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.34, Z:-0.32 [[ 9.99985199e-01 2.33861624e-03 4.91257377e-03 1.79101774e+01] [-2.33803167e-03 9.99997259e-01 -1.24734109e-04 -3.38683649e-01] [-4.91285201e-03 1.13246510e-04 9.99987925e-01 -3.16031689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.35, Z:-0.32 [[ 9.99956791e-01 7.89190370e-03 4.91256632e-03 1.79709861e+01] [-7.89138468e-03 9.99968855e-01 -1.25026844e-04 -3.48520813e-01] [-4.91340002e-03 8.62544907e-05 9.99987925e-01 -3.17757110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.36, Z:-0.32 [[ 9.99843526e-01 1.69938146e-02 4.91256184e-03 1.80334458e+01] [-1.69934045e-02 9.99855594e-01 -1.25202817e-04 -3.56398994e-01] [-4.91398011e-03 4.17020753e-05 9.99987925e-01 -3.18785732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.36, Z:-0.32 [[ 9.99662084e-01 2.55261361e-02 4.91255577e-03 1.80950637e+01] [-2.55258279e-02 9.99674155e-01 -1.25440251e-04 -3.60988442e-01] [-4.91415705e-03 8.09405780e-10 9.99987925e-01 -3.18273249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.36, Z:-0.32 [[ 9.99600103e-01 2.78478350e-02 4.91254962e-03 1.81560264e+01] [-2.78475536e-02 9.99612174e-01 -1.25680793e-04 -3.64658889e-01] [-4.91414434e-03 -1.11719550e-05 9.99987925e-01 -3.18588155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.37, Z:-0.32 [[ 9.99486543e-01 3.16625684e-02 4.91252963e-03 1.82167753e+01] [-3.16623293e-02 9.99498615e-01 -1.26457492e-04 -3.70407221e-01] [-4.91407053e-03 -2.91495696e-05 9.99987925e-01 -3.18714335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.38, Z:-0.32 [[ 9.99493998e-01 3.14263603e-02 4.91250982e-03 1.82774224e+01] [-3.14261145e-02 9.99506070e-01 -1.27222484e-04 -3.77701748e-01] [-4.91408152e-03 -2.72229869e-05 9.99987925e-01 -3.18735525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.38, Z:-0.32 [[ 9.99497825e-01 3.13043986e-02 4.91249008e-03 1.83392524e+01] [-3.13041476e-02 9.99509897e-01 -1.27980062e-04 -3.83332274e-01] [-4.91408879e-03 -2.58655212e-05 9.99987925e-01 -3.16298359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.39, Z:-0.32 [[ 9.99499995e-01 3.12350468e-02 4.91246822e-03 1.84008631e+01] [-3.12347909e-02 9.99512067e-01 -1.28813630e-04 -3.91376002e-01] [-4.91409476e-03 -2.46906950e-05 9.99987925e-01 -3.18116068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.40, Z:-0.32 [[ 9.99418948e-01 3.37288352e-02 4.91244616e-03 1.84621924e+01] [-3.37286053e-02 9.99431020e-01 -1.29649646e-04 -3.96792393e-01] [-4.91402401e-03 -3.61156451e-05 9.99987925e-01 -3.23966470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225871559999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.40, Z:-0.32 [[ 9.99316390e-01 3.66417985e-02 4.91242583e-03 1.85242178e+01] [-3.66416001e-02 9.99328463e-01 -1.30415434e-04 -4.04185460e-01] [-4.91390561e-03 -4.96728616e-05 9.99987925e-01 -3.23301269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.41, Z:-0.33 [[ 9.99238206e-01 3.87153216e-02 4.91240327e-03 1.85868506e+01] [-3.87151441e-02 9.99250279e-01 -1.31259542e-04 -4.05970431e-01] [-4.91380210e-03 -5.90248514e-05 9.99987925e-01 -3.26048705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.41, Z:-0.32 [[ 9.99147185e-01 4.09972161e-02 4.91239531e-03 1.86488302e+01] [-4.09970647e-02 9.99159258e-01 -1.31556974e-04 -4.10157536e-01] [-4.91365872e-03 -6.99490078e-05 9.99987925e-01 -3.24244131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.41, Z:-0.32 [[ 9.99111574e-01 4.18560805e-02 4.91237190e-03 1.87095956e+01] [-4.18559352e-02 9.99123648e-01 -1.32425370e-04 -4.11925676e-01] [-4.91360974e-03 -7.33041999e-05 9.99987925e-01 -3.24959391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.41, Z:-0.32 [[ 9.99096139e-01 4.22229002e-02 4.91235038e-03 1.87711394e+01] [-4.22227555e-02 9.99108213e-01 -1.33218767e-04 -4.11600323e-01] [-4.91359449e-03 -7.43146128e-05 9.99987925e-01 -3.24180224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.41, Z:-0.32 [[ 9.99156730e-01 4.07639362e-02 4.91232947e-03 1.88335492e+01] [-4.07637701e-02 9.99168803e-01 -1.33985461e-04 -4.12781529e-01] [-4.91370813e-03 -6.63725941e-05 9.99987925e-01 -3.24677036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.41, Z:-0.32 [[ 9.99278058e-01 3.76727021e-02 4.91230714e-03 1.88957140e+01] [-3.76724946e-02 9.99290131e-01 -1.34799036e-04 -4.13421251e-01] [-4.91389829e-03 -5.03571451e-05 9.99987925e-01 -3.22286254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.42, Z:-0.32 [[ 9.99397114e-01 3.43697229e-02 4.91228402e-03 1.89573012e+01] [-3.43694714e-02 9.99409186e-01 -1.35636580e-04 -4.15049960e-01] [-4.91404356e-03 -3.32777984e-05 9.99987925e-01 -3.22237593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.42, Z:-0.32 [[ 9.99569790e-01 2.89154766e-02 4.91226255e-03 1.90199214e+01] [-2.89151554e-02 9.99581860e-01 -1.36409534e-04 -4.18399033e-01] [-4.91415289e-03 -5.68798576e-06 9.99987925e-01 -3.21300177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765871559999997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.42, Z:-0.32 [[ 9.99695006e-01 2.42025659e-02 4.91223615e-03 1.90824538e+01] [-2.42021831e-02 9.99707075e-01 -1.37353984e-04 -4.21973968e-01] [-4.91412155e-03 1.84252536e-05 9.99987925e-01 -3.21474153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.43, Z:-0.32 [[ 9.99711556e-01 2.35090226e-02 4.91221235e-03 1.91442595e+01] [-2.35086273e-02 9.99723624e-01 -1.38199645e-04 -4.25549611e-01] [-4.91410368e-03 2.26804127e-05 9.99987925e-01 -3.22814460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.43, Z:-0.32 [[ 9.99697479e-01 2.41002157e-02 4.91218703e-03 1.92073072e+01] [-2.40998232e-02 9.99709547e-01 -1.39093894e-04 -4.29819058e-01] [-4.91411247e-03 2.06689766e-05 9.99987925e-01 -3.23087234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945871559999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.43, Z:-0.32 [[ 9.99689814e-01 2.44161133e-02 4.91216015e-03 1.92699157e+01] [-2.44157199e-02 9.99701882e-01 -1.40036988e-04 -4.32559322e-01] [-4.91411490e-03 2.00596239e-05 9.99987925e-01 -3.23614423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.44, Z:-0.33 [[ 9.99688268e-01 2.44793386e-02 4.91215149e-03 1.93323679e+01] [-2.44789446e-02 9.99700336e-01 -1.40339814e-04 -4.38610112e-01] [-4.91411492e-03 2.00517818e-05 9.99987925e-01 -3.27280963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.44, Z:-0.33 [[ 9.99676531e-01 2.49540415e-02 4.91212736e-03 1.93947920e+01] [-2.49536491e-02 9.99688599e-01 -1.41179676e-04 -4.39918329e-01] [-4.91412072e-03 1.85585062e-05 9.99987925e-01 -3.28547716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.44, Z:-0.33 [[ 9.99664930e-01 2.54145596e-02 4.91210158e-03 1.94569699e+01] [-2.54141683e-02 9.99676998e-01 -1.42070893e-04 -4.43481844e-01] [-4.91412563e-03 1.71863131e-05 9.99987925e-01 -3.28859297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.45, Z:-0.32 [[ 9.99653720e-01 2.58517155e-02 4.91207460e-03 1.95186037e+01] [-2.58513249e-02 9.99665788e-01 -1.42997672e-04 -4.46467772e-01] [-4.91412966e-03 1.59645180e-05 9.99987925e-01 -3.24772440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.45, Z:-0.32 [[ 9.99614610e-01 2.73222134e-02 4.91205168e-03 1.95806637e+01] [-2.73218368e-02 9.99626679e-01 -1.43780844e-04 -4.50873886e-01] [-4.91414631e-03 9.51915803e-06 9.99987925e-01 -3.23746515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.45, Z:-0.32 [[ 9.99557716e-01 2.93299314e-02 4.91202709e-03 1.96437060e+01] [-2.93295749e-02 9.99569785e-01 -1.44615756e-04 -4.52826160e-01] [-4.91415544e-03 4.84127716e-07 9.99987925e-01 -3.23670230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.46, Z:-0.33 [[ 9.99449383e-01 3.28146741e-02 4.91199805e-03 1.97052053e+01] [-3.28143549e-02 9.99461453e-01 -1.45595649e-04 -4.56298214e-01] [-4.91413038e-03 -1.56685659e-05 9.99987925e-01 -3.26308528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.46, Z:-0.33 [[ 9.99386903e-01 3.46654189e-02 4.91197087e-03 1.97675295e+01] [-3.46651176e-02 9.99398973e-01 -1.46507056e-04 -4.56886030e-01] [-4.91409737e-03 -2.38568148e-05 9.99987925e-01 -3.27844307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.46, Z:-0.33 [[ 9.99409729e-01 3.40009684e-02 4.91194645e-03 1.98299169e+01] [-3.40006550e-02 9.99421800e-01 -1.47321185e-04 -4.58063507e-01] [-4.91411542e-03 -1.97751707e-05 9.99987925e-01 -3.26336929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.46, Z:-0.33 [[ 9.99442545e-01 3.30223041e-02 4.91192031e-03 1.98932397e+01] [-3.30219746e-02 9.99454615e-01 -1.48187415e-04 -4.60872445e-01] [-4.91413492e-03 -1.40965003e-05 9.99987925e-01 -3.26817469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.46, Z:-0.33 [[ 9.99431007e-01 3.33696798e-02 4.91189184e-03 1.99554351e+01] [-3.33693499e-02 9.99443077e-01 -1.49125455e-04 -4.62907198e-01] [-4.91413256e-03 -1.48660334e-05 9.99987925e-01 -3.27179086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.47, Z:-0.33 [[ 9.99413421e-01 3.38922845e-02 4.91186533e-03 2.00179746e+01] [-3.38919566e-02 9.99425491e-01 -1.49993371e-04 -4.66964991e-01] [-4.91412704e-03 -1.65673383e-05 9.99987925e-01 -3.26448961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725871559999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.47, Z:-0.33 [[ 9.99474857e-01 3.20294400e-02 4.91183548e-03 2.00803108e+01] [-3.20290849e-02 9.99486926e-01 -1.50964491e-04 -4.70489147e-01] [-4.91415066e-03 -6.43638295e-06 9.99987925e-01 -3.28556254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.47, Z:-0.33 [[ 9.99499806e-01 3.12411807e-02 4.91181697e-03 2.01435928e+01] [-3.12408131e-02 9.99511875e-01 -1.51564397e-04 -4.74543938e-01] [-4.91415444e-03 -1.96057082e-06 9.99987925e-01 -3.28809141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.48, Z:-0.33 [[ 9.99539728e-01 2.99367001e-02 4.91178669e-03 2.02047537e+01] [-2.99363119e-02 9.99551797e-01 -1.52539603e-04 -4.82304093e-01] [-4.91415174e-03 5.42861517e-06 9.99987925e-01 -3.32813445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905871559999998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.49, Z:-0.33 [[ 9.99436498e-01 3.32048467e-02 4.91176227e-03 2.02679913e+01] [-3.32044942e-02 9.99448567e-01 -1.53321883e-04 -4.86946952e-01] [-4.91414479e-03 -9.85709621e-06 9.99987925e-01 -3.29514268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.49, Z:-0.33 [[ 9.99207373e-01 3.95031763e-02 4.91173238e-03 2.03307657e+01] [-3.95028952e-02 9.99219444e-01 -1.54273619e-04 -4.89357877e-01] [-4.91399279e-03 -3.98763115e-05 9.99987925e-01 -3.30428620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.49, Z:-0.33 [[ 9.98775012e-01 4.92376853e-02 4.91170175e-03 2.03917083e+01] [-4.92375170e-02 9.98787086e-01 -1.55242547e-04 -4.92157330e-01] [-4.91338806e-03 -8.67876218e-05 9.99987925e-01 -3.34437841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.49, Z:-0.33 [[ 9.98398982e-01 5.63502330e-02 4.91167716e-03 2.04539451e+01] [-5.63501469e-02 9.98411056e-01 -1.56016730e-04 -4.91126831e-01] [-4.91266436e-03 -1.21006785e-04 9.99987925e-01 -3.33341567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.49, Z:-0.33 [[ 9.98136200e-01 6.08276420e-02 4.91165129e-03 2.05166650e+01] [-6.08276061e-02 9.98148274e-01 -1.56827024e-04 -4.92454911e-01] [-4.91209567e-03 -1.42229259e-04 9.99987925e-01 -3.31743913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.49, Z:-0.33 [[ 9.98082543e-01 6.17018174e-02 4.91162058e-03 2.05789443e+01] [-6.17017874e-02 9.98094617e-01 -1.57782999e-04 -4.94109558e-01] [-4.91199756e-03 -1.45575311e-04 9.99987925e-01 -3.33851346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265871559999997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.49, Z:-0.33 [[ 9.98126302e-01 6.09898459e-02 4.91160157e-03 2.06415529e+01] [-6.09898044e-02 9.98138377e-01 -1.58372429e-04 -4.92922801e-01] [-4.91211713e-03 -1.41481932e-04 9.99987925e-01 -3.30758473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.49, Z:-0.33 [[ 9.98199882e-01 5.97735029e-02 4.91157548e-03 2.07042505e+01] [-5.97734427e-02 9.98211957e-01 -1.59177398e-04 -4.92469182e-01] [-4.91230796e-03 -1.34690916e-04 9.99987925e-01 -3.32767100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.49, Z:-0.33 [[ 9.98306266e-01 5.79696031e-02 4.91156573e-03 2.07669544e+01] [-5.79695196e-02 9.98318341e-01 -1.59477816e-04 -4.92433423e-01] [-4.91255101e-03 -1.25513403e-04 9.99987925e-01 -3.34583181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.49, Z:-0.33 [[ 9.98486869e-01 5.47708774e-02 4.91155603e-03 2.08292572e+01] [-5.47707538e-02 9.98498943e-01 -1.59775833e-04 -4.91270310e-01] [-4.91293457e-03 -1.09475555e-04 9.99987925e-01 -3.34782665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.49, Z:-0.33 [[ 9.98512904e-01 5.42941765e-02 4.91152700e-03 2.08900445e+01] [-5.42940427e-02 9.98524978e-01 -1.60663379e-04 -4.89744947e-01] [-4.91300547e-03 -1.06242200e-04 9.99987925e-01 -3.34811380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565871559999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.49, Z:-0.33 [[ 9.98504293e-01 5.44523083e-02 4.91151251e-03 2.09530024e+01] [-5.44521743e-02 9.98516367e-01 -1.61105177e-04 -4.86964577e-01] [-4.91299817e-03 -1.06578324e-04 9.99987925e-01 -3.33070745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.49, Z:-0.33 [[ 9.98548087e-01 5.36432269e-02 4.91148236e-03 2.10159226e+01] [-5.36430786e-02 9.98560160e-01 -1.62018974e-04 -4.85003154e-01] [-4.91310184e-03 -1.01683298e-04 9.99987925e-01 -3.34957044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.48, Z:-0.34 [[ 9.98660702e-01 5.15041777e-02 4.91145181e-03 2.10787840e+01] [-5.15039990e-02 9.98672775e-01 -1.62939979e-04 -4.79404589e-01] [-4.91332530e-03 -9.02376553e-05 9.99987925e-01 -3.35680352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.48, Z:-0.34 [[ 9.98679729e-01 5.11339080e-02 4.91142496e-03 2.11412856e+01] [-5.11337208e-02 9.98691802e-01 -1.63745401e-04 -4.77780130e-01] [-4.91337278e-03 -8.76102198e-05 9.99987925e-01 -3.36124013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.47, Z:-0.33 [[ 9.98706098e-01 5.06162754e-02 4.91139768e-03 2.12040186e+01] [-5.06160780e-02 9.98718171e-01 -1.64559562e-04 -4.73885339e-01] [-4.91343150e-03 -8.42490499e-05 9.99987925e-01 -3.33433820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.47, Z:-0.34 [[ 9.98841229e-01 4.78756393e-02 4.91136960e-03 2.12656031e+01] [-4.78754047e-02 9.98853302e-01 -1.65393328e-04 -4.67875192e-01] [-4.91365605e-03 -6.99321320e-05 9.99987925e-01 -3.37030174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.47, Z:-0.34 [[ 9.99139418e-01 4.11861874e-02 4.91135368e-03 2.13265791e+01] [-4.11858697e-02 9.99151488e-01 -1.65864651e-04 -4.65054987e-01] [-4.91401768e-03 -3.65564621e-05 9.99987925e-01 -3.38231059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.47, Z:-0.34 [[ 9.99399747e-01 3.42932121e-02 4.91132801e-03 2.13887057e+01] [-3.42928074e-02 9.99411815e-01 -1.66621363e-04 -4.66567350e-01] [-4.91415322e-03 -1.90187703e-06 9.99987925e-01 -3.38419549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.47, Z:-0.34 [[ 9.99488924e-01 3.15875026e-02 4.91130065e-03 2.14504785e+01] [-3.15870612e-02 9.99500990e-01 -1.67423892e-04 -4.66880684e-01] [-4.91413837e-03 1.22047715e-05 9.99987925e-01 -3.36679230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.47, Z:-0.34 [[ 9.99534702e-01 3.01041268e-02 4.91129675e-03 2.15117761e+01] [-3.01036670e-02 9.99546768e-01 -1.67538439e-04 -4.67252031e-01] [-4.91411439e-03 1.96124421e-05 9.99987925e-01 -3.35021481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.47, Z:-0.34 [[ 9.99490366e-01 3.15418448e-02 4.91127146e-03 2.15729085e+01] [-3.15413987e-02 9.99502432e-01 -1.68276533e-04 -4.67406617e-01] [-4.91413552e-03 1.32824026e-05 9.99987925e-01 -3.38712929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.47, Z:-0.34 [[ 9.99351339e-01 3.56760519e-02 4.91126750e-03 2.16334415e+01] [-3.56756552e-02 9.99363407e-01 -1.68391909e-04 -4.66708492e-01] [-4.91414858e-03 -6.93000575e-06 9.99987925e-01 -3.42559379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.47, Z:-0.34 [[ 9.99257619e-01 3.82111359e-02 4.91126359e-03 2.16952726e+01] [-3.82107692e-02 9.99269688e-01 -1.68505986e-04 -4.66582655e-01] [-4.91411564e-03 -1.92822691e-05 9.99987925e-01 -3.40801109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.46, Z:-0.34 [[ 9.99169327e-01 4.04541057e-02 4.91125965e-03 2.17569898e+01] [-4.04537655e-02 9.99181397e-01 -1.68620744e-04 -4.64563052e-01] [-4.91406068e-03 -3.01982706e-05 9.99987925e-01 -3.37352572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.46, Z:-0.34 [[ 9.99148218e-01 4.09721552e-02 4.91125550e-03 2.18174606e+01] [-4.09718207e-02 9.99160288e-01 -1.68741348e-04 -4.62069314e-01] [-4.91404516e-03 -3.26254624e-05 9.99987925e-01 -3.40153558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.46, Z:-0.34 [[ 9.99184477e-01 4.00781693e-02 4.91125345e-03 2.18786524e+01] [-4.00778237e-02 9.99196547e-01 -1.68801080e-04 -4.60420409e-01] [-4.91407273e-03 -2.81689314e-05 9.99987925e-01 -3.41316692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.46, Z:-0.34 [[ 9.99344625e-01 3.58636284e-02 4.91124931e-03 2.19396248e+01] [-3.58632314e-02 9.99356693e-01 -1.68921388e-04 -4.62071470e-01] [-4.91414801e-03 -7.32258906e-06 9.99987925e-01 -3.42063310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.47, Z:-0.34 [[ 9.99511177e-01 3.08753417e-02 4.91122288e-03 2.20019725e+01] [-3.08748807e-02 9.99523243e-01 -1.69686397e-04 -4.65380426e-01] [-4.91412055e-03 1.79700299e-05 9.99987925e-01 -3.40200151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.47, Z:-0.34 [[ 9.99730104e-01 2.27068341e-02 4.91119460e-03 2.20645160e+01] [-2.27062705e-02 9.99742165e-01 -1.70501016e-04 -4.70622906e-01] [-4.91379986e-03 5.89400860e-05 9.99987925e-01 -3.39442974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.47, Z:-0.34 [[ 9.99770328e-01 2.08607698e-02 4.91116508e-03 2.21255082e+01] [-2.08601797e-02 9.99782388e-01 -1.71347028e-04 -4.74484230e-01] [-4.91367079e-03 6.88598881e-05 9.99987925e-01 -3.41199350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.48, Z:-0.34 [[ 9.99803044e-01 1.92289687e-02 4.91113796e-03 2.21874867e+01] [-1.92283551e-02 9.99815103e-01 -1.72121015e-04 -4.82436321e-01] [-4.91353961e-03 7.76540100e-05 9.99987925e-01 -3.42628665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.49, Z:-0.34 [[ 9.99740991e-01 2.22223374e-02 4.91110914e-03 2.22494413e+01] [-2.22217559e-02 9.99753051e-01 -1.72939447e-04 -4.88426684e-01] [-4.91373946e-03 6.37611856e-05 9.99987925e-01 -3.43125290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.49, Z:-0.34 [[ 9.99583082e-01 2.84524760e-02 4.91108036e-03 2.23105141e+01] [-2.84519657e-02 9.99595146e-01 -1.73752697e-04 -4.94764645e-01] [-4.91403579e-03 3.39503669e-05 9.99987925e-01 -3.44137693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.50, Z:-0.34 [[ 9.99296636e-01 3.71768109e-02 4.91106435e-03 2.23716523e+01] [-3.71764037e-02 9.99308703e-01 -1.74204075e-04 -4.98060754e-01] [-4.91414570e-03 -8.49416520e-06 9.99987925e-01 -3.44861387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.50, Z:-0.35 [[ 9.99032257e-01 4.37084783e-02 4.91106020e-03 2.24320127e+01] [-4.37081494e-02 9.99044327e-01 -1.74321159e-04 -4.98657572e-01] [-4.91398614e-03 -4.05008916e-05 9.99987925e-01 -3.45998022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.50, Z:-0.35 [[ 9.98640399e-01 5.18963779e-02 4.91105813e-03 2.24927867e+01] [-5.18961477e-02 9.98652472e-01 -1.74379426e-04 -4.99314571e-01] [-4.91349000e-03 -8.07226580e-05 9.99987925e-01 -3.45057161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.50, Z:-0.35 [[ 9.98258496e-01 5.87865326e-02 4.91105813e-03 2.25528331e+01] [-5.87863857e-02 9.98270570e-01 -1.74379426e-04 -4.95929193e-01] [-4.91281596e-03 -1.14627613e-04 9.99987925e-01 -3.45784951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.49, Z:-0.35 [[ 9.97874457e-01 6.49803799e-02 4.91106024e-03 2.26129782e+01] [-6.49803082e-02 9.97886531e-01 -1.74319912e-04 -4.90617929e-01] [-4.91200824e-03 -1.45172821e-04 9.99987925e-01 -3.46211777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.49, Z:-0.35 [[ 9.97776433e-01 6.64685782e-02 4.91106442e-03 2.26721505e+01] [-6.64685252e-02 9.97788507e-01 -1.74202188e-04 -4.88311467e-01] [-4.91178260e-03 -1.52616371e-04 9.99987925e-01 -3.46161639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.48, Z:-0.34 [[ 9.97765933e-01 6.66260061e-02 4.91107059e-03 2.27325647e+01] [-6.66259558e-02 9.97778007e-01 -1.74027986e-04 -4.80558869e-01] [-4.91175302e-03 -1.53565576e-04 9.99987925e-01 -3.43287943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.47, Z:-0.35 [[ 9.97950998e-01 6.37941028e-02 4.91107465e-03 2.27930167e+01] [-6.37940188e-02 9.97963072e-01 -1.73913379e-04 -4.73218215e-01] [-4.91216579e-03 -1.39740158e-04 9.99987925e-01 -3.45579219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.47, Z:-0.35 [[ 9.98187761e-01 5.99756179e-02 4.91107670e-03 2.28534240e+01] [-5.99754879e-02 9.98199835e-01 -1.73855361e-04 -4.66886130e-01] [-4.91266304e-03 -1.21003928e-04 9.99987925e-01 -3.47437110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.46, Z:-0.35 [[ 9.98510716e-01 5.43344480e-02 4.91107670e-03 2.29120410e+01] [-5.43342499e-02 9.98522788e-01 -1.73855361e-04 -4.59929987e-01] [-4.91326834e-03 -9.32432275e-05 9.99987925e-01 -3.46102433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.45, Z:-0.35 [[ 9.98811031e-01 4.85016013e-02 4.91108275e-03 2.29721858e+01] [-4.85013335e-02 9.98823103e-01 -1.73684250e-04 -4.54114601e-01] [-4.91372688e-03 -6.47163177e-05 9.99987925e-01 -3.46519949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605871559999997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.45, Z:-0.35 [[ 9.99035552e-01 4.36330948e-02 4.91108688e-03 2.30322461e+01] [-4.36327688e-02 9.99047622e-01 -1.73567529e-04 -4.52870496e-01] [-4.91398296e-03 -4.08841857e-05 9.99987925e-01 -3.45307142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.45, Z:-0.35 [[ 9.99301520e-01 3.70452931e-02 4.91109115e-03 2.30920222e+01] [-3.70448881e-02 9.99313588e-01 -1.73446638e-04 -4.52577711e-01] [-4.91414549e-03 -8.60533319e-06 9.99987925e-01 -3.47745045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.46, Z:-0.35 [[ 9.99518937e-01 3.06231154e-02 4.91109325e-03 2.31528671e+01] [-3.06226331e-02 9.99531002e-01 -1.73386974e-04 -4.55404042e-01] [-4.91409961e-03 2.29129567e-05 9.99987925e-01 -3.48424729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.46, Z:-0.35 [[ 9.99621844e-01 2.70564431e-02 4.91109325e-03 2.32139171e+01] [-2.70559177e-02 9.99633907e-01 -1.73386974e-04 -4.56241027e-01] [-4.91398657e-03 4.04472712e-05 9.99987925e-01 -3.48021444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.46, Z:-0.35 [[ 9.99578885e-01 2.85995423e-02 4.91108911e-03 2.32746996e+01] [-2.85990350e-02 9.99590949e-01 -1.73504240e-04 -4.58015056e-01] [-4.91404237e-03 3.29787651e-05 9.99987925e-01 -3.47229652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905871559999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.46, Z:-0.35 [[ 9.99388291e-01 3.46254999e-02 4.91108911e-03 2.33340678e+01] [-3.46250653e-02 9.99400358e-01 -1.73504240e-04 -4.58548359e-01] [-4.91415188e-03 3.35132425e-06 9.99987925e-01 -3.47819687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.46, Z:-0.35 [[ 9.99212197e-01 3.93810487e-02 4.91109114e-03 2.33934456e+01] [-3.93806718e-02 9.99224265e-01 -1.73446676e-04 -4.57008432e-01] [-4.91411195e-03 -2.00920346e-05 9.99987925e-01 -3.48006761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.46, Z:-0.35 [[ 9.99017561e-01 4.40430991e-02 4.91109539e-03 2.34520295e+01] [-4.40427792e-02 9.99029631e-01 -1.73326385e-04 -4.55027872e-01] [-4.91396365e-03 -4.31421879e-05 9.99987925e-01 -3.50329764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.45, Z:-0.35 [[ 9.99042286e-01 4.34786318e-02 4.91110166e-03 2.35111129e+01] [-4.34783059e-02 9.99054356e-01 -1.73148497e-04 -4.52991084e-01] [-4.91398577e-03 -4.05437097e-05 9.99987925e-01 -3.50856422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.45, Z:-0.35 [[ 9.99214150e-01 3.93314477e-02 4.91110786e-03 2.35701629e+01] [-3.93310726e-02 9.99226219e-01 -1.72972546e-04 -4.54530265e-01] [-4.91411100e-03 -2.03225245e-05 9.99987925e-01 -3.52219199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.46, Z:-0.35 [[ 9.99551722e-01 2.95336428e-02 4.91110983e-03 2.36302844e+01] [-2.95331497e-02 9.99563786e-01 -1.72916408e-04 -4.57541794e-01] [-4.91407439e-03 2.77983518e-05 9.99987925e-01 -3.51837108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265871559999997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.46, Z:-0.35 [[ 9.99781787e-01 2.03041749e-02 4.91110983e-03 2.36902768e+01] [-2.03035704e-02 9.99793846e-01 -1.72916408e-04 -4.63676167e-01] [-4.91360832e-03 7.31656115e-05 9.99987925e-01 -3.53280485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.47, Z:-0.36 [[ 9.99885260e-01 1.43299451e-02 4.91110779e-03 2.37498919e+01] [-1.43292683e-02 9.99897316e-01 -1.72974486e-04 -4.73455487e-01] [-4.91308221e-03 1.02582058e-04 9.99987925e-01 -3.56487772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.48, Z:-0.35 [[ 9.99896957e-01 1.34891139e-02 4.91110579e-03 2.38114520e+01] [-1.34884267e-02 9.99909012e-01 -1.73031280e-04 -4.78245975e-01] [-4.91299298e-03 1.06770360e-04 9.99987925e-01 -3.52711332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.48, Z:-0.35 [[ 9.99856873e-01 1.61899426e-02 4.91110179e-03 2.38732308e+01] [-1.61892874e-02 9.99868930e-01 -1.73144711e-04 -4.84551024e-01] [-4.91326129e-03 9.36126907e-05 9.99987925e-01 -3.51628720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.49, Z:-0.36 [[ 9.99754170e-01 2.16213258e-02 4.91107240e-03 2.39339136e+01] [-2.16207320e-02 9.99766230e-01 -1.73974456e-04 -4.94539964e-01] [-4.91368589e-03 6.77507072e-05 9.99987925e-01 -3.55196231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.50, Z:-0.36 [[ 9.99710032e-01 2.35740001e-02 4.91104528e-03 2.39952142e+01] [-2.35734261e-02 9.99722093e-01 -1.74736431e-04 -4.97652600e-01] [-4.91379971e-03 5.89155995e-05 9.99987925e-01 -3.55367152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.50, Z:-0.36 [[ 9.99527295e-01 3.03491178e-02 4.91104119e-03 2.40552909e+01] [-3.03486250e-02 9.99539359e-01 -1.74851523e-04 -5.02012406e-01] [-4.91408555e-03 2.57255227e-05 9.99987925e-01 -3.56162297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.51, Z:-0.36 [[ 9.99255107e-01 3.82767848e-02 4.91104119e-03 2.41147025e+01] [-3.82763877e-02 9.99267175e-01 -1.74851523e-04 -5.06598132e-01] [-4.91413501e-03 -1.32556389e-05 9.99987925e-01 -3.56608119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.51, Z:-0.36 [[ 9.98922960e-01 4.61389484e-02 4.91103970e-03 2.41746808e+01] [-4.61386461e-02 9.98935030e-01 -1.74893179e-04 -5.06844106e-01] [-4.91387898e-03 -5.18839110e-05 9.99987925e-01 -3.56716244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.51, Z:-0.36 [[ 9.98697796e-01 5.07798578e-02 4.91104380e-03 2.42343112e+01] [-5.07796122e-02 9.98709868e-01 -1.74778059e-04 -5.07645783e-01] [-4.91358311e-03 -7.48304373e-05 9.99987925e-01 -3.55839482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.51, Z:-0.36 [[ 9.98596092e-01 5.27420755e-02 4.91104798e-03 2.42939506e+01] [-5.27418541e-02 9.98608165e-01 -1.74660444e-04 -5.05755347e-01] [-4.91342457e-03 -8.46025395e-05 9.99987925e-01 -3.58449837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.51, Z:-0.36 [[ 9.98829112e-01 4.81278072e-02 4.91105214e-03 2.43535875e+01] [-4.81275307e-02 9.98841184e-01 -1.74543438e-04 -5.05089445e-01] [-4.91376153e-03 -6.20177453e-05 9.99987925e-01 -3.61666410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.51, Z:-0.36 [[ 9.99138224e-01 4.12151676e-02 4.91105650e-03 2.44132804e+01] [-4.12148081e-02 9.99150294e-01 -1.74420656e-04 -5.06541626e-01] [-4.91407232e-03 -2.81379067e-05 9.99987925e-01 -3.63732385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.51, Z:-0.36 [[ 9.99288329e-01 3.73994356e-02 4.91105865e-03 2.44738164e+01] [-3.73990303e-02 9.99300396e-01 -1.74360071e-04 -5.07278011e-01] [-4.91414383e-03 -9.43284737e-06 9.99987925e-01 -3.60430304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.51, Z:-0.36 [[ 9.99405694e-01 3.41194866e-02 4.91105865e-03 2.45334000e+01] [-3.41190418e-02 9.99417761e-01 -1.74360071e-04 -5.08508690e-01] [-4.91414832e-03 6.69583270e-06 9.99987925e-01 -3.61090987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.51, Z:-0.36 [[ 9.99459365e-01 3.25093793e-02 4.91105728e-03 2.45943284e+01] [-3.25089148e-02 9.99471430e-01 -1.74398647e-04 -5.09184202e-01] [-4.91413104e-03 1.46512181e-05 9.99987925e-01 -3.60515244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225871559999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.51, Z:-0.36 [[ 9.99546163e-01 2.97211957e-02 4.91105728e-03 2.46544715e+01] [-2.97206976e-02 9.99558227e-01 -1.74398647e-04 -5.11185740e-01] [-4.91407105e-03 2.83594501e-05 9.99987925e-01 -3.61635800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285871559999997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.52, Z:-0.36 [[ 9.99631398e-01 2.67011085e-02 4.91105728e-03 2.47144325e+01] [-2.67005739e-02 9.99643461e-01 -1.74398647e-04 -5.15890793e-01] [-4.91396294e-03 4.32063157e-05 9.99987925e-01 -3.61981606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.52, Z:-0.36 [[ 9.99676344e-01 2.49617393e-02 4.91105520e-03 2.47751470e+01] [-2.49611834e-02 9.99688406e-01 -1.74457183e-04 -5.19576793e-01] [-4.91387970e-03 5.18149695e-05 9.99987925e-01 -3.63296922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.52, Z:-0.36 [[ 9.99697393e-01 2.41040305e-02 4.91105312e-03 2.48355082e+01] [-2.41034640e-02 9.99709454e-01 -1.74515859e-04 -5.24988531e-01] [-4.91383277e-03 5.60896578e-05 9.99987925e-01 -3.61014526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.53, Z:-0.36 [[ 9.99748706e-01 2.18725082e-02 4.91104897e-03 2.48961928e+01] [-2.18719142e-02 9.99760766e-01 -1.74632658e-04 -5.32765517e-01] [-4.91369373e-03 6.71747317e-05 9.99987925e-01 -3.60853523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.54, Z:-0.36 [[ 9.99795351e-01 1.96249275e-02 4.91104450e-03 2.49562488e+01] [-1.96243057e-02 9.99807409e-01 -1.74758241e-04 -5.41357989e-01] [-4.91352829e-03 7.83466379e-05 9.99987925e-01 -3.62687688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.55, Z:-0.37 [[ 9.99820635e-01 1.82915110e-02 4.91104008e-03 2.50168482e+01] [-1.82908726e-02 9.99832693e-01 -1.74882166e-04 -5.51548005e-01] [-4.91341729e-03 8.50235902e-05 9.99987925e-01 -3.65304173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645871559999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.56, Z:-0.36 [[ 9.99796073e-01 1.95881017e-02 4.91101192e-03 2.50781093e+01] [-1.95874751e-02 9.99808132e-01 -1.75669485e-04 -5.59927455e-01] [-4.91351068e-03 7.94393376e-05 9.99987925e-01 -3.64249254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.57, Z:-0.36 [[ 9.99746108e-01 2.19909252e-02 4.91098489e-03 2.51387333e+01] [-2.19903238e-02 9.99758168e-01 -1.76422056e-04 -5.71279279e-01] [-4.91367694e-03 6.83831161e-05 9.99987925e-01 -3.63845707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.58, Z:-0.37 [[ 9.99650739e-01 2.59669390e-02 4.91097874e-03 2.52002029e+01] [-2.59663848e-02 9.99662801e-01 -1.76593027e-04 -5.81401343e-01] [-4.91390834e-03 4.90109859e-05 9.99987925e-01 -3.66979609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825871559999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.59, Z:-0.37 [[ 9.99462235e-01 3.24210223e-02 4.91094798e-03 2.52610541e+01] [-3.24205417e-02 9.99474300e-01 -1.77444337e-04 -5.91936442e-01] [-4.91411922e-03 1.81333200e-05 9.99987925e-01 -3.67701436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.60, Z:-0.36 [[ 9.99271796e-01 3.78386126e-02 4.91092009e-03 2.53219185e+01] [-3.78381937e-02 9.99283863e-01 -1.78212926e-04 -5.98325299e-01] [-4.91414653e-03 -7.73719501e-06 9.99987925e-01 -3.59562614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.61, Z:-0.36 [[ 9.98776263e-01 4.92123897e-02 4.91091316e-03 2.53816748e+01] [-4.92121073e-02 9.98788334e-01 -1.78403565e-04 -6.05161720e-01] [-4.91374244e-03 -6.34911397e-05 9.99987925e-01 -3.60926139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.60, Z:-0.37 [[ 9.98221146e-01 5.94173977e-02 4.91091085e-03 2.54421730e+01] [-5.94172384e-02 9.98233219e-01 -1.78467155e-04 -6.04289124e-01] [-4.91283840e-03 -1.13643073e-04 9.99987925e-01 -3.70207620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.60, Z:-0.36 [[ 9.97746328e-01 6.69189608e-02 4.91091085e-03 2.55023499e+01] [-6.69188922e-02 9.97758403e-01 -1.78467155e-04 -6.04372004e-01] [-4.91184540e-03 -1.50567765e-04 9.99987925e-01 -3.63347394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.60, Z:-0.37 [[ 9.97780765e-01 6.64035216e-02 4.91091304e-03 2.55613563e+01] [-6.64034471e-02 9.97792839e-01 -1.78406758e-04 -6.02771919e-01] [-4.91192071e-03 -1.48090723e-04 9.99987925e-01 -3.72736861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.60, Z:-0.37 [[ 9.98087917e-01 6.16148725e-02 4.91090677e-03 2.56222084e+01] [-6.16147392e-02 9.98099991e-01 -1.78579381e-04 -6.02218338e-01] [-4.91257915e-03 -1.24346318e-04 9.99987925e-01 -3.70466219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245871559999998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.60, Z:-0.37 [[ 9.98352422e-01 5.71692564e-02 4.91090464e-03 2.56826447e+01] [-5.71690691e-02 9.98364495e-01 -1.78637848e-04 -6.01130697e-01] [-4.91308543e-03 -1.02408318e-04 9.99987925e-01 -3.66537830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.60, Z:-0.37 [[ 9.98743937e-01 4.98641382e-02 4.91090240e-03 2.57432507e+01] [-4.98638622e-02 9.98756008e-01 -1.78699295e-04 -6.02877189e-01] [-4.91370397e-03 -6.64017235e-05 9.99987925e-01 -3.68867753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.61, Z:-0.37 [[ 9.99082717e-01 4.25394917e-02 4.91090240e-03 2.58038060e+01] [-4.25391272e-02 9.99094786e-01 -1.78699295e-04 -6.05990583e-01] [-4.91405876e-03 -3.03701252e-05 9.99987925e-01 -3.67853686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.61, Z:-0.37 [[ 9.99350269e-01 3.57060681e-02 4.91090021e-03 2.58645665e+01] [-3.57056208e-02 9.99362335e-01 -1.78759678e-04 -6.09940477e-01] [-4.91415150e-03 3.29679143e-06 9.99987925e-01 -3.68515272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.61, Z:-0.37 [[ 9.99421267e-01 3.36602733e-02 4.91089169e-03 2.59254685e+01] [-3.36598002e-02 9.99433332e-01 -1.78993260e-04 -6.14370460e-01] [-4.91413381e-03 1.35900373e-05 9.99987925e-01 -3.65702561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.62, Z:-0.37 [[ 9.99405020e-01 3.41392603e-02 4.91088742e-03 2.59870588e+01] [-3.41387923e-02 9.99417085e-01 -1.79110488e-04 -6.17912188e-01] [-4.91413949e-03 1.13521550e-05 9.99987925e-01 -3.70026832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.62, Z:-0.36 [[ 9.99218005e-01 3.92334146e-02 4.91088304e-03 2.60480608e+01] [-3.92330075e-02 9.99230073e-01 -1.79230451e-04 -6.20594911e-01] [-4.91413384e-03 -1.35784179e-05 9.99987925e-01 -3.64615930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.62, Z:-0.37 [[ 9.98955284e-01 4.54337221e-02 4.91088068e-03 2.61078508e+01] [-4.54333897e-02 9.98967354e-01 -1.79294942e-04 -6.22529938e-01] [-4.91395552e-03 -4.40103265e-05 9.99987925e-01 -3.67255974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.62, Z:-0.37 [[ 9.98761860e-01 4.95038495e-02 4.91086905e-03 2.61688019e+01] [-4.95035646e-02 9.98773931e-01 -1.79613016e-04 -6.21201594e-01] [-4.91373952e-03 -6.37148939e-05 9.99987925e-01 -3.69346966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.62, Z:-0.38 [[ 9.98645862e-01 5.17911787e-02 4.91086685e-03 2.62279902e+01] [-5.17909212e-02 9.98657934e-01 -1.79673189e-04 -6.19186346e-01] [-4.91358163e-03 -7.49084310e-05 9.99987925e-01 -3.75498012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.61, Z:-0.37 [[ 9.98466685e-01 5.51376701e-02 4.91086902e-03 2.62877754e+01] [-5.51374533e-02 9.98478757e-01 -1.79613821e-04 -6.14718852e-01] [-4.91330189e-03 -9.14343954e-05 9.99987925e-01 -3.71756246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.61, Z:-0.38 [[ 9.98429501e-01 5.58069355e-02 4.91087116e-03 2.63481269e+01] [-5.58067272e-02 9.98441574e-01 -1.79555207e-04 -6.10720170e-01] [-4.91323836e-03 -9.47864312e-05 9.99987925e-01 -3.79734242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.61, Z:-0.38 [[ 9.98629699e-01 5.21019008e-02 4.91087116e-03 2.64076056e+01] [-5.21016477e-02 9.98641771e-01 -1.79555207e-04 -6.07030374e-01] [-4.91355624e-03 -7.65553166e-05 9.99987925e-01 -3.79688171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.61, Z:-0.38 [[ 9.98992220e-01 4.46142140e-02 4.91087331e-03 2.64678972e+01] [-4.46138706e-02 9.99004289e-01 -1.79496520e-04 -6.06780716e-01] [-4.91399160e-03 -3.97774398e-05 9.99987925e-01 -3.75819226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.61, Z:-0.37 [[ 9.99233802e-01 3.88290200e-02 4.91087331e-03 2.65278531e+01] [-3.88286068e-02 9.99245869e-01 -1.79496520e-04 -6.08275562e-01] [-4.91413954e-03 -1.13233789e-05 9.99987925e-01 -3.74695890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.61, Z:-0.38 [[ 9.99508624e-01 3.09579279e-02 4.91087098e-03 2.65880665e+01] [-3.09574193e-02 9.99520688e-01 -1.79560318e-04 -6.09460085e-01] [-4.91407595e-03 2.74441947e-05 9.99987925e-01 -3.78044678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:-0.61, Z:-0.38 [[ 9.99634760e-01 2.65749714e-02 4.91086876e-03 2.66492884e+01] [-2.65744096e-02 9.99646822e-01 -1.79621032e-04 -6.10557238e-01] [-4.91390777e-03 4.90519900e-05 9.99987925e-01 -3.77812085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265871559999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:-0.61, Z:-0.38 [[ 9.99615530e-01 2.72887610e-02 4.91086429e-03 2.67102404e+01] [-2.72882073e-02 9.99627591e-01 -1.79743000e-04 -6.13482811e-01] [-4.91394041e-03 4.56652113e-05 9.99987925e-01 -3.82945307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.61, Z:-0.38 [[ 9.99540082e-01 2.99250240e-02 4.91086356e-03 2.67704021e+01] [-2.99245019e-02 9.99552146e-01 -1.79763090e-04 -6.11788617e-01] [-4.91404362e-03 3.27252682e-05 9.99987925e-01 -3.76865581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.61, Z:-0.38 [[ 9.99494579e-01 3.14081343e-02 4.91085470e-03 2.68304740e+01] [-3.14076290e-02 9.99506643e-01 -1.80004717e-04 -6.14708843e-01] [-4.91408550e-03 2.56754359e-05 9.99987925e-01 -3.77406489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.62, Z:-0.38 [[ 9.99471114e-01 3.21461577e-02 4.91085434e-03 2.68907359e+01] [-3.21456613e-02 9.99483178e-01 -1.80014520e-04 -6.16916080e-01] [-4.91410308e-03 2.20566530e-05 9.99987925e-01 -3.78531412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.62, Z:-0.38 [[ 9.99465739e-01 3.23128612e-02 4.91084344e-03 2.69515666e+01] [-3.23123653e-02 9.99477803e-01 -1.80311423e-04 -6.19395654e-01] [-4.91410539e-03 2.15341224e-05 9.99987925e-01 -3.82721574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.62, Z:-0.38 [[ 9.99442700e-01 3.30177735e-02 4.91084344e-03 2.70115826e+01] [-3.30172861e-02 9.99454765e-01 -1.80311423e-04 -6.23215347e-01] [-4.91411935e-03 1.80682125e-05 9.99987925e-01 -3.84831571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.63, Z:-0.38 [[ 9.99473585e-01 3.20692510e-02 4.91084344e-03 2.70732137e+01] [-3.20687522e-02 9.99485649e-01 -1.80311423e-04 -6.28474174e-01] [-4.91409999e-03 2.27318831e-05 9.99987925e-01 -3.83089922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.63, Z:-0.38 [[ 9.99479789e-01 3.18753048e-02 4.91083680e-03 2.71336668e+01] [-3.18748027e-02 9.99491853e-01 -1.80491994e-04 -6.32203198e-01] [-4.91409461e-03 2.38661461e-05 9.99987925e-01 -3.82486771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.64, Z:-0.39 [[ 9.99510642e-01 3.08927355e-02 4.91083680e-03 2.71934712e+01] [-3.08922215e-02 9.99522705e-01 -1.80491994e-04 -6.40291683e-01] [-4.91406878e-03 2.86970105e-05 9.99987925e-01 -3.86351466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.65, Z:-0.39 [[ 9.99515296e-01 3.07417723e-02 4.91083228e-03 2.72534215e+01] [-3.07412559e-02 9.99527360e-01 -1.80614849e-04 -6.47787964e-01] [-4.91406365e-03 2.95621522e-05 9.99987925e-01 -3.86772244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86587156 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.65, Z:-0.39 [[ 9.99487485e-01 3.16330692e-02 4.91083004e-03 2.73140479e+01] [-3.16325633e-02 9.99499549e-01 -1.80675919e-04 -6.53976409e-01] [-4.91408774e-03 2.52411782e-05 9.99987925e-01 -3.88849053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.66, Z:-0.39 [[ 9.99339870e-01 3.59959430e-02 4.91082781e-03 2.73753652e+01] [-3.59954895e-02 9.99351936e-01 -1.80736536e-04 -6.61353410e-01] [-4.91415106e-03 3.84957578e-06 9.99987925e-01 -3.88184010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.67, Z:-0.39 [[ 9.99080733e-01 4.25860719e-02 4.91082302e-03 2.74356072e+01] [-4.25856973e-02 9.99092801e-01 -1.80866427e-04 -6.66101888e-01] [-4.91407032e-03 -2.84306599e-05 9.99987925e-01 -3.87998493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.67, Z:-0.38 [[ 9.98715059e-01 5.04392262e-02 4.91082065e-03 2.74960339e+01] [-5.04389462e-02 9.98727130e-01 -1.80930696e-04 -6.68000484e-01] [-4.91369582e-03 -6.69984079e-05 9.99987925e-01 -3.82077024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.67, Z:-0.38 [[ 9.98382531e-01 5.66410329e-02 4.91082351e-03 2.75562356e+01] [-5.66408282e-02 9.98394603e-01 -1.80853247e-04 -6.68371890e-01] [-4.91318340e-03 -9.75923881e-05 9.99987925e-01 -3.83460045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.67, Z:-0.39 [[ 9.97978425e-01 6.33636109e-02 4.91082351e-03 2.76161438e+01] [-6.33634876e-02 9.97990499e-01 -1.80853247e-04 -6.68302307e-01] [-4.91241472e-03 -1.30679265e-04 9.99987925e-01 -3.86370673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.66, Z:-0.39 [[ 9.97599524e-01 6.90729625e-02 4.91082568e-03 2.76764296e+01] [-6.90729085e-02 9.97611598e-01 -1.80794206e-04 -6.63406185e-01] [-4.91158465e-03 -1.58844799e-04 9.99987925e-01 -3.91288166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.66, Z:-0.39 [[ 9.97535623e-01 6.99897445e-02 4.91082785e-03 2.77358149e+01] [-6.99897019e-02 9.97547698e-01 -1.80735162e-04 -6.59572143e-01] [-4.91143463e-03 -1.63417615e-04 9.99987925e-01 -3.93018388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.66, Z:-0.39 [[ 9.97730988e-01 6.71472892e-02 4.91083217e-03 2.77948068e+01] [-6.71472128e-02 9.97743063e-01 -1.80617701e-04 -6.55579879e-01] [-4.91187672e-03 -1.49540815e-04 9.99987925e-01 -3.91733887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405871559999998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.66, Z:-0.40 [[ 9.97878804e-01 6.49136019e-02 4.91083856e-03 2.78538782e+01] [-6.49134993e-02 9.97890878e-01 -1.80443881e-04 -6.55406024e-01] [-4.91219427e-03 -1.38718591e-04 9.99987925e-01 -3.95234029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.65, Z:-0.39 [[ 9.98235444e-01 5.91767078e-02 4.91084476e-03 2.79138322e+01] [-5.91765367e-02 9.98247517e-01 -1.80274889e-04 -6.51339520e-01] [-4.91290667e-03 -1.10650002e-04 9.99987925e-01 -3.87777393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.65, Z:-0.38 [[ 9.98621949e-01 5.22502327e-02 4.91084915e-03 2.79740579e+01] [-5.22499784e-02 9.98634021e-01 -1.80155352e-04 -6.46911983e-01] [-4.91355419e-03 -7.66846732e-05 9.99987925e-01 -3.81451861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585871559999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.65, Z:-0.39 [[ 9.98800401e-01 4.87200343e-02 4.91085752e-03 2.80334487e+01] [-4.87197384e-02 9.98812472e-01 -1.79926751e-04 -6.46901294e-01] [-4.91379178e-03 -5.95447825e-05 9.99987925e-01 -3.89891150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645871559999996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.65, Z:-0.39 [[ 9.99082317e-01 4.25488896e-02 4.91085978e-03 2.80929563e+01] [-4.25485195e-02 9.99094386e-01 -1.79865128e-04 -6.46652944e-01] [-4.91406550e-03 -2.92497444e-05 9.99987925e-01 -3.92916685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.65, Z:-0.39 [[ 9.99288979e-01 3.73820736e-02 4.91085678e-03 2.81525569e+01] [-3.73816407e-02 9.99301046e-01 -1.79947023e-04 -6.46408757e-01] [-4.91415111e-03 -3.75680631e-06 9.99987925e-01 -3.93834401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765871559999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.65, Z:-0.38 [[ 9.99398594e-01 3.43268664e-02 4.91085886e-03 2.82134464e+01] [-3.43263968e-02 9.99410659e-01 -1.79890310e-04 -6.46583618e-01] [-4.91413976e-03 1.12100329e-05 9.99987925e-01 -3.82263139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.65, Z:-0.39 [[ 9.99503819e-01 3.11126724e-02 4.91085439e-03 2.82731409e+01] [-3.11121635e-02 9.99515883e-01 -1.80012096e-04 -6.48659770e-01] [-4.91407762e-03 2.71354725e-05 9.99987925e-01 -3.93954186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.65, Z:-0.39 [[ 9.99593460e-01 2.80855609e-02 4.91085439e-03 2.83345430e+01] [-2.80850155e-02 9.99605522e-01 -1.80012096e-04 -6.49568557e-01] [-4.91397291e-03 4.20174920e-05 9.99987925e-01 -3.91216124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945871559999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.65, Z:-0.38 [[ 9.99680750e-01 2.47847196e-02 4.91085007e-03 2.83950742e+01] [-2.47841337e-02 9.99692810e-01 -1.80130076e-04 -6.50516591e-01] [-4.91380598e-03 5.83614047e-05 9.99987925e-01 -3.75656206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.65, Z:-0.38 [[ 9.99700721e-01 2.39656285e-02 4.91085007e-03 2.84552024e+01] [-2.39650327e-02 9.99712781e-01 -1.80130076e-04 -6.53765086e-01] [-4.91375651e-03 6.23874843e-05 9.99987925e-01 -3.79220138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.66, Z:-0.39 [[ 9.99665026e-01 2.54109911e-02 4.91084777e-03 2.85154385e+01] [-2.54104124e-02 9.99677087e-01 -1.80192739e-04 -6.57688102e-01] [-4.91384087e-03 5.53457116e-05 9.99987925e-01 -3.85785742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.66, Z:-0.39 [[ 9.99621928e-01 2.70533793e-02 4.91084547e-03 2.85753861e+01] [-2.70528201e-02 9.99633989e-01 -1.80255436e-04 -6.62327305e-01] [-4.91392456e-03 4.73350673e-05 9.99987925e-01 -3.86699434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.64, Y:-0.67, Z:-0.38 [[ 9.99606528e-01 2.76165330e-02 4.91084547e-03 2.86352733e+01] [-2.76159807e-02 9.99618590e-01 -1.80255436e-04 -6.67489761e-01] [-4.91395045e-03 4.45666969e-05 9.99987925e-01 -3.80649085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:-0.67, Z:-0.38 [[ 9.99614277e-01 2.73346002e-02 4.91084547e-03 2.86959164e+01] [-2.73340445e-02 9.99626339e-01 -1.80255436e-04 -6.74449474e-01] [-4.91393768e-03 4.59526389e-05 9.99987925e-01 -3.82968525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.68, Z:-0.38 [[ 9.99654200e-01 2.58333944e-02 4.91084547e-03 2.87565719e+01] [-2.58328206e-02 9.99666261e-01 -1.80255436e-04 -6.82541749e-01] [-4.91386313e-03 5.33321137e-05 9.99987925e-01 -3.80371323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.69, Z:-0.38 [[ 9.99665460e-01 2.53939121e-02 4.91084078e-03 2.88161348e+01] [-2.53933324e-02 9.99677521e-01 -1.80383008e-04 -6.93816941e-01] [-4.91383777e-03 5.56200504e-05 9.99987925e-01 -3.79684558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.70, Z:-0.38 [[ 9.99582847e-01 2.84607724e-02 4.91083846e-03 2.88775271e+01] [-2.84602294e-02 9.99594909e-01 -1.80446260e-04 -7.04464396e-01] [-4.91398476e-03 4.06073979e-05 9.99987925e-01 -3.79560487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.71, Z:-0.38 [[ 9.99338297e-01 3.60395946e-02 4.91083385e-03 2.89383136e+01] [-3.60391424e-02 9.99350363e-01 -1.80571518e-04 -7.14037947e-01] [-4.91415131e-03 3.46979269e-06 9.99987925e-01 -3.78576193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.72, Z:-0.38 [[ 9.99076148e-01 4.26934950e-02 4.91082928e-03 2.89990120e+01] [-4.26931226e-02 9.99088217e-01 -1.80695677e-04 -7.21707109e-01] [-4.91406620e-03 -2.91298950e-05 9.99987925e-01 -3.83161983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.73, Z:-0.38 [[ 9.98617638e-01 5.23325632e-02 4.91082469e-03 2.90596753e+01] [-5.23323066e-02 9.98629710e-01 -1.80820259e-04 -7.27779090e-01] [-4.91355823e-03 -7.64244843e-05 9.99987925e-01 -3.81277095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.73, Z:-0.38 [[ 9.98190273e-01 5.99338229e-02 4.91082469e-03 2.91197798e+01] [-5.99336582e-02 9.98202346e-01 -1.80820259e-04 -7.31398003e-01] [-4.91283398e-03 -1.13830666e-04 9.99987925e-01 -3.81171717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.73, Z:-0.39 [[ 9.97869896e-01 6.50503966e-02 4.91082469e-03 2.91789081e+01] [-6.50502939e-02 9.97881970e-01 -1.80820259e-04 -7.34339530e-01] [-4.91218585e-03 -1.39015497e-04 9.99987925e-01 -3.91991176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.73, Z:-0.39 [[ 9.97716852e-01 6.73570155e-02 4.91082705e-03 2.92384727e+01] [-6.73569409e-02 9.97728926e-01 -1.80756237e-04 -7.34356408e-01] [-4.91184940e-03 -1.50434744e-04 9.99987925e-01 -3.93868849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.73, Z:-0.40 [[ 9.97698134e-01 6.76337016e-02 4.91083138e-03 2.92981433e+01] [-6.76336310e-02 9.97710208e-01 -1.80638661e-04 -7.32872150e-01] [-4.91180385e-03 -1.51914503e-04 9.99987925e-01 -3.98814287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.73, Z:-0.39 [[ 9.98025865e-01 6.26119529e-02 4.91083351e-03 2.93584402e+01] [-6.26118218e-02 9.98037939e-01 -1.80580491e-04 -7.32897430e-01] [-4.91250466e-03 -1.27252232e-04 9.99987925e-01 -3.86462516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.73, Z:-0.39 [[ 9.98462040e-01 5.52217242e-02 4.91083503e-03 2.94182832e+01] [-5.52215039e-02 9.98474112e-01 -1.80539367e-04 -7.34206223e-01] [-4.91331134e-03 -9.09219908e-05 9.99987925e-01 -3.94514785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.74, Z:-0.39 [[ 9.99118726e-01 4.16851834e-02 4.91082330e-03 2.94783970e+01] [-4.16847980e-02 9.99130795e-01 -1.80857842e-04 -7.36569821e-01] [-4.91409388e-03 -2.40082205e-05 9.99987925e-01 -3.94624934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.74, Z:-0.38 [[ 9.99494192e-01 3.14204328e-02 4.91082118e-03 2.95403534e+01] [-3.14199232e-02 9.99506256e-01 -1.80915226e-04 -7.41571606e-01] [-4.91408093e-03 2.65260933e-05 9.99987925e-01 -3.84226567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.75, Z:-0.38 [[ 9.99724964e-01 2.29320715e-02 4.91078963e-03 2.96018823e+01] [-2.29314553e-02 9.99737023e-01 -1.81767717e-04 -7.47839740e-01] [-4.91366652e-03 6.91061714e-05 9.99987925e-01 -3.83630703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.76, Z:-0.40 [[ 9.99812885e-01 1.87103886e-02 4.91078259e-03 2.96630210e+01] [-1.87097205e-02 9.99824941e-01 -1.81957787e-04 -7.55954986e-01] [-4.91332741e-03 9.00443701e-05 9.99987925e-01 -3.97012519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.76, Z:-0.39 [[ 9.99886445e-01 1.42471534e-02 4.91075190e-03 2.97250573e+01] [-1.42464274e-02 9.99898498e-01 -1.82782227e-04 -7.64851031e-01] [-4.91285757e-03 1.12800801e-04 9.99987925e-01 -3.91753383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.77, Z:-0.39 [[ 9.99887493e-01 1.41734370e-02 4.91072087e-03 2.97865090e+01] [-1.41727060e-02 9.99899545e-01 -1.83612040e-04 -7.69666277e-01] [-4.91282998e-03 1.13993179e-04 9.99987925e-01 -3.92392284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.78, Z:-0.39 [[ 9.99837623e-01 1.73381896e-02 4.91069226e-03 2.98496570e+01] [-1.73374931e-02 9.99849677e-01 -1.84374175e-04 -7.79631848e-01] [-4.91315079e-03 9.92051443e-05 9.99987925e-01 -3.88528341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.79, Z:-0.39 [[ 9.99685759e-01 2.45818826e-02 4.91065593e-03 2.99109791e+01] [-2.45812687e-02 9.99697818e-01 -1.85336717e-04 -7.88955717e-01] [-4.91372794e-03 6.45683232e-05 9.99987925e-01 -3.93217879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.80, Z:-0.39 [[ 9.99453909e-01 3.26767410e-02 4.91062204e-03 2.99709904e+01] [-3.26762204e-02 9.99465972e-01 -1.86230288e-04 -7.95907110e-01] [-4.91408503e-03 2.56680205e-05 9.99987925e-01 -3.88203375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.80, Z:-0.39 [[ 9.99096526e-01 4.22139556e-02 4.91061987e-03 3.00324158e+01] [-4.22135499e-02 9.99108593e-01 -1.86287446e-04 -8.01440654e-01] [-4.91410645e-03 -2.11755573e-05 9.99987925e-01 -3.89949718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.81, Z:-0.39 [[ 9.98532798e-01 5.39271438e-02 4.91061297e-03 3.00930252e+01] [-5.39268787e-02 9.98544870e-01 -1.86469343e-04 -8.05004779e-01] [-4.91352315e-03 -7.86182747e-05 9.99987925e-01 -3.90686206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.80, Z:-0.38 [[ 9.98134404e-01 6.08571858e-02 4.91058811e-03 3.01544585e+01] [-6.08570013e-02 9.98146477e-01 -1.87121801e-04 -8.04886186e-01] [-4.91287393e-03 -1.12070959e-04 9.99987925e-01 -3.81649474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.80, Z:-0.39 [[ 9.97742510e-01 6.69758916e-02 4.91058325e-03 3.02147048e+01] [-6.69757805e-02 9.97754584e-01 -1.87249123e-04 -8.01612841e-01] [-4.91209812e-03 -1.42063736e-04 9.99987925e-01 -3.89687394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.80, Z:-0.38 [[ 9.97763437e-01 6.66634121e-02 4.91058085e-03 3.02764889e+01] [-6.66632969e-02 9.97775511e-01 -1.87312086e-04 -8.02514502e-01] [-4.91214418e-03 -1.40462359e-04 9.99987925e-01 -3.83819468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.80, Z:-0.38 [[ 9.97993816e-01 6.31207595e-02 4.91057600e-03 3.03372921e+01] [-6.31206008e-02 9.98005889e-01 -1.87439030e-04 -8.01407919e-01] [-4.91261506e-03 -1.22895515e-04 9.99987925e-01 -3.81699164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.80, Z:-0.39 [[ 9.98194824e-01 5.98579904e-02 4.91057360e-03 3.03977824e+01] [-5.98577919e-02 9.98206897e-01 -1.87502055e-04 -8.00321626e-01] [-4.91299193e-03 -1.06772512e-04 9.99987925e-01 -3.87751374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.80, Z:-0.39 [[ 9.98498699e-01 5.45548733e-02 4.91056047e-03 3.04585827e+01] [-5.45546091e-02 9.98510771e-01 -1.87845115e-04 -8.00096579e-01] [-4.91349539e-03 -8.03306043e-05 9.99987925e-01 -3.86457626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.80, Z:-0.39 [[ 9.98882146e-01 4.70143039e-02 4.91055808e-03 3.05196118e+01] [-4.70139482e-02 9.98894215e-01 -1.87907572e-04 -7.99395223e-01] [-4.91396241e-03 -4.31672043e-05 9.99987925e-01 -3.86988486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.80, Z:-0.39 [[ 9.99180174e-01 4.01854088e-02 4.91055316e-03 3.05811829e+01] [-4.01849700e-02 9.99192240e-01 -1.88036157e-04 -8.00872798e-01] [-4.91414292e-03 -9.44843088e-06 9.99987925e-01 -3.90483056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.80, Z:-0.39 [[ 9.99521608e-01 3.05359150e-02 4.91051947e-03 3.06425194e+01] [-3.05353554e-02 9.99533669e-01 -1.88911970e-04 -8.04651972e-01] [-4.91399814e-03 3.88771386e-05 9.99987925e-01 -3.91678231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.81, Z:-0.39 [[ 9.99672422e-01 2.51184261e-02 4.91049001e-03 3.07041576e+01] [-2.51177974e-02 9.99684480e-01 -1.89674554e-04 -8.09539963e-01] [-4.91370498e-03 6.62717276e-05 9.99987925e-01 -3.89730469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.81, Z:-0.39 [[ 9.99675167e-01 2.50089753e-02 4.91045973e-03 3.07659278e+01] [-2.50083414e-02 9.99687224e-01 -1.90455154e-04 -8.13981236e-01] [-4.91368695e-03 6.75908344e-05 9.99987925e-01 -3.85032471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.82, Z:-0.38 [[ 9.99601792e-01 2.77875154e-02 4.91042759e-03 3.08277469e+01] [-2.77869110e-02 9.99613851e-01 -1.91280226e-04 -8.16520319e-01] [-4.91384664e-03 5.47584419e-05 9.99987925e-01 -3.84836670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.82, Z:-0.38 [[ 9.99322806e-01 3.64666566e-02 4.91039588e-03 3.08899655e+01] [-3.64661530e-02 9.99334870e-01 -1.92091043e-04 -8.18110332e-01] [-4.91413474e-03 1.28977130e-05 9.99987925e-01 -3.82319033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.82, Z:-0.39 [[ 9.98954987e-01 4.54403159e-02 4.91036379e-03 3.09513273e+01] [-4.54399166e-02 9.98967055e-01 -1.92907865e-04 -8.16175741e-01] [-4.91405744e-03 -3.04202468e-05 9.99987925e-01 -3.88553074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.81, Z:-0.39 [[ 9.98573953e-01 5.31596539e-02 4.91035921e-03 3.10127759e+01] [-5.31593473e-02 9.98586024e-01 -1.93024257e-04 -8.14739500e-01] [-4.91367718e-03 -6.82824952e-05 9.99987925e-01 -3.92721489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.82, Z:-0.39 [[ 9.98454161e-01 5.53640306e-02 4.91035461e-03 3.10727888e+01] [-5.53637500e-02 9.98466233e-01 -1.93141112e-04 -8.15642459e-01] [-4.91351634e-03 -7.90130985e-05 9.99987925e-01 -3.91804515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.81, Z:-0.39 [[ 9.98493978e-01 5.46412362e-02 4.91035461e-03 3.11330270e+01] [-5.46409470e-02 9.98506049e-01 -1.93141112e-04 -8.14158269e-01] [-4.91357225e-03 -7.54561888e-05 9.99987925e-01 -3.88410607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.81, Z:-0.39 [[ 9.98616400e-01 5.23562184e-02 4.91035461e-03 3.11932146e+01] [-5.23559015e-02 9.98628471e-01 -1.93141112e-04 -8.13256346e-01] [-4.91373206e-03 -6.42121605e-05 9.99987925e-01 -3.91269653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.81, Z:-0.39 [[ 9.98608317e-01 5.25101702e-02 4.91035461e-03 3.12531001e+01] [-5.25098552e-02 9.98620387e-01 -1.93141112e-04 -8.14951294e-01] [-4.91372210e-03 -6.49696890e-05 9.99987925e-01 -3.87959150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.81, Z:-0.39 [[ 9.98429557e-01 5.58059797e-02 4.91035461e-03 3.13137806e+01] [-5.58057046e-02 9.98441629e-01 -1.93141112e-04 -8.13684569e-01] [-4.91348089e-03 -8.11880040e-05 9.99987925e-01 -3.89181072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.81, Z:-0.39 [[ 9.98335372e-01 5.74662793e-02 4.91035222e-03 3.13727272e+01] [-5.74660239e-02 9.98347444e-01 -1.93201895e-04 -8.12178633e-01] [-4.91334018e-03 -8.92981325e-05 9.99987925e-01 -3.91297298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.81, Z:-0.39 [[ 9.98411187e-01 5.61336766e-02 4.91034818e-03 3.14327998e+01] [-5.61334046e-02 9.98423259e-01 -1.93304663e-04 -8.13557523e-01] [-4.91345673e-03 -8.26370227e-05 9.99987925e-01 -3.89695740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.81, Z:-0.39 [[ 9.98564045e-01 5.33454494e-02 4.91035042e-03 3.14929132e+01] [-5.33451439e-02 9.98576115e-01 -1.93247638e-04 -8.14464310e-01] [-4.91366753e-03 -6.89732065e-05 9.99987925e-01 -3.87666654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.81, Z:-0.39 [[ 9.98605141e-01 5.25705300e-02 4.91035042e-03 3.15532395e+01] [-5.25702152e-02 9.98617212e-01 -1.93247638e-04 -8.12963219e-01] [-4.91371958e-03 -6.51600932e-05 9.99987925e-01 -3.88985711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.81, Z:-0.39 [[ 9.98624621e-01 5.21991865e-02 4.91035042e-03 3.16140583e+01] [-5.21988672e-02 9.98636691e-01 -1.93247638e-04 -8.13380985e-01] [-4.91374347e-03 -6.33328798e-05 9.99987925e-01 -3.86445221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.81, Z:-0.39 [[ 9.98624448e-01 5.22024911e-02 4.91034797e-03 3.16738523e+01] [-5.22021715e-02 9.98636518e-01 -1.93309935e-04 -8.14271281e-01] [-4.91374406e-03 -6.32867999e-05 9.99987925e-01 -3.92737503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.81, Z:-0.39 [[ 9.98604378e-01 5.25850282e-02 4.91035040e-03 3.17343788e+01] [-5.25847136e-02 9.98616448e-01 -1.93248058e-04 -8.11171789e-01] [-4.91371863e-03 -6.52310131e-05 9.99987925e-01 -3.85030117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.81, Z:-0.39 [[ 9.98560764e-01 5.34068272e-02 4.91034811e-03 3.17939627e+01] [-5.34065222e-02 9.98572835e-01 -1.93306237e-04 -8.07102727e-01] [-4.91366411e-03 -6.92165914e-05 9.99987925e-01 -3.86550528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.80, Z:-0.39 [[ 9.98533556e-01 5.39131334e-02 4.91035274e-03 3.18534142e+01] [-5.39128351e-02 9.98545627e-01 -1.93188755e-04 -8.04681179e-01] [-4.91362666e-03 -7.18255833e-05 9.99987925e-01 -3.86412354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.80, Z:-0.38 [[ 9.98521068e-01 5.41439280e-02 4.91035726e-03 3.19130255e+01] [-5.41436331e-02 9.98533139e-01 -1.93073690e-04 -7.98558414e-01] [-4.91360822e-03 -7.30764345e-05 9.99987925e-01 -3.84009543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.80, Z:-0.39 [[ 9.98610176e-01 5.24747963e-02 4.91035961e-03 3.19720046e+01] [-5.24744815e-02 9.98622247e-01 -1.93013917e-04 -7.96059961e-01] [-4.91372271e-03 -6.49229125e-05 9.99987925e-01 -3.89220613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.79, Z:-0.39 [[ 9.98763959e-01 4.94615202e-02 4.91036666e-03 3.20315730e+01] [-4.94611699e-02 9.98776029e-01 -1.92834504e-04 -7.93099460e-01] [-4.91389440e-03 -5.02763266e-05 9.99987925e-01 -3.90390512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.79, Z:-0.39 [[ 9.98899720e-01 4.66394385e-02 4.91037131e-03 3.20911014e+01] [-4.66390546e-02 9.98911789e-01 -1.92715861e-04 -7.92862237e-01] [-4.91401595e-03 -3.65112556e-05 9.99987925e-01 -3.90666012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.79, Z:-0.39 [[ 9.99047695e-01 4.33542627e-02 4.91037583e-03 3.21501983e+01] [-4.33538397e-02 9.99059762e-01 -1.92600622e-04 -7.93863258e-01] [-4.91410897e-03 -2.04664390e-05 9.99987925e-01 -3.94877655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725871559999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.80, Z:-0.39 [[ 9.99135503e-01 4.12811742e-02 4.91037807e-03 3.22098534e+01] [-4.12807265e-02 9.99147569e-01 -1.92543578e-04 -7.95089584e-01] [-4.91414074e-03 -1.03268497e-05 9.99987925e-01 -3.93043151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.80, Z:-0.39 [[ 9.99086735e-01 4.24450686e-02 4.91038028e-03 3.22689055e+01] [-4.24446352e-02 9.99098802e-01 -1.92487267e-04 -7.96461242e-01] [-4.91412519e-03 -1.61078241e-05 9.99987925e-01 -3.93024054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.80, Z:-0.39 [[ 9.98906054e-01 4.65035761e-02 4.91037604e-03 3.23271452e+01] [-4.65031912e-02 9.98918123e-01 -1.92595296e-04 -7.97217281e-01] [-4.91401999e-03 -3.59635479e-05 9.99987925e-01 -3.94754349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.80, Z:-0.39 [[ 9.98727825e-01 5.01858520e-02 4.91038035e-03 3.23869076e+01] [-5.01855121e-02 9.98739895e-01 -1.92485443e-04 -7.99639457e-01] [-4.91385280e-03 -5.41893841e-05 9.99987925e-01 -3.89959671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.80, Z:-0.39 [[ 9.98451257e-01 5.54163843e-02 4.91038505e-03 3.24450581e+01] [-5.54161083e-02 9.98463328e-01 -1.92365394e-04 -8.00519811e-01] [-4.91349959e-03 -8.00469600e-05 9.99987925e-01 -3.88785984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.80, Z:-0.39 [[ 9.98187166e-01 5.99855784e-02 4.91039648e-03 3.25041918e+01] [-5.99853590e-02 9.98199239e-01 -1.92073263e-04 -7.99963433e-01] [-4.91307565e-03 -1.02826830e-04 9.99987925e-01 -3.87092258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.80, Z:-0.39 [[ 9.97965401e-01 6.35684401e-02 4.91040104e-03 3.25620604e+01] [-6.35682647e-02 9.97977474e-01 -1.91956444e-04 -7.99922383e-01] [-4.91267200e-03 -1.20579783e-04 9.99987925e-01 -3.88063605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.80, Z:-0.39 [[ 9.97956536e-01 6.37074651e-02 4.91041238e-03 3.26212831e+01] [-6.37072927e-02 9.97968609e-01 -1.91665958e-04 -7.99235166e-01] [-4.91264796e-03 -1.21554783e-04 9.99987925e-01 -3.87802779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.80, Z:-0.39 [[ 9.98132879e-01 6.08822103e-02 4.91042171e-03 3.26786963e+01] [-6.08820050e-02 9.98144952e-01 -1.91426591e-04 -7.98493095e-01] [-4.91296712e-03 -1.07887145e-04 9.99987925e-01 -3.94752249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.80, Z:-0.39 [[ 9.98374039e-01 5.67905426e-02 4.91043320e-03 3.27373275e+01] [-5.67902892e-02 9.98386111e-01 -1.91131403e-04 -8.00047935e-01] [-4.91336276e-03 -8.80442911e-05 9.99987925e-01 -3.92821538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.80, Z:-0.39 [[ 9.98477892e-01 5.49343948e-02 4.91044005e-03 3.27966473e+01] [-5.49341198e-02 9.98489963e-01 -1.90955224e-04 -8.02269961e-01] [-4.91351512e-03 -7.90861330e-05 9.99987925e-01 -3.93748969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.80, Z:-0.40 [[ 9.98507835e-01 5.43874086e-02 4.91044465e-03 3.28556841e+01] [-5.43871276e-02 9.98519907e-01 -1.90837016e-04 -8.01382585e-01] [-4.91355586e-03 -7.65127238e-05 9.99987925e-01 -3.99147308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.80, Z:-0.39 [[ 9.98408717e-01 5.61775874e-02 4.91045145e-03 3.29157222e+01] [-5.61773290e-02 9.98420789e-01 -1.90661727e-04 -8.01422400e-01] [-4.91340773e-03 -8.54977162e-05 9.99987925e-01 -3.93059651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505871559999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.80, Z:-0.40 [[ 9.98463501e-01 5.51953369e-02 4.91045372e-03 3.29738773e+01] [-5.51950668e-02 9.98475572e-01 -1.90603385e-04 -7.99401862e-01] [-4.91348850e-03 -8.07222983e-05 9.99987925e-01 -3.99342288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.80, Z:-0.40 [[ 9.98564240e-01 5.33417826e-02 4.91046503e-03 3.30329939e+01] [-5.33414916e-02 9.98576311e-01 -1.90311515e-04 -8.00597481e-01] [-4.91362561e-03 -7.18932557e-05 9.99987925e-01 -3.97881767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.80, Z:-0.40 [[ 9.98858559e-01 4.75128077e-02 4.91047196e-03 3.30915784e+01] [-4.75124471e-02 9.98870628e-01 -1.90132388e-04 -8.02163622e-01] [-4.91395994e-03 -4.33931758e-05 9.99987925e-01 -4.01480445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.81, Z:-0.40 [[ 9.99120119e-01 4.16518371e-02 4.91047890e-03 3.31516244e+01] [-4.16514066e-02 9.99132186e-01 -1.89953189e-04 -8.05456110e-01] [-4.91412941e-03 -1.47423001e-05 9.99987925e-01 -4.02351746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.81, Z:-0.40 [[ 9.99304245e-01 3.69717911e-02 4.91048323e-03 3.32110361e+01] [-3.69713046e-02 9.99316310e-01 -1.89841094e-04 -8.08725128e-01] [-4.91414475e-03 8.16203953e-06 9.99987925e-01 -3.97292367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.81, Z:-0.40 [[ 9.99325468e-01 3.63936266e-02 4.91048814e-03 3.32693413e+01] [-3.63931337e-02 9.99337532e-01 -1.89714003e-04 -8.14511348e-01] [-4.91413948e-03 1.08779830e-05 9.99987925e-01 -4.00866352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865871559999995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.82, Z:-0.40 [[ 9.99273663e-01 3.77893372e-02 4.91049536e-03 3.33288363e+01] [-3.77888621e-02 9.99285728e-01 -1.89526925e-04 -8.15282086e-01] [-4.91415003e-03 3.82723305e-06 9.99987925e-01 -3.98691980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.82, Z:-0.40 [[ 9.99100884e-01 4.21106852e-02 4.91049995e-03 3.33874566e+01] [-4.21102629e-02 9.99112952e-01 -1.89407950e-04 -8.19110752e-01] [-4.91412020e-03 -1.75447932e-05 9.99987925e-01 -4.01044853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.82, Z:-0.40 [[ 9.98931136e-01 4.59616321e-02 4.91050674e-03 3.34461225e+01] [-4.59612572e-02 9.98943205e-01 -1.89231871e-04 -8.20368178e-01] [-4.91401474e-03 -3.66634547e-05 9.99987925e-01 -4.04235448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.82, Z:-0.40 [[ 9.98896275e-01 4.67131450e-02 4.91051170e-03 3.35054507e+01] [-4.67127798e-02 9.98908344e-01 -1.89102907e-04 -8.20205056e-01] [-4.91398471e-03 -4.04894628e-05 9.99987925e-01 -4.02771774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.82, Z:-0.40 [[ 9.98910621e-01 4.64053685e-02 4.91052052e-03 3.35629137e+01] [-4.64050007e-02 9.98922690e-01 -1.88873585e-04 -8.21019928e-01] [-4.91399512e-03 -3.92048779e-05 9.99987925e-01 -4.02795845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.82, Z:-0.40 [[ 9.98913811e-01 4.63366382e-02 4.91053148e-03 3.36221591e+01] [-4.63362710e-02 9.98925880e-01 -1.88588269e-04 -8.22181460e-01] [-4.91399553e-03 -3.91522904e-05 9.99987925e-01 -3.95484727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.83, Z:-0.40 [[ 9.98974949e-01 4.49993150e-02 4.91054104e-03 3.36806311e+01] [-4.49989328e-02 9.98987017e-01 -1.88339080e-04 -8.25000605e-01] [-4.91404187e-03 -3.28230831e-05 9.99987925e-01 -4.00044081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.83, Z:-0.40 [[ 9.99019582e-01 4.39972933e-02 4.91054690e-03 3.37391084e+01] [-4.39968998e-02 9.99031650e-01 -1.88186024e-04 -8.26425322e-01] [-4.91407145e-03 -2.80473170e-05 9.99987925e-01 -4.01329410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.83, Z:-0.40 [[ 9.99134475e-01 4.13060253e-02 4.91055342e-03 3.37989296e+01] [-4.13056001e-02 9.99146542e-01 -1.88015698e-04 -8.28524630e-01] [-4.91412865e-03 -1.49803905e-05 9.99987925e-01 -4.00476100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405871559999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.83, Z:-0.40 [[ 9.99269005e-01 3.79122853e-02 4.91055791e-03 3.38586371e+01] [-3.79118197e-02 9.99281071e-01 -1.87898384e-04 -8.30037127e-01] [-4.91415123e-03 1.59284486e-06 9.99987925e-01 -3.97154256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.83, Z:-0.40 [[ 9.99354074e-01 3.55994435e-02 4.91056024e-03 3.39170737e+01] [-3.55989503e-02 9.99366139e-01 -1.87837515e-04 -8.33400991e-01] [-4.91413454e-03 1.29053963e-05 9.99987925e-01 -3.97492671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.83, Z:-0.40 [[ 9.99292670e-01 3.72833177e-02 4.91056722e-03 3.39762777e+01] [-3.72828457e-02 9.99304735e-01 -1.87654812e-04 -8.34570032e-01] [-4.91414947e-03 4.44215802e-06 9.99987925e-01 -4.00686011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585871559999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.83, Z:-0.40 [[ 9.99142647e-01 4.11078617e-02 4.91057182e-03 3.40364973e+01] [-4.11074365e-02 9.99154714e-01 -1.87534386e-04 -8.34679915e-01] [-4.91413013e-03 -1.44874164e-05 9.99987925e-01 -4.02917615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.84, Z:-0.41 [[ 9.99094958e-01 4.22510424e-02 4.91057414e-03 3.40951437e+01] [-4.22506313e-02 9.99107026e-01 -1.87473575e-04 -8.35500203e-01] [-4.91411008e-03 -2.01709535e-05 9.99987925e-01 -4.05730258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.83, Z:-0.40 [[ 9.99185187e-01 4.00605498e-02 4.91058093e-03 3.41538454e+01] [-4.00601131e-02 9.99197254e-01 -1.87295543e-04 -8.31919057e-01] [-4.91414215e-03 -9.57549569e-06 9.99987925e-01 -4.03133334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.84, Z:-0.40 [[ 9.99453507e-01 3.26890442e-02 4.91058998e-03 3.42136446e+01] [-3.26885197e-02 9.99465570e-01 -1.87058173e-04 -8.35591268e-01] [-4.91408036e-03 2.64360295e-05 9.99987925e-01 -4.00979486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825871559999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.84, Z:-0.40 [[ 9.99706933e-01 2.37051443e-02 4.91059444e-03 3.42735290e+01] [-2.37045120e-02 9.99718991e-01 -1.86940890e-04 -8.41750572e-01] [-4.91364598e-03 7.04828594e-05 9.99987925e-01 -4.01682747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.85, Z:-0.40 [[ 9.99877351e-01 1.48717644e-02 4.91059444e-03 3.43332910e+01] [-1.48710256e-02 9.99889403e-01 -1.86940890e-04 -8.49362511e-01] [-4.91283148e-03 1.13892387e-04 9.99987925e-01 -4.02951474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.86, Z:-0.40 [[ 9.99935921e-01 1.01999736e-02 4.91059225e-03 3.43938365e+01] [-1.01991781e-02 9.99947970e-01 -1.86998406e-04 -8.57227215e-01] [-4.91224413e-03 1.36902418e-04 9.99987925e-01 -4.04396431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.87, Z:-0.41 [[ 9.99965081e-01 6.76195253e-03 4.91057534e-03 3.44551464e+01] [-6.76111350e-03 9.99977126e-01 -1.87441527e-04 -8.71205857e-01] [-4.91173048e-03 1.54234024e-04 9.99987925e-01 -4.07530954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.88, Z:-0.41 [[ 9.99941070e-01 9.68205658e-03 4.91056708e-03 3.45173558e+01] [-9.68125167e-03 9.99953118e-01 -1.87657552e-04 -8.84746604e-01] [-4.91215378e-03 1.40106057e-04 9.99987925e-01 -4.09277982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.90, Z:-0.41 [[ 9.99822355e-01 1.81974061e-02 4.91055093e-03 3.45785854e+01] [-1.81967017e-02 9.99834409e-01 -1.88079147e-04 -8.99505933e-01] [-4.91316034e-03 9.86899049e-05 9.99987925e-01 -4.10005125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185871559999995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.91, Z:-0.41 [[ 9.99657097e-01 2.57210922e-02 4.91054201e-03 3.46398576e+01] [-2.57204775e-02 9.99669156e-01 -1.88311776e-04 -9.08281608e-01] [-4.91376097e-03 6.19457180e-05 9.99987925e-01 -4.09781731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.92, Z:-0.41 [[ 9.99312776e-01 3.67404747e-02 4.91053758e-03 3.46999822e+01] [-3.67399924e-02 9.99324841e-01 -1.88427342e-04 -9.18845832e-01] [-4.91414509e-03 7.88473719e-06 9.99987925e-01 -4.14076950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.93, Z:-0.41 [[ 9.98887969e-01 4.68904156e-02 4.91053538e-03 3.47598737e+01] [-4.68900555e-02 9.98900039e-01 -1.88484703e-04 -9.30590685e-01] [-4.91397210e-03 -4.19801742e-05 9.99987925e-01 -4.12366371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.94, Z:-0.41 [[ 9.98430992e-01 5.57802875e-02 4.91053538e-03 3.48188950e+01] [-5.57800349e-02 9.98443064e-01 -1.88484703e-04 -9.38798622e-01] [-4.91340372e-03 -8.57208655e-05 9.99987925e-01 -4.08555871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.94, Z:-0.41 [[ 9.97945099e-01 6.38863469e-02 4.91054343e-03 3.48773851e+01] [-6.38861934e-02 9.97957173e-01 -1.88274662e-04 -9.43135435e-01] [-4.91254022e-03 -1.25828151e-04 9.99987925e-01 -4.12325006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.95, Z:-0.41 [[ 9.97635805e-01 6.85469671e-02 4.91054852e-03 3.49369279e+01] [-6.85468707e-02 9.97647879e-01 -1.88141754e-04 -9.45739186e-01] [-4.91189487e-03 -1.48905785e-04 9.99987925e-01 -4.12833849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.95, Z:-0.42 [[ 9.97240253e-01 7.40794410e-02 4.91055309e-03 3.49946565e+01] [-7.40794121e-02 9.97252328e-01 -1.88022557e-04 -9.45838676e-01] [-4.91098910e-03 -1.76267224e-04 9.99987925e-01 -4.15012823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.95, Z:-0.42 [[ 9.97031831e-01 7.68336774e-02 4.91056438e-03 3.50545552e+01] [-7.68336833e-02 9.97043906e-01 -1.87727193e-04 -9.45148900e-01] [-4.91047206e-03 -1.90126761e-04 9.99987925e-01 -4.17963977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.94, Z:-0.42 [[ 9.97100123e-01 7.59422834e-02 4.91056865e-03 3.51141195e+01] [-7.59422791e-02 9.97112198e-01 -1.87615261e-04 -9.42209560e-01] [-4.91063583e-03 -1.85848575e-04 9.99987925e-01 -4.15734298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.94, Z:-0.41 [[ 9.97548102e-01 6.98116727e-02 4.91057302e-03 3.51740239e+01] [-6.98115947e-02 9.97560177e-01 -1.87501034e-04 -9.39204792e-01] [-4.91168185e-03 -1.55773633e-04 9.99987925e-01 -4.14132257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.94, Z:-0.41 [[ 9.97906788e-01 6.44820013e-02 4.91057739e-03 3.52341698e+01] [-6.44818594e-02 9.97918862e-01 -1.87386273e-04 -9.38585037e-01] [-4.91244085e-03 -1.29649128e-04 9.99987925e-01 -4.13347462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.94, Z:-0.41 [[ 9.98399230e-01 5.63459249e-02 4.91058186e-03 3.52936410e+01] [-5.63456851e-02 9.98411302e-01 -1.87269311e-04 -9.38778821e-01] [-4.91333229e-03 -8.97205631e-05 9.99987925e-01 -4.11912222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905871559999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.94, Z:-0.42 [[ 9.98783301e-01 4.90693766e-02 4.91058406e-03 3.53535726e+01] [-4.90690492e-02 9.98795371e-01 -1.87211462e-04 -9.36131305e-01] [-4.91385498e-03 -5.39740089e-05 9.99987925e-01 -4.15403142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.94, Z:-0.41 [[ 9.99010029e-01 4.42136712e-02 4.91058844e-03 3.54139184e+01] [-4.42132857e-02 9.99022097e-01 -1.87096456e-04 -9.35761003e-01] [-4.91405858e-03 -3.02020139e-05 9.99987925e-01 -4.10202468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02587156 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.94, Z:-0.42 [[ 9.99001216e-01 4.44123407e-02 4.91058646e-03 3.54734973e+01] [-4.44119573e-02 9.99013285e-01 -1.87148443e-04 -9.37253130e-01] [-4.91405281e-03 -3.11272335e-05 9.99987925e-01 -4.18266939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.93, Z:-0.42 [[ 9.99011063e-01 4.41903017e-02 4.91058596e-03 3.55334201e+01] [-4.41899156e-02 9.99023131e-01 -1.87161504e-04 -9.34854281e-01] [-4.91405969e-03 -3.00219664e-05 9.99987925e-01 -4.18076069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.93, Z:-0.41 [[ 9.98884415e-01 4.69660691e-02 4.91059039e-03 3.55935506e+01] [-4.69657171e-02 9.98896484e-01 -1.87045209e-04 -9.29650516e-01] [-4.91395626e-03 -4.37928546e-05 9.99987925e-01 -4.14173960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.93, Z:-0.41 [[ 9.98809960e-01 4.85237028e-02 4.91059494e-03 3.56524231e+01] [-4.85233702e-02 9.98822030e-01 -1.86925824e-04 -9.27816956e-01] [-4.91388074e-03 -5.15752412e-05 9.99987925e-01 -4.13629340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.93, Z:-0.42 [[ 9.98904139e-01 4.65446850e-02 4.91060169e-03 3.57122403e+01] [-4.65443294e-02 9.98916208e-01 -1.86748220e-04 -9.26375148e-01] [-4.91397176e-03 -4.20170927e-05 9.99987925e-01 -4.16136886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.93, Z:-0.42 [[ 9.99062351e-01 4.30151719e-02 4.91060618e-03 3.57714354e+01] [-4.30147742e-02 9.99074419e-01 -1.86630184e-04 -9.27223327e-01] [-4.91408894e-03 -2.47734258e-05 9.99987925e-01 -4.15755104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:-0.93, Z:-0.42 [[ 9.99227291e-01 3.89962322e-02 4.91061066e-03 3.58313905e+01] [-3.89957865e-02 9.99239358e-01 -1.86512147e-04 -9.27917667e-01] [-4.91414871e-03 -5.12509734e-06 9.99987925e-01 -4.17299832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.93, Z:-0.42 [[ 9.99170438e-01 4.04267380e-02 4.91061290e-03 3.58912180e+01] [-4.04263099e-02 9.99182505e-01 -1.86453109e-04 -9.28811191e-01] [-4.91413619e-03 -1.22195248e-05 9.99987925e-01 -4.16853727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.93, Z:-0.42 [[ 9.98981121e-01 4.48620711e-02 4.91061730e-03 3.59514241e+01] [-4.48616971e-02 9.98993190e-01 -1.86337241e-04 -9.25710991e-01] [-4.91403271e-03 -3.41512403e-05 9.99987925e-01 -4.18220557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.92, Z:-0.42 [[ 9.98849748e-01 4.76976620e-02 4.91062168e-03 3.60098073e+01] [-4.76973228e-02 9.98861818e-01 -1.86221860e-04 -9.21484472e-01] [-4.91391484e-03 -4.82158491e-05 9.99987925e-01 -4.19182545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.92, Z:-0.42 [[ 9.98852965e-01 4.76302456e-02 4.91062820e-03 3.60689656e+01] [-4.76299064e-02 9.98865035e-01 -1.86049754e-04 -9.18027036e-01] [-4.91391640e-03 -4.80564127e-05 9.99987925e-01 -4.20524469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.92, Z:-0.42 [[ 9.98906506e-01 4.64938559e-02 4.91063705e-03 3.61273958e+01] [-4.64935042e-02 9.98918575e-01 -1.85815624e-04 -9.16094189e-01] [-4.91396585e-03 -4.27002886e-05 9.99987925e-01 -4.22417408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.91, Z:-0.42 [[ 9.99016926e-01 4.40575422e-02 4.91064581e-03 3.61858888e+01] [-4.40571622e-02 9.99028995e-01 -1.85584025e-04 -9.13207819e-01] [-4.91405392e-03 -3.09475372e-05 9.99987925e-01 -4.23081037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.91, Z:-0.42 [[ 9.99154422e-01 4.08206742e-02 4.91065471e-03 3.62452168e+01] [-4.08202563e-02 9.99166489e-01 -1.85348175e-04 -9.13387246e-01] [-4.91412766e-03 -1.52627348e-05 9.99987925e-01 -4.17871414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865871559999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.92, Z:-0.42 [[ 9.99535743e-01 3.00696608e-02 4.91065713e-03 3.63044065e+01] [-3.00691134e-02 9.99547805e-01 -1.85284070e-04 -9.15745812e-01] [-4.91400798e-03 3.75389442e-05 9.99987925e-01 -4.23355972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.92, Z:-0.42 [[ 9.99670707e-01 2.51865655e-02 4.91065955e-03 3.63651492e+01] [-2.51859595e-02 9.99682766e-01 -1.85219927e-04 -9.20697232e-01] [-4.91376677e-03 6.14792633e-05 9.99987925e-01 -4.24119174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.93, Z:-0.42 [[ 9.99698422e-01 2.40613713e-02 4.91065955e-03 3.64256486e+01] [-2.40607517e-02 9.99710481e-01 -1.85219927e-04 -9.25530386e-01] [-4.91369446e-03 6.70099092e-05 9.99987925e-01 -4.23851747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.93, Z:-0.42 [[ 9.99540106e-01 2.99242556e-02 4.91065955e-03 3.64856551e+01] [-2.99237067e-02 9.99552168e-01 -1.85219927e-04 -9.30089243e-01] [-4.91400297e-03 3.81896098e-05 9.99987925e-01 -4.21875730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.93, Z:-0.42 [[ 9.99338730e-01 3.60276105e-02 4.91065955e-03 3.65454128e+01] [-3.60271353e-02 9.99350795e-01 -1.85219927e-04 -9.32436643e-01] [-4.91414455e-03 8.18045125e-06 9.99987925e-01 -4.20488905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.94, Z:-0.41 [[ 9.98961781e-01 4.52906771e-02 4.91066388e-03 3.66044144e+01] [-4.52903144e-02 9.98973850e-01 -1.85104983e-04 -9.35414050e-01] [-4.91400833e-03 -3.74927074e-05 9.99987925e-01 -4.09555339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.94, Z:-0.42 [[ 9.98805186e-01 4.86218645e-02 4.91067098e-03 3.66626681e+01] [-4.86215429e-02 9.98817256e-01 -1.84916459e-04 -9.38095858e-01] [-4.91385390e-03 -5.40688814e-05 9.99987925e-01 -4.19282815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.94, Z:-0.42 [[ 9.98617596e-01 5.23333752e-02 4.91067807e-03 3.67211282e+01] [-5.23330994e-02 9.98629667e-01 -1.84727855e-04 -9.42427408e-01] [-4.91361624e-03 -7.25185176e-05 9.99987925e-01 -4.23205249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.78, Y:-0.94, Z:-0.42 [[ 9.98388340e-01 5.65385528e-02 4.91068689e-03 3.67803026e+01] [-5.65383290e-02 9.98400412e-01 -1.84493147e-04 -9.43022070e-01] [-4.91326279e-03 -9.34462245e-05 9.99987925e-01 -4.23880230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.94, Z:-0.43 [[ 9.98280976e-01 5.84035802e-02 4.91069569e-03 3.68390746e+01] [-5.84033801e-02 9.98293049e-01 -1.84258571e-04 -9.41594252e-01] [-4.91307474e-03 -1.02859401e-04 9.99987925e-01 -4.26608954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.94, Z:-0.43 [[ 9.98367952e-01 5.68974357e-02 4.91070446e-03 3.68983618e+01] [-5.68972186e-02 9.98380024e-01 -1.84024635e-04 -9.42825712e-01] [-4.91321977e-03 -9.56811271e-05 9.99987925e-01 -4.26697660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.95, Z:-0.43 [[ 9.98709107e-01 5.05569335e-02 4.91071318e-03 3.69573034e+01] [-5.05566409e-02 9.98721178e-01 -1.83791693e-04 -9.45854549e-01] [-4.91372520e-03 -6.47147249e-05 9.99987925e-01 -4.26504632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.02, Y:-0.95, Z:-0.43 [[ 9.98941570e-01 4.57342716e-02 4.91072205e-03 3.70160668e+01] [-4.57339218e-02 9.98953640e-01 -1.83554300e-04 -9.48201090e-01] [-4.91397839e-03 -4.12265577e-05 9.99987925e-01 -4.26429062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.95, Z:-0.43 [[ 9.98947447e-01 4.56057271e-02 4.91073085e-03 3.70742014e+01] [-4.56053769e-02 9.98959517e-01 -1.83318648e-04 -9.49296479e-01] [-4.91398170e-03 -4.08300364e-05 9.99987925e-01 -4.25976694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.95, Z:-0.43 [[ 9.98729096e-01 5.01605239e-02 4.91074172e-03 3.71333784e+01] [-5.01602302e-02 9.98741167e-01 -1.83027026e-04 -9.49320479e-01] [-4.91374064e-03 -6.35295190e-05 9.99987925e-01 -4.25437689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.95, Z:-0.43 [[ 9.98566589e-01 5.32977713e-02 4.91074856e-03 3.71923738e+01] [-5.32975165e-02 9.98578661e-01 -1.82843281e-04 -9.50061870e-01] [-4.91351386e-03 -7.91495110e-05 9.99987925e-01 -4.28366713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.95, Z:-0.43 [[ 9.98480867e-01 5.48802605e-02 4.91075540e-03 3.72513338e+01] [-5.48800256e-02 9.98492939e-01 -1.82659459e-04 -9.50212560e-01] [-4.91337899e-03 -8.71204071e-05 9.99987925e-01 -4.25431666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.95, Z:-0.42 [[ 9.98522515e-01 5.41171974e-02 4.91076427e-03 3.73099141e+01] [-5.41169545e-02 9.98534587e-01 -1.82420520e-04 -9.52193227e-01] [-4.91344006e-03 -8.36046105e-05 9.99987925e-01 -4.22276945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.95, Z:-0.42 [[ 9.98531687e-01 5.39476952e-02 4.91077135e-03 3.73684088e+01] [-5.39474512e-02 9.98543759e-01 -1.82229754e-04 -9.53139310e-01] [-4.91345096e-03 -8.29614139e-05 9.99987925e-01 -4.22161722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.95, Z:-0.43 [[ 9.98552066e-01 5.35691601e-02 4.91078086e-03 3.74274737e+01] [-5.35689128e-02 9.98564138e-01 -1.81973248e-04 -9.53748499e-01] [-4.91347781e-03 -8.13554291e-05 9.99987925e-01 -4.27246824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.95, Z:-0.43 [[ 9.98576324e-01 5.31150571e-02 4.91078792e-03 3.74865658e+01] [-5.31148053e-02 9.98588396e-01 -1.81782516e-04 -9.53235399e-01] [-4.91351122e-03 -7.93118278e-05 9.99987925e-01 -4.27190638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.95, Z:-0.43 [[ 9.98556655e-01 5.34835631e-02 4.91079638e-03 3.75456292e+01] [-5.34833168e-02 9.98568727e-01 -1.81553652e-04 -9.53753165e-01] [-4.91347782e-03 -8.13540705e-05 9.99987925e-01 -4.27663251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.95, Z:-0.43 [[ 9.98462520e-01 5.52130496e-02 4.91080475e-03 3.76048900e+01] [-5.52128254e-02 9.98474592e-01 -1.81326793e-04 -9.51502912e-01] [-4.91332538e-03 -9.00913984e-05 9.99987925e-01 -4.25653416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:-0.95, Z:-0.42 [[ 9.98363822e-01 5.69698356e-02 4.91081306e-03 3.76637122e+01] [-5.69696337e-02 9.98375895e-01 -1.81101600e-04 -9.50351477e-01] [-4.91315471e-03 -9.89619361e-05 9.99987925e-01 -4.17212395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.95, Z:-0.42 [[ 9.98279879e-01 5.84223130e-02 4.91081972e-03 3.77218997e+01] [-5.84221296e-02 9.98291952e-01 -1.80920729e-04 -9.46660963e-01] [-4.91300162e-03 -1.06291023e-04 9.99987925e-01 -4.24272311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365871559999995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.94, Z:-0.43 [[ 9.98392960e-01 5.64569007e-02 4.91082860e-03 3.77814096e+01] [-5.64566947e-02 9.98405033e-01 -1.80679391e-04 -9.42165234e-01] [-4.91319659e-03 -9.68601191e-05 9.99987925e-01 -4.28822014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.94, Z:-0.43 [[ 9.98519165e-01 5.41789728e-02 4.91083475e-03 3.78405229e+01] [-5.41787400e-02 9.98531237e-01 -1.80512065e-04 -9.40463878e-01] [-4.91340186e-03 -8.58180829e-05 9.99987925e-01 -4.30192756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.94, Z:-0.43 [[ 9.98613010e-01 5.24208049e-02 4.91084288e-03 3.78995679e+01] [-5.24205520e-02 9.98625081e-01 -1.80290820e-04 -9.35775347e-01] [-4.91354186e-03 -7.73883363e-05 9.99987925e-01 -4.28512127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.93, Z:-0.43 [[ 9.98589055e-01 5.28751668e-02 4.91085127e-03 3.79575741e+01] [-5.28749205e-02 9.98601127e-01 -1.80061939e-04 -9.31375138e-01] [-4.91350241e-03 -7.98529887e-05 9.99987925e-01 -4.26444124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.93, Z:-0.42 [[ 9.98512395e-01 5.43035958e-02 4.91086161e-03 3.80163203e+01] [-5.43033682e-02 9.98524467e-01 -1.79779364e-04 -9.26477284e-01] [-4.91337814e-03 -8.71644031e-05 9.99987925e-01 -4.23465676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.92, Z:-0.42 [[ 9.98451281e-01 5.54159094e-02 4.91086994e-03 3.80756417e+01] [-5.54156964e-02 9.98463354e-01 -1.79551574e-04 -9.19247624e-01] [-4.91327368e-03 -9.28657790e-05 9.99987925e-01 -4.22044728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:-0.92, Z:-0.42 [[ 9.98562643e-01 5.33716414e-02 4.91087851e-03 3.81347368e+01] [-5.33714048e-02 9.98574715e-01 -1.79316841e-04 -9.15232652e-01] [-4.91344954e-03 -8.30413863e-05 9.99987925e-01 -4.21724847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:-0.91, Z:-0.42 [[ 9.98861219e-01 4.74568048e-02 4.91088747e-03 3.81940655e+01] [-4.74564979e-02 9.98873290e-01 -1.79071115e-04 -9.13498187e-01] [-4.91385247e-03 -5.41863282e-05 9.99987925e-01 -4.23826154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.91, Z:-0.43 [[ 9.99139962e-01 4.11730430e-02 4.91089653e-03 3.82518178e+01] [-4.11726614e-02 9.99152030e-01 -1.78822465e-04 -9.11603398e-01] [-4.91409490e-03 -2.35260092e-05 9.99987925e-01 -4.30316203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.91, Z:-0.43 [[ 9.99390861e-01 3.45512592e-02 4.91090765e-03 3.83096353e+01] [-3.45507991e-02 9.99402927e-01 -1.78516571e-04 -9.10474614e-01] [-4.91414345e-03 8.73204632e-06 9.99987925e-01 -4.29204983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.91, Z:-0.43 [[ 9.99566105e-01 2.90427971e-02 4.91091817e-03 3.83687921e+01] [-2.90422720e-02 9.99578168e-01 -1.78226680e-04 -9.10321933e-01] [-4.91402279e-03 3.55251272e-05 9.99987925e-01 -4.28183615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.91, Z:-0.43 [[ 9.99653347e-01 2.58663785e-02 4.91092295e-03 3.84274192e+01] [-2.58658157e-02 9.99665408e-01 -1.78094715e-04 -9.12144722e-01] [-4.91388646e-03 5.10079500e-05 9.99987925e-01 -4.27500613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.92, Z:-0.43 [[ 9.99774233e-01 2.06728512e-02 4.91092964e-03 3.84858625e+01] [-2.06722266e-02 9.99786291e-01 -1.77910084e-04 -9.15351249e-01] [-4.91355804e-03 7.63500669e-05 9.99987925e-01 -4.32056942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145871559999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.92, Z:-0.43 [[ 9.99824235e-01 1.80937130e-02 4.91093633e-03 3.85462345e+01] [-1.80930583e-02 9.99836291e-01 -1.77725374e-04 -9.19686550e-01] [-4.91334808e-03 8.88402794e-05 9.99987925e-01 -4.34201985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.93, Z:-0.44 [[ 9.99842436e-01 1.70582820e-02 4.91093633e-03 3.86054383e+01] [-1.70576147e-02 9.99854493e-01 -1.77725374e-04 -9.27187238e-01] [-4.91325344e-03 9.39285116e-05 9.99987925e-01 -4.35342473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.93, Z:-0.43 [[ 9.99826282e-01 1.79802242e-02 4.91093840e-03 3.86654440e+01] [-1.79795683e-02 9.99838339e-01 -1.77668120e-04 -9.32460197e-01] [-4.91333900e-03 8.93407035e-05 9.99987925e-01 -4.33755924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325871559999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.94, Z:-0.43 [[ 9.99745259e-01 2.20295107e-02 4.91094246e-03 3.87251030e+01] [-2.20289042e-02 9.99757318e-01 -1.77555652e-04 -9.36525192e-01] [-4.91366213e-03 6.93277405e-05 9.99987925e-01 -4.34391542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.94, Z:-0.43 [[ 9.99653272e-01 2.58692381e-02 4.91094095e-03 3.87836772e+01] [-2.58686777e-02 9.99665334e-01 -1.77597460e-04 -9.41684643e-01] [-4.91389174e-03 5.04963336e-05 9.99987925e-01 -4.33707983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:-0.95, Z:-0.44 [[ 9.99487519e-01 3.16319873e-02 4.91094693e-03 3.88426606e+01] [-3.16314974e-02 9.99499583e-01 -1.77432033e-04 -9.46318365e-01] [-4.91410194e-03 2.20004978e-05 9.99987925e-01 -4.35343044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:-0.95, Z:-0.43 [[ 9.99241979e-01 3.86179950e-02 4.91095492e-03 3.89017731e+01] [-3.86175905e-02 9.99254047e-01 -1.77210446e-04 -9.49756101e-01] [-4.91413509e-03 -1.25731292e-05 9.99987925e-01 -4.33288184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.95, Z:-0.43 [[ 9.99040535e-01 4.35188785e-02 4.91096319e-03 3.89605439e+01] [-4.35185343e-02 9.99052604e-01 -1.76981152e-04 -9.52299951e-01] [-4.91401258e-03 -3.69065753e-05 9.99987925e-01 -4.32775967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.96, Z:-0.43 [[ 9.98797868e-01 4.87719272e-02 4.91097141e-03 3.90196436e+01] [-4.87716475e-02 9.98809939e-01 -1.76752750e-04 -9.55927154e-01] [-4.91374763e-03 -6.29758966e-05 9.99987925e-01 -4.30660235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.96, Z:-0.43 [[ 9.98755155e-01 4.96389242e-02 4.91097815e-03 3.90777574e+01] [-4.96386560e-02 9.98767226e-01 -1.76565132e-04 -9.59174204e-01] [-4.91368853e-03 -6.74290197e-05 9.99987925e-01 -4.31388972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.96, Z:-0.43 [[ 9.98812608e-01 4.84691312e-02 4.91098938e-03 3.91369195e+01] [-4.84688504e-02 9.98824679e-01 -1.76252293e-04 -9.63734066e-01] [-4.91376019e-03 -6.19869968e-05 9.99987925e-01 -4.34560968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.97, Z:-0.43 [[ 9.98826062e-01 4.81910863e-02 4.91099538e-03 3.91957120e+01] [-4.81908029e-02 9.98838133e-01 -1.76084962e-04 -9.68150565e-01] [-4.91377518e-03 -6.07865617e-05 9.99987925e-01 -4.34771226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.97, Z:-0.43 [[ 9.98863681e-01 4.74049375e-02 4.91100193e-03 3.92535919e+01] [-4.74046455e-02 9.98875752e-01 -1.75901971e-04 -9.71553919e-01] [-4.91381937e-03 -5.71022151e-05 9.99987925e-01 -4.33325010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.97, Z:-0.43 [[ 9.98828536e-01 4.81397809e-02 4.91101284e-03 3.93115872e+01] [-4.81394993e-02 9.98840607e-01 -1.75596853e-04 -9.73956676e-01] [-4.91377224e-03 -6.10225517e-05 9.99987925e-01 -4.34208075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.98, Z:-0.43 [[ 9.98767801e-01 4.93838146e-02 4.91102424e-03 3.93692378e+01] [-4.93835496e-02 9.98779873e-01 -1.75277468e-04 -9.78297162e-01] [-4.91368804e-03 -6.74623179e-05 9.99987925e-01 -4.34530734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.98, Z:-0.43 [[ 9.98639441e-01 5.19148134e-02 4.91103392e-03 3.94285245e+01] [-5.19145804e-02 9.98651514e-01 -1.75005868e-04 -9.80715396e-01] [-4.91349686e-03 -8.01865034e-05 9.99987925e-01 -4.31408133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.98, Z:-0.43 [[ 9.98635860e-01 5.19836600e-02 4.91104008e-03 3.94872921e+01] [-5.19834286e-02 9.98647932e-01 -1.74832829e-04 -9.82899178e-01] [-4.91348847e-03 -8.06983690e-05 9.99987925e-01 -4.32454034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.99, Z:-0.43 [[ 9.98718114e-01 5.03786748e-02 4.91104651e-03 3.95448865e+01] [-5.03784249e-02 9.98730186e-01 -1.74652002e-04 -9.86497089e-01] [-4.91360913e-03 -7.29826699e-05 9.99987925e-01 -4.33732191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.60, Y:-0.99, Z:-0.43 [[ 9.98892803e-01 4.67872753e-02 4.91105722e-03 3.96024748e+01] [-4.67869835e-02 9.98904874e-01 -1.74350492e-04 -9.90313376e-01] [-4.91383638e-03 -5.56161010e-05 9.99987925e-01 -4.32413057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.66, Y:-0.99, Z:-0.43 [[ 9.99008830e-01 4.42406829e-02 4.91106774e-03 3.96609755e+01] [-4.42403618e-02 9.99020901e-01 -1.74053546e-04 -9.93212366e-01] [-4.91395957e-03 -4.33863845e-05 9.99987925e-01 -4.30314045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.72, Y:-1.00, Z:-0.43 [[ 9.99118203e-01 4.16976903e-02 4.91107574e-03 3.97188063e+01] [-4.16973396e-02 9.99130273e-01 -1.73827685e-04 -9.98592422e-01] [-4.91405265e-03 -3.11043882e-05 9.99987925e-01 -4.29257639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405871559999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.78, Y:-1.01, Z:-0.43 [[ 9.99186242e-01 4.00341619e-02 4.91108559e-03 3.97775720e+01] [-4.00337925e-02 9.99198311e-01 -1.73548850e-04 -1.00517235e+00] [-4.91409631e-03 -2.32017580e-05 9.99987925e-01 -4.31739976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:-1.01, Z:-0.43 [[ 9.99236166e-01 3.87680945e-02 4.91109358e-03 3.98364667e+01] [-3.87677109e-02 9.99248235e-01 -1.73322377e-04 -1.01091694e+00] [-4.91412097e-03 -1.72018684e-05 9.99987925e-01 -4.33192237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.89, Y:-1.01, Z:-0.44 [[ 9.99183435e-01 4.01041800e-02 4.91110014e-03 3.98944959e+01] [-4.01038134e-02 9.99195503e-01 -1.73136259e-04 -1.01332372e+00] [-4.91409267e-03 -2.39589620e-05 9.99987925e-01 -4.38808202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.95, Y:-1.02, Z:-0.44 [[ 9.99110609e-01 4.18792466e-02 4.91111106e-03 3.99528173e+01] [-4.18789029e-02 9.99122679e-01 -1.72825922e-04 -1.01722345e+00] [-4.91404026e-03 -3.29997310e-05 9.99987925e-01 -4.37236371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.01, Y:-1.02, Z:-0.44 [[ 9.98967235e-01 4.51701668e-02 4.91111916e-03 4.00114703e+01] [-4.51698640e-02 9.98979306e-01 -1.72595609e-04 -1.02075074e+00] [-4.91390258e-03 -4.94172262e-05 9.99987925e-01 -4.38000710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:-1.02, Z:-0.44 [[ 9.98784130e-01 4.90524478e-02 4.91113262e-03 4.00688576e+01] [-4.90521939e-02 9.98796202e-01 -1.72211737e-04 -1.02096807e+00] [-4.91366801e-03 -6.88994795e-05 9.99987925e-01 -4.40649556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:-1.02, Z:-0.44 [[ 9.98707121e-01 5.05961185e-02 4.91114340e-03 4.01274582e+01] [-5.05958848e-02 9.98719193e-01 -1.71903755e-04 -1.02178073e+00] [-4.91355084e-03 -7.68021416e-05 9.99987925e-01 -4.35640771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.02, Z:-0.44 [[ 9.98476442e-01 5.49606647e-02 4.91114987e-03 4.01851305e+01] [-5.49604846e-02 9.98488516e-01 -1.71718596e-04 -1.02130710e+00] [-4.91316451e-03 -9.84622043e-05 9.99987925e-01 -4.39608380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:-1.02, Z:-0.44 [[ 9.98423701e-01 5.59105962e-02 4.91116065e-03 4.02434189e+01] [-5.59104292e-02 9.98435774e-01 -1.71409861e-04 -1.01877933e+00] [-4.91306211e-03 -1.03445432e-04 9.99987925e-01 -4.42055734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:-1.02, Z:-0.44 [[ 9.98536481e-01 5.38588604e-02 4.91117069e-03 4.03027937e+01] [-5.38586699e-02 9.98548554e-01 -1.71121774e-04 -1.01734359e+00] [-4.91325881e-03 -9.36377874e-05 9.99987925e-01 -4.38084355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.36, Y:-1.02, Z:-0.44 [[ 9.98884090e-01 4.69729209e-02 4.91117862e-03 4.03615272e+01] [-4.69726483e-02 9.98896161e-01 -1.70893705e-04 -1.01725149e+00] [-4.91378485e-03 -5.99880634e-05 9.99987925e-01 -4.35007481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.42, Y:-1.02, Z:-0.43 [[ 9.99186778e-01 4.00207859e-02 4.91118681e-03 4.04207753e+01] [-4.00204305e-02 9.99198847e-01 -1.70657964e-04 -1.01916424e+00] [-4.91408207e-03 -2.60286297e-05 9.99987925e-01 -4.34909483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.48, Y:-1.02, Z:-0.43 [[ 9.99600620e-01 2.78294942e-02 4.91119490e-03 4.04802274e+01] [-2.78289927e-02 9.99612684e-01 -1.70424999e-04 -1.02365925e+00] [-4.91403556e-03 3.36833272e-05 9.99987925e-01 -4.34692555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.54, Y:-1.03, Z:-0.44 [[ 9.99780181e-01 2.03830975e-02 4.91119888e-03 4.05399165e+01] [-2.03825067e-02 9.99792241e-01 -1.70310144e-04 -1.03032669e+00] [-4.91364998e-03 7.01701626e-05 9.99987925e-01 -4.35860214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:-1.04, Z:-0.44 [[ 9.99908086e-01 1.26372238e-02 4.91120282e-03 4.06014427e+01] [-1.26365402e-02 9.99920141e-01 -1.70196578e-04 -1.03919471e+00] [-4.91296143e-03 1.08120322e-04 9.99987925e-01 -4.37372791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:-1.05, Z:-0.44 [[ 9.99936072e-01 1.01848603e-02 4.91119881e-03 4.06616757e+01] [-1.01841465e-02 9.99948126e-01 -1.70312192e-04 -1.04597969e+00] [-4.91267865e-03 1.20284936e-04 9.99987925e-01 -4.38910745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.72, Y:-1.06, Z:-0.44 [[ 9.99910732e-01 1.24260811e-02 4.91119683e-03 4.07230456e+01] [-1.24253941e-02 9.99922787e-01 -1.70369321e-04 -1.05812219e+00] [-4.91293464e-03 1.09330556e-04 9.99987925e-01 -4.38130193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.78, Y:-1.07, Z:-0.44 [[ 9.99776212e-01 2.05768333e-02 4.91119284e-03 4.07842719e+01] [-2.05762440e-02 9.99788272e-01 -1.70484148e-04 -1.06685198e+00] [-4.91366103e-03 6.93920937e-05 9.99987925e-01 -4.37107829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.84, Y:-1.07, Z:-0.44 [[ 9.99603991e-01 2.77081405e-02 4.91118889e-03 4.08448060e+01] [-2.77076367e-02 9.99616055e-01 -1.70597952e-04 -1.07198600e+00] [-4.91403021e-03 3.44529556e-05 9.99987925e-01 -4.37592860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.90, Y:-1.08, Z:-0.44 [[ 9.99299017e-01 3.71127359e-02 4.91118889e-03 4.09031901e+01] [-3.71123457e-02 9.99311085e-01 -1.70597952e-04 -1.08040331e+00] [-4.91413685e-03 -1.17873744e-05 9.99987925e-01 -4.41054811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.96, Y:-1.09, Z:-0.44 [[ 9.99038196e-01 4.35725011e-02 4.91119474e-03 4.09624353e+01] [-4.35721897e-02 9.99050267e-01 -1.70429379e-04 -1.08539538e+00] [-4.91395645e-03 -4.37260491e-05 9.99987925e-01 -4.39847990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.02, Y:-1.09, Z:-0.44 [[ 9.98593957e-01 5.27824635e-02 4.91119864e-03 4.10216318e+01] [-5.27822639e-02 9.98606030e-01 -1.70316875e-04 -1.08949520e+00] [-4.91334232e-03 -8.91467805e-05 9.99987925e-01 -4.35780930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725871559999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:-1.09, Z:-0.44 [[ 9.98439054e-01 5.56357399e-02 4.91121356e-03 4.10790264e+01] [-5.56355771e-02 9.98451127e-01 -1.69885504e-04 -1.09412044e+00] [-4.91305842e-03 -1.03617879e-04 9.99987925e-01 -4.44975705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:-1.09, Z:-0.44 [[ 9.97994430e-01 6.31110008e-02 4.91122548e-03 4.11379766e+01] [-6.31109301e-02 9.98006504e-01 -1.69540173e-04 -1.09471173e+00] [-4.91213482e-03 -1.40751860e-04 9.99987925e-01 -4.37996402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:-1.10, Z:-0.45 [[ 9.97802340e-01 6.60785158e-02 4.91123406e-03 4.11957849e+01] [-6.60784821e-02 9.97814414e-01 -1.69291338e-04 -1.09596963e+00] [-4.91168666e-03 -1.55607598e-04 9.99987925e-01 -4.48057079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905871559999994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:-1.10, Z:-0.45 [[ 9.97789302e-01 6.62750974e-02 4.91124467e-03 4.12552076e+01] [-6.62750677e-02 9.97801376e-01 -1.68982873e-04 -1.09592487e+00] [-4.91164605e-03 -1.56883771e-04 9.99987925e-01 -4.46862433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.31, Y:-1.10, Z:-0.44 [[ 9.97831718e-01 6.56333948e-02 4.91124884e-03 4.13143189e+01] [-6.56333579e-02 9.97843792e-01 -1.68861735e-04 -1.09522415e+00] [-4.91174213e-03 -1.53846157e-04 9.99987925e-01 -4.40167195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:-1.09, Z:-0.44 [[ 9.97979097e-01 6.33529951e-02 4.91125752e-03 4.13724843e+01] [-6.33529318e-02 9.97991171e-01 -1.68608679e-04 -1.09330770e+00] [-4.91207351e-03 -1.42874625e-04 9.99987925e-01 -4.37639310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:-1.09, Z:-0.45 [[ 9.98206439e-01 5.96639267e-02 4.91126816e-03 4.14305463e+01] [-5.96638204e-02 9.98218513e-01 -1.68298448e-04 -1.09249275e+00] [-4.91256014e-03 -1.25028427e-04 9.99987925e-01 -4.46526765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:-1.09, Z:-0.45 [[ 9.98633696e-01 5.20251958e-02 4.91127824e-03 4.14899605e+01] [-5.20249985e-02 9.98645769e-01 -1.68003584e-04 -1.08938779e+00] [-4.91336766e-03 -8.77352037e-05 9.99987925e-01 -4.48682285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:-1.09, Z:-0.45 [[ 9.98951025e-01 4.55272279e-02 4.91128406e-03 4.15485749e+01] [-4.55269529e-02 9.98963097e-01 -1.67833287e-04 -1.08933369e+00] [-4.91383252e-03 -5.59385643e-05 9.99987925e-01 -4.51814804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:-1.09, Z:-0.45 [[ 9.99296054e-01 3.71924153e-02 4.91129181e-03 4.16085618e+01] [-3.71920407e-02 9.99308123e-01 -1.67606358e-04 -1.09064118e+00] [-4.91412748e-03 -1.51725922e-05 9.99987925e-01 -4.47073378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:-1.09, Z:-0.44 [[ 9.99497814e-01 3.13049307e-02 4.91129566e-03 4.16684666e+01] [-3.13044856e-02 9.99509880e-01 -1.67493296e-04 -1.09207651e+00] [-4.91413191e-03 1.36635989e-05 9.99987925e-01 -4.44143721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:-1.09, Z:-0.44 [[ 9.99625282e-01 2.69290596e-02 4.91129770e-03 4.17275767e+01] [-2.69285619e-02 9.99637347e-01 -1.67433661e-04 -1.09247547e+00] [-4.91402543e-03 3.51167367e-05 9.99987925e-01 -4.44710899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:-1.09, Z:-0.44 [[ 9.99672377e-01 2.51200861e-02 4.91129973e-03 4.17871530e+01] [-2.51195670e-02 9.99684440e-01 -1.67373995e-04 -1.09474570e+00] [-4.91395437e-03 4.39494366e-05 9.99987925e-01 -4.40056564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505871559999996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:-1.10, Z:-0.45 [[ 9.99654457e-01 2.58233422e-02 4.91130761e-03 4.18466320e+01] [-2.58228326e-02 9.99666521e-01 -1.67142265e-04 -1.09807813e+00] [-4.91398597e-03 4.02606360e-05 9.99987925e-01 -4.51697263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56587156 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.10, Z:-0.45 [[ 9.99494119e-01 3.14226917e-02 4.91130482e-03 4.19062774e+01] [-3.14222494e-02 9.99506185e-01 -1.67224297e-04 -1.09874063e+00] [-4.91413418e-03 1.28154566e-05 9.99987925e-01 -4.49981120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.97, Y:-1.10, Z:-0.44 [[ 9.99231938e-01 3.88769052e-02 4.91130872e-03 4.19659090e+01] [-3.88765534e-02 9.99244007e-01 -1.67109755e-04 -1.09697423e+00] [-4.91409251e-03 -2.39533517e-05 9.99987925e-01 -4.42966977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685871559999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:-1.09, Z:-0.45 [[ 9.98679632e-01 5.11358063e-02 4.91131299e-03 4.20234831e+01] [-5.11356033e-02 9.98691705e-01 -1.66984246e-04 -1.09469206e+00] [-4.91342642e-03 -8.43791866e-05 9.99987925e-01 -4.51547252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.08, Y:-1.09, Z:-0.45 [[ 9.98130037e-01 6.09287080e-02 4.91132358e-03 4.20823845e+01] [-6.09286250e-02 9.98142112e-01 -1.66671973e-04 -1.08993825e+00] [-4.91235400e-03 -1.32879890e-04 9.99987925e-01 -4.51998352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:-1.09, Z:-0.45 [[ 9.97893357e-01 6.46894580e-02 4.91133177e-03 4.21416858e+01] [-6.46894216e-02 9.97905432e-01 -1.66430398e-04 -1.08677236e+00] [-4.91181094e-03 -1.51631423e-04 9.99987925e-01 -4.45469907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.20, Y:-1.08, Z:-0.45 [[ 9.97993016e-01 6.31333461e-02 4.91133826e-03 4.21991032e+01] [-6.31332919e-02 9.98005090e-01 -1.66238662e-04 -1.08339683e+00] [-4.91203579e-03 -1.44163928e-04 9.99987925e-01 -4.53751051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:-1.08, Z:-0.46 [[ 9.98247210e-01 5.89778516e-02 4.91135122e-03 4.22574924e+01] [-5.89777489e-02 9.98259284e-01 -1.65854881e-04 -1.07853575e+00] [-4.91258372e-03 -1.24096267e-04 9.99987925e-01 -4.55578836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:-1.08, Z:-0.46 [[ 9.98381280e-01 5.66630170e-02 4.91136211e-03 4.23169205e+01] [-5.66628879e-02 9.98393354e-01 -1.65531749e-04 -1.07558854e+00] [-4.91285082e-03 -1.13028161e-04 9.99987925e-01 -4.55324842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045871559999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:-1.07, Z:-0.45 [[ 9.98686041e-01 5.10104871e-02 4.91136805e-03 4.23750529e+01] [-5.10102906e-02 9.98698114e-01 -1.65355388e-04 -1.07127747e+00] [-4.91340887e-03 -8.53921941e-05 9.99987925e-01 -4.53887261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:-1.07, Z:-0.44 [[ 9.99097898e-01 4.21813680e-02 4.91137782e-03 4.24346981e+01] [-4.21810662e-02 9.99109969e-01 -1.65064501e-04 -1.06618961e+00] [-4.91396919e-03 -4.22515578e-05 9.99987925e-01 -4.44897484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:-1.07, Z:-0.45 [[ 9.99361995e-01 3.53762694e-02 4.91138208e-03 4.24927501e+01] [-3.53758860e-02 9.99374064e-01 -1.64937833e-04 -1.06516390e+00] [-4.91414275e-03 -8.91189011e-06 9.99987925e-01 -4.52866240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:-1.07, Z:-0.45 [[ 9.99631126e-01 2.67112213e-02 4.91139058e-03 4.25512768e+01] [-2.67107346e-02 9.99643191e-01 -1.64684256e-04 -1.06553681e+00] [-4.91403707e-03 3.34366582e-05 9.99987925e-01 -4.54227281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.61, Y:-1.07, Z:-0.45 [[ 9.99710303e-01 2.35624362e-02 4.91139842e-03 4.26109134e+01] [-2.35619126e-02 9.99722366e-01 -1.64450090e-04 -1.06551389e+00] [-4.91390970e-03 4.86805086e-05 9.99987925e-01 -4.53845117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.67, Y:-1.07, Z:-0.45 [[ 9.99774814e-01 2.06445766e-02 4.91140232e-03 4.26709745e+01] [-2.06440184e-02 9.99786876e-01 -1.64333565e-04 -1.06518119e+00] [-4.91374818e-03 6.29054798e-05 9.99987925e-01 -4.45766682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.73, Y:-1.07, Z:-0.45 [[ 9.99785887e-01 2.01011906e-02 4.91140625e-03 4.27308504e+01] [-2.01006264e-02 9.99797949e-01 -1.64216190e-04 -1.06580268e+00] [-4.91371483e-03 6.54586868e-05 9.99987925e-01 -4.53883500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.79, Y:-1.07, Z:-0.45 [[ 9.99782264e-01 2.02806014e-02 4.91140820e-03 4.27908005e+01] [-2.02800396e-02 9.99794325e-01 -1.64157679e-04 -1.06593278e+00] [-4.91372727e-03 6.45183829e-05 9.99987925e-01 -4.53283594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:42.85, Y:-1.07, Z:-0.45 [[ 9.99727914e-01 2.28029938e-02 4.91141206e-03 4.28502092e+01] [-2.28024631e-02 9.99739977e-01 -1.64042065e-04 -1.06660305e+00] [-4.91387563e-03 5.20051391e-05 9.99987925e-01 -4.54317762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.91, Y:-1.07, Z:-0.46 [[ 9.99654391e-01 2.58259010e-02 4.91141591e-03 4.29089187e+01] [-2.58254073e-02 9.99666455e-01 -1.63926801e-04 -1.06535128e+00] [-4.91401129e-03 3.70308303e-05 9.99987925e-01 -4.56505804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645871559999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:42.97, Y:-1.06, Z:-0.45 [[ 9.99570702e-01 2.88840634e-02 4.91142163e-03 4.29682401e+01] [-2.88836075e-02 9.99582768e-01 -1.63755385e-04 -1.06386303e+00] [-4.91410234e-03 2.18255112e-05 9.99987925e-01 -4.54605555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.03, Y:-1.06, Z:-0.45 [[ 9.99508447e-01 3.09635506e-02 4.91142947e-03 4.30270190e+01] [-3.09631209e-02 9.99520514e-01 -1.63519848e-04 -1.06345177e+00] [-4.91413766e-03 1.13662852e-05 9.99987925e-01 -4.53779095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.09, Y:-1.06, Z:-0.45 [[ 9.99520422e-01 3.05745773e-02 4.91143722e-03 4.30860496e+01] [-3.05741441e-02 9.99532488e-01 -1.63286595e-04 -1.06298625e+00] [-4.91413349e-03 1.30452975e-05 9.99987925e-01 -4.53486304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825871559999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:43.14, Y:-1.06, Z:-0.45 [[ 9.99571850e-01 2.88443286e-02 4.91144492e-03 4.31435792e+01] [-2.88438756e-02 9.99583916e-01 -1.63054734e-04 -1.06205621e+00] [-4.91410455e-03 2.13198156e-05 9.99987925e-01 -4.53796162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:43.20, Y:-1.06, Z:-0.45 [[ 9.99627257e-01 2.68556428e-02 4.91145441e-03 4.32022373e+01] [-2.68551672e-02 9.99639322e-01 -1.62768250e-04 -1.06451805e+00] [-4.91405420e-03 3.08096494e-05 9.99987925e-01 -4.53591061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:-1.07, Z:-0.45 [[ 9.99710796e-01 2.35414750e-02 4.91146208e-03 4.32607271e+01] [-2.35409606e-02 9.99722860e-01 -1.62536740e-04 -1.06577957e+00] [-4.91392727e-03 4.68691989e-05 9.99987925e-01 -4.54143555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:-1.07, Z:-0.45 [[ 9.99752823e-01 2.16834282e-02 4.91146776e-03 4.33203486e+01] [-2.16828922e-02 9.99764885e-01 -1.62364853e-04 -1.06919909e+00] [-4.91383363e-03 5.58298943e-05 9.99987925e-01 -4.45477082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:-1.07, Z:-0.45 [[ 9.99763172e-01 2.12008632e-02 4.91146978e-03 4.33791316e+01] [-2.12003217e-02 9.99775235e-01 -1.62303545e-04 -1.07230815e+00] [-4.91380683e-03 5.81403677e-05 9.99987925e-01 -4.54505861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-1.08, Z:-0.45 [[ 9.99756021e-01 2.15354700e-02 4.91147384e-03 4.34380529e+01] [-2.15349331e-02 9.99768083e-01 -1.62180826e-04 -1.07591229e+00] [-4.91382742e-03 5.63729967e-05 9.99987925e-01 -4.54496316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185871559999995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:-1.08, Z:-0.45 [[ 9.99732020e-01 2.26222333e-02 4.91147951e-03 4.34980337e+01] [-2.26217103e-02 9.99744083e-01 -1.62008891e-04 -1.07955686e+00] [-4.91388758e-03 5.08594093e-05 9.99987925e-01 -4.54268536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:-1.08, Z:-0.46 [[ 9.99681492e-01 2.47546222e-02 4.91148326e-03 4.35567241e+01] [-2.47541256e-02 9.99693557e-01 -1.61894884e-04 -1.08359215e+00] [-4.91398582e-03 4.02638457e-05 9.99987925e-01 -4.56380920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-1.08, Z:-0.46 [[ 9.99551303e-01 2.95477474e-02 4.91148884e-03 4.36150666e+01] [-2.95473095e-02 9.99563370e-01 -1.61725516e-04 -1.08489322e+00] [-4.91412296e-03 1.65316692e-05 9.99987925e-01 -4.57720795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.67, Y:-1.09, Z:-0.46 [[ 9.99422214e-01 3.36320692e-02 4.91149430e-03 4.36734312e+01] [-3.36316813e-02 9.99434282e-01 -1.61559500e-04 -1.08622158e+00] [-4.91414936e-03 -3.71565781e-06 9.99987925e-01 -4.56852784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.73, Y:-1.09, Z:-0.46 [[ 9.99223403e-01 3.90956334e-02 4.91150187e-03 4.37322133e+01] [-3.90953127e-02 9.99235473e-01 -1.61329105e-04 -1.08608291e+00] [-4.91405416e-03 -3.08128838e-05 9.99987925e-01 -4.58535312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:-1.09, Z:-0.46 [[ 9.99155790e-01 4.07870561e-02 4.91150956e-03 4.37905404e+01] [-4.07867570e-02 9.99167861e-01 -1.61094771e-04 -1.08773482e+00] [-4.91399308e-03 -3.93657739e-05 9.99987925e-01 -4.57529813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.85, Y:-1.09, Z:-0.46 [[ 9.99215072e-01 3.93079827e-02 4.91152013e-03 4.38486805e+01] [-3.93076673e-02 9.99227142e-01 -1.60771819e-04 -1.08925270e+00] [-4.91404384e-03 -3.24147741e-05 9.99987925e-01 -4.60011874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:43.91, Y:-1.09, Z:-0.46 [[ 9.99371483e-01 3.51072098e-02 4.91152957e-03 4.39078435e+01] [-3.51068450e-02 9.99383552e-01 -1.60482755e-04 -1.09096726e+00] [-4.91413597e-03 -1.20464192e-05 9.99987925e-01 -4.62498839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:-1.09, Z:-0.46 [[ 9.99477221e-01 3.19556094e-02 4.91153679e-03 4.39669645e+01] [-3.19552077e-02 9.99489289e-01 -1.60261464e-04 -1.09446170e+00] [-4.91414967e-03 3.22850429e-06 9.99987925e-01 -4.61926781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.02, Y:-1.10, Z:-0.46 [[ 9.99595245e-01 2.80218325e-02 4.91154423e-03 4.40243280e+01] [-2.80213844e-02 9.99607311e-01 -1.60033161e-04 -1.09753432e+00] [-4.91409995e-03 2.23401173e-05 9.99987925e-01 -4.62593612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.08, Y:-1.10, Z:-0.46 [[ 9.99659706e-01 2.56193201e-02 4.91155476e-03 4.40842741e+01] [-2.56188446e-02 9.99671771e-01 -1.59709445e-04 -1.10093881e+00] [-4.91403429e-03 3.38267383e-05 9.99987925e-01 -4.61456889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.14, Y:-1.11, Z:-0.46 [[ 9.99679215e-01 2.48464120e-02 4.91155845e-03 4.41442856e+01] [-2.48459278e-02 9.99691280e-01 -1.59595738e-04 -1.10513034e+00] [-4.91400754e-03 3.75123158e-05 9.99987925e-01 -4.62731314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:-1.11, Z:-0.46 [[ 9.99687806e-01 2.44983197e-02 4.91156213e-03 4.42038788e+01] [-2.44978318e-02 9.99699870e-01 -1.59482502e-04 -1.10880816e+00] [-4.91399508e-03 3.91100890e-05 9.99987925e-01 -4.63120447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:-1.11, Z:-0.46 [[ 9.99694426e-01 2.42266571e-02 4.91156577e-03 4.42636258e+01] [-2.42261665e-02 9.99706491e-01 -1.59370344e-04 -1.11355423e+00] [-4.91398519e-03 4.03332344e-05 9.99987925e-01 -4.64339201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:44.32, Y:-1.12, Z:-0.46 [[ 9.99717370e-01 2.32606241e-02 4.91156937e-03 4.43233258e+01] [-2.32601224e-02 9.99729434e-01 -1.59259319e-04 -1.11931956e+00] [-4.91394494e-03 4.49706027e-05 9.99987925e-01 -4.63376551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:-1.13, Z:-0.46 [[ 9.99767004e-01 2.10193617e-02 4.91157305e-03 4.43820402e+01] [-2.10188335e-02 9.99779067e-01 -1.59145674e-04 -1.12758249e+00] [-4.91383307e-03 5.58730577e-05 9.99987925e-01 -4.62256929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.44, Y:-1.13, Z:-0.46 [[ 9.99803477e-01 1.92063458e-02 4.91157669e-03 4.44422390e+01] [-1.92057963e-02 9.99815539e-01 -1.59033193e-04 -1.13412955e+00] [-4.91372515e-03 6.46711977e-05 9.99987925e-01 -4.62081224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.50, Y:-1.14, Z:-0.46 [[ 9.99829270e-01 1.78131393e-02 4.91157669e-03 4.45010116e+01] [-1.78125729e-02 9.99841331e-01 -1.59033193e-04 -1.14246010e+00] [-4.91363026e-03 7.15182228e-05 9.99987925e-01 -4.63672018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.15, Z:-0.46 [[ 9.99813579e-01 1.86730641e-02 4.91157481e-03 4.45606660e+01] [-1.86725079e-02 9.99825641e-01 -1.59091353e-04 -1.15459321e+00] [-4.91368916e-03 6.73502762e-05 9.99987925e-01 -4.63000848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.16, Z:-0.46 [[ 9.99729271e-01 2.27433624e-02 4.91157371e-03 4.46206149e+01] [-2.27428551e-02 9.99741335e-01 -1.59125397e-04 -1.16223736e+00] [-4.91392230e-03 4.73791084e-05 9.99987925e-01 -4.61807409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.17, Z:-0.46 [[ 9.99635753e-01 2.65374751e-02 4.91157371e-03 4.46789010e+01] [-2.65370136e-02 9.99647819e-01 -1.59125397e-04 -1.16671030e+00] [-4.91406673e-03 2.87289381e-05 9.99987925e-01 -4.63047937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-1.18, Z:-0.46 [[ 9.99426415e-01 3.35069764e-02 4.91157929e-03 4.47384494e+01] [-3.35065999e-02 9.99438484e-01 -1.58952796e-04 -1.17506687e+00] [-4.91414739e-03 -5.70869916e-06 9.99987925e-01 -4.63222507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-1.18, Z:-0.47 [[ 9.99294265e-01 3.72404026e-02 4.91158297e-03 4.47970338e+01] [-3.72400717e-02 9.99306335e-01 -1.58839089e-04 -1.17944426e+00] [-4.91409121e-03 -2.41807113e-05 9.99987925e-01 -4.65231743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-1.18, Z:-0.47 [[ 9.99220527e-01 3.91690656e-02 4.91158845e-03 4.48560736e+01] [-3.91687588e-02 9.99232597e-01 -1.58669476e-04 -1.18327143e+00] [-4.91403422e-03 -3.38350259e-05 9.99987925e-01 -4.67542651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-1.19, Z:-0.47 [[ 9.99146647e-01 4.10104225e-02 4.91159582e-03 4.49150043e+01] [-4.10101391e-02 9.99158718e-01 -1.58440968e-04 -1.18816245e+00] [-4.91396151e-03 -4.31194660e-05 9.99987925e-01 -4.65243279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:-1.19, Z:-0.46 [[ 9.99039855e-01 4.35344005e-02 4.91160130e-03 4.49731939e+01] [-4.35341484e-02 9.99051927e-01 -1.58271045e-04 -1.19277667e+00] [-4.91383498e-03 -5.57032982e-05 9.99987925e-01 -4.60144741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.03, Y:-1.20, Z:-0.46 [[ 9.98899178e-01 4.66509090e-02 4.91161092e-03 4.50311461e+01] [-4.66506961e-02 9.98911251e-01 -1.57971940e-04 -1.19511830e+00] [-4.91363294e-03 -7.13320273e-05 9.99987925e-01 -4.61148303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.09, Y:-1.20, Z:-0.46 [[ 9.98820069e-01 4.83150596e-02 4.91162040e-03 4.50904323e+01] [-4.83148682e-02 9.98832142e-01 -1.57676681e-04 -1.19630095e+00] [-4.91350248e-03 -7.98136591e-05 9.99987925e-01 -4.61633643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:-1.20, Z:-0.46 [[ 9.98709812e-01 5.05429193e-02 4.91162789e-03 4.51482678e+01] [-5.05427560e-02 9.98721886e-01 -1.57442995e-04 -1.19679605e+00] [-4.91330789e-03 -9.10073462e-05 9.99987925e-01 -4.64790251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:-1.20, Z:-0.47 [[ 9.98682084e-01 5.10878836e-02 4.91163711e-03 4.52059656e+01] [-5.10877284e-02 9.98694157e-01 -1.57154800e-04 -1.19607773e+00] [-4.91325199e-03 -9.39766992e-05 9.99987925e-01 -4.70424854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.26, Y:-1.19, Z:-0.47 [[ 9.98723412e-01 5.02734631e-02 4.91164685e-03 4.52645198e+01] [-5.02732995e-02 9.98735486e-01 -1.56849766e-04 -1.19464951e+00] [-4.91332138e-03 -9.02751601e-05 9.99987925e-01 -4.68099234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.32, Y:-1.19, Z:-0.47 [[ 9.98838053e-01 4.79418432e-02 4.91165400e-03 4.53231280e+01] [-4.79416525e-02 9.98850126e-01 -1.56625515e-04 -1.19211332e+00] [-4.91351513e-03 -7.90292846e-05 9.99987925e-01 -4.66075460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.38, Y:-1.19, Z:-0.47 [[ 9.98991581e-01 4.46284255e-02 4.91166110e-03 4.53807361e+01] [-4.46281958e-02 9.99003653e-01 -1.56402565e-04 -1.19047226e+00] [-4.91374738e-03 -6.29537273e-05 9.99987925e-01 -4.66704373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:-1.19, Z:-0.47 [[ 9.99347761e-01 3.57760782e-02 4.91166987e-03 4.54406426e+01] [-3.57757430e-02 9.99359831e-01 -1.56126643e-04 -1.19191490e+00] [-4.91411117e-03 -1.96938274e-05 9.99987925e-01 -4.67271294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:-1.19, Z:-0.47 [[ 9.99568415e-01 2.89630538e-02 4.91167337e-03 4.55000667e+01] [-2.89626368e-02 9.99580483e-01 -1.56016384e-04 -1.18893753e+00] [-4.91413155e-03 1.36940380e-05 9.99987925e-01 -4.67959581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:-1.19, Z:-0.47 [[ 9.99686242e-01 2.45620120e-02 4.91167725e-03 4.55593484e+01] [-2.45615425e-02 9.99698308e-01 -1.55894063e-04 -1.18910142e+00] [-4.91402451e-03 3.52067798e-05 9.99987925e-01 -4.68147040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:-1.19, Z:-0.47 [[ 9.99738163e-01 2.23490471e-02 4.91168108e-03 4.56198488e+01] [-2.23485515e-02 9.99750228e-01 -1.55773340e-04 -1.19143673e+00] [-4.91393567e-03 4.59635952e-05 9.99987925e-01 -4.68772940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:-1.19, Z:-0.47 [[ 9.99825340e-01 1.80323326e-02 4.91168108e-03 4.56793510e+01] [-1.80317849e-02 9.99837402e-01 -1.55773340e-04 -1.19250198e+00] [-4.91369141e-03 6.71797560e-05 9.99987925e-01 -4.66282765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:-1.20, Z:-0.46 [[ 9.99861129e-01 1.59247481e-02 4.91168299e-03 4.57391794e+01] [-1.59241753e-02 9.99873190e-01 -1.55713145e-04 -1.19750902e+00] [-4.91353983e-03 7.74770196e-05 9.99987925e-01 -4.62954445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:-1.21, Z:-0.47 [[ 9.99907443e-01 1.26877880e-02 4.91168299e-03 4.57988619e+01] [-1.26871762e-02 9.99919502e-01 -1.55713145e-04 -1.20557187e+00] [-4.91326327e-03 9.33833449e-05 9.99987925e-01 -4.68547526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:-1.21, Z:-0.47 [[ 9.99892372e-01 1.38246109e-02 4.91168120e-03 4.58600099e+01] [-1.38240124e-02 9.99904432e-01 -1.55769746e-04 -1.21081477e+00] [-4.91336525e-03 8.78538386e-05 9.99987925e-01 -4.68358960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:-1.22, Z:-0.47 [[ 9.99805648e-01 1.90929828e-02 4.91167761e-03 4.59206981e+01] [-1.90924474e-02 9.99817710e-01 -1.55882729e-04 -1.21610389e+00] [-4.91375853e-03 6.20764868e-05 9.99987925e-01 -4.68555800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:-1.22, Z:-0.47 [[ 9.99696817e-01 2.41277901e-02 4.91167584e-03 4.59806970e+01] [-2.41273152e-02 9.99708882e-01 -1.55938574e-04 -1.22074035e+00] [-4.91400841e-03 3.73857451e-05 9.99987925e-01 -4.69224378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:-1.23, Z:-0.47 [[ 9.99445255e-01 3.29402162e-02 4.91167584e-03 4.60398418e+01] [-3.29398477e-02 9.99457324e-01 -1.55938574e-04 -1.22526165e+00] [-4.91414704e-03 -5.93778599e-06 9.99987925e-01 -4.70414426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.10, Y:-1.23, Z:-0.47 [[ 9.99206057e-01 3.95364413e-02 4.91167937e-03 4.60986264e+01] [-3.95361530e-02 9.99218129e-01 -1.55827384e-04 -1.22641107e+00] [-4.91399992e-03 -3.84852410e-05 9.99987925e-01 -4.70371381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.16, Y:-1.23, Z:-0.47 [[ 9.98765250e-01 4.94353285e-02 4.91168649e-03 4.61577470e+01] [-4.94351608e-02 9.98777323e-01 -1.55602604e-04 -1.22704006e+00] [-4.91337335e-03 -8.73995374e-05 9.99987925e-01 -4.72416097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:-1.23, Z:-0.47 [[ 9.98445659e-01 5.55170385e-02 4.91169370e-03 4.62165601e+01] [-5.55169456e-02 9.98457733e-01 -1.55374699e-04 -1.22619501e+00] [-4.91274450e-03 -1.17549038e-04 9.99987925e-01 -4.74145877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:-1.22, Z:-0.48 [[ 9.98335650e-01 5.74613401e-02 4.91170104e-03 4.62743070e+01] [-5.74612718e-02 9.98347724e-01 -1.55142066e-04 -1.22389906e+00] [-4.91250023e-03 -1.27348733e-04 9.99987925e-01 -4.75008680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:-1.22, Z:-0.48 [[ 9.98312494e-01 5.78622415e-02 4.91171087e-03 4.63336157e+01] [-5.78621796e-02 9.98324569e-01 -1.54830321e-04 -1.22271312e+00] [-4.91244047e-03 -1.29633252e-04 9.99987925e-01 -4.75823276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.39, Y:-1.22, Z:-0.48 [[ 9.98346047e-01 5.72804086e-02 4.91171856e-03 4.63913903e+01] [-5.72803408e-02 9.98358121e-01 -1.54586116e-04 -1.21812068e+00] [-4.91250887e-03 -1.27014475e-04 9.99987925e-01 -4.77815152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.45, Y:-1.22, Z:-0.48 [[ 9.98429413e-01 5.58084392e-02 4.91172798e-03 4.64495228e+01] [-5.58083551e-02 9.98441487e-01 -1.54286080e-04 -1.21505754e+00] [-4.91268346e-03 -1.20071699e-04 9.99987925e-01 -4.78748340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:-1.21, Z:-0.48 [[ 9.98630359e-01 5.20891542e-02 4.91173704e-03 4.65080217e+01] [-5.20890266e-02 9.98642433e-01 -1.53997263e-04 -1.20979646e+00] [-4.91309061e-03 -1.02061259e-04 9.99987925e-01 -4.78594519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:-1.20, Z:-0.47 [[ 9.98924436e-01 4.61068914e-02 4.91174594e-03 4.65669446e+01] [-4.61066928e-02 9.98936509e-01 -1.53712635e-04 -1.20429463e+00] [-4.91360956e-03 -7.29170546e-05 9.99987925e-01 -4.73191713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365871559999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:-1.20, Z:-0.47 [[ 9.99263680e-01 3.80522394e-02 4.91175695e-03 4.66248908e+01] [-3.80519453e-02 9.99275751e-01 -1.53360111e-04 -1.19915416e+00] [-4.91403531e-03 -3.36547180e-05 9.99987925e-01 -4.72710487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:-1.20, Z:-0.47 [[ 9.99381681e-01 3.48156527e-02 4.91176743e-03 4.66847313e+01] [-3.48153211e-02 9.99393751e-01 -1.53023653e-04 -1.19882554e+00] [-4.91411730e-03 -1.80757251e-05 9.99987925e-01 -4.74999500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:-1.20, Z:-0.47 [[ 9.99610248e-01 2.74813758e-02 4.91177116e-03 4.67441067e+01] [-2.74809563e-02 9.99622316e-01 -1.52904059e-04 -1.19973475e+00] [-4.91411807e-03 1.78642963e-05 9.99987925e-01 -4.72833925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545871559999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:-1.20, Z:-0.48 [[ 9.99798998e-01 1.94380376e-02 4.91177540e-03 4.68035156e+01] [-1.94375216e-02 9.99811062e-01 -1.52767482e-04 -1.19771460e+00] [-4.91381688e-03 5.72640353e-05 9.99987925e-01 -4.77941487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:-1.20, Z:-0.47 [[ 9.99924277e-01 1.12833657e-02 4.91177907e-03 4.68645568e+01] [-1.12827519e-02 9.99936336e-01 -1.52649534e-04 -1.19995080e+00] [-4.91318877e-03 9.72195901e-05 9.99987925e-01 -4.71859879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.93, Y:-1.21, Z:-0.47 [[ 9.99975890e-01 4.90848484e-03 4.91177723e-03 4.69261854e+01] [-4.90779392e-03 9.99987945e-01 -1.52708745e-04 -1.20539008e+00] [-4.91246759e-03 1.28599073e-04 9.99987925e-01 -4.72502453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725871559999995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:46.99, Y:-1.21, Z:-0.48 [[ 9.99987135e-01 1.26690420e-03 4.91177339e-03 4.69872045e+01] [-1.26616878e-03 9.99999187e-01 -1.52832058e-04 -1.20986165e+00] [-4.91196302e-03 1.46610958e-04 9.99987925e-01 -4.81848566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:47.05, Y:-1.22, Z:-0.48 [[ 9.99987672e-01 -7.28936984e-04 4.91174877e-03 4.70488635e+01] [ 7.29700316e-04 9.99999722e-01 -1.53619265e-04 -1.21778127e+00] [-4.91163543e-03 1.57201476e-04 9.99987925e-01 -4.82869483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.11, Y:-1.23, Z:-0.47 [[ 9.99987893e-01 2.97814481e-04 4.91172345e-03 4.71109505e+01] [-2.97059570e-04 9.99999944e-01 -1.54424497e-04 -1.22682037e+00] [-4.91176917e-03 1.52963553e-04 9.99987925e-01 -4.73982440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.17, Y:-1.24, Z:-0.47 [[ 9.99985383e-01 2.26013350e-03 4.91171596e-03 4.71717756e+01] [-2.25940107e-03 9.99997436e-01 -1.54662414e-04 -1.23522036e+00] [-4.91205293e-03 1.43562617e-04 9.99987925e-01 -4.73842977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.24, Z:-0.48 [[ 9.99969415e-01 6.08642348e-03 4.91170840e-03 4.72334515e+01] [-6.08573599e-03 9.99981470e-01 -1.54902174e-04 -1.24379942e+00] [-4.91256019e-03 1.25006076e-04 9.99987925e-01 -4.76095976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.25, Z:-0.47 [[ 9.99918287e-01 1.18023078e-02 4.91170067e-03 4.72941393e+01] [-1.18016881e-02 9.99930346e-01 -1.55146793e-04 -1.25311279e+00] [-4.91318964e-03 9.71677561e-05 9.99987925e-01 -4.74838082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085871559999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.26, Z:-0.47 [[ 9.99812418e-01 1.87350765e-02 4.91169472e-03 4.73548922e+01] [-1.87345394e-02 9.99824481e-01 -1.55335156e-04 -1.26391946e+00] [-4.91374284e-03 6.32876801e-05 9.99987925e-01 -4.74051471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.42, Y:-1.27, Z:-0.47 [[ 9.99713474e-01 2.34274491e-02 4.91168873e-03 4.74153366e+01] [-2.34269677e-02 9.99725539e-01 -1.55524262e-04 -1.26870510e+00] [-4.91398420e-03 4.04137265e-05 9.99987925e-01 -4.72855573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:-1.27, Z:-0.48 [[ 9.99549849e-01 2.95968713e-02 4.91168873e-03 4.74747994e+01] [-2.95964644e-02 9.99561917e-01 -1.55524262e-04 -1.27481657e+00] [-4.91414003e-03 1.00856314e-05 9.99987925e-01 -4.83144877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265871559999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:47.53, Y:-1.28, Z:-0.48 [[ 9.99372535e-01 3.50772351e-02 4.91169060e-03 4.75346466e+01] [-3.50768946e-02 9.99384604e-01 -1.55465139e-04 -1.28161762e+00] [-4.91412126e-03 -1.69192637e-05 9.99987925e-01 -4.83306690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:-1.29, Z:-0.48 [[ 9.99263867e-01 3.80473364e-02 4.91169441e-03 4.75936007e+01] [-3.80470325e-02 9.99275937e-01 -1.55344642e-04 -1.28707107e+00] [-4.91404849e-03 -3.16451087e-05 9.99987925e-01 -4.75810843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.65, Y:-1.29, Z:-0.48 [[ 9.99139892e-01 4.11746396e-02 4.91169824e-03 4.76517639e+01] [-4.11743740e-02 9.99151964e-01 -1.55223385e-04 -1.28971233e+00] [-4.91392421e-03 -4.71462238e-05 9.99987925e-01 -4.81955973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:-1.30, Z:-0.49 [[ 9.99126962e-01 4.14872027e-02 4.91170385e-03 4.77115241e+01] [-4.14869418e-02 9.99139034e-01 -1.55045854e-04 -1.29580673e+00] [-4.91390746e-03 -4.88610779e-05 9.99987925e-01 -4.85495146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:-1.30, Z:-0.49 [[ 9.99174521e-01 4.03255678e-02 4.91170753e-03 4.77715573e+01] [-4.03252934e-02 9.99186593e-01 -1.54929225e-04 -1.29958540e+00] [-4.91395992e-03 -4.32647132e-05 9.99987925e-01 -4.85075793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:-1.31, Z:-0.48 [[ 9.99280596e-01 3.76053824e-02 4.91171107e-03 4.78308391e+01] [-3.76050757e-02 9.99292667e-01 -1.54816709e-04 -1.30541893e+00] [-4.91405880e-03 -2.99999337e-05 9.99987925e-01 -4.82889507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:-1.31, Z:-0.48 [[ 9.99390357e-01 3.45657145e-02 4.91171461e-03 4.78903072e+01] [-3.45653717e-02 9.99402427e-01 -1.54704548e-04 -1.31410786e+00] [-4.91412697e-03 -1.51650075e-05 9.99987925e-01 -4.75825383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:-1.32, Z:-0.48 [[ 9.99472910e-01 3.20901469e-02 4.91171838e-03 4.79496298e+01] [-3.20897747e-02 9.99484979e-01 -1.54584647e-04 -1.31993405e+00] [-4.91414938e-03 -3.11276904e-06 9.99987925e-01 -4.81692946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:-1.33, Z:-0.48 [[ 9.99540846e-01 2.98993511e-02 4.91172027e-03 4.80101769e+01] [-2.98989527e-02 9.99552914e-01 -1.54524680e-04 -1.32816267e+00] [-4.91414450e-03 7.59843744e-06 9.99987925e-01 -4.84419834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:-1.34, Z:-0.48 [[ 9.99556188e-01 2.93819986e-02 4.91171177e-03 4.80708751e+01] [-2.93815926e-02 9.99568256e-01 -1.54794388e-04 -1.33619810e+00] [-4.91413933e-03 1.04117738e-05 9.99987925e-01 -4.82066025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.34, Z:-0.48 [[ 9.99447442e-01 3.28737844e-02 4.91170817e-03 4.81307458e+01] [-3.28734201e-02 9.99459511e-01 -1.54908443e-04 -1.34269290e+00] [-4.91414587e-03 -6.64179857e-06 9.99987925e-01 -4.81797926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:-1.35, Z:-0.48 [[ 9.99276753e-01 3.77073755e-02 4.91170817e-03 4.81908699e+01] [-3.77070696e-02 9.99288824e-01 -1.54908443e-04 -1.34660316e+00] [-4.91405627e-03 -3.04097153e-05 9.99987925e-01 -4.82956093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:-1.35, Z:-0.49 [[ 9.98960023e-01 4.53293277e-02 4.91170817e-03 4.82501638e+01] [-4.53291139e-02 9.98972095e-01 -1.54908443e-04 -1.34914179e+00] [-4.91368130e-03 -6.78960367e-05 9.99987925e-01 -4.85439713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:-1.35, Z:-0.49 [[ 9.98708972e-01 5.05595066e-02 4.91171180e-03 4.83095296e+01] [-5.05593566e-02 9.98721046e-01 -1.54793237e-04 -1.34879598e+00] [-4.91325622e-03 -9.37395939e-05 9.99987925e-01 -4.85716275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.37, Y:-1.35, Z:-0.49 [[ 9.98683256e-01 5.10649590e-02 4.91171556e-03 4.83680080e+01] [-5.10648156e-02 9.98695329e-01 -1.54673790e-04 -1.35015956e+00] [-4.91320580e-03 -9.63457256e-05 9.99987925e-01 -4.88448251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:-1.35, Z:-0.49 [[ 9.98779583e-01 4.91448887e-02 4.91171934e-03 4.84273116e+01] [-4.91447227e-02 9.98791656e-01 -1.54553682e-04 -1.35291378e+00] [-4.91337982e-03 -8.70200233e-05 9.99987925e-01 -4.90204288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.35, Z:-0.49 [[ 9.98965279e-01 4.52133507e-02 4.91172304e-03 4.84873600e+01] [-4.52131378e-02 9.98977351e-01 -1.54435976e-04 -1.35496328e+00] [-4.91368264e-03 -6.77982327e-05 9.99987925e-01 -4.89127786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:48.55, Y:-1.36, Z:-0.49 [[ 9.99141859e-01 4.11268814e-02 4.91172679e-03 4.85462458e+01] [-4.11266197e-02 9.99153931e-01 -1.54316742e-04 -1.35782831e+00] [-4.91391769e-03 -4.78184029e-05 9.99987925e-01 -4.90246489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.61, Y:-1.36, Z:-0.49 [[ 9.99189847e-01 3.99440072e-02 4.91172123e-03 4.86060749e+01] [-3.99437304e-02 9.99201919e-01 -1.54493314e-04 -1.35952777e+00] [-4.91397236e-03 -4.18243182e-05 9.99987925e-01 -4.87624891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405871559999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:48.67, Y:-1.36, Z:-0.49 [[ 9.99325308e-01 3.63978570e-02 4.91172485e-03 4.86664176e+01] [-3.63975378e-02 9.99337378e-01 -1.54378384e-04 -1.36364483e+00] [-4.91408927e-03 -2.45004651e-05 9.99987925e-01 -4.87093642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46587156 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:48.73, Y:-1.37, Z:-0.49 [[ 9.99422318e-01 3.36289262e-02 4.91172485e-03 4.87270052e+01] [-3.36285736e-02 9.99434388e-01 -1.54378384e-04 -1.36723511e+00] [-4.91413829e-03 -1.08850986e-05 9.99987925e-01 -4.85041992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-1.37, Z:-0.49 [[ 9.99462925e-01 3.23996312e-02 4.91172485e-03 4.87878783e+01] [-3.23992638e-02 9.99474994e-01 -1.54378384e-04 -1.37115544e+00] [-4.91414796e-03 -4.84079792e-06 9.99987925e-01 -4.85034927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-1.37, Z:-0.48 [[ 9.99505615e-01 3.10548086e-02 4.91172485e-03 4.88487456e+01] [-3.10544250e-02 9.99517683e-01 -1.54378384e-04 -1.37449325e+00] [-4.91415003e-03 1.77127055e-06 9.99987925e-01 -4.82866382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645871559999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:-1.38, Z:-0.48 [[ 9.99489599e-01 3.15660792e-02 4.91172108e-03 4.89080945e+01] [-3.15657011e-02 9.99501667e-01 -1.54498247e-04 -1.37791986e+00] [-4.91415031e-03 -6.22528476e-07 9.99987925e-01 -4.82718827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-1.38, Z:-0.48 [[ 9.99472432e-01 3.21050299e-02 4.91172294e-03 4.89689809e+01] [-3.21046586e-02 9.99484501e-01 -1.54439053e-04 -1.38049842e+00] [-4.91414922e-03 -3.33161247e-06 9.99987925e-01 -4.81980927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:-1.38, Z:-0.49 [[ 9.99501592e-01 3.11840155e-02 4.91172294e-03 4.90295330e+01] [-3.11836331e-02 9.99513660e-01 -1.54439053e-04 -1.38427531e+00] [-4.91415020e-03 1.19671320e-06 9.99987925e-01 -4.85274799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:-1.39, Z:-0.49 [[ 9.99571568e-01 2.88540362e-02 4.91172108e-03 4.90902578e+01] [-2.88536253e-02 9.99583636e-01 -1.54498169e-04 -1.39211366e+00] [-4.91413391e-03 1.27110168e-05 9.99987925e-01 -4.87176880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:-1.40, Z:-0.49 [[ 9.99623952e-01 2.69783184e-02 4.91171737e-03 4.91512985e+01] [-2.69778844e-02 9.99636019e-01 -1.54616087e-04 -1.39710378e+00] [-4.91410087e-03 2.20502007e-05 9.99987925e-01 -4.87287622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:-1.40, Z:-0.49 [[ 9.99628897e-01 2.67944696e-02 4.91171367e-03 4.92128734e+01] [-2.67940327e-02 9.99640963e-01 -1.54733508e-04 -1.40351655e+00] [-4.91409618e-03 2.30714693e-05 9.99987925e-01 -4.90139920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005871559999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:-1.41, Z:-0.49 [[ 9.99552981e-01 2.94908965e-02 4.91170998e-03 4.92744885e+01] [-2.94904917e-02 9.99565049e-01 -1.54850355e-04 -1.40975852e+00] [-4.91414031e-03 9.93239142e-06 9.99987925e-01 -4.87954001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:-1.41, Z:-0.49 [[ 9.99332035e-01 3.62126930e-02 4.91170630e-03 4.93354245e+01] [-3.62123688e-02 9.99344105e-01 -1.54967242e-04 -1.41178334e+00] [-4.91409651e-03 -2.30007903e-05 9.99987925e-01 -4.86963765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.39, Y:-1.42, Z:-0.49 [[ 9.99112324e-01 4.18382415e-02 4.91170630e-03 4.93947988e+01] [-4.18379852e-02 9.99124396e-01 -1.54967242e-04 -1.41612622e+00] [-4.91388914e-03 -5.06662139e-05 9.99987925e-01 -4.89928279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:-1.42, Z:-0.49 [[ 9.98971672e-01 4.50718699e-02 4.91170811e-03 4.94553892e+01] [-4.50716530e-02 9.98983745e-01 -1.54909635e-04 -1.41819630e+00] [-4.91369863e-03 -6.66284660e-05 9.99987925e-01 -4.92129361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.52, Y:-1.42, Z:-0.49 [[ 9.98827106e-01 4.81693562e-02 4.91170811e-03 4.95160535e+01] [-4.81691767e-02 9.98839179e-01 -1.54909635e-04 -1.41880204e+00] [-4.91346840e-03 -8.18649931e-05 9.99987925e-01 -4.92420663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.58, Y:-1.42, Z:-0.49 [[ 9.98808754e-01 4.85484026e-02 4.91170811e-03 4.95754466e+01] [-4.85482277e-02 9.98820828e-01 -1.54909635e-04 -1.42188619e+00] [-4.91343698e-03 -8.37296237e-05 9.99987925e-01 -4.93344090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365871559999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.64, Y:-1.42, Z:-0.49 [[ 9.98855385e-01 4.75793606e-02 4.91170992e-03 4.96357985e+01] [-4.75791742e-02 9.98867458e-01 -1.54852407e-04 -1.42400150e+00] [-4.91351498e-03 -7.90199412e-05 9.99987925e-01 -4.91554874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.70, Y:-1.43, Z:-0.49 [[ 9.98913966e-01 4.63331738e-02 4.91170992e-03 4.96954436e+01] [-4.63329723e-02 9.98926039e-01 -1.54852407e-04 -1.42696826e+00] [-4.91360974e-03 -7.28898874e-05 9.99987925e-01 -4.92549534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.76, Y:-1.43, Z:-0.49 [[ 9.98938148e-01 4.58088630e-02 4.91170832e-03 4.97560198e+01] [-4.58086549e-02 9.98950221e-01 -1.54902875e-04 -1.43115401e+00] [-4.91364804e-03 -7.02603611e-05 9.99987925e-01 -4.92694529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.82, Y:-1.43, Z:-0.49 [[ 9.98919009e-01 4.62243190e-02 4.91170832e-03 4.98154922e+01] [-4.62241160e-02 9.98931082e-01 -1.54902875e-04 -1.43262256e+00] [-4.91361839e-03 -7.23039494e-05 9.99987925e-01 -4.92900881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.88, Y:-1.43, Z:-0.49 [[ 9.98862323e-01 4.74334721e-02 4.91170653e-03 4.98762231e+01] [-4.74332834e-02 9.98874396e-01 -1.54959676e-04 -1.43299384e+00] [-4.91352817e-03 -7.81949864e-05 9.99987925e-01 -4.93145540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.94, Y:-1.43, Z:-0.49 [[ 9.98746744e-01 4.98077865e-02 4.91170653e-03 4.99356084e+01] [-4.98076265e-02 9.98758818e-01 -1.54959676e-04 -1.43286969e+00] [-4.91332841e-03 -8.98749728e-05 9.99987925e-01 -4.93547364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725871559999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:50.00, Y:-1.43, Z:-0.49 [[ 9.98589309e-01 5.28702806e-02 4.91170460e-03 4.99961369e+01] [-5.28701574e-02 9.98601383e-01 -1.55021049e-04 -1.43290132e+00] [-4.91303101e-03 -1.04880233e-04 9.99987925e-01 -4.94512838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.06, Y:-1.43, Z:-0.49 [[ 9.98583940e-01 5.29716022e-02 4.91170460e-03 5.00564488e+01] [-5.29714802e-02 9.98596014e-01 -1.55021049e-04 -1.42943717e+00] [-4.91302034e-03 -1.05378733e-04 9.99987925e-01 -4.93030681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:-1.43, Z:-0.49 [[ 9.98682483e-01 5.10800642e-02 4.91170630e-03 5.01174419e+01] [-5.10799196e-02 9.98694557e-01 -1.54966977e-04 -1.42820248e+00] [-4.91321007e-03 -9.61267576e-05 9.99987925e-01 -4.91794113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.43, Z:-0.50 [[ 9.98981391e-01 4.48559513e-02 4.91170630e-03 5.01773279e+01] [-4.48557315e-02 9.98993463e-01 -1.54966977e-04 -1.43008799e+00] [-4.91371368e-03 -6.55090526e-05 9.99987925e-01 -4.96720781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:-1.43, Z:-0.49 [[ 9.99295036e-01 3.72196887e-02 4.91170813e-03 5.02380902e+01] [-3.72193769e-02 9.99307107e-01 -1.54909131e-04 -1.43333866e+00] [-4.91407051e-03 -2.80107901e-05 9.99987925e-01 -4.94325359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:-1.44, Z:-0.50 [[ 9.99438078e-01 3.31572378e-02 4.91170813e-03 5.02979879e+01] [-3.31568769e-02 9.99450148e-01 -1.54909131e-04 -1.43619334e+00] [-4.91414377e-03 -8.03481727e-06 9.99987925e-01 -4.95182483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:-1.44, Z:-0.49 [[ 9.99584055e-01 2.84181521e-02 4.91170625e-03 5.03583667e+01] [-2.84177337e-02 9.99596123e-01 -1.54968685e-04 -1.43925605e+00] [-4.91412644e-03 1.53246660e-05 9.99987925e-01 -4.91374098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.42, Y:-1.45, Z:-0.49 [[ 9.99703171e-01 2.38630608e-02 4.91170441e-03 5.04198205e+01] [-2.38625872e-02 9.99715236e-01 -1.55027049e-04 -1.44550755e+00] [-4.91400515e-03 3.77750579e-05 9.99987925e-01 -4.88190017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:-1.45, Z:-0.49 [[ 9.99755988e-01 2.15369332e-02 4.91170062e-03 5.04802698e+01] [-2.15364308e-02 9.99768052e-01 -1.55146877e-04 -1.45477364e+00] [-4.91390275e-03 4.93285189e-05 9.99987925e-01 -4.92003658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265871559999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:50.54, Y:-1.46, Z:-0.49 [[ 9.99769832e-01 2.08844236e-02 4.91167626e-03 5.05419937e+01] [-2.08839097e-02 9.99781895e-01 -1.55914173e-04 -1.45907627e+00] [-4.91386118e-03 5.33032828e-05 9.99987925e-01 -4.90643960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.60, Y:-1.47, Z:-0.49 [[ 9.99798098e-01 1.94843284e-02 4.91164969e-03 5.06026727e+01] [-1.94837934e-02 9.99810161e-01 -1.56746959e-04 -1.46793055e+00] [-4.91377137e-03 6.10177436e-05 9.99987925e-01 -4.90671518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:-1.48, Z:-0.49 [[ 9.99795495e-01 1.96174493e-02 4.91162517e-03 5.06647778e+01] [-1.96169122e-02 9.99807557e-01 -1.57511439e-04 -1.47795603e+00] [-4.91376994e-03 6.11283076e-05 9.99987925e-01 -4.89704382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-1.49, Z:-0.49 [[ 9.99758292e-01 2.14297277e-02 4.91159913e-03 5.07267088e+01] [-2.14292085e-02 9.99770356e-01 -1.58319302e-04 -1.48510478e+00] [-4.91386395e-03 5.30293529e-05 9.99987925e-01 -4.86129058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-1.49, Z:-0.49 [[ 9.99681144e-01 2.47686788e-02 4.91158950e-03 5.07882250e+01] [-2.47681984e-02 9.99693209e-01 -1.58617598e-04 -1.49476875e+00] [-4.91401141e-03 3.69157984e-05 9.99987925e-01 -4.86149361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-1.50, Z:-0.50 [[ 9.99568355e-01 2.89651589e-02 4.91156190e-03 5.08491376e+01] [-2.89647250e-02 9.99580422e-01 -1.59467540e-04 -1.50232005e+00] [-4.91412012e-03 1.71366670e-05 9.99987925e-01 -4.95324689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-1.51, Z:-0.49 [[ 9.99316858e-01 3.66291379e-02 4.91153673e-03 5.09106693e+01] [-3.66287927e-02 9.99328928e-01 -1.60239064e-04 -1.50712135e+00] [-4.91411015e-03 -1.97740630e-05 9.99987925e-01 -4.89714035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685871559999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:-1.51, Z:-0.50 [[ 9.99046948e-01 4.33713272e-02 4.91153083e-03 5.09716744e+01] [-4.33710626e-02 9.99059020e-01 -1.60419830e-04 -1.51122997e+00] [-4.91386679e-03 -5.27513696e-05 9.99987925e-01 -4.96383910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:-1.51, Z:-0.49 [[ 9.98874171e-01 4.71833300e-02 4.91150510e-03 5.10330436e+01] [-4.71831076e-02 9.98886244e-01 -1.61203649e-04 -1.51362945e+00] [-4.91364101e-03 -7.07179122e-05 9.99987925e-01 -4.92743136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.51, Z:-0.49 [[ 9.98576200e-01 5.31173249e-02 4.91150137e-03 5.10933319e+01] [-5.31171737e-02 9.98588273e-01 -1.61317058e-04 -1.51362215e+00] [-4.91313641e-03 -9.97976966e-05 9.99987925e-01 -4.86417635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:-1.51, Z:-0.49 [[ 9.98363851e-01 5.69692749e-02 4.91149930e-03 5.11536506e+01] [-5.69691700e-02 9.98375925e-01 -1.61380203e-04 -1.51420673e+00] [-4.91271637e-03 -1.18687878e-04 9.99987925e-01 -4.89672028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:-1.52, Z:-0.49 [[ 9.98376438e-01 5.67482627e-02 4.91149722e-03 5.12134892e+01] [-5.67481548e-02 9.98388512e-01 -1.61443382e-04 -1.51688716e+00] [-4.91274404e-03 -1.17537136e-04 9.99987925e-01 -4.93652816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:-1.51, Z:-0.50 [[ 9.98566517e-01 5.32990486e-02 4.91149530e-03 5.12746409e+01] [-5.32988987e-02 9.98578590e-01 -1.61501867e-04 -1.51327784e+00] [-4.91312195e-03 -1.00506934e-04 9.99987925e-01 -4.98783631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:-1.51, Z:-0.50 [[ 9.98664360e-01 5.14331879e-02 4.91149478e-03 5.13358689e+01] [-5.14330153e-02 9.98676434e-01 -1.61517701e-04 -1.51344997e+00] [-4.91330146e-03 -9.13110146e-05 9.99987925e-01 -4.95573881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:-1.52, Z:-0.49 [[ 9.98891927e-01 4.68059262e-02 4.91149081e-03 5.13964196e+01] [-4.68056971e-02 9.98904000e-01 -1.61638276e-04 -1.51547362e+00] [-4.91367344e-03 -6.84265820e-05 9.99987925e-01 -4.93162102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:-1.52, Z:-0.50 [[ 9.99274670e-01 3.77625661e-02 4.91148683e-03 5.14577695e+01] [-3.77622271e-02 9.99286740e-01 -1.61759156e-04 -1.51741159e+00] [-4.91409210e-03 -2.38268540e-05 9.99987925e-01 -4.97971746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:-1.52, Z:-0.49 [[ 9.99474341e-01 3.20455660e-02 4.91146090e-03 5.15195353e+01] [-3.20451542e-02 9.99486409e-01 -1.62542627e-04 -1.51999377e+00] [-4.91414719e-03 5.06866333e-06 9.99987925e-01 -4.93056077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:-1.53, Z:-0.49 [[ 9.99710947e-01 2.35350945e-02 4.91143311e-03 5.15817669e+01] [-2.35345758e-02 9.99723010e-01 -1.63378213e-04 -1.52598574e+00] [-4.91391781e-03 4.77424930e-05 9.99987925e-01 -4.93963212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:-1.53, Z:-0.50 [[ 9.99834066e-01 1.75419140e-02 4.91140350e-03 5.16422970e+01] [-1.75413187e-02 9.99846126e-01 -1.64263434e-04 -1.53309315e+00] [-4.91352926e-03 7.80836835e-05 9.99987925e-01 -4.95648113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-1.54, Z:-0.49 [[ 9.99896498e-01 1.35229748e-02 4.91137859e-03 5.17046048e+01] [-1.35223274e-02 9.99908556e-01 -1.65004819e-04 -1.54214760e+00] [-4.91316083e-03 9.85744713e-05 9.99987925e-01 -4.94377830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-1.55, Z:-0.49 [[ 9.99912392e-01 1.22917628e-02 4.91134728e-03 5.17669506e+01] [-1.22910960e-02 9.99924448e-01 -1.65931460e-04 -1.54872111e+00] [-4.91301581e-03 1.05551082e-04 9.99987925e-01 -4.90251839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-1.56, Z:-0.50 [[ 9.99932854e-01 1.04959810e-02 4.91131674e-03 5.18272676e+01] [-1.04952881e-02 9.99944909e-01 -1.66830634e-04 -1.56174013e+00] [-4.91279722e-03 1.15273748e-04 9.99987925e-01 -4.95971474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.89, Y:-1.57, Z:-0.50 [[ 9.99917680e-01 1.18537572e-02 4.91130050e-03 5.18889913e+01] [-1.18530783e-02 9.99929736e-01 -1.67307341e-04 -1.57076368e+00] [-4.91293863e-03 1.09079539e-04 9.99987925e-01 -4.96860156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645871559999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:-1.58, Z:-0.50 [[ 9.99849287e-01 1.66518233e-02 4.91127197e-03 5.19517918e+01] [-1.66511982e-02 9.99861345e-01 -1.68140707e-04 -1.58120214e+00] [-4.91339085e-03 8.63368030e-05 9.99987925e-01 -4.99069690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:-1.59, Z:-0.50 [[ 9.99750901e-01 2.17719134e-02 4.91123925e-03 5.20139860e+01] [-2.17713454e-02 9.99762962e-01 -1.69091073e-04 -1.59332980e+00] [-4.91375653e-03 6.21246666e-05 9.99987925e-01 -4.99545402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765871559999994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:-1.60, Z:-0.50 [[ 9.99671135e-01 2.51694704e-02 4.91120645e-03 5.20755363e+01] [-2.51689388e-02 9.99683198e-01 -1.70038325e-04 -1.60188155e+00] [-4.91393035e-03 4.63725510e-05 9.99987925e-01 -5.01596937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:-1.61, Z:-0.50 [[ 9.99533460e-01 3.01453505e-02 4.91117584e-03 5.21372160e+01] [-3.01448746e-02 9.99545525e-01 -1.70917995e-04 -1.61493440e+00] [-4.91409622e-03 2.27914749e-05 9.99987925e-01 -4.96176961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:-1.63, Z:-0.50 [[ 9.99357021e-01 3.55165497e-02 4.91114746e-03 5.21978660e+01] [-3.55161346e-02 9.99369088e-01 -1.71729546e-04 -1.62726939e+00] [-4.91414820e-03 -2.80584677e-06 9.99987925e-01 -5.01354831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:-1.64, Z:-0.50 [[ 9.99143036e-01 4.10983410e-02 4.91112108e-03 5.22593120e+01] [-4.10979897e-02 9.99155106e-01 -1.72480680e-04 -1.63867277e+00] [-4.91406037e-03 -2.95043328e-05 9.99987925e-01 -4.99946534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-1.65, Z:-0.50 [[ 9.98972031e-01 4.50639911e-02 4.91109285e-03 5.23206384e+01] [-4.50636837e-02 9.98984101e-01 -1.73280798e-04 -1.64577730e+00] [-4.91391240e-03 -4.82092641e-05 9.99987925e-01 -5.00527635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-1.66, Z:-0.50 [[ 9.98743035e-01 4.98821733e-02 4.91106277e-03 5.23820548e+01] [-4.98819200e-02 9.98755107e-01 -1.74129216e-04 -1.65521639e+00] [-4.91363496e-03 -7.10628981e-05 9.99987925e-01 -4.99114000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:-1.67, Z:-0.49 [[ 9.98619006e-01 5.23064315e-02 4.91103698e-03 5.24442171e+01] [-5.23062040e-02 9.98631078e-01 -1.74853641e-04 -1.66512968e+00] [-4.91346012e-03 -8.22655325e-05 9.99987925e-01 -4.93875167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:-1.67, Z:-0.50 [[ 9.98519219e-01 5.41779630e-02 4.91100941e-03 5.25058773e+01] [-5.41777543e-02 9.98531291e-01 -1.75624393e-04 -1.66999751e+00] [-4.91331154e-03 -9.07031295e-05 9.99987925e-01 -4.99216820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:-1.67, Z:-0.50 [[ 9.98291660e-01 5.82206427e-02 4.91098190e-03 5.25678028e+01] [-5.82204791e-02 9.98303734e-01 -1.76390331e-04 -1.67432645e+00] [-4.91292113e-03 -1.09830722e-04 9.99987925e-01 -5.01452051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:-1.67, Z:-0.50 [[ 9.97796987e-01 6.61593175e-02 4.91095464e-03 5.26300309e+01] [-6.61592462e-02 9.97809061e-01 -1.77145975e-04 -1.67486305e+00] [-4.91191490e-03 -1.48149337e-04 9.99987925e-01 -5.04079431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:-1.67, Z:-0.50 [[ 9.97226666e-01 7.42620988e-02 4.91092678e-03 5.26935548e+01] [-7.42621218e-02 9.97238741e-01 -1.77915178e-04 -1.67372990e+00] [-4.91057879e-03 -1.87274083e-04 9.99987925e-01 -5.02045810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:-1.67, Z:-0.50 [[ 9.96921527e-01 7.82518553e-02 4.91089307e-03 5.27553030e+01] [-7.82519221e-02 9.96933601e-01 -1.78840900e-04 -1.67269119e+00] [-4.90982894e-03 -2.05996479e-04 9.99987925e-01 -5.00425709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:-1.67, Z:-0.50 [[ 9.96844714e-01 7.92243574e-02 4.91086569e-03 5.28161011e+01] [-7.92244323e-02 9.96856789e-01 -1.79589408e-04 -1.66925246e+00] [-4.90965766e-03 -2.10037794e-04 9.99987925e-01 -5.02577104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:-1.66, Z:-0.50 [[ 9.97153148e-01 7.52428266e-02 4.91086152e-03 5.28795485e+01] [-7.52428527e-02 9.97165222e-01 -1.79703519e-04 -1.66370283e+00] [-4.91046172e-03 -1.90315300e-04 9.99987925e-01 -4.99627418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:-1.66, Z:-0.50 [[ 9.97724642e-01 6.72415214e-02 4.91082671e-03 5.29415456e+01] [-6.72414459e-02 9.97736716e-01 -1.80649827e-04 -1.65983553e+00] [-4.91185928e-03 -1.49972305e-04 9.99987926e-01 -5.02176389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:-1.66, Z:-0.50 [[ 9.98136469e-01 6.08232891e-02 4.91079410e-03 5.30043514e+01] [-6.08231317e-02 9.98148543e-01 -1.81531841e-04 -1.66015822e+00] [-4.91274334e-03 -1.17496325e-04 9.99987926e-01 -5.01944686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.07, Y:-1.66, Z:-0.50 [[ 9.98707153e-01 5.05955257e-02 4.91075972e-03 5.30671184e+01] [-5.05952400e-02 9.98719224e-01 -1.82457163e-04 -1.65810622e+00] [-4.91370165e-03 -6.62397928e-05 9.99987926e-01 -5.01191172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.13, Y:-1.66, Z:-0.50 [[ 9.99169254e-01 4.04559957e-02 4.91072523e-03 5.31298743e+01] [-4.04555830e-02 9.99181321e-01 -1.83380817e-04 -1.65788211e+00] [-4.91412378e-03 -1.54377787e-05 9.99987926e-01 -5.01541191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:-1.66, Z:-0.50 [[ 9.99413711e-01 3.38839249e-02 4.91069029e-03 5.31922855e+01] [-3.38834283e-02 9.99425775e-01 -1.84311835e-04 -1.65892768e+00] [-4.91411565e-03 1.78127529e-05 9.99987926e-01 -5.04410763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:-1.66, Z:-0.50 [[ 9.99493195e-01 3.14521735e-02 4.91065954e-03 5.32538473e+01] [-3.14516435e-02 9.99505258e-01 -1.85127349e-04 -1.66007493e+00] [-4.91405269e-03 3.05852123e-05 9.99987926e-01 -5.01445254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:-1.66, Z:-0.50 [[ 9.99531454e-01 3.02119030e-02 4.91063119e-03 5.33149394e+01] [-3.02113543e-02 9.99543516e-01 -1.85876389e-04 -1.66102804e+00] [-4.91400524e-03 3.74324781e-05 9.99987926e-01 -5.00617529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.38, Y:-1.66, Z:-0.49 [[ 9.99455373e-01 3.26319329e-02 4.91060317e-03 5.33769232e+01] [-3.26314098e-02 9.99467436e-01 -1.86613631e-04 -1.66107675e+00] [-4.91407753e-03 2.62720912e-05 9.99987926e-01 -4.93122085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.44, Y:-1.66, Z:-0.50 [[ 9.99352595e-01 3.56409596e-02 4.91057079e-03 5.34378554e+01] [-3.56404687e-02 9.99364659e-01 -1.87461799e-04 -1.66118385e+00] [-4.91413223e-03 1.23253908e-05 9.99987926e-01 -5.00832726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.50, Y:-1.66, Z:-0.50 [[ 9.99090014e-01 4.23677895e-02 4.91054064e-03 5.35001760e+01] [-4.23673760e-02 9.99102082e-01 -1.88248416e-04 -1.65835346e+00] [-4.91410704e-03 -1.99696089e-05 9.99987926e-01 -5.02614160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:-1.65, Z:-0.49 [[ 9.98701326e-01 5.07104426e-02 4.91050897e-03 5.35628133e+01] [-5.07101259e-02 9.98713396e-01 -1.89070989e-04 -1.65252780e+00] [-4.91377896e-03 -6.01870809e-05 9.99987926e-01 -4.94747621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:-1.65, Z:-0.50 [[ 9.98447529e-01 5.54835070e-02 4.91049700e-03 5.36240016e+01] [-5.54832465e-02 9.98459600e-01 -1.89381198e-04 -1.65046484e+00] [-4.91344041e-03 -8.33631261e-05 9.99987926e-01 -4.99642851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.69, Y:-1.65, Z:-0.50 [[ 9.98229545e-01 5.92761563e-02 4.91046580e-03 5.36861525e+01] [-5.92759376e-02 9.98241618e-01 -1.90186762e-04 -1.64656591e+00] [-4.91310487e-03 -1.01222420e-04 9.99987926e-01 -4.99722324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.75, Y:-1.64, Z:-0.49 [[ 9.98127708e-01 6.09669215e-02 4.91043467e-03 5.37484857e+01] [-6.09667193e-02 9.98139781e-01 -1.90987248e-04 -1.64319871e+00] [-4.91294409e-03 -1.08743428e-04 9.99987926e-01 -4.94221349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.81, Y:-1.64, Z:-0.50 [[ 9.98107237e-01 6.13011494e-02 4.91042291e-03 5.38098553e+01] [-6.13009498e-02 9.98119310e-01 -1.91289115e-04 -1.63964842e+00] [-4.91291417e-03 -1.10086538e-04 9.99987926e-01 -5.00798717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.87, Y:-1.63, Z:-0.50 [[ 9.98000256e-01 6.30188672e-02 4.91039224e-03 5.38719651e+01] [-6.30186845e-02 9.98012329e-01 -1.92073265e-04 -1.63424519e+00] [-4.91273623e-03 -1.17757292e-04 9.99987926e-01 -5.04530701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:-1.63, Z:-0.50 [[ 9.97972924e-01 6.34502277e-02 4.91038536e-03 5.39332825e+01] [-6.34500494e-02 9.97984997e-01 -1.92248897e-04 -1.62730520e+00] [-4.91268916e-03 -1.19704999e-04 9.99987926e-01 -5.03786205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:-1.62, Z:-0.50 [[ 9.98079570e-01 6.17499776e-02 4.91039230e-03 5.39949923e+01] [-6.17497796e-02 9.98091643e-01 -1.92071571e-04 -1.62038561e+00] [-4.91288193e-03 -1.11512931e-04 9.99987926e-01 -4.97692743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.06, Y:-1.62, Z:-0.50 [[ 9.98216284e-01 5.94990676e-02 4.91038703e-03 5.40558873e+01] [-5.94988417e-02 9.98228356e-01 -1.92206082e-04 -1.61744123e+00] [-4.91312366e-03 -1.00299100e-04 9.99987926e-01 -5.01988441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.12, Y:-1.61, Z:-0.51 [[ 9.98416407e-01 5.60407550e-02 4.91038444e-03 5.41168247e+01] [-5.60404870e-02 9.98428479e-01 -1.92272374e-04 -1.60927150e+00] [-4.91344275e-03 -8.32124418e-05 9.99987926e-01 -5.06411947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.18, Y:-1.61, Z:-0.51 [[ 9.98550421e-01 5.35998634e-02 4.91038444e-03 5.41762929e+01] [-5.35995659e-02 9.98562492e-01 -1.92272374e-04 -1.60680352e+00] [-4.91363149e-03 -7.12008137e-05 9.99987926e-01 -5.11870907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.24, Y:-1.60, Z:-0.51 [[ 9.98817413e-01 4.83700701e-02 4.91038679e-03 5.42355737e+01] [-4.83697096e-02 9.98829482e-01 -1.92212216e-04 -1.60170455e+00] [-4.91393641e-03 -4.55290744e-05 9.99987926e-01 -5.14210737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.30, Y:-1.60, Z:-0.51 [[ 9.99138786e-01 4.12016332e-02 4.91038896e-03 5.42963497e+01] [-4.12011864e-02 9.99150852e-01 -1.92156780e-04 -1.59929308e+00] [-4.91413649e-03 -1.03225588e-05 9.99987926e-01 -5.13904523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.36, Y:-1.60, Z:-0.51 [[ 9.99313528e-01 3.67200433e-02 4.91037924e-03 5.43579427e+01] [-3.67195412e-02 9.99325592e-01 -1.92404869e-04 -1.59989609e+00] [-4.91413275e-03 1.19659155e-05 9.99987926e-01 -5.13664128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.42, Y:-1.60, Z:-0.51 [[ 9.99431465e-01 3.33561729e-02 4.91037503e-03 5.44189768e+01] [-3.33556296e-02 9.99443528e-01 -1.92512345e-04 -1.60245120e+00] [-4.91406401e-03 2.86142442e-05 9.99987926e-01 -5.14654494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.48, Y:-1.60, Z:-0.51 [[ 9.99482986e-01 3.17749777e-02 4.91037085e-03 5.44798638e+01] [-3.17744149e-02 9.99495047e-01 -1.92618753e-04 -1.60328821e+00] [-4.91401180e-03 3.64950062e-05 9.99987926e-01 -5.12785440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:-1.61, Z:-0.51 [[ 9.99484553e-01 3.17256316e-02 4.91036634e-03 5.45406913e+01] [-3.17250676e-02 9.99496615e-01 -1.92733791e-04 -1.60610994e+00] [-4.91400913e-03 3.68527430e-05 9.99987926e-01 -5.09974937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:-1.61, Z:-0.52 [[ 9.99429592e-01 3.34122583e-02 4.91036390e-03 5.46006803e+01] [-3.34117143e-02 9.99441654e-01 -1.92795782e-04 -1.61006094e+00] [-4.91406396e-03 2.86221345e-05 9.99987926e-01 -5.15928418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:-1.61, Z:-0.52 [[ 9.99365412e-01 3.52797523e-02 4.91036147e-03 5.46608334e+01] [-3.52792306e-02 9.99377476e-01 -1.92857808e-04 -1.61492379e+00] [-4.91410862e-03 1.95016487e-05 9.99987926e-01 -5.23205523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:54.72, Y:-1.62, Z:-0.52 [[ 9.99280267e-01 3.76143028e-02 4.91035921e-03 5.47225198e+01] [-3.76138090e-02 9.99292332e-01 -1.92915305e-04 -1.61948159e+00] [-4.91414068e-03 8.07914453e-06 9.99987926e-01 -5.22269401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405871559999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:-1.62, Z:-0.52 [[ 9.99184285e-01 4.00830712e-02 4.91035469e-03 5.47839099e+01] [-4.00826066e-02 9.99196351e-01 -1.93030137e-04 -1.62247187e+00] [-4.91414573e-03 -3.94713589e-06 9.99987926e-01 -5.18090453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.84, Y:-1.62, Z:-0.52 [[ 9.99094407e-01 4.22641077e-02 4.91035017e-03 5.48449952e+01] [-4.22636688e-02 9.99106473e-01 -1.93145111e-04 -1.62448389e+00] [-4.91412575e-03 -1.45592138e-05 9.99987926e-01 -5.18384373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:-1.63, Z:-0.52 [[ 9.99082137e-01 4.25531606e-02 4.91034558e-03 5.49061708e+01] [-4.25527247e-02 9.99094204e-01 -1.93261794e-04 -1.62820938e+00] [-4.91412171e-03 -1.58641773e-05 9.99987926e-01 -5.19630541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585871559999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:-1.63, Z:-0.52 [[ 9.99157169e-01 4.07534013e-02 4.91034100e-03 5.49674574e+01] [-4.07529431e-02 9.99169235e-01 -1.93377975e-04 -1.63460225e+00] [-4.91414247e-03 -6.89585760e-06 9.99987926e-01 -5.21056513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:-1.64, Z:-0.52 [[ 9.99250433e-01 3.83987108e-02 4.91033635e-03 5.50282631e+01] [-3.83982236e-02 9.99262498e-01 -1.93496076e-04 -1.63860217e+00] [-4.91414496e-03 4.80284521e-06 9.99987926e-01 -5.18292795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:-1.64, Z:-0.52 [[ 9.99337530e-01 3.60609073e-02 4.91033166e-03 5.50884420e+01] [-3.60603913e-02 9.99349594e-01 -1.93615061e-04 -1.64333358e+00] [-4.91411988e-03 1.64183159e-05 9.99987926e-01 -5.19289302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:-1.65, Z:-0.52 [[ 9.99345514e-01 3.58389829e-02 4.91032934e-03 5.51492412e+01] [-3.58384639e-02 9.99357577e-01 -1.93673927e-04 -1.64988473e+00] [-4.91411590e-03 1.75685090e-05 9.99987926e-01 -5.17845979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.21, Y:-1.66, Z:-0.52 [[ 9.99330702e-01 3.62496458e-02 4.91032476e-03 5.52108248e+01] [-3.62491312e-02 9.99342765e-01 -1.93789761e-04 -1.65512865e+00] [-4.91412234e-03 1.56650507e-05 9.99987926e-01 -5.16153581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.27, Y:-1.66, Z:-0.52 [[ 9.99220092e-01 3.91803069e-02 4.91031750e-03 5.52711877e+01] [-3.91798267e-02 9.99232157e-01 -1.93973704e-04 -1.66234148e+00] [-4.91414709e-03 1.43703386e-06 9.99987926e-01 -5.22050096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.33, Y:-1.67, Z:-0.52 [[ 9.99048875e-01 4.33270640e-02 4.91031507e-03 5.53322631e+01] [-4.33266336e-02 9.99060942e-01 -1.94035060e-04 -1.66937823e+00] [-4.91411097e-03 -1.88969137e-05 9.99987926e-01 -5.21719388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.39, Y:-1.67, Z:-0.52 [[ 9.98899196e-01 4.66506692e-02 4.91031044e-03 5.53921430e+01] [-4.66502784e-02 9.98911264e-01 -1.94152200e-04 -1.67340614e+00] [-4.91402174e-03 -3.51288721e-05 9.99987926e-01 -5.21016638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:-1.68, Z:-0.52 [[ 9.98656326e-01 5.15890697e-02 4.91030815e-03 5.54533895e+01] [-5.15887383e-02 9.98668396e-01 -1.94210095e-04 -1.67835585e+00] [-4.91378868e-03 -5.93674621e-05 9.99987926e-01 -5.20526902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:-1.68, Z:-0.52 [[ 9.98368060e-01 5.68955731e-02 4.91030355e-03 5.55143730e+01] [-5.68953053e-02 9.98380131e-01 -1.94326485e-04 -1.67987488e+00] [-4.91340581e-03 -8.53638630e-05 9.99987926e-01 -5.22333775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:-1.68, Z:-0.52 [[ 9.98236554e-01 5.91580171e-02 4.91030126e-03 5.55752056e+01] [-5.91577764e-02 9.98248626e-01 -1.94384294e-04 -1.68279174e+00] [-4.91320087e-03 -9.64409955e-05 9.99987926e-01 -5.22755267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.64, Y:-1.69, Z:-0.52 [[ 9.98181386e-01 6.00816870e-02 4.91030126e-03 5.56353680e+01] [-6.00814574e-02 9.98193459e-01 -1.94384294e-04 -1.68690594e+00] [-4.91310953e-03 -1.00987271e-04 9.99987926e-01 -5.21791827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.70, Y:-1.69, Z:-0.52 [[ 9.98277092e-01 5.84699662e-02 4.91030126e-03 5.56966312e+01] [-5.84697171e-02 9.98289164e-01 -1.94384294e-04 -1.68930534e+00] [-4.91326618e-03 -9.30545373e-05 9.99987926e-01 -5.23303614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.76, Y:-1.69, Z:-0.52 [[ 9.98264948e-01 5.86769298e-02 4.91029651e-03 5.57568752e+01] [-5.86766826e-02 9.98277020e-01 -1.94504200e-04 -1.69026792e+00] [-4.91324907e-03 -9.39531842e-05 9.99987926e-01 -5.23012221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.82, Y:-1.69, Z:-0.52 [[ 9.98138997e-01 6.07818402e-02 4.91029415e-03 5.58169369e+01] [-6.07816183e-02 9.98151069e-01 -1.94563737e-04 -1.69328794e+00] [-4.91304130e-03 -1.04253971e-04 9.99987926e-01 -5.22167896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:-1.69, Z:-0.52 [[ 9.97917570e-01 6.43149426e-02 4.91029415e-03 5.58761446e+01] [-6.43147634e-02 9.97929643e-01 -1.94563737e-04 -1.69202529e+00] [-4.91264144e-03 -1.21645835e-04 9.99987926e-01 -5.24625826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:-1.69, Z:-0.52 [[ 9.97800939e-01 6.60997360e-02 4.91029650e-03 5.59370370e+01] [-6.60995786e-02 9.97813012e-01 -1.94504451e-04 -1.69173031e+00] [-4.91241443e-03 -1.30491806e-04 9.99987926e-01 -5.23876394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:-1.69, Z:-0.52 [[ 9.97660903e-01 6.81807226e-02 4.91029650e-03 5.59965996e+01] [-6.81805904e-02 9.97672977e-01 -1.94504451e-04 -1.68957829e+00] [-4.91213158e-03 -1.40737428e-04 9.99987926e-01 -5.20790242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.06, Y:-1.69, Z:-0.52 [[ 9.97595377e-01 6.91328604e-02 4.91029878e-03 5.60559285e+01] [-6.91327400e-02 9.97607451e-01 -1.94446790e-04 -1.68837819e+00] [-4.91199331e-03 -1.45483190e-04 9.99987926e-01 -5.22047026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725871559999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:56.12, Y:-1.69, Z:-0.53 [[ 9.97638847e-01 6.85026968e-02 4.91030356e-03 5.61152028e+01] [-6.85025694e-02 9.97650921e-01 -1.94326032e-04 -1.68626255e+00] [-4.91208073e-03 -1.42501212e-04 9.99987926e-01 -5.25338001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:-1.68, Z:-0.52 [[ 9.97688460e-01 6.77762972e-02 4.91030587e-03 5.61753929e+01] [-6.77761613e-02 9.97700533e-01 -1.94267534e-04 -1.68273092e+00] [-4.91218152e-03 -1.38983206e-04 9.99987926e-01 -5.21231814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:-1.68, Z:-0.52 [[ 9.97717812e-01 6.73428214e-02 4.91030587e-03 5.62352062e+01] [-6.73426803e-02 9.97729886e-01 -1.94267534e-04 -1.67881357e+00] [-4.91224144e-03 -1.36848979e-04 9.99987926e-01 -5.23671930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905871559999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:-1.68, Z:-0.53 [[ 9.97852316e-01 6.53195524e-02 4.91031048e-03 5.62942439e+01] [-6.53193873e-02 9.97864390e-01 -1.94150930e-04 -1.67691315e+00] [-4.91250583e-03 -1.27004517e-04 9.99987926e-01 -5.26173406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:-1.68, Z:-0.52 [[ 9.97890860e-01 6.47280503e-02 4.91031721e-03 5.63545684e+01] [-6.47278789e-02 9.97902933e-01 -1.93980555e-04 -1.67681497e+00] [-4.91257593e-03 -1.24262995e-04 9.99987926e-01 -5.17923037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02587156 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:-1.68, Z:-0.53 [[ 9.98220684e-01 5.94252097e-02 4.91032948e-03 5.64131026e+01] [-5.94249757e-02 9.98232756e-01 -1.93669664e-04 -1.67674601e+00] [-4.91316059e-03 -9.84711455e-05 9.99987926e-01 -5.26884840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.47, Y:-1.68, Z:-0.52 [[ 9.98447001e-01 5.54930159e-02 4.91033684e-03 5.64726347e+01] [-5.54927353e-02 9.98459072e-01 -1.93482843e-04 -1.67667804e+00] [-4.91350731e-03 -7.93056576e-05 9.99987926e-01 -5.24403522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.53, Y:-1.68, Z:-0.53 [[ 9.98676050e-01 5.12058250e-02 4.91034151e-03 5.65322644e+01] [-5.12054931e-02 9.98688120e-01 -1.93364235e-04 -1.67627158e+00] [-4.91380110e-03 -5.83282276e-05 9.99987926e-01 -5.25956091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:-1.68, Z:-0.53 [[ 9.98724751e-01 5.02469896e-02 4.91034382e-03 5.65931879e+01] [-5.02466464e-02 9.98736821e-01 -1.93305594e-04 -1.67763095e+00] [-4.91385420e-03 -5.36692286e-05 9.99987926e-01 -5.26593836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.65, Y:-1.68, Z:-0.53 [[ 9.98777171e-01 4.91940246e-02 4.91034382e-03 5.66540037e+01] [-4.91936687e-02 9.98789240e-01 -1.93305594e-04 -1.67923321e+00] [-4.91390805e-03 -4.84886131e-05 9.99987926e-01 -5.29524869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.71, Y:-1.68, Z:-0.53 [[ 9.98828329e-01 4.81441267e-02 4.91034382e-03 5.67149923e+01] [-4.81437582e-02 9.98840398e-01 -1.93305594e-04 -1.67987944e+00] [-4.91395630e-03 -4.33233021e-05 9.99987926e-01 -5.28882271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.77, Y:-1.68, Z:-0.53 [[ 9.98829269e-01 4.81246189e-02 4.91034382e-03 5.67747472e+01] [-4.81242501e-02 9.98841338e-01 -1.93305594e-04 -1.67989124e+00] [-4.91395715e-03 -4.32273291e-05 9.99987926e-01 -5.26273530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44587155999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:56.83, Y:-1.68, Z:-0.53 [[ 9.98712797e-01 5.04840241e-02 4.91034614e-03 5.68344841e+01] [-5.04836840e-02 9.98724867e-01 -1.93246629e-04 -1.68030092e+00] [-4.91384066e-03 -5.48944813e-05 9.99987926e-01 -5.31344579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.89, Y:-1.68, Z:-0.52 [[ 9.98613376e-01 5.24138765e-02 4.91034837e-03 5.68943007e+01] [-5.24135601e-02 9.98625446e-01 -1.93189956e-04 -1.67923248e+00] [-4.91372466e-03 -6.44467650e-05 9.99987926e-01 -5.24158730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.95, Y:-1.68, Z:-0.53 [[ 9.98540914e-01 5.37766857e-02 4.91035315e-03 5.69528869e+01] [-5.37763864e-02 9.98552985e-01 -1.93068317e-04 -1.67746333e+00] [-4.91363037e-03 -7.12744342e-05 9.99987926e-01 -5.26600847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.01, Y:-1.68, Z:-0.53 [[ 9.98533412e-01 5.39157928e-02 4.91036024e-03 5.70126558e+01] [-5.39154960e-02 9.98545483e-01 -1.92887897e-04 -1.67696234e+00] [-4.91361774e-03 -7.21394979e-05 9.99987926e-01 -5.26185839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685871559999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:57.07, Y:-1.68, Z:-0.53 [[ 9.98502816e-01 5.44794981e-02 4.91036483e-03 5.70721238e+01] [-5.44792087e-02 9.98514887e-01 -1.92770834e-04 -1.67525027e+00] [-4.91357444e-03 -7.50305703e-05 9.99987926e-01 -5.27897348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.13, Y:-1.67, Z:-0.53 [[ 9.98343121e-01 5.73315018e-02 4.91036943e-03 5.71305935e+01] [-5.73312475e-02 9.98355193e-01 -1.92653705e-04 -1.67166364e+00] [-4.91333794e-03 -8.91831039e-05 9.99987926e-01 -5.26520525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:-1.67, Z:-0.53 [[ 9.98212760e-01 5.95581556e-02 4.91038074e-03 5.71898353e+01] [-5.95579296e-02 9.98224832e-01 -1.92364986e-04 -1.66926045e+00] [-4.91312089e-03 -1.00430926e-04 9.99987926e-01 -5.28055220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:-1.66, Z:-0.53 [[ 9.98112543e-01 6.12146963e-02 4.91038981e-03 5.72486963e+01] [-6.12144915e-02 9.98124616e-01 -1.92133045e-04 -1.66281966e+00] [-4.91294231e-03 -1.08816613e-04 9.99987926e-01 -5.26412255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:-1.66, Z:-0.53 [[ 9.98173159e-01 6.02182167e-02 4.91039892e-03 5.73079249e+01] [-6.02180010e-02 9.98185231e-01 -1.91900053e-04 -1.65633058e+00] [-4.91304356e-03 -1.04144925e-04 9.99987926e-01 -5.25751914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:-1.65, Z:-0.53 [[ 9.98310683e-01 5.78935925e-02 4.91040812e-03 5.73658185e+01] [-5.78933498e-02 9.98322755e-01 -1.91664216e-04 -1.65353854e+00] [-4.91326830e-03 -9.29395411e-05 9.99987926e-01 -5.26798019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:-1.65, Z:-0.53 [[ 9.98601753e-01 5.26348401e-02 4.91041946e-03 5.74249621e+01] [-5.26345352e-02 9.98613824e-01 -1.91373405e-04 -1.64843086e+00] [-4.91368566e-03 -6.73518284e-05 9.99987926e-01 -5.26986665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10587156 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:57.48, Y:-1.65, Z:-0.53 [[ 9.98815414e-01 4.84113158e-02 4.91042882e-03 5.74841596e+01] [-4.84109611e-02 9.98827484e-01 -1.91133004e-04 -1.64577915e+00] [-4.91392426e-03 -4.68119880e-05 9.99987926e-01 -5.32507434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.54, Y:-1.64, Z:-0.53 [[ 9.99070137e-01 4.28339703e-02 4.91043574e-03 5.75439943e+01] [-4.28335491e-02 9.99082204e-01 -1.90954863e-04 -1.64304835e+00] [-4.91410832e-03 -1.95540899e-05 9.99987926e-01 -5.29498774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.60, Y:-1.64, Z:-0.53 [[ 9.99352590e-01 3.56410929e-02 4.91044009e-03 5.76042211e+01] [-3.56405854e-02 9.99364654e-01 -1.90843091e-04 -1.64025071e+00] [-4.91412212e-03 1.57085777e-05 9.99987926e-01 -5.27167817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:-1.64, Z:-0.53 [[ 9.99518287e-01 3.06444407e-02 4.91044462e-03 5.76639344e+01] [-3.06438735e-02 9.99530348e-01 -1.90726279e-04 -1.64072156e+00] [-4.91398312e-03 4.01593597e-05 9.99987926e-01 -5.27068993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.64, Z:-0.53 [[ 9.99699895e-01 2.40001589e-02 4.91044915e-03 5.77238469e+01] [-2.39995121e-02 9.99711952e-01 -1.90609672e-04 -1.64141703e+00] [-4.91360937e-03 7.27040848e-05 9.99987926e-01 -5.26961638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.64, Z:-0.53 [[ 9.99761705e-01 2.12701745e-02 4.91045377e-03 5.77829183e+01] [-2.12694954e-02 9.99773761e-01 -1.90490469e-04 -1.64328677e+00] [-4.91339460e-03 8.60022019e-05 9.99987926e-01 -5.28291004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.84, Y:-1.65, Z:-0.53 [[ 9.99813405e-01 1.86826663e-02 4.91045155e-03 5.78433967e+01] [-1.86819557e-02 9.99825459e-01 -1.90547840e-04 -1.64512456e+00] [-4.91315441e-03 9.87754466e-05 9.99987926e-01 -5.28693867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:57.90, Y:-1.65, Z:-0.53 [[ 9.99834951e-01 1.74916512e-02 4.91045155e-03 5.79038459e+01] [-1.74909262e-02 9.99847004e-01 -1.90547840e-04 -1.64626408e+00] [-4.91303326e-03 1.04628045e-04 9.99987926e-01 -5.29558255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.96, Y:-1.65, Z:-0.53 [[ 9.99851612e-01 1.65118723e-02 4.91045155e-03 5.79643009e+01] [-1.65111355e-02 9.99863664e-01 -1.90547840e-04 -1.65008176e+00] [-4.91292838e-03 1.09442434e-04 9.99987926e-01 -5.27345311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.02, Y:-1.66, Z:-0.53 [[ 9.99888715e-01 1.40870281e-02 4.91045155e-03 5.80243440e+01] [-1.40862621e-02 9.99900766e-01 -1.90547840e-04 -1.65594270e+00] [-4.91264852e-03 1.21356728e-04 9.99987926e-01 -5.28247751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:-1.66, Z:-0.53 [[ 9.99922629e-01 1.14290931e-02 4.91044930e-03 5.80851157e+01] [-1.14282948e-02 9.99934677e-01 -1.90605733e-04 -1.66219783e+00] [-4.91230699e-03 1.34472923e-04 9.99987926e-01 -5.29544843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:-1.67, Z:-0.53 [[ 9.99929083e-01 1.08497243e-02 4.91044476e-03 5.81465272e+01] [-1.08489184e-02 9.99941131e-01 -1.90722623e-04 -1.67128486e+00] [-4.91222497e-03 1.37436083e-04 9.99987926e-01 -5.27656747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:-1.68, Z:-0.53 [[ 9.99907457e-01 1.26872078e-02 4.91044016e-03 5.82074696e+01] [-1.26864235e-02 9.99919506e-01 -1.90841137e-04 -1.67948024e+00] [-4.91246613e-03 1.28527553e-04 9.99987926e-01 -5.29736194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:-1.68, Z:-0.53 [[ 9.99897522e-01 1.34474516e-02 4.91041042e-03 5.82688581e+01] [-1.34466727e-02 9.99909571e-01 -1.91603229e-04 -1.68446557e+00] [-4.91254295e-03 1.25554912e-04 9.99987926e-01 -5.29701747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.33, Y:-1.69, Z:-0.53 [[ 9.99837766e-01 1.73300058e-02 4.91040584e-03 5.83293869e+01] [-1.73292732e-02 9.99849818e-01 -1.91720372e-04 -1.69475721e+00] [-4.91299091e-03 1.06595504e-04 9.99987926e-01 -5.31213569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005871559999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:58.39, Y:-1.70, Z:-0.53 [[ 9.99764739e-01 2.11271262e-02 4.91037622e-03 5.83903442e+01] [-2.11264356e-02 9.99776793e-01 -1.92476147e-04 -1.70165969e+00] [-4.91334666e-03 8.86921184e-05 9.99987926e-01 -5.33646124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.45, Y:-1.71, Z:-0.53 [[ 9.99540519e-01 2.99105122e-02 4.91037170e-03 5.84510447e+01] [-2.99099270e-02 9.99552579e-01 -1.92591463e-04 -1.70749006e+00] [-4.91393521e-03 4.56341120e-05 9.99987926e-01 -5.33187242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.51, Y:-1.71, Z:-0.53 [[ 9.99322232e-01 3.64824029e-02 4.91037170e-03 5.85104330e+01] [-3.64818970e-02 9.99334295e-01 -1.92591463e-04 -1.71021500e+00] [-4.91412904e-03 1.33212559e-05 9.99987926e-01 -5.34361841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.57, Y:-1.71, Z:-0.53 [[ 9.98967453e-01 4.51654336e-02 4.91037632e-03 5.85693254e+01] [-4.51650331e-02 9.98979521e-01 -1.92473440e-04 -1.71346908e+00] [-4.91405853e-03 -2.95026070e-05 9.99987926e-01 -5.32733362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.63, Y:-1.72, Z:-0.53 [[ 9.98821500e-01 4.82855993e-02 4.91038091e-03 5.86281198e+01] [-4.82852371e-02 9.98833569e-01 -1.92356444e-04 -1.71560997e+00] [-4.91394133e-03 -4.49691547e-05 9.99987926e-01 -5.31899051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.69, Y:-1.72, Z:-0.53 [[ 9.98776911e-01 4.91992961e-02 4.91038754e-03 5.86872876e+01] [-4.91989458e-02 9.98788980e-01 -1.92186964e-04 -1.71855549e+00] [-4.91389643e-03 -4.96339877e-05 9.99987926e-01 -5.32345879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.72, Z:-0.54 [[ 9.98922271e-01 4.61539129e-02 4.91039639e-03 5.87466032e+01] [-4.61535269e-02 9.98934340e-01 -1.91960539e-04 -1.72274395e+00] [-4.91402331e-03 -3.48784548e-05 9.99987926e-01 -5.36281763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.81, Y:-1.73, Z:-0.54 [[ 9.99131229e-01 4.13844684e-02 4.91040094e-03 5.88061704e+01] [-4.13840253e-02 9.99143296e-01 -1.91844143e-04 -1.72687845e+00] [-4.91413355e-03 -1.15346819e-05 9.99987926e-01 -5.40336187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:-1.73, Z:-0.54 [[ 9.99247727e-01 3.84690571e-02 4.91039822e-03 5.88661878e+01] [-3.84685785e-02 9.99259792e-01 -1.91913766e-04 -1.73115596e+00] [-4.91414624e-03 2.87335503e-06 9.99987926e-01 -5.38624362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.73, Z:-0.54 [[ 9.99302426e-01 3.70209359e-02 4.91040274e-03 5.89259218e+01] [-3.70204404e-02 9.99314490e-01 -1.91797935e-04 -1.73475662e+00] [-4.91413715e-03 9.87886953e-06 9.99987926e-01 -5.36589939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.74, Z:-0.54 [[ 9.99284000e-01 3.75149969e-02 4.91040498e-03 5.89853056e+01] [-3.75145076e-02 9.99296065e-01 -1.91740518e-04 -1.73793008e+00] [-4.91414152e-03 7.39180631e-06 9.99987926e-01 -5.35532040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.04, Y:-1.74, Z:-0.54 [[ 9.99201944e-01 3.96404259e-02 4.91040958e-03 5.90445554e+01] [-3.96399629e-02 9.99214009e-01 -1.91622736e-04 -1.74049914e+00] [-4.91414605e-03 -3.17864354e-06 9.99987926e-01 -5.37098058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725871559999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.10, Y:-1.74, Z:-0.54 [[ 9.99173527e-01 4.03503382e-02 4.91041415e-03 5.91043113e+01] [-4.03498843e-02 9.99185593e-01 -1.91505638e-04 -1.74386413e+00] [-4.91414239e-03 -6.78727831e-06 9.99987926e-01 -5.38047195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.16, Y:-1.75, Z:-0.54 [[ 9.99166475e-01 4.05246090e-02 4.91041874e-03 5.91633047e+01] [-4.05241578e-02 9.99178541e-01 -1.91387790e-04 -1.74723144e+00] [-4.91414095e-03 -7.76232071e-06 9.99987926e-01 -5.38112413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.22, Y:-1.75, Z:-0.54 [[ 9.99206999e-01 3.95127926e-02 4.91041640e-03 5.92229334e+01] [-3.95123289e-02 9.99219065e-01 -1.91447813e-04 -1.75011299e+00] [-4.91414632e-03 -2.72599296e-06 9.99987926e-01 -5.37550923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905871559999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:59.28, Y:-1.75, Z:-0.54 [[ 9.99249732e-01 3.84169416e-02 4.91042094e-03 5.92818470e+01] [-3.84164652e-02 9.99261797e-01 -1.91331279e-04 -1.75416483e+00] [-4.91414642e-03 2.54671420e-06 9.99987926e-01 -5.39386985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:-1.76, Z:-0.54 [[ 9.99322822e-01 3.64662126e-02 4.91041856e-03 5.93426625e+01] [-3.64657124e-02 9.99334886e-01 -1.91392300e-04 -1.75876229e+00] [-4.91413193e-03 1.22007822e-05 9.99987926e-01 -5.37563924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-1.76, Z:-0.54 [[ 9.99316298e-01 3.66445542e-02 4.91041856e-03 5.94030351e+01] [-3.66440562e-02 9.99328363e-01 -1.91392300e-04 -1.76216166e+00] [-4.91413403e-03 1.13237909e-05 9.99987926e-01 -5.37799914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:-1.77, Z:-0.54 [[ 9.99295940e-01 3.71955817e-02 4.91041856e-03 5.94636473e+01] [-3.71950903e-02 9.99308005e-01 -1.91392300e-04 -1.76590108e+00] [-4.91413952e-03 8.61408644e-06 9.99987926e-01 -5.37698454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:-1.77, Z:-0.54 [[ 9.99264113e-01 3.80410228e-02 4.91041856e-03 5.95229536e+01] [-3.80405416e-02 9.99276178e-01 -1.91392300e-04 -1.77056627e+00] [-4.91414505e-03 4.45647520e-06 9.99987926e-01 -5.40301064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:-1.78, Z:-0.54 [[ 9.99226090e-01 3.90270395e-02 4.91042091e-03 5.95832495e+01] [-3.90265705e-02 9.99238155e-01 -1.91332180e-04 -1.77521790e+00] [-4.91414705e-03 -4.52781176e-07 9.99987926e-01 -5.38933460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265871559999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.64, Y:-1.78, Z:-0.54 [[ 9.99218631e-01 3.92175263e-02 4.91042091e-03 5.96425698e+01] [-3.92170596e-02 9.99230697e-01 -1.91332180e-04 -1.77727626e+00] [-4.91414688e-03 -1.38958997e-06 9.99987926e-01 -5.39533393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325871559999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:59.70, Y:-1.78, Z:-0.54 [[ 9.99176419e-01 4.02786640e-02 4.91042324e-03 5.97033654e+01] [-4.02782104e-02 9.99188485e-01 -1.91272302e-04 -1.78178735e+00] [-4.91414255e-03 -6.66828653e-06 9.99987926e-01 -5.41740967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.76, Y:-1.79, Z:-0.54 [[ 9.99125964e-01 4.15114052e-02 4.91042324e-03 5.97624304e+01] [-4.15109665e-02 9.99138030e-01 -1.91272302e-04 -1.78650952e+00] [-4.91413058e-03 -1.27312916e-05 9.99987926e-01 -5.41994548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.82, Y:-1.79, Z:-0.54 [[ 9.99119771e-01 4.16601926e-02 4.91042555e-03 5.98219627e+01] [-4.16597560e-02 9.99131837e-01 -1.91212922e-04 -1.79017427e+00] [-4.91412847e-03 -1.35225199e-05 9.99987926e-01 -5.42645617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505871559999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.88, Y:-1.79, Z:-0.54 [[ 9.99189818e-01 3.99449075e-02 4.91042312e-03 5.98827470e+01] [-3.99444498e-02 9.99201884e-01 -1.91275344e-04 -1.79448033e+00] [-4.91414451e-03 -5.02377351e-06 9.99987926e-01 -5.41761702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:59.94, Y:-1.80, Z:-0.54 [[ 9.99339620e-01 3.60029327e-02 4.91042312e-03 5.99431086e+01] [-3.60024275e-02 9.99351684e-01 -1.91275344e-04 -1.80490061e+00] [-4.91412609e-03 1.43618777e-05 9.99987926e-01 -5.43448431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.00, Y:-1.81, Z:-0.54 [[ 9.99463440e-01 3.23839398e-02 4.91042312e-03 6.00040911e+01] [-3.23833909e-02 9.99475502e-01 -1.91275344e-04 -1.81136735e+00] [-4.91404186e-03 3.21565621e-05 9.99987926e-01 -5.39494573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685871559999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.07, Y:-1.82, Z:-0.54 [[ 9.99540462e-01 2.99124101e-02 4.91041845e-03 6.00651061e+01] [-2.99118308e-02 9.99552523e-01 -1.91395184e-04 -1.82156951e+00] [-4.91394624e-03 4.44276249e-05 9.99987926e-01 -5.39298515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.13, Y:-1.83, Z:-0.54 [[ 9.99515089e-01 3.07485593e-02 4.91041384e-03 6.01257524e+01] [-3.07479894e-02 9.99527150e-01 -1.91513396e-04 -1.82928505e+00] [-4.91398071e-03 4.04351766e-05 9.99987926e-01 -5.38493254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:-1.83, Z:-0.54 [[ 9.99489712e-01 3.15627022e-02 4.91040914e-03 6.01869854e+01] [-3.15621416e-02 9.99501773e-01 -1.91633641e-04 -1.83359607e+00] [-4.91401112e-03 3.65528242e-05 9.99987926e-01 -5.37384472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865871559999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:-1.84, Z:-0.54 [[ 9.99315755e-01 3.66593811e-02 4.91040444e-03 6.02473999e+01] [-3.66588814e-02 9.99327819e-01 -1.91754068e-04 -1.84302657e+00] [-4.91413335e-03 1.16129272e-05 9.99987926e-01 -5.38856452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.31, Y:-1.85, Z:-0.54 [[ 9.99110454e-01 4.18830293e-02 4.91040211e-03 6.03081911e+01] [-4.18825924e-02 9.99122521e-01 -1.91813738e-04 -1.85092907e+00] [-4.91412708e-03 -1.40172595e-05 9.99987926e-01 -5.37688872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.37, Y:-1.86, Z:-0.54 [[ 9.98945404e-01 4.56504969e-02 4.91039749e-03 6.03693611e+01] [-4.56501049e-02 9.98957472e-01 -1.91931841e-04 -1.85760304e+00] [-4.91404005e-03 -3.24307302e-05 9.99987926e-01 -5.38196462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.43, Y:-1.87, Z:-0.54 [[ 9.98723736e-01 5.02671672e-02 4.91039290e-03 6.04297446e+01] [-5.02668304e-02 9.98735805e-01 -1.92049305e-04 -1.86745092e+00] [-4.91383898e-03 -5.50256880e-05 9.99987926e-01 -5.41329562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:-1.87, Z:-0.54 [[ 9.98559278e-01 5.34346076e-02 4.91039062e-03 6.04902733e+01] [-5.34343088e-02 9.98571348e-01 -1.92107511e-04 -1.87350567e+00] [-4.91364057e-03 -7.05525911e-05 9.99987926e-01 -5.44262557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:-1.88, Z:-0.54 [[ 9.98228767e-01 5.92892634e-02 4.91037890e-03 6.05508577e+01] [-5.92890340e-02 9.98240839e-01 -1.92406673e-04 -1.88190223e+00] [-4.91314841e-03 -9.90657453e-05 9.99987926e-01 -5.43465183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:-1.89, Z:-0.54 [[ 9.97979436e-01 6.33477248e-02 4.91037435e-03 6.06116172e+01] [-6.33475439e-02 9.97991509e-01 -1.92522790e-04 -1.88547506e+00] [-4.91270779e-03 -1.18926369e-04 9.99987926e-01 -5.41075101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.67, Y:-1.89, Z:-0.54 [[ 9.97592842e-01 6.91694303e-02 4.91037204e-03 6.06715366e+01] [-6.91693196e-02 9.97604916e-01 -1.92581549e-04 -1.88932670e+00] [-4.91193205e-03 -1.47529119e-04 9.99987926e-01 -5.40167786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:-1.89, Z:-0.54 [[ 9.97362449e-01 7.24156994e-02 4.91037433e-03 6.07320088e+01] [-7.24156282e-02 9.97374523e-01 -1.92523120e-04 -1.89237726e+00] [-4.91142396e-03 -1.63572512e-04 9.99987926e-01 -5.39989912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.79, Y:-1.89, Z:-0.54 [[ 9.97183678e-01 7.48371644e-02 4.91037433e-03 6.07920497e+01] [-7.48371225e-02 9.97195752e-01 -1.92523120e-04 -1.89436866e+00] [-4.91101231e-03 -1.75497373e-04 9.99987926e-01 -5.41605380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.89, Z:-0.54 [[ 9.97183242e-01 7.48429731e-02 4.91037433e-03 6.08526794e+01] [-7.48429313e-02 9.97195316e-01 -1.92523120e-04 -1.89486948e+00] [-4.91101129e-03 -1.75525980e-04 9.99987926e-01 -5.42155618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.91, Y:-1.90, Z:-0.54 [[ 9.97310252e-01 7.31310418e-02 4.91037433e-03 6.09129645e+01] [-7.31309793e-02 9.97322326e-01 -1.92523120e-04 -1.89584729e+00] [-4.91130537e-03 -1.67095202e-04 9.99987926e-01 -5.43094336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:-1.90, Z:-0.54 [[ 9.97449879e-01 7.12013102e-02 4.91037433e-03 6.09737817e+01] [-7.12012243e-02 9.97461953e-01 -1.92523120e-04 -1.89682937e+00] [-4.91161947e-03 -1.57592502e-04 9.99987926e-01 -5.37536380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:61.03, Y:-1.90, Z:-0.55 [[ 9.97738181e-01 6.70403682e-02 4.91037190e-03 6.10341038e+01] [-6.70402317e-02 9.97750254e-01 -1.92585116e-04 -1.89591217e+00] [-4.91223579e-03 -1.37042947e-04 9.99987926e-01 -5.45128462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:-1.90, Z:-0.54 [[ 9.97924242e-01 6.42113411e-02 4.91036947e-03 6.10951200e+01] [-6.42111700e-02 9.97936315e-01 -1.92647146e-04 -1.89720700e+00] [-4.91260614e-03 -1.23053312e-04 9.99987926e-01 -5.39183030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:61.16, Y:-1.90, Z:-0.55 [[ 9.98279176e-01 5.84343579e-02 4.91036455e-03 6.11554555e+01] [-5.84341163e-02 9.98291249e-01 -1.92772520e-04 -1.89707987e+00] [-4.91323849e-03 -9.44920210e-05 9.99987926e-01 -5.45536642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.22, Y:-1.90, Z:-0.54 [[ 9.98706309e-01 5.06122252e-02 4.91036208e-03 6.12165156e+01] [-5.06118888e-02 9.98718378e-01 -1.92835253e-04 -1.89782579e+00] [-4.91382868e-03 -5.59369157e-05 9.99987926e-01 -5.41794920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.28, Y:-1.90, Z:-0.54 [[ 9.98925470e-01 4.60846365e-02 4.91035738e-03 6.12778205e+01] [-4.60842447e-02 9.98937538e-01 -1.92954972e-04 -1.90079401e+00] [-4.91403257e-03 -3.35424754e-05 9.99987926e-01 -5.43715496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:-1.90, Z:-0.55 [[ 9.99156267e-01 4.07755185e-02 4.91032695e-03 6.13394379e+01] [-4.07750589e-02 9.99168333e-01 -1.93726305e-04 -1.90433392e+00] [-4.91414248e-03 -6.65601859e-06 9.99987926e-01 -5.45147991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:-1.91, Z:-0.54 [[ 9.99242324e-01 3.86091518e-02 4.91029474e-03 6.14006338e+01] [-3.86086620e-02 9.99254389e-01 -1.94539182e-04 -1.90752930e+00] [-4.91414456e-03 4.81187417e-06 9.99987926e-01 -5.44558856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:-1.91, Z:-0.55 [[ 9.99310543e-01 3.68012004e-02 4.91028993e-03 6.14618087e+01] [-3.68006881e-02 9.99322606e-01 -1.94660515e-04 -1.91139504e+00] [-4.91412747e-03 1.38242567e-05 9.99987926e-01 -5.50247646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:-1.92, Z:-0.55 [[ 9.99329109e-01 3.62935382e-02 4.91025890e-03 6.15232276e+01] [-3.62930160e-02 9.99341172e-01 -1.95440253e-04 -1.91557210e+00] [-4.91411710e-03 1.71010292e-05 9.99987926e-01 -5.47261407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:-1.92, Z:-0.55 [[ 9.99337101e-01 3.60728171e-02 4.91025413e-03 6.15844718e+01] [-3.60722916e-02 9.99349164e-01 -1.95559977e-04 -1.91952272e+00] [-4.91411276e-03 1.83062214e-05 9.99987926e-01 -5.50824954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24587156 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:-1.92, Z:-0.55 [[ 9.99283183e-01 3.75367756e-02 4.91022336e-03 6.16454103e+01] [-3.75362641e-02 9.99295247e-01 -1.96329543e-04 -1.92330965e+00] [-4.91413244e-03 1.18773701e-05 9.99987926e-01 -5.49077081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.71, Y:-1.93, Z:-0.55 [[ 9.99085790e-01 4.24673275e-02 4.91021854e-03 6.17067413e+01] [-4.24668749e-02 9.99097856e-01 -1.96450044e-04 -1.92741931e+00] [-4.91413152e-03 -1.22511895e-05 9.99987926e-01 -5.48242460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:-1.93, Z:-0.55 [[ 9.98904925e-01 4.65278574e-02 4.91018753e-03 6.17682910e+01] [-4.65274501e-02 9.98916992e-01 -1.97221957e-04 -1.92959834e+00] [-4.91404608e-03 -3.14525208e-05 9.99987926e-01 -5.45487645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:-1.93, Z:-0.54 [[ 9.98617410e-01 5.23369735e-02 4.91018265e-03 6.18296184e+01] [-5.23366357e-02 9.98629480e-01 -1.97343411e-04 -1.92981659e+00] [-4.91378150e-03 -5.99118744e-05 9.99987926e-01 -5.44900855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.89, Y:-1.93, Z:-0.55 [[ 9.98473102e-01 5.50214087e-02 4.91017782e-03 6.18902142e+01] [-5.50211028e-02 9.98485172e-01 -1.97463461e-04 -1.93203211e+00] [-4.91360447e-03 -7.30014444e-05 9.99987926e-01 -5.46562636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:-1.93, Z:-0.55 [[ 9.98397158e-01 5.63826648e-02 4.91016618e-03 6.19515713e+01] [-5.63823739e-02 9.98409229e-01 -1.97752523e-04 -1.93419700e+00] [-4.91350505e-03 -7.94112689e-05 9.99987926e-01 -5.50671322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:-1.94, Z:-0.55 [[ 9.98411957e-01 5.61199939e-02 4.91016155e-03 6.20131821e+01] [-5.61196993e-02 9.98424028e-01 -1.97867358e-04 -1.93536257e+00] [-4.91352759e-03 -7.80036543e-05 9.99987926e-01 -5.46441265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.07, Y:-1.94, Z:-0.55 [[ 9.98459938e-01 5.52597762e-02 4.91015671e-03 6.20746492e+01] [-5.52594706e-02 9.98472008e-01 -1.97987484e-04 -1.93718334e+00] [-4.91359478e-03 -7.36500894e-05 9.99987926e-01 -5.47459442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.94, Z:-0.55 [[ 9.98540007e-01 5.37935446e-02 4.91015186e-03 6.21349626e+01] [-5.37932207e-02 9.98552077e-01 -1.98107645e-04 -1.94026562e+00] [-4.91369925e-03 -6.63144735e-05 9.99987926e-01 -5.48991744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.20, Y:-1.94, Z:-0.55 [[ 9.98590936e-01 5.28396844e-02 4.91014946e-03 6.21964829e+01] [-5.28393486e-02 9.98603006e-01 -1.98167163e-04 -1.94124053e+00] [-4.91376110e-03 -6.15611665e-05 9.99987926e-01 -5.47804539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.26, Y:-1.94, Z:-0.54 [[ 9.98547673e-01 5.36510446e-02 4.91014484e-03 6.22577841e+01] [-5.36507181e-02 9.98559743e-01 -1.98281683e-04 -1.94207063e+00] [-4.91371099e-03 -6.54390836e-05 9.99987926e-01 -5.44042195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:-1.95, Z:-0.55 [[ 9.98427394e-01 5.58446907e-02 4.91013975e-03 6.23176016e+01] [-5.58443901e-02 9.98439465e-01 -1.98407488e-04 -1.94545063e+00] [-4.91355731e-03 -7.61082883e-05 9.99987926e-01 -5.50813140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.38, Y:-1.95, Z:-0.55 [[ 9.98337337e-01 5.74321490e-02 4.91013721e-03 6.23782860e+01] [-5.74318673e-02 9.98349408e-01 -1.98470365e-04 -1.94788494e+00] [-4.91343116e-03 -8.38579727e-05 9.99987926e-01 -5.47713656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:-1.95, Z:-0.55 [[ 9.98252049e-01 5.88959832e-02 4.91013469e-03 6.24383546e+01] [-5.88957189e-02 9.98264121e-01 -1.98532757e-04 -1.94797585e+00] [-4.91330407e-03 -9.10001809e-05 9.99987926e-01 -5.49999674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:-1.95, Z:-0.55 [[ 9.98242018e-01 5.90657585e-02 4.91013216e-03 6.24984112e+01] [-5.90654960e-02 9.98254090e-01 -1.98595183e-04 -1.94949932e+00] [-4.91328969e-03 -9.17733354e-05 9.99987926e-01 -5.51576290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.56, Y:-1.95, Z:-0.55 [[ 9.98218081e-01 5.94689213e-02 4.91013216e-03 6.25583533e+01] [-5.94686636e-02 9.98230153e-01 -1.98595183e-04 -1.95000828e+00] [-4.91325222e-03 -9.37576958e-05 9.99987926e-01 -5.48039737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:-1.95, Z:-0.55 [[ 9.98103331e-01 6.13647364e-02 4.91013451e-03 6.26191163e+01] [-6.13645019e-02 9.98115403e-01 -1.98537146e-04 -1.94925709e+00] [-4.91306407e-03 -1.03147372e-04 9.99987926e-01 -5.47168853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:62.68, Y:-1.95, Z:-0.55 [[ 9.97826031e-01 6.57198830e-02 4.91013451e-03 6.26794316e+01] [-6.57197012e-02 9.97838104e-01 -1.98537146e-04 -1.94564941e+00] [-4.91256715e-03 -1.24587040e-04 9.99987926e-01 -5.50041195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:-1.94, Z:-0.55 [[ 9.97790538e-01 6.62565734e-02 4.91013451e-03 6.27389320e+01] [-6.62563981e-02 9.97802611e-01 -1.98537146e-04 -1.94402270e+00] [-4.91249943e-03 -1.27229341e-04 9.99987926e-01 -5.48857430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:-1.94, Z:-0.55 [[ 9.97934322e-01 6.40545077e-02 4.91013921e-03 6.27989725e+01] [-6.40543064e-02 9.97946395e-01 -1.98420943e-04 -1.94198020e+00] [-4.91276547e-03 -1.16504492e-04 9.99987926e-01 -5.49471166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:-1.94, Z:-0.55 [[ 9.98143530e-01 6.07073642e-02 4.91014387e-03 6.28587532e+01] [-6.07071230e-02 9.98155602e-01 -1.98305534e-04 -1.94173864e+00] [-4.91312621e-03 -1.00143321e-04 9.99987926e-01 -5.47470985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:-1.94, Z:-0.55 [[ 9.98438927e-01 5.56381129e-02 4.91014860e-03 6.29190435e+01] [-5.56378109e-02 9.98450998e-01 -1.98188271e-04 -1.94149379e+00] [-4.91356959e-03 -7.53110350e-05 9.99987926e-01 -5.48247220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:-1.94, Z:-0.55 [[ 9.98575089e-01 5.31383351e-02 4.91014860e-03 6.29785490e+01] [-5.31380029e-02 9.98587159e-01 -1.98188271e-04 -1.94236248e+00] [-4.91374273e-03 -6.30096206e-05 9.99987926e-01 -5.50845599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:-1.94, Z:-0.55 [[ 9.98673595e-01 5.12536916e-02 4.91015094e-03 6.30390735e+01] [-5.12533369e-02 9.98685664e-01 -1.98130407e-04 -1.94209463e+00] [-4.91385226e-03 -5.37940141e-05 9.99987926e-01 -5.53127164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.94, Z:-0.55 [[ 9.98668956e-01 5.13440018e-02 4.91015094e-03 6.30986324e+01] [-5.13436481e-02 9.98681025e-01 -1.98130407e-04 -1.94270564e+00] [-4.91384738e-03 -5.42383751e-05 9.99987926e-01 -5.54058728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.16, Y:-1.94, Z:-0.55 [[ 9.98553969e-01 5.35337431e-02 4.91015322e-03 6.31582713e+01] [-5.35334163e-02 9.98566039e-01 -1.98073832e-04 -1.94169896e+00] [-4.91371588e-03 -6.50698646e-05 9.99987926e-01 -5.52758142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:-1.94, Z:-0.55 [[ 9.98399725e-01 5.63371917e-02 4.91015547e-03 6.32179474e+01] [-5.63368989e-02 9.98411796e-01 -1.98017916e-04 -1.94073938e+00] [-4.91351292e-03 -7.89218993e-05 9.99987926e-01 -5.51906485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:-1.94, Z:-0.56 [[ 9.98252593e-01 5.88867580e-02 4.91015995e-03 6.32777612e+01] [-5.88864967e-02 9.98264665e-01 -1.97906857e-04 -1.93853232e+00] [-4.91329327e-03 -9.15810847e-05 9.99987926e-01 -5.58621306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.93, Z:-0.56 [[ 9.98070092e-01 6.19030008e-02 4.91016440e-03 6.33369527e+01] [-6.19027765e-02 9.98082165e-01 -1.97796275e-04 -1.93410346e+00] [-4.91299170e-03 -1.06538263e-04 9.99987926e-01 -5.55984055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.40, Y:-1.93, Z:-0.56 [[ 9.98011594e-01 6.28390660e-02 4.91017381e-03 6.33955221e+01] [-6.28388542e-02 9.98023667e-01 -1.97562380e-04 -1.93122019e+00] [-4.91288431e-03 -1.11380151e-04 9.99987926e-01 -5.58599095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:63.46, Y:-1.93, Z:-0.56 [[ 9.98114071e-01 6.11897995e-02 4.91017869e-03 6.34550463e+01] [-6.11895683e-02 9.98126143e-01 -1.97441086e-04 -1.92888412e+00] [-4.91305910e-03 -1.03382988e-04 9.99987926e-01 -5.60289188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.52, Y:-1.93, Z:-0.55 [[ 9.98238668e-01 5.91223478e-02 4.91018347e-03 6.35151396e+01] [-5.91220921e-02 9.98250740e-01 -1.97322229e-04 -1.92828976e+00] [-4.91326043e-03 -9.33256408e-05 9.99987926e-01 -5.54466796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.57, Y:-1.92, Z:-0.55 [[ 9.98403105e-01 5.62772587e-02 4.91018830e-03 6.35739417e+01] [-5.62769693e-02 9.98415176e-01 -1.97201812e-04 -1.92490118e+00] [-4.91350450e-03 -7.94436148e-05 9.99987926e-01 -5.53319619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.63, Y:-1.93, Z:-0.55 [[ 9.98540856e-01 5.37777805e-02 4.91019318e-03 6.36327684e+01] [-5.37774615e-02 9.98552926e-01 -1.97080391e-04 -1.92535172e+00] [-4.91368631e-03 -6.72649016e-05 9.99987926e-01 -5.53940373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28587155999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:63.69, Y:-1.92, Z:-0.56 [[ 9.98627629e-01 5.21416177e-02 4.91020330e-03 6.36914103e+01] [-5.21412801e-02 9.98639699e-01 -1.96827792e-04 -1.92439768e+00] [-4.91378687e-03 -5.94666146e-05 9.99987926e-01 -5.57059812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.75, Y:-1.92, Z:-0.56 [[ 9.98701512e-01 5.07067924e-02 4.91021335e-03 6.37497500e+01] [-5.07064387e-02 9.98713582e-01 -1.96576748e-04 -1.92001897e+00] [-4.91386454e-03 -5.26579373e-05 9.99987926e-01 -5.56304983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:63.81, Y:-1.92, Z:-0.56 [[ 9.98694951e-01 5.08358643e-02 4.91022581e-03 6.38090418e+01] [-5.08355137e-02 9.98707020e-01 -1.96265055e-04 -1.91887040e+00] [-4.91385429e-03 -5.36049316e-05 9.99987926e-01 -5.59029086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.87, Y:-1.92, Z:-0.56 [[ 9.98722247e-01 5.02967463e-02 4.91023548e-03 6.38669350e+01] [-5.02963904e-02 9.98734316e-01 -1.96022922e-04 -1.91697985e+00] [-4.91387999e-03 -5.11946672e-05 9.99987926e-01 -5.59899835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.93, Y:-1.92, Z:-0.56 [[ 9.98800868e-01 4.87105209e-02 4.91024742e-03 6.39257228e+01] [-4.87101473e-02 9.98812937e-01 -1.95723450e-04 -1.91581900e+00] [-4.91395243e-03 -4.36901233e-05 9.99987926e-01 -5.60773688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:-1.92, Z:-0.56 [[ 9.98916542e-01 4.62777598e-02 4.91025665e-03 6.39857869e+01] [-4.62773579e-02 9.98928610e-01 -1.95491580e-04 -1.91581206e+00] [-4.91404276e-03 -3.19539315e-05 9.99987926e-01 -5.58633671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.92, Z:-0.56 [[ 9.99030032e-01 4.37593831e-02 4.91026571e-03 6.40444445e+01] [-4.37589520e-02 9.99042099e-01 -1.95263787e-04 -1.91697046e+00] [-4.91410678e-03 -1.97936935e-05 9.99987926e-01 -5.56035091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.92, Z:-0.56 [[ 9.99168827e-01 4.04665876e-02 4.91027535e-03 6.41043039e+01] [-4.04661179e-02 9.99180892e-01 -1.95021054e-04 -1.91707087e+00] [-4.91414514e-03 -3.84082356e-06 9.99987926e-01 -5.58586338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:-1.92, Z:-0.56 [[ 9.99282299e-01 3.75603053e-02 4.91028007e-03 6.41631673e+01] [-3.75598011e-02 9.99294363e-01 -1.94901965e-04 -1.91779948e+00] [-4.91413577e-03 1.03329414e-05 9.99987926e-01 -5.56360049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.22, Y:-1.92, Z:-0.56 [[ 9.99391817e-01 3.45236890e-02 4.91028475e-03 6.42231454e+01] [-3.45231486e-02 9.99403879e-01 -1.94784161e-04 -1.92119333e+00] [-4.91408229e-03 2.51472068e-05 9.99987926e-01 -5.56629160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.28, Y:-1.92, Z:-0.56 [[ 9.99491064e-01 3.15198710e-02 4.91028959e-03 6.42820134e+01] [-3.15192950e-02 9.99503125e-01 -1.94661946e-04 -1.92352377e+00] [-4.91398551e-03 3.97940090e-05 9.99987926e-01 -5.58048535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:-1.93, Z:-0.56 [[ 9.99585654e-01 2.83621274e-02 4.91029430e-03 6.43414625e+01] [-2.83615139e-02 9.99597712e-01 -1.94543010e-04 -1.92622512e+00] [-4.91383661e-03 5.51990210e-05 9.99987926e-01 -5.59462930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.40, Y:-1.93, Z:-0.56 [[ 9.99608652e-01 2.75396380e-02 4.91029658e-03 6.44021814e+01] [-2.75390148e-02 9.99620710e-01 -1.94485423e-04 -1.93251987e+00] [-4.91379022e-03 5.91845812e-05 9.99987926e-01 -5.57596105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:64.46, Y:-1.94, Z:-0.56 [[ 9.99632271e-01 2.66685469e-02 4.91029658e-03 6.44613895e+01] [-2.66679133e-02 9.99644329e-01 -1.94485423e-04 -1.93663162e+00] [-4.91373678e-03 6.34665419e-05 9.99987926e-01 -5.60202040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:-1.95, Z:-0.56 [[ 9.99632472e-01 2.66610019e-02 4.91029909e-03 6.45219384e+01] [-2.66603685e-02 9.99644530e-01 -1.94422064e-04 -1.94527499e+00] [-4.91373712e-03 6.34402253e-05 9.99987926e-01 -5.56637919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:-1.95, Z:-0.56 [[ 9.99629313e-01 2.67791814e-02 4.91029909e-03 6.45816592e+01] [-2.67785494e-02 9.99641371e-01 -1.94422064e-04 -1.95206901e+00] [-4.91374458e-03 6.28593074e-05 9.99987926e-01 -5.58592467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:-1.96, Z:-0.56 [[ 9.99519279e-01 3.06120856e-02 4.91030157e-03 6.46408031e+01] [-3.06115001e-02 9.99531339e-01 -1.94359483e-04 -1.95927617e+00] [-4.91395005e-03 4.39543534e-05 9.99987926e-01 -5.58961217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:-1.96, Z:-0.56 [[ 9.99365299e-01 3.52829628e-02 4.91030402e-03 6.47005717e+01] [-3.52824340e-02 9.99377362e-01 -1.94297648e-04 -1.96496839e+00] [-4.91410207e-03 2.09268494e-05 9.99987926e-01 -5.57707095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:-1.97, Z:-0.56 [[ 9.99040832e-01 4.35121343e-02 4.91030865e-03 6.47601055e+01] [-4.35117055e-02 9.99052898e-01 -1.94180446e-04 -1.97127151e+00] [-4.91410730e-03 -1.96617095e-05 9.99987926e-01 -5.57973212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42587155999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:-1.98, Z:-0.56 [[ 9.98888694e-01 4.68749999e-02 4.91031340e-03 6.48189844e+01] [-4.68746123e-02 9.98900762e-01 -1.94060364e-04 -1.97522923e+00] [-4.91401238e-03 -3.63243331e-05 9.99987926e-01 -5.60714642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:-1.98, Z:-0.56 [[ 9.98837927e-01 4.79446042e-02 4.91032046e-03 6.48780594e+01] [-4.79442303e-02 9.98849995e-01 -1.93881401e-04 -1.98135116e+00] [-4.91396914e-03 -4.17654392e-05 9.99987926e-01 -5.61529327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:-1.99, Z:-0.56 [[ 9.98834049e-01 4.80253154e-02 4.91032282e-03 6.49365699e+01] [-4.80249428e-02 9.98846118e-01 -1.93821650e-04 -1.98865050e+00] [-4.91396523e-03 -4.22223098e-05 9.99987926e-01 -5.62600593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.00, Y:-1.99, Z:-0.57 [[ 9.98805280e-01 4.86199691e-02 4.91032989e-03 6.49962514e+01] [-4.86196046e-02 9.98817349e-01 -1.93642301e-04 -1.99359132e+00] [-4.91393757e-03 -4.53273448e-05 9.99987926e-01 -5.66027343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:65.06, Y:-2.00, Z:-0.56 [[ 9.98773283e-01 4.92728879e-02 4.91033453e-03 6.50553415e+01] [-4.92725318e-02 9.98785352e-01 -1.93524745e-04 -1.99840049e+00] [-4.91390572e-03 -4.86572699e-05 9.99987926e-01 -5.63549675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:-2.00, Z:-0.56 [[ 9.98736112e-01 5.00206711e-02 4.91033701e-03 6.51141777e+01] [-5.00203244e-02 9.98748181e-01 -1.93461650e-04 -2.00172644e+00] [-4.91386724e-03 -5.23995146e-05 9.99987926e-01 -5.61156835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:-2.01, Z:-0.56 [[ 9.98745131e-01 4.98402542e-02 4.91034447e-03 6.51741059e+01] [-4.98399063e-02 9.98757201e-01 -1.93272260e-04 -2.00700106e+00] [-4.91387464e-03 -5.17013796e-05 9.99987926e-01 -5.58194640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:-2.01, Z:-0.56 [[ 9.98895119e-01 4.67378914e-02 4.91034953e-03 6.52335512e+01] [-4.67375066e-02 9.98907187e-01 -1.93143518e-04 -2.01344603e+00] [-4.91401056e-03 -3.65673765e-05 9.99987926e-01 -5.63089675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:-2.02, Z:-0.57 [[ 9.99039449e-01 4.35438710e-02 4.91035201e-03 6.52928238e+01] [-4.35434479e-02 9.99051516e-01 -1.93080488e-04 -2.01865858e+00] [-4.91410209e-03 -2.09186332e-05 9.99987926e-01 -5.65638707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:-2.02, Z:-0.57 [[ 9.99179992e-01 4.01899520e-02 4.91035430e-03 6.53527998e+01] [-4.01894887e-02 9.99192057e-01 -1.93022324e-04 -2.02479774e+00] [-4.91414457e-03 -4.48058489e-06 9.99987926e-01 -5.65533757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:-2.03, Z:-0.56 [[ 9.99136590e-01 4.12548501e-02 4.91035430e-03 6.54133436e+01] [-4.12543997e-02 9.99148656e-01 -1.93022324e-04 -2.02988964e+00] [-4.91413700e-03 -9.71805275e-06 9.99987926e-01 -5.64261939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:-2.03, Z:-0.57 [[ 9.98998988e-01 4.44624662e-02 4.91035198e-03 6.54734613e+01] [-4.44620542e-02 9.99011055e-01 -1.93081298e-04 -2.03228247e+00] [-4.91408078e-03 -2.54363150e-05 9.99987926e-01 -5.66119855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:-2.04, Z:-0.57 [[ 9.98831847e-01 4.80710936e-02 4.91035198e-03 6.55328145e+01] [-4.80707253e-02 9.98843916e-01 -1.93081298e-04 -2.03649160e+00] [-4.91395683e-03 -4.31884317e-05 9.99987926e-01 -5.69675359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.59, Y:-2.04, Z:-0.57 [[ 9.98762333e-01 4.94943444e-02 4.91035432e-03 6.55931621e+01] [-4.94939935e-02 9.98774403e-01 -1.93021753e-04 -2.03890185e+00] [-4.91388969e-03 -5.02501882e-05 9.99987926e-01 -5.66957118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.65, Y:-2.04, Z:-0.57 [[ 9.98750143e-01 4.97397329e-02 4.91035432e-03 6.56530062e+01] [-4.97393850e-02 9.98762212e-01 -1.93021753e-04 -2.04240997e+00] [-4.91387719e-03 -5.14575005e-05 9.99987926e-01 -5.66791572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:-2.05, Z:-0.57 [[ 9.98837742e-01 4.79484494e-02 4.91035432e-03 6.57138742e+01] [-4.79480799e-02 9.98849811e-01 -1.93021753e-04 -2.04621368e+00] [-4.91396158e-03 -4.26446489e-05 9.99987926e-01 -5.66282372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38587156 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:65.77, Y:-2.05, Z:-0.57 [[ 9.98902932e-01 4.65705943e-02 4.91034953e-03 6.57738489e+01] [-4.65702075e-02 9.98915001e-01 -1.93143447e-04 -2.05219880e+00] [-4.91401661e-03 -3.57444414e-05 9.99987926e-01 -5.66996009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.83, Y:-2.06, Z:-0.57 [[ 9.98899971e-01 4.66340618e-02 4.91034953e-03 6.58344165e+01] [-4.66336758e-02 9.98912040e-01 -1.93143447e-04 -2.05605448e+00] [-4.91401433e-03 -3.60566646e-05 9.99987926e-01 -5.66922868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.06, Z:-0.57 [[ 9.98843773e-01 4.78226486e-02 4.91034953e-03 6.58941571e+01] [-4.78222770e-02 9.98855842e-01 -1.93143447e-04 -2.05989957e+00] [-4.91396795e-03 -4.19039661e-05 9.99987926e-01 -5.68914401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.95, Y:-2.06, Z:-0.57 [[ 9.98772325e-01 4.92923080e-02 4.91034717e-03 6.59543518e+01] [-4.92919538e-02 9.98784394e-01 -1.93203446e-04 -2.06332847e+00] [-4.91390157e-03 -4.90743513e-05 9.99987926e-01 -5.67041760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.01, Y:-2.07, Z:-0.57 [[ 9.98639994e-01 5.19042460e-02 4.91034643e-03 6.60148117e+01] [-5.19039233e-02 9.98652064e-01 -1.93222266e-04 -2.06656217e+00] [-4.91375666e-03 -6.19067614e-05 9.99987926e-01 -5.66306216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:-2.07, Z:-0.57 [[ 9.98532709e-01 5.39288103e-02 4.91034643e-03 6.60745907e+01] [-5.39285120e-02 9.98544780e-01 -1.93222266e-04 -2.07031177e+00] [-4.91362104e-03 -7.18689233e-05 9.99987926e-01 -5.69607410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.13, Y:-2.07, Z:-0.57 [[ 9.98514639e-01 5.42623601e-02 4.91034643e-03 6.61347088e+01] [-5.42620658e-02 9.98526710e-01 -1.93222266e-04 -2.07207504e+00] [-4.91359676e-03 -7.35102797e-05 9.99987926e-01 -5.68227464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.19, Y:-2.07, Z:-0.57 [[ 9.98680758e-01 5.11139075e-02 4.91034643e-03 6.61944304e+01] [-5.11135752e-02 9.98692828e-01 -1.93222266e-04 -2.07453521e+00] [-4.91380411e-03 -5.80180019e-05 9.99987926e-01 -5.68109710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.25, Y:-2.08, Z:-0.57 [[ 9.98915661e-01 4.62967640e-02 4.91034872e-03 6.62548189e+01] [-4.62963738e-02 9.98927729e-01 -1.93164175e-04 -2.07894217e+00] [-4.91402637e-03 -3.43766201e-05 9.99987926e-01 -5.69882681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:-2.09, Z:-0.57 [[ 9.99263850e-01 3.80479378e-02 4.91034872e-03 6.63155100e+01] [-3.80474480e-02 9.99275915e-01 -1.93164175e-04 -2.08679435e+00] [-4.91414270e-03 6.19574013e-06 9.99987926e-01 -5.70744557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.38, Y:-2.10, Z:-0.57 [[ 9.99463583e-01 3.23795329e-02 4.91034402e-03 6.63769938e+01] [-3.23789741e-02 9.99475645e-01 -1.93283491e-04 -2.09611500e+00] [-4.91402768e-03 3.41879088e-05 9.99987926e-01 -5.67227974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.44, Y:-2.11, Z:-0.57 [[ 9.99518683e-01 3.06315377e-02 4.91033407e-03 6.64375644e+01] [-3.06309565e-02 9.99530743e-01 -1.93535922e-04 -2.10504645e+00] [-4.91395817e-03 4.30345404e-05 9.99987926e-01 -5.72166807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:-2.11, Z:-0.57 [[ 9.99449703e-01 3.28051782e-02 4.91030164e-03 6.64996215e+01] [-3.28046192e-02 9.99461765e-01 -1.94355311e-04 -2.11460154e+00] [-4.91403460e-03 3.31677826e-05 9.99987926e-01 -5.73009010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:-2.12, Z:-0.57 [[ 9.99329283e-01 3.62887624e-02 4.91026917e-03 6.65604514e+01] [-3.62882414e-02 9.99341346e-01 -1.95172241e-04 -2.11883196e+00] [-4.91411756e-03 1.68563024e-05 9.99987926e-01 -5.74451224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:-2.12, Z:-0.57 [[ 9.99075375e-01 4.27116405e-02 4.91023914e-03 6.66211741e+01] [-4.27111934e-02 9.99087441e-01 -1.95924698e-04 -2.12478154e+00] [-4.91412653e-03 -1.39786329e-05 9.99987926e-01 -5.72279259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:-2.13, Z:-0.57 [[ 9.98724881e-01 5.02444104e-02 4.91023435e-03 6.66817742e+01] [-5.02440537e-02 9.98736951e-01 -1.96044757e-04 -2.13143223e+00] [-4.91388263e-03 -5.09153019e-05 9.99987926e-01 -5.74128512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:-2.13, Z:-0.58 [[ 9.98442072e-01 5.55816390e-02 4.91022959e-03 6.67424109e+01] [-5.55813463e-02 9.98454143e-01 -1.96163841e-04 -2.13460534e+00] [-4.91354219e-03 -7.70589397e-05 9.99987926e-01 -5.75828969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.80, Y:-2.14, Z:-0.58 [[ 9.98251339e-01 5.89080178e-02 4.91019980e-03 6.68034961e+01] [-5.89077617e-02 9.98263411e-01 -1.96906718e-04 -2.13609083e+00] [-4.91327218e-03 -9.26864846e-05 9.99987926e-01 -5.77270681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.14, Z:-0.58 [[ 9.98184127e-01 6.00361413e-02 4.91019534e-03 6.68645691e+01] [-6.00358982e-02 9.98196199e-01 -1.97017776e-04 -2.13785345e+00] [-4.91316652e-03 -9.81279710e-05 9.99987926e-01 -5.77159890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:-2.14, Z:-0.58 [[ 9.98323577e-01 5.76708404e-02 4.91019062e-03 6.69262989e+01] [-5.76705682e-02 9.98335648e-01 -1.97135517e-04 -2.14047586e+00] [-4.91338730e-03 -8.63684487e-05 9.99987926e-01 -5.77207889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:-2.14, Z:-0.58 [[ 9.98453266e-01 5.53801981e-02 4.91018593e-03 6.69878616e+01] [-5.53798976e-02 9.98465336e-01 -1.97252090e-04 -2.14179389e+00] [-4.91357431e-03 -7.49786006e-05 9.99987926e-01 -5.75086314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:-2.14, Z:-0.57 [[ 9.98602583e-01 5.26191228e-02 4.91018122e-03 6.70492062e+01] [-5.26187883e-02 9.98614652e-01 -1.97369401e-04 -2.14339709e+00] [-4.91376432e-03 -6.12741930e-05 9.99987926e-01 -5.73218525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70587155999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-2.14, Z:-0.57 [[ 9.98865283e-01 4.73712702e-02 4.91015073e-03 6.71103263e+01] [-4.73708685e-02 9.98877351e-01 -1.98125142e-04 -2.14494185e+00] [-4.91402379e-03 -3.46977789e-05 9.99987926e-01 -5.73113138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:-2.15, Z:-0.57 [[ 9.99008892e-01 4.42394034e-02 4.91012076e-03 6.71728218e+01] [-4.42389603e-02 9.99020958e-01 -1.98864922e-04 -2.14769336e+00] [-4.91411122e-03 -1.85508122e-05 9.99987926e-01 -5.72763023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.23, Y:-2.15, Z:-0.57 [[ 9.99257966e-01 3.82022033e-02 4.91008877e-03 6.72348029e+01] [-3.82016835e-02 9.99270029e-01 -1.99651816e-04 -2.15035736e+00] [-4.91413169e-03 1.19300105e-05 9.99987926e-01 -5.70638056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:-2.16, Z:-0.57 [[ 9.99453253e-01 3.26968787e-02 4.91005466e-03 6.72963935e+01] [-3.26962883e-02 9.99465313e-01 -2.00487215e-04 -2.15565806e+00] [-4.91398462e-03 3.98370367e-05 9.99987926e-01 -5.73598161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:-2.16, Z:-0.58 [[ 9.99596058e-01 2.79930903e-02 4.91002300e-03 6.73570072e+01] [-2.79924394e-02 9.99608115e-01 -2.01259467e-04 -2.16302378e+00] [-4.91373271e-03 6.37346489e-05 9.99987926e-01 -5.75324031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.42, Y:-2.17, Z:-0.57 [[ 9.99588965e-01 2.82452257e-02 4.90999389e-03 6.74185757e+01] [-2.82445744e-02 9.99601022e-01 -2.01967266e-04 -2.16954501e+00] [-4.91373952e-03 6.32035634e-05 9.99987926e-01 -5.74818167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:-2.18, Z:-0.58 [[ 9.99543732e-01 2.98030213e-02 4.90996279e-03 6.74807906e+01] [-2.98023850e-02 9.99555790e-01 -2.02720542e-04 -2.17672125e+00] [-4.91382342e-03 5.62994461e-05 9.99987926e-01 -5.76957052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12587156 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:-2.19, Z:-0.58 [[ 9.99503211e-01 3.11323598e-02 4.90992960e-03 6.75427974e+01] [-3.11317356e-02 9.99515269e-01 -2.03521111e-04 -2.18512534e+00] [-4.91388570e-03 5.05653741e-05 9.99987926e-01 -5.76140425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:-2.19, Z:-0.57 [[ 9.99410617e-01 3.39751681e-02 4.90989879e-03 6.76055957e+01] [-3.39745746e-02 9.99422677e-01 -2.04261669e-04 -2.19488125e+00] [-4.91400402e-03 3.73295577e-05 9.99987926e-01 -5.74155413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:-2.20, Z:-0.58 [[ 9.99329749e-01 3.62759718e-02 4.90986095e-03 6.76675443e+01] [-3.62754016e-02 9.99341810e-01 -2.05167266e-04 -2.20229664e+00] [-4.91407197e-03 2.69225748e-05 9.99987926e-01 -5.76035991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:-2.21, Z:-0.58 [[ 9.99211156e-01 3.94076049e-02 4.90982727e-03 6.77287279e+01] [-3.94070685e-02 9.99223219e-01 -2.05970152e-04 -2.21087120e+00] [-4.91413020e-03 1.23257738e-05 9.99987926e-01 -5.78303054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:-2.22, Z:-0.58 [[ 9.99108497e-01 4.19297744e-02 4.90979613e-03 6.77919928e+01] [-4.19292649e-02 9.99120560e-01 -2.06709680e-04 -2.21724287e+00] [-4.91414556e-03 6.61255222e-07 9.99987926e-01 -5.76082336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42587155999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:-2.22, Z:-0.58 [[ 9.99038904e-01 4.35564361e-02 4.90975543e-03 6.78530042e+01] [-4.35559415e-02 9.99050968e-01 -2.07672045e-04 -2.22024355e+00] [-4.91414137e-03 -6.37656782e-06 9.99987926e-01 -5.77315138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:67.92, Y:-2.23, Z:-0.58 [[ 9.98765981e-01 4.94207329e-02 4.90972267e-03 6.79156511e+01] [-4.94203053e-02 9.98778048e-01 -2.08443665e-04 -2.22525036e+00] [-4.91402466e-03 -3.44535519e-05 9.99987926e-01 -5.75588778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:-2.23, Z:-0.58 [[ 9.98555538e-01 5.35045106e-02 4.90968276e-03 6.79774843e+01] [-5.35041278e-02 9.98567606e-01 -2.09379576e-04 -2.22811265e+00] [-4.91385291e-03 -5.36111584e-05 9.99987926e-01 -5.75471367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:-2.23, Z:-0.58 [[ 9.98531433e-01 5.39525025e-02 4.90965808e-03 6.80395109e+01] [-5.39521223e-02 9.98543502e-01 -2.09956605e-04 -2.23207780e+00] [-4.91383485e-03 -5.52382033e-05 9.99987926e-01 -5.77311092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-2.23, Z:-0.58 [[ 9.98678231e-01 5.11633397e-02 4.90962341e-03 6.81020303e+01] [-5.11629217e-02 9.98690298e-01 -2.10764143e-04 -2.23296021e+00] [-4.91397667e-03 -4.07051173e-05 9.99987926e-01 -5.78451283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:-2.24, Z:-0.58 [[ 9.98912919e-01 4.63559687e-02 4.90959823e-03 6.81644909e+01] [-4.63554899e-02 9.98924984e-01 -2.11349042e-04 -2.23665040e+00] [-4.91411763e-03 -1.64675425e-05 9.99987926e-01 -5.78818278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:-2.24, Z:-0.58 [[ 9.99069441e-01 4.28503050e-02 4.90956289e-03 6.82271702e+01] [-4.28497798e-02 9.99081504e-01 -2.12166847e-04 -2.24001681e+00] [-4.91414489e-03 1.59572408e-06 9.99987926e-01 -5.78475748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:-2.24, Z:-0.58 [[ 9.99304803e-01 3.69568374e-02 4.90952112e-03 6.82887036e+01] [-3.69562363e-02 9.99316862e-01 -2.13129166e-04 -2.24409079e+00] [-4.91404382e-03 3.15435762e-05 9.99987926e-01 -5.79456610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:-2.25, Z:-0.58 [[ 9.99495896e-01 3.13663993e-02 4.90949533e-03 6.83513198e+01] [-3.13657279e-02 9.99507952e-01 -2.13721602e-04 -2.24914036e+00] [-4.91378330e-03 5.96239693e-05 9.99987926e-01 -5.78537599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.41, Y:-2.26, Z:-0.58 [[ 9.99585982e-01 2.83506847e-02 4.90945249e-03 6.84128614e+01] [-2.83499721e-02 9.99598036e-01 -2.14701158e-04 -2.25517801e+00] [-4.91356599e-03 7.54294272e-05 9.99987926e-01 -5.80996783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.26, Z:-0.58 [[ 9.99622378e-01 2.70369964e-02 4.90941278e-03 6.84751931e+01] [-2.70362635e-02 9.99634430e-01 -2.15605404e-04 -2.26236059e+00] [-4.91344737e-03 8.27918090e-05 9.99987926e-01 -5.81612447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.27, Z:-0.58 [[ 9.99550633e-01 2.95707519e-02 4.90937699e-03 6.85378588e+01] [-2.95700455e-02 9.99562687e-01 -2.16417273e-04 -2.26880482e+00] [-4.91362968e-03 7.11495216e-05 9.99987926e-01 -5.81422295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.27, Z:-0.58 [[ 9.99263351e-01 3.80611911e-02 4.90933623e-03 6.85994473e+01] [-3.80605827e-02 9.99275410e-01 -2.17337882e-04 -2.27371540e+00] [-4.91405112e-03 3.03255823e-05 9.99987926e-01 -5.78842710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.66, Y:-2.28, Z:-0.58 [[ 9.98805295e-01 4.86197547e-02 4.90929926e-03 6.86611363e+01] [-4.86192697e-02 9.98817360e-01 -2.18169755e-04 -2.27748327e+00] [-4.91410069e-03 -2.07774381e-05 9.99987926e-01 -5.80652028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:-2.28, Z:-0.58 [[ 9.98506477e-01 5.44124400e-02 4.90925959e-03 6.87245768e+01] [-5.44120206e-02 9.98518545e-01 -2.19058958e-04 -2.28029768e+00] [-4.91390627e-03 -4.83909456e-05 9.99987926e-01 -5.80987068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:-2.28, Z:-0.58 [[ 9.98176438e-01 6.01639334e-02 4.90921906e-03 6.87878097e+01] [-6.01635791e-02 9.98188507e-01 -2.19963494e-04 -2.28212432e+00] [-4.91355991e-03 -7.57938120e-05 9.99987926e-01 -5.80779154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:-2.28, Z:-0.58 [[ 9.97938403e-01 6.39909706e-02 4.90917732e-03 6.88512170e+01] [-6.39906580e-02 9.97950473e-01 -2.20891021e-04 -2.28217361e+00] [-4.91325086e-03 -9.37058541e-05 9.99987926e-01 -5.79998892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.91, Y:-2.28, Z:-0.58 [[ 9.97795316e-01 6.61846430e-02 4.90913414e-03 6.89127907e+01] [-6.61843522e-02 9.97807387e-01 -2.21846675e-04 -2.28223455e+00] [-4.91305315e-03 -1.03550289e-04 9.99987926e-01 -5.81659939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.98, Y:-2.28, Z:-0.58 [[ 9.97684047e-01 6.78413054e-02 4.90909399e-03 6.89764373e+01] [-6.78410303e-02 9.97696119e-01 -2.22731623e-04 -2.27969528e+00] [-4.91289442e-03 -1.10822207e-04 9.99987926e-01 -5.81603356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:-2.28, Z:-0.58 [[ 9.97749168e-01 6.68767510e-02 4.90905092e-03 6.90387313e+01] [-6.68764596e-02 9.97761239e-01 -2.23676719e-04 -2.27795381e+00] [-4.91301950e-03 -1.05126686e-04 9.99987926e-01 -5.83159214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:-2.27, Z:-0.59 [[ 9.98057799e-01 6.21009766e-02 4.90901089e-03 6.91001571e+01] [-6.21006231e-02 9.98069868e-01 -2.24552008e-04 -2.27363359e+00] [-4.91348075e-03 -8.07367523e-05 9.99987926e-01 -5.86150245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:-2.27, Z:-0.59 [[ 9.98566990e-01 5.32904079e-02 4.90897713e-03 6.91625486e+01] [-5.32899443e-02 9.98579056e-01 -2.25287506e-04 -2.27356131e+00] [-4.91400741e-03 -3.66344506e-05 9.99987926e-01 -5.85718664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:-2.28, Z:-0.59 [[ 9.98922457e-01 4.61500554e-02 4.90893840e-03 6.92250162e+01] [-4.61495014e-02 9.98934519e-01 -2.26128392e-04 -2.27543005e+00] [-4.91414385e-03 -6.60330904e-07 9.99987926e-01 -5.89399077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:-2.28, Z:-0.59 [[ 9.99350019e-01 3.57133360e-02 4.90889440e-03 6.92883808e+01] [-3.57126514e-02 9.99362074e-01 -2.27079578e-04 -2.27717561e+00] [-4.91387265e-03 5.16223463e-05 9.99987926e-01 -5.89587014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:-2.28, Z:-0.59 [[ 9.99634512e-01 2.65846784e-02 4.90885135e-03 6.93499831e+01] [-2.65838792e-02 9.99646560e-01 -2.28006361e-04 -2.28022258e+00] [-4.91317784e-03 9.74267161e-05 9.99987926e-01 -5.87988803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.41, Y:-2.29, Z:-0.59 [[ 9.99741649e-01 2.21932067e-02 4.90883066e-03 6.94114795e+01] [-2.21923523e-02 9.99753693e-01 -2.28450836e-04 -2.28677230e+00] [-4.91269164e-03 1.19453316e-04 9.99987926e-01 -5.85684216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:-2.29, Z:-0.59 [[ 9.99741627e-01 2.21942092e-02 4.90879289e-03 6.94747913e+01] [-2.21933509e-02 9.99753671e-01 -2.29259689e-04 -2.28899104e+00] [-4.91267195e-03 1.20257891e-04 9.99987926e-01 -5.85247703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:-2.29, Z:-0.58 [[ 9.99707987e-01 2.36610242e-02 4.90874947e-03 6.95378274e+01] [-2.36601790e-02 9.99720032e-01 -2.30185465e-04 -2.29140231e+00] [-4.91282161e-03 1.13976356e-04 9.99987926e-01 -5.84714578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:-2.30, Z:-0.59 [[ 9.99638791e-01 2.64233341e-02 4.90870453e-03 6.95992475e+01] [-2.64225176e-02 9.99650838e-01 -2.31139985e-04 -2.29716375e+00] [-4.91309808e-03 1.01356164e-04 9.99987926e-01 -5.85877346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:-2.30, Z:-0.59 [[ 9.99570239e-01 2.89005426e-02 4.90866270e-03 6.96620284e+01] [-2.88997515e-02 9.99582288e-01 -2.32024855e-04 -2.30254591e+00] [-4.91331794e-03 9.00660076e-05 9.99987926e-01 -5.85668524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:-2.30, Z:-0.58 [[ 9.99519007e-01 3.06212440e-02 4.90861900e-03 6.97247006e+01] [-3.06204692e-02 9.99531056e-01 -2.32945631e-04 -2.30476678e+00] [-4.91345022e-03 8.25293693e-05 9.99987926e-01 -5.84475478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.79, Y:-2.31, Z:-0.58 [[ 9.99469910e-01 3.21839181e-02 4.90857500e-03 6.97860905e+01] [-3.21831575e-02 9.99481961e-01 -2.33869253e-04 -2.30933018e+00] [-4.91355899e-03 7.57718391e-05 9.99987926e-01 -5.82716363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:-2.31, Z:-0.58 [[ 9.99438905e-01 3.31327878e-02 4.90853962e-03 6.98490476e+01] [-3.31320351e-02 9.99450956e-01 -2.34609349e-04 -2.31466615e+00] [-4.91361788e-03 7.18478040e-05 9.99987926e-01 -5.81380811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:-2.32, Z:-0.59 [[ 9.99404720e-01 3.41483930e-02 4.90849622e-03 6.99113677e+01] [-3.41476480e-02 9.99416771e-01 -2.35514044e-04 -2.31842202e+00] [-4.91367587e-03 6.77602463e-05 9.99987926e-01 -5.85062004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.32, Z:-0.59 [[ 9.99304569e-01 3.69632917e-02 4.90845796e-03 6.99740006e+01] [-3.69625769e-02 9.99316623e-01 -2.36308670e-04 -2.32039859e+00] [-4.91383838e-03 5.47150795e-05 9.99987926e-01 -5.87755896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.04, Y:-2.32, Z:-0.59 [[ 9.99212965e-01 3.93618889e-02 4.90844349e-03 7.00359578e+01] [-3.93612015e-02 9.99225020e-01 -2.36608811e-04 -2.32370583e+00] [-4.91395291e-03 4.32203583e-05 9.99987926e-01 -5.89075614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:70.10, Y:-2.32, Z:-0.59 [[ 9.99033966e-01 4.36696896e-02 4.90841476e-03 7.00989010e+01] [-4.36690512e-02 9.99046024e-01 -2.37203309e-04 -2.32289310e+00] [-4.91409085e-03 2.26283470e-05 9.99987926e-01 -5.89160624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.16, Y:-2.32, Z:-0.59 [[ 9.98867936e-01 4.73154694e-02 4.90836749e-03 7.01605218e+01] [-4.73148703e-02 9.98879996e-01 -2.38177421e-04 -2.32204440e+00] [-4.91413958e-03 5.66901772e-06 9.99987926e-01 -5.90305003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.22, Y:-2.32, Z:-0.59 [[ 9.98790431e-01 4.89242552e-02 4.90832633e-03 7.02222589e+01] [-4.89236714e-02 9.98802492e-01 -2.39022759e-04 -2.32310415e+00] [-4.91414258e-03 -1.39969930e-06 9.99987926e-01 -5.86310484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:70.28, Y:-2.32, Z:-0.59 [[ 9.98751445e-01 4.97137848e-02 4.90828864e-03 7.02848165e+01] [-4.97132067e-02 9.98763505e-01 -2.39794264e-04 -2.31980037e+00] [-4.91414064e-03 -4.51189964e-06 9.99987926e-01 -5.86753894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:-2.32, Z:-0.59 [[ 9.98746261e-01 4.98178212e-02 4.90824805e-03 7.03459789e+01] [-4.98172403e-02 9.98758321e-01 -2.40622132e-04 -2.31774170e+00] [-4.91414086e-03 -4.19491798e-06 9.99987926e-01 -5.87516878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.32, Z:-0.59 [[ 9.98787662e-01 4.89807723e-02 4.90821076e-03 7.04069440e+01] [-4.89801776e-02 9.98799722e-01 -2.41380424e-04 -2.31520133e+00] [-4.91414254e-03 6.82754994e-07 9.99987926e-01 -5.87584173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.31, Z:-0.59 [[ 9.98843685e-01 4.78246993e-02 4.90817385e-03 7.04697465e+01] [-4.78240869e-02 9.98855744e-01 -2.42128626e-04 -2.31057142e+00] [-4.91413737e-03 7.11971671e-06 9.99987926e-01 -5.89671287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.53, Y:-2.31, Z:-0.59 [[ 9.99009251e-01 4.42315032e-02 4.90813402e-03 7.05307882e+01] [-4.42308435e-02 9.99021308e-01 -2.42933270e-04 -2.30626503e+00] [-4.91407577e-03 2.56016758e-05 9.99987926e-01 -5.90200233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06587155999999 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:70.59, Y:-2.31, Z:-0.59 [[ 9.99125887e-01 4.15135140e-02 4.90809734e-03 7.05932019e+01] [-4.15128178e-02 9.99137942e-01 -2.43672091e-04 -2.30590683e+00] [-4.91398196e-03 3.97101432e-05 9.99987926e-01 -5.91650458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:70.66, Y:-2.30, Z:-0.59 [[ 9.99253406e-01 3.83215468e-02 4.90805795e-03 7.06553107e+01] [-3.83208082e-02 9.99265458e-01 -2.44463042e-04 -2.30455229e+00] [-4.91382097e-03 5.61997805e-05 9.99987926e-01 -5.92082704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.72, Y:-2.31, Z:-0.59 [[ 9.99327842e-01 3.63287233e-02 4.90801754e-03 7.07170648e+01] [-3.63279567e-02 9.99339892e-01 -2.45271523e-04 -2.30683272e+00] [-4.91368812e-03 6.68084129e-05 9.99987926e-01 -5.91307621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.78, Y:-2.31, Z:-0.59 [[ 9.99441892e-01 3.30426464e-02 4.90801181e-03 7.07796426e+01] [-3.30418396e-02 9.99453939e-01 -2.45386103e-04 -2.30715288e+00] [-4.91343995e-03 8.30794117e-05 9.99987926e-01 -5.90102606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.84, Y:-2.31, Z:-0.59 [[ 9.99548829e-01 2.96319250e-02 4.90797192e-03 7.08414984e+01] [-2.96310733e-02 9.99560873e-01 -2.46181470e-04 -2.31070349e+00] [-4.91311153e-03 1.00641924e-04 9.99987926e-01 -5.88842815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.90, Y:-2.32, Z:-0.59 [[ 9.99569089e-01 2.89404364e-02 4.90792991e-03 7.09022044e+01] [-2.89395722e-02 9.99581132e-01 -2.47016070e-04 -2.31503805e+00] [-4.91302289e-03 1.04876236e-04 9.99987926e-01 -5.89544222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.96, Y:-2.32, Z:-0.59 [[ 9.99509805e-01 3.09202493e-02 4.90789119e-03 7.09638921e+01] [-3.09194052e-02 9.99521850e-01 -2.47783151e-04 -2.32016314e+00] [-4.91320600e-03 9.59126126e-05 9.99987926e-01 -5.90238938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.02, Y:-2.32, Z:-0.59 [[ 9.99286167e-01 3.74575803e-02 4.90785021e-03 7.10247788e+01] [-3.74568110e-02 9.99298217e-01 -2.48592090e-04 -2.32250593e+00] [-4.91371762e-03 6.45822189e-05 9.99987926e-01 -5.89443448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.09, Y:-2.32, Z:-0.59 [[ 9.98959167e-01 4.53486063e-02 4.90784420e-03 7.10850913e+01] [-4.53479317e-02 9.98971222e-01 -2.48710761e-04 -2.32258580e+00] [-4.91407381e-03 2.58913108e-05 9.99987926e-01 -5.92213518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.15, Y:-2.32, Z:-0.59 [[ 9.98713322e-01 5.04738843e-02 4.90784122e-03 7.11466144e+01] [-5.04732712e-02 9.98725381e-01 -2.48769613e-04 -2.32241131e+00] [-4.91414196e-03 7.34726396e-07 9.99987926e-01 -5.92328231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:-2.32, Z:-0.60 [[ 9.98407901e-01 5.61923122e-02 4.90783521e-03 7.12070433e+01] [-5.61917677e-02 9.98419963e-01 -2.48888023e-04 -2.32243772e+00] [-4.91406624e-03 -2.72881671e-05 9.99987926e-01 -5.95575468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.32, Z:-0.60 [[ 9.98336839e-01 5.74410053e-02 4.90783223e-03 7.12675222e+01] [-5.74404755e-02 9.98348902e-01 -2.48946768e-04 -2.31823858e+00] [-4.91402867e-03 -3.33754875e-05 9.99987926e-01 -5.95612938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.32, Z:-0.60 [[ 9.98440835e-01 5.56040664e-02 4.90783223e-03 7.13276932e+01] [-5.56035144e-02 9.98452897e-01 -2.48946768e-04 -2.31692806e+00] [-4.91408176e-03 -2.43341014e-05 9.99987926e-01 -5.95692996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.32, Z:-0.60 [[ 9.98533435e-01 5.39155954e-02 4.90783223e-03 7.13884007e+01] [-5.39150230e-02 9.98545496e-01 -2.48946768e-04 -2.31559700e+00] [-4.91411588e-03 -1.60242160e-05 9.99987926e-01 -5.96290019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:-2.31, Z:-0.60 [[ 9.98610267e-01 5.24733041e-02 4.90783223e-03 7.14490603e+01] [-5.24727143e-02 9.98622327e-01 -2.48946768e-04 -2.31093649e+00] [-4.91413390e-03 -8.92647993e-06 9.99987926e-01 -5.97691529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.51, Y:-2.31, Z:-0.60 [[ 9.98622882e-01 5.22326726e-02 4.90783223e-03 7.15092587e+01] [-5.22320799e-02 9.98634942e-01 -2.48946768e-04 -2.30776086e+00] [-4.91413591e-03 -7.74234618e-06 9.99987926e-01 -5.99941601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.57, Y:-2.30, Z:-0.60 [[ 9.98662336e-01 5.14728297e-02 4.90783516e-03 7.15689421e+01] [-5.14722281e-02 9.98674395e-01 -2.48889036e-04 -2.30438739e+00] [-4.91414033e-03 -4.06110504e-06 9.99987926e-01 -6.00021184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.63, Y:-2.30, Z:-0.60 [[ 9.98807231e-01 4.85801210e-02 4.90784100e-03 7.16293253e+01] [-4.85794851e-02 9.98819289e-01 -2.48773785e-04 -2.30149148e+00] [-4.91413172e-03 1.00566661e-05 9.99987926e-01 -5.98726893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.69, Y:-2.30, Z:-0.60 [[ 9.98941010e-01 4.57468220e-02 4.90784100e-03 7.16888200e+01] [-4.57461519e-02 9.98953066e-01 -2.48773785e-04 -2.29901524e+00] [-4.91408342e-03 2.39954957e-05 9.99987926e-01 -5.98848404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.75, Y:-2.30, Z:-0.60 [[ 9.98990240e-01 4.46588517e-02 4.90784397e-03 7.17481726e+01] [-4.46581687e-02 9.99002295e-01 -2.48715210e-04 -2.29968468e+00] [-4.91405473e-03 2.92887433e-05 9.99987926e-01 -5.97552215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.81, Y:-2.30, Z:-0.60 [[ 9.99151310e-01 4.08970915e-02 4.90785005e-03 7.18068912e+01] [-4.08963637e-02 9.99163363e-01 -2.48595153e-04 -2.29646151e+00] [-4.91391078e-03 4.76709525e-05 9.99987926e-01 -5.98741356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.87, Y:-2.30, Z:-0.60 [[ 9.99251868e-01 3.83616750e-02 4.90785909e-03 7.18662172e+01] [-3.83609175e-02 9.99263918e-01 -2.48416611e-04 -2.29590818e+00] [-4.91377618e-03 5.99607847e-05 9.99987926e-01 -6.00178811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:-2.30, Z:-0.60 [[ 9.99344790e-01 3.58595052e-02 4.90785571e-03 7.19258787e+01] [-3.58587172e-02 9.99356839e-01 -2.48483369e-04 -2.29536917e+00] [-4.91360965e-03 7.23311500e-05 9.99987926e-01 -5.99216273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:-2.29, Z:-0.60 [[ 9.99352190e-01 3.56526632e-02 4.90786169e-03 7.19853567e+01] [-3.56518733e-02 9.99364239e-01 -2.48365215e-04 -2.29347704e+00] [-4.91359634e-03 7.32298585e-05 9.99987926e-01 -6.00953967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:-2.29, Z:-0.60 [[ 9.99300815e-01 3.70647275e-02 4.90786464e-03 7.20457016e+01] [-3.70639550e-02 9.99312865e-01 -2.48306922e-04 -2.29150302e+00] [-4.91369570e-03 6.62284356e-05 9.99987926e-01 -5.99873212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:-2.29, Z:-0.60 [[ 9.99299697e-01 3.70948566e-02 4.90786754e-03 7.21059240e+01] [-3.70940847e-02 9.99311747e-01 -2.48249425e-04 -2.29139451e+00] [-4.91369847e-03 6.60227210e-05 9.99987926e-01 -5.98728683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:-2.29, Z:-0.60 [[ 9.99410835e-01 3.39690500e-02 4.90787343e-03 7.21654489e+01] [-3.39682410e-02 9.99422882e-01 -2.48132992e-04 -2.29100672e+00] [-4.91346985e-03 8.12749736e-05 9.99987926e-01 -5.99965029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:-2.30, Z:-0.60 [[ 9.99574496e-01 2.87530987e-02 4.90787634e-03 7.22259682e+01] [-2.87522271e-02 9.99586538e-01 -2.48075482e-04 -2.29587445e+00] [-4.91298006e-03 1.06857550e-04 9.99987926e-01 -5.99607651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:72.29, Y:-2.30, Z:-0.60 [[ 9.99668416e-01 2.52778539e-02 4.90787634e-03 7.22863586e+01] [-2.52769404e-02 9.99680456e-01 -2.48075482e-04 -2.29987223e+00] [-4.91257887e-03 1.23937127e-04 9.99987926e-01 -6.02351800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.35, Y:-2.30, Z:-0.60 [[ 9.99678492e-01 2.48762164e-02 4.90787634e-03 7.23454626e+01] [-2.48752981e-02 9.99690531e-01 -2.48075482e-04 -2.30431381e+00] [-4.91252868e-03 1.25910837e-04 9.99987926e-01 -6.03007310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.41, Y:-2.31, Z:-0.60 [[ 9.99614486e-01 2.73274855e-02 4.90787925e-03 7.24055351e+01] [-2.73265970e-02 9.99626528e-01 -2.48017765e-04 -2.30924476e+00] [-4.91282400e-03 1.13806513e-04 9.99987926e-01 -6.02232701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.47, Y:-2.31, Z:-0.60 [[ 9.99468114e-01 3.22397531e-02 4.90787925e-03 7.24661159e+01] [-3.22389238e-02 9.99480160e-01 -2.48017765e-04 -2.31464277e+00] [-4.91332397e-03 8.96611028e-05 9.99987926e-01 -6.02613618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.53, Y:-2.32, Z:-0.60 [[ 9.99320301e-01 3.65355729e-02 4.90787925e-03 7.25266422e+01] [-3.65347954e-02 9.99332351e-01 -2.48017765e-04 -2.31755170e+00] [-4.91366398e-03 6.85408234e-05 9.99987926e-01 -6.03703193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:-2.32, Z:-0.60 [[ 9.99073240e-01 4.27618279e-02 4.90787925e-03 7.25856375e+01] [-4.27611255e-02 9.99085294e-01 -2.48017765e-04 -2.32168242e+00] [-4.91399568e-03 3.79214716e-05 9.99987926e-01 -6.04486451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:-2.32, Z:-0.60 [[ 9.98897244e-01 4.66927121e-02 4.90788824e-03 7.26454882e+01] [-4.66920579e-02 9.98909300e-01 -2.47839818e-04 -2.32477719e+00] [-4.91410752e-03 1.84071090e-05 9.99987926e-01 -6.02458259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.70, Y:-2.33, Z:-0.60 [[ 9.98432798e-01 5.57481861e-02 4.90789406e-03 7.27036060e+01] [-5.57476418e-02 9.98444860e-01 -2.47724605e-04 -2.32822657e+00] [-4.91407179e-03 -2.62671493e-05 9.99987926e-01 -6.00611645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.76, Y:-2.33, Z:-0.60 [[ 9.98068569e-01 6.19277313e-02 4.90789240e-03 7.27628807e+01] [-6.19272616e-02 9.98080634e-01 -2.47757388e-04 -2.32974224e+00] [-4.91381541e-03 -5.66534749e-05 9.99987926e-01 -6.00361692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:-2.33, Z:-0.60 [[ 9.97430895e-01 7.14669372e-02 4.90790360e-03 7.28219624e+01] [-7.14665840e-02 9.97442964e-01 -2.47535305e-04 -2.32824822e+00] [-4.91304451e-03 -1.03851744e-04 9.99987926e-01 -6.01396537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:-2.33, Z:-0.60 [[ 9.96973379e-01 7.75886242e-02 4.90791510e-03 7.28795260e+01] [-7.75883462e-02 9.96985450e-01 -2.47307046e-04 -2.32517500e+00] [-4.91230816e-03 -1.34238475e-04 9.99987926e-01 -6.01220097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:-2.32, Z:-0.60 [[ 9.96914269e-01 7.83444464e-02 4.90793226e-03 7.29384496e+01] [-7.83441792e-02 9.96926341e-01 -2.46966048e-04 -2.32025971e+00] [-4.91219537e-03 -1.38303948e-04 9.99987926e-01 -6.00500029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.00, Y:-2.32, Z:-0.60 [[ 9.97193573e-01 7.47053503e-02 4.90794367e-03 7.29979241e+01] [-7.47050402e-02 9.97205644e-01 -2.46739059e-04 -2.31694702e+00] [-4.91266186e-03 -1.20601526e-04 9.99987926e-01 -6.01980820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:-2.32, Z:-0.60 [[ 9.97450205e-01 7.11969118e-02 4.90795498e-03 7.30567094e+01] [-7.11965603e-02 9.97462274e-01 -2.46513874e-04 -2.31567101e+00] [-4.91305097e-03 -1.03544199e-04 9.99987926e-01 -6.01256145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.12, Y:-2.31, Z:-0.60 [[ 9.97803613e-01 6.60595343e-02 4.90796616e-03 7.31159311e+01] [-6.60591217e-02 9.97815680e-01 -2.46291211e-04 -2.31178845e+00] [-4.91351547e-03 -7.84656733e-05 9.99987926e-01 -6.02456841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:-2.31, Z:-0.60 [[ 9.97956613e-01 6.37064345e-02 4.90797751e-03 7.31751124e+01] [-6.37059946e-02 9.97968680e-01 -2.46064821e-04 -2.30965011e+00] [-4.91368375e-03 -6.71055734e-05 9.99987926e-01 -6.03740995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.23, Y:-2.30, Z:-0.61 [[ 9.98123673e-01 6.10331550e-02 4.90798947e-03 7.32337240e+01] [-6.10326840e-02 9.98135738e-01 -2.45825948e-04 -2.30418313e+00] [-4.91384323e-03 -5.41830724e-05 9.99987926e-01 -6.06099162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.29, Y:-2.30, Z:-0.61 [[ 9.98275092e-01 5.85042903e-02 4.90800426e-03 7.32925048e+01] [-5.85037902e-02 9.98287156e-01 -2.45530279e-04 -2.29931567e+00] [-4.91396219e-03 -4.20300895e-05 9.99987926e-01 -6.05774280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:-2.29, Z:-0.61 [[ 9.98501411e-01 5.45054367e-02 4.90801584e-03 7.33511255e+01] [-5.45048894e-02 9.98513474e-01 -2.45298644e-04 -2.29161461e+00] [-4.91409006e-03 -2.25798181e-05 9.99987926e-01 -6.08392977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:-2.29, Z:-0.61 [[ 9.98820727e-01 4.83018267e-02 4.90802996e-03 7.34089646e+01] [-4.83012058e-02 9.98832786e-01 -2.45015888e-04 -2.28873865e+00] [-4.91413595e-03 7.66318210e-06 9.99987926e-01 -6.10631988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-2.29, Z:-0.61 [[ 9.99157536e-01 4.07446789e-02 4.90804462e-03 7.34682628e+01] [-4.07439684e-02 9.99169590e-01 -2.44721868e-04 -2.28697206e+00] [-4.91394004e-03 4.45424838e-05 9.99987926e-01 -6.07017410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:-2.29, Z:-0.61 [[ 9.99345714e-01 3.58337089e-02 4.90805630e-03 7.35271504e+01] [-3.58329402e-02 9.99357764e-01 -2.44487286e-04 -2.28826626e+00] [-4.91366506e-03 6.84572330e-05 9.99987926e-01 -6.07147600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:-2.29, Z:-0.61 [[ 9.99509639e-01 3.09256021e-02 4.90806784e-03 7.35845030e+01] [-3.09247754e-02 9.99521685e-01 -2.44255374e-04 -2.29060963e+00] [-4.91327399e-03 9.23547051e-05 9.99987926e-01 -6.05706690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.64, Y:-2.29, Z:-0.61 [[ 9.99546483e-01 2.97109292e-02 4.90808199e-03 7.36441599e+01] [-2.97100893e-02 9.99558528e-01 -2.43970706e-04 -2.29372352e+00] [-4.91316381e-03 9.80405071e-05 9.99987926e-01 -6.06532916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:-2.30, Z:-0.61 [[ 9.99593031e-01 2.81013078e-02 4.90808762e-03 7.37040367e+01] [-2.81004490e-02 9.99605075e-01 -2.43857512e-04 -2.29792512e+00] [-4.91300200e-03 1.05838803e-04 9.99987926e-01 -6.09052771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.76, Y:-2.30, Z:-0.61 [[ 9.99582644e-01 2.84683734e-02 4.90809319e-03 7.37632458e+01] [-2.84675196e-02 9.99594688e-01 -2.43745275e-04 -2.30249087e+00] [-4.91304292e-03 1.03922307e-04 9.99987926e-01 -6.09938840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:73.82, Y:-2.31, Z:-0.61 [[ 9.99545100e-01 2.97574269e-02 4.90809873e-03 7.38225428e+01] [-2.97565892e-02 9.99557145e-01 -2.43633780e-04 -2.30646990e+00] [-4.91317506e-03 9.74746736e-05 9.99987926e-01 -6.12456047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.88, Y:-2.31, Z:-0.61 [[ 9.99392573e-01 3.45020993e-02 4.90810437e-03 7.38799731e+01] [-3.45013194e-02 9.99404623e-01 -2.43520092e-04 -2.31117822e+00] [-4.91358415e-03 7.40360948e-05 9.99987926e-01 -6.12340380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:-2.32, Z:-0.61 [[ 9.99155849e-01 4.07860221e-02 4.90811937e-03 7.39376203e+01] [-4.07853194e-02 9.99167903e-01 -2.43217414e-04 -2.31516901e+00] [-4.91395521e-03 4.28328856e-05 9.99987926e-01 -6.14166354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:-2.32, Z:-0.61 [[ 9.98894941e-01 4.67419143e-02 4.90813275e-03 7.39968089e+01] [-4.67412848e-02 9.98906999e-01 -2.42947046e-04 -2.31884267e+00] [-4.91412397e-03 1.32661441e-05 9.99987926e-01 -6.12478184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.06, Y:-2.32, Z:-0.61 [[ 9.98761712e-01 4.95071024e-02 4.90814431e-03 7.40554865e+01] [-4.95065074e-02 9.98773772e-01 -2.42713166e-04 -2.32154142e+00] [-4.91414183e-03 -5.72466111e-07 9.99987926e-01 -6.12886741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:-2.32, Z:-0.61 [[ 9.98639148e-01 5.19207360e-02 4.90815581e-03 7.41142086e+01] [-5.19201713e-02 9.98651209e-01 -2.42480475e-04 -2.32220422e+00] [-4.91412550e-03 -1.26817955e-05 9.99987926e-01 -6.12655483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:-2.32, Z:-0.61 [[ 9.98579627e-01 5.30531614e-02 4.90816739e-03 7.41717548e+01] [-5.30526115e-02 9.98591689e-01 -2.42245888e-04 -2.32365033e+00] [-4.91410707e-03 -1.84892895e-05 9.99987926e-01 -6.09965040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.23, Y:-2.32, Z:-0.61 [[ 9.98550255e-01 5.36031486e-02 4.90818171e-03 7.42302815e+01] [-5.36026068e-02 9.98562318e-01 -2.41955453e-04 -2.32444220e+00] [-4.91409487e-03 -2.14866549e-05 9.99987926e-01 -6.10048023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.29, Y:-2.32, Z:-0.61 [[ 9.98600608e-01 5.26567637e-02 4.90819310e-03 7.42881503e+01] [-5.26562117e-02 9.98612670e-01 -2.41724033e-04 -2.32476412e+00] [-4.91411223e-03 -1.70610883e-05 9.99987926e-01 -6.10642305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.35, Y:-2.33, Z:-0.61 [[ 9.98825143e-01 4.82104126e-02 4.90820844e-03 7.43465580e+01] [-4.82098083e-02 9.98837202e-01 -2.41412169e-04 -2.32512560e+00] [-4.91413977e-03 4.50475535e-06 9.99987926e-01 -6.11335584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.41, Y:-2.33, Z:-0.61 [[ 9.99088105e-01 4.24130715e-02 4.90821982e-03 7.44054337e+01] [-4.24123985e-02 9.99100160e-01 -2.41180683e-04 -2.32730499e+00] [-4.91403242e-03 3.27913771e-05 9.99987926e-01 -6.11616054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.46, Y:-2.33, Z:-0.61 [[ 9.99237550e-01 3.87327773e-02 4.90823118e-03 7.44637093e+01] [-3.87320609e-02 9.99249603e-01 -2.40949118e-04 -2.33045516e+00] [-4.91388069e-03 5.06594967e-05 9.99987926e-01 -6.12007284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.52, Y:-2.33, Z:-0.61 [[ 9.99271378e-01 3.78499937e-02 4.90824250e-03 7.45230401e+01] [-3.78492678e-02 9.99283431e-01 -2.40718304e-04 -2.33134713e+00] [-4.91383660e-03 5.47695261e-05 9.99987926e-01 -6.11691578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:74.58, Y:-2.33, Z:-0.61 [[ 9.99279206e-01 3.76427597e-02 4.90825381e-03 7.45815049e+01] [-3.76420325e-02 9.99291259e-01 -2.40487648e-04 -2.33258336e+00] [-4.91382774e-03 5.55576569e-05 9.99987926e-01 -6.14045709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.64, Y:-2.34, Z:-0.61 [[ 9.99259347e-01 3.81662985e-02 4.90826509e-03 7.46402653e+01] [-3.81655787e-02 9.99271400e-01 -2.40257056e-04 -2.33726781e+00] [-4.91385865e-03 5.27523308e-05 9.99987926e-01 -6.11261090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.70, Y:-2.34, Z:-0.61 [[ 9.99226208e-01 3.90242719e-02 4.90827634e-03 7.46991437e+01] [-3.90235636e-02 9.99238262e-01 -2.40027145e-04 -2.33967829e+00] [-4.91390440e-03 4.83029803e-05 9.99987926e-01 -6.10156187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:-2.34, Z:-0.61 [[ 9.99148711e-01 4.09604936e-02 4.90828773e-03 7.47576786e+01] [-4.09598098e-02 9.99160766e-01 -2.39793961e-04 -2.34180437e+00] [-4.91399061e-03 3.85472953e-05 9.99987926e-01 -6.10763527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.82, Y:-2.34, Z:-0.61 [[ 9.99056183e-01 4.31584391e-02 4.90829907e-03 7.48164220e+01] [-4.31577830e-02 9.99068240e-01 -2.39561700e-04 -2.34440366e+00] [-4.91406482e-03 2.75042915e-05 9.99987926e-01 -6.14019932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:-2.35, Z:-0.62 [[ 9.98951793e-01 4.55107022e-02 4.90831044e-03 7.48750128e+01] [-4.55100756e-02 9.98963851e-01 -2.39328514e-04 -2.34586756e+00] [-4.91411670e-03 1.57000694e-05 9.99987926e-01 -6.16434681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.93, Y:-2.35, Z:-0.62 [[ 9.98870492e-01 4.72614867e-02 4.90832169e-03 7.49336665e+01] [-4.72608824e-02 9.98882552e-01 -2.39097569e-04 -2.34782514e+00] [-4.91413700e-03 6.85589212e-06 9.99987926e-01 -6.15659617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.99, Y:-2.35, Z:-0.62 [[ 9.98794079e-01 4.88497240e-02 4.90833284e-03 7.49910343e+01] [-4.88491400e-02 9.98806140e-01 -2.38868413e-04 -2.34985706e+00] [-4.91414163e-03 -1.18748191e-06 9.99987926e-01 -6.15667172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.05, Y:-2.35, Z:-0.61 [[ 9.98841616e-01 4.78678770e-02 4.90834667e-03 7.50502155e+01] [-4.78672826e-02 9.98853676e-01 -2.38583885e-04 -2.35285201e+00] [-4.91414062e-03 3.35829630e-06 9.99987926e-01 -6.13321434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.11, Y:-2.35, Z:-0.62 [[ 9.98951151e-01 4.55247853e-02 4.90835805e-03 7.51081860e+01] [-4.55241637e-02 9.98963209e-01 -2.38349502e-04 -2.35491736e+00] [-4.91411992e-03 1.46506146e-05 9.99987926e-01 -6.15369743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.17, Y:-2.36, Z:-0.62 [[ 9.99089434e-01 4.23817189e-02 4.90837205e-03 7.51664486e+01] [-4.23810607e-02 9.99101491e-01 -2.38060803e-04 -2.35848126e+00] [-4.91405126e-03 2.98220188e-05 9.99987926e-01 -6.15163319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:-2.36, Z:-0.62 [[ 9.99226029e-01 3.90288494e-02 4.90838317e-03 7.52238724e+01] [-3.90281519e-02 9.99238083e-01 -2.37831361e-04 -2.36421808e+00] [-4.91392567e-03 4.60821628e-05 9.99987926e-01 -6.18250989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80587156 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:-2.37, Z:-0.62 [[ 9.99245680e-01 3.85224347e-02 4.90839691e-03 7.52823881e+01] [-3.85217326e-02 9.99257734e-01 -2.37547508e-04 -2.36909215e+00] [-4.91390448e-03 4.82883678e-05 9.99987926e-01 -6.19408298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-2.37, Z:-0.62 [[ 9.99221249e-01 3.91510410e-02 4.90840798e-03 7.53411569e+01] [-3.91503475e-02 9.99233303e-01 -2.37318489e-04 -2.37368641e+00] [-4.91393598e-03 4.49677987e-05 9.99987926e-01 -6.18674630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92587155999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:-2.38, Z:-0.62 [[ 9.99121642e-01 4.16155336e-02 4.90841900e-03 7.53985345e+01] [-4.16148710e-02 9.99133698e-01 -2.37090331e-04 -2.37713354e+00] [-4.91403347e-03 3.26188572e-05 9.99987926e-01 -6.21024253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:-2.38, Z:-0.62 [[ 9.99066113e-01 4.29279501e-02 4.90843262e-03 7.54574823e+01] [-4.29273047e-02 9.99078170e-01 -2.36808049e-04 -2.38227366e+00] [-4.91407356e-03 2.58811141e-05 9.99987926e-01 -6.18887033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:-2.39, Z:-0.62 [[ 9.99017381e-01 4.40474607e-02 4.90844375e-03 7.55148323e+01] [-4.40468300e-02 9.99029439e-01 -2.36577097e-04 -2.38531613e+00] [-4.91410043e-03 2.01432451e-05 9.99987926e-01 -6.21499579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:-2.39, Z:-0.62 [[ 9.98889417e-01 4.68597884e-02 4.90845747e-03 7.55732310e+01] [-4.68591930e-02 9.98901477e-01 -2.36292077e-04 -2.38909478e+00] [-4.91413801e-03 6.02329895e-06 9.99987926e-01 -6.22728089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.63, Y:-2.39, Z:-0.62 [[ 9.98838253e-01 4.79379891e-02 4.90846832e-03 7.56311466e+01] [-4.79374079e-02 9.98850314e-01 -2.36066535e-04 -2.39328492e+00] [-4.91414167e-03 4.93037116e-07 9.99987926e-01 -6.24298251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.69, Y:-2.40, Z:-0.62 [[ 9.98889153e-01 4.68654191e-02 4.90848167e-03 7.56899920e+01] [-4.68648263e-02 9.98901213e-01 -2.35788571e-04 -2.39856831e+00] [-4.91413862e-03 5.49150475e-06 9.99987926e-01 -6.23054207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:-2.40, Z:-0.63 [[ 9.98932157e-01 4.59396574e-02 4.90849286e-03 7.57478668e+01] [-4.59390545e-02 9.98944217e-01 -2.35555457e-04 -2.40316631e+00] [-4.91413189e-03 9.81240013e-06 9.99987926e-01 -6.26426385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:-2.41, Z:-0.62 [[ 9.99032800e-01 4.36963604e-02 4.90850733e-03 7.58062694e+01] [-4.36957320e-02 9.99044858e-01 -2.35253568e-04 -2.40883764e+00] [-4.91409873e-03 2.05452103e-05 9.99987926e-01 -6.24534074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:-2.41, Z:-0.62 [[ 9.99123850e-01 4.15624601e-02 4.90851837e-03 7.58635902e+01] [-4.15618070e-02 9.99135907e-01 -2.35022885e-04 -2.41445783e+00] [-4.91404509e-03 3.08100761e-05 9.99987926e-01 -6.24357156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:-2.42, Z:-0.62 [[ 9.99177471e-01 4.02527945e-02 4.90853200e-03 7.59217819e+01] [-4.02521270e-02 9.99189527e-01 -2.34737841e-04 -2.41971083e+00] [-4.91400263e-03 3.69659090e-05 9.99987926e-01 -6.24170157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:-2.43, Z:-0.62 [[ 9.99204630e-01 3.95728975e-02 4.90854303e-03 7.59789578e+01] [-3.95722230e-02 9.99216685e-01 -2.34506949e-04 -2.42727393e+00] [-4.91397822e-03 4.00784701e-05 9.99987926e-01 -6.22872883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:-2.43, Z:-0.62 [[ 9.99210961e-01 3.94126948e-02 4.90855664e-03 7.60378917e+01] [-3.94120197e-02 9.99223017e-01 -2.34221748e-04 -2.43302092e+00] [-4.91397409e-03 4.05808071e-05 9.99987926e-01 -6.19716530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:-2.44, Z:-0.62 [[ 9.99207920e-01 3.94897245e-02 4.90856793e-03 7.60958489e+01] [-3.94890515e-02 9.99219976e-01 -2.33984980e-04 -2.43982377e+00] [-4.91397913e-03 3.99649540e-05 9.99987926e-01 -6.21309968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:-2.44, Z:-0.62 [[ 9.99188302e-01 3.99830407e-02 4.90858190e-03 7.61549564e+01] [-3.99823751e-02 9.99200358e-01 -2.33691521e-04 -2.44448898e+00] [-4.91400049e-03 3.72450715e-05 9.99987926e-01 -6.22308202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:-2.45, Z:-0.62 [[ 9.99168800e-01 4.04674635e-02 4.90859288e-03 7.62140423e+01] [-4.04668049e-02 9.99180856e-01 -2.33460642e-04 -2.45028630e+00] [-4.91401960e-03 3.46315194e-05 9.99987926e-01 -6.22631118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.27, Y:-2.46, Z:-0.62 [[ 9.99189910e-01 3.99428167e-02 4.90860410e-03 7.62723610e+01] [-3.99421529e-02 9.99201967e-01 -2.33224592e-04 -2.45609316e+00] [-4.91400251e-03 3.69754440e-05 9.99987926e-01 -6.24552402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:-2.46, Z:-0.63 [[ 9.99218563e-01 3.92195009e-02 4.90860997e-03 7.63311188e+01] [-3.92188290e-02 9.99230619e-01 -2.33100859e-04 -2.46061687e+00] [-4.91397548e-03 4.04087698e-05 9.99987926e-01 -6.27121997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.39, Y:-2.47, Z:-0.63 [[ 9.99281193e-01 3.75899165e-02 4.90861816e-03 7.63908565e+01] [-3.75892258e-02 9.99293248e-01 -2.32928361e-04 -2.46831447e+00] [-4.91390474e-03 4.82497744e-05 9.99987926e-01 -6.25235505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:-2.48, Z:-0.62 [[ 9.99394635e-01 3.44422590e-02 4.90862373e-03 7.64498985e+01] [-3.44415309e-02 9.99406687e-01 -2.32810812e-04 -2.47611131e+00] [-4.91372992e-03 6.36093608e-05 9.99987926e-01 -6.24234209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06587155999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:-2.48, Z:-0.62 [[ 9.99492221e-01 3.14834307e-02 4.90862924e-03 7.65094879e+01] [-3.14826675e-02 9.99504271e-01 -2.32694605e-04 -2.48464164e+00] [-4.91352192e-03 7.80397046e-05 9.99987926e-01 -6.23745156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.57, Y:-2.50, Z:-0.63 [[ 9.99580800e-01 2.85329670e-02 4.90863475e-03 7.65681216e+01] [-2.85321688e-02 9.99592848e-01 -2.32578356e-04 -2.49527378e+00] [-4.91327234e-03 9.24268641e-05 9.99987926e-01 -6.25924055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.63, Y:-2.51, Z:-0.62 [[ 9.99646224e-01 2.61406308e-02 4.90863748e-03 7.66282794e+01] [-2.61398040e-02 9.99658270e-01 -2.32520789e-04 -2.50507354e+00] [-4.91303829e-03 1.04127708e-04 9.99987926e-01 -6.19642138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.69, Y:-2.51, Z:-0.62 [[ 9.99635090e-01 2.65629808e-02 4.90863748e-03 7.66873333e+01] [-2.65621591e-02 9.99647137e-01 -2.32520789e-04 -2.51450802e+00] [-4.91308184e-03 1.02051931e-04 9.99987926e-01 -6.23864799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.75, Y:-2.53, Z:-0.62 [[ 9.99559667e-01 2.92639150e-02 4.90864034e-03 7.67460765e+01] [-2.92631262e-02 9.99571716e-01 -2.32460427e-04 -2.52592911e+00] [-4.91334075e-03 8.87159056e-05 9.99987926e-01 -6.22565720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.81, Y:-2.54, Z:-0.63 [[ 9.99450336e-01 3.27861435e-02 4.90864314e-03 7.68054037e+01] [-3.27853975e-02 9.99462387e-01 -2.32401242e-04 -2.53563418e+00] [-4.91362373e-03 7.13416835e-05 9.99987926e-01 -6.25254952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.87, Y:-2.54, Z:-0.62 [[ 9.99229630e-01 3.89365133e-02 4.90864594e-03 7.68651986e+01] [-3.89358417e-02 9.99241686e-01 -2.32342027e-04 -2.54408301e+00] [-4.91397023e-03 4.10407762e-05 9.99987926e-01 -6.24238596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.92, Y:-2.55, Z:-0.63 [[ 9.98984931e-01 4.47773681e-02 4.90865144e-03 7.69244247e+01] [-4.47767676e-02 9.98996991e-01 -2.32225859e-04 -2.55312183e+00] [-4.91412648e-03 1.21965887e-05 9.99987926e-01 -6.25503976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:76.98, Y:-2.56, Z:-0.63 [[ 9.98752990e-01 4.96827015e-02 4.90865416e-03 7.69834380e+01] [-4.96821604e-02 9.98765052e-01 -2.32168236e-04 -2.56134381e+00] [-4.91412697e-03 -1.19938237e-05 9.99987926e-01 -6.30720781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.04, Y:-2.57, Z:-0.63 [[ 9.98634798e-01 5.20042719e-02 4.90865957e-03 7.70431319e+01] [-5.20037595e-02 9.98646862e-01 -2.32053748e-04 -2.56556894e+00] [-4.91408527e-03 -2.35318040e-05 9.99987926e-01 -6.25796178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.10, Y:-2.57, Z:-0.63 [[ 9.98521429e-01 5.41374312e-02 4.90866234e-03 7.71025171e+01] [-5.41369449e-02 9.98533493e-01 -2.31995264e-04 -2.57116181e+00] [-4.91402338e-03 -3.40877401e-05 9.99987926e-01 -6.26449822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.16, Y:-2.58, Z:-0.63 [[ 9.98494273e-01 5.46359996e-02 4.90866790e-03 7.71616761e+01] [-5.46355199e-02 9.98506338e-01 -2.31877457e-04 -2.57699670e+00] [-4.91400487e-03 -3.66593101e-05 9.99987926e-01 -6.26728317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.22, Y:-2.58, Z:-0.63 [[ 9.98503507e-01 5.44669832e-02 4.90867342e-03 7.72213454e+01] [-5.44665020e-02 9.98515571e-01 -2.31760680e-04 -2.58161626e+00] [-4.91401015e-03 -3.59444190e-05 9.99987926e-01 -6.28773919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.28, Y:-2.59, Z:-0.62 [[ 9.98553658e-01 5.35396729e-02 4.90867052e-03 7.72811426e+01] [-5.35391802e-02 9.98565723e-01 -2.31822002e-04 -2.58635583e+00] [-4.91404180e-03 -3.13194877e-05 9.99987926e-01 -6.24516106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.34, Y:-2.59, Z:-0.63 [[ 9.98601653e-01 5.26369005e-02 4.90867353e-03 7.73404582e+01] [-5.26363972e-02 9.98613717e-01 -2.31758303e-04 -2.59087428e+00] [-4.91406776e-03 -2.69406650e-05 9.99987926e-01 -6.27366898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.40, Y:-2.60, Z:-0.63 [[ 9.98749390e-01 4.97550099e-02 4.90867654e-03 7.74011122e+01] [-4.97544721e-02 9.98761452e-01 -2.31694568e-04 -2.59742211e+00] [-4.91412487e-03 -1.28238008e-05 9.99987926e-01 -6.25758654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:-2.60, Z:-0.62 [[ 9.98796664e-01 4.87968218e-02 4.90867654e-03 7.74609413e+01] [-4.87962724e-02 9.98808725e-01 -2.31694568e-04 -2.60300402e+00] [-4.91413491e-03 -8.10935575e-06 9.99987926e-01 -6.24445286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:-2.61, Z:-0.62 [[ 9.98797755e-01 4.87744677e-02 4.90867654e-03 7.75212068e+01] [-4.87739180e-02 9.98809817e-01 -2.31694568e-04 -2.61010749e+00] [-4.91413509e-03 -7.99937217e-06 9.99987926e-01 -6.23277171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:-2.62, Z:-0.62 [[ 9.98799591e-01 4.87368613e-02 4.90867654e-03 7.75812169e+01] [-4.87363112e-02 9.98811653e-01 -2.31694568e-04 -2.61556810e+00] [-4.91413539e-03 -7.81434721e-06 9.99987926e-01 -6.24565686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.64, Y:-2.62, Z:-0.63 [[ 9.98816914e-01 4.83805540e-02 4.90867372e-03 7.76418280e+01] [-4.83799993e-02 9.98828975e-01 -2.31754268e-04 -2.62276917e+00] [-4.91413794e-03 -6.00154821e-06 9.99987926e-01 -6.26049597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.70, Y:-2.63, Z:-0.62 [[ 9.98783397e-01 4.90676125e-02 4.90867372e-03 7.77029116e+01] [-4.90670661e-02 9.98795459e-01 -2.31754268e-04 -2.62912034e+00] [-4.91413265e-03 -9.38190237e-06 9.99987926e-01 -6.24643125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:-2.64, Z:-0.63 [[ 9.98625157e-01 5.21890934e-02 4.90866778e-03 7.77628224e+01] [-5.21885841e-02 9.98637220e-01 -2.31879998e-04 -2.63669892e+00] [-4.91407995e-03 -2.46152217e-05 9.99987926e-01 -6.29648377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.82, Y:-2.64, Z:-0.63 [[ 9.98358156e-01 5.70692289e-02 4.90866483e-03 7.78228113e+01] [-5.70687782e-02 9.98370222e-01 -2.31942466e-04 -2.64101802e+00] [-4.91390157e-03 -4.85698516e-05 9.99987926e-01 -6.29113355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:-2.65, Z:-0.63 [[ 9.98060055e-01 6.20647337e-02 4.90866483e-03 7.78821791e+01] [-6.20643434e-02 9.98072123e-01 -2.31942466e-04 -2.64503484e+00] [-4.91359697e-03 -7.31605490e-05 9.99987926e-01 -6.28776999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:-2.65, Z:-0.63 [[ 9.97814863e-01 6.58893267e-02 4.90867037e-03 7.79415405e+01] [-6.58889832e-02 9.97826933e-01 -2.31825024e-04 -2.64699753e+00] [-4.91327830e-03 -9.21088456e-05 9.99987926e-01 -6.29433163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.00, Y:-2.65, Z:-0.63 [[ 9.97433725e-01 7.14273731e-02 4.90866775e-03 7.80016384e+01] [-7.14270964e-02 9.97445796e-01 -2.31880508e-04 -2.64622084e+00] [-4.91269263e-03 -1.19326446e-04 9.99987926e-01 -6.29429066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:-2.65, Z:-0.63 [[ 9.97315686e-01 7.30570164e-02 4.90867321e-03 7.80618761e+01] [-7.30567600e-02 9.97327758e-01 -2.31764990e-04 -2.64581506e+00] [-4.91248810e-03 -1.27468900e-04 9.99987926e-01 -6.32046502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.12, Y:-2.64, Z:-0.63 [[ 9.97443530e-01 7.12903228e-02 4.90868252e-03 7.81208946e+01] [-7.12900459e-02 9.97455601e-01 -2.31567519e-04 -2.64463671e+00] [-4.91270140e-03 -1.18964679e-04 9.99987926e-01 -6.31314556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:-2.64, Z:-0.63 [[ 9.97616273e-01 6.88307769e-02 4.90868818e-03 7.81810571e+01] [-6.88304709e-02 9.97628344e-01 -2.31447585e-04 -2.64205542e+00] [-4.91297717e-03 -1.06971441e-04 9.99987926e-01 -6.32006860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:-2.64, Z:-0.63 [[ 9.97677173e-01 6.79423515e-02 4.90868521e-03 7.82410111e+01] [-6.79420344e-02 9.97689243e-01 -2.31510605e-04 -2.64100041e+00] [-4.91307180e-03 -1.02533214e-04 9.99987926e-01 -6.32513014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:-2.64, Z:-0.63 [[ 9.97742413e-01 6.69774763e-02 4.90869063e-03 7.83004972e+01] [-6.69771481e-02 9.97754483e-01 -2.31395469e-04 -2.63645405e+00] [-4.91316637e-03 -9.78970261e-05 9.99987926e-01 -6.31663880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:-2.63, Z:-0.63 [[ 9.97914579e-01 6.43614643e-02 4.90869619e-03 7.83591930e+01] [-6.43611051e-02 9.97926648e-01 -2.31277620e-04 -2.63138465e+00] [-4.91340410e-03 -8.51338022e-05 9.99987926e-01 -6.33385360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:78.42, Y:-2.63, Z:-0.64 [[ 9.98145344e-01 6.06776539e-02 4.90870441e-03 7.84188571e+01] [-6.06772510e-02 9.98157411e-01 -2.31102931e-04 -2.63084702e+00] [-4.91368247e-03 -6.71723751e-05 9.99987926e-01 -6.36221756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.48, Y:-2.63, Z:-0.64 [[ 9.98570248e-01 5.32293592e-02 4.90871004e-03 7.84773557e+01] [-5.32288668e-02 9.98582312e-01 -2.30983335e-04 -2.62755326e+00] [-4.91404611e-03 -3.06319865e-05 9.99987926e-01 -6.36203163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.54, Y:-2.63, Z:-0.63 [[ 9.98973754e-01 4.50260277e-02 4.90871836e-03 7.85368435e+01] [-4.50254371e-02 9.98985814e-01 -2.30806339e-04 -2.62708134e+00] [-4.91413230e-03 9.55228450e-06 9.99987926e-01 -6.34905464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.60, Y:-2.63, Z:-0.63 [[ 9.99145943e-01 4.10279130e-02 4.90872379e-03 7.85973462e+01] [-4.10272748e-02 9.99158000e-01 -2.30690756e-04 -2.62819030e+00] [-4.91405541e-03 2.91021728e-05 9.99987926e-01 -6.33600133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.63, Z:-0.63 [[ 9.99254259e-01 3.82992144e-02 4.90872379e-03 7.86583623e+01] [-3.82985432e-02 9.99266315e-01 -2.30690756e-04 -2.62898857e+00] [-4.91395761e-03 4.25217497e-05 9.99987926e-01 -6.32106996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.72, Y:-2.63, Z:-0.63 [[ 9.99214350e-01 3.93266714e-02 4.90872379e-03 7.87189600e+01] [-3.93260126e-02 9.99226407e-01 -2.30690756e-04 -2.62800778e+00] [-4.91399873e-03 3.74689796e-05 9.99987926e-01 -6.33659837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.78, Y:-2.63, Z:-0.63 [[ 9.99124075e-01 4.15570269e-02 4.90872379e-03 7.87784104e+01] [-4.15563951e-02 9.99136133e-01 -2.30690756e-04 -2.62948421e+00] [-4.91407013e-03 2.64998227e-05 9.99987926e-01 -6.33913222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:-2.63, Z:-0.63 [[ 9.99048333e-01 4.33397322e-02 4.90872929e-03 7.88377586e+01] [-4.33391225e-02 9.99060392e-01 -2.30573764e-04 -2.62998072e+00] [-4.91411001e-03 1.76143153e-05 9.99987926e-01 -6.32532553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:-2.63, Z:-0.63 [[ 9.98896572e-01 4.67069833e-02 4.90873475e-03 7.88960705e+01] [-4.67064148e-02 9.98908633e-01 -2.30457449e-04 -2.63043646e+00] [-4.91414149e-03 9.33754570e-07 9.99987926e-01 -6.32253058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:-2.63, Z:-0.63 [[ 9.98745279e-01 4.98374544e-02 4.90874287e-03 7.89554532e+01] [-4.98369245e-02 9.98757342e-01 -2.30284220e-04 -2.62932662e+00] [-4.91411976e-03 -1.46413706e-05 9.99987926e-01 -6.32011603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:-2.63, Z:-0.63 [[ 9.98459097e-01 5.52750958e-02 4.90874826e-03 7.90136010e+01] [-5.52746322e-02 9.98471162e-01 -2.30169423e-04 -2.62627702e+00] [-4.91396622e-03 -4.15145001e-05 9.99987926e-01 -6.33114282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:-2.62, Z:-0.63 [[ 9.98172874e-01 6.02230658e-02 4.90876159e-03 7.90725990e+01] [-6.02226634e-02 9.98184942e-01 -2.29884793e-04 -2.62276480e+00] [-4.91369627e-03 -6.61539316e-05 9.99987926e-01 -6.31404012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:-2.62, Z:-0.63 [[ 9.98054615e-01 6.21521432e-02 4.90877211e-03 7.91316914e+01] [-6.21517652e-02 9.98066684e-01 -2.29659829e-04 -2.61594715e+00] [-4.91355575e-03 -7.58757990e-05 9.99987926e-01 -6.31572095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-2.61, Z:-0.63 [[ 9.98120188e-01 6.10900471e-02 4.90878254e-03 7.91906555e+01] [-6.10896574e-02 9.98132256e-01 -2.29436757e-04 -2.61415601e+00] [-4.91363049e-03 -7.08703843e-05 9.99987926e-01 -6.33101886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:-2.61, Z:-0.63 [[ 9.98189700e-01 5.99435326e-02 4.90879289e-03 7.92498006e+01] [-5.99431301e-02 9.98201767e-01 -2.29215077e-04 -2.61482230e+00] [-4.91370570e-03 -6.54482824e-05 9.99987926e-01 -6.33720339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:-2.61, Z:-0.63 [[ 9.98441967e-01 5.55836514e-02 4.90880320e-03 7.93080717e+01] [-5.55831973e-02 9.98454033e-01 -2.28993968e-04 -2.60959647e+00] [-4.91394268e-03 -4.42097896e-05 9.99987926e-01 -6.32271139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.37, Y:-2.61, Z:-0.63 [[ 9.98781338e-01 4.91094887e-02 4.90881597e-03 7.93672203e+01] [-4.91089577e-02 9.98793401e-01 -2.28719942e-04 -2.60755123e+00] [-4.91412532e-03 -1.26256255e-05 9.99987926e-01 -6.30259307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.43, Y:-2.61, Z:-0.63 [[ 9.98980444e-01 4.48773478e-02 4.90882658e-03 7.94255820e+01] [-4.48767668e-02 9.98992504e-01 -2.28492108e-04 -2.60752726e+00] [-4.91413508e-03 7.96688141e-06 9.99987926e-01 -6.34100952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:-2.61, Z:-0.64 [[ 9.99199743e-01 3.96960572e-02 4.90883438e-03 7.94840134e+01] [-3.96954145e-02 9.99211800e-01 -2.28324360e-04 -2.60752169e+00] [-4.91402882e-03 3.32834269e-05 9.99987926e-01 -6.36411230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:-2.61, Z:-0.64 [[ 9.99326832e-01 3.63563780e-02 4.90884504e-03 7.95422253e+01] [-3.63556961e-02 9.99338887e-01 -2.28094912e-04 -2.60837833e+00] [-4.91389245e-03 4.94768875e-05 9.99987926e-01 -6.40551302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.60, Y:-2.61, Z:-0.64 [[ 9.99345784e-01 3.58316572e-02 4.90885295e-03 7.96017441e+01] [-3.58309698e-02 9.99357839e-01 -2.27924645e-04 -2.61178603e+00] [-4.91386759e-03 5.18865717e-05 9.99987926e-01 -6.38761213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.66, Y:-2.61, Z:-0.64 [[ 9.99361582e-01 3.53882984e-02 4.90885837e-03 7.96603770e+01] [-3.53876063e-02 9.99373637e-01 -2.27807733e-04 -2.61372497e+00] [-4.91384537e-03 5.39495485e-05 9.99987926e-01 -6.44271004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:-2.61, Z:-0.64 [[ 9.99342253e-01 3.59299935e-02 4.90886641e-03 7.97204423e+01] [-3.59293087e-02 9.99354308e-01 -2.27634391e-04 -2.61460463e+00] [-4.91387570e-03 5.11124888e-05 9.99987926e-01 -6.39949296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:-2.62, Z:-0.64 [[ 9.99286311e-01 3.74535868e-02 4.90887174e-03 7.97804727e+01] [-3.74529210e-02 9.99298367e-01 -2.27519457e-04 -2.61725803e+00] [-4.91394893e-03 4.35054936e-05 9.99987926e-01 -6.37405867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42587155999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:-2.62, Z:-0.64 [[ 9.99245321e-01 3.85316962e-02 4.90887708e-03 7.98401091e+01] [-3.85310440e-02 9.99257378e-01 -2.27404110e-04 -2.62079652e+00] [-4.91399391e-03 3.80883346e-05 9.99987926e-01 -6.39735073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:-2.62, Z:-0.64 [[ 9.99196464e-01 3.97784924e-02 4.90888239e-03 7.98985805e+01] [-3.97778558e-02 9.99208522e-01 -2.27289381e-04 -2.62494769e+00] [-4.91403835e-03 3.18419300e-05 9.99987926e-01 -6.36595412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.96, Y:-2.63, Z:-0.64 [[ 9.99170000e-01 4.04377730e-02 4.90889359e-03 7.99566388e+01] [-4.04371456e-02 9.99182058e-01 -2.27047385e-04 -2.62785643e+00] [-4.91405969e-03 2.83572907e-05 9.99987926e-01 -6.35445076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.02, Y:-2.63, Z:-0.64 [[ 9.99100896e-01 4.21105920e-02 4.90889307e-03 8.00157777e+01] [-4.21099847e-02 9.99112955e-01 -2.27058490e-04 -2.63340382e+00] [-4.91410023e-03 2.01409284e-05 9.99987926e-01 -6.36754448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:-2.64, Z:-0.64 [[ 9.99035084e-01 4.36440510e-02 4.90890141e-03 8.00730506e+01] [-4.36434631e-02 9.99047144e-01 -2.26878197e-04 -2.63872323e+00] [-4.91412581e-03 1.24178209e-05 9.99987926e-01 -6.40080572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:-2.64, Z:-0.64 [[ 9.99025460e-01 4.38637950e-02 4.90891504e-03 8.01315674e+01] [-4.38632111e-02 9.99037521e-01 -2.26582745e-04 -2.64238793e+00] [-4.91412909e-03 1.10411541e-05 9.99987926e-01 -6.39579578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:-2.65, Z:-0.64 [[ 9.98965567e-01 4.52072911e-02 4.90892520e-03 8.01898355e+01] [-4.52067246e-02 9.98977628e-01 -2.26362461e-04 -2.64849170e+00] [-4.91413969e-03 4.21187473e-06 9.99987926e-01 -6.38034965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:-2.65, Z:-0.64 [[ 9.98913961e-01 4.63335809e-02 4.90893614e-03 8.02471104e+01] [-4.63330291e-02 9.98926023e-01 -2.26124951e-04 -2.65258489e+00] [-4.91414124e-03 -1.56651010e-06 9.99987926e-01 -6.37798824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:-2.66, Z:-0.64 [[ 9.98773207e-01 4.92745692e-02 4.90894964e-03 8.03054915e+01] [-4.92740544e-02 9.98785270e-01 -2.25831573e-04 -2.65678978e+00] [-4.91411435e-03 -1.63293272e-05 9.99987926e-01 -6.39973024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.36, Y:-2.66, Z:-0.64 [[ 9.98654545e-01 5.16236513e-02 4.90896028e-03 8.03641266e+01] [-5.16231660e-02 9.98666610e-01 -2.25599973e-04 -2.65995015e+00] [-4.91406102e-03 -2.81196331e-05 9.99987926e-01 -6.40237156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.42, Y:-2.66, Z:-0.64 [[ 9.98659286e-01 5.15318567e-02 4.90897090e-03 8.04232598e+01] [-5.15313714e-02 9.98671351e-01 -2.25368661e-04 -2.66429411e+00] [-4.91406227e-03 -2.78994971e-05 9.99987926e-01 -6.38520017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:80.48, Y:-2.67, Z:-0.64 [[ 9.98709610e-01 5.05471710e-02 4.90898164e-03 8.04814703e+01] [-5.05466750e-02 9.98721674e-01 -2.25134446e-04 -2.66726933e+00] [-4.91408628e-03 -2.32887648e-05 9.99987926e-01 -6.41239387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.67, Z:-0.64 [[ 9.98717513e-01 5.03907795e-02 4.90899590e-03 8.05401058e+01] [-5.03902832e-02 9.98729577e-01 -2.24823157e-04 -2.67337894e+00] [-4.91408841e-03 -2.28308688e-05 9.99987926e-01 -6.41505344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.60, Y:-2.68, Z:-0.64 [[ 9.98625040e-01 5.21912936e-02 4.90900650e-03 8.05987989e+01] [-5.21908201e-02 9.98637105e-01 -2.24591555e-04 -2.67716099e+00] [-4.91403776e-03 -3.19223241e-05 9.99987926e-01 -6.41843515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.66, Y:-2.68, Z:-0.64 [[ 9.98560894e-01 5.34045229e-02 4.90901720e-03 8.06569521e+01] [-5.34040653e-02 9.98572960e-01 -2.24357421e-04 -2.68130937e+00] [-4.91399353e-03 -3.81269282e-05 9.99987926e-01 -6.43137557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.72, Y:-2.69, Z:-0.64 [[ 9.98482642e-01 5.48481038e-02 4.90903038e-03 8.07154953e+01] [-5.48476650e-02 9.98494709e-01 -2.24068503e-04 -2.68853416e+00] [-4.91393060e-03 -4.55203429e-05 9.99987926e-01 -6.42358114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.77, Y:-2.69, Z:-0.64 [[ 9.98393435e-01 5.64486478e-02 4.90904125e-03 8.07729219e+01] [-5.64482296e-02 9.98405502e-01 -2.23830159e-04 -2.69148411e+00] [-4.91384871e-03 -5.36361261e-05 9.99987926e-01 -6.41816820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.83, Y:-2.70, Z:-0.64 [[ 9.98172013e-01 6.02373114e-02 4.90905465e-03 8.08317866e+01] [-6.02369403e-02 9.98184082e-01 -2.23535865e-04 -2.69512343e+00] [-4.91360541e-03 -7.25791878e-05 9.99987926e-01 -6.40811203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.89, Y:-2.70, Z:-0.64 [[ 9.98007539e-01 6.29035276e-02 4.90906535e-03 8.08904338e+01] [-6.29031900e-02 9.98019608e-01 -2.23300723e-04 -2.69902671e+00] [-4.91338988e-03 -8.59400647e-05 9.99987926e-01 -6.39806550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:-2.70, Z:-0.64 [[ 9.97708796e-01 6.74763605e-02 4.90907623e-03 8.09484152e+01] [-6.74760793e-02 9.97720867e-01 -2.23061215e-04 -2.69953613e+00] [-4.91293915e-03 -1.08695081e-04 9.99987926e-01 -6.39032056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:-2.70, Z:-0.64 [[ 9.97480450e-01 7.07718406e-02 4.90908972e-03 8.10070906e+01] [-7.07716008e-02 9.97492522e-01 -2.22764008e-04 -2.70026980e+00] [-4.91254570e-03 -1.25221395e-04 9.99987926e-01 -6.39553063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:81.07, Y:-2.70, Z:-0.64 [[ 9.97165613e-01 7.50775669e-02 4.90910022e-03 8.10657378e+01] [-7.50773804e-02 9.97177686e-01 -2.22532257e-04 -2.69583900e+00] [-4.91195238e-03 -1.46660870e-04 9.99987926e-01 -6.40761814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.12, Y:-2.70, Z:-0.64 [[ 9.97105977e-01 7.58654858e-02 4.90911092e-03 8.11230614e+01] [-7.58653100e-02 9.97118050e-01 -2.22296049e-04 -2.69743031e+00] [-4.91182770e-03 -1.50778503e-04 9.99987926e-01 -6.40147452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:-2.70, Z:-0.64 [[ 9.97033409e-01 7.68132862e-02 4.90912411e-03 8.11823211e+01] [-7.68131232e-02 9.97045483e-01 -2.22004259e-04 -2.69635459e+00] [-4.91167290e-03 -1.55739493e-04 9.99987926e-01 -6.39327912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:-2.69, Z:-0.64 [[ 9.97142892e-01 7.53787328e-02 4.90913485e-03 8.12406237e+01] [-7.53785536e-02 9.97154965e-01 -2.21766656e-04 -2.69078811e+00] [-4.91188468e-03 -1.48910440e-04 9.99987926e-01 -6.43859354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:-2.69, Z:-0.64 [[ 9.97345778e-01 7.26450170e-02 4.90914804e-03 8.12991473e+01] [-7.26448062e-02 9.97357851e-01 -2.21474149e-04 -2.68906074e+00] [-4.91226634e-03 -1.35737801e-04 9.99987926e-01 -6.44724207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98587155999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:81.36, Y:-2.69, Z:-0.64 [[ 9.97849512e-01 6.53624555e-02 4.90915843e-03 8.13586254e+01] [-6.53621577e-02 9.97861583e-01 -2.21243785e-04 -2.68615245e+00] [-4.91312164e-03 -1.00105184e-04 9.99987926e-01 -6.44911099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:-2.68, Z:-0.64 [[ 9.98370915e-01 5.68455384e-02 4.90916937e-03 8.14161535e+01] [-5.68451388e-02 9.98382983e-01 -2.21000718e-04 -2.68395982e+00] [-4.91379406e-03 -5.84217249e-05 9.99987926e-01 -6.44104300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.47, Y:-2.68, Z:-0.64 [[ 9.98654796e-01 5.16187808e-02 4.90918279e-03 8.14749375e+01] [-5.16183195e-02 9.98666862e-01 -2.20702145e-04 -2.68292480e+00] [-4.91403055e-03 -3.29985101e-05 9.99987926e-01 -6.44712014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.53, Y:-2.68, Z:-0.64 [[ 9.99032419e-01 4.37049812e-02 4.90919356e-03 8.15328424e+01] [-4.37044255e-02 9.99044481e-01 -2.20462391e-04 -2.68318479e+00] [-4.91413803e-03 5.69559158e-06 9.99987926e-01 -6.44156886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.59, Y:-2.68, Z:-0.65 [[ 9.99219920e-01 3.91848209e-02 4.90920685e-03 8.15913411e+01] [-3.91842121e-02 9.99231980e-01 -2.20165915e-04 -2.68492479e+00] [-4.91406365e-03 2.76307658e-05 9.99987926e-01 -6.45322227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28587155999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:81.65, Y:-2.69, Z:-0.65 [[ 9.99382150e-01 3.48025524e-02 4.90921724e-03 8.16498488e+01] [-3.48018919e-02 9.99394206e-01 -2.19934014e-04 -2.68531470e+00] [-4.91389754e-03 4.89480803e-05 9.99987926e-01 -6.46200941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:-2.69, Z:-0.64 [[ 9.99457686e-01 3.25612390e-02 4.90922756e-03 8.17096356e+01] [-3.25605526e-02 9.99469740e-01 -2.19703584e-04 -2.68932574e+00] [-4.91377821e-03 5.97372730e-05 9.99987926e-01 -6.44350975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:81.77, Y:-2.69, Z:-0.64 [[ 9.99531115e-01 3.02233332e-02 4.90923266e-03 8.17692616e+01] [-3.02226192e-02 9.99543168e-01 -2.19589566e-04 -2.69419642e+00] [-4.91362669e-03 7.11167349e-05 9.99987926e-01 -6.44742884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.83, Y:-2.70, Z:-0.64 [[ 9.99535647e-01 3.00730821e-02 4.90923776e-03 8.18280645e+01] [-3.00723668e-02 9.99547700e-01 -2.19475440e-04 -2.69916783e+00] [-4.91361761e-03 7.17411273e-05 9.99987926e-01 -6.44820309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.89, Y:-2.70, Z:-0.65 [[ 9.99466869e-01 3.22781179e-02 4.90924533e-03 8.18864763e+01] [-3.22774300e-02 9.99478924e-01 -2.19305908e-04 -2.70475828e+00] [-4.91376602e-03 6.07311669e-05 9.99987926e-01 -6.47754036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:-2.71, Z:-0.65 [[ 9.99345479e-01 3.58401107e-02 4.90924986e-03 8.19456117e+01] [-3.58394663e-02 9.99357536e-01 -2.19204545e-04 -2.70889236e+00] [-4.91395216e-03 4.31161755e-05 9.99987926e-01 -6.47340748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:-2.71, Z:-0.65 [[ 9.99111645e-01 4.18547520e-02 4.90925484e-03 8.20039304e+01] [-4.18541807e-02 9.99123706e-01 -2.19092800e-04 -2.71375076e+00] [-4.91412297e-03 1.34253279e-05 9.99987926e-01 -6.45236813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:-2.72, Z:-0.64 [[ 9.98942778e-01 4.57080541e-02 4.90926495e-03 8.20622149e+01] [-4.57075305e-02 9.98954841e-01 -2.18866026e-04 -2.71636509e+00] [-4.91413793e-03 -5.75574113e-06 9.99987926e-01 -6.44849771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.12, Y:-2.72, Z:-0.65 [[ 9.98785355e-01 4.90276879e-02 4.90927522e-03 8.21208439e+01] [-4.90272055e-02 9.98797420e-01 -2.18635514e-04 -2.71926959e+00] [-4.91409062e-03 -2.23180952e-05 9.99987926e-01 -6.48036029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.18, Y:-2.72, Z:-0.65 [[ 9.98751463e-01 4.97133095e-02 4.90928537e-03 8.21793224e+01] [-4.97128365e-02 9.98763529e-01 -2.18407456e-04 -2.72128106e+00] [-4.91407293e-03 -2.59197344e-05 9.99987926e-01 -6.48118812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.24, Y:-2.72, Z:-0.65 [[ 9.98740252e-01 4.99380333e-02 4.90929547e-03 8.22385802e+01] [-4.99375642e-02 9.98752318e-01 -2.18180065e-04 -2.72106954e+00] [-4.91406571e-03 -2.72530447e-05 9.99987926e-01 -6.45051280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.30, Y:-2.72, Z:-0.65 [[ 9.98759279e-01 4.95560375e-02 4.90930589e-03 8.22962177e+01] [-4.95555649e-02 9.98771344e-01 -2.17945341e-04 -2.72279543e+00] [-4.91407455e-03 -2.56084950e-05 9.99987926e-01 -6.47871595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00587155999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:-2.72, Z:-0.65 [[ 9.98839210e-01 4.79179719e-02 4.90931868e-03 8.23552825e+01] [-4.79174809e-02 9.98851274e-01 -2.17656944e-04 -2.72332052e+00] [-4.91410890e-03 -1.78378938e-05 9.99987926e-01 -6.51497611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:-2.72, Z:-0.65 [[ 9.99027689e-01 4.38129581e-02 4.90932894e-03 8.24131854e+01] [-4.38124186e-02 9.99039751e-01 -2.17425247e-04 -2.72496547e+00] [-4.91414081e-03 2.12426739e-06 9.99987926e-01 -6.53352201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.47, Y:-2.73, Z:-0.65 [[ 9.99156967e-01 4.07584819e-02 4.90934163e-03 8.24722977e+01] [-4.07579070e-02 9.99169028e-01 -2.17138394e-04 -2.72711186e+00] [-4.91411233e-03 1.68608494e-05 9.99987926e-01 -6.51266710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:82.53, Y:-2.73, Z:-0.66 [[ 9.99311906e-01 3.67642984e-02 4.90935191e-03 8.25309357e+01] [-3.67636764e-02 9.99323964e-01 -2.16905646e-04 -2.72986705e+00] [-4.91400740e-03 3.62705699e-05 9.99987926e-01 -6.55242467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:-2.73, Z:-0.65 [[ 9.99342107e-01 3.59339860e-02 4.90936209e-03 8.25898282e+01] [-3.59333551e-02 9.99354165e-01 -2.16675066e-04 -2.73229542e+00] [-4.91397745e-03 4.01226661e-05 9.99987926e-01 -6.54744417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.65, Y:-2.73, Z:-0.65 [[ 9.99294282e-01 3.72402435e-02 4.90937217e-03 8.26488628e+01] [-3.72396295e-02 9.99306341e-01 -2.16446395e-04 -2.73319907e+00] [-4.91402726e-03 3.34704445e-05 9.99987926e-01 -6.53358657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36587156 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:-2.73, Z:-0.65 [[ 9.99169777e-01 4.04432344e-02 4.90938219e-03 8.27076055e+01] [-4.04426602e-02 9.99181838e-01 -2.16218938e-04 -2.73291919e+00] [-4.91411011e-03 1.74909522e-05 9.99987926e-01 -6.53256622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.77, Y:-2.73, Z:-0.65 [[ 9.99107259e-01 4.19593103e-02 4.90939233e-03 8.27652062e+01] [-4.19587555e-02 9.99119320e-01 -2.15988420e-04 -2.73402326e+00] [-4.91413145e-03 9.80360612e-06 9.99987926e-01 -6.51956032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-2.73, Z:-0.65 [[ 9.98985576e-01 4.47628957e-02 4.90940489e-03 8.28245254e+01] [-4.47623761e-02 9.98997639e-01 -2.15702565e-04 -2.73427263e+00] [-4.91413936e-03 -4.27287676e-06 9.99987926e-01 -6.50706714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-2.73, Z:-0.65 [[ 9.98955098e-01 4.54379760e-02 4.90941499e-03 8.28820815e+01] [-4.54374658e-02 9.98967162e-01 -2.15472475e-04 -2.73370485e+00] [-4.91413499e-03 -7.82404837e-06 9.99987926e-01 -6.48072482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-2.73, Z:-0.65 [[ 9.98890612e-01 4.68341957e-02 4.90942746e-03 8.29401828e+01] [-4.68337037e-02 9.98902677e-01 -2.15187981e-04 -2.73281623e+00] [-4.91411838e-03 -1.49774173e-05 9.99987926e-01 -6.49646986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-2.73, Z:-0.65 [[ 9.98874603e-01 4.71744075e-02 4.90943978e-03 8.29985868e+01] [-4.71739210e-02 9.98886668e-01 -2.14906477e-04 -2.73374943e+00] [-4.91411203e-03 -1.69329022e-05 9.99987926e-01 -6.48069608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:-2.73, Z:-0.65 [[ 9.98810679e-01 4.85090230e-02 4.90944999e-03 8.30576877e+01] [-4.85085538e-02 9.98822744e-01 -2.14672895e-04 -2.73040466e+00] [-4.91408389e-03 -2.37327395e-05 9.99987926e-01 -6.51355238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:-2.73, Z:-0.65 [[ 9.98868955e-01 4.72938478e-02 4.90946017e-03 8.31161801e+01] [-4.72933650e-02 9.98881020e-01 -2.14439947e-04 -2.73099358e+00] [-4.91410827e-03 -1.79874862e-05 9.99987926e-01 -6.50971096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.18, Y:-2.73, Z:-0.65 [[ 9.98968250e-01 4.51478906e-02 4.90947038e-03 8.31752409e+01] [-4.51473831e-02 9.98980314e-01 -2.14205791e-04 -2.73116862e+00] [-4.91413521e-03 -7.66495649e-06 9.99987926e-01 -6.50714323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:-2.73, Z:-0.65 [[ 9.99159798e-01 4.06890067e-02 4.90948053e-03 8.32338399e+01] [-4.06884465e-02 9.99171859e-01 -2.13972988e-04 -2.73105983e+00] [-4.91412114e-03 1.40340711e-05 9.99987926e-01 -6.48574839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:-2.73, Z:-0.65 [[ 9.99273938e-01 3.77821776e-02 4.90949056e-03 8.32922083e+01] [-3.77815834e-02 9.99285998e-01 -2.13742608e-04 -2.73132364e+00] [-4.91406084e-03 2.80990909e-05 9.99987926e-01 -6.47311544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.35, Y:-2.73, Z:-0.65 [[ 9.99373937e-01 3.50375568e-02 4.90950319e-03 8.33509891e+01] [-3.50369310e-02 9.99385995e-01 -2.13452095e-04 -2.73104299e+00] [-4.91396757e-03 4.13045362e-05 9.99987926e-01 -6.47838470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:-2.73, Z:-0.65 [[ 9.99416554e-01 3.38001215e-02 4.90951332e-03 8.34089905e+01] [-3.37994819e-02 9.99428612e-01 -2.13218918e-04 -2.73013453e+00] [-4.91391490e-03 4.71555096e-05 9.99987926e-01 -6.52230652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.47, Y:-2.73, Z:-0.65 [[ 9.99436838e-01 3.31949410e-02 4.90952580e-03 8.34674506e+01] [-3.31942955e-02 9.99448895e-01 -2.12931185e-04 -2.72980772e+00] [-4.91388837e-03 4.98430202e-05 9.99987926e-01 -6.54401651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:-2.73, Z:-0.66 [[ 9.99461303e-01 3.24499681e-02 4.90953587e-03 8.35251043e+01] [-3.24493148e-02 9.99473360e-01 -2.12698785e-04 -2.72845848e+00] [-4.91385238e-03 5.32731299e-05 9.99987926e-01 -6.57606123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:83.58, Y:-2.73, Z:-0.66 [[ 9.99510323e-01 3.09032600e-02 4.90954833e-03 8.35837057e+01] [-3.09025894e-02 9.99522378e-01 -2.12410793e-04 -2.72687517e+00] [-4.91376761e-03 6.05890238e-05 9.99987926e-01 -6.61196161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.64, Y:-2.73, Z:-0.66 [[ 9.99641802e-01 2.63089977e-02 4.90955752e-03 8.36428949e+01] [-2.63082727e-02 9.99653855e-01 -2.12198014e-04 -2.72735895e+00] [-4.91344082e-03 8.29600268e-05 9.99987926e-01 -6.56163031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.70, Y:-2.73, Z:-0.66 [[ 9.99723476e-01 2.29971130e-02 4.90956757e-03 8.37010666e+01] [-2.29963493e-02 9.99735527e-01 -2.11965337e-04 -2.72816489e+00] [-4.91314371e-03 9.90045926e-05 9.99987926e-01 -6.56533013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.76, Y:-2.73, Z:-0.66 [[ 9.99788451e-01 1.99737379e-02 4.90957750e-03 8.37601935e+01] [-1.99729389e-02 9.99800499e-01 -2.11734941e-04 -2.72936135e+00] [-4.91282717e-03 1.13631457e-04 9.99987926e-01 -6.55971953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50587155999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:83.82, Y:-2.73, Z:-0.66 [[ 9.99828590e-01 1.78517701e-02 4.90958474e-03 8.38205866e+01] [-1.78509463e-02 9.99840637e-01 -2.11567021e-04 -2.73399437e+00] [-4.91257918e-03 1.23890023e-04 9.99987926e-01 -6.56128791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:-2.74, Z:-0.65 [[ 9.99825242e-01 1.80383198e-02 4.90958474e-03 8.38797674e+01] [-1.80374983e-02 9.99837289e-01 -2.11567021e-04 -2.73648838e+00] [-4.91260221e-03 1.22973422e-04 9.99987926e-01 -6.54523262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.94, Y:-2.74, Z:-0.65 [[ 9.99762733e-01 2.12219872e-02 4.90958973e-03 8.39391986e+01] [-2.12212046e-02 9.99774783e-01 -2.11451145e-04 -2.73767803e+00] [-4.91297142e-03 1.07213567e-04 9.99987926e-01 -6.53370133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:-2.74, Z:-0.65 [[ 9.99706289e-01 2.37325202e-02 4.90959472e-03 8.39983307e+01] [-2.37317684e-02 9.99718340e-01 -2.11335334e-04 -2.74093273e+00] [-4.91322740e-03 9.47598973e-05 9.99987926e-01 -6.54101319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:84.06, Y:-2.74, Z:-0.66 [[ 9.99637447e-01 2.64739745e-02 4.90959967e-03 8.40566462e+01] [-2.64732563e-02 9.99649500e-01 -2.11220113e-04 -2.74226903e+00] [-4.91347069e-03 8.11704436e-05 9.99987926e-01 -6.56049429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:84.12, Y:-2.74, Z:-0.66 [[ 9.99610300e-01 2.74798784e-02 4.90960701e-03 8.41163679e+01] [-2.74791732e-02 9.99622354e-01 -2.11049507e-04 -2.74358579e+00] [-4.91355253e-03 7.60553198e-05 9.99987926e-01 -6.57041524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.17, Y:-2.75, Z:-0.66 [[ 9.99569585e-01 2.89230058e-02 4.90961193e-03 8.41744384e+01] [-2.89223185e-02 9.99581640e-01 -2.10934902e-04 -2.74541296e+00] [-4.91365882e-03 6.88467527e-05 9.99987926e-01 -6.56203404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:84.23, Y:-2.75, Z:-0.66 [[ 9.99528869e-01 3.02974576e-02 4.90962406e-03 8.42328314e+01] [-3.02967884e-02 9.99540925e-01 -2.10652226e-04 -2.74658627e+00] [-4.91375240e-03 6.18071404e-05 9.99987926e-01 -6.57469586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.29, Y:-2.75, Z:-0.66 [[ 9.99459531e-01 3.25044917e-02 4.90963147e-03 8.42921774e+01] [-3.25038499e-02 9.99471588e-01 -2.10479452e-04 -2.74500620e+00] [-4.91387869e-03 5.07837699e-05 9.99987926e-01 -6.57898065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:-2.74, Z:-0.66 [[ 9.99461250e-01 3.24515832e-02 4.90964134e-03 8.43508237e+01] [-3.24509419e-02 9.99473307e-01 -2.10248938e-04 -2.74498115e+00] [-4.91387838e-03 5.08131801e-05 9.99987926e-01 -6.55665288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:-2.75, Z:-0.66 [[ 9.99535629e-01 3.00736064e-02 4.90965121e-03 8.44089353e+01] [-3.00729376e-02 9.99547685e-01 -2.10018058e-04 -2.74618753e+00] [-4.91374650e-03 6.22728968e-05 9.99987926e-01 -6.56525571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:-2.75, Z:-0.66 [[ 9.99613801e-01 2.73522131e-02 4.90966343e-03 8.44682320e+01] [-2.73515128e-02 9.99625855e-01 -2.09732188e-04 -2.74774686e+00] [-4.91356314e-03 7.53644673e-05 9.99987926e-01 -6.59733359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:-2.75, Z:-0.66 [[ 9.99766856e-01 2.10268447e-02 4.90967901e-03 8.45279836e+01] [-2.10260700e-02 9.99778906e-01 -2.09366790e-04 -2.75174486e+00] [-4.91299583e-03 1.06086723e-04 9.99987926e-01 -6.58555725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.59, Y:-2.76, Z:-0.66 [[ 9.99853194e-01 1.64159910e-02 4.90968392e-03 8.45869400e+01] [-1.64151613e-02 9.99865240e-01 -2.09251535e-04 -2.75706484e+00] [-4.91245736e-03 1.28627562e-04 9.99987926e-01 -6.61701366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34587155999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:84.65, Y:-2.76, Z:-0.66 [[ 9.99922186e-01 1.14681006e-02 4.90968635e-03 8.46473515e+01] [-1.14672116e-02 9.99934227e-01 -2.09194514e-04 -2.76431951e+00] [-4.91176249e-03 1.52877824e-04 9.99987926e-01 -6.60180443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.71, Y:-2.77, Z:-0.66 [[ 9.99919284e-01 1.17184117e-02 4.90968635e-03 8.47080805e+01] [-1.17175257e-02 9.99931326e-01 -2.09194514e-04 -2.77081644e+00] [-4.91180061e-03 1.51648253e-04 9.99987926e-01 -6.56775293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:-2.78, Z:-0.66 [[ 9.99878270e-01 1.48101446e-02 4.90968635e-03 8.47677444e+01] [-1.48092958e-02 9.99890314e-01 -2.09194514e-04 -2.77735636e+00] [-4.91224603e-03 1.36460051e-04 9.99987926e-01 -6.57108266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:84.83, Y:-2.78, Z:-0.66 [[ 9.99845065e-01 1.69038632e-02 4.90968391e-03 8.48286271e+01] [-1.69030393e-02 9.99857112e-01 -2.09251798e-04 -2.78121676e+00] [-4.91251953e-03 1.26230798e-04 9.99987926e-01 -6.57411619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:-2.79, Z:-0.66 [[ 9.99686798e-01 2.45397668e-02 4.90968391e-03 8.48885175e+01] [-2.45390349e-02 9.99698851e-01 -2.09251798e-04 -2.78577640e+00] [-4.91334035e-03 8.87073552e-05 9.99987926e-01 -6.56452362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:-2.79, Z:-0.66 [[ 9.99441445e-01 3.30559004e-02 4.90968897e-03 8.49458929e+01] [-3.30552719e-02 9.99453503e-01 -2.09133020e-04 -2.78677410e+00] [-4.91391892e-03 4.67251044e-05 9.99987926e-01 -6.58987834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.00, Y:-2.79, Z:-0.66 [[ 9.99244414e-01 3.85551085e-02 4.90970151e-03 8.50048105e+01] [-3.85545478e-02 9.99256475e-01 -2.08838251e-04 -2.78913654e+00] [-4.91410280e-03 1.93891343e-05 9.99987926e-01 -6.58522751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.06, Y:-2.79, Z:-0.66 [[ 9.98932275e-01 4.59369560e-02 4.90970877e-03 8.50634303e+01] [-4.59364853e-02 9.98944341e-01 -2.08667312e-04 -2.78774415e+00] [-4.91411133e-03 -1.70902519e-05 9.99987926e-01 -6.60198227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:85.12, Y:-2.79, Z:-0.66 [[ 9.98831777e-01 4.80726100e-02 4.90971875e-03 8.51228577e+01] [-4.80721662e-02 9.98843843e-01 -2.08432221e-04 -2.78682254e+00] [-4.91406223e-03 -2.78320897e-05 9.99987926e-01 -6.63567274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.18, Y:-2.79, Z:-0.66 [[ 9.98856199e-01 4.75624774e-02 4.90972622e-03 8.51819020e+01] [-4.75620283e-02 9.98868265e-01 -2.08256129e-04 -2.78660224e+00] [-4.91407489e-03 -2.54986117e-05 9.99987926e-01 -6.64105838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.24, Y:-2.79, Z:-0.66 [[ 9.99078346e-01 4.26421499e-02 4.90973608e-03 8.52407078e+01] [-4.26416425e-02 9.99090410e-01 -2.08023379e-04 -2.78753876e+00] [-4.91414080e-03 -1.52755704e-06 9.99987926e-01 -6.63843724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.30, Y:-2.79, Z:-0.66 [[ 9.99238885e-01 3.86981171e-02 4.90974600e-03 8.52992419e+01] [-3.86975632e-02 9.99250947e-01 -2.07788915e-04 -2.78747488e+00] [-4.91410939e-03 1.76355572e-05 9.99987926e-01 -6.64342877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.36, Y:-2.79, Z:-0.66 [[ 9.99415050e-01 3.38445319e-02 4.90975582e-03 8.53583563e+01] [-3.38439206e-02 9.99427109e-01 -2.07556794e-04 -2.78700168e+00] [-4.91396772e-03 4.12699980e-05 9.99987926e-01 -6.64393684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:-2.79, Z:-0.66 [[ 9.99547704e-01 2.96695528e-02 4.90976552e-03 8.54165947e+01] [-2.96688923e-02 9.99559760e-01 -2.07326941e-04 -2.78586821e+00] [-4.91375535e-03 6.15658636e-05 9.99987926e-01 -6.64165983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:-2.79, Z:-0.66 [[ 9.99643451e-01 2.62462459e-02 4.90977748e-03 8.54749748e+01] [-2.62455455e-02 9.99655505e-01 -2.07043336e-04 -2.78658634e+00] [-4.91352020e-03 7.81097263e-05 9.99987926e-01 -6.63151721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:-2.79, Z:-0.66 [[ 9.99786240e-01 2.00840271e-02 4.90978695e-03 8.55347728e+01] [-2.00832535e-02 9.99798290e-01 -2.06818704e-04 -2.78827227e+00] [-4.91295034e-03 1.08169999e-04 9.99987926e-01 -6.61341264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30587156 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-2.79, Z:-0.66 [[ 9.99887783e-01 1.41533055e-02 4.90979177e-03 8.55947811e+01] [-1.41524610e-02 9.99899828e-01 -2.06704197e-04 -2.78983296e+00] [-4.91222549e-03 1.37195365e-04 9.99987926e-01 -6.63648283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:-2.79, Z:-0.66 [[ 9.99923168e-01 1.13820556e-02 4.90979663e-03 8.56541686e+01] [-1.13811783e-02 9.99935211e-01 -2.06588621e-04 -2.79287909e+00] [-4.91182993e-03 1.50693478e-04 9.99987926e-01 -6.64253253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:-2.80, Z:-0.66 [[ 9.99944126e-01 9.36157446e-03 4.90979903e-03 8.57145452e+01] [-9.36067310e-03 9.99956167e-01 -2.06531532e-04 -2.79632209e+00] [-4.91151728e-03 1.60560969e-04 9.99987926e-01 -6.64773676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48587155999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:85.78, Y:-2.80, Z:-0.67 [[ 9.99954622e-01 8.16378499e-03 4.90978687e-03 8.57761938e+01] [-8.16286780e-03 9.99966662e-01 -2.06820270e-04 -2.80062866e+00] [-4.91131162e-03 1.66732944e-04 9.99987926e-01 -6.67737468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:-2.81, Z:-0.67 [[ 9.99944973e-01 9.27068862e-03 4.90978224e-03 8.58371560e+01] [-9.26978421e-03 9.99957013e-01 -2.06929991e-04 -2.80645893e+00] [-4.91148957e-03 1.61405983e-04 9.99987926e-01 -6.65858683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:-2.81, Z:-0.67 [[ 9.99919304e-01 1.17166138e-02 4.90977768e-03 8.58985954e+01] [-1.17157383e-02 9.99931347e-01 -2.07038234e-04 -2.81023631e+00] [-4.91186640e-03 1.49499857e-04 9.99987926e-01 -6.65286263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:-2.81, Z:-0.66 [[ 9.99793022e-01 1.97435575e-02 4.90977287e-03 8.59590562e+01] [-1.97427781e-02 9.99805071e-01 -2.07152214e-04 -2.81429643e+00] [-4.91290573e-03 1.10176781e-04 9.99987926e-01 -6.63686339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.02, Y:-2.82, Z:-0.66 [[ 9.99656398e-01 2.57484184e-02 4.90977287e-03 8.60171181e+01] [-2.57477114e-02 9.99668451e-01 -2.07152214e-04 -2.81762004e+00] [-4.91347888e-03 8.06656211e-05 9.99987926e-01 -6.64706083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.08, Y:-2.82, Z:-0.66 [[ 9.99470432e-01 3.21675375e-02 4.90978252e-03 8.60758241e+01] [-3.21669091e-02 9.99482490e-01 -2.06923323e-04 -2.81837724e+00] [-4.91389787e-03 4.88812150e-05 9.99987926e-01 -6.64428017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:-2.82, Z:-0.66 [[ 9.99403751e-01 3.41765566e-02 4.90979220e-03 8.61347052e+01] [-3.41759535e-02 9.99415810e-01 -2.06693263e-04 -2.82069077e+00] [-4.91398801e-03 3.87731919e-05 9.99987926e-01 -6.63834171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:-2.82, Z:-0.66 [[ 9.99401126e-01 3.42532284e-02 4.90980186e-03 8.61923524e+01] [-3.42526274e-02 9.99413185e-01 -2.06463692e-04 -2.82418078e+00] [-4.91399276e-03 3.81664322e-05 9.99987926e-01 -6.64092835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:-2.83, Z:-0.66 [[ 9.99425420e-01 3.35369054e-02 4.90981380e-03 8.62511826e+01] [-3.35362972e-02 9.99437479e-01 -2.06179331e-04 -2.82756990e+00] [-4.91396654e-03 4.14038896e-05 9.99987926e-01 -6.62707536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:-2.83, Z:-0.66 [[ 9.99483007e-01 3.17743927e-02 4.90982342e-03 8.63104116e+01] [-3.17737643e-02 9.99495065e-01 -2.05949964e-04 -2.82933067e+00] [-4.91388821e-03 4.98399169e-05 9.99987926e-01 -6.63616794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:-2.83, Z:-0.67 [[ 9.99554893e-01 2.94263277e-02 4.90983297e-03 8.63696343e+01] [-2.94256721e-02 9.99566950e-01 -2.05722097e-04 -2.83189685e+00] [-4.91376041e-03 6.11553938e-05 9.99987926e-01 -6.65468227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14587155999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:86.43, Y:-2.84, Z:-0.67 [[ 9.99686113e-01 2.45676593e-02 4.90984256e-03 8.64285274e+01] [-2.45669463e-02 9.99698166e-01 -2.05492855e-04 -2.83712542e+00] [-4.91340908e-03 8.48085153e-05 9.99987926e-01 -6.66827085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:-2.84, Z:-0.67 [[ 9.99763383e-01 2.11912905e-02 4.90985216e-03 8.64868484e+01] [-2.11905379e-02 9.99775434e-01 -2.05263219e-04 -2.84373800e+00] [-4.91309937e-03 1.01172241e-04 9.99987926e-01 -6.65239640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:-2.85, Z:-0.67 [[ 9.99808693e-01 1.89333421e-02 4.90985926e-03 8.65465877e+01] [-1.89325631e-02 9.99820742e-01 -2.05093160e-04 -2.84943745e+00] [-4.91286223e-03 1.12097703e-04 9.99987926e-01 -6.65014399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.61, Y:-2.86, Z:-0.67 [[ 9.99862416e-01 1.58443214e-02 4.90986397e-03 8.66054175e+01] [-1.58435057e-02 9.99874463e-01 -2.04980550e-04 -2.85872687e+00] [-4.91249537e-03 1.27162890e-04 9.99987926e-01 -6.68402866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:-2.87, Z:-0.67 [[ 9.99877814e-01 1.48408131e-02 4.90986120e-03 8.66652239e+01] [-1.48399850e-02 9.99889860e-01 -2.05046735e-04 -2.86520941e+00] [-4.91236349e-03 1.32159415e-04 9.99987926e-01 -6.69552655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:86.73, Y:-2.87, Z:-0.67 [[ 9.99881125e-01 1.46160633e-02 4.90986120e-03 8.67255478e+01] [-1.46152325e-02 9.99893171e-01 -2.05046735e-04 -2.86853494e+00] [-4.91233366e-03 1.33263597e-04 9.99987926e-01 -6.71657314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:-2.88, Z:-0.67 [[ 9.99796488e-01 1.95672388e-02 4.90986120e-03 8.67851051e+01] [-1.95664677e-02 9.99808537e-01 -2.05046735e-04 -2.87683764e+00] [-4.91293334e-03 1.08936365e-04 9.99987926e-01 -6.69107206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.84, Y:-2.88, Z:-0.67 [[ 9.99665115e-01 2.54077165e-02 4.90985925e-03 8.68445250e+01] [-2.54070156e-02 9.99677169e-01 -2.05093438e-04 -2.88261996e+00] [-4.91348515e-03 8.02798850e-05 9.99987926e-01 -6.68093925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:86.90, Y:-2.88, Z:-0.67 [[ 9.99402349e-01 3.42175029e-02 4.90986378e-03 8.69034258e+01] [-3.42169088e-02 9.99414409e-01 -2.04984832e-04 -2.88477393e+00] [-4.91400268e-03 3.68619613e-05 9.99987926e-01 -6.69793284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.96, Y:-2.89, Z:-0.67 [[ 9.99214735e-01 3.93167450e-02 4.90987293e-03 8.69624968e+01] [-3.93162135e-02 9.99226798e-01 -2.04765517e-04 -2.88687602e+00] [-4.91412732e-03 1.15671094e-05 9.99987926e-01 -6.68344182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.02, Y:-2.89, Z:-0.67 [[ 9.99045057e-01 4.34150497e-02 4.90988207e-03 8.70211097e+01] [-4.34145688e-02 9.99057122e-01 -2.04546188e-04 -2.88933601e+00] [-4.91413303e-03 -8.80955431e-06 9.99987926e-01 -6.69798722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.08, Y:-2.89, Z:-0.67 [[ 9.98992282e-01 4.46129374e-02 4.90989177e-03 8.70784345e+01] [-4.46124721e-02 9.99004347e-01 -2.04312943e-04 -2.89222545e+00] [-4.91411823e-03 -1.49353563e-05 9.99987926e-01 -6.70218972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:-2.90, Z:-0.67 [[ 9.99045140e-01 4.34131431e-02 4.90990375e-03 8.71374979e+01] [-4.34126647e-02 9.99057205e-01 -2.04024672e-04 -2.89517615e+00] [-4.91413207e-03 -9.32214828e-06 9.99987926e-01 -6.69833795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:-2.90, Z:-0.67 [[ 9.99146648e-01 4.10105790e-02 4.90991336e-03 8.71966637e+01] [-4.10100727e-02 9.99158712e-01 -2.03793156e-04 -2.89788268e+00] [-4.91414039e-03 2.26334468e-06 9.99987926e-01 -6.70530063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.25, Y:-2.90, Z:-0.67 [[ 9.99193316e-01 3.98573672e-02 4.90992289e-03 8.72548171e+01] [-3.98568481e-02 9.99205379e-01 -2.03563374e-04 -2.89985471e+00] [-4.91413486e-03 7.70511166e-06 9.99987926e-01 -6.71703584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:87.31, Y:-2.90, Z:-0.67 [[ 9.99233278e-01 3.88426207e-02 4.90993466e-03 8.73138072e+01] [-3.88420908e-02 9.99245341e-01 -2.03279006e-04 -2.90073785e+00] [-4.91412522e-03 1.24110196e-05 9.99987926e-01 -6.70873776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.37, Y:-2.90, Z:-0.67 [[ 9.99272244e-01 3.78268981e-02 4.90994400e-03 8.73725000e+01] [-3.78263570e-02 9.99284307e-01 -2.03053320e-04 -2.90305578e+00] [-4.91411086e-03 1.71802524e-05 9.99987926e-01 -6.71411207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.43, Y:-2.90, Z:-0.67 [[ 9.99322746e-01 3.64683706e-02 4.90995327e-03 8.74313457e+01] [-3.64678142e-02 9.99334807e-01 -2.02828831e-04 -2.90415772e+00] [-4.91408404e-03 2.36362004e-05 9.99987926e-01 -6.72173741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.49, Y:-2.90, Z:-0.67 [[ 9.99374148e-01 3.50314657e-02 4.90996252e-03 8.74905768e+01] [-3.50308930e-02 9.99386209e-01 -2.02604732e-04 -2.90464970e+00] [-4.91404637e-03 3.04775601e-05 9.99987926e-01 -6.72718373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.55, Y:-2.90, Z:-0.67 [[ 9.99461025e-01 3.24584468e-02 4.90997175e-03 8.75496565e+01] [-3.24578443e-02 9.99473085e-01 -2.02380829e-04 -2.90393427e+00] [-4.91395357e-03 4.29046525e-05 9.99987926e-01 -6.72193933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.61, Y:-2.91, Z:-0.67 [[ 9.99591428e-01 2.81579229e-02 4.90998117e-03 8.76084425e+01] [-2.81572695e-02 9.99603485e-01 -2.02151941e-04 -2.90691409e+00] [-4.91372647e-03 6.38176841e-05 9.99987926e-01 -6.72505657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:87.67, Y:-2.91, Z:-0.67 [[ 9.99707389e-01 2.36860422e-02 4.90998816e-03 8.76678212e+01] [-2.36853358e-02 9.99719443e-01 -2.01981935e-04 -2.91027276e+00] [-4.91339478e-03 8.56281142e-05 9.99987926e-01 -6.73312722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.73, Y:-2.92, Z:-0.67 [[ 9.99836078e-01 1.74272629e-02 4.90999279e-03 8.77276104e+01] [-1.74264816e-02 9.99848127e-01 -2.01869329e-04 -2.91549607e+00] [-4.91276513e-03 1.16272339e-04 9.99987926e-01 -6.71657722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:-2.92, Z:-0.67 [[ 9.99882670e-01 1.45099551e-02 4.90999747e-03 8.77871659e+01] [-1.45091392e-02 9.99894717e-01 -2.01755388e-04 -2.92039879e+00] [-4.91240799e-03 1.30491879e-04 9.99987926e-01 -6.72912854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:-2.93, Z:-0.68 [[ 9.99897935e-01 1.34168459e-02 4.90999978e-03 8.78473957e+01] [-1.34160171e-02 9.99909981e-01 -2.01699260e-04 -2.92859860e+00] [-4.91226395e-03 1.35806032e-04 9.99987926e-01 -6.75609215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:-2.94, Z:-0.68 [[ 9.99885652e-01 1.43029654e-02 4.90999978e-03 8.79075351e+01] [-1.43021473e-02 9.99897699e-01 -2.01699260e-04 -2.93510939e+00] [-4.91238238e-03 1.31452656e-04 9.99987926e-01 -6.75475072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.97, Y:-2.94, Z:-0.68 [[ 9.99857845e-01 1.61301750e-02 4.90999978e-03 8.79674190e+01] [-1.61293789e-02 9.99869893e-01 -2.01699260e-04 -2.94290784e+00] [-4.91261440e-03 1.22475340e-04 9.99987926e-01 -6.76238125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:88.03, Y:-2.95, Z:-0.68 [[ 9.99833752e-01 1.75602097e-02 4.90998913e-03 8.80278856e+01] [-1.75594295e-02 9.99845801e-01 -2.01958223e-04 -2.95146314e+00] [-4.91277844e-03 1.15708039e-04 9.99987926e-01 -6.77287054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.09, Y:-2.96, Z:-0.68 [[ 9.99796753e-01 1.95536311e-02 4.90998913e-03 8.80878310e+01] [-1.95528749e-02 9.99808804e-01 -2.01958223e-04 -2.96270510e+00] [-4.91299937e-03 1.05912772e-04 9.99987926e-01 -6.77400074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.15, Y:-2.97, Z:-0.68 [[ 9.99747839e-01 2.19123226e-02 4.90998913e-03 8.81468889e+01] [-2.19115949e-02 9.99759892e-01 -2.01958223e-04 -2.97057868e+00] [-4.91323557e-03 9.43216040e-05 9.99987926e-01 -6.79266177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:88.21, Y:-2.98, Z:-0.68 [[ 9.99572956e-01 2.88062175e-02 4.90999150e-03 8.82058434e+01] [-2.88055732e-02 9.99585013e-01 -2.01900584e-04 -2.98021137e+00] [-4.91376991e-03 6.03792443e-05 9.99987926e-01 -6.81140125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.26, Y:-2.99, Z:-0.68 [[ 9.99236891e-01 3.87495541e-02 4.90999614e-03 8.82647059e+01] [-3.87490304e-02 9.99248954e-01 -2.01787743e-04 -2.98639557e+00] [-4.91412769e-03 1.13761678e-05 9.99987926e-01 -6.80256548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.32, Y:-2.99, Z:-0.68 [[ 9.98921512e-01 4.61703824e-02 4.91000541e-03 8.83234079e+01] [-4.61699494e-02 9.98933579e-01 -2.01561734e-04 -2.99150200e+00] [-4.91407546e-03 -2.53503496e-05 9.99987926e-01 -6.80129452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.38, Y:-3.00, Z:-0.68 [[ 9.98482910e-01 5.48431387e-02 4.91001469e-03 8.83820421e+01] [-5.48428116e-02 9.98494980e-01 -2.01335463e-04 -2.99525399e+00] [-4.91366689e-03 -6.82489915e-05 9.99987926e-01 -6.80891051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.44, Y:-3.00, Z:-0.68 [[ 9.98272691e-01 5.85450734e-02 4.91002392e-03 8.84401837e+01] [-5.85447921e-02 9.98284762e-01 -2.01110184e-04 -2.99568634e+00] [-4.91337607e-03 -8.66935255e-05 9.99987926e-01 -6.81026868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.50, Y:-3.00, Z:-0.68 [[ 9.98028653e-01 6.25675570e-02 4.91003625e-03 8.84979475e+01] [-6.25673259e-02 9.98040725e-01 -2.00808745e-04 -2.99765773e+00] [-4.91298025e-03 -1.06794957e-04 9.99987926e-01 -6.82957721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:-3.00, Z:-0.68 [[ 9.97942183e-01 6.39319187e-02 4.91004754e-03 8.85567786e+01] [-6.39317054e-02 9.97954256e-01 -2.00532366e-04 -2.99849138e+00] [-4.91282325e-03 -1.13788006e-04 9.99987926e-01 -6.83528900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.62, Y:-3.00, Z:-0.68 [[ 9.97929204e-01 6.41341904e-02 4.91005653e-03 8.86154066e+01] [-6.41339807e-02 9.97941277e-01 -2.00311915e-04 -2.99816160e+00] [-4.91279493e-03 -1.15004361e-04 9.99987926e-01 -6.82048370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.67, Y:-3.00, Z:-0.68 [[ 9.98014414e-01 6.27942743e-02 4.91006607e-03 8.86745738e+01] [-6.27940496e-02 9.98026486e-01 -2.00077664e-04 -2.99899772e+00] [-4.91293972e-03 -1.08642540e-04 9.99987926e-01 -6.82029341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.73, Y:-3.00, Z:-0.68 [[ 9.98255401e-01 5.88391518e-02 4.91007557e-03 8.87336792e+01] [-5.88388803e-02 9.98267472e-01 -1.99844330e-04 -2.99967074e+00] [-4.91332740e-03 -8.94076674e-05 9.99987926e-01 -6.80431617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:88.79, Y:-3.00, Z:-0.68 [[ 9.98478429e-01 5.49246621e-02 4.91008507e-03 8.87929626e+01] [-5.49243444e-02 9.98490499e-01 -1.99610651e-04 -2.99773184e+00] [-4.91363684e-03 -7.03762741e-05 9.99987926e-01 -6.82010708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.85, Y:-3.00, Z:-0.69 [[ 9.98611693e-01 5.24459434e-02 4.91009500e-03 8.88507605e+01] [-5.24455970e-02 9.98623763e-01 -1.99366134e-04 -2.99871883e+00] [-4.91379349e-03 -5.84235107e-05 9.99987926e-01 -6.85665360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:-3.00, Z:-0.69 [[ 9.98806934e-01 4.85859966e-02 4.91010724e-03 8.89096644e+01] [-4.85856051e-02 9.98819002e-01 -1.99064312e-04 -2.99838158e+00] [-4.91398015e-03 -3.97337155e-05 9.99987926e-01 -6.86904298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:-3.00, Z:-0.69 [[ 9.98974236e-01 4.50151902e-02 4.91011641e-03 8.89687041e+01] [-4.50147567e-02 9.98986302e-01 -1.98837823e-04 -2.99847207e+00] [-4.91408976e-03 -2.23938330e-05 9.99987926e-01 -6.86325170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:-3.00, Z:-0.69 [[ 9.99249622e-01 3.84198443e-02 4.91012547e-03 8.90274934e+01] [-3.84193322e-02 9.99261685e-01 -1.98613717e-04 -3.00061649e+00] [-4.91413096e-03 9.82094003e-06 9.99987926e-01 -6.86363174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:-3.00, Z:-0.69 [[ 9.99385979e-01 3.46923114e-02 4.91013216e-03 8.90864246e+01] [-3.46917551e-02 9.99398040e-01 -1.98448317e-04 -3.00322345e+00] [-4.91406109e-03 2.79853637e-05 9.99987926e-01 -6.85102784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:-3.00, Z:-0.68 [[ 9.99478544e-01 3.19144264e-02 4.91014144e-03 8.91460904e+01] [-3.19138377e-02 9.99490604e-01 -1.98218398e-04 -3.00384160e+00] [-4.91396626e-03 4.14135792e-05 9.99987926e-01 -6.84478901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.21, Y:-3.01, Z:-0.69 [[ 9.99488916e-01 3.15879336e-02 4.91014610e-03 8.92051335e+01] [-3.15873416e-02 9.99500976e-01 -1.98102782e-04 -3.00585362e+00] [-4.91395348e-03 4.29030728e-05 9.99987926e-01 -6.85687897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02587156 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:-3.01, Z:-0.69 [[ 9.99511344e-01 3.08700946e-02 4.91015301e-03 8.92645636e+01] [-3.08694948e-02 9.99523404e-01 -1.97931399e-04 -3.00705055e+00] [-4.91392301e-03 4.62607362e-05 9.99987926e-01 -6.86041079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:-3.01, Z:-0.68 [[ 9.99553980e-01 2.94572938e-02 4.91015785e-03 8.93228507e+01] [-2.94566774e-02 9.99566038e-01 -1.97811200e-04 -3.00938730e+00] [-4.91385402e-03 5.30860365e-05 9.99987926e-01 -6.84906612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:-3.01, Z:-0.69 [[ 9.99584615e-01 2.83987199e-02 4.91016499e-03 8.93827668e+01] [-2.83980917e-02 9.99596673e-01 -1.97633888e-04 -3.01179424e+00] [-4.91379714e-03 5.81124784e-05 9.99987926e-01 -6.87560039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:-3.02, Z:-0.69 [[ 9.99600667e-01 2.78279817e-02 4.91016964e-03 8.94418637e+01] [-2.78273472e-02 9.99612725e-01 -1.97518207e-04 -3.01734609e+00] [-4.91376459e-03 6.08023360e-05 9.99987926e-01 -6.89481550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-3.02, Z:-0.69 [[ 9.99621839e-01 2.70567797e-02 4.91017195e-03 8.95013269e+01] [-2.70561361e-02 9.99633896e-01 -1.97460792e-04 -3.02254737e+00] [-4.91371697e-03 6.45358396e-05 9.99987926e-01 -6.90205638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-3.03, Z:-0.69 [[ 9.99602875e-01 2.77485421e-02 4.91017653e-03 8.95615159e+01] [-2.77479074e-02 9.99614933e-01 -1.97346955e-04 -3.02838182e+00] [-4.91376187e-03 6.10214600e-05 9.99987926e-01 -6.87940678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-3.03, Z:-0.69 [[ 9.99538024e-01 2.99938100e-02 4.91017653e-03 8.96206251e+01] [-2.99932024e-02 9.99550083e-01 -1.97346955e-04 -3.03413084e+00] [-4.91388655e-03 4.99838672e-05 9.99987926e-01 -6.87037753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.68, Y:-3.04, Z:-0.69 [[ 9.99353999e-01 3.56016016e-02 4.91018115e-03 8.96793038e+01] [-3.56010623e-02 9.99366062e-01 -1.97231998e-04 -3.03999557e+00] [-4.91409017e-03 2.22969212e-05 9.99987926e-01 -6.88032521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:-3.04, Z:-0.69 [[ 9.99198110e-01 3.97369678e-02 4.91018593e-03 8.97388542e+01] [-3.97364790e-02 9.99210175e-01 -1.97112827e-04 -3.04467246e+00] [-4.91414041e-03 1.84126391e-06 9.99987926e-01 -6.90935963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:-3.05, Z:-0.69 [[ 9.98980436e-01 4.48773726e-02 4.91019049e-03 8.97977748e+01] [-4.48769464e-02 9.98992503e-01 -1.96999283e-04 -3.04852021e+00] [-4.91408429e-03 -2.35559250e-05 9.99987926e-01 -6.91281661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:-3.05, Z:-0.69 [[ 9.98841906e-01 4.78616373e-02 4.91019500e-03 8.98556600e+01] [-4.78612477e-02 9.98853974e-01 -1.96886755e-04 -3.05435865e+00] [-4.91399111e-03 -3.83493170e-05 9.99987926e-01 -6.91625171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:-3.06, Z:-0.69 [[ 9.98775077e-01 4.92365321e-02 4.91020615e-03 8.99142777e+01] [-4.92361605e-02 9.98787145e-01 -1.96608304e-04 -3.05841895e+00] [-4.91393109e-03 -4.53922242e-05 9.99987926e-01 -6.93450962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.97, Y:-3.06, Z:-0.69 [[ 9.98621019e-01 5.22680566e-02 4.91021503e-03 8.99732187e+01] [-5.22677227e-02 9.98633089e-01 -1.96386176e-04 -3.06242531e+00] [-4.91376793e-03 -6.05303945e-05 9.99987926e-01 -6.92832822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:-3.06, Z:-0.69 [[ 9.98440714e-01 5.56060258e-02 4.91022386e-03 9.00319917e+01] [-5.56057333e-02 9.98452785e-01 -1.96165193e-04 -3.06488236e+00] [-4.91353465e-03 -7.71772829e-05 9.99987926e-01 -6.90828653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.09, Y:-3.07, Z:-0.69 [[ 9.98091247e-01 6.15609559e-02 4.91023366e-03 9.00897519e+01] [-6.15607367e-02 9.98103320e-01 -1.95919590e-04 -3.06714366e+00] [-4.91298151e-03 -1.06731973e-04 9.99987926e-01 -6.93677564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.15, Y:-3.07, Z:-0.69 [[ 9.97856132e-01 6.52612391e-02 4.91024574e-03 9.01485642e+01] [-6.52610661e-02 9.97868205e-01 -1.95616445e-04 -3.06570955e+00] [-4.91254427e-03 -1.25250802e-04 9.99987926e-01 -6.94952772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.21, Y:-3.07, Z:-0.70 [[ 9.97957265e-01 6.36960482e-02 4.91025503e-03 9.02072209e+01] [-6.36958574e-02 9.97969338e-01 -1.95382971e-04 -3.06558581e+00] [-4.91272908e-03 -1.17779048e-04 9.99987926e-01 -6.97393245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:90.27, Y:-3.07, Z:-0.70 [[ 9.98180652e-01 6.00938846e-02 4.91026432e-03 9.02663932e+01] [-6.00936514e-02 9.98192724e-01 -1.95149072e-04 -3.06612430e+00] [-4.91311739e-03 -1.00281685e-04 9.99987926e-01 -6.97892323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:-3.07, Z:-0.70 [[ 9.98514173e-01 5.42709378e-02 4.91027381e-03 9.03240310e+01] [-5.42706353e-02 9.98526244e-01 -1.94909951e-04 -3.06777831e+00] [-4.91361521e-03 -7.18633312e-05 9.99987926e-01 -6.97099064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.38, Y:-3.07, Z:-0.70 [[ 9.98839660e-01 4.79084818e-02 4.91028549e-03 9.03833768e+01] [-4.79081039e-02 9.98851729e-01 -1.94615397e-04 -3.06668619e+00] [-4.91397088e-03 -4.08528911e-05 9.99987926e-01 -6.96172677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.44, Y:-3.07, Z:-0.70 [[ 9.99046427e-01 4.33834695e-02 4.91029461e-03 9.04425763e+01] [-4.33830381e-02 9.99058494e-01 -1.94384900e-04 -3.06713460e+00] [-4.91410463e-03 -1.88239580e-05 9.99987926e-01 -6.95026057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28587155999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.50, Y:-3.07, Z:-0.70 [[ 9.99162261e-01 4.06283771e-02 4.91030404e-03 9.05003332e+01] [-4.06279136e-02 9.99174327e-01 -1.94146580e-04 -3.06912568e+00] [-4.91413759e-03 -5.51147261e-06 9.99987926e-01 -6.96711909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:-3.07, Z:-0.70 [[ 9.99478583e-01 3.19131876e-02 4.91031561e-03 9.05598166e+01] [-3.19126204e-02 9.99490644e-01 -1.93853285e-04 -3.07241075e+00] [-4.91400099e-03 3.70511681e-05 9.99987926e-01 -6.98735014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:-3.08, Z:-0.70 [[ 9.99657461e-01 2.57069864e-02 4.91032018e-03 9.06195065e+01] [-2.57063448e-02 9.99669519e-01 -1.93737520e-04 -3.07645998e+00] [-4.91367782e-03 6.74447741e-05 9.99987926e-01 -6.99647109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46587156 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:-3.08, Z:-0.70 [[ 9.99820471e-01 1.83006899e-02 4.91032481e-03 9.06797089e+01] [-1.82999596e-02 9.99832523e-01 -1.93620245e-04 -3.08296796e+00] [-4.91304582e-03 1.03726739e-04 9.99987926e-01 -6.99256019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:-3.09, Z:-0.70 [[ 9.99862282e-01 1.58525953e-02 4.91032481e-03 9.07403218e+01] [-1.58518355e-02 9.99874333e-01 -1.93620245e-04 -3.08960713e+00] [-4.91277712e-03 1.15755919e-04 9.99987926e-01 -6.99003701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:-3.10, Z:-0.70 [[ 9.99817362e-01 1.84697300e-02 4.91032016e-03 9.08007428e+01] [-1.84690011e-02 9.99829415e-01 -1.93737955e-04 -3.09719795e+00] [-4.91306082e-03 1.03013862e-04 9.99987926e-01 -6.99997782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.86, Y:-3.10, Z:-0.70 [[ 9.99749393e-01 2.18412552e-02 4.91030958e-03 9.08609792e+01] [-2.18405657e-02 9.99761448e-01 -1.94005686e-04 -3.10247442e+00] [-4.91337555e-03 8.67131284e-05 9.99987926e-01 -6.98887458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70587155999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:90.92, Y:-3.11, Z:-0.70 [[ 9.99633028e-01 2.66401649e-02 4.91030958e-03 9.09198616e+01] [-2.66395332e-02 9.99645086e-01 -1.94005686e-04 -3.10810604e+00] [-4.91373519e-03 6.31261365e-05 9.99987926e-01 -7.01994855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:-3.11, Z:-0.70 [[ 9.99556564e-01 2.93694322e-02 4.91030717e-03 9.09799559e+01] [-2.93688332e-02 9.99568624e-01 -1.94066866e-04 -3.11360814e+00] [-4.91388861e-03 4.97708173e-05 9.99987926e-01 -7.02855910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:-3.12, Z:-0.70 [[ 9.99493958e-01 3.14279773e-02 4.91030717e-03 9.10405512e+01] [-3.14274031e-02 9.99506018e-01 -1.94066866e-04 -3.11947694e+00] [-4.91398069e-03 3.96504570e-05 9.99987926e-01 -7.02784199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:-3.12, Z:-0.70 [[ 9.99451707e-01 3.27440869e-02 4.91030717e-03 9.11007571e+01] [-3.27435286e-02 9.99463768e-01 -1.94066866e-04 -3.12423813e+00] [-4.91402865e-03 3.31796767e-05 9.99987926e-01 -7.02016710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:-3.13, Z:-0.70 [[ 9.99399894e-01 3.42890798e-02 4.91030717e-03 9.11613820e+01] [-3.42885402e-02 9.99411956e-01 -1.94066866e-04 -3.12819350e+00] [-4.91407407e-03 2.55831405e-05 9.99987926e-01 -7.00863046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:-3.13, Z:-0.70 [[ 9.99284165e-01 3.75106086e-02 4.91030717e-03 9.12208931e+01] [-3.75101078e-02 9.99296229e-01 -1.94066866e-04 -3.13347794e+00] [-4.91413100e-03 9.74179466e-06 9.99987926e-01 -7.01554028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06587155999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:-3.14, Z:-0.70 [[ 9.99238759e-01 3.87013054e-02 4.91031185e-03 9.12800943e+01] [-3.87008196e-02 9.99250824e-01 -1.93948401e-04 -3.13565792e+00] [-4.91413921e-03 3.76766689e-06 9.99987926e-01 -7.03845174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:-3.14, Z:-0.70 [[ 9.99196899e-01 3.97673967e-02 4.91030892e-03 9.13400632e+01] [-3.97669234e-02 9.99208964e-01 -1.94022553e-04 -3.14106863e+00] [-4.91414046e-03 -1.40114475e-06 9.99987926e-01 -7.01430454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.40, Y:-3.14, Z:-0.70 [[ 9.99182694e-01 4.01227344e-02 4.91031356e-03 9.13990644e+01] [-4.01222660e-02 9.99194759e-01 -1.93904815e-04 -3.14495419e+00] [-4.91413957e-03 -3.26657167e-06 9.99987926e-01 -7.01931431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.46, Y:-3.15, Z:-0.70 [[ 9.99104008e-01 4.20365255e-02 4.91032045e-03 9.14583094e+01] [-4.20360811e-02 9.99116075e-01 -1.93730385e-04 -3.14786220e+00] [-4.91412384e-03 -1.28538246e-05 9.99987926e-01 -6.98270916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.52, Y:-3.15, Z:-0.70 [[ 9.99025713e-01 4.38578722e-02 4.91032511e-03 9.15169971e+01] [-4.38574503e-02 9.99037780e-01 -1.93612037e-04 -3.15094792e+00] [-4.91409171e-03 -2.19309360e-05 9.99987926e-01 -7.03235303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.58, Y:-3.15, Z:-0.70 [[ 9.98974929e-01 4.49997802e-02 4.91033205e-03 9.15770929e+01] [-4.49993730e-02 9.98986996e-01 -1.93436014e-04 -3.15312442e+00] [-4.91406244e-03 -2.77241351e-05 9.99987926e-01 -7.02503865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.64, Y:-3.15, Z:-0.70 [[ 9.98930394e-01 4.59777814e-02 4.91033662e-03 9.16369483e+01] [-4.59773866e-02 9.98942462e-01 -1.93319976e-04 -3.15341996e+00] [-4.91403217e-03 -3.26512453e-05 9.99987926e-01 -7.03234733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:-3.15, Z:-0.70 [[ 9.98937283e-01 4.58278539e-02 4.91034122e-03 9.16966339e+01] [-4.58274578e-02 9.98949351e-01 -1.93202954e-04 -3.15470831e+00] [-4.91403625e-03 -3.20308211e-05 9.99987926e-01 -7.04031050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:91.76, Y:-3.16, Z:-0.70 [[ 9.98956950e-01 4.53971324e-02 4.91034584e-03 9.17562855e+01] [-4.53967317e-02 9.98969018e-01 -1.93085397e-04 -3.15545549e+00] [-4.91404889e-03 -3.00296537e-05 9.99987926e-01 -7.03634866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.82, Y:-3.16, Z:-0.70 [[ 9.99012027e-01 4.41685224e-02 4.91035048e-03 9.18151984e+01] [-4.41681075e-02 9.99024094e-01 -1.92967475e-04 -3.15613528e+00] [-4.91408153e-03 -2.41040593e-05 9.99987926e-01 -7.04981112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66587156 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:91.88, Y:-3.16, Z:-0.71 [[ 9.99166831e-01 4.05158393e-02 4.91035519e-03 9.18750629e+01] [-4.05153808e-02 9.99178896e-01 -1.92847588e-04 -3.15709310e+00] [-4.91413666e-03 -6.25799650e-06 9.99987926e-01 -7.07067458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:91.93, Y:-3.16, Z:-0.71 [[ 9.99300743e-01 3.70663252e-02 4.91035984e-03 9.19334533e+01] [-3.70658256e-02 9.99312808e-01 -1.92729089e-04 -3.15890609e+00] [-4.91412923e-03 1.05877806e-05 9.99987926e-01 -7.06783678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.99, Y:-3.16, Z:-0.71 [[ 9.99461530e-01 3.24428478e-02 4.91036673e-03 9.19927344e+01] [-3.24422933e-02 9.99473592e-01 -1.92553385e-04 -3.16274541e+00] [-4.91402885e-03 3.31461439e-05 9.99987926e-01 -7.05630149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.05, Y:-3.17, Z:-0.70 [[ 9.99550270e-01 2.95828835e-02 4.91037123e-03 9.20528929e+01] [-2.95822951e-02 9.99562330e-01 -1.92438345e-04 -3.16704511e+00] [-4.91391499e-03 4.70917489e-05 9.99987926e-01 -7.04631517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:-3.17, Z:-0.70 [[ 9.99577133e-01 2.86608250e-02 4.91037123e-03 9.21128073e+01] [-2.86602254e-02 9.99589193e-01 -1.92438345e-04 -3.17246573e+00] [-4.91386946e-03 5.16246227e-05 9.99987926e-01 -7.02436413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.17, Y:-3.18, Z:-0.70 [[ 9.99585174e-01 2.83790098e-02 4.91037123e-03 9.21721722e+01] [-2.83784068e-02 9.99597233e-01 -1.92438345e-04 -3.17776270e+00] [-4.91385471e-03 5.30100041e-05 9.99987926e-01 -7.02010980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.23, Y:-3.18, Z:-0.70 [[ 9.99559117e-01 2.92824115e-02 4.91037354e-03 9.22322023e+01] [-2.92818197e-02 9.99571177e-01 -1.92379488e-04 -3.18447686e+00] [-4.91390120e-03 4.85099989e-05 9.99987926e-01 -7.00408619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.29, Y:-3.19, Z:-0.70 [[ 9.99493323e-01 3.14481470e-02 4.91037354e-03 9.22924320e+01] [-3.14475814e-02 9.99505384e-01 -1.92379488e-04 -3.18919506e+00] [-4.91399477e-03 3.78626424e-05 9.99987926e-01 -7.02660215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14587155999999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:92.35, Y:-3.19, Z:-0.71 [[ 9.99441459e-01 3.30553818e-02 4.91037354e-03 9.23516903e+01] [-3.30548355e-02 9.99453521e-01 -1.92379488e-04 -3.19238323e+00] [-4.91404930e-03 2.99604468e-05 9.99987926e-01 -7.05799738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.41, Y:-3.20, Z:-0.71 [[ 9.99243105e-01 3.85889355e-02 4.91037582e-03 9.24118299e+01] [-3.85884563e-02 9.99255170e-01 -1.92321202e-04 -3.19777605e+00] [-4.91413990e-03 2.69181210e-06 9.99987926e-01 -7.05391306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.47, Y:-3.20, Z:-0.71 [[ 9.98981378e-01 4.48563676e-02 4.91037582e-03 9.24715803e+01] [-4.48559641e-02 9.98993446e-01 -1.92321202e-04 -3.19935907e+00] [-4.91406010e-03 -2.81343420e-05 9.99987926e-01 -7.07478236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.53, Y:-3.20, Z:-0.71 [[ 9.98747251e-01 4.97977618e-02 4.91037810e-03 9.25311720e+01] [-4.97974183e-02 9.98759320e-01 -1.92263090e-04 -3.20060746e+00] [-4.91386016e-03 -5.25019192e-05 9.99987926e-01 -7.09564761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:-3.20, Z:-0.71 [[ 9.98639705e-01 5.19098086e-02 4.91038258e-03 9.25908436e+01] [-5.19094912e-02 9.98651775e-01 -1.92148570e-04 -3.20354994e+00] [-4.91373668e-03 -6.30082703e-05 9.99987926e-01 -7.08603170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:-3.21, Z:-0.71 [[ 9.98593032e-01 5.28000346e-02 4.91038713e-03 9.26506527e+01] [-5.27997286e-02 9.98605103e-01 -1.92032175e-04 -3.20610635e+00] [-4.91367695e-03 -6.75051161e-05 9.99987926e-01 -7.06435752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:-3.21, Z:-0.71 [[ 9.98627754e-01 5.21392006e-02 4.91039187e-03 9.27096381e+01] [-5.21388872e-02 9.98639825e-01 -1.91910844e-04 -3.20707843e+00] [-4.91371896e-03 -6.43748728e-05 9.99987926e-01 -7.05600294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:-3.21, Z:-0.71 [[ 9.98815559e-01 4.84083284e-02 4.91039888e-03 9.27680435e+01] [-4.84079707e-02 9.98827629e-01 -1.91731314e-04 -3.20870163e+00] [-4.91392347e-03 -4.61982259e-05 9.99987926e-01 -7.07553873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-3.21, Z:-0.71 [[ 9.99009639e-01 4.42225022e-02 4.91040572e-03 9.28275655e+01] [-4.42220948e-02 9.99021706e-01 -1.91556027e-04 -3.21087152e+00] [-4.91407299e-03 -2.57821102e-05 9.99987926e-01 -7.10596316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:-3.21, Z:-0.71 [[ 9.99154138e-01 4.08276405e-02 4.91041015e-03 9.28881451e+01] [-4.08271927e-02 9.99166204e-01 -1.91442486e-04 -3.21452545e+00] [-4.91413201e-03 -9.19770913e-06 9.99987926e-01 -7.09177900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-3.22, Z:-0.71 [[ 9.99382947e-01 3.47794896e-02 4.91041015e-03 9.29487621e+01] [-3.47789688e-02 9.99395010e-01 -1.91442486e-04 -3.21932009e+00] [-4.91409767e-03 2.05453545e-05 9.99987926e-01 -7.08894598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-3.23, Z:-0.71 [[ 9.99572009e-01 2.88389666e-02 4.91041015e-03 9.30094295e+01] [-2.88383741e-02 9.99584069e-01 -1.91442486e-04 -3.22632749e+00] [-4.91388876e-03 4.97523057e-05 9.99987926e-01 -7.06668556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:-3.23, Z:-0.71 [[ 9.99631195e-01 2.67088446e-02 4.91040569e-03 9.30700114e+01] [-2.67082258e-02 9.99643253e-01 -1.91556879e-04 -3.23264339e+00] [-4.91377018e-03 6.03380075e-05 9.99987926e-01 -7.06759697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:-3.24, Z:-0.71 [[ 9.99632677e-01 2.66533226e-02 4.91040569e-03 9.31304952e+01] [-2.66527032e-02 9.99644735e-01 -1.91556879e-04 -3.24035199e+00] [-4.91376682e-03 6.06109301e-05 9.99987926e-01 -7.08211305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:-3.25, Z:-0.71 [[ 9.99530328e-01 3.02491422e-02 4.91040339e-03 9.31918527e+01] [-3.02485659e-02 9.99542389e-01 -1.91615654e-04 -3.24768976e+00] [-4.91395255e-03 4.29929974e-05 9.99987926e-01 -7.09917063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.25, Y:-3.26, Z:-0.71 [[ 9.99347699e-01 3.57779849e-02 4.91039902e-03 9.32515553e+01] [-3.57774747e-02 9.99359763e-01 -1.91727564e-04 -3.25697558e+00] [-4.91411483e-03 1.59208233e-05 9.99987926e-01 -7.08924646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:-3.26, Z:-0.71 [[ 9.99174971e-01 4.03145757e-02 4.91039902e-03 9.33105717e+01] [-4.03141203e-02 9.99187037e-01 -1.91727564e-04 -3.26071510e+00] [-4.91413647e-03 -6.38903334e-06 9.99987926e-01 -7.09878012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:-3.27, Z:-0.71 [[ 9.98825308e-01 4.82067740e-02 4.91040132e-03 9.33695586e+01] [-4.82064142e-02 9.98837377e-01 -1.91668657e-04 -3.26574633e+00] [-4.91393210e-03 -4.52693343e-05 9.99987926e-01 -7.09488712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:-3.27, Z:-0.71 [[ 9.98409725e-01 5.61596710e-02 4.91040357e-03 9.34295656e+01] [-5.61594076e-02 9.98421797e-01 -1.91611153e-04 -3.26666088e+00] [-4.91341477e-03 -8.44589166e-05 9.99987926e-01 -7.12529417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:-3.27, Z:-0.71 [[ 9.98202761e-01 5.97255094e-02 4.91040803e-03 9.34891376e+01] [-5.97252897e-02 9.98214833e-01 -1.91496702e-04 -3.26949764e+00] [-4.91307937e-03 -1.02123005e-04 9.99987926e-01 -7.13397706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.55, Y:-3.27, Z:-0.71 [[ 9.98087188e-01 6.16267166e-02 4.91041263e-03 9.35492874e+01] [-6.16265205e-02 9.98099261e-01 -1.91378562e-04 -3.26916906e+00] [-4.91287325e-03 -1.11599154e-04 9.99987926e-01 -7.14748518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:-3.27, Z:-0.71 [[ 9.98159475e-01 6.04445985e-02 4.91041719e-03 9.36088209e+01] [-6.04443887e-02 9.98171548e-01 -1.91261637e-04 -3.26872938e+00] [-4.91299946e-03 -1.05897550e-04 9.99987926e-01 -7.13145015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.67, Y:-3.27, Z:-0.71 [[ 9.98280292e-01 5.84152886e-02 4.91042169e-03 9.36688024e+01] [-5.84150548e-02 9.98292364e-01 -1.91145950e-04 -3.26980214e+00] [-4.91320233e-03 -9.60253171e-05 9.99987926e-01 -7.11450469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.73, Y:-3.27, Z:-0.71 [[ 9.98526030e-01 5.40523279e-02 4.91042624e-03 9.37280691e+01] [-5.40520419e-02 9.98538102e-01 -1.91029139e-04 -3.27147639e+00] [-4.91357326e-03 -7.46709970e-05 9.99987926e-01 -7.12722527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.79, Y:-3.27, Z:-0.71 [[ 9.98744803e-01 4.98468254e-02 4.91042849e-03 9.37888671e+01] [-4.98464889e-02 9.98756873e-01 -1.90971204e-04 -3.27329349e+00] [-4.91384351e-03 -5.40361219e-05 9.99987926e-01 -7.12783488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.85, Y:-3.28, Z:-0.71 [[ 9.99087950e-01 4.24164610e-02 4.91042849e-03 9.38487630e+01] [-4.24160347e-02 9.99100017e-01 -1.90971204e-04 -3.27778796e+00] [-4.91410951e-03 -1.74838767e-05 9.99987926e-01 -7.13349841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.91, Y:-3.28, Z:-0.71 [[ 9.99373610e-01 3.50467699e-02 4.91042849e-03 9.39085968e+01] [-3.50462546e-02 9.99385673e-01 -1.90971204e-04 -3.28405068e+00] [-4.91410480e-03 1.87594542e-05 9.99987926e-01 -7.14521123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.97, Y:-3.29, Z:-0.71 [[ 9.99521799e-01 3.05296636e-02 4.91042621e-03 9.39696749e+01] [-3.05290936e-02 9.99533860e-01 -1.91029786e-04 -3.29214356e+00] [-4.91396934e-03 4.10275742e-05 9.99987926e-01 -7.14857056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:-3.30, Z:-0.72 [[ 9.99515216e-01 3.07444360e-02 4.91042159e-03 9.40311754e+01] [-3.07438679e-02 9.99527277e-01 -1.91148401e-04 -3.29788376e+00] [-4.91397707e-03 4.00903828e-05 9.99987926e-01 -7.15821919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.09, Y:-3.30, Z:-0.71 [[ 9.99399582e-01 3.42981598e-02 4.91041701e-03 9.40909446e+01] [-3.42976341e-02 9.99411645e-01 -1.91265940e-04 -3.30467990e+00] [-4.91408801e-03 2.27354142e-05 9.99987926e-01 -7.12864438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.15, Y:-3.31, Z:-0.71 [[ 9.99136251e-01 4.12630449e-02 4.91041475e-03 9.41511276e+01] [-4.12626029e-02 9.99148318e-01 -1.91324150e-04 -3.31030291e+00] [-4.91412725e-03 -1.14575995e-05 9.99987926e-01 -7.11682400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:-3.31, Z:-0.71 [[ 9.98872615e-01 4.72163833e-02 4.91041475e-03 9.42118595e+01] [-4.72160132e-02 9.98884684e-01 -1.91324150e-04 -3.31326198e+00] [-4.91397172e-03 -4.07417532e-05 9.99987926e-01 -7.10046196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:-3.32, Z:-0.71 [[ 9.98561245e-01 5.33978222e-02 4.91041475e-03 9.42722722e+01] [-5.33975269e-02 9.98573316e-01 -1.91324150e-04 -3.31554177e+00] [-4.91362543e-03 -7.11551217e-05 9.99987926e-01 -7.09473467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.33, Y:-3.32, Z:-0.71 [[ 9.98239597e-01 5.91066413e-02 4.91041475e-03 9.43317635e+01] [-5.91064150e-02 9.98251669e-01 -1.91324150e-04 -3.31693534e+00] [-4.91313824e-03 -9.92496691e-05 9.99987926e-01 -7.09997937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.39, Y:-3.32, Z:-0.71 [[ 9.97844882e-01 6.54330159e-02 4.91041924e-03 9.43915893e+01] [-6.54328666e-02 9.97856955e-01 -1.91208775e-04 -3.31580624e+00] [-4.91240736e-03 -1.30506110e-04 9.99987926e-01 -7.12341857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.45, Y:-3.31, Z:-0.71 [[ 9.97546816e-01 6.98300631e-02 4.91042372e-03 9.44514017e+01] [-6.98299676e-02 9.97558890e-01 -1.91093709e-04 -3.31323613e+00] [-4.91178092e-03 -1.52269808e-04 9.99987926e-01 -7.12490555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:94.51, Y:-3.31, Z:-0.71 [[ 9.97417503e-01 7.16534239e-02 4.91042837e-03 9.45113537e+01] [-7.16533511e-02 9.97429577e-01 -1.90973960e-04 -3.31102854e+00] [-4.91149043e-03 -1.61367878e-04 9.99987926e-01 -7.14649212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.57, Y:-3.31, Z:-0.71 [[ 9.97439169e-01 7.13511884e-02 4.91043299e-03 9.45709521e+01] [-7.13511125e-02 9.97451243e-01 -1.90855198e-04 -3.30910078e+00] [-4.91153524e-03 -1.59998407e-04 9.99987926e-01 -7.14900318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.63, Y:-3.30, Z:-0.71 [[ 9.97544172e-01 6.98678259e-02 4.91043756e-03 9.46309000e+01] [-6.98677326e-02 9.97556246e-01 -1.90737490e-04 -3.30381209e+00] [-4.91176407e-03 -1.52812067e-04 9.99987926e-01 -7.14399932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.69, Y:-3.30, Z:-0.71 [[ 9.97667612e-01 6.80824750e-02 4.91044217e-03 9.46901245e+01] [-6.80823608e-02 9.97679686e-01 -1.90618728e-04 -3.30068201e+00] [-4.91202620e-03 -1.44140365e-04 9.99987926e-01 -7.14940492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.75, Y:-3.30, Z:-0.72 [[ 9.97930109e-01 6.41200811e-02 4.91044902e-03 9.47497449e+01] [-6.41199197e-02 9.97942183e-01 -1.90442217e-04 -3.29557143e+00] [-4.91255538e-03 -1.24809575e-04 9.99987926e-01 -7.15060075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:-3.29, Z:-0.72 [[ 9.98204801e-01 5.96913885e-02 4.91045354e-03 9.48090252e+01] [-5.96911741e-02 9.98216874e-01 -1.90325503e-04 -3.29072001e+00] [-4.91305838e-03 -1.03126906e-04 9.99987926e-01 -7.15203164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:-3.28, Z:-0.71 [[ 9.98463475e-01 5.51958056e-02 4.91046028e-03 9.48694597e+01] [-5.51955378e-02 9.98475546e-01 -1.90151432e-04 -3.28439111e+00] [-4.91347007e-03 -8.11762369e-05 9.99987926e-01 -7.14280011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.93, Y:-3.28, Z:-0.71 [[ 9.98676423e-01 5.11985320e-02 4.91046472e-03 9.49292508e+01] [-5.11982164e-02 9.98688493e-01 -1.90036775e-04 -3.28241166e+00] [-4.91375422e-03 -6.16217884e-05 9.99987926e-01 -7.14965385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.99, Y:-3.28, Z:-0.71 [[ 9.98990005e-01 4.46638303e-02 4.91046912e-03 9.49889133e+01] [-4.46634363e-02 9.99002073e-01 -1.89923056e-04 -3.27594178e+00] [-4.91405152e-03 -2.95871905e-05 9.99987926e-01 -7.14200934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.05, Y:-3.27, Z:-0.71 [[ 9.99260838e-01 3.81269702e-02 4.91047371e-03 9.50487282e+01] [-3.81264978e-02 9.99272903e-01 -1.89804369e-04 -3.27258715e+00] [-4.91413998e-03 2.44490742e-06 9.99987926e-01 -7.14357827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:-3.27, Z:-0.72 [[ 9.99370857e-01 3.51251599e-02 4.91047596e-03 9.51089598e+01] [-3.51246516e-02 9.99382921e-01 -1.89745939e-04 -3.27072449e+00] [-4.91411067e-03 1.71478040e-05 9.99987926e-01 -7.15491371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.17, Y:-3.27, Z:-0.72 [[ 9.99426317e-01 3.35100728e-02 4.91048046e-03 9.51684110e+01] [-3.35095455e-02 9.99438379e-01 -1.89629582e-04 -3.27073159e+00] [-4.91407713e-03 2.49728261e-05 9.99987926e-01 -7.16225107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:-3.27, Z:-0.72 [[ 9.99454471e-01 3.26595596e-02 4.91048267e-03 9.52282812e+01] [-3.26590224e-02 9.99466534e-01 -1.89572349e-04 -3.26713017e+00] [-4.91405444e-03 2.90973680e-05 9.99987926e-01 -7.17024037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-3.27, Z:-0.72 [[ 9.99492871e-01 3.14624813e-02 4.91048707e-03 9.52884976e+01] [-3.14619302e-02 9.99504933e-01 -1.89458099e-04 -3.26535641e+00] [-4.91401688e-03 3.48686180e-05 9.99987926e-01 -7.17359995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.35, Y:-3.27, Z:-0.72 [[ 9.99533155e-01 3.01555663e-02 4.91049144e-03 9.53477635e+01] [-3.01550000e-02 9.99545217e-01 -1.89344887e-04 -3.26548796e+00] [-4.91396803e-03 4.11806235e-05 9.99987926e-01 -7.17211320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.41, Y:-3.27, Z:-0.71 [[ 9.99567508e-01 2.89945605e-02 4.91049359e-03 9.54070400e+01] [-2.89939804e-02 9.99579568e-01 -1.89289176e-04 -3.26639069e+00] [-4.91391742e-03 4.68325555e-05 9.99987926e-01 -7.14913013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:-3.27, Z:-0.71 [[ 9.99571994e-01 2.88394872e-02 4.91049785e-03 9.54668536e+01] [-2.88389058e-02 9.99584054e-01 -1.89178623e-04 -3.26768425e+00] [-4.91391116e-03 4.74842686e-05 9.99987926e-01 -7.14321804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:-3.27, Z:-0.72 [[ 9.99566184e-01 2.90401748e-02 4.91049995e-03 9.55276852e+01] [-2.90395961e-02 9.99578244e-01 -1.89124111e-04 -3.27052564e+00] [-4.91392111e-03 4.64431313e-05 9.99987926e-01 -7.16565653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:-3.27, Z:-0.72 [[ 9.99575299e-01 2.87247078e-02 4.91049995e-03 9.55876455e+01] [-2.87241253e-02 9.99587359e-01 -1.89124111e-04 -3.27368093e+00] [-4.91390621e-03 4.79939745e-05 9.99987926e-01 -7.18437333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:-3.28, Z:-0.72 [[ 9.99608403e-01 2.75486391e-02 4.91049995e-03 9.56466111e+01] [-2.75480424e-02 9.99620463e-01 -1.89124111e-04 -3.27808099e+00] [-4.91384634e-03 5.37753905e-05 9.99987926e-01 -7.18235496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-3.28, Z:-0.72 [[ 9.99662056e-01 2.55276650e-02 4.91049770e-03 9.57065997e+01] [-2.55270436e-02 9.99674114e-01 -1.89182418e-04 -3.28365836e+00] [-4.91372682e-03 6.37679957e-05 9.99987926e-01 -7.19569765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56587155999999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-3.29, Z:-0.72 [[ 9.99673664e-01 2.50689387e-02 4.91049770e-03 9.57668724e+01] [-2.50683118e-02 9.99685723e-01 -1.89182418e-04 -3.28848328e+00] [-4.91369704e-03 6.60227933e-05 9.99987926e-01 -7.20463588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-3.30, Z:-0.72 [[ 9.99664023e-01 2.54504908e-02 4.91049770e-03 9.58272241e+01] [-2.54498685e-02 9.99676082e-01 -1.89182418e-04 -3.29577103e+00] [-4.91372189e-03 6.41473362e-05 9.99987926e-01 -7.18461152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:-3.30, Z:-0.72 [[ 9.99637890e-01 2.64570732e-02 4.91049770e-03 9.58862129e+01] [-2.64564630e-02 9.99649949e-01 -1.89182418e-04 -3.30199520e+00] [-4.91378399e-03 5.91995120e-05 9.99987926e-01 -7.17925110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:-3.31, Z:-0.72 [[ 9.99619317e-01 2.71497356e-02 4.91049995e-03 9.59463679e+01] [-2.71491340e-02 9.99631376e-01 -1.89124077e-04 -3.30694863e+00] [-4.91382449e-03 5.57362596e-05 9.99987926e-01 -7.18967963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:-3.31, Z:-0.72 [[ 9.99597394e-01 2.79452319e-02 4.91049995e-03 9.60064493e+01] [-2.79446400e-02 9.99609454e-01 -1.89124077e-04 -3.31337253e+00] [-4.91386729e-03 5.18257818e-05 9.99987926e-01 -7.19354084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.07, Y:-3.32, Z:-0.72 [[ 9.99629609e-01 2.67681133e-02 4.91049995e-03 9.60662573e+01] [-2.67675072e-02 9.99641668e-01 -1.89124077e-04 -3.32448198e+00] [-4.91380285e-03 5.76121849e-05 9.99987926e-01 -7.20492526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92587155999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:-3.33, Z:-0.72 [[ 9.99637997e-01 2.64530001e-02 4.91049995e-03 9.61266094e+01] [-2.64523902e-02 9.99650056e-01 -1.89124077e-04 -3.33189950e+00] [-4.91378445e-03 5.91611531e-05 9.99987926e-01 -7.22959878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:-3.34, Z:-0.72 [[ 9.99622801e-01 2.70211467e-02 4.91049765e-03 9.61868709e+01] [-2.70205433e-02 9.99634861e-01 -1.89183693e-04 -3.33992164e+00] [-4.91381659e-03 5.64280183e-05 9.99987926e-01 -7.21993043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:96.25, Y:-3.35, Z:-0.72 [[ 9.99563188e-01 2.91430996e-02 4.91049765e-03 9.62469110e+01] [-2.91425219e-02 9.99575249e-01 -1.89183693e-04 -3.34669143e+00] [-4.91392531e-03 4.59967698e-05 9.99987926e-01 -7.24949379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.31, Y:-3.36, Z:-0.73 [[ 9.99418036e-01 3.37561346e-02 4.91048584e-03 9.63074048e+01] [-3.37556110e-02 9.99430099e-01 -1.89489673e-04 -3.35518769e+00] [-4.91408379e-03 2.36229470e-05 9.99987926e-01 -7.26459543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:96.37, Y:-3.36, Z:-0.72 [[ 9.99253647e-01 3.83149669e-02 4.91048584e-03 9.63679813e+01] [-3.83144984e-02 9.99265712e-01 -1.89489673e-04 -3.36038888e+00] [-4.91414042e-03 1.20544515e-06 9.99987926e-01 -7.24141998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:-3.36, Z:-0.72 [[ 9.98957255e-01 4.53904138e-02 4.91048584e-03 9.64273129e+01] [-4.53900307e-02 9.98969323e-01 -1.89489673e-04 -3.36446530e+00] [-4.91402573e-03 -3.35950192e-05 9.99987926e-01 -7.23022131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:96.49, Y:-3.37, Z:-0.73 [[ 9.98644896e-01 5.18098249e-02 4.91048816e-03 9.64856628e+01] [-5.18095196e-02 9.98656967e-01 -1.89429570e-04 -3.36691357e+00] [-4.91370753e-03 -6.52371593e-05 9.99987926e-01 -7.26435413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.55, Y:-3.37, Z:-0.73 [[ 9.98466010e-01 5.51499137e-02 4.91049288e-03 9.65453514e+01] [-5.51496495e-02 9.98478082e-01 -1.89307178e-04 -3.36805771e+00] [-4.91345979e-03 -8.17951783e-05 9.99987926e-01 -7.26803042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.60, Y:-3.37, Z:-0.73 [[ 9.98387803e-01 5.65480570e-02 4.91049724e-03 9.66049318e+01] [-5.65478102e-02 9.98399874e-01 -1.89193966e-04 -3.36869955e+00] [-4.91333838e-03 -8.87889184e-05 9.99987926e-01 -7.26247510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.66, Y:-3.37, Z:-0.73 [[ 9.98368861e-01 5.68814921e-02 4.91050176e-03 9.66634327e+01] [-5.68812499e-02 9.98380933e-01 -1.89076546e-04 -3.36796361e+00] [-4.91330629e-03 -9.05473424e-05 9.99987926e-01 -7.26484151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:-3.37, Z:-0.73 [[ 9.98382243e-01 5.66461263e-02 4.91051080e-03 9.67218077e+01] [-5.66458824e-02 9.98394315e-01 -1.88841632e-04 -3.36631767e+00] [-4.91332321e-03 -8.96240854e-05 9.99987926e-01 -7.25155215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.78, Y:-3.37, Z:-0.72 [[ 9.98438654e-01 5.56429764e-02 4.91051749e-03 9.67812407e+01] [-5.56427212e-02 9.98450726e-01 -1.88667292e-04 -3.36549295e+00] [-4.91340777e-03 -8.48618391e-05 9.99987926e-01 -7.23576444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.84, Y:-3.36, Z:-0.72 [[ 9.98641543e-01 5.18744164e-02 4.91052199e-03 9.68405431e+01] [-5.18741162e-02 9.98653614e-01 -1.88550258e-04 -3.36318732e+00] [-4.91369146e-03 -6.64348680e-05 9.99987926e-01 -7.24321972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70587155999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:96.90, Y:-3.36, Z:-0.73 [[ 9.98797734e-01 4.87747168e-02 4.91052643e-03 9.69001425e+01] [-4.87743798e-02 9.98809804e-01 -1.88434424e-04 -3.36271852e+00] [-4.91387278e-03 -5.13000054e-05 9.99987926e-01 -7.28175856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:-3.36, Z:-0.73 [[ 9.99022996e-01 4.39197066e-02 4.91053087e-03 9.69588324e+01] [-4.39193115e-02 9.99035064e-01 -1.88318727e-04 -3.35905694e+00] [-4.91406342e-03 -2.75323962e-05 9.99987926e-01 -7.29991797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82587156 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:97.02, Y:-3.36, Z:-0.73 [[ 9.99152452e-01 4.08688731e-02 4.91053743e-03 9.70180771e+01] [-4.08684420e-02 9.99164519e-01 -1.88147646e-04 -3.35986939e+00] [-4.91412414e-03 -1.26978325e-05 9.99987926e-01 -7.29243919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:-3.36, Z:-0.73 [[ 9.99211868e-01 3.93894601e-02 4.91054191e-03 9.70763297e+01] [-3.93890116e-02 9.99223934e-01 -1.88030439e-04 -3.35964420e+00] [-4.91413743e-03 -5.53914670e-06 9.99987926e-01 -7.28323192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.14, Y:-3.36, Z:-0.73 [[ 9.99266926e-01 3.79670595e-02 4.91054857e-03 9.71364138e+01] [-3.79665948e-02 9.99278991e-01 -1.87856412e-04 -3.35802586e+00] [-4.91414038e-03 1.28189193e-06 9.99987926e-01 -7.27177701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.20, Y:-3.36, Z:-0.73 [[ 9.99302896e-01 3.70082108e-02 4.91055295e-03 9.71963012e+01] [-3.70077351e-02 9.99314962e-01 -1.87741982e-04 -3.35948859e+00] [-4.91413702e-03 5.88266413e-06 9.99987926e-01 -7.27476799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.26, Y:-3.36, Z:-0.73 [[ 9.99345379e-01 3.58427178e-02 4.91055741e-03 9.72563229e+01] [-3.58422286e-02 9.99357443e-01 -1.87625241e-04 -3.35997427e+00] [-4.91412709e-03 1.14970968e-05 9.99987926e-01 -7.29001253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:-3.36, Z:-0.73 [[ 9.99352747e-01 3.56366768e-02 4.91056187e-03 9.73161949e+01] [-3.56361857e-02 9.99364812e-01 -1.87508394e-04 -3.36062930e+00] [-4.91412491e-03 1.23933343e-05 9.99987926e-01 -7.31447823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:-3.36, Z:-0.73 [[ 9.99330668e-01 3.62505366e-02 4.91056407e-03 9.73754857e+01] [-3.62500532e-02 9.99342733e-01 -1.87450785e-04 -3.36092607e+00] [-4.91413171e-03 9.31710960e-06 9.99987926e-01 -7.34670989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:97.44, Y:-3.36, Z:-0.73 [[ 9.99283198e-01 3.75363263e-02 4.91056845e-03 9.74351911e+01] [-3.75358590e-02 9.99295264e-01 -1.87335850e-04 -3.36032683e+00] [-4.91413970e-03 2.87916274e-06 9.99987926e-01 -7.33424438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:-3.36, Z:-0.73 [[ 9.99262460e-01 3.80844079e-02 4.91057290e-03 9.74946006e+01] [-3.80839478e-02 9.99274526e-01 -1.87219068e-04 -3.36120023e+00] [-4.91414054e-03 6.69849193e-08 9.99987926e-01 -7.30207905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.55, Y:-3.36, Z:-0.73 [[ 9.99234156e-01 3.88199330e-02 4.91057739e-03 9.75537112e+01] [-3.88194822e-02 9.99246222e-01 -1.87101398e-04 -3.36133712e+00] [-4.91413917e-03 -3.66796387e-06 9.99987926e-01 -7.29488809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.61, Y:-3.36, Z:-0.73 [[ 9.99238160e-01 3.87167261e-02 4.91058400e-03 9.76133008e+01] [-3.87162750e-02 9.99250226e-01 -1.86927636e-04 -3.36306178e+00] [-4.91413940e-03 -3.33429368e-06 9.99987926e-01 -7.29982825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.67, Y:-3.36, Z:-0.73 [[ 9.99290911e-01 3.73304360e-02 4.91058833e-03 9.76731272e+01] [-3.73299688e-02 9.99302976e-01 -1.86813813e-04 -3.36336248e+00] [-4.91413938e-03 3.36923601e-06 9.99987926e-01 -7.28922181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:-3.37, Z:-0.73 [[ 9.99341896e-01 3.59396823e-02 4.91059278e-03 9.77312743e+01] [-3.59391988e-02 9.99353961e-01 -1.86696744e-04 -3.36526654e+00] [-4.91413017e-03 1.00911078e-05 9.99987926e-01 -7.30865938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.79, Y:-3.37, Z:-0.73 [[ 9.99463082e-01 3.23949713e-02 4.91059752e-03 9.77900361e+01] [-3.23944456e-02 9.99475145e-01 -1.86572179e-04 -3.36803386e+00] [-4.91406416e-03 2.73959205e-05 9.99987926e-01 -7.33208113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:-3.37, Z:-0.73 [[ 9.99554324e-01 2.94455323e-02 4.91060206e-03 9.78491494e+01] [-2.94449716e-02 9.99566385e-01 -1.86452564e-04 -3.37063224e+00] [-4.91396294e-03 4.17769286e-05 9.99987926e-01 -7.32419054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:-3.38, Z:-0.73 [[ 9.99686826e-01 2.45384703e-02 4.91060642e-03 9.79096546e+01] [-2.45378510e-02 9.99698884e-01 -1.86337487e-04 -3.37645547e+00] [-4.91370020e-03 6.57834018e-05 9.99987926e-01 -7.33086239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.97, Y:-3.38, Z:-0.73 [[ 9.99780349e-01 2.03749708e-02 4.91060425e-03 9.79702021e+01] [-2.03743010e-02 9.99792405e-01 -1.86394886e-04 -3.38186091e+00] [-4.91338262e-03 8.63038156e-05 9.99987926e-01 -7.34067309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:-3.39, Z:-0.73 [[ 9.99877501e-01 1.48616541e-02 4.91060207e-03 9.80315041e+01] [-1.48609175e-02 9.99889553e-01 -1.86452315e-04 -3.39157051e+00] [-4.91283069e-03 1.13453423e-04 9.99987926e-01 -7.32644445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:-3.40, Z:-0.73 [[ 9.99887172e-01 1.41961190e-02 4.91059777e-03 9.80917497e+01] [-1.41953739e-02 9.99899223e-01 -1.86565304e-04 -3.39663769e+00] [-4.91275140e-03 1.16836483e-04 9.99987926e-01 -7.32237288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:-3.41, Z:-0.73 [[ 9.99910535e-01 1.24422190e-02 4.91059353e-03 9.81537547e+01] [-1.24414522e-02 9.99922585e-01 -1.86676987e-04 -3.40713307e+00] [-4.91253605e-03 1.25565372e-04 9.99987926e-01 -7.33263718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-3.42, Z:-0.73 [[ 9.99898012e-01 1.34108882e-02 4.91056238e-03 9.82150549e+01] [-1.34101291e-02 9.99910063e-01 -1.87492734e-04 -3.41675799e+00] [-4.91263518e-03 1.21622336e-04 9.99987926e-01 -7.34571025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-3.43, Z:-0.74 [[ 9.99837993e-01 1.73169074e-02 4.91053397e-03 9.82764422e+01] [-1.73161916e-02 9.99850046e-01 -1.88233889e-04 -3.42846495e+00] [-4.91305724e-03 1.03171646e-04 9.99987926e-01 -7.37483762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-3.44, Z:-0.74 [[ 9.99680142e-01 2.48092994e-02 4.91050469e-03 9.83378204e+01] [-2.48086703e-02 9.99692200e-01 -1.88994573e-04 -3.43863723e+00] [-4.91368206e-03 6.71110296e-05 9.99987926e-01 -7.38693766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-3.44, Z:-0.74 [[ 9.99478575e-01 3.19134064e-02 4.91050036e-03 9.83985713e+01] [-3.19128624e-02 9.99490637e-01 -1.89107195e-04 -3.44463354e+00] [-4.91403418e-03 3.23004674e-05 9.99987926e-01 -7.36963879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:-3.45, Z:-0.74 [[ 9.99077679e-01 4.26576918e-02 4.91049574e-03 9.84574683e+01] [-4.26572770e-02 9.99089746e-01 -1.89226951e-04 -3.45133153e+00] [-4.91409793e-03 -2.04159540e-05 9.99987926e-01 -7.37971872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:-3.46, Z:-0.74 [[ 9.98822333e-01 4.82683643e-02 4.91049803e-03 9.85173973e+01] [-4.82680175e-02 9.98834402e-01 -1.89167604e-04 -3.45521602e+00] [-4.91390517e-03 -4.80751777e-05 9.99987926e-01 -7.37575798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-3.46, Z:-0.74 [[ 9.98506861e-01 5.44052858e-02 4.91049803e-03 9.85772008e+01] [-5.44050133e-02 9.98518933e-01 -1.89167604e-04 -3.45912111e+00] [-4.91351697e-03 -7.82705600e-05 9.99987926e-01 -7.36542250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-3.46, Z:-0.74 [[ 9.98364572e-01 5.69567189e-02 4.91050249e-03 9.86364444e+01] [-5.69564778e-02 9.98376644e-01 -1.89051771e-04 -3.46146925e+00] [-4.91329876e-03 -9.09423357e-05 9.99987926e-01 -7.35795341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-3.46, Z:-0.74 [[ 9.98307079e-01 5.79556898e-02 4.91050698e-03 9.86959294e+01] [-5.79554613e-02 9.98319152e-01 -1.88935023e-04 -3.46383280e+00] [-4.91320302e-03 -9.59755261e-05 9.99987926e-01 -7.37024481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56587155999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-3.47, Z:-0.74 [[ 9.98379105e-01 5.67014005e-02 4.91051142e-03 9.87558048e+01] [-5.67011574e-02 9.98391177e-01 -1.88819502e-04 -3.46599529e+00] [-4.91331761e-03 -8.99182354e-05 9.99987926e-01 -7.36743664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-3.47, Z:-0.74 [[ 9.98644631e-01 5.18149295e-02 4.91051599e-03 9.88168181e+01] [-5.18146280e-02 9.98656702e-01 -1.88700712e-04 -3.46673269e+00] [-4.91369721e-03 -6.59916055e-05 9.99987926e-01 -7.35968143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:-3.47, Z:-0.74 [[ 9.99093278e-01 4.22907567e-02 4.91051599e-03 9.88764624e+01] [-4.22903400e-02 9.99105346e-01 -1.88700712e-04 -3.46945443e+00] [-4.91410307e-03 -1.91377773e-05 9.99987926e-01 -7.36328836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-3.47, Z:-0.74 [[ 9.99365907e-01 3.52657132e-02 4.91051824e-03 9.89380095e+01] [-3.52652120e-02 9.99377971e-01 -1.88641928e-04 -3.47445933e+00] [-4.91411635e-03 1.53518451e-05 9.99987926e-01 -7.37528964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-3.48, Z:-0.74 [[ 9.99629343e-01 2.67780487e-02 4.91051385e-03 9.89988618e+01] [-2.67774445e-02 9.99641402e-01 -1.88756292e-04 -3.47896792e+00] [-4.91380747e-03 5.71953161e-05 9.99987926e-01 -7.36633425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:-3.48, Z:-0.74 [[ 9.99717294e-01 2.32641107e-02 4.91050949e-03 9.90604775e+01] [-2.32634635e-02 9.99729351e-01 -1.88869647e-04 -3.48331054e+00] [-4.91357435e-03 7.45807942e-05 9.99987926e-01 -7.37184952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:-3.49, Z:-0.74 [[ 9.99780042e-01 2.03900647e-02 4.91050510e-03 9.91213569e+01] [-2.03893823e-02 9.99792097e-01 -1.88983636e-04 -3.48751062e+00] [-4.91333758e-03 8.88199020e-05 9.99987926e-01 -7.36911253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98587155999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:-3.49, Z:-0.74 [[ 9.99786604e-01 2.00657440e-02 4.91050053e-03 9.91822787e+01] [-2.00650571e-02 9.99798659e-01 -1.89102295e-04 -3.49222751e+00] [-4.91330632e-03 9.05324679e-05 9.99987926e-01 -7.37959908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:-3.50, Z:-0.74 [[ 9.99784429e-01 2.01738116e-02 4.91047094e-03 9.92444887e+01] [-2.01731223e-02 9.99796484e-01 -1.89867671e-04 -3.49787632e+00] [-4.91330193e-03 9.07672098e-05 9.99987926e-01 -7.37840796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.31, Y:-3.50, Z:-0.74 [[ 9.99770237e-01 2.08652933e-02 4.91043943e-03 9.93067440e+01] [-2.08646083e-02 9.99782292e-01 -1.90678984e-04 -3.50269540e+00] [-4.91334896e-03 8.81807772e-05 9.99987926e-01 -7.38581088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.37, Y:-3.51, Z:-0.74 [[ 9.99670188e-01 2.52071869e-02 4.91040777e-03 9.93690198e+01] [-2.52065503e-02 9.99682246e-01 -1.91491024e-04 -3.50816356e+00] [-4.91367441e-03 6.76534274e-05 9.99987926e-01 -7.40659603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:99.43, Y:-3.51, Z:-0.74 [[ 9.99528867e-01 3.02973814e-02 4.91037625e-03 9.94306694e+01] [-3.02968023e-02 9.99540928e-01 -1.92295796e-04 -3.51104665e+00] [-4.91394809e-03 4.34365006e-05 9.99987926e-01 -7.42372707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.49, Y:-3.51, Z:-0.74 [[ 9.99225741e-01 3.90359729e-02 4.91037179e-03 9.94923328e+01] [-3.90354987e-02 9.99237806e-01 -1.92409712e-04 -3.51177724e+00] [-4.91414003e-03 5.81925690e-07 9.99987926e-01 -7.41201508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34587155999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:99.55, Y:-3.51, Z:-0.74 [[ 9.99045008e-01 4.34161305e-02 4.91036718e-03 9.95526555e+01] [-4.34157086e-02 9.99057075e-01 -1.92527175e-04 -3.51362956e+00] [-4.91409586e-03 -2.08437573e-05 9.99987926e-01 -7.41284671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:99.61, Y:-3.51, Z:-0.74 [[ 9.98943182e-01 4.56990880e-02 4.91036718e-03 9.96140808e+01] [-4.56986937e-02 9.98955250e-01 -1.92527175e-04 -3.51423291e+00] [-4.91403539e-03 -3.20736567e-05 9.99987926e-01 -7.38884551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.67, Y:-3.52, Z:-0.74 [[ 9.98965543e-01 4.52076613e-02 4.91036242e-03 9.96743898e+01] [-4.52072605e-02 9.98977611e-01 -1.92648555e-04 -3.51524082e+00] [-4.91405131e-03 -2.95347650e-05 9.99987926e-01 -7.40824173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.73, Y:-3.52, Z:-0.74 [[ 9.99107393e-01 4.19560057e-02 4.91035084e-03 9.97344685e+01] [-4.19555641e-02 9.99119459e-01 -1.92943113e-04 -3.51582474e+00] [-4.91412220e-03 -1.32456495e-05 9.99987926e-01 -7.41031192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.80, Y:-3.52, Z:-0.74 [[ 9.99248726e-01 3.84431116e-02 4.91035084e-03 9.97957353e+01] [-3.84426277e-02 9.99260790e-01 -1.92943113e-04 -3.51824284e+00] [-4.91413840e-03 4.03137023e-06 9.99987926e-01 -7.42384467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.86, Y:-3.52, Z:-0.74 [[ 9.99445723e-01 3.29261948e-02 4.91034636e-03 9.98569523e+01] [-3.29256436e-02 9.99457785e-01 -1.93057301e-04 -3.52017864e+00] [-4.91404054e-03 3.12739794e-05 9.99987926e-01 -7.39925855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70587155999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:99.92, Y:-3.52, Z:-0.74 [[ 9.99554959e-01 2.94240034e-02 4.91034163e-03 9.99175879e+01] [-2.94234094e-02 9.99567019e-01 -1.93177362e-04 -3.52365390e+00] [-4.91389960e-03 4.86123982e-05 9.99987926e-01 -7.41084977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:99.98, Y:-3.53, Z:-0.74 [[ 9.99656102e-01 2.57597845e-02 4.91033931e-03 9.99791412e+01] [-2.57591461e-02 9.99668159e-01 -1.93236245e-04 -3.52959574e+00] [-4.91368759e-03 6.66836438e-05 9.99987926e-01 -7.39933656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:100.04, Y:-3.54, Z:-0.74 [[ 9.99737321e-01 2.23869899e-02 4.91033477e-03 1.00041311e+02] [-2.23863102e-02 9.99749376e-01 -1.93351591e-04 -3.53534445e+00] [-4.91343269e-03 8.33765247e-05 9.99987926e-01 -7.39907691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:-3.54, Z:-0.74 [[ 9.99827273e-01 1.79252073e-02 4.91030263e-03 1.00102986e+02] [-1.79244698e-02 9.99839325e-01 -1.94164348e-04 -3.54331020e+00] [-4.91299411e-03 1.06116239e-04 9.99987926e-01 -7.37304245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.16, Y:-3.55, Z:-0.74 [[ 9.99857614e-01 1.61443751e-02 4.91026916e-03 1.00164961e+02] [-1.61436120e-02 9.99869664e-01 -1.95007298e-04 -3.55023026e+00] [-4.91277745e-03 1.15710052e-04 9.99987926e-01 -7.38240804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:-3.56, Z:-0.74 [[ 9.99861267e-01 1.59165156e-02 4.91023359e-03 1.00226884e+02] [-1.59157454e-02 9.99873317e-01 -1.95898856e-04 -3.56081649e+00] [-4.91272957e-03 1.17721651e-04 9.99987926e-01 -7.38943115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.29, Y:-3.57, Z:-0.74 [[ 9.99841567e-01 1.71093848e-02 4.91019985e-03 1.00289243e+02] [-1.71086248e-02 9.99853617e-01 -1.96740875e-04 -3.56862648e+00] [-4.91284720e-03 1.12702938e-04 9.99987926e-01 -7.38294263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:-3.58, Z:-0.74 [[ 9.99773678e-01 2.06998285e-02 4.91016613e-03 1.00351391e+02] [-2.06991077e-02 9.99785731e-01 -1.97578967e-04 -3.57884382e+00] [-4.91320388e-03 9.58981931e-05 9.99987926e-01 -7.39653283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:-3.59, Z:-0.74 [[ 9.99711414e-01 2.35155294e-02 4.91013022e-03 1.00413794e+02] [-2.35148382e-02 9.99723468e-01 -1.98467221e-04 -3.58645868e+00] [-4.91343948e-03 8.29490281e-05 9.99987926e-01 -7.40600500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24587156 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:-3.60, Z:-0.74 [[ 9.99610578e-01 2.74696645e-02 4.91009782e-03 1.00475946e+02] [-2.74690170e-02 9.99622635e-01 -1.99265756e-04 -3.59632120e+00] [-4.91371868e-03 6.43125976e-05 9.99987926e-01 -7.40956866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:-3.61, Z:-0.74 [[ 9.99515651e-01 3.07303436e-02 4.91006536e-03 1.00538075e+02] [-3.07297315e-02 9.99527710e-01 -2.00062284e-04 -3.60568014e+00] [-4.91389437e-03 4.90803933e-05 9.99987926e-01 -7.39265648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:-3.61, Z:-0.74 [[ 9.99426184e-01 3.35141061e-02 4.91003232e-03 1.00600112e+02] [-3.35135236e-02 9.99438244e-01 -2.00870009e-04 -3.61133407e+00] [-4.91400606e-03 3.62022622e-05 9.99987926e-01 -7.37589206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42587155999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:-3.62, Z:-0.74 [[ 9.99327850e-01 3.63282179e-02 4.90999820e-03 1.00661844e+02] [-3.63276654e-02 9.99339912e-01 -2.01700465e-04 -3.61698255e+00] [-4.91408459e-03 2.31961202e-05 9.99987926e-01 -7.38600111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48587155999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:-3.62, Z:-0.74 [[ 9.99218927e-01 3.92100597e-02 4.90996412e-03 1.00723258e+02] [-3.92095379e-02 9.99230990e-01 -2.02526848e-04 -3.62369711e+00] [-4.91412939e-03 9.85123614e-06 9.99987926e-01 -7.42632308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:-3.63, Z:-0.74 [[ 9.99173633e-01 4.03477928e-02 4.90993008e-03 1.00785592e+02] [-4.03472806e-02 9.99185696e-01 -2.03348573e-04 -3.62921169e+00] [-4.91413657e-03 5.07820515e-06 9.99987926e-01 -7.44721830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:-3.63, Z:-0.75 [[ 9.99187430e-01 4.00046643e-02 4.90989571e-03 1.00847238e+02] [-4.00041440e-02 9.99199493e-01 -2.04175071e-04 -3.63355216e+00] [-4.91413326e-03 7.59298899e-06 9.99987926e-01 -7.45626792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:-3.64, Z:-0.74 [[ 9.99222944e-01 3.91075557e-02 4.90985913e-03 1.00910289e+02] [-3.91070202e-02 9.99235007e-01 -2.05051167e-04 -3.63890654e+00] [-4.91412217e-03 1.28818710e-05 9.99987926e-01 -7.43807400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-3.64, Z:-0.74 [[ 9.99209600e-01 3.94470389e-02 4.90981943e-03 1.00972965e+02] [-3.94465029e-02 9.99221663e-01 -2.05997281e-04 -3.64248382e+00] [-4.91412392e-03 1.21592539e-05 9.99987926e-01 -7.42794394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:-3.65, Z:-0.75 [[ 9.99180848e-01 4.01687440e-02 4.90977789e-03 1.01034724e+02] [-4.01682119e-02 9.99192910e-01 -2.06982534e-04 -3.64579410e+00] [-4.91412949e-03 9.59598507e-06 9.99987926e-01 -7.45650243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:-3.65, Z:-0.75 [[ 9.99158171e-01 4.07288955e-02 4.90973919e-03 1.01097822e+02] [-4.07283656e-02 9.99170234e-01 -2.07896680e-04 -3.64877360e+00] [-4.91413265e-03 7.75601406e-06 9.99987926e-01 -7.45330193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:-3.65, Z:-0.74 [[ 9.99129003e-01 4.14382767e-02 4.90969998e-03 1.01161033e+02] [-4.14377509e-02 9.99141066e-01 -2.08818485e-04 -3.65198316e+00] [-4.91413595e-03 5.18967983e-06 9.99987926e-01 -7.44880300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.22, Y:-3.66, Z:-0.75 [[ 9.99134817e-01 4.12978560e-02 4.90965933e-03 1.01222888e+02] [-4.12973238e-02 9.99146880e-01 -2.09769981e-04 -3.65592120e+00] [-4.91413385e-03 6.83270083e-06 9.99987926e-01 -7.46677302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.29, Y:-3.66, Z:-0.75 [[ 9.99238839e-01 3.86993437e-02 4.90962149e-03 1.01286080e+02] [-3.86987758e-02 9.99250900e-01 -2.10651785e-04 -3.66090880e+00] [-4.91409578e-03 2.04951038e-05 9.99987926e-01 -7.45580593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.35, Y:-3.67, Z:-0.75 [[ 9.99321079e-01 3.65140689e-02 4.90958047e-03 1.01349334e+02] [-3.65134699e-02 9.99333139e-01 -2.11603589e-04 -3.66528751e+00] [-4.91403297e-03 3.21941083e-05 9.99987926e-01 -7.46234757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14587155999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:101.41, Y:-3.67, Z:-0.75 [[ 9.99412930e-01 3.39070931e-02 4.90953880e-03 1.01411819e+02] [-3.39064580e-02 9.99424988e-01 -2.12565911e-04 -3.67309832e+00] [-4.91392325e-03 4.59760493e-05 9.99987926e-01 -7.46909245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.47, Y:-3.68, Z:-0.75 [[ 9.99405365e-01 3.41293732e-02 4.90949677e-03 1.01474525e+02] [-3.41287360e-02 9.99417422e-01 -2.13532417e-04 -3.67819341e+00] [-4.91392433e-03 4.58505238e-05 9.99987926e-01 -7.46840187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:-3.68, Z:-0.75 [[ 9.99321186e-01 3.65111586e-02 4.90945441e-03 1.01535531e+02] [-3.65105454e-02 9.99333245e-01 -2.14501982e-04 -3.68336467e+00] [-4.91401272e-03 3.51095171e-05 9.99987926e-01 -7.49578097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:-3.69, Z:-0.75 [[ 9.99252167e-01 3.83536653e-02 4.90942028e-03 1.01598801e+02] [-3.83530705e-02 9.99264227e-01 -2.15280246e-04 -3.68734082e+00] [-4.91406485e-03 2.68279106e-05 9.99987926e-01 -7.50162757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.66, Y:-3.69, Z:-0.75 [[ 9.99135800e-01 4.12741051e-02 4.90937805e-03 1.01661116e+02] [-4.12735408e-02 9.99147861e-01 -2.16238948e-04 -3.69213977e+00] [-4.91411965e-03 1.34246590e-05 9.99987926e-01 -7.50576593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.72, Y:-3.70, Z:-0.75 [[ 9.99028713e-01 4.37895921e-02 4.90933858e-03 1.01723218e+02] [-4.37890539e-02 9.99040776e-01 -2.17131458e-04 -3.69768985e+00] [-4.91413752e-03 1.94527008e-06 9.99987926e-01 -7.51590918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50587155999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:-3.70, Z:-0.75 [[ 9.98989774e-01 4.46691170e-02 4.90929968e-03 1.01785758e+02] [-4.46685850e-02 9.99001837e-01 -2.18007316e-04 -3.70162273e+00] [-4.91413759e-03 -1.50439138e-06 9.99987926e-01 -7.54334019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56587155999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:-3.71, Z:-0.75 [[ 9.98951814e-01 4.55101350e-02 4.90928669e-03 1.01848861e+02] [-4.55096118e-02 9.98963877e-01 -2.18299588e-04 -3.70603338e+00] [-4.91413490e-03 -5.34896132e-06 9.99987926e-01 -7.53057401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62587156 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:101.91, Y:-3.71, Z:-0.75 [[ 9.98922596e-01 4.61470160e-02 4.90924495e-03 1.01911655e+02] [-4.61464959e-02 9.98934659e-01 -2.19234253e-04 -3.70998501e+00] [-4.91413193e-03 -7.54640205e-06 9.99987926e-01 -7.53004474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.97, Y:-3.71, Z:-0.75 [[ 9.98907441e-01 4.64739042e-02 4.90920314e-03 1.01973094e+02] [-4.64733834e-02 9.98919504e-01 -2.20166368e-04 -3.71291916e+00] [-4.91413076e-03 -8.22145623e-06 9.99987926e-01 -7.54152609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:-3.72, Z:-0.75 [[ 9.98802673e-01 4.86736025e-02 4.90916413e-03 1.02035960e+02] [-4.86731040e-02 9.98814738e-01 -2.21032891e-04 -3.71623716e+00] [-4.91410395e-03 -1.81760141e-05 9.99987926e-01 -7.52735471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:-3.72, Z:-0.75 [[ 9.98752427e-01 4.96939629e-02 4.90912165e-03 1.02097483e+02] [-4.96934721e-02 9.98764492e-01 -2.21972429e-04 -3.71854299e+00] [-4.91408707e-03 -2.22557967e-05 9.99987926e-01 -7.53090553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:-3.72, Z:-0.75 [[ 9.98778402e-01 4.91691353e-02 4.90909530e-03 1.02159607e+02] [-4.91686353e-02 9.98790466e-01 -2.22553567e-04 -3.72102921e+00] [-4.91410035e-03 -1.90918210e-05 9.99987926e-01 -7.54114000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:-3.72, Z:-0.76 [[ 9.98878829e-01 4.70848733e-02 4.90905828e-03 1.02221469e+02] [-4.70843442e-02 9.98890892e-01 -2.23367217e-04 -3.72444803e+00] [-4.91413082e-03 -8.02300508e-06 9.99987926e-01 -7.55706075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:-3.73, Z:-0.76 [[ 9.99049528e-01 4.33121521e-02 4.90901873e-03 1.02284044e+02] [-4.33115731e-02 9.99061588e-01 -2.24232936e-04 -3.72857960e+00] [-4.91412406e-03 1.14024848e-05 9.99987926e-01 -7.56175803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:-3.73, Z:-0.76 [[ 9.99125986e-01 4.15110306e-02 4.90897774e-03 1.02346929e+02] [-4.15104255e-02 9.99138045e-01 -2.25126914e-04 -3.73326437e+00] [-4.91409167e-03 2.11563957e-05 9.99987926e-01 -7.55435525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:-3.74, Z:-0.75 [[ 9.99150743e-01 4.09108070e-02 4.90893678e-03 1.02409807e+02] [-4.09101903e-02 9.99162802e-01 -2.26016528e-04 -3.73709455e+00] [-4.91407354e-03 2.49990445e-05 9.99987926e-01 -7.51502603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:-3.74, Z:-0.75 [[ 9.99065266e-01 4.29476105e-02 4.90889154e-03 1.02471963e+02] [-4.29470135e-02 9.99077326e-01 -2.26994870e-04 -3.74109760e+00] [-4.91411111e-03 1.59604584e-05 9.99987926e-01 -7.51416877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:-3.74, Z:-0.75 [[ 9.98970378e-01 4.51008451e-02 4.90884934e-03 1.02535178e+02] [-4.51002697e-02 9.98982439e-01 -2.27903762e-04 -3.74399754e+00] [-4.91413294e-03 6.27867817e-06 9.99987926e-01 -7.50035357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.60, Y:-3.75, Z:-0.75 [[ 9.98800254e-01 4.87232612e-02 4.90880392e-03 1.02596910e+02] [-4.87227248e-02 9.98812317e-01 -2.28877961e-04 -3.74670089e+00] [-4.91412549e-03 -1.05669370e-05 9.99987926e-01 -7.51167504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34587155999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:102.66, Y:-3.75, Z:-0.75 [[ 9.98687132e-01 5.09893676e-02 4.90877570e-03 1.02658571e+02] [-5.09888556e-02 9.98699196e-01 -2.29481437e-04 -3.74944359e+00] [-4.91409146e-03 -2.11126972e-05 9.99987926e-01 -7.52182450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:-3.75, Z:-0.75 [[ 9.98597408e-01 5.27173681e-02 4.90873522e-03 1.02721697e+02] [-5.27168727e-02 9.98609472e-01 -2.30344142e-04 -3.75194527e+00] [-4.91405263e-03 -2.87521071e-05 9.99987926e-01 -7.49399693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.78, Y:-3.76, Z:-0.75 [[ 9.98573158e-01 5.31747311e-02 4.90869011e-03 1.02783957e+02] [-5.31742365e-02 9.98585223e-01 -2.31301489e-04 -3.75555252e+00] [-4.91404480e-03 -3.00443907e-05 9.99987926e-01 -7.51667045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.85, Y:-3.76, Z:-0.75 [[ 9.98573579e-01 5.31668392e-02 4.90865084e-03 1.02846563e+02] [-5.31663404e-02 9.98585643e-01 -2.32131975e-04 -3.75860080e+00] [-4.91404997e-03 -2.91741445e-05 9.99987926e-01 -7.53041599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.91, Y:-3.76, Z:-0.75 [[ 9.98589915e-01 5.28591327e-02 4.90863667e-03 1.02907952e+02] [-5.28586287e-02 9.98601978e-01 -2.32431095e-04 -3.76288991e+00] [-4.91406040e-03 -2.73604559e-05 9.99987926e-01 -7.54444411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64587155999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:-3.77, Z:-0.76 [[ 9.98579595e-01 5.30537243e-02 4.90859453e-03 1.02970039e+02] [-5.30532184e-02 9.98591659e-01 -2.33317724e-04 -3.76772921e+00] [-4.91405993e-03 -2.74304195e-05 9.99987926e-01 -7.55748628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:103.03, Y:-3.77, Z:-0.76 [[ 9.98515439e-01 5.42478013e-02 4.90855579e-03 1.03032451e+02] [-5.42473057e-02 9.98527503e-01 -2.34129944e-04 -3.77179406e+00] [-4.91402899e-03 -3.24935631e-05 9.99987926e-01 -7.55860273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:-3.78, Z:-0.75 [[ 9.98387353e-01 5.65561576e-02 4.90851102e-03 1.03094097e+02] [-5.65556853e-02 9.98399419e-01 -2.35064781e-04 -3.77501543e+00] [-4.91394891e-03 -4.29185004e-05 9.99987926e-01 -7.52885143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:-3.78, Z:-0.75 [[ 9.98243736e-01 5.90368604e-02 4.90847462e-03 1.03155540e+02] [-5.90364144e-02 9.98255802e-01 -2.35822319e-04 -3.77964482e+00] [-4.91383548e-03 -5.43705890e-05 9.99987926e-01 -7.51783006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:-3.78, Z:-0.75 [[ 9.98114022e-01 6.11907400e-02 4.90843861e-03 1.03218097e+02] [-6.11903164e-02 9.98126089e-01 -2.36569581e-04 -3.78289576e+00] [-4.91371650e-03 -6.42254957e-05 9.99987926e-01 -7.51207009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.28, Y:-3.78, Z:-0.76 [[ 9.97924840e-01 6.42021875e-02 4.90839142e-03 1.03279761e+02] [-6.42017955e-02 9.97936908e-01 -2.37544622e-04 -3.78432576e+00] [-4.91351584e-03 -7.80758636e-05 9.99987926e-01 -7.56046106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:-3.79, Z:-0.76 [[ 9.97853901e-01 6.52954814e-02 4.90835038e-03 1.03341755e+02] [-6.52950985e-02 9.97865970e-01 -2.38389618e-04 -3.78694761e+00] [-4.91344158e-03 -8.26132116e-05 9.99987926e-01 -7.57167406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-3.79, Z:-0.75 [[ 9.97823814e-01 6.57536698e-02 4.90832149e-03 1.03403909e+02] [-6.57532895e-02 9.97835882e-01 -2.38983006e-04 -3.78826594e+00] [-4.91341331e-03 -8.42753492e-05 9.99987926e-01 -7.54943871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.47, Y:-3.79, Z:-0.76 [[ 9.97860168e-01 6.51996498e-02 4.90828084e-03 1.03466745e+02] [-6.51992587e-02 9.97872236e-01 -2.39814966e-04 -3.79011601e+00] [-4.91347303e-03 -8.07144700e-05 9.99987926e-01 -7.55372590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.53, Y:-3.79, Z:-0.76 [[ 9.98129119e-01 6.09439996e-02 4.90823418e-03 1.03529230e+02] [-6.09435524e-02 9.98141185e-01 -2.40766186e-04 -3.79152624e+00] [-4.91378393e-03 -5.88094859e-05 9.99987926e-01 -7.56139478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.59, Y:-3.80, Z:-0.76 [[ 9.98502641e-01 5.44828923e-02 4.90819086e-03 1.03591965e+02] [-5.44823627e-02 9.98514704e-01 -2.41645983e-04 -3.79560742e+00] [-4.91406632e-03 -2.61256831e-05 9.99987926e-01 -7.56789274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:-3.80, Z:-0.76 [[ 9.98712094e-01 5.04981488e-02 4.90814461e-03 1.03653594e+02] [-5.04975664e-02 9.98724155e-01 -2.42581757e-04 -3.79991375e+00] [-4.91413251e-03 -5.58002422e-06 9.99987926e-01 -7.57026960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36587155999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:-3.80, Z:-0.75 [[ 9.98889691e-01 4.68539891e-02 4.90810142e-03 1.03716774e+02] [-4.68533585e-02 9.98901749e-01 -2.43452652e-04 -3.80463681e+00] [-4.91411781e-03 1.32213094e-05 9.99987926e-01 -7.54769909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:-3.81, Z:-0.75 [[ 9.98897146e-01 4.66947808e-02 4.90805486e-03 1.03779027e+02] [-4.66941437e-02 9.98909204e-01 -2.44387714e-04 -3.80842832e+00] [-4.91411280e-03 1.49407720e-05 9.99987926e-01 -7.53838141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:-3.81, Z:-0.75 [[ 9.98830004e-01 4.81096060e-02 4.90801376e-03 1.03841482e+02] [-4.81089819e-02 9.98842062e-01 -2.45210243e-04 -3.81199261e+00] [-4.91412756e-03 8.80380308e-06 9.99987926e-01 -7.54613263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:-3.82, Z:-0.76 [[ 9.98795188e-01 4.88270886e-02 4.90797117e-03 1.03902183e+02] [-4.88264690e-02 9.98807246e-01 -2.46059830e-04 -3.81685045e+00] [-4.91413155e-03 6.12447236e-06 9.99987926e-01 -7.57054365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:-3.82, Z:-0.76 [[ 9.98787472e-01 4.89846775e-02 4.90793241e-03 1.03964408e+02] [-4.89840560e-02 9.98799530e-01 -2.46830567e-04 -3.82164295e+00] [-4.91413150e-03 6.12084225e-06 9.99987926e-01 -7.56170622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.03, Y:-3.83, Z:-0.76 [[ 9.98780506e-01 4.91264956e-02 4.90788902e-03 1.04026436e+02] [-4.91258716e-02 9.98792565e-01 -2.47690294e-04 -3.82595407e+00] [-4.91413122e-03 6.28391132e-06 9.99987926e-01 -7.57582761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.09, Y:-3.83, Z:-0.76 [[ 9.98795265e-01 4.88255220e-02 4.90784277e-03 1.04087948e+02] [-4.88248899e-02 9.98807323e-01 -2.48603221e-04 -3.83235670e+00] [-4.91412748e-03 8.67883694e-06 9.99987926e-01 -7.60114693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78587155999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:104.15, Y:-3.84, Z:-0.76 [[ 9.98803158e-01 4.86637958e-02 4.90779742e-03 1.04150034e+02] [-4.86631573e-02 9.98815216e-01 -2.49495306e-04 -3.83721796e+00] [-4.91412413e-03 1.03677817e-05 9.99987926e-01 -7.59225330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.21, Y:-3.84, Z:-0.76 [[ 9.98783511e-01 4.90653819e-02 4.90775849e-03 1.04212365e+02] [-4.90647445e-02 9.98795569e-01 -2.50258900e-04 -3.84432096e+00] [-4.91412648e-03 9.15654636e-06 9.99987926e-01 -7.57160087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.27, Y:-3.85, Z:-0.76 [[ 9.98789081e-01 4.89518785e-02 4.90771123e-03 1.04274822e+02] [-4.89512352e-02 9.98801138e-01 -2.51182138e-04 -3.84950840e+00] [-4.91412340e-03 1.06394500e-05 9.99987926e-01 -7.55880970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:-3.86, Z:-0.76 [[ 9.98877266e-01 4.71181693e-02 4.90766156e-03 1.04335615e+02] [-4.71174991e-02 9.98889322e-01 -2.52149024e-04 -3.85770993e+00] [-4.91409152e-03 2.06291890e-05 9.99987926e-01 -7.58558112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:-3.87, Z:-0.76 [[ 9.98992370e-01 4.46112092e-02 4.90762160e-03 1.04397722e+02] [-4.46105050e-02 9.99004424e-01 -2.52924227e-04 -3.86889411e+00] [-4.91401895e-03 3.37378944e-05 9.99987926e-01 -7.60685879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:-3.88, Z:-0.76 [[ 9.99023475e-01 4.39091244e-02 4.90757909e-03 1.04459899e+02] [-4.39084077e-02 9.99035529e-01 -2.53746558e-04 -3.87686016e+00] [-4.91398765e-03 3.80147846e-05 9.99987926e-01 -7.58299537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:-3.89, Z:-0.76 [[ 9.98998087e-01 4.44830171e-02 4.90753669e-03 1.04521954e+02] [-4.44823033e-02 9.99010140e-01 -2.54563775e-04 -3.88726216e+00] [-4.91400269e-03 3.60101882e-05 9.99987926e-01 -7.56821817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:-3.89, Z:-0.76 [[ 9.98917734e-01 4.62523309e-02 4.90749433e-03 1.04583747e+02] [-4.62516344e-02 9.98929788e-01 -2.55377903e-04 -3.89418179e+00] [-4.91405409e-03 2.81218820e-05 9.99987926e-01 -7.57081868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:-3.90, Z:-0.76 [[ 9.98756004e-01 4.96221882e-02 4.90745049e-03 1.04645062e+02] [-4.96215283e-02 9.98768060e-01 -2.56217488e-04 -3.90342198e+00] [-4.91411888e-03 1.23835605e-05 9.99987926e-01 -7.58017384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.71, Y:-3.91, Z:-0.76 [[ 9.98626580e-01 5.21619706e-02 4.90740399e-03 1.04707589e+02] [-5.21613370e-02 9.98638638e-01 -2.57105105e-04 -3.91117293e+00] [-4.91413435e-03 7.75238703e-07 9.99987926e-01 -7.56839098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.77, Y:-3.92, Z:-0.76 [[ 9.98487506e-01 5.47596474e-02 4.90735414e-03 1.04769195e+02] [-5.47590405e-02 9.98499565e-01 -2.58053201e-04 -3.91995311e+00] [-4.91412187e-03 -1.10591072e-05 9.99987926e-01 -7.56170784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:-3.93, Z:-0.76 [[ 9.98422492e-01 5.59325160e-02 4.90730776e-03 1.04831588e+02] [-5.59319189e-02 9.98434551e-01 -2.58932037e-04 -3.92673605e+00] [-4.91410835e-03 -1.59515707e-05 9.99987926e-01 -7.58058310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50587155999999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:-3.93, Z:-0.76 [[ 9.98438005e-01 5.56549073e-02 4.90725877e-03 1.04892990e+02] [-5.56543023e-02 9.98450064e-01 -2.59857226e-04 -3.93304355e+00] [-4.91411517e-03 -1.36587329e-05 9.99987926e-01 -7.56614155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56587155999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:-3.94, Z:-0.76 [[ 9.98397856e-01 5.63705689e-02 4.90721807e-03 1.04956011e+02] [-5.63699688e-02 9.98409915e-01 -2.60623607e-04 -3.94075527e+00] [-4.91410668e-03 -1.64136791e-05 9.99987926e-01 -7.56195474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.02, Y:-3.95, Z:-0.76 [[ 9.98332370e-01 5.75186877e-02 4.90716826e-03 1.05018245e+02] [-5.75180968e-02 9.98344430e-01 -2.61558032e-04 -3.94578982e+00] [-4.91408858e-03 -2.11291292e-05 9.99987926e-01 -7.57592051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.08, Y:-3.95, Z:-0.76 [[ 9.98173496e-01 6.02128854e-02 4.90712506e-03 1.05079107e+02] [-6.02123231e-02 9.98185558e-01 -2.62366005e-04 -3.94898616e+00] [-4.91401918e-03 -3.35826079e-05 9.99987926e-01 -7.62416793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.14, Y:-3.95, Z:-0.76 [[ 9.97938998e-01 6.39818434e-02 4.90710065e-03 1.05142121e+02] [-6.39813245e-02 9.97951061e-01 -2.62821779e-04 -3.95270946e+00] [-4.91386213e-03 -5.16826967e-05 9.99987926e-01 -7.60202062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:-3.95, Z:-0.76 [[ 9.97758191e-01 6.67421394e-02 4.90705163e-03 1.05204874e+02] [-6.67416494e-02 9.97770255e-01 -2.63733941e-04 -3.95385251e+00] [-4.91371232e-03 -6.43620195e-05 9.99987926e-01 -7.59238966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:-3.95, Z:-0.76 [[ 9.97655168e-01 6.82648240e-02 4.90700183e-03 1.05266303e+02] [-6.82643479e-02 9.97667233e-01 -2.64657267e-04 -3.95459567e+00] [-4.91362172e-03 -7.09365897e-05 9.99987926e-01 -7.57931060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.33, Y:-3.96, Z:-0.76 [[ 9.97786147e-01 6.63228968e-02 4.90696166e-03 1.05328832e+02] [-6.63223935e-02 9.97798211e-01 -2.65399859e-04 -3.95730812e+00] [-4.91375966e-03 -6.06291400e-05 9.99987926e-01 -7.55903458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.39, Y:-3.96, Z:-0.76 [[ 9.98124403e-01 6.10213003e-02 4.90691783e-03 1.05391779e+02] [-6.10207290e-02 9.98136464e-01 -2.66207917e-04 -3.96395617e+00] [-4.91401796e-03 -3.37150843e-05 9.99987926e-01 -7.56840850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:-3.97, Z:-0.76 [[ 9.98390624e-01 5.64985336e-02 4.90686690e-03 1.05452893e+02] [-5.64979030e-02 9.98402682e-01 -2.67143292e-04 -3.96665485e+00] [-4.91412228e-03 -1.05143324e-05 9.99987926e-01 -7.62054825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:-3.97, Z:-0.76 [[ 9.98455579e-01 5.53387822e-02 4.90682584e-03 1.05516017e+02] [-5.53381339e-02 9.98467636e-01 -2.67895331e-04 -3.97185481e+00] [-4.91413180e-03 -4.05299815e-06 9.99987926e-01 -7.60332103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:-3.98, Z:-0.76 [[ 9.98436909e-01 5.56746134e-02 4.90677345e-03 1.05577258e+02] [-5.56739644e-02 9.98448966e-01 -2.68851577e-04 -3.97674821e+00] [-4.91413108e-03 -4.74819321e-06 9.99987926e-01 -7.59528919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.64, Y:-3.98, Z:-0.76 [[ 9.98436869e-01 5.56753282e-02 4.90674841e-03 1.05639156e+02] [-5.56746770e-02 9.98448926e-01 -2.69307831e-04 -3.98128658e+00] [-4.91413148e-03 -4.29476448e-06 9.99987926e-01 -7.57677741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.70, Y:-3.99, Z:-0.76 [[ 9.98421453e-01 5.59511103e-02 4.90670461e-03 1.05701595e+02] [-5.59504585e-02 9.98433510e-01 -2.70103463e-04 -3.98714668e+00] [-4.91413089e-03 -4.85528088e-06 9.99987926e-01 -7.57852261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.76, Y:-4.00, Z:-0.76 [[ 9.98447210e-01 5.54895803e-02 4.90665311e-03 1.05763315e+02] [-5.54889184e-02 9.98459266e-01 -2.71035714e-04 -3.99507321e+00] [-4.91413293e-03 -1.65002210e-06 9.99987926e-01 -7.58489846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.83, Y:-4.00, Z:-0.76 [[ 9.98450783e-01 5.54252630e-02 4.90660526e-03 1.05825906e+02] [-5.54245960e-02 9.98462839e-01 -2.71899319e-04 -4.00175733e+00] [-4.91413310e-03 -4.68526142e-07 9.99987926e-01 -7.59335539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.89, Y:-4.01, Z:-0.76 [[ 9.98383978e-01 5.66158821e-02 4.90655522e-03 1.05887847e+02] [-5.66152252e-02 9.98396035e-01 -2.72799261e-04 -4.00990781e+00] [-4.91413005e-03 -5.42731734e-06 9.99987926e-01 -7.61565315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.95, Y:-4.01, Z:-0.76 [[ 9.98335332e-01 5.74673123e-02 4.90651033e-03 1.05950758e+02] [-5.74666617e-02 9.98347388e-01 -2.73604358e-04 -4.01454493e+00] [-4.91412508e-03 -8.81187116e-06 9.99987926e-01 -7.61458376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.01, Y:-4.02, Z:-0.76 [[ 9.98203611e-01 5.97116283e-02 4.90645786e-03 1.06013564e+02] [-5.97110002e-02 9.98215669e-01 -2.74541902e-04 -4.02112270e+00] [-4.91409646e-03 -1.89207888e-05 9.99987926e-01 -7.61146692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:-4.03, Z:-0.76 [[ 9.98040423e-01 6.23798187e-02 4.90640457e-03 1.06075613e+02] [-6.23792181e-02 9.98052482e-01 -2.75491011e-04 -4.02838160e+00] [-4.91403434e-03 -3.11065162e-05 9.99987926e-01 -7.60809391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.14, Y:-4.04, Z:-0.76 [[ 9.97906802e-01 6.44821079e-02 4.90635512e-03 1.06138765e+02] [-6.44815284e-02 9.97918862e-01 -2.76369016e-04 -4.03500492e+00] [-4.91396517e-03 -4.05787565e-05 9.99987926e-01 -7.61379184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:106.20, Y:-4.04, Z:-0.76 [[ 9.97714115e-01 6.73978764e-02 4.90630259e-03 1.06201829e+02] [-6.73973276e-02 9.97726177e-01 -2.77298361e-04 -4.04138820e+00] [-4.91383585e-03 -5.40071940e-05 9.99987926e-01 -7.62986698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.26, Y:-4.05, Z:-0.76 [[ 9.97560824e-01 6.96299522e-02 4.90624992e-03 1.06262825e+02] [-6.96294258e-02 9.97572887e-01 -2.78227165e-04 -4.04804255e+00] [-4.91371484e-03 -6.40708448e-05 9.99987926e-01 -7.64947028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.33, Y:-4.05, Z:-0.76 [[ 9.97322050e-01 7.29702500e-02 4.90620770e-03 1.06325389e+02] [-7.29697603e-02 9.97334115e-01 -2.78969643e-04 -4.05431408e+00] [-4.91348480e-03 -7.97822240e-05 9.99987926e-01 -7.64479144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:-4.06, Z:-0.76 [[ 9.97112703e-01 7.57772256e-02 4.90615320e-03 1.06388298e+02] [-7.57767652e-02 9.97124768e-01 -2.79924879e-04 -4.05826715e+00] [-4.91325880e-03 -9.26557665e-05 9.99987926e-01 -7.63786306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.45, Y:-4.06, Z:-0.76 [[ 9.97098420e-01 7.59649295e-02 4.90609871e-03 1.06449860e+02] [-7.59644667e-02 9.97110486e-01 -2.80876728e-04 -4.06245829e+00] [-4.91325925e-03 -9.26274305e-05 9.99987926e-01 -7.62976428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06587155999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:-4.07, Z:-0.76 [[ 9.97325590e-01 7.29218590e-02 4.90604812e-03 1.06512847e+02] [-7.29213550e-02 9.97337654e-01 -2.81757608e-04 -4.06794140e+00] [-4.91353281e-03 -7.67516039e-05 9.99987926e-01 -7.64425072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:-4.07, Z:-0.77 [[ 9.97556569e-01 6.96909067e-02 4.90599520e-03 1.06574851e+02] [-6.96903592e-02 9.97568631e-01 -2.82675945e-04 -4.07425829e+00] [-4.91376686e-03 -5.99153221e-05 9.99987926e-01 -7.65123584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:-4.08, Z:-0.77 [[ 9.97922431e-01 6.42398181e-02 4.90594568e-03 1.06637229e+02] [-6.42392005e-02 9.97934489e-01 -2.83532924e-04 -4.08067765e+00] [-4.91402650e-03 -3.22101631e-05 9.99987926e-01 -7.65290436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:106.70, Y:-4.09, Z:-0.77 [[ 9.98168112e-01 6.03021717e-02 4.90589177e-03 1.06698604e+02] [-6.03015019e-02 9.98180168e-01 -2.84462500e-04 -4.08973414e+00] [-4.91411758e-03 -1.18912456e-05 9.99987926e-01 -7.66314639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.76, Y:-4.10, Z:-0.76 [[ 9.98239835e-01 5.91029949e-02 4.90584145e-03 1.06761631e+02] [-5.91023064e-02 9.98251890e-01 -2.85327794e-04 -4.09856173e+00] [-4.91412923e-03 -5.12097392e-06 9.99987926e-01 -7.63903119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.82, Y:-4.11, Z:-0.76 [[ 9.98235488e-01 5.91763723e-02 4.90578884e-03 1.06824429e+02] [-5.91756803e-02 9.98247543e-01 -2.86229464e-04 -4.10890392e+00] [-4.91412968e-03 -4.57898288e-06 9.99987926e-01 -7.61899523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.89, Y:-4.12, Z:-0.76 [[ 9.98167877e-01 6.03060752e-02 4.90573468e-03 1.06886920e+02] [-6.03053923e-02 9.98179932e-01 -2.87154672e-04 -4.11648550e+00] [-4.91412309e-03 -9.21368540e-06 9.99987926e-01 -7.62704056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.95, Y:-4.13, Z:-0.77 [[ 9.98025817e-01 6.26131147e-02 4.90568028e-03 1.06948191e+02] [-6.26124550e-02 9.98037874e-01 -2.88081078e-04 -4.12781693e+00] [-4.91409237e-03 -1.96443322e-05 9.99987926e-01 -7.67744071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:-4.14, Z:-0.77 [[ 9.97876734e-01 6.49458067e-02 4.90563272e-03 1.07010301e+02] [-6.49451713e-02 9.97888792e-01 -2.88888805e-04 -4.13598224e+00] [-4.91403802e-03 -3.03217397e-05 9.99987926e-01 -7.68091910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:-4.14, Z:-0.77 [[ 9.97480730e-01 7.07681275e-02 4.90557844e-03 1.07072202e+02] [-7.07675580e-02 9.97492791e-01 -2.89807516e-04 -4.14428935e+00] [-4.91378827e-03 -5.80783938e-05 9.99987926e-01 -7.66815389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:-4.15, Z:-0.77 [[ 9.97117797e-01 7.57102076e-02 4.90552809e-03 1.07134808e+02] [-7.57096936e-02 9.97129860e-01 -2.90657221e-04 -4.15056616e+00] [-4.91345426e-03 -8.15765413e-05 9.99987926e-01 -7.66064703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:-4.16, Z:-0.77 [[ 9.96415061e-01 8.44568678e-02 4.90547466e-03 1.07197711e+02] [-8.44564553e-02 9.96427128e-01 -2.91556321e-04 -4.15718935e+00] [-4.91257196e-03 -1.23787891e-04 9.99987926e-01 -7.66643771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:-4.16, Z:-0.77 [[ 9.95693983e-01 9.25712090e-02 4.90541945e-03 1.07260559e+02] [-9.25708902e-02 9.95706053e-01 -2.92482150e-04 -4.16006483e+00] [-4.91143127e-03 -1.62876329e-04 9.99987926e-01 -7.67952541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:-4.16, Z:-0.77 [[ 9.95316257e-01 9.65478393e-02 4.90536490e-03 1.07321480e+02] [-9.65475643e-02 9.95328329e-01 -2.93394296e-04 -4.16138761e+00] [-4.91077523e-03 -1.81580920e-04 9.99987926e-01 -7.70688932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:-4.16, Z:-0.77 [[ 9.95080230e-01 9.89508634e-02 4.90533837e-03 1.07384939e+02] [-9.89506153e-02 9.95092302e-01 -2.93837162e-04 -4.16317541e+00] [-4.91033989e-03 -1.92994699e-04 9.99987926e-01 -7.69651424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.45, Y:-4.16, Z:-0.77 [[ 9.95066911e-01 9.90847136e-02 4.90528573e-03 1.07448449e+02] [-9.90844629e-02 9.95078983e-01 -2.94713364e-04 -4.16291017e+00] [-4.91034832e-03 -1.92778085e-04 9.99987926e-01 -7.68089077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.51, Y:-4.16, Z:-0.77 [[ 9.95301184e-01 9.67031131e-02 4.90523073e-03 1.07511586e+02] [-9.67028290e-02 9.95313255e-01 -2.95625998e-04 -4.16148080e+00] [-4.91082911e-03 -1.80112782e-04 9.99987926e-01 -7.69210137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:-4.16, Z:-0.77 [[ 9.95602594e-01 9.35489962e-02 4.90517510e-03 1.07573997e+02] [-9.35486693e-02 9.95614664e-01 -2.96546128e-04 -4.16233631e+00] [-4.91140585e-03 -1.63630509e-04 9.99987926e-01 -7.70758361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.64, Y:-4.16, Z:-0.77 [[ 9.96140833e-01 8.76320713e-02 4.90512334e-03 1.07637171e+02] [-8.76316684e-02 9.96152901e-01 -2.97399792e-04 -4.16408688e+00] [-4.91231460e-03 -1.33592065e-04 9.99987926e-01 -7.70215265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.70, Y:-4.17, Z:-0.77 [[ 9.96767439e-01 8.01911031e-02 4.90506805e-03 1.07699801e+02] [-8.01906057e-02 9.96779503e-01 -2.98308869e-04 -4.16530405e+00] [-4.91319301e-03 -9.59958108e-05 9.99987926e-01 -7.71004277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.76, Y:-4.17, Z:-0.77 [[ 9.97170003e-01 7.50195023e-02 4.90501193e-03 1.07761900e+02] [-7.50189378e-02 9.97182064e-01 -2.99228817e-04 -4.16813123e+00] [-4.91363792e-03 -6.95867843e-05 9.99987926e-01 -7.71087762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32587156 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:107.82, Y:-4.17, Z:-0.77 [[ 9.97648171e-01 6.83671619e-02 4.90495958e-03 1.07824618e+02] [-6.83665128e-02 9.97660228e-01 -3.00084463e-04 -4.17132773e+00] [-4.91399902e-03 -3.59562667e-05 9.99987926e-01 -7.71547821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.89, Y:-4.18, Z:-0.77 [[ 9.97766352e-01 6.66201816e-02 4.90490372e-03 1.07887477e+02] [-6.66195069e-02 9.97778408e-01 -3.00994758e-04 -4.17501783e+00] [-4.91405935e-03 -2.64398254e-05 9.99987926e-01 -7.71865657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.95, Y:-4.18, Z:-0.77 [[ 9.97928533e-01 6.41450272e-02 4.90484595e-03 1.07950798e+02] [-6.41443180e-02 9.97940587e-01 -3.01933321e-04 -4.17892937e+00] [-4.91411236e-03 -1.33101218e-05 9.99987926e-01 -7.71262741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-4.18, Z:-0.77 [[ 9.97870256e-01 6.50453381e-02 4.90478814e-03 1.08014040e+02] [-6.50446352e-02 9.97882310e-01 -3.02869464e-04 -4.18318244e+00] [-4.91410156e-03 -1.68057256e-05 9.99987926e-01 -7.71759563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:-4.19, Z:-0.77 [[ 9.97626461e-01 6.86832380e-02 4.90473064e-03 1.08075413e+02] [-6.86825745e-02 9.97638518e-01 -3.03797826e-04 -4.18688100e+00] [-4.91401402e-03 -3.37927769e-05 9.99987926e-01 -7.74598266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:-4.19, Z:-0.78 [[ 9.97385976e-01 7.20913299e-02 4.90468435e-03 1.08138558e+02] [-7.20907038e-02 9.97398034e-01 -3.04543286e-04 -4.18987646e+00] [-4.91387746e-03 -4.98349447e-05 9.99987926e-01 -7.75843577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:-4.19, Z:-0.78 [[ 9.96997755e-01 7.72749760e-02 4.90462595e-03 1.08200091e+02] [-7.72744081e-02 9.97009816e-01 -3.05480950e-04 -4.19248138e+00] [-4.91356625e-03 -7.44382455e-05 9.99987926e-01 -7.76915152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:-4.19, Z:-0.78 [[ 9.96683595e-01 8.12265758e-02 4.90457176e-03 1.08263559e+02] [-8.12260514e-02 9.96695658e-01 -3.06348495e-04 -4.19468806e+00] [-4.91324902e-03 -9.30464786e-05 9.99987926e-01 -7.75608639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.33, Y:-4.20, Z:-0.78 [[ 9.96478641e-01 8.37034281e-02 4.90451333e-03 1.08325932e+02] [-8.37029291e-02 9.96490705e-01 -3.07281030e-04 -4.19707924e+00] [-4.91302243e-03 -1.04323149e-04 9.99987926e-01 -7.75548478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.39, Y:-4.20, Z:-0.78 [[ 9.96212225e-01 8.68167502e-02 4.90445923e-03 1.08389405e+02] [-8.68162846e-02 9.96224291e-01 -3.08142212e-04 -4.19541295e+00] [-4.91269332e-03 -1.18811889e-04 9.99987926e-01 -7.75964501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92587155999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:-4.20, Z:-0.78 [[ 9.96049122e-01 8.86684442e-02 4.90440210e-03 1.08451410e+02] [-8.86679966e-02 9.96061188e-01 -3.09048759e-04 -4.19615007e+00] [-4.91248746e-03 -1.27035764e-04 9.99987926e-01 -7.76986792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:108.51, Y:-4.20, Z:-0.78 [[ 9.95901193e-01 9.03147865e-02 4.90434893e-03 1.08514716e+02] [-9.03143547e-02 9.95913260e-01 -3.09890224e-04 -4.19533814e+00] [-4.91229380e-03 -1.34313066e-04 9.99987926e-01 -7.77560111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.58, Y:-4.20, Z:-0.78 [[ 9.95909935e-01 9.02183478e-02 4.90429089e-03 1.08577669e+02] [-9.02179103e-02 9.95922001e-01 -3.10806086e-04 -4.19585999e+00] [-4.91233161e-03 -1.32920007e-04 9.99987926e-01 -7.76792093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:-4.19, Z:-0.78 [[ 9.96192397e-01 8.70439973e-02 4.90423092e-03 1.08639786e+02] [-8.70435168e-02 9.96204461e-01 -3.11749546e-04 -4.19462518e+00] [-4.91275265e-03 -1.16318979e-04 9.99987926e-01 -7.78143036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:108.70, Y:-4.20, Z:-0.78 [[ 9.96503898e-01 8.34022158e-02 4.90417507e-03 1.08702890e+02] [-8.34016868e-02 9.96515961e-01 -3.12625564e-04 -4.19647708e+00] [-4.91316240e-03 -9.74838806e-05 9.99987926e-01 -7.79511517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:-4.20, Z:-0.78 [[ 9.96976513e-01 7.75485802e-02 4.90411569e-03 1.08764713e+02] [-7.75479758e-02 9.96988572e-01 -3.13554341e-04 -4.19844730e+00] [-4.91366299e-03 -6.76979315e-05 9.99987926e-01 -7.80743709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-4.20, Z:-0.78 [[ 9.97313957e-01 7.30809187e-02 4.90406038e-03 1.08828136e+02] [-7.30802561e-02 9.97326014e-01 -3.14416996e-04 -4.19940630e+00] [-4.91392487e-03 -4.48175300e-05 9.99987926e-01 -7.79406053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34587155999999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-4.20, Z:-0.78 [[ 9.97428035e-01 7.15071041e-02 4.90400068e-03 1.08891013e+02] [-7.15064179e-02 9.97440090e-01 -3.15345374e-04 -4.20284379e+00] [-4.91399632e-03 -3.61332053e-05 9.99987926e-01 -7.79512066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:-4.21, Z:-0.78 [[ 9.97393126e-01 7.19923803e-02 4.90394084e-03 1.08954031e+02] [-7.19916954e-02 9.97405181e-01 -3.16273279e-04 -4.20524430e+00] [-4.91398527e-03 -3.75942206e-05 9.99987926e-01 -7.77799729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:-4.21, Z:-0.78 [[ 9.97296520e-01 7.33185074e-02 4.90387877e-03 1.09016008e+02] [-7.33178338e-02 9.97308575e-01 -3.17232696e-04 -4.20780174e+00] [-4.91393938e-03 -4.31667051e-05 9.99987926e-01 -7.76679899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:-4.21, Z:-0.78 [[ 9.97179155e-01 7.48978359e-02 4.90384032e-03 1.09079459e+02] [-7.48971785e-02 9.97191211e-01 -3.17826091e-04 -4.20867991e+00] [-4.91387095e-03 -5.03542507e-05 9.99987926e-01 -7.77849848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:-4.21, Z:-0.78 [[ 9.97139864e-01 7.54191236e-02 4.90377968e-03 1.09141684e+02] [-7.54184679e-02 9.97151921e-01 -3.18758867e-04 -4.21043144e+00] [-4.91385384e-03 -5.19883766e-05 9.99987926e-01 -7.76954707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.20, Y:-4.21, Z:-0.78 [[ 9.97069202e-01 7.63476320e-02 4.90372333e-03 1.09204733e+02] [-7.63469833e-02 9.97081258e-01 -3.19623516e-04 -4.21251388e+00] [-4.91381312e-03 -5.56977190e-05 9.99987926e-01 -7.77436233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70587155999999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:109.27, Y:-4.21, Z:-0.78 [[ 9.96989778e-01 7.73778776e-02 4.90366257e-03 1.09266004e+02] [-7.73772367e-02 9.97001836e-01 -3.20552894e-04 -4.21189160e+00] [-4.91376429e-03 -5.98439012e-05 9.99987926e-01 -7.82372796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.33, Y:-4.22, Z:-0.79 [[ 9.97032925e-01 7.68199259e-02 4.90361343e-03 1.09328532e+02] [-7.68192746e-02 9.97044982e-01 -3.21302880e-04 -4.21529625e+00] [-4.91380563e-03 -5.63424765e-05 9.99987926e-01 -7.85971266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.39, Y:-4.22, Z:-0.79 [[ 9.97274039e-01 7.36236824e-02 4.90356078e-03 1.09390310e+02] [-7.36229886e-02 9.97286093e-01 -3.22104385e-04 -4.21991805e+00] [-4.91396748e-03 -3.97884588e-05 9.99987926e-01 -7.89789647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:-4.22, Z:-0.79 [[ 9.97390870e-01 7.20236642e-02 4.90350832e-03 1.09453508e+02] [-7.20229471e-02 9.97402923e-01 -3.22901024e-04 -4.22452843e+00] [-4.91403005e-03 -3.11065868e-05 9.99987926e-01 -7.90635985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:-4.23, Z:-0.79 [[ 9.97385779e-01 7.20941357e-02 4.90344725e-03 1.09515662e+02] [-7.20934149e-02 9.97397832e-01 -3.23825800e-04 -4.22988046e+00] [-4.91403359e-03 -3.05270087e-05 9.99987926e-01 -7.86387784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.58, Y:-4.23, Z:-0.78 [[ 9.97078520e-01 7.62258591e-02 4.90339225e-03 1.09577119e+02] [-7.62251841e-02 9.97090576e-01 -3.24656418e-04 -4.23242449e+00] [-4.91387342e-03 -5.00540363e-05 9.99987926e-01 -7.83901522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06587155999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:109.64, Y:-4.24, Z:-0.78 [[ 9.96822417e-01 7.95048785e-02 4.90334160e-03 1.09639782e+02] [-7.95042395e-02 9.96834475e-01 -3.25419609e-04 -4.23765663e+00] [-4.91369240e-03 -6.54508839e-05 9.99987926e-01 -7.84755839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.70, Y:-4.24, Z:-0.78 [[ 9.96370645e-01 8.49793850e-02 4.90328044e-03 1.09702751e+02] [-8.49788077e-02 9.96382705e-01 -3.26338561e-04 -4.24295090e+00] [-4.91327588e-03 -9.15207637e-05 9.99987926e-01 -7.84419377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.76, Y:-4.25, Z:-0.78 [[ 9.95789844e-01 9.15343948e-02 4.90321894e-03 1.09764722e+02] [-9.15338923e-02 9.95801908e-01 -3.27259975e-04 -4.24687547e+00] [-4.91259032e-03 -1.22928556e-04 9.99987926e-01 -7.84488007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.83, Y:-4.25, Z:-0.79 [[ 9.95343311e-01 9.62686478e-02 4.90316205e-03 1.09826611e+02] [-9.62681985e-02 9.95355377e-01 -3.28110151e-04 -4.24964690e+00] [-4.91197543e-03 -1.45436333e-04 9.99987926e-01 -7.86574643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:109.89, Y:-4.25, Z:-0.79 [[ 9.95123669e-01 9.85131601e-02 4.90310959e-03 1.09889964e+02] [-9.85127342e-02 9.95135736e-01 -3.28892279e-04 -4.25308081e+00] [-4.91165978e-03 -1.55730239e-04 9.99987926e-01 -7.86478369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:-4.26, Z:-0.79 [[ 9.94717424e-01 1.02533929e-01 4.90304709e-03 1.09951999e+02] [-1.02533547e-01 9.94729492e-01 -3.29821317e-04 -4.25532978e+00] [-4.91102342e-03 -1.74647798e-04 9.99987926e-01 -7.87951017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.01, Y:-4.26, Z:-0.79 [[ 9.94554517e-01 1.04102224e-01 4.90300833e-03 1.10013646e+02] [-1.04101859e-01 9.94566586e-01 -3.30396531e-04 -4.25557840e+00] [-4.91076327e-03 -1.81814919e-04 9.99987926e-01 -7.89058024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:-4.26, Z:-0.79 [[ 9.94528948e-01 1.04346218e-01 4.90295207e-03 1.10076995e+02] [-1.04345852e-01 9.94541017e-01 -3.31229278e-04 -4.25777040e+00] [-4.91074946e-03 -1.82185604e-04 9.99987926e-01 -7.88916538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:-4.26, Z:-0.79 [[ 9.94686247e-01 1.02835947e-01 4.90288920e-03 1.10138988e+02] [-1.02835558e-01 9.94698315e-01 -3.32157292e-04 -4.25834050e+00] [-4.91105334e-03 -1.73799055e-04 9.99987926e-01 -7.89267026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:-4.26, Z:-0.79 [[ 9.94881130e-01 1.00933145e-01 4.90283078e-03 1.10200874e+02] [-1.00932728e-01 9.94893197e-01 -3.33017419e-04 -4.25910727e+00] [-4.91140548e-03 -1.63543338e-04 9.99987926e-01 -7.91191653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.26, Y:-4.26, Z:-0.79 [[ 9.95290363e-01 9.68145476e-02 4.90279216e-03 1.10264183e+02] [-9.68140780e-02 9.95302428e-01 -3.33584977e-04 -4.25799980e+00] [-4.91205682e-03 -1.42645390e-04 9.99987926e-01 -7.90567720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.33, Y:-4.26, Z:-0.79 [[ 9.95552736e-01 9.40782335e-02 4.90273161e-03 1.10327548e+02] [-9.40777263e-02 9.95564799e-01 -3.34472557e-04 -4.25907134e+00] [-4.91245360e-03 -1.28252773e-04 9.99987926e-01 -7.90638389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.39, Y:-4.26, Z:-0.79 [[ 9.95964930e-01 8.96092761e-02 4.90266825e-03 1.10390768e+02] [-8.96087103e-02 9.95976991e-01 -3.35398702e-04 -4.25786777e+00] [-4.91299961e-03 -1.05276435e-04 9.99987926e-01 -7.90484946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:110.45, Y:-4.26, Z:-0.79 [[ 9.96230283e-01 8.66093967e-02 4.90260488e-03 1.10454326e+02] [-8.66087900e-02 9.96242342e-01 -3.36322487e-04 -4.25601579e+00] [-4.91331125e-03 -8.95540301e-05 9.99987926e-01 -7.91433175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:-4.26, Z:-0.79 [[ 9.96287772e-01 8.59455638e-02 4.90254072e-03 1.10516352e+02] [-8.59449445e-02 9.96299831e-01 -3.37255183e-04 -4.25662059e+00] [-4.91338607e-03 -8.53453747e-05 9.99987926e-01 -7.91707846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:-4.25, Z:-0.79 [[ 9.96365790e-01 8.50363304e-02 4.90248086e-03 1.10579327e+02] [-8.50356958e-02 9.96377848e-01 -3.38123003e-04 -4.25412470e+00] [-4.91347607e-03 -7.99916782e-05 9.99987926e-01 -7.92265978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:-4.25, Z:-0.80 [[ 9.96480516e-01 8.36812248e-02 4.90241540e-03 1.10640237e+02] [-8.36805691e-02 9.96492573e-01 -3.39069431e-04 -4.25331190e+00] [-4.91359428e-03 -7.23608294e-05 9.99987926e-01 -7.95899811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.70, Y:-4.25, Z:-0.80 [[ 9.96842622e-01 7.92512086e-02 4.90238318e-03 1.10703152e+02] [-7.92504971e-02 9.96854675e-01 -3.39534757e-04 -4.25186078e+00] [-4.91387213e-03 -5.00535865e-05 9.99987926e-01 -7.97376676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:-4.25, Z:-0.80 [[ 9.97269922e-01 7.36795020e-02 4.90231932e-03 1.10765504e+02] [-7.36787186e-02 9.97281971e-01 -3.40454200e-04 -4.25163876e+00] [-4.91407918e-03 -2.16718721e-05 9.99987926e-01 -7.98721420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:-4.25, Z:-0.80 [[ 9.97428789e-01 7.14967028e-02 4.90226296e-03 1.10828162e+02] [-7.14958891e-02 9.97440836e-01 -3.41263917e-04 -4.25282264e+00] [-4.91411651e-03 -1.01051934e-05 9.99987926e-01 -7.97387975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:-4.25, Z:-0.80 [[ 9.97650857e-01 6.83281547e-02 4.90219661e-03 1.10890861e+02] [-6.83272980e-02 9.97662901e-01 -3.42214289e-04 -4.25336858e+00] [-4.91412256e-03 6.45652978e-06 9.99987926e-01 -7.97149160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:-4.26, Z:-0.79 [[ 9.97881588e-01 6.48714522e-02 4.90213029e-03 1.10952824e+02] [-6.48705492e-02 9.97893629e-01 -3.43161696e-04 -4.25616644e+00] [-4.91406598e-03 2.44308541e-05 9.99987926e-01 -7.94760955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.01, Y:-4.26, Z:-0.80 [[ 9.98027384e-01 6.25884247e-02 4.90207111e-03 1.11014930e+02] [-6.25874899e-02 9.98039422e-01 -3.44005085e-04 -4.26048195e+00] [-4.91399095e-03 3.65181692e-05 9.99987926e-01 -7.95591381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:-4.27, Z:-0.80 [[ 9.98187148e-01 5.99865643e-02 4.90202921e-03 1.11077792e+02] [-5.99855953e-02 9.98199183e-01 -3.44601016e-04 -4.26564302e+00] [-4.91387299e-03 4.99251643e-05 9.99987926e-01 -7.95978581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50587155999999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:111.14, Y:-4.27, Z:-0.80 [[ 9.98233993e-01 5.92019059e-02 4.90196205e-03 1.11139474e+02] [-5.92009228e-02 9.98246027e-01 -3.45553827e-04 -4.27201163e+00] [-4.91382159e-03 5.47428999e-05 9.99987926e-01 -7.98827035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:-4.28, Z:-0.80 [[ 9.98220900e-01 5.94222642e-02 4.90189976e-03 1.11201745e+02] [-5.94212793e-02 9.98232935e-01 -3.46435192e-04 -4.27931442e+00] [-4.91382374e-03 5.45416942e-05 9.99987926e-01 -7.98979164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:-4.29, Z:-0.80 [[ 9.98051821e-01 6.21975408e-02 4.90183255e-03 1.11264422e+02] [-6.21965847e-02 9.98063858e-01 -3.47383577e-04 -4.28685279e+00] [-4.91394831e-03 4.18295680e-05 9.99987926e-01 -8.00195356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:-4.29, Z:-0.80 [[ 9.97857500e-01 6.52409583e-02 4.90176446e-03 1.11327268e+02] [-6.52400342e-02 9.97869539e-01 -3.48341685e-04 -4.29386403e+00] [-4.91404759e-03 2.78040816e-05 9.99987926e-01 -8.00937865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:-4.30, Z:-0.80 [[ 9.97483378e-01 7.07310627e-02 4.90169643e-03 1.11389345e+02] [-7.07302002e-02 9.97495422e-01 -3.49296379e-04 -4.30113705e+00] [-4.91412585e-03 1.71936267e-06 9.99987926e-01 -8.01771190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:-4.31, Z:-0.80 [[ 9.97191283e-01 7.47363290e-02 4.90163282e-03 1.11452319e+02] [-7.47355105e-02 9.97203330e-01 -3.50186664e-04 -4.30651874e+00] [-4.91409624e-03 -1.71229423e-05 9.99987926e-01 -8.01746663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:-4.31, Z:-0.80 [[ 9.96831944e-01 7.93854490e-02 4.90156397e-03 1.11513229e+02] [-7.93846820e-02 9.96843994e-01 -3.51147828e-04 -4.31125479e+00] [-4.91397063e-03 -3.90737249e-05 9.99987926e-01 -8.04393522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:-4.32, Z:-0.81 [[ 9.96659771e-01 8.15185674e-02 4.90153016e-03 1.11574612e+02] [-8.15178238e-02 9.96671822e-01 -3.51619052e-04 -4.31637112e+00] [-4.91388048e-03 -4.91175084e-05 9.99987926e-01 -8.05423152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.64, Y:-4.32, Z:-0.80 [[ 9.96696057e-01 8.10737094e-02 4.90146732e-03 1.11636751e+02] [-8.10729562e-02 9.96708107e-01 -3.52492857e-04 -4.32151532e+00] [-4.91391012e-03 -4.60482045e-05 9.99987926e-01 -8.03235517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:111.70, Y:-4.33, Z:-0.80 [[ 9.96885557e-01 7.87093558e-02 4.90140792e-03 1.11697433e+02] [-7.87085700e-02 9.96897606e-01 -3.53316918e-04 -4.32748825e+00] [-4.91401117e-03 -3.35662753e-05 9.99987926e-01 -8.01991625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:-4.33, Z:-0.80 [[ 9.97104829e-01 7.58810745e-02 4.90137556e-03 1.11760601e+02] [-7.58802522e-02 9.97116875e-01 -3.53765227e-04 -4.33344169e+00] [-4.91408837e-03 -1.91765982e-05 9.99987926e-01 -8.01970707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:-4.34, Z:-0.80 [[ 9.97217434e-01 7.43866016e-02 4.90130721e-03 1.11822523e+02] [-7.43857567e-02 9.97229479e-01 -3.54709700e-04 -4.33977223e+00] [-4.91411368e-03 -1.08647489e-05 9.99987926e-01 -8.03787887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:-4.35, Z:-0.81 [[ 9.97279999e-01 7.35430527e-02 4.90124607e-03 1.11884116e+02] [-7.35421935e-02 9.97292043e-01 -3.55552550e-04 -4.34506221e+00] [-4.91412212e-03 -5.86294001e-06 9.99987926e-01 -8.05079703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:-4.35, Z:-0.81 [[ 9.97283505e-01 7.34954987e-02 4.90118118e-03 1.11945523e+02] [-7.34946345e-02 9.97295549e-01 -3.56444795e-04 -4.35041686e+00] [-4.91412326e-03 -4.73400436e-06 9.99987926e-01 -8.06596774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:-4.36, Z:-0.81 [[ 9.97264303e-01 7.37556035e-02 4.90114752e-03 1.12008466e+02] [-7.37547402e-02 9.97276346e-01 -3.56907033e-04 -4.35605674e+00] [-4.91412238e-03 -5.55221861e-06 9.99987926e-01 -8.07584173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:-4.36, Z:-0.81 [[ 9.97228446e-01 7.42388502e-02 4.90107986e-03 1.12070529e+02] [-7.42379881e-02 9.97240489e-01 -3.57833713e-04 -4.36194669e+00] [-4.91412044e-03 -7.00435127e-06 9.99987926e-01 -8.09266832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:-4.37, Z:-0.81 [[ 9.97219229e-01 7.43625525e-02 4.90101710e-03 1.12132147e+02] [-7.43616877e-02 9.97231272e-01 -3.58691223e-04 -4.36586883e+00] [-4.91412071e-03 -6.75411844e-06 9.99987926e-01 -8.07428599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.20, Y:-4.37, Z:-0.81 [[ 9.97359550e-01 7.24562545e-02 4.90095608e-03 1.12195175e+02] [-7.24553626e-02 9.97371591e-01 -3.59523093e-04 -4.37130173e+00] [-4.91412406e-03 3.47324120e-06 9.99987926e-01 -8.07152810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:-4.38, Z:-0.81 [[ 9.97477707e-01 7.08110597e-02 4.90088550e-03 1.12258086e+02] [-7.08101432e-02 9.97489746e-01 -3.60482657e-04 -4.37676326e+00] [-4.91410919e-03 1.25410097e-05 9.99987926e-01 -8.06615270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64587155999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:-4.38, Z:-0.81 [[ 9.97599925e-01 6.90678791e-02 4.90081563e-03 1.12321070e+02] [-6.90669370e-02 9.97611962e-01 -3.61429970e-04 -4.38211785e+00] [-4.91407550e-03 2.20781865e-05 9.99987926e-01 -8.06403736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:-4.39, Z:-0.81 [[ 9.97680612e-01 6.78924157e-02 4.90074490e-03 1.12383557e+02] [-6.78914546e-02 9.97692648e-01 -3.62386495e-04 -4.38844078e+00] [-4.91404045e-03 2.88272796e-05 9.99987926e-01 -8.06630533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.45, Y:-4.40, Z:-0.81 [[ 9.97767417e-01 6.66045416e-02 4.90067318e-03 1.12445094e+02] [-6.66035603e-02 9.97779451e-01 -3.63353824e-04 -4.39720920e+00] [-4.91399201e-03 3.61403248e-05 9.99987926e-01 -8.07268303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.51, Y:-4.40, Z:-0.81 [[ 9.97784985e-01 6.63408459e-02 4.90060648e-03 1.12507393e+02] [-6.63398570e-02 9.97797019e-01 -3.64251249e-04 -4.40274882e+00] [-4.91397527e-03 3.83388943e-05 9.99987926e-01 -8.08650297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.57, Y:-4.41, Z:-0.81 [[ 9.97771738e-01 6.65397908e-02 4.90054505e-03 1.12569302e+02] [-6.65388003e-02 9.97783772e-01 -3.65075796e-04 -4.41053770e+00] [-4.91397639e-03 3.81859232e-05 9.99987926e-01 -8.11206215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.63, Y:-4.42, Z:-0.81 [[ 9.97685821e-01 6.78158321e-02 4.90048412e-03 1.12631663e+02] [-6.78148529e-02 9.97697856e-01 -3.65891839e-04 -4.41687314e+00] [-4.91401576e-03 3.27194900e-05 9.99987926e-01 -8.10741066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:-4.42, Z:-0.81 [[ 9.97459859e-01 7.10620573e-02 4.90041409e-03 1.12693959e+02] [-7.10611127e-02 9.97471896e-01 -3.66827374e-04 -4.42398163e+00] [-4.91409284e-03 1.76667027e-05 9.99987926e-01 -8.08937911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.76, Y:-4.43, Z:-0.81 [[ 9.97268173e-01 7.37033024e-02 4.90035243e-03 1.12757098e+02] [-7.37023857e-02 9.97280213e-01 -3.67649246e-04 -4.42930760e+00] [-4.91412148e-03 5.47722695e-06 9.99987926e-01 -8.08998085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.82, Y:-4.44, Z:-0.81 [[ 9.97087699e-01 7.61058923e-02 4.90028181e-03 1.12819419e+02] [-7.61049999e-02 9.97099741e-01 -3.68588179e-04 -4.43664272e+00] [-4.91412145e-03 -5.42120690e-06 9.99987926e-01 -8.09979644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.88, Y:-4.44, Z:-0.81 [[ 9.97020922e-01 7.69757677e-02 4.90021130e-03 1.12881293e+02] [-7.69748812e-02 9.97032964e-01 -3.69523136e-04 -4.44092118e+00] [-4.91411652e-03 -8.77088507e-06 9.99987926e-01 -8.11361416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.94, Y:-4.45, Z:-0.81 [[ 9.96971162e-01 7.76175910e-02 4.90014974e-03 1.12944042e+02] [-7.76167083e-02 9.96983204e-01 -3.70337642e-04 -4.44644759e+00] [-4.91411171e-03 -1.11175436e-05 9.99987926e-01 -8.11418816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:-4.45, Z:-0.81 [[ 9.96942797e-01 7.79810760e-02 4.90007925e-03 1.13005553e+02] [-7.79801931e-02 9.96954839e-01 -3.71268025e-04 -4.45356364e+00] [-4.91410960e-03 -1.19761425e-05 9.99987926e-01 -8.12218642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:-4.46, Z:-0.81 [[ 9.96923471e-01 7.82277566e-02 4.90001771e-03 1.13066254e+02] [-7.82268727e-02 9.96935513e-01 -3.72078468e-04 -4.45801228e+00] [-4.91410853e-03 -1.23793035e-05 9.99987926e-01 -8.14808710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.13, Y:-4.46, Z:-0.81 [[ 9.96847331e-01 7.91920955e-02 4.89998331e-03 1.13129148e+02] [-7.91912210e-02 9.96859374e-01 -3.72530880e-04 -4.46484478e+00] [-4.91409580e-03 -1.66792481e-05 9.99987926e-01 -8.14708230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.19, Y:-4.47, Z:-0.81 [[ 9.96708022e-01 8.09265653e-02 4.89991269e-03 1.13192171e+02] [-8.09257073e-02 9.96720066e-01 -3.73457493e-04 -4.47027302e+00] [-4.91406393e-03 -2.43008212e-05 9.99987926e-01 -8.13483999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.25, Y:-4.47, Z:-0.82 [[ 9.96407138e-01 8.45506207e-02 4.89984074e-03 1.13252714e+02] [-8.45498019e-02 9.96419184e-01 -3.74399084e-04 -4.47448768e+00] [-4.91395099e-03 -4.12266442e-05 9.99987926e-01 -8.15024200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.32, Y:-4.48, Z:-0.81 [[ 9.96175925e-01 8.72325570e-02 4.89978247e-03 1.13315613e+02] [-8.72317668e-02 9.96187973e-01 -3.75160113e-04 -4.47864956e+00] [-4.91383055e-03 -5.36912095e-05 9.99987926e-01 -8.13632226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.38, Y:-4.48, Z:-0.82 [[ 9.95977150e-01 8.94735103e-02 4.89971154e-03 1.13376500e+02] [-8.94727427e-02 9.95989200e-01 -3.76084184e-04 -4.48172149e+00] [-4.91370935e-03 -6.38193759e-05 9.99987926e-01 -8.16116324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:-4.49, Z:-0.82 [[ 9.95959864e-01 8.96657247e-02 4.89965468e-03 1.13439884e+02] [-8.96649557e-02 9.95971914e-01 -3.76823596e-04 -4.48510259e+00] [-4.91370661e-03 -6.40261424e-05 9.99987926e-01 -8.16044190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:-4.49, Z:-0.82 [[ 9.96208589e-01 8.68587465e-02 4.89958240e-03 1.13500546e+02] [-8.68579390e-02 9.96220636e-01 -3.77760995e-04 -4.48904221e+00] [-4.91387695e-03 -4.92388821e-05 9.99987926e-01 -8.20066740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.56, Y:-4.49, Z:-0.82 [[ 9.96473583e-01 8.37639103e-02 4.89952405e-03 1.13563232e+02] [-8.37630616e-02 9.96485628e-01 -3.78516361e-04 -4.49290713e+00] [-4.91401131e-03 -3.32175804e-05 9.99987926e-01 -8.18744001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:113.63, Y:-4.50, Z:-0.82 [[ 9.96924803e-01 7.82108174e-02 4.89945373e-03 1.13625547e+02] [-7.82098972e-02 9.96936843e-01 -3.79424397e-04 -4.49873992e+00] [-4.91412102e-03 -4.92818029e-06 9.99987926e-01 -8.15984086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.69, Y:-4.50, Z:-0.82 [[ 9.97141432e-01 7.53986793e-02 4.89938932e-03 1.13687856e+02] [-7.53977211e-02 9.97153468e-01 -3.80254209e-04 -4.50349036e+00] [-4.91411372e-03 9.76443705e-06 9.99987926e-01 -8.15444783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:113.75, Y:-4.51, Z:-0.82 [[ 9.97249638e-01 7.39537487e-02 4.89932050e-03 1.13750283e+02] [-7.39527687e-02 9.97261672e-01 -3.81138877e-04 -4.50988942e+00] [-4.91409120e-03 1.77722914e-05 9.99987926e-01 -8.15807121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.81, Y:-4.51, Z:-0.82 [[ 9.97153348e-01 7.52409314e-02 4.89924561e-03 1.13812322e+02] [-7.52399622e-02 9.97165384e-01 -3.82099182e-04 -4.51478474e+00] [-4.91410762e-03 1.23924244e-05 9.99987926e-01 -8.16487095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:113.87, Y:-4.52, Z:-0.82 [[ 9.96994271e-01 7.73202508e-02 4.89917599e-03 1.13874360e+02] [-7.73193023e-02 9.97006308e-01 -3.82989700e-04 -4.51985349e+00] [-4.91412223e-03 3.03766789e-06 9.99987926e-01 -8.17620198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:-4.53, Z:-0.82 [[ 9.96884951e-01 7.87171673e-02 4.89911205e-03 1.13936842e+02] [-7.87162317e-02 9.96896989e-01 -3.83805887e-04 -4.52533709e+00] [-4.91412216e-03 -3.02932605e-06 9.99987926e-01 -8.17977013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:-4.53, Z:-0.82 [[ 9.96965484e-01 7.76905641e-02 4.89903906e-03 1.13999338e+02] [-7.76896115e-02 9.96977520e-01 -3.84735230e-04 -4.53319296e+00] [-4.91412212e-03 2.96330279e-06 9.99987926e-01 -8.17551083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32587156 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:-4.54, Z:-0.82 [[ 9.97235894e-01 7.41388672e-02 4.89896662e-03 1.14061359e+02] [-7.41378672e-02 9.97247927e-01 -3.85655481e-04 -4.54160438e+00] [-4.91407637e-03 2.13905514e-05 9.99987926e-01 -8.18659977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:-4.55, Z:-0.82 [[ 9.97315606e-01 7.30587682e-02 4.89889463e-03 1.14122934e+02] [-7.30577507e-02 9.97327637e-01 -3.86567746e-04 -4.54918314e+00] [-4.91404517e-03 2.76278231e-05 9.99987926e-01 -8.17770829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.18, Y:-4.56, Z:-0.82 [[ 9.97274258e-01 7.36210294e-02 4.89883202e-03 1.14184298e+02] [-7.36200148e-02 9.97286290e-01 -3.87359647e-04 -4.55776970e+00] [-4.91405582e-03 2.56517188e-05 9.99987926e-01 -8.17056185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.25, Y:-4.57, Z:-0.82 [[ 9.97194624e-01 7.46919289e-02 4.89876522e-03 1.14246311e+02] [-7.46909231e-02 9.97206656e-01 -3.88202621e-04 -4.56513252e+00] [-4.91407688e-03 2.12202710e-05 9.99987926e-01 -8.18740232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:-4.57, Z:-0.82 [[ 9.97125592e-01 7.56079103e-02 4.89870315e-03 1.14308298e+02] [-7.56069117e-02 9.97137625e-01 -3.88984273e-04 -4.57304410e+00] [-4.91409151e-03 1.74903568e-05 9.99987926e-01 -8.18405006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:-4.58, Z:-0.82 [[ 9.97134722e-01 7.54874082e-02 4.89863719e-03 1.14371225e+02] [-7.54864040e-02 9.97146755e-01 -3.89813168e-04 -4.57921585e+00] [-4.91408616e-03 1.89157390e-05 9.99987926e-01 -8.19547907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.43, Y:-4.59, Z:-0.82 [[ 9.97187150e-01 7.47916501e-02 4.89856708e-03 1.14432863e+02] [-7.47906333e-02 9.97199182e-01 -3.90692256e-04 -4.58576729e+00] [-4.91406760e-03 2.32263633e-05 9.99987926e-01 -8.20072139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.49, Y:-4.59, Z:-0.82 [[ 9.97163345e-01 7.51083698e-02 4.89850213e-03 1.14493462e+02] [-7.51073528e-02 9.97175377e-01 -3.91504892e-04 -4.59353834e+00] [-4.91407100e-03 2.24808002e-05 9.99987926e-01 -8.17036878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.55, Y:-4.60, Z:-0.82 [[ 9.97120039e-01 7.56811302e-02 4.89844261e-03 1.14554794e+02] [-7.56801165e-02 9.97132071e-01 -3.92248178e-04 -4.60057001e+00] [-4.91408001e-03 2.04038110e-05 9.99987926e-01 -8.19081529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.62, Y:-4.61, Z:-0.82 [[ 9.97105658e-01 7.58703660e-02 4.89837564e-03 1.14615852e+02] [-7.58693505e-02 9.97117690e-01 -3.93082656e-04 -4.60612087e+00] [-4.91408033e-03 2.03083620e-05 9.99987926e-01 -8.24026054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92587155999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:-4.61, Z:-0.83 [[ 9.96987904e-01 7.74023621e-02 4.89832062e-03 1.14677781e+02] [-7.74013616e-02 9.96999937e-01 -3.93767137e-04 -4.61396248e+00] [-4.91410385e-03 1.34443873e-05 9.99987926e-01 -8.25297288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:-4.62, Z:-0.82 [[ 9.96902166e-01 7.84989044e-02 4.89825545e-03 1.14740583e+02] [-7.84979132e-02 9.96914200e-01 -3.94576192e-04 -4.62054363e+00] [-4.91411421e-03 8.85102966e-06 9.99987926e-01 -8.24814359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:-4.63, Z:-0.82 [[ 9.96605549e-01 8.21789945e-02 4.89818035e-03 1.14803094e+02] [-8.21780432e-02 9.96617586e-01 -3.95506214e-04 -4.62693626e+00] [-4.91411498e-03 -8.35918912e-06 9.99987926e-01 -8.22775112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10587156 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:114.87, Y:-4.63, Z:-0.82 [[ 9.96330981e-01 8.54434658e-02 4.89810498e-03 1.14865785e+02] [-8.54425494e-02 9.96343020e-01 -3.96437489e-04 -4.63267137e+00] [-4.91406570e-03 -2.35236238e-05 9.99987926e-01 -8.21999021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.93, Y:-4.64, Z:-0.82 [[ 9.95852363e-01 9.08519664e-02 4.89802932e-03 1.14928237e+02] [-9.08511108e-02 9.95864407e-01 -3.97370019e-04 -4.63954740e+00] [-4.91387491e-03 -4.92695320e-05 9.99987926e-01 -8.20852544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.99, Y:-4.64, Z:-0.82 [[ 9.95533771e-01 9.42789544e-02 4.89795335e-03 1.14989304e+02] [-9.42781356e-02 9.95545817e-01 -3.98304233e-04 -4.64264956e+00] [-4.91368868e-03 -6.52445955e-05 9.99987926e-01 -8.20909161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:-4.65, Z:-0.82 [[ 9.95048141e-01 9.92733929e-02 4.89791748e-03 1.15052332e+02] [-9.92726324e-02 9.95060192e-01 -3.98744789e-04 -4.64538848e+00] [-4.91330746e-03 -8.94589010e-05 9.99987926e-01 -8.18973397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34587155999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:115.11, Y:-4.65, Z:-0.82 [[ 9.94739063e-01 1.02324033e-01 4.89784103e-03 1.15114892e+02] [-1.02323305e-01 9.94751115e-01 -3.99681698e-04 -4.64811186e+00] [-4.91302987e-03 -1.03584283e-04 9.99987926e-01 -8.20737740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:-4.65, Z:-0.82 [[ 9.94378564e-01 1.05769951e-01 4.89776512e-03 1.15177080e+02] [-1.05769260e-01 9.94390619e-01 -4.00609734e-04 -4.64997288e+00] [-4.91266416e-03 -1.19675260e-04 9.99987926e-01 -8.23404832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:-4.65, Z:-0.83 [[ 9.94291590e-01 1.06584462e-01 4.89769724e-03 1.15237907e+02] [-1.06583777e-01 9.94303644e-01 -4.01437856e-04 -4.65212653e+00] [-4.91258526e-03 -1.22868788e-04 9.99987926e-01 -8.27338587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:-4.65, Z:-0.82 [[ 9.94284495e-01 1.06650630e-01 4.89763499e-03 1.15300624e+02] [-1.06649942e-01 9.94296549e-01 -4.02195997e-04 -4.65182058e+00] [-4.91259602e-03 -1.22435243e-04 9.99987926e-01 -8.23971268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:-4.65, Z:-0.82 [[ 9.94329417e-01 1.06230994e-01 4.89756744e-03 1.15363169e+02] [-1.06230297e-01 9.94341471e-01 -4.03016775e-04 -4.65254530e+00] [-4.91266729e-03 -1.19538608e-04 9.99987926e-01 -8.24654871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64587155999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:-4.65, Z:-0.83 [[ 9.94373815e-01 1.05814605e-01 4.89749574e-03 1.15426099e+02] [-1.05813898e-01 9.94385869e-01 -4.03886202e-04 -4.65307554e+00] [-4.91273762e-03 -1.16609254e-04 9.99987926e-01 -8.25445320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:-4.65, Z:-0.83 [[ 9.94426256e-01 1.05320639e-01 4.89741897e-03 1.15488559e+02] [-1.05319922e-01 9.94438309e-01 -4.04815013e-04 -4.65318462e+00] [-4.91281641e-03 -1.13237108e-04 9.99987926e-01 -8.25975638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:-4.65, Z:-0.83 [[ 9.94616433e-01 1.03509261e-01 4.89734736e-03 1.15551566e+02] [-1.03508517e-01 9.94628485e-01 -4.05679449e-04 -4.65230833e+00] [-4.91303277e-03 -1.03421717e-04 9.99987926e-01 -8.26247200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:-4.65, Z:-0.83 [[ 9.94817208e-01 1.01561506e-01 4.89727083e-03 1.15613928e+02] [-1.01560735e-01 9.94829258e-01 -4.06601248e-04 -4.65396158e+00] [-4.91324334e-03 -9.28765067e-05 9.99987926e-01 -8.28069445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:-4.65, Z:-0.83 [[ 9.95142423e-01 9.83238285e-02 4.89720432e-03 1.15676213e+02] [-9.83230139e-02 9.95154470e-01 -4.07400761e-04 -4.65464679e+00] [-4.91353197e-03 -7.60861084e-05 9.99987926e-01 -8.26557445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.74, Y:-4.65, Z:-0.83 [[ 9.95275806e-01 9.69643641e-02 4.89713783e-03 1.15738084e+02] [-9.69635291e-02 9.95287852e-01 -4.08198370e-04 -4.65417349e+00] [-4.91364249e-03 -6.85738056e-05 9.99987926e-01 -8.29427403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.80, Y:-4.66, Z:-0.83 [[ 9.95264342e-01 9.70819690e-02 4.89707651e-03 1.15800117e+02] [-9.70811319e-02 9.95276387e-01 -4.08932732e-04 -4.65726060e+00] [-4.91364461e-03 -6.84175640e-05 9.99987926e-01 -8.30549140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06587155999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:115.86, Y:-4.66, Z:-0.83 [[ 9.95268101e-01 9.70434292e-02 4.89700942e-03 1.15863241e+02] [-9.70425876e-02 9.95280146e-01 -4.09734596e-04 -4.65820875e+00] [-4.91365830e-03 -6.74226922e-05 9.99987926e-01 -8.32418160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-4.66, Z:-0.83 [[ 9.95403310e-01 9.56465914e-02 4.89693280e-03 1.15925785e+02] [-9.56457285e-02 9.95415354e-01 -4.10648270e-04 -4.65688299e+00] [-4.91375920e-03 -5.96100573e-05 9.99987926e-01 -8.31595902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-4.66, Z:-0.83 [[ 9.95525151e-01 9.43699891e-02 4.89686671e-03 1.15988808e+02] [-9.43691068e-02 9.95537193e-01 -4.11434881e-04 -4.65916080e+00] [-4.91384004e-03 -5.25191658e-05 9.99987926e-01 -8.30921467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-4.66, Z:-0.83 [[ 9.95808554e-01 9.13309706e-02 4.89678811e-03 1.16050547e+02] [-9.13300470e-02 9.95820593e-01 -4.12368178e-04 -4.66018845e+00] [-4.91398443e-03 -3.65841294e-05 9.99987926e-01 -8.32519625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:-4.67, Z:-0.83 [[ 9.96052525e-01 8.86306349e-02 4.89671517e-03 1.16113730e+02] [-8.86296744e-02 9.96064561e-01 -4.13232503e-04 -4.66504866e+00] [-4.91406951e-03 -2.23929931e-05 9.99987926e-01 -8.31400264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.18, Y:-4.67, Z:-0.83 [[ 9.96555082e-01 8.27888354e-02 4.89663815e-03 1.16175148e+02] [-8.27877998e-02 9.96567112e-01 -4.14143241e-04 -4.66875718e+00] [-4.91411497e-03 7.33465336e-06 9.99987926e-01 -8.33067267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.24, Y:-4.68, Z:-0.83 [[ 9.96839676e-01 7.92886051e-02 4.89660063e-03 1.16237370e+02] [-7.92875251e-02 9.96851702e-01 -4.14586356e-04 -4.67686461e+00] [-4.91405665e-03 2.50367840e-05 9.99987926e-01 -8.33801706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:-4.69, Z:-0.83 [[ 9.97154598e-01 7.52245432e-02 4.89652478e-03 1.16300155e+02] [-7.52234098e-02 9.97166619e-01 -4.15480192e-04 -4.68516130e+00] [-4.91390537e-03 4.59646933e-05 9.99987926e-01 -8.34181216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:-4.69, Z:-0.83 [[ 9.97187317e-01 7.47895655e-02 4.89644939e-03 1.16362412e+02] [-7.47884225e-02 9.97199337e-01 -4.16366775e-04 -4.69315104e+00] [-4.91387598e-03 4.89979417e-05 9.99987926e-01 -8.34395442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.42, Y:-4.70, Z:-0.83 [[ 9.97030789e-01 7.68481027e-02 4.89637422e-03 1.16424949e+02] [-7.68469803e-02 9.97042811e-01 -4.17248909e-04 -4.70407301e+00] [-4.91395951e-03 3.97384359e-05 9.99987926e-01 -8.31088793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:-4.71, Z:-0.83 [[ 9.96727861e-01 8.06820739e-02 4.89629310e-03 1.16487004e+02] [-8.06809930e-02 9.96739887e-01 -4.18198694e-04 -4.71246192e+00] [-4.91407177e-03 2.17925001e-05 9.99987926e-01 -8.30405090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72587155999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:-4.72, Z:-0.83 [[ 9.96081198e-01 8.83078319e-02 4.89621230e-03 1.16548569e+02] [-8.83068385e-02 9.96093232e-01 -4.19142504e-04 -4.72137131e+00] [-4.91409750e-03 -1.48690617e-05 9.99987926e-01 -8.29663631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:-4.73, Z:-0.83 [[ 9.95612596e-01 9.34429576e-02 4.89613720e-03 1.16611185e+02] [-9.34420219e-02 9.95624634e-01 -4.20018022e-04 -4.72891193e+00] [-4.91396253e-03 -3.93297260e-05 9.99987926e-01 -8.29311112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:-4.74, Z:-0.83 [[ 9.94967556e-01 1.00077930e-01 4.89605593e-03 1.16672613e+02] [-1.00077070e-01 9.94979599e-01 -4.20963222e-04 -4.73823665e+00] [-4.91360489e-03 -7.11381830e-05 9.99987926e-01 -8.28776724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:-4.74, Z:-0.83 [[ 9.94537839e-01 1.04261768e-01 4.89598060e-03 1.16734126e+02] [-1.04260955e-01 9.94549886e-01 -4.21837498e-04 -4.74244910e+00] [-4.91327847e-03 -9.09262576e-05 9.99987926e-01 -8.31541358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96587156 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:116.80, Y:-4.75, Z:-0.83 [[ 9.93933695e-01 1.09871925e-01 4.89590697e-03 1.16796124e+02] [-1.09871176e-01 9.93945746e-01 -4.22690314e-04 -4.74848352e+00] [-4.91270771e-03 -1.17792909e-04 9.99987926e-01 -8.33069306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:-4.75, Z:-0.83 [[ 9.93552756e-01 1.13264965e-01 4.89583716e-03 1.16859020e+02] [-1.13264252e-01 9.93564809e-01 -4.23497394e-04 -4.75379945e+00] [-4.91229893e-03 -1.33756330e-04 9.99987926e-01 -8.32987035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:-4.75, Z:-0.83 [[ 9.93109404e-01 1.17088611e-01 4.89575522e-03 1.16921147e+02] [-1.17087940e-01 9.93121460e-01 -4.24442536e-04 -4.75493916e+00] [-4.91177696e-03 -1.51716020e-04 9.99987926e-01 -8.31797498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:-4.76, Z:-0.83 [[ 9.93095549e-01 1.17206074e-01 4.89568419e-03 1.16984551e+02] [-1.17205400e-01 9.93107604e-01 -4.25260259e-04 -4.75829642e+00] [-4.91178428e-03 -1.51476555e-04 9.99987926e-01 -8.31286854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:-4.76, Z:-0.83 [[ 9.93379679e-01 1.14773020e-01 4.89560340e-03 1.17046801e+02] [-1.14772312e-01 9.93391733e-01 -4.26188263e-04 -4.75975992e+00] [-4.91216686e-03 -1.38512962e-04 9.99987926e-01 -8.28985451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:-4.76, Z:-0.83 [[ 9.93515224e-01 1.13593721e-01 4.89553214e-03 1.17108532e+02] [-1.13592995e-01 9.93527276e-01 -4.27005216e-04 -4.76127872e+00] [-4.91234983e-03 -1.31861976e-04 9.99987926e-01 -8.32325718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.17, Y:-4.76, Z:-0.83 [[ 9.93638206e-01 1.12512890e-01 4.89546641e-03 1.17170362e+02] [-1.12512148e-01 9.93650257e-01 -4.27757546e-04 -4.76237725e+00] [-4.91250969e-03 -1.25763198e-04 9.99987926e-01 -8.34469312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.23, Y:-4.76, Z:-0.84 [[ 9.94022931e-01 1.09061673e-01 4.89539609e-03 1.17231932e+02] [-1.09060884e-01 9.94034979e-01 -4.28560701e-04 -4.76374591e+00] [-4.91293450e-03 -1.07897063e-04 9.99987926e-01 -8.37256792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:-4.76, Z:-0.84 [[ 9.94660615e-01 1.03083931e-01 4.89535637e-03 1.17293170e+02] [-1.03083068e-01 9.94672658e-01 -4.29013965e-04 -4.76419834e+00] [-4.91350158e-03 -7.79050589e-05 9.99987926e-01 -8.36984113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50587155999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:-4.77, Z:-0.84 [[ 9.95153440e-01 9.82123579e-02 4.89529225e-03 1.17355601e+02] [-9.82114320e-02 9.95165479e-01 -4.29744397e-04 -4.76630462e+00] [-4.91383207e-03 -5.31120476e-05 9.99987926e-01 -8.35790327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.42, Y:-4.77, Z:-0.84 [[ 9.95683621e-01 9.26831357e-02 4.89522141e-03 1.17417438e+02] [-9.26821390e-02 9.95695654e-01 -4.30549805e-04 -4.76908115e+00] [-4.91405539e-03 -2.50082021e-05 9.99987926e-01 -8.36903188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.48, Y:-4.77, Z:-0.84 [[ 9.95803306e-01 9.13882607e-02 4.89514981e-03 1.17479714e+02] [-9.13872444e-02 9.95815337e-01 -4.31362377e-04 -4.77296574e+00] [-4.91408671e-03 -1.78021708e-05 9.99987926e-01 -8.38933354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.54, Y:-4.78, Z:-0.84 [[ 9.95778672e-01 9.16562839e-02 4.89507819e-03 1.17540816e+02] [-9.16552668e-02 9.95790704e-01 -4.32173589e-04 -4.77520176e+00] [-4.91408478e-03 -1.83104550e-05 9.99987926e-01 -8.40779993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.60, Y:-4.78, Z:-0.84 [[ 9.95716790e-01 9.23261214e-02 4.89503798e-03 1.17602551e+02] [-9.23251102e-02 9.95728822e-01 -4.32628511e-04 -4.77806528e+00] [-4.91407331e-03 -2.11594487e-05 9.99987926e-01 -8.39867828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.66, Y:-4.78, Z:-0.84 [[ 9.95663446e-01 9.28996295e-02 4.89502744e-03 1.17663564e+02] [-9.28986247e-02 9.95675478e-01 -4.32747779e-04 -4.78177608e+00] [-4.91406089e-03 -2.38701720e-05 9.99987926e-01 -8.41131532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86587155999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:-4.79, Z:-0.84 [[ 9.95539441e-01 9.42192203e-02 4.89495953e-03 1.17724380e+02] [-9.42182276e-02 9.95551474e-01 -4.33514575e-04 -4.78524319e+00] [-4.91402958e-03 -2.96135538e-05 9.99987926e-01 -8.40827614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:-4.79, Z:-0.84 [[ 9.95509365e-01 9.45364706e-02 4.89494907e-03 1.17784090e+02] [-9.45354812e-02 9.95521398e-01 -4.33632640e-04 -4.78994483e+00] [-4.91402064e-03 -3.10610116e-05 9.99987926e-01 -8.42007752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98587155999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:-4.79, Z:-0.84 [[ 9.95324226e-01 9.64661870e-02 4.89494388e-03 1.17844689e+02] [-9.64652206e-02 9.95336261e-01 -4.33691140e-04 -4.79155111e+00] [-4.91395168e-03 -4.05285436e-05 9.99987926e-01 -8.43098574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.90, Y:-4.80, Z:-0.84 [[ 9.95135554e-01 9.83934338e-02 4.89494388e-03 1.17904873e+02] [-9.83924907e-02 9.95147592e-01 -4.33691140e-04 -4.79532858e+00] [-4.91386398e-03 -5.00442476e-05 9.99987926e-01 -8.43363697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:-4.80, Z:-0.85 [[ 9.94916123e-01 1.00588012e-01 4.89494388e-03 1.17963936e+02] [-1.00587096e-01 9.94928162e-01 -4.33691140e-04 -4.79846306e+00] [-4.91374165e-03 -6.08818814e-05 9.99987926e-01 -8.45184471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.02, Y:-4.80, Z:-0.84 [[ 9.94924126e-01 1.00508818e-01 4.89494904e-03 1.18024835e+02] [-1.00507901e-01 9.94936166e-01 -4.33632968e-04 -4.80229436e+00] [-4.91374576e-03 -6.05491503e-05 9.99987926e-01 -8.44465860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.08, Y:-4.81, Z:-0.84 [[ 9.95027508e-01 9.94801360e-02 4.89494904e-03 1.18084150e+02] [-9.94792064e-02 9.95039547e-01 -4.33632968e-04 -4.80712257e+00] [-4.91380574e-03 -5.54689139e-05 9.99987926e-01 -8.43884704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.14, Y:-4.81, Z:-0.84 [[ 9.95216863e-01 9.75675889e-02 4.89495407e-03 1.18144989e+02] [-9.75666364e-02 9.95228900e-01 -4.33576172e-04 -4.81363304e+00] [-4.91390274e-03 -4.60818855e-05 9.99987926e-01 -8.41833913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.20, Y:-4.82, Z:-0.84 [[ 9.95313056e-01 9.65813657e-02 4.89494372e-03 1.18204737e+02] [-9.65804007e-02 9.95325092e-01 -4.33692938e-04 -4.81967094e+00] [-4.91394697e-03 -4.10953825e-05 9.99987926e-01 -8.41253951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.26, Y:-4.83, Z:-0.84 [[ 9.95158987e-01 9.81561482e-02 4.89494372e-03 1.18263579e+02] [-9.81552023e-02 9.95171025e-01 -4.33692938e-04 -4.82529304e+00] [-4.91387579e-03 -4.88707659e-05 9.99987926e-01 -8.42981063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:-4.83, Z:-0.84 [[ 9.94870076e-01 1.01042421e-01 4.89494890e-03 1.18323413e+02] [-1.01041510e-01 9.94882116e-01 -4.33634501e-04 -4.83027720e+00] [-4.91371260e-03 -6.31830385e-05 9.99987926e-01 -8.42579583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:118.38, Y:-4.83, Z:-0.84 [[ 9.94238981e-01 1.07074214e-01 4.89494890e-03 1.18382583e+02] [-1.07073376e-01 9.94251027e-01 -4.33634501e-04 -4.83320339e+00] [-4.91323904e-03 -9.29823805e-05 9.99987926e-01 -8.43280220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.44, Y:-4.83, Z:-0.84 [[ 9.93727080e-01 1.11725245e-01 4.89495925e-03 1.18442312e+02] [-1.11724464e-01 9.93739129e-01 -4.33517633e-04 -4.83377556e+00] [-4.91274741e-03 -1.16088488e-04 9.99987926e-01 -8.44102158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.50, Y:-4.84, Z:-0.84 [[ 9.93612983e-01 1.12735442e-01 4.89496955e-03 1.18501941e+02] [-1.12734674e-01 9.93625033e-01 -4.33401361e-04 -4.83507013e+00] [-4.91262397e-03 -1.21199576e-04 9.99987926e-01 -8.43535680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:-4.83, Z:-0.84 [[ 9.93825192e-01 1.10849121e-01 4.89497973e-03 1.18561463e+02] [-1.10848331e-01 9.93837240e-01 -4.33286308e-04 -4.83491577e+00] [-4.91284255e-03 -1.11989485e-04 9.99987926e-01 -8.42965674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:-4.84, Z:-0.84 [[ 9.94130602e-01 1.08075834e-01 4.89498987e-03 1.18621642e+02] [-1.08075010e-01 9.94142648e-01 -4.33171707e-04 -4.83726471e+00] [-4.91313359e-03 -9.83968316e-05 9.99987926e-01 -8.43273851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:-4.84, Z:-0.84 [[ 9.94610376e-01 1.03567561e-01 4.89500018e-03 1.18680647e+02] [-1.03566684e-01 9.94622418e-01 -4.33055149e-04 -4.83598176e+00] [-4.91352738e-03 -7.62377908e-05 9.99987926e-01 -8.44966917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:-4.84, Z:-0.85 [[ 9.94935404e-01 1.00397112e-01 4.89501554e-03 1.18740177e+02] [-1.00396197e-01 9.94947444e-01 -4.32881528e-04 -4.83754531e+00] [-4.91374325e-03 -6.07517864e-05 9.99987926e-01 -8.45870006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.80, Y:-4.84, Z:-0.85 [[ 9.95291041e-01 9.68079682e-02 4.89502607e-03 1.18798502e+02] [-9.68070105e-02 9.95303077e-01 -4.32762342e-04 -4.84058800e+00] [-4.91392936e-03 -4.31483588e-05 9.99987926e-01 -8.48370304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:-4.84, Z:-0.85 [[ 9.95891370e-01 9.04235494e-02 4.89504172e-03 1.18858443e+02] [-9.04225155e-02 9.95903400e-01 -4.32585300e-04 -4.84130009e+00] [-4.91410459e-03 -1.18140181e-05 9.99987926e-01 -8.47748863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.92, Y:-4.85, Z:-0.85 [[ 9.96327821e-01 8.54804717e-02 4.89505219e-03 1.18917729e+02] [-8.54793787e-02 9.96339846e-01 -4.32466775e-04 -4.84533599e+00] [-4.91410301e-03 1.24526603e-05 9.99987926e-01 -8.45212527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.98, Y:-4.85, Z:-0.84 [[ 9.96450251e-01 8.40412719e-02 4.89506280e-03 1.18976710e+02] [-8.40401620e-02 9.96462274e-01 -4.32346609e-04 -4.85022563e+00] [-4.91408037e-03 1.94300160e-05 9.99987926e-01 -8.44929425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.04, Y:-4.86, Z:-0.85 [[ 9.96341785e-01 8.53175611e-02 4.89506805e-03 1.19035713e+02] [-8.53164670e-02 9.96353809e-01 -4.32287195e-04 -4.85552303e+00] [-4.91410139e-03 1.30758835e-05 9.99987926e-01 -8.45668699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:-4.86, Z:-0.85 [[ 9.96078683e-01 8.83362634e-02 4.89507851e-03 1.19094090e+02] [-8.83352063e-02 9.96090711e-01 -4.32168779e-04 -4.85840820e+00] [-4.91411840e-03 -1.93366169e-06 9.99987926e-01 -8.46793529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.15, Y:-4.86, Z:-0.85 [[ 9.95730215e-01 9.21812209e-02 4.89509401e-03 1.19153661e+02] [-9.21802111e-02 9.95742247e-01 -4.31993092e-04 -4.86267048e+00] [-4.91407356e-03 -2.10822250e-05 9.99987926e-01 -8.51964264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36587155999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:119.21, Y:-4.87, Z:-0.85 [[ 9.95520910e-01 9.44148114e-02 4.89510419e-03 1.19212202e+02] [-9.44138292e-02 9.95532944e-01 -4.31877726e-04 -4.86671765e+00] [-4.91401314e-03 -3.22222241e-05 9.99987926e-01 -8.51500640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:-4.87, Z:-0.85 [[ 9.95263121e-01 9.70945851e-02 4.89512493e-03 1.19271042e+02] [-9.70936364e-02 9.95275158e-01 -4.31642540e-04 -4.86968578e+00] [-4.91390639e-03 -4.56875782e-05 9.99987926e-01 -8.51945952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:-4.87, Z:-0.85 [[ 9.95231606e-01 9.74170861e-02 4.89514553e-03 1.19330116e+02] [-9.74161424e-02 9.95243643e-01 -4.31408723e-04 -4.87393770e+00] [-4.91388905e-03 -4.75145987e-05 9.99987926e-01 -8.51306486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.39, Y:-4.88, Z:-0.85 [[ 9.95430887e-01 9.53592516e-02 4.89516681e-03 1.19387472e+02] [-9.53582843e-02 9.95442922e-01 -4.31167175e-04 -4.87853495e+00] [-4.91397493e-03 -3.75975844e-05 9.99987926e-01 -8.53171229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:-4.89, Z:-0.85 [[ 9.95904359e-01 9.02803703e-02 4.89519314e-03 1.19445888e+02] [-9.02793430e-02 9.95916389e-01 -4.30867956e-04 -4.88505470e+00] [-4.91410200e-03 -1.28315453e-05 9.99987926e-01 -8.52521838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:-4.89, Z:-0.85 [[ 9.96298988e-01 8.58158670e-02 4.89520835e-03 1.19505132e+02] [-8.58147867e-02 9.96311014e-01 -4.30695098e-04 -4.89218543e+00] [-4.91411047e-03 9.01982941e-06 9.99987926e-01 -8.49842220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.56, Y:-4.90, Z:-0.85 [[ 9.96581713e-01 8.24677224e-02 4.89521897e-03 1.19564406e+02] [-8.24666023e-02 9.96593736e-01 -4.30574370e-04 -4.89975629e+00] [-4.91405305e-03 2.54104670e-05 9.99987926e-01 -8.50989330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78587155999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:-4.91, Z:-0.85 [[ 9.96861328e-01 7.90160150e-02 4.89521290e-03 1.19624544e+02] [-7.90148529e-02 9.96873346e-01 -4.30643421e-04 -4.91013812e+00] [-4.91393499e-03 4.24972457e-05 9.99987926e-01 -8.50313248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:-4.92, Z:-0.85 [[ 9.96922058e-01 7.82460740e-02 4.89521290e-03 1.19684171e+02] [-7.82449026e-02 9.96934075e-01 -4.30643421e-04 -4.91733633e+00] [-4.91390070e-03 4.62924691e-05 9.99987926e-01 -8.49527739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:-4.93, Z:-0.85 [[ 9.96935626e-01 7.80730018e-02 4.89521290e-03 1.19742933e+02] [-7.80718283e-02 9.96947644e-01 -4.30643421e-04 -4.92616535e+00] [-4.91389259e-03 4.71455480e-05 9.99987926e-01 -8.47910043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:-4.93, Z:-0.85 [[ 9.96858737e-01 7.90486862e-02 4.89520880e-03 1.19802055e+02] [-7.90475243e-02 9.96870756e-01 -4.30690005e-04 -4.93473175e+00] [-4.91393597e-03 4.23829580e-05 9.99987926e-01 -8.50110396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.86, Y:-4.95, Z:-0.85 [[ 9.96700153e-01 8.10237162e-02 4.89520246e-03 1.19862290e+02] [-8.10225778e-02 9.96712173e-01 -4.30762003e-04 -4.94505823e+00] [-4.91400982e-03 3.27186318e-05 9.99987926e-01 -8.51816772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:-4.95, Z:-0.85 [[ 9.96531692e-01 8.30699901e-02 4.89520246e-03 1.19921458e+02] [-8.30688763e-02 9.96543715e-01 -4.30762003e-04 -4.95398584e+00] [-4.91406665e-03 2.26290198e-05 9.99987926e-01 -8.52649175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.98, Y:-4.96, Z:-0.85 [[ 9.96194423e-01 8.70213115e-02 4.89520771e-03 1.19980171e+02] [-8.70202457e-02 9.96206450e-01 -4.30702345e-04 -4.96213742e+00] [-4.91411778e-03 3.08109587e-06 9.99987926e-01 -8.53437191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.04, Y:-4.97, Z:-0.85 [[ 9.95960593e-01 8.96578705e-02 4.89521291e-03 1.20039685e+02] [-8.96568368e-02 9.95972623e-01 -4.30643241e-04 -4.97095115e+00] [-4.91410860e-03 -9.98560793e-06 9.99987926e-01 -8.53855357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.10, Y:-4.98, Z:-0.86 [[ 9.95559221e-01 9.40099682e-02 4.89521291e-03 1.20099897e+02] [-9.40089871e-02 9.95571256e-01 -4.30643241e-04 -4.97590201e+00] [-4.91401802e-03 -3.14631583e-05 9.99987926e-01 -8.55450131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:-4.98, Z:-0.86 [[ 9.95333341e-01 9.63720763e-02 4.89521291e-03 1.20160453e+02] [-9.63711237e-02 9.95345378e-01 -4.30643241e-04 -4.98248485e+00] [-4.91392953e-03 -4.31235938e-05 9.99987926e-01 -8.55676259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.22, Y:-4.99, Z:-0.86 [[ 9.95197892e-01 9.77608964e-02 4.89521291e-03 1.20221156e+02] [-9.77599607e-02 9.95209930e-01 -4.30643241e-04 -4.98724811e+00] [-4.91386457e-03 -4.99805767e-05 9.99987926e-01 -8.56203234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.28, Y:-4.99, Z:-0.86 [[ 9.95200458e-01 9.77347752e-02 4.89521291e-03 1.20280488e+02] [-9.77338391e-02 9.95212496e-01 -4.30643241e-04 -4.99452816e+00] [-4.91386588e-03 -4.98516011e-05 9.99987926e-01 -8.58036198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.34, Y:-5.00, Z:-0.86 [[ 9.95237646e-01 9.73553548e-02 4.89521816e-03 1.20340443e+02] [-9.73544145e-02 9.95249684e-01 -4.30583620e-04 -4.99997603e+00] [-4.91388394e-03 -4.80380686e-05 9.99987926e-01 -8.56375666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56587155999999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:120.40, Y:-5.01, Z:-0.86 [[ 9.95215983e-01 9.75765500e-02 4.89521816e-03 1.20400465e+02] [-9.75756124e-02 9.95228021e-01 -4.30583620e-04 -5.00607771e+00] [-4.91387314e-03 -4.91302079e-05 9.99987926e-01 -8.57226982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.46, Y:-5.01, Z:-0.86 [[ 9.95101739e-01 9.87348268e-02 4.89521816e-03 1.20460235e+02] [-9.87339031e-02 9.95113778e-01 -4.30583620e-04 -5.01174713e+00] [-4.91381263e-03 -5.48494858e-05 9.99987926e-01 -8.55383691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.52, Y:-5.02, Z:-0.86 [[ 9.94882511e-01 1.00919902e-01 4.89522340e-03 1.20519220e+02] [-1.00919005e-01 9.94894552e-01 -4.30523945e-04 -5.01668276e+00] [-4.91367953e-03 -6.57003336e-05 9.99987926e-01 -8.56226873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:-5.02, Z:-0.86 [[ 9.94382436e-01 1.05733665e-01 4.89522858e-03 1.20578309e+02] [-1.05732826e-01 9.94394481e-01 -4.30465037e-04 -5.02074789e+00] [-4.91330293e-03 -8.95394815e-05 9.99987926e-01 -8.58214157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.64, Y:-5.02, Z:-0.86 [[ 9.94028962e-01 1.09006699e-01 4.89523893e-03 1.20638114e+02] [-1.09005900e-01 9.94041009e-01 -4.30347411e-04 -5.02373810e+00] [-4.91297899e-03 -1.05832136e-04 9.99987926e-01 -8.59708255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:-5.02, Z:-0.86 [[ 9.93606455e-01 1.12792944e-01 4.89524910e-03 1.20697070e+02] [-1.12792193e-01 9.93618506e-01 -4.30231665e-04 -5.02350818e+00] [-4.91253719e-03 -1.24664919e-04 9.99987926e-01 -8.61615530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92587155999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:120.76, Y:-5.02, Z:-0.86 [[ 9.93371346e-01 1.14845138e-01 4.89525934e-03 1.20757263e+02] [-1.14844412e-01 9.93383398e-01 -4.30115130e-04 -5.02387742e+00] [-4.91226599e-03 -1.34929135e-04 9.99987926e-01 -8.60548419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:-5.02, Z:-0.86 [[ 9.93324117e-01 1.15252920e-01 4.89526984e-03 1.20815643e+02] [-1.15252199e-01 9.93336170e-01 -4.29995604e-04 -5.02476659e+00] [-4.91220684e-03 -1.37065611e-04 9.99987926e-01 -8.63631627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.87, Y:-5.02, Z:-0.86 [[ 9.93449679e-01 1.14165542e-01 4.89529583e-03 1.20874369e+02] [-1.14164809e-01 9.93461731e-01 -4.29699507e-04 -5.02375931e+00] [-4.91234595e-03 -1.31985677e-04 9.99987926e-01 -8.61784036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:-5.03, Z:-0.86 [[ 9.93741647e-01 1.11595582e-01 4.89531590e-03 1.20933942e+02] [-1.11594820e-01 9.93753698e-01 -4.29470754e-04 -5.02600951e+00] [-4.91266531e-03 -1.19508920e-04 9.99987926e-01 -8.59745266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:-5.02, Z:-0.86 [[ 9.94362289e-01 1.05922961e-01 4.89532604e-03 1.20992259e+02] [-1.05922131e-01 9.94374335e-01 -4.29355110e-04 -5.02476406e+00] [-4.91326514e-03 -9.15888338e-05 9.99987926e-01 -8.60063827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22587155999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:121.05, Y:-5.03, Z:-0.86 [[ 9.94672376e-01 1.02970388e-01 4.89535118e-03 1.21050792e+02] [-1.02969523e-01 9.94684419e-01 -4.29068287e-04 -5.02872418e+00] [-4.91351087e-03 -7.72896020e-05 9.99987926e-01 -8.62227491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.11, Y:-5.03, Z:-0.86 [[ 9.95052124e-01 9.92335950e-02 4.89537138e-03 1.21109321e+02] [-9.92326860e-02 9.95064164e-01 -4.28837680e-04 -5.03012400e+00] [-4.91376373e-03 -5.90650067e-05 9.99987926e-01 -8.62196261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.17, Y:-5.03, Z:-0.86 [[ 9.95226827e-01 9.74658814e-02 4.89539261e-03 1.21167826e+02] [-9.74649522e-02 9.95238865e-01 -4.28595224e-04 -5.03403096e+00] [-4.91385840e-03 -5.05797413e-05 9.99987926e-01 -8.62336296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:121.23, Y:-5.04, Z:-0.86 [[ 9.95386920e-01 9.58170924e-02 4.89541378e-03 1.21226314e+02] [-9.58161444e-02 9.95398957e-01 -4.28353225e-04 -5.03775846e+00] [-4.91393333e-03 -4.26824764e-05 9.99987926e-01 -8.64080135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46587156 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:121.28, Y:-5.04, Z:-0.86 [[ 9.95461727e-01 9.50367503e-02 4.89543485e-03 1.21284825e+02] [-9.50357941e-02 9.95473764e-01 -4.28112346e-04 -5.04120277e+00] [-4.91396336e-03 -3.90720827e-05 9.99987926e-01 -8.64782068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:-5.04, Z:-0.86 [[ 9.95557914e-01 9.40237991e-02 4.89545570e-03 1.21343181e+02] [-9.40228318e-02 9.95569949e-01 -4.27873777e-04 -5.04477628e+00] [-4.91399890e-03 -3.43114833e-05 9.99987926e-01 -8.63282139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:-5.05, Z:-0.86 [[ 9.95656138e-01 9.29779003e-02 4.89547642e-03 1.21400812e+02] [-9.29769215e-02 9.95668172e-01 -4.27636531e-04 -5.04976757e+00] [-4.91403081e-03 -2.93873900e-05 9.99987926e-01 -8.63667800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:-5.06, Z:-0.86 [[ 9.95748769e-01 9.19805593e-02 4.89550192e-03 1.21459039e+02] [-9.19795699e-02 9.95760803e-01 -4.27344470e-04 -5.05509955e+00] [-4.91405630e-03 -2.47584308e-05 9.99987926e-01 -8.60952402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:-5.06, Z:-0.86 [[ 9.95930174e-01 8.99951252e-02 4.89552276e-03 1.21517430e+02] [-8.99941130e-02 9.95942206e-01 -4.27105607e-04 -5.06065800e+00] [-4.91409516e-03 -1.52008672e-05 9.99987926e-01 -8.64254215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:-5.07, Z:-0.86 [[ 9.96018869e-01 8.90081194e-02 4.89553817e-03 1.21577078e+02] [-8.90070961e-02 9.96030900e-01 -4.26928923e-04 -5.06649096e+00] [-4.91410743e-03 -1.05083730e-05 9.99987926e-01 -8.61769341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.63, Y:-5.07, Z:-0.86 [[ 9.96226608e-01 8.66520549e-02 4.89554861e-03 1.21634893e+02] [-8.66510038e-02 9.96238637e-01 -4.26809167e-04 -5.07426218e+00] [-4.91411856e-03 9.94448496e-07 9.99987926e-01 -8.62255349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:-5.08, Z:-0.86 [[ 9.96272325e-01 8.61248422e-02 4.89556404e-03 1.21694551e+02] [-8.61237856e-02 9.96284353e-01 -4.26632057e-04 -5.08062735e+00] [-4.91411747e-03 3.41720331e-06 9.99987926e-01 -8.61064486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.75, Y:-5.09, Z:-0.87 [[ 9.96180518e-01 8.71803208e-02 4.89557439e-03 1.21752528e+02] [-8.71792775e-02 9.96192547e-01 -4.26513257e-04 -5.08721143e+00] [-4.91411829e-03 -1.90844082e-06 9.99987926e-01 -8.65451677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:-5.09, Z:-0.87 [[ 9.95991931e-01 8.93090477e-02 4.89558976e-03 1.21812076e+02] [-8.93080310e-02 9.96003963e-01 -4.26336734e-04 -5.09401602e+00] [-4.91410253e-03 -1.25875350e-05 9.99987926e-01 -8.68560112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-5.10, Z:-0.87 [[ 9.95618243e-01 9.33828014e-02 4.89559975e-03 1.21870197e+02] [-9.33818345e-02 9.95630278e-01 -4.26222040e-04 -5.09835692e+00] [-4.91400915e-03 -3.28056471e-05 9.99987926e-01 -8.70156358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.93, Y:-5.10, Z:-0.87 [[ 9.95371371e-01 9.59784714e-02 4.89561461e-03 1.21929291e+02] [-9.59775367e-02 9.95383409e-01 -4.26051269e-04 -5.10148558e+00] [-4.91390531e-03 -4.57897953e-05 9.99987926e-01 -8.65650145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:121.99, Y:-5.11, Z:-0.87 [[ 9.95020420e-01 9.95509764e-02 4.89563550e-03 1.21987605e+02] [-9.95500861e-02 9.95032461e-01 -4.25811143e-04 -5.10540303e+00] [-4.91370615e-03 -6.36701528e-05 9.99987926e-01 -8.65706445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.05, Y:-5.11, Z:-0.86 [[ 9.94908509e-01 1.00663257e-01 4.89565105e-03 1.22046624e+02] [-1.00662381e-01 9.94920552e-01 -4.25632267e-04 -5.11037816e+00] [-4.91362937e-03 -6.93427272e-05 9.99987926e-01 -8.62941379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.11, Y:-5.11, Z:-0.86 [[ 9.94841220e-01 1.01326101e-01 4.89567151e-03 1.22105518e+02] [-1.01325235e-01 9.94853263e-01 -4.25396756e-04 -5.10984121e+00] [-4.91357858e-03 -7.28528363e-05 9.99987926e-01 -8.63101011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.16, Y:-5.11, Z:-0.86 [[ 9.94924324e-01 1.00506824e-01 4.89569182e-03 1.22163256e+02] [-1.00505948e-01 9.94936367e-01 -4.25162913e-04 -5.11007715e+00] [-4.91363361e-03 -6.90412251e-05 9.99987926e-01 -8.61048263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.22, Y:-5.11, Z:-0.86 [[ 9.94980213e-01 9.99520316e-02 4.89571694e-03 1.22222472e+02] [-9.99511508e-02 9.94992255e-01 -4.24873477e-04 -5.11047600e+00] [-4.91366740e-03 -6.65918389e-05 9.99987926e-01 -8.59260459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:-5.11, Z:-0.86 [[ 9.94991872e-01 9.98358951e-02 4.89573784e-03 1.22281315e+02] [-9.98350141e-02 9.95003914e-01 -4.24632513e-04 -5.10714424e+00] [-4.91367188e-03 -6.62601568e-05 9.99987926e-01 -8.62413182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:122.34, Y:-5.11, Z:-0.87 [[ 9.95097602e-01 9.87764894e-02 4.89575854e-03 1.22340302e+02] [-9.87755967e-02 9.95109643e-01 -4.24393723e-04 -5.10815128e+00] [-4.91373665e-03 -6.12682948e-05 9.99987926e-01 -8.65140599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.40, Y:-5.11, Z:-0.86 [[ 9.95671840e-01 9.28095865e-02 4.89577853e-03 1.22399428e+02] [-9.28086228e-02 9.95683875e-01 -4.24163032e-04 -5.10878490e+00] [-4.91401413e-03 -3.20432757e-05 9.99987926e-01 -8.63954069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:122.46, Y:-5.11, Z:-0.86 [[ 9.96383144e-01 8.48331335e-02 4.89579872e-03 1.22458723e+02] [-8.48320746e-02 9.96395172e-01 -4.23929807e-04 -5.10921835e+00] [-4.91411350e-03 7.07575149e-06 9.99987926e-01 -8.63011263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.52, Y:-5.11, Z:-0.86 [[ 9.96655077e-01 8.15762706e-02 4.89581902e-03 1.22517119e+02] [-8.15751735e-02 9.96667102e-01 -4.23695233e-04 -5.11220360e+00] [-4.91406523e-03 2.29007191e-05 9.99987926e-01 -8.60181468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78587155999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:-5.12, Z:-0.86 [[ 9.96550283e-01 8.28466337e-02 4.89583970e-03 1.22575782e+02] [-8.28455531e-02 9.96562309e-01 -4.23456148e-04 -5.11566282e+00] [-4.91409123e-03 1.63967960e-05 9.99987926e-01 -8.59826416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.63, Y:-5.12, Z:-0.86 [[ 9.96239636e-01 8.65021288e-02 4.89586011e-03 1.22633840e+02] [-8.65010935e-02 9.96251666e-01 -4.23220060e-04 -5.11646009e+00] [-4.91411823e-03 -1.86865423e-06 9.99987926e-01 -8.61491415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.69, Y:-5.11, Z:-0.86 [[ 9.95774976e-01 9.16963851e-02 4.89588543e-03 1.22692694e+02] [-9.16954139e-02 9.95787011e-01 -4.22926907e-04 -5.11402267e+00] [-4.91403999e-03 -2.77902106e-05 9.99987926e-01 -8.61289773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:-5.12, Z:-0.86 [[ 9.95635101e-01 9.32028698e-02 4.89590605e-03 1.22751115e+02] [-9.32019180e-02 9.95647138e-01 -4.22688094e-04 -5.11595204e+00] [-4.91399059e-03 -3.54647315e-05 9.99987926e-01 -8.63796762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:-5.12, Z:-0.87 [[ 9.95740810e-01 9.20666541e-02 4.89592652e-03 1.22810435e+02] [-9.20656898e-02 9.95752846e-01 -4.22450910e-04 -5.11692003e+00] [-4.91402640e-03 -3.00952401e-05 9.99987926e-01 -8.65020462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.87, Y:-5.12, Z:-0.87 [[ 9.96001737e-01 8.91996051e-02 4.89594729e-03 1.22870051e+02] [-8.91986074e-02 9.96013770e-01 -4.22210022e-04 -5.11625962e+00] [-4.91409188e-03 -1.61897643e-05 9.99987926e-01 -8.66634662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.93, Y:-5.12, Z:-0.87 [[ 9.96159826e-01 8.74164171e-02 4.89596271e-03 1.22928186e+02] [-8.74153987e-02 9.96171858e-01 -4.22031156e-04 -5.11960481e+00] [-4.91411272e-03 -7.57204850e-06 9.99987926e-01 -8.67131319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.99, Y:-5.12, Z:-0.87 [[ 9.96281699e-01 8.60163111e-02 4.89598808e-03 1.22985798e+02] [-8.60152772e-02 9.96293729e-01 -4.21736566e-04 -5.12352856e+00] [-4.91411845e-03 -9.61349444e-07 9.99987926e-01 -8.66944353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:-5.13, Z:-0.87 [[ 9.96426207e-01 8.43258196e-02 4.89601288e-03 1.23045105e+02] [-8.43247667e-02 9.96438235e-01 -4.21448514e-04 -5.12591366e+00] [-4.91411342e-03 7.08720023e-06 9.99987926e-01 -8.65203872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:-5.13, Z:-0.87 [[ 9.96439163e-01 8.41725834e-02 4.89603281e-03 1.23103552e+02] [-8.41715298e-02 9.96451191e-01 -4.21216898e-04 -5.12854894e+00] [-4.91411263e-03 7.61044188e-06 9.99987926e-01 -8.65880496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.16, Y:-5.13, Z:-0.87 [[ 9.96293395e-01 8.58807321e-02 4.89605246e-03 1.23162720e+02] [-8.58797003e-02 9.96305425e-01 -4.20988315e-04 -5.13284682e+00] [-4.91411841e-03 -1.04364029e-06 9.99987926e-01 -8.66958166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:123.22, Y:-5.13, Z:-0.87 [[ 9.95867942e-01 9.06811500e-02 4.89606707e-03 1.23221555e+02] [-9.06801770e-02 9.95879977e-01 -4.20818349e-04 -5.13409807e+00] [-4.91405545e-03 -2.48967249e-05 9.99987926e-01 -8.68110804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.28, Y:-5.14, Z:-0.87 [[ 9.95608243e-01 9.34893324e-02 4.89608807e-03 1.23279324e+02] [-9.34883945e-02 9.95620281e-01 -4.20573832e-04 -5.13623917e+00] [-4.91396375e-03 -3.90006396e-05 9.99987926e-01 -8.70135195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.34, Y:-5.14, Z:-0.87 [[ 9.95375938e-01 9.59310667e-02 4.89611829e-03 1.23338571e+02] [-9.59301600e-02 9.95387979e-01 -4.20221780e-04 -5.13704639e+00] [-4.91384961e-03 -5.14067621e-05 9.99987926e-01 -8.67706871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.40, Y:-5.14, Z:-0.87 [[ 9.95394553e-01 9.57377216e-02 4.89613824e-03 1.23397072e+02] [-9.57368138e-02 9.95406593e-01 -4.19989173e-04 -5.14107671e+00] [-4.91385709e-03 -5.06857399e-05 9.99987926e-01 -8.66776353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:123.46, Y:-5.14, Z:-0.87 [[ 9.95690596e-01 9.26081263e-02 4.89615851e-03 1.23455581e+02] [-9.26071818e-02 9.95702633e-01 -4.19752703e-04 -5.14347859e+00] [-4.91399044e-03 -3.54756233e-05 9.99987926e-01 -8.66786662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.51, Y:-5.15, Z:-0.87 [[ 9.95939914e-01 8.98872304e-02 4.89617871e-03 1.23513696e+02] [-8.98862542e-02 9.95951949e-01 -4.19517034e-04 -5.14795409e+00] [-4.91406795e-03 -2.22854052e-05 9.99987926e-01 -8.69480649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:-5.15, Z:-0.87 [[ 9.96166712e-01 8.73378986e-02 4.89620360e-03 1.23571024e+02] [-8.73368931e-02 9.96178745e-01 -4.19226357e-04 -5.15236888e+00] [-4.91410830e-03 -9.99986821e-06 9.99987926e-01 -8.68193447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:-5.15, Z:-0.87 [[ 9.96303710e-01 8.57609732e-02 4.89623376e-03 1.23629581e+02] [-8.57599503e-02 9.96315741e-01 -4.18873812e-04 -5.15465914e+00] [-4.91411779e-03 -2.57523111e-06 9.99987926e-01 -8.65987472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:-5.16, Z:-0.86 [[ 9.96377204e-01 8.49028565e-02 4.89625366e-03 1.23687826e+02] [-8.49018244e-02 9.96389234e-01 -4.18641053e-04 -5.15973869e+00] [-4.91411825e-03 1.42353360e-06 9.99987926e-01 -8.64970582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98587155999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-5.16, Z:-0.87 [[ 9.96344349e-01 8.52875468e-02 4.89627357e-03 1.23745714e+02] [-8.52865205e-02 9.96356379e-01 -4.18408016e-04 -5.16402572e+00] [-4.91411840e-03 -7.07673725e-07 9.99987926e-01 -8.65805957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:-5.17, Z:-0.87 [[ 9.96271285e-01 8.61368248e-02 4.89629816e-03 1.23804052e+02] [-8.61358102e-02 9.96283317e-01 -4.18120107e-04 -5.16626648e+00] [-4.91411571e-03 -5.18555219e-06 9.99987926e-01 -8.66800954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:-5.17, Z:-0.87 [[ 9.96191496e-01 8.70547534e-02 4.89632780e-03 1.23861529e+02] [-8.70537515e-02 9.96203528e-01 -4.17772749e-04 -5.16965287e+00] [-4.91410813e-03 -1.00620437e-05 9.99987926e-01 -8.68003053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:-5.17, Z:-0.87 [[ 9.96219127e-01 8.67379801e-02 4.89635825e-03 1.23918920e+02] [-8.67369762e-02 9.96231159e-01 -4.17415508e-04 -5.17444866e+00] [-4.91411043e-03 -8.85799601e-06 9.99987926e-01 -8.70344560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.98, Y:-5.18, Z:-0.87 [[ 9.96490861e-01 8.35583003e-02 4.89638328e-03 1.23977736e+02] [-8.35572594e-02 9.96502890e-01 -4.17121705e-04 -5.17897548e+00] [-4.91411407e-03 6.52959888e-06 9.99987926e-01 -8.68785132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.04, Y:-5.18, Z:-0.87 [[ 9.96688425e-01 8.11677853e-02 4.89640304e-03 1.24036660e+02] [-8.11667167e-02 9.96700452e-01 -4.16889652e-04 -5.18416559e+00] [-4.91408513e-03 1.80841318e-05 9.99987926e-01 -8.68010368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:-5.19, Z:-0.87 [[ 9.96868781e-01 7.89218544e-02 4.89642262e-03 1.24095248e+02] [-7.89207598e-02 9.96880805e-01 -4.16659552e-04 -5.19140985e+00] [-4.91403327e-03 2.89255061e-05 9.99987926e-01 -8.68986035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.15, Y:-5.20, Z:-0.87 [[ 9.96931728e-01 7.81226945e-02 4.89644196e-03 1.24152941e+02] [-7.81215914e-02 9.96943751e-01 -4.16432167e-04 -5.19650493e+00] [-4.91401001e-03 3.26366021e-05 9.99987926e-01 -8.70729239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.21, Y:-5.20, Z:-0.87 [[ 9.96891117e-01 7.86392049e-02 4.89646587e-03 1.24211117e+02] [-7.86381094e-02 9.96903142e-01 -4.16150839e-04 -5.20206135e+00] [-4.91402798e-03 2.98082561e-05 9.99987926e-01 -8.71472938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.27, Y:-5.21, Z:-0.87 [[ 9.96841684e-01 7.92633710e-02 4.89648488e-03 1.24268828e+02] [-7.92622842e-02 9.96853709e-01 -4.15926951e-04 -5.20668930e+00] [-4.91404689e-03 2.65067454e-05 9.99987926e-01 -8.72531076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.33, Y:-5.21, Z:-0.87 [[ 9.96791977e-01 7.98860403e-02 4.89650837e-03 1.24327277e+02] [-7.98849623e-02 9.96804003e-01 -4.15650309e-04 -5.21138604e+00] [-4.91406380e-03 2.31595066e-05 9.99987926e-01 -8.70611001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.39, Y:-5.22, Z:-0.87 [[ 9.96646506e-01 8.16808791e-02 4.89652751e-03 1.24385574e+02] [-8.16798238e-02 9.96658534e-01 -4.15424721e-04 -5.21500207e+00] [-4.91409818e-03 1.40840928e-05 9.99987926e-01 -8.72465786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70587155999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.44, Y:-5.22, Z:-0.87 [[ 9.96650533e-01 8.16317274e-02 4.89654693e-03 1.24444086e+02] [-8.16306727e-02 9.96662561e-01 -4.15195644e-04 -5.21856521e+00] [-4.91409814e-03 1.40965395e-05 9.99987926e-01 -8.72233961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:-5.22, Z:-0.87 [[ 9.96798054e-01 7.98101663e-02 4.89656681e-03 1.24501807e+02] [-7.98090908e-02 9.96810081e-01 -4.14961117e-04 -5.22406533e+00] [-4.91406527e-03 2.28418889e-05 9.99987926e-01 -8.72605392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:124.56, Y:-5.23, Z:-0.87 [[ 9.97100818e-01 7.59340692e-02 4.89659377e-03 1.24559958e+02] [-7.59329485e-02 9.97112840e-01 -4.14642672e-04 -5.22900246e+00] [-4.91394203e-03 4.16277448e-05 9.99987926e-01 -8.70982192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:-5.24, Z:-0.87 [[ 9.97382977e-01 7.21333493e-02 4.89661399e-03 1.24618836e+02] [-7.21321839e-02 9.97394995e-01 -4.14403755e-04 -5.23661721e+00] [-4.91375062e-03 6.01157901e-05 9.99987926e-01 -8.73145402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.68, Y:-5.24, Z:-0.87 [[ 9.97523403e-01 7.01646887e-02 4.89662896e-03 1.24676739e+02] [-7.01635005e-02 9.97535419e-01 -4.14226790e-04 -5.24310568e+00] [-4.91362491e-03 6.96362887e-05 9.99987926e-01 -8.74171821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.73, Y:-5.25, Z:-0.87 [[ 9.97710264e-01 6.74555499e-02 4.89665355e-03 1.24733683e+02] [-6.74543305e-02 9.97722277e-01 -4.13935904e-04 -5.25140853e+00] [-4.91342260e-03 8.26876132e-05 9.99987926e-01 -8.72206151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:-5.26, Z:-0.87 [[ 9.97780224e-01 6.64127084e-02 4.89667759e-03 1.24791610e+02] [-6.64114778e-02 9.97792235e-01 -4.13651393e-04 -5.25956560e+00] [-4.91333858e-03 8.75375847e-05 9.99987926e-01 -8.72707444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:-5.27, Z:-0.87 [[ 9.97722078e-01 6.72805911e-02 4.89669764e-03 1.24848737e+02] [-6.72793722e-02 9.97734090e-01 -4.13413801e-04 -5.27003435e+00] [-4.91341690e-03 8.30253332e-05 9.99987926e-01 -8.74129743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:-5.28, Z:-0.87 [[ 9.97451263e-01 7.11828580e-02 4.89672236e-03 1.24906312e+02] [-7.11816875e-02 9.97463281e-01 -4.13120885e-04 -5.27916813e+00] [-4.91370787e-03 6.35109886e-05 9.99987926e-01 -8.73963543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:-5.29, Z:-0.87 [[ 9.97201977e-01 7.45938201e-02 4.89674895e-03 1.24964553e+02] [-7.45926923e-02 9.97213999e-01 -4.12805430e-04 -5.28831080e+00] [-4.91389934e-03 4.63887032e-05 9.99987926e-01 -8.74247612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.02, Y:-5.30, Z:-0.87 [[ 9.96901437e-01 7.85082555e-02 4.89676820e-03 1.25022960e+02] [-7.85071760e-02 9.96913463e-01 -4.12577017e-04 -5.29853426e+00] [-4.91404484e-03 2.68671788e-05 9.99987926e-01 -8.74543816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:125.08, Y:-5.31, Z:-0.88 [[ 9.96803335e-01 7.97441769e-02 4.89678822e-03 1.25080248e+02] [-7.97431134e-02 9.96815362e-01 -4.12339216e-04 -5.30714844e+00] [-4.91407537e-03 2.05359674e-05 9.99987926e-01 -8.77316240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:-5.32, Z:-0.88 [[ 9.96635182e-01 8.18189130e-02 4.89681306e-03 1.25138788e+02] [-8.18178760e-02 9.96647212e-01 -4.12044034e-04 -5.31713510e+00] [-4.91410808e-03 1.00107372e-05 9.99987926e-01 -8.77680245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.20, Y:-5.33, Z:-0.88 [[ 9.96490033e-01 8.35681416e-02 4.89683287e-03 1.25195858e+02] [-8.35671269e-02 9.96502065e-01 -4.11808416e-04 -5.32646102e+00] [-4.91411813e-03 1.14872846e-06 9.99987926e-01 -8.79625402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.25, Y:-5.33, Z:-0.88 [[ 9.96270249e-01 8.61487818e-02 4.89685727e-03 1.25254069e+02] [-8.61477997e-02 9.96282283e-01 -4.11518146e-04 -5.33457286e+00] [-4.91410392e-03 -1.18701933e-05 9.99987926e-01 -8.77982129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.31, Y:-5.34, Z:-0.88 [[ 9.96105264e-01 8.80359263e-02 4.89687729e-03 1.25311703e+02] [-8.80349682e-02 9.96117300e-01 -4.11279746e-04 -5.34114769e+00] [-4.91407158e-03 -2.14185166e-05 9.99987926e-01 -8.80356482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:-5.35, Z:-0.88 [[ 9.96129877e-01 8.77569857e-02 4.89690376e-03 1.25370347e+02] [-8.77560258e-02 9.96141913e-01 -4.10964370e-04 -5.34918913e+00] [-4.91407607e-03 -2.03589245e-05 9.99987926e-01 -8.79733735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:-5.36, Z:-0.88 [[ 9.96431945e-01 8.42579346e-02 4.89692351e-03 1.25428188e+02] [-8.42569336e-02 9.96443978e-01 -4.10728882e-04 -5.36137428e+00] [-4.91411710e-03 -3.33637999e-06 9.99987926e-01 -8.80012151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:-5.37, Z:-0.88 [[ 9.96712404e-01 8.08727646e-02 4.89694313e-03 1.25485290e+02] [-8.08717239e-02 9.96724433e-01 -4.10494765e-04 -5.36919046e+00] [-4.91410071e-03 1.31209915e-05 9.99987926e-01 -8.80332704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.54, Y:-5.38, Z:-0.88 [[ 9.97003516e-01 7.72010989e-02 4.89696746e-03 1.25543211e+02] [-7.72000153e-02 9.97015541e-01 -4.10204388e-04 -5.38057166e+00] [-4.91402089e-03 3.09292544e-05 9.99987926e-01 -8.79359957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:125.60, Y:-5.39, Z:-0.88 [[ 9.97092944e-01 7.60373631e-02 4.89698233e-03 1.25601688e+02] [-7.60362663e-02 9.97104968e-01 -4.10026744e-04 -5.39073694e+00] [-4.91398276e-03 3.64865206e-05 9.99987926e-01 -8.81832470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:-5.40, Z:-0.88 [[ 9.97166620e-01 7.50649866e-02 4.89699224e-03 1.25660100e+02] [-7.50638787e-02 9.97178643e-01 -4.09908307e-04 -5.40363543e+00] [-4.91394584e-03 4.11596492e-05 9.99987926e-01 -8.81231770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:-5.41, Z:-0.88 [[ 9.97190909e-01 7.47416182e-02 4.89700189e-03 1.25718770e+02] [-7.47405069e-02 9.97202933e-01 -4.09793064e-04 -5.41342714e+00] [-4.91393324e-03 4.26375150e-05 9.99987926e-01 -8.80376906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.78, Y:-5.43, Z:-0.88 [[ 9.97135574e-01 7.54762670e-02 4.89701154e-03 1.25778554e+02] [-7.54751652e-02 9.97147598e-01 -4.09677718e-04 -5.42761898e+00] [-4.91396424e-03 3.89014710e-05 9.99987926e-01 -8.79851667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.84, Y:-5.44, Z:-0.88 [[ 9.96852791e-01 7.91235290e-02 4.89701154e-03 1.25837496e+02] [-7.91224711e-02 9.96864819e-01 -4.09677717e-04 -5.44058331e+00] [-4.91407367e-03 2.09247219e-05 9.99987926e-01 -8.80619276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.90, Y:-5.45, Z:-0.88 [[ 9.96569444e-01 8.26157515e-02 4.89700654e-03 1.25896168e+02] [-8.26147355e-02 9.96581476e-01 -4.09737408e-04 -5.45142549e+00] [-4.91411677e-03 3.76688027e-06 9.99987926e-01 -8.83406311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26587156000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:-5.46, Z:-0.88 [[ 9.96129844e-01 8.77573528e-02 4.89701131e-03 1.25955225e+02] [-8.77563992e-02 9.96141881e-01 -4.09680417e-04 -5.46110786e+00] [-4.91407053e-03 -2.16491893e-05 9.99987926e-01 -8.83120882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.01, Y:-5.47, Z:-0.88 [[ 9.95711812e-01 9.23796871e-02 4.89702081e-03 1.26013560e+02] [-9.23787899e-02 9.95723853e-01 -4.09566816e-04 -5.47344692e+00] [-4.91391609e-03 -4.45703409e-05 9.99987926e-01 -8.83653634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.07, Y:-5.48, Z:-0.89 [[ 9.95493621e-01 9.47020025e-02 4.89701556e-03 1.26073055e+02] [-9.47011331e-02 9.95505664e-01 -4.09629614e-04 -5.48116295e+00] [-4.91379947e-03 -5.59692546e-05 9.99987926e-01 -8.85709419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.13, Y:-5.49, Z:-0.89 [[ 9.95187366e-01 9.78679002e-02 4.89702489e-03 1.26132968e+02] [-9.78670697e-02 9.95199412e-01 -4.09517990e-04 -5.49004282e+00] [-4.91359496e-03 -7.17103466e-05 9.99987926e-01 -8.85530795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.19, Y:-5.50, Z:-0.89 [[ 9.95072206e-01 9.90319318e-02 4.89702489e-03 1.26192512e+02] [-9.90311154e-02 9.95084253e-01 -4.09517990e-04 -5.49784334e+00] [-4.91350772e-03 -7.74578674e-05 9.99987926e-01 -8.86305116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:-5.51, Z:-0.88 [[ 9.94972739e-01 1.00026338e-01 4.89702970e-03 1.26252845e+02] [-1.00025534e-01 9.94984786e-01 -4.09460508e-04 -5.50669123e+00] [-4.91342689e-03 -8.24259693e-05 9.99987926e-01 -8.83467743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.31, Y:-5.51, Z:-0.88 [[ 9.94870756e-01 1.01035632e-01 4.89700770e-03 1.26313131e+02] [-1.01034839e-01 9.94882804e-01 -4.09723403e-04 -5.51197688e+00] [-4.91334542e-03 -8.71465530e-05 9.99987926e-01 -8.83751898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.37, Y:-5.52, Z:-0.88 [[ 9.94674860e-01 1.02946311e-01 4.89700770e-03 1.26372242e+02] [-1.02945541e-01 9.94686909e-01 -4.09723403e-04 -5.51826720e+00] [-4.91316897e-03 -9.65835389e-05 9.99987926e-01 -8.82761177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.43, Y:-5.52, Z:-0.88 [[ 9.94496715e-01 1.04653249e-01 4.89701252e-03 1.26432379e+02] [-1.04652500e-01 9.94508766e-01 -4.09665886e-04 -5.52091281e+00] [-4.91299474e-03 -1.05073226e-04 9.99987926e-01 -8.83880640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:-5.52, Z:-0.88 [[ 9.94297729e-01 1.06527200e-01 4.89702201e-03 1.26491360e+02] [-1.06526474e-01 9.94309782e-01 -4.09552384e-04 -5.52432929e+00] [-4.91278536e-03 -1.14445482e-04 9.99987926e-01 -8.84039609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-5.52, Z:-0.88 [[ 9.94224516e-01 1.07208352e-01 4.89703614e-03 1.26551178e+02] [-1.07207635e-01 9.94236569e-01 -4.09383320e-04 -5.52459547e+00] [-4.91270172e-03 -1.17980731e-04 9.99987926e-01 -8.84922289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:-5.53, Z:-0.89 [[ 9.94323685e-01 1.06284654e-01 4.89704546e-03 1.26610055e+02] [-1.06283926e-01 9.94335738e-01 -4.09271860e-04 -5.52717471e+00] [-4.91280663e-03 -1.13528514e-04 9.99987926e-01 -8.85228295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-5.52, Z:-0.89 [[ 9.94579921e-01 1.03859519e-01 4.89705483e-03 1.26669886e+02] [-1.03858763e-01 9.94591972e-01 -4.09159718e-04 -5.52452266e+00] [-4.91306655e-03 -1.01660017e-04 9.99987926e-01 -8.85377157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:-5.53, Z:-0.89 [[ 9.94801231e-01 1.01717888e-01 4.89706479e-03 1.26728408e+02] [-1.01717106e-01 9.94813280e-01 -4.09040397e-04 -5.52626346e+00] [-4.91327182e-03 -9.12013697e-05 9.99987926e-01 -8.87926603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.79, Y:-5.52, Z:-0.89 [[ 9.95033638e-01 9.94186956e-02 4.89707923e-03 1.26788075e+02] [-9.94178870e-02 9.95045686e-01 -4.08867484e-04 -5.52334836e+00] [-4.91346663e-03 -8.00203697e-05 9.99987926e-01 -8.86751729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.85, Y:-5.52, Z:-0.89 [[ 9.95154466e-01 9.82018744e-02 4.89708923e-03 1.26848067e+02] [-9.82010517e-02 9.95166512e-01 -4.08747648e-04 -5.52374990e+00] [-4.91355900e-03 -7.41322659e-05 9.99987926e-01 -8.86992490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:-5.52, Z:-0.89 [[ 9.95411110e-01 9.55653760e-02 4.89709925e-03 1.26907695e+02] [-9.55645220e-02 9.95423154e-01 -4.08627657e-04 -5.52154085e+00] [-4.91373663e-03 -6.12364397e-05 9.99987926e-01 -8.87573236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.97, Y:-5.52, Z:-0.89 [[ 9.95740531e-01 9.20696102e-02 4.89710926e-03 1.26966754e+02] [-9.20687145e-02 9.95752572e-01 -4.08507553e-04 -5.52225638e+00] [-4.91392028e-03 -4.41030272e-05 9.99987926e-01 -8.88894191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.03, Y:-5.52, Z:-0.89 [[ 9.95844360e-01 9.09397000e-02 4.89711995e-03 1.27025846e+02] [-9.09387913e-02 9.95856400e-01 -4.08379425e-04 -5.52389365e+00] [-4.91396615e-03 -3.86558215e-05 9.99987926e-01 -8.90136406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:127.08, Y:-5.52, Z:-0.89 [[ 9.95746336e-01 9.20068043e-02 4.89713923e-03 1.27084814e+02] [-9.20059096e-02 9.95758377e-01 -4.08148031e-04 -5.52159052e+00] [-4.91391981e-03 -4.41538438e-05 9.99987926e-01 -8.90072219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:127.14, Y:-5.52, Z:-0.89 [[ 9.95689358e-01 9.26213766e-02 4.89715937e-03 1.27142790e+02] [-9.26204905e-02 9.95701400e-01 -4.07906244e-04 -5.52369211e+00] [-4.91388928e-03 -4.74293969e-05 9.99987926e-01 -8.91264968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:-5.52, Z:-0.89 [[ 9.95600266e-01 9.35741859e-02 4.89718432e-03 1.27201359e+02] [-9.35733128e-02 9.95612309e-01 -4.07606537e-04 -5.52229068e+00] [-4.91383844e-03 -5.24325834e-05 9.99987926e-01 -8.93853972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.26, Y:-5.52, Z:-0.90 [[ 9.95742646e-01 9.20467286e-02 4.89720869e-03 1.27259524e+02] [-9.20458385e-02 9.95754688e-01 -4.07313573e-04 -5.52207678e+00] [-4.91391039e-03 -4.51881847e-05 9.99987926e-01 -8.97155608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.32, Y:-5.52, Z:-0.90 [[ 9.95817655e-01 9.12316545e-02 4.89723266e-03 1.27318054e+02] [-9.12307559e-02 9.95829696e-01 -4.07025109e-04 -5.52239936e+00] [-4.91394329e-03 -4.14554476e-05 9.99987926e-01 -8.95923657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70587156000002 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:-5.52, Z:-0.89 [[ 9.95918585e-01 9.01231875e-02 4.89725648e-03 1.27376600e+02] [-9.01222769e-02 9.95930625e-01 -4.06738352e-04 -5.52445782e+00] [-4.91398426e-03 -3.62736203e-05 9.99987926e-01 -8.93721752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:-5.53, Z:-0.89 [[ 9.95943479e-01 8.98476624e-02 4.89727549e-03 1.27435079e+02] [-8.98467496e-02 9.95955519e-01 -4.06509289e-04 -5.52768625e+00] [-4.91399246e-03 -3.51440096e-05 9.99987926e-01 -8.93923186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:-5.53, Z:-0.89 [[ 9.95832476e-01 9.10697348e-02 4.89729567e-03 1.27492904e+02] [-9.10688380e-02 9.95844517e-01 -4.06266049e-04 -5.52755533e+00] [-4.91394358e-03 -4.14181013e-05 9.99987926e-01 -8.93996431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:-5.53, Z:-0.90 [[ 9.95626413e-01 9.32955673e-02 4.89732059e-03 1.27551710e+02] [-9.32946989e-02 9.95638456e-01 -4.05965490e-04 -5.52960200e+00] [-4.91383549e-03 -5.27040850e-05 9.99987926e-01 -8.95889880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.61, Y:-5.53, Z:-0.90 [[ 9.95532094e-01 9.42966892e-02 4.89733973e-03 1.27610174e+02] [-9.42958341e-02 9.95544138e-01 -4.05734438e-04 -5.53250562e+00] [-4.91377727e-03 -5.78770793e-05 9.99987926e-01 -8.96753595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.67, Y:-5.53, Z:-0.90 [[ 9.95422973e-01 9.54417177e-02 4.89735870e-03 1.27669361e+02] [-9.54408776e-02 9.95435018e-01 -4.05505308e-04 -5.53342570e+00] [-4.91370447e-03 -6.37589132e-05 9.99987926e-01 -8.97309057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.73, Y:-5.53, Z:-0.90 [[ 9.95313368e-01 9.65780236e-02 4.89737807e-03 1.27727357e+02] [-9.65771983e-02 9.95325414e-01 -4.05271236e-04 -5.53318568e+00] [-4.91362515e-03 -6.96031741e-05 9.99987926e-01 -8.99560533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:-5.54, Z:-0.90 [[ 9.95287418e-01 9.68450858e-02 4.89740207e-03 1.27785671e+02] [-9.68442652e-02 9.95299465e-01 -4.04981015e-04 -5.53623989e+00] [-4.91360208e-03 -7.12127962e-05 9.99987926e-01 -8.98733534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:-5.54, Z:-0.90 [[ 9.95372627e-01 9.59653494e-02 4.89743072e-03 1.27844294e+02] [-9.59645199e-02 9.95384673e-01 -4.04634228e-04 -5.53807063e+00] [-4.91365834e-03 -6.72177533e-05 9.99987926e-01 -8.98804482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:-5.54, Z:-0.90 [[ 9.95416298e-01 9.55113018e-02 4.89744961e-03 1.27902748e+02] [-9.55104679e-02 9.95428343e-01 -4.04405517e-04 -5.54010358e+00] [-4.91368545e-03 -6.52058609e-05 9.99987926e-01 -9.00216986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.96, Y:-5.54, Z:-0.90 [[ 9.95480564e-01 9.48391393e-02 4.89746872e-03 1.27960330e+02] [-9.48382985e-02 9.95492609e-01 -4.04173897e-04 -5.54399222e+00] [-4.91372542e-03 -6.21203412e-05 9.99987926e-01 -9.04526181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.02, Y:-5.55, Z:-0.90 [[ 9.95552757e-01 9.40782829e-02 4.89749229e-03 1.28018877e+02] [-9.40774342e-02 9.95564801e-01 -4.03888149e-04 -5.54543227e+00] [-4.91376804e-03 -5.86515481e-05 9.99987926e-01 -9.02426117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.08, Y:-5.55, Z:-0.90 [[ 9.95497568e-01 9.46604833e-02 4.89751147e-03 1.28078193e+02] [-9.46596428e-02 9.95509613e-01 -4.03655346e-04 -5.54741438e+00] [-4.91372996e-03 -6.17587716e-05 9.99987926e-01 -8.98835083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.14, Y:-5.55, Z:-0.90 [[ 9.95460504e-01 9.50494556e-02 4.89753147e-03 1.28135863e+02] [-9.50486210e-02 9.95472550e-01 -4.03412609e-04 -5.55068439e+00] [-4.91370229e-03 -6.39222938e-05 9.99987926e-01 -8.99359473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:128.19, Y:-5.55, Z:-0.90 [[ 9.95369259e-01 9.60002758e-02 4.89755600e-03 1.28193917e+02] [-9.59994542e-02 9.95381305e-01 -4.03114552e-04 -5.55207840e+00] [-4.91363479e-03 -6.89148707e-05 9.99987926e-01 -8.98998832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:-5.55, Z:-0.90 [[ 9.95207293e-01 9.76650251e-02 4.89758468e-03 1.28251833e+02] [-9.76642253e-02 9.95219341e-01 -4.02765868e-04 -5.55430007e+00] [-4.91350713e-03 -7.74832845e-05 9.99987926e-01 -8.98595787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.31, Y:-5.55, Z:-0.90 [[ 9.94958898e-01 1.00163889e-01 4.89761416e-03 1.28309571e+02] [-1.00163121e-01 9.94970948e-01 -4.02407074e-04 -5.55339909e+00] [-4.91329046e-03 -9.01818204e-05 9.99987926e-01 -9.00336515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:-5.55, Z:-0.90 [[ 9.94906545e-01 1.00682572e-01 4.89764243e-03 1.28367711e+02] [-1.00681812e-01 9.94918595e-01 -4.02062712e-04 -5.55490459e+00] [-4.91323623e-03 -9.30886919e-05 9.99987926e-01 -9.00330042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:-5.55, Z:-0.90 [[ 9.94984814e-01 9.99061227e-02 4.89766576e-03 1.28425727e+02] [-9.99053550e-02 9.94996864e-01 -4.01778318e-04 -5.55475788e+00] [-4.91330218e-03 -8.95397112e-05 9.99987926e-01 -9.00272720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:-5.56, Z:-0.90 [[ 9.95311166e-01 9.66006961e-02 4.89769454e-03 1.28482961e+02] [-9.65998900e-02 9.95323214e-01 -4.01427154e-04 -5.55760992e+00] [-4.91356721e-03 -7.35718249e-05 9.99987926e-01 -9.02273016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:-5.56, Z:-0.90 [[ 9.95486893e-01 9.47726610e-02 4.89772779e-03 1.28541829e+02] [-9.47718348e-02 9.95498939e-01 -4.01021061e-04 -5.55999593e+00] [-4.91368865e-03 -6.49554389e-05 9.99987926e-01 -9.02833487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:-5.56, Z:-0.90 [[ 9.95760615e-01 9.18521046e-02 4.89774647e-03 1.28600458e+02] [-9.18512442e-02 9.95772659e-01 -4.00792728e-04 -5.56167852e+00] [-4.91385569e-03 -5.07704936e-05 9.99987926e-01 -9.03444480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:-5.57, Z:-0.90 [[ 9.95937919e-01 8.99092498e-02 4.89776513e-03 1.28658968e+02] [-8.99083670e-02 9.95949961e-01 -4.00564613e-04 -5.56603502e+00] [-4.91394346e-03 -4.14125780e-05 9.99987926e-01 -9.04208223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.72, Y:-5.57, Z:-0.91 [[ 9.96194299e-01 8.70225821e-02 4.89778456e-03 1.28716459e+02] [-8.70216657e-02 9.96206339e-01 -4.00326900e-04 -5.57029207e+00] [-4.91404151e-03 -2.74099950e-05 9.99987926e-01 -9.05921044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14587156000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:128.77, Y:-5.57, Z:-0.91 [[ 9.96191741e-01 8.70518589e-02 4.89780851e-03 1.28774305e+02] [-8.70509442e-02 9.96203781e-01 -4.00033651e-04 -5.57299299e+00] [-4.91403903e-03 -2.78486357e-05 9.99987926e-01 -9.07242081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.83, Y:-5.58, Z:-0.91 [[ 9.96071085e-01 8.84217481e-02 4.89783567e-03 1.28833257e+02] [-8.84208516e-02 9.96083126e-01 -3.99700905e-04 -5.57623950e+00] [-4.91399371e-03 -3.49402861e-05 9.99987926e-01 -9.05252773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.89, Y:-5.58, Z:-0.91 [[ 9.96111244e-01 8.79681767e-02 4.89785424e-03 1.28891644e+02] [-8.79672758e-02 9.96123285e-01 -3.99473191e-04 -5.58040089e+00] [-4.91400758e-03 -3.29311575e-05 9.99987926e-01 -9.05587736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.95, Y:-5.58, Z:-0.91 [[ 9.96242513e-01 8.64688731e-02 4.89787352e-03 1.28949404e+02] [-8.64679552e-02 9.96254552e-01 -3.99236638e-04 -5.58463497e+00] [-4.91405034e-03 -2.57725972e-05 9.99987926e-01 -9.07141859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.01, Y:-5.59, Z:-0.91 [[ 9.96300245e-01 8.58011181e-02 4.89789739e-03 1.29006651e+02] [-8.58001937e-02 9.96312284e-01 -3.98943632e-04 -5.59005680e+00] [-4.91406514e-03 -2.27729058e-05 9.99987926e-01 -9.08017570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44587156 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:-5.60, Z:-0.91 [[ 9.96472411e-01 8.37779433e-02 4.89792463e-03 1.29065698e+02] [-8.37769961e-02 9.96484448e-01 -3.98608862e-04 -5.59555045e+00] [-4.91410036e-03 -1.31306788e-05 9.99987926e-01 -9.08307736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.12, Y:-5.60, Z:-0.91 [[ 9.96472559e-01 8.37761907e-02 4.89793862e-03 1.29124616e+02] [-8.37752443e-02 9.96484596e-01 -3.98436902e-04 -5.60046956e+00] [-4.91409991e-03 -1.32945650e-05 9.99987926e-01 -9.09226759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:-5.61, Z:-0.91 [[ 9.96351849e-01 8.51997830e-02 4.89795783e-03 1.29181014e+02] [-8.51988549e-02 9.96363888e-01 -3.98200579e-04 -5.60566755e+00] [-4.91407491e-03 -2.05525159e-05 9.99987926e-01 -9.10340199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:-5.61, Z:-0.91 [[ 9.96091571e-01 8.81906514e-02 4.89799096e-03 1.29239374e+02] [-8.81897615e-02 9.96103613e-01 -3.97792732e-04 -5.60830557e+00] [-4.91398809e-03 -3.57146666e-05 9.99987926e-01 -9.09743332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:-5.61, Z:-0.91 [[ 9.95715043e-01 9.23448043e-02 4.89801875e-03 1.29297787e+02] [-9.23439663e-02 9.95727088e-01 -3.97450227e-04 -5.61164978e+00] [-4.91379241e-03 -5.65553080e-05 9.99987926e-01 -9.09310188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:-5.62, Z:-0.91 [[ 9.95494711e-01 9.46904930e-02 4.89803737e-03 1.29355899e+02] [-9.46896845e-02 9.95506758e-01 -3.97220670e-04 -5.61577456e+00] [-4.91364232e-03 -6.83625369e-05 9.99987926e-01 -9.09246698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.41, Y:-5.62, Z:-0.91 [[ 9.95285423e-01 9.68655526e-02 4.89806043e-03 1.29414972e+02] [-9.68647718e-02 9.95297472e-01 -3.96936079e-04 -5.61641577e+00] [-4.91347660e-03 -7.93848129e-05 9.99987926e-01 -9.08086492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.47, Y:-5.62, Z:-0.91 [[ 9.95200532e-01 9.77338734e-02 4.89808001e-03 1.29472817e+02] [-9.77331044e-02 9.95212582e-01 -3.96694317e-04 -5.61702733e+00] [-4.91340132e-03 -8.39141693e-05 9.99987926e-01 -9.10528945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.53, Y:-5.62, Z:-0.91 [[ 9.95200705e-01 9.77321077e-02 4.89810414e-03 1.29530744e+02] [-9.77313401e-02 9.95212755e-01 -3.96396120e-04 -5.62019997e+00] [-4.91339635e-03 -8.42045831e-05 9.99987926e-01 -9.14906690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.59, Y:-5.62, Z:-0.91 [[ 9.95296306e-01 9.67536689e-02 4.89812775e-03 1.29590185e+02] [-9.67528908e-02 9.95308355e-01 -3.96104169e-04 -5.62039034e+00] [-4.91347201e-03 -7.96670039e-05 9.99987926e-01 -9.12888093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.65, Y:-5.62, Z:-0.91 [[ 9.95461475e-01 9.50392540e-02 4.89814664e-03 1.29648246e+02] [-9.50384563e-02 9.95473523e-01 -3.95870471e-04 -5.62234016e+00] [-4.91359853e-03 -7.14384923e-05 9.99987926e-01 -9.12542600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.71, Y:-5.62, Z:-0.91 [[ 9.95701966e-01 9.24856885e-02 4.89817002e-03 1.29707241e+02] [-9.24848614e-02 9.95714012e-01 -3.95580991e-04 -5.62324631e+00] [-4.91376210e-03 -5.91258051e-05 9.99987926e-01 -9.12293291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:-5.63, Z:-0.91 [[ 9.95891899e-01 9.04175542e-02 4.89818875e-03 1.29765571e+02] [-9.04167032e-02 9.95903943e-01 -3.95348918e-04 -5.62683127e+00] [-4.91387197e-03 -4.91532940e-05 9.99987926e-01 -9.13207527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:-5.63, Z:-0.92 [[ 9.96107722e-01 8.80080269e-02 4.89820787e-03 1.29823324e+02] [-8.80071480e-02 9.96119765e-01 -3.95111927e-04 -5.62945972e+00] [-4.91397469e-03 -3.75032626e-05 9.99987926e-01 -9.17776484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:-5.63, Z:-0.92 [[ 9.96208148e-01 8.68638742e-02 4.89823810e-03 1.29882036e+02] [-8.68629833e-02 9.96220190e-01 -3.94736702e-04 -5.63432064e+00] [-4.91401205e-03 -3.22356559e-05 9.99987926e-01 -9.16060778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:-5.64, Z:-0.92 [[ 9.96202134e-01 8.69328210e-02 4.89825732e-03 1.29940250e+02] [-8.69319321e-02 9.96214176e-01 -3.94498166e-04 -5.63745600e+00] [-4.91400821e-03 -3.28150577e-05 9.99987926e-01 -9.17282611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:-5.64, Z:-0.92 [[ 9.96136594e-01 8.76806256e-02 4.89828112e-03 1.29998845e+02] [-8.76797472e-02 9.96148637e-01 -3.94202434e-04 -5.64098951e+00] [-4.91397997e-03 -3.68005795e-05 9.99987926e-01 -9.15630998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-5.64, Z:-0.91 [[ 9.96049769e-01 8.86615180e-02 4.89829955e-03 1.30057817e+02] [-8.86606525e-02 9.96061812e-01 -3.93973196e-04 -5.64316868e+00] [-4.91393939e-03 -4.18695234e-05 9.99987926e-01 -9.14305809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-5.65, Z:-0.92 [[ 9.95893409e-01 9.04009063e-02 4.89831816e-03 1.30115403e+02] [-9.04000631e-02 9.95905454e-01 -3.93741746e-04 -5.64515862e+00] [-4.91385638e-03 -5.06834609e-05 9.99987926e-01 -9.15816090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.17, Y:-5.65, Z:-0.91 [[ 9.95806298e-01 9.13554721e-02 4.89834115e-03 1.30173594e+02] [-9.13546418e-02 9.95818344e-01 -3.93455516e-04 -5.64580599e+00] [-4.91380229e-03 -5.56807198e-05 9.99987926e-01 -9.14296701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.23, Y:-5.65, Z:-0.91 [[ 9.95824507e-01 9.11567752e-02 4.89836993e-03 1.30231567e+02] [-9.11559442e-02 9.95836553e-01 -3.93096899e-04 -5.64740728e+00] [-4.91380927e-03 -5.50600104e-05 9.99987926e-01 -9.13216860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.29, Y:-5.65, Z:-0.91 [[ 9.95846142e-01 9.09201158e-02 4.89839358e-03 1.30290344e+02] [-9.09192834e-02 9.95858187e-01 -3.92801997e-04 -5.65060360e+00] [-4.91381895e-03 -5.41880807e-05 9.99987926e-01 -9.12729623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:-5.65, Z:-0.91 [[ 9.95906662e-01 9.02547842e-02 4.89841239e-03 1.30349425e+02] [-9.02539450e-02 9.95918707e-01 -3.92567233e-04 -5.65385023e+00] [-4.91385161e-03 -5.11407197e-05 9.99987926e-01 -9.13426735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-5.66, Z:-0.92 [[ 9.95990651e-01 8.93231636e-02 4.89843151e-03 1.30407618e+02] [-8.93223142e-02 9.96002696e-01 -3.92328467e-04 -5.65779735e+00] [-4.91389501e-03 -4.67837541e-05 9.99987926e-01 -9.17710042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:130.47, Y:-5.66, Z:-0.91 [[ 9.96063918e-01 8.85024101e-02 4.89845039e-03 1.30465574e+02] [-8.85015520e-02 9.96075962e-01 -3.92092621e-04 -5.66068064e+00] [-4.91392983e-03 -4.29711495e-05 9.99987926e-01 -9.14795672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.52, Y:-5.66, Z:-0.91 [[ 9.96063714e-01 8.85047084e-02 4.89847828e-03 1.30522770e+02] [-8.85038521e-02 9.96075758e-01 -3.91743971e-04 -5.66423860e+00] [-4.91392664e-03 -4.33322418e-05 9.99987926e-01 -9.14796605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:-5.67, Z:-0.91 [[ 9.95989687e-01 8.93339152e-02 4.89850573e-03 1.30580111e+02] [-8.93330705e-02 9.96001732e-01 -3.91400379e-04 -5.66768223e+00] [-4.91388552e-03 -4.77678173e-05 9.99987926e-01 -9.14939302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.64, Y:-5.67, Z:-0.91 [[ 9.96045931e-01 8.87046084e-02 4.89852808e-03 1.30638958e+02] [-8.87037575e-02 9.96057975e-01 -3.91120388e-04 -5.67173718e+00] [-4.91391215e-03 -4.49439762e-05 9.99987926e-01 -9.14577479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:130.70, Y:-5.68, Z:-0.92 [[ 9.96173344e-01 8.72620975e-02 4.89854685e-03 1.30695334e+02] [-8.72612303e-02 9.96185387e-01 -3.90885171e-04 -5.67540337e+00] [-4.91397025e-03 -3.80638375e-05 9.99987926e-01 -9.15434247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.75, Y:-5.68, Z:-0.91 [[ 9.96197768e-01 8.69828169e-02 4.89857932e-03 1.30753083e+02] [-8.69819484e-02 9.96209811e-01 -3.90477874e-04 -5.67955732e+00] [-4.91397765e-03 -3.70947868e-05 9.99987926e-01 -9.14589602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:-5.68, Z:-0.92 [[ 9.96148534e-01 8.75448610e-02 4.89860175e-03 1.30812468e+02] [-8.75440006e-02 9.96160577e-01 -3.90196252e-04 -5.68054413e+00] [-4.91395363e-03 -4.01497707e-05 9.99987926e-01 -9.15437988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.87, Y:-5.68, Z:-0.92 [[ 9.96121760e-01 8.78489815e-02 4.89862027e-03 1.30871706e+02] [-8.78481260e-02 9.96133804e-01 -3.89963608e-04 -5.68410202e+00] [-4.91393915e-03 -4.18833760e-05 9.99987926e-01 -9.15223182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:-5.69, Z:-0.92 [[ 9.96109441e-01 8.79885521e-02 4.89863472e-03 1.30929070e+02] [-8.79876991e-02 9.96121485e-01 -3.89782046e-04 -5.68617136e+00] [-4.91393165e-03 -4.27540222e-05 9.99987926e-01 -9.18749313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.99, Y:-5.69, Z:-0.92 [[ 9.96160901e-01 8.74040152e-02 4.89866807e-03 1.30988067e+02] [-8.74031573e-02 9.96172945e-01 -3.89362439e-04 -5.69010204e+00] [-4.91395244e-03 -4.02914177e-05 9.99987926e-01 -9.17258768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.05, Y:-5.69, Z:-0.92 [[ 9.96366849e-01 8.50241487e-02 4.89868655e-03 1.31047283e+02] [-8.50232631e-02 9.96378890e-01 -3.89129776e-04 -5.69342378e+00] [-4.91403330e-03 -2.87863073e-05 9.99987926e-01 -9.17647246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:-5.69, Z:-0.92 [[ 9.96508867e-01 8.33431436e-02 4.89872260e-03 1.31105112e+02] [-8.33422400e-02 9.96520908e-01 -3.88675441e-04 -5.69483630e+00] [-4.91407293e-03 -2.09519906e-05 9.99987926e-01 -9.17866632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:-5.70, Z:-0.92 [[ 9.96679855e-01 8.12728001e-02 4.89874564e-03 1.31164019e+02] [-8.12718729e-02 9.96691894e-01 -3.88384877e-04 -5.70007553e+00] [-4.91410520e-03 -1.10348494e-05 9.99987926e-01 -9.17206556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:-5.70, Z:-0.92 [[ 9.96770379e-01 8.01549365e-02 4.89876405e-03 1.31223008e+02] [-8.01539969e-02 9.96782417e-01 -3.88152502e-04 -5.70345891e+00] [-4.91411421e-03 -5.75660192e-06 9.99987926e-01 -9.18619478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:131.28, Y:-5.71, Z:-0.92 [[ 9.96811788e-01 7.96383141e-02 4.89878263e-03 1.31281452e+02] [-7.96373694e-02 9.96823825e-01 -3.87917853e-04 -5.70764299e+00] [-4.91411637e-03 -3.44507347e-06 9.99987926e-01 -9.16346325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:-5.71, Z:-0.91 [[ 9.96985616e-01 7.74317960e-02 4.89880106e-03 1.31338578e+02] [-7.74308258e-02 9.96997651e-01 -3.87684973e-04 -5.71355738e+00] [-4.91411230e-03 7.19813024e-06 9.99987926e-01 -9.14393801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:-5.72, Z:-0.92 [[ 9.97144730e-01 7.53550870e-02 4.89882382e-03 1.31396615e+02] [-7.53540931e-02 9.97156763e-01 -3.87397174e-04 -5.72063630e+00] [-4.91408765e-03 1.71446237e-05 9.99987926e-01 -9.18304514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-5.73, Z:-0.91 [[ 9.97210126e-01 7.44846728e-02 4.89884186e-03 1.31454678e+02] [-7.44836696e-02 9.97222158e-01 -3.87168930e-04 -5.72679801e+00] [-4.91407180e-03 2.12050594e-05 9.99987926e-01 -9.14371260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:-5.73, Z:-0.92 [[ 9.97277886e-01 7.35718604e-02 4.89886504e-03 1.31511882e+02] [-7.35708476e-02 9.97289918e-01 -3.86875433e-04 -5.73354529e+00] [-4.91405186e-03 2.54086612e-05 9.99987926e-01 -9.16115187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:-5.74, Z:-0.92 [[ 9.97375286e-01 7.22394590e-02 4.89888787e-03 1.31569349e+02] [-7.22384316e-02 9.97387317e-01 -3.86586072e-04 -5.74228866e+00] [-4.91401540e-03 3.16834175e-05 9.99987926e-01 -9.15189170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:-5.75, Z:-0.92 [[ 9.97407337e-01 7.17955826e-02 4.89891505e-03 1.31627938e+02] [-7.17945514e-02 9.97419367e-01 -3.86241333e-04 -5.75143040e+00] [-4.91400317e-03 3.35245301e-05 9.99987926e-01 -9.16556546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:-5.76, Z:-0.92 [[ 9.97383278e-01 7.21290275e-02 4.89893301e-03 1.31686808e+02] [-7.21280016e-02 9.97395309e-01 -3.86013413e-04 -5.75903755e+00] [-4.91401558e-03 3.16530757e-05 9.99987926e-01 -9.16548913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.74, Y:-5.77, Z:-0.92 [[ 9.97262271e-01 7.37832146e-02 4.89895087e-03 1.31744113e+02] [-7.37822097e-02 9.97274304e-01 -3.85786655e-04 -5.76833835e+00] [-4.91406239e-03 2.32750551e-05 9.99987926e-01 -9.17415338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26587156000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:131.80, Y:-5.78, Z:-0.91 [[ 9.97095857e-01 7.59990242e-02 4.89897297e-03 1.31801986e+02] [-7.59980474e-02 9.97107892e-01 -3.85505827e-04 -5.77595032e+00] [-4.91410267e-03 1.20738836e-05 9.99987926e-01 -9.14810788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.86, Y:-5.78, Z:-0.92 [[ 9.97087370e-01 7.61102871e-02 4.89900050e-03 1.31859115e+02] [-7.61093134e-02 9.97099405e-01 -3.85155553e-04 -5.78281043e+00] [-4.91410479e-03 1.11741727e-05 9.99987926e-01 -9.16768049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:-5.79, Z:-0.92 [[ 9.97132424e-01 7.55177424e-02 4.89902326e-03 1.31916559e+02] [-7.55167629e-02 9.97144458e-01 -3.84865922e-04 -5.79018465e+00] [-4.91409810e-03 1.38039112e-05 9.99987926e-01 -9.18336551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:-5.80, Z:-0.91 [[ 9.97178111e-01 7.49120384e-02 4.89904486e-03 1.31975137e+02] [-7.49110530e-02 9.97190145e-01 -3.84590726e-04 -5.79917120e+00] [-4.91408973e-03 1.65128449e-05 9.99987926e-01 -9.13397734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-5.80, Z:-0.91 [[ 9.97234381e-01 7.41592041e-02 4.89906271e-03 1.32033640e+02] [-7.41582107e-02 9.97246415e-01 -3.84363205e-04 -5.80492858e+00] [-4.91407680e-03 1.99944785e-05 9.99987926e-01 -9.11958091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.09, Y:-5.81, Z:-0.91 [[ 9.97436553e-01 7.13885260e-02 4.89908043e-03 1.32090620e+02] [-7.13875003e-02 9.97448584e-01 -3.84137301e-04 -5.81442363e+00] [-4.91400383e-03 3.34194803e-05 9.99987926e-01 -9.13837383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.15, Y:-5.82, Z:-0.92 [[ 9.97583274e-01 6.93080805e-02 4.89910399e-03 1.32149063e+02] [-6.93070312e-02 9.97595303e-01 -3.83836495e-04 -5.82286023e+00] [-4.91392610e-03 4.33665139e-05 9.99987926e-01 -9.16218104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.21, Y:-5.83, Z:-0.92 [[ 9.97769548e-01 6.65727314e-02 4.89912138e-03 1.32207263e+02] [-6.65716502e-02 9.97781573e-01 -3.83614440e-04 -5.83459189e+00] [-4.91379130e-03 5.66162116e-05 9.99987926e-01 -9.15249474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.27, Y:-5.84, Z:-0.92 [[ 9.97861589e-01 6.51785784e-02 4.89913925e-03 1.32265268e+02] [-6.51774816e-02 9.97873614e-01 -3.83386105e-04 -5.84365319e+00] [-4.91371035e-03 6.32527102e-05 9.99987926e-01 -9.15028113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:-5.85, Z:-0.92 [[ 9.97825415e-01 6.57300507e-02 4.89915748e-03 1.32323266e+02] [-6.57289616e-02 9.97837440e-01 -3.83152931e-04 -5.85333684e+00] [-4.91374742e-03 6.03031984e-05 9.99987926e-01 -9.17698203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:-5.86, Z:-0.92 [[ 9.97503234e-01 7.04506601e-02 4.89917554e-03 1.32381780e+02] [-7.04496291e-02 9.97515265e-01 -3.82921937e-04 -5.86228813e+00] [-4.91397949e-03 3.68207709e-05 9.99987926e-01 -9.19348051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.44, Y:-5.87, Z:-0.92 [[ 9.97165313e-01 7.50821950e-02 4.89919349e-03 1.32439662e+02] [-7.50812210e-02 9.97177348e-01 -3.82692119e-04 -5.87069307e+00] [-4.91409814e-03 1.37698779e-05 9.99987926e-01 -9.19834421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.50, Y:-5.88, Z:-0.92 [[ 9.96820332e-01 7.95312689e-02 4.89921133e-03 1.32497992e+02] [-7.95303497e-02 9.96832372e-01 -3.82463593e-04 -5.87615068e+00] [-4.91411027e-03 -8.38850454e-06 9.99987926e-01 -9.19052955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:-5.89, Z:-0.92 [[ 9.96796988e-01 7.98233189e-02 4.89922924e-03 1.32555085e+02] [-7.98224044e-02 9.96809028e-01 -3.82234028e-04 -5.88676824e+00] [-4.91410713e-03 -1.00585301e-05 9.99987926e-01 -9.21427281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.61, Y:-5.89, Z:-0.92 [[ 9.96851071e-01 7.91450584e-02 4.89925276e-03 1.32612685e+02] [-7.91441371e-02 9.96863110e-01 -3.81932365e-04 -5.89385694e+00] [-4.91411240e-03 -7.01744498e-06 9.99987926e-01 -9.20638001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:-5.90, Z:-0.92 [[ 9.96959958e-01 7.77614192e-02 4.89927457e-03 1.32671278e+02] [-7.77604826e-02 9.96971996e-01 -3.81652426e-04 -5.90476777e+00] [-4.91411738e-03 -4.77768503e-07 9.99987926e-01 -9.16173156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:-5.91, Z:-0.92 [[ 9.97082389e-01 7.61754924e-02 4.89929364e-03 1.32728498e+02] [-7.61745379e-02 9.97094426e-01 -3.81407370e-04 -5.91230177e+00] [-4.91411228e-03 7.09314243e-06 9.99987926e-01 -9.17561808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:-5.92, Z:-0.92 [[ 9.97200410e-01 7.46145986e-02 4.89931730e-03 1.32787204e+02] [-7.46136268e-02 9.97212446e-01 -3.81103267e-04 -5.92102658e+00] [-4.91409605e-03 1.44805018e-05 9.99987926e-01 -9.19114871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.85, Y:-5.93, Z:-0.92 [[ 9.97226741e-01 7.42618539e-02 4.89933513e-03 1.32845249e+02] [-7.42608789e-02 9.97238776e-01 -3.80873854e-04 -5.93001567e+00] [-4.91409137e-03 1.59886592e-05 9.99987926e-01 -9.18390229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:-5.94, Z:-0.92 [[ 9.97201835e-01 7.45955513e-02 4.89935346e-03 1.32902195e+02] [-7.45945814e-02 9.97213871e-01 -3.80637949e-04 -5.94125012e+00] [-4.91409713e-03 1.41076406e-05 9.99987926e-01 -9.19300939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:-5.95, Z:-0.92 [[ 9.97095706e-01 7.60009752e-02 4.89937606e-03 1.32960896e+02] [-7.60000238e-02 9.97107743e-01 -3.80346820e-04 -5.94787669e+00] [-4.91411254e-03 6.88948388e-06 9.99987926e-01 -9.19866722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.02, Y:-5.95, Z:-0.92 [[ 9.96866741e-01 7.89474276e-02 4.89939375e-03 1.33019019e+02] [-7.89465129e-02 9.96878781e-01 -3.80118831e-04 -5.95331169e+00] [-4.91411107e-03 -7.86223130e-06 9.99987926e-01 -9.19601133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58587156000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:-5.96, Z:-0.92 [[ 9.96616380e-01 8.20474651e-02 4.89941157e-03 1.33077203e+02] [-8.20465890e-02 9.96628423e-01 -3.79889052e-04 -5.95957849e+00] [-4.91406176e-03 -2.33763550e-05 9.99987926e-01 -9.20434925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64587156000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:133.14, Y:-5.96, Z:-0.92 [[ 9.96331086e-01 8.54421558e-02 4.89942923e-03 1.33136408e+02] [-8.54413218e-02 9.96343132e-01 -3.79661110e-04 -5.96318755e+00] [-4.91395173e-03 -4.03455437e-05 9.99987926e-01 -9.21499043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.19, Y:-5.97, Z:-0.92 [[ 9.96316751e-01 8.56091581e-02 4.89944277e-03 1.33194719e+02] [-8.56083270e-02 9.96328796e-01 -3.79486284e-04 -5.96790609e+00] [-4.91394342e-03 -4.13445578e-05 9.99987926e-01 -9.22929922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:-5.97, Z:-0.92 [[ 9.96606534e-01 8.21669717e-02 4.89946070e-03 1.33253454e+02] [-8.21661001e-02 9.96618577e-01 -3.79254634e-04 -5.97217245e+00] [-4.91405576e-03 -2.46019319e-05 9.99987926e-01 -9.22370616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:-5.98, Z:-0.92 [[ 9.96956785e-01 7.78020828e-02 4.89947845e-03 1.33312364e+02] [-7.78011596e-02 9.96968824e-01 -3.79025278e-04 -5.97753189e+00] [-4.91411622e-03 -3.31328213e-06 9.99987926e-01 -9.21099439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:-5.99, Z:-0.92 [[ 9.97450234e-01 7.11970897e-02 4.89949667e-03 1.33370753e+02] [-7.11960880e-02 9.97462267e-01 -3.78789583e-04 -5.98581864e+00] [-4.91403177e-03 2.89987625e-05 9.99987926e-01 -9.21659305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.43, Y:-5.99, Z:-0.92 [[ 9.97621458e-01 6.87562511e-02 4.89951501e-03 1.33430244e+02] [-6.87552211e-02 9.97633488e-01 -3.78552142e-04 -5.99374878e+00] [-4.91394808e-03 4.07845018e-05 9.99987926e-01 -9.21694713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:-6.00, Z:-0.92 [[ 9.97702622e-01 6.75682749e-02 4.89952415e-03 1.33489453e+02] [-6.75672311e-02 9.97714652e-01 -3.78433904e-04 -6.00007409e+00] [-4.91389715e-03 4.65172186e-05 9.99987926e-01 -9.19755379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:-6.01, Z:-0.92 [[ 9.97682588e-01 6.78634586e-02 4.89953326e-03 1.33547746e+02] [-6.78624190e-02 9.97694617e-01 -3.78315851e-04 -6.00648376e+00] [-4.91391178e-03 4.49449576e-05 9.99987926e-01 -9.19229789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:-6.01, Z:-0.92 [[ 9.97642662e-01 6.84478898e-02 4.89954669e-03 1.33606830e+02] [-6.84468581e-02 9.97654692e-01 -3.78141900e-04 -6.01386524e+00] [-4.91393876e-03 4.18919149e-05 9.99987926e-01 -9.20625845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.66, Y:-6.02, Z:-0.92 [[ 9.97551134e-01 6.97691203e-02 4.89955551e-03 1.33664883e+02] [-6.97681051e-02 9.97563165e-01 -3.78027530e-04 -6.02279754e+00] [-4.91399075e-03 3.52690874e-05 9.99987926e-01 -9.22790137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.72, Y:-6.03, Z:-0.92 [[ 9.97400971e-01 7.18839183e-02 4.89956364e-03 1.33724334e+02] [-7.18829291e-02 9.97413005e-01 -3.77922137e-04 -6.02863473e+00] [-4.91405502e-03 2.47449209e-05 9.99987926e-01 -9.22365069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.78, Y:-6.03, Z:-0.92 [[ 9.96973910e-01 7.75823214e-02 4.89957233e-03 1.33783301e+02] [-7.75814016e-02 9.96985949e-01 -3.77809468e-04 -6.03422441e+00] [-4.91411611e-03 -3.44950627e-06 9.99987926e-01 -9.18878918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.84, Y:-6.04, Z:-0.93 [[ 9.96466775e-01 8.38448602e-02 4.89958166e-03 1.33841308e+02] [-8.38440166e-02 9.96478820e-01 -3.77688369e-04 -6.03986905e+00] [-4.91399658e-03 -3.44466955e-05 9.99987926e-01 -9.25366051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42587156000002 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:-6.04, Z:-0.92 [[ 9.96225088e-01 8.66692994e-02 4.89960013e-03 1.33900090e+02] [-8.66684912e-02 9.96237136e-01 -3.77448636e-04 -6.04365633e+00] [-4.91387681e-03 -4.86171501e-05 9.99987926e-01 -9.23143277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:-6.05, Z:-0.93 [[ 9.96098118e-01 8.81165899e-02 4.89961850e-03 1.33957623e+02] [-8.81158003e-02 9.96110166e-01 -3.77210086e-04 -6.04712589e+00] [-4.91379826e-03 -5.59955487e-05 9.99987926e-01 -9.28458354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:-6.05, Z:-0.92 [[ 9.96120702e-01 8.78609197e-02 4.89964243e-03 1.34016392e+02] [-8.78601285e-02 9.96132750e-01 -3.76898909e-04 -6.05008672e+00] [-4.91380898e-03 -5.50464083e-05 9.99987926e-01 -9.23204678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:-6.05, Z:-0.92 [[ 9.96140829e-01 8.76324287e-02 4.89966082e-03 1.34075289e+02] [-8.76316360e-02 9.96152877e-01 -3.76659689e-04 -6.05352857e+00] [-4.91381883e-03 -5.41591986e-05 9.99987926e-01 -9.23452842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:-6.06, Z:-0.92 [[ 9.96097554e-01 8.81229551e-02 4.89967936e-03 1.34134002e+02] [-8.81221694e-02 9.96109603e-01 -3.76418391e-04 -6.05577224e+00] [-4.91378877e-03 -5.68209361e-05 9.99987926e-01 -9.23536284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:-6.06, Z:-0.93 [[ 9.96027580e-01 8.89103694e-02 4.89969792e-03 1.34192333e+02] [-8.89095945e-02 9.96039629e-01 -3.76176637e-04 -6.05541849e+00] [-4.91373930e-03 -6.09478503e-05 9.99987926e-01 -9.26412818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.25, Y:-6.06, Z:-0.93 [[ 9.95996796e-01 8.92545473e-02 4.89972085e-03 1.34250814e+02] [-8.92537781e-02 9.96008846e-01 -3.75877786e-04 -6.05698389e+00] [-4.91371411e-03 -6.29455267e-05 9.99987926e-01 -9.25639817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.31, Y:-6.06, Z:-0.93 [[ 9.96084157e-01 8.82742622e-02 4.89973936e-03 1.34309135e+02] [-8.82734822e-02 9.96096206e-01 -3.75636311e-04 -6.05695911e+00] [-4.91377081e-03 -5.83516779e-05 9.99987926e-01 -9.26809293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.37, Y:-6.06, Z:-0.93 [[ 9.96229547e-01 8.66180274e-02 4.89976331e-03 1.34367863e+02] [-8.66172289e-02 9.96241595e-01 -3.75323714e-04 -6.05721920e+00] [-4.91385781e-03 -5.04953460e-05 9.99987926e-01 -9.27301015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.43, Y:-6.06, Z:-0.93 [[ 9.96511097e-01 8.33164227e-02 4.89978110e-03 1.34426609e+02] [-8.33155854e-02 9.96523142e-01 -3.75091210e-04 -6.05667776e+00] [-4.91399652e-03 -3.44455780e-05 9.99987926e-01 -9.25526393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.48, Y:-6.06, Z:-0.93 [[ 9.96821830e-01 7.95124544e-02 4.89979910e-03 1.34484028e+02] [-7.95115724e-02 9.96833872e-01 -3.74855933e-04 -6.05870389e+00] [-4.91409143e-03 -1.59261535e-05 9.99987926e-01 -9.25841456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08587156000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:134.54, Y:-6.06, Z:-0.93 [[ 9.96983162e-01 7.74633238e-02 4.89982129e-03 1.34543016e+02] [-7.74624184e-02 9.96995202e-01 -3.74565731e-04 -6.06174948e+00] [-4.91411342e-03 -6.11628047e-06 9.99987926e-01 -9.25048666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.60, Y:-6.06, Z:-0.92 [[ 9.97480165e-01 7.07764880e-02 4.89983869e-03 1.34601651e+02] [-7.07755031e-02 9.97492199e-01 -3.74337924e-04 -6.06169725e+00] [-4.91404520e-03 2.66061058e-05 9.99987926e-01 -9.22768434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.66, Y:-6.06, Z:-0.92 [[ 9.97824657e-01 6.57415019e-02 4.89985662e-03 1.34660026e+02] [-6.57404574e-02 9.97836686e-01 -3.74103091e-04 -6.06479296e+00] [-4.91385079e-03 5.11704726e-05 9.99987926e-01 -9.23087840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-6.07, Z:-0.92 [[ 9.97941243e-01 6.39473767e-02 4.89987480e-03 1.34718919e+02] [-6.39463117e-02 9.97953270e-01 -3.73864919e-04 -6.06818726e+00] [-4.91375376e-03 5.97663010e-05 9.99987926e-01 -9.24927378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:-6.07, Z:-0.93 [[ 9.98002830e-01 6.29789007e-02 4.89988821e-03 1.34777454e+02] [-6.29778249e-02 9.98014857e-01 -3.73689048e-04 -6.06950653e+00] [-4.91369575e-03 6.43584262e-05 9.99987926e-01 -9.26821379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:-6.07, Z:-0.93 [[ 9.97987834e-01 6.32160860e-02 4.89990583e-03 1.34836838e+02] [-6.32150142e-02 9.97999861e-01 -3.73457876e-04 -6.07307101e+00] [-4.91371388e-03 6.29587999e-05 9.99987926e-01 -9.25331531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:134.90, Y:-6.08, Z:-0.92 [[ 9.97899255e-01 6.45992880e-02 4.89991466e-03 1.34895409e+02] [-6.45982335e-02 9.97911283e-01 -3.73341939e-04 -6.07631686e+00] [-4.91379775e-03 5.60318112e-05 9.99987926e-01 -9.24991589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.95, Y:-6.08, Z:-0.93 [[ 9.97802550e-01 6.60761857e-02 4.89993242e-03 1.34952956e+02] [-6.60751501e-02 9.97814580e-01 -3.73108744e-04 -6.07867472e+00] [-4.91387761e-03 4.85250859e-05 9.99987926e-01 -9.26589687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.01, Y:-6.08, Z:-0.93 [[ 9.97780510e-01 6.64081591e-02 4.89995433e-03 1.35011838e+02] [-6.64071289e-02 9.97792541e-01 -3.72820798e-04 -6.08258628e+00] [-4.91389622e-03 4.66014277e-05 9.99987926e-01 -9.25249746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.07, Y:-6.09, Z:-0.93 [[ 9.97871491e-01 6.50267536e-02 4.89997187e-03 1.35069168e+02] [-6.50257079e-02 9.97883520e-01 -3.72590038e-04 -6.08619006e+00] [-4.91382950e-03 5.31728370e-05 9.99987926e-01 -9.26494261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.13, Y:-6.09, Z:-0.93 [[ 9.97999594e-01 6.30301629e-02 4.89999353e-03 1.35127909e+02] [-6.30290945e-02 9.98011620e-01 -3.72305003e-04 -6.09125156e+00] [-4.91371693e-03 6.27180866e-05 9.99987926e-01 -9.27602279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:-6.10, Z:-0.93 [[ 9.98138243e-01 6.07950440e-02 4.90001069e-03 1.35186746e+02] [-6.07939499e-02 9.98150268e-01 -3.72078980e-04 -6.09615890e+00] [-4.91356754e-03 7.34952553e-05 9.99987926e-01 -9.29824707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:-6.10, Z:-0.93 [[ 9.98229079e-01 5.92848761e-02 4.90002342e-03 1.35245625e+02] [-5.92837645e-02 9.98241102e-01 -3.71911242e-04 -6.10376577e+00] [-4.91345349e-03 8.07607817e-05 9.99987926e-01 -9.29397293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.31, Y:-6.11, Z:-0.93 [[ 9.98232820e-01 5.92218507e-02 4.90003208e-03 1.35305408e+02] [-5.92207389e-02 9.98244843e-01 -3.71797159e-04 -6.11043443e+00] [-4.91345027e-03 8.09566055e-05 9.99987926e-01 -9.31204976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:135.36, Y:-6.12, Z:-0.93 [[ 9.98206179e-01 5.96692104e-02 4.90004080e-03 1.35364305e+02] [-5.96681046e-02 9.98218202e-01 -3.71682233e-04 -6.11982493e+00] [-4.91348790e-03 7.86393547e-05 9.99987926e-01 -9.29182928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.42, Y:-6.13, Z:-0.93 [[ 9.98156815e-01 6.04893544e-02 4.90004960e-03 1.35422827e+02] [-6.04882591e-02 9.98168840e-01 -3.71566124e-04 -6.12587111e+00] [-4.91355262e-03 7.44857885e-05 9.99987926e-01 -9.29876784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.48, Y:-6.14, Z:-0.93 [[ 9.98063917e-01 6.20032887e-02 4.90006735e-03 1.35481551e+02] [-6.20022127e-02 9.98075943e-01 -3.71331989e-04 -6.13574982e+00] [-4.91366314e-03 6.67980416e-05 9.99987926e-01 -9.29057825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.54, Y:-6.14, Z:-0.93 [[ 9.97956715e-01 6.37054512e-02 4.90008508e-03 1.35539759e+02] [-6.37043968e-02 9.97968743e-01 -3.71097854e-04 -6.14324852e+00] [-4.91377270e-03 5.81826312e-05 9.99987926e-01 -9.29318430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:135.60, Y:-6.15, Z:-0.93 [[ 9.97812602e-01 6.59242082e-02 4.90009818e-03 1.35598419e+02] [-6.59231815e-02 9.97824632e-01 -3.70924727e-04 -6.15380046e+00] [-4.91389159e-03 4.70833046e-05 9.99987926e-01 -9.28175435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.66, Y:-6.16, Z:-0.93 [[ 9.97672163e-01 6.80164935e-02 4.90011627e-03 1.35656570e+02] [-6.80154932e-02 9.97684196e-01 -3.70685656e-04 -6.16044091e+00] [-4.91398130e-03 3.65389352e-05 9.99987926e-01 -9.31089387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:135.71, Y:-6.17, Z:-0.93 [[ 9.97538113e-01 6.99550044e-02 4.90012517e-03 1.35714797e+02] [-6.99540280e-02 9.97550147e-01 -3.70567896e-04 -6.17308359e+00] [-4.91404367e-03 2.68721062e-05 9.99987926e-01 -9.32618411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:135.77, Y:-6.18, Z:-0.93 [[ 9.97477873e-01 7.08087661e-02 4.90013361e-03 1.35774227e+02] [-7.08078006e-02 9.97489909e-01 -3.70456243e-04 -6.17912827e+00] [-4.91406538e-03 2.25542215e-05 9.99987926e-01 -9.29360033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.83, Y:-6.19, Z:-0.93 [[ 9.97359055e-01 7.24631172e-02 4.90014246e-03 1.35833132e+02] [-7.24621722e-02 9.97371093e-01 -3.70339211e-04 -6.18782998e+00] [-4.91409637e-03 1.42861985e-05 9.99987926e-01 -9.30090443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.89, Y:-6.20, Z:-0.93 [[ 9.97016318e-01 7.70353887e-02 4.90015136e-03 1.35891676e+02] [-7.70344995e-02 9.97028359e-01 -3.70221392e-04 -6.19758047e+00] [-4.91411002e-03 -8.36393836e-06 9.99987926e-01 -9.31941618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.95, Y:-6.21, Z:-0.93 [[ 9.96603450e-01 8.22043330e-02 4.90016457e-03 1.35950443e+02] [-8.22035072e-02 9.96615496e-01 -3.70046422e-04 -6.20502364e+00] [-4.91399937e-03 -3.40211733e-05 9.99987926e-01 -9.30932583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.01, Y:-6.21, Z:-0.93 [[ 9.96400135e-01 8.46330849e-02 4.90017756e-03 1.36009441e+02] [-8.46322893e-02 9.96412183e-01 -3.69874375e-04 -6.21140316e+00] [-4.91390023e-03 -4.61703674e-05 9.99987926e-01 -9.30967870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.07, Y:-6.22, Z:-0.93 [[ 9.96124736e-01 8.78151423e-02 4.90019482e-03 1.36068340e+02] [-8.78143863e-02 9.96136786e-01 -3.69645584e-04 -6.21823323e+00] [-4.91372480e-03 -6.20944912e-05 9.99987926e-01 -9.31005787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:-6.22, Z:-0.93 [[ 9.95954908e-01 8.97207332e-02 4.90020399e-03 1.36126340e+02] [-8.97200008e-02 9.95966960e-01 -3.69523931e-04 -6.22320860e+00] [-4.91359523e-03 -7.16171342e-05 9.99987926e-01 -9.33806270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:-6.23, Z:-0.93 [[ 9.95749944e-01 9.19675834e-02 4.90021508e-03 1.36185103e+02] [-9.19668789e-02 9.95761998e-01 -3.69376808e-04 -6.22753780e+00] [-4.91341866e-03 -8.28505515e-05 9.99987926e-01 -9.31832152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:-6.23, Z:-0.93 [[ 9.95517853e-01 9.44467681e-02 4.90023325e-03 1.36244134e+02] [-9.44460948e-02 9.95529909e-01 -3.69135622e-04 -6.23188908e+00] [-4.91319243e-03 -9.53267925e-05 9.99987926e-01 -9.30527232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:-6.23, Z:-0.93 [[ 9.95275506e-01 9.69672835e-02 4.90025122e-03 1.36302681e+02] [-9.69666419e-02 9.95287564e-01 -3.68896904e-04 -6.23496919e+00] [-4.91293003e-03 -1.08006853e-04 9.99987926e-01 -9.30588941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:-6.24, Z:-0.93 [[ 9.94980270e-01 9.99512361e-02 4.90026927e-03 1.36362036e+02] [-9.99506319e-02 9.94992329e-01 -3.68657000e-04 -6.23563932e+00] [-4.91257806e-03 -1.22978568e-04 9.99987926e-01 -9.33200048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:-6.24, Z:-0.93 [[ 9.94909420e-01 1.00654032e-01 4.90028714e-03 1.36420473e+02] [-1.00653437e-01 9.94921479e-01 -3.68419302e-04 -6.23863582e+00] [-4.91248382e-03 -1.26686912e-04 9.99987926e-01 -9.33827097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:-6.24, Z:-0.93 [[ 9.94881273e-01 1.00931858e-01 4.90030481e-03 1.36479424e+02] [-1.00931268e-01 9.94893333e-01 -3.68184149e-04 -6.23699265e+00] [-4.91244210e-03 -1.28294464e-04 9.99987926e-01 -9.34029807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:-6.24, Z:-0.93 [[ 9.94940371e-01 1.00347625e-01 4.90032233e-03 1.36538229e+02] [-1.00347029e-01 9.94952430e-01 -3.67950855e-04 -6.23668769e+00] [-4.91251060e-03 -1.25643626e-04 9.99987926e-01 -9.34414267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.60, Y:-6.23, Z:-0.94 [[ 9.95113243e-01 9.86185572e-02 4.90033971e-03 1.36597226e+02] [-9.86179414e-02 9.95125302e-01 -3.67719179e-04 -6.23310379e+00] [-4.91271597e-03 -1.17339190e-04 9.99987926e-01 -9.35560389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.66, Y:-6.23, Z:-0.94 [[ 9.95287161e-01 9.68475819e-02 4.90035705e-03 1.36655976e+02] [-9.68469458e-02 9.95299218e-01 -3.67488050e-04 -6.23191290e+00] [-4.91291187e-03 -1.08828476e-04 9.99987926e-01 -9.36219545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:-6.23, Z:-0.94 [[ 9.95832958e-01 9.10642973e-02 4.90037455e-03 1.36714730e+02] [-9.10635924e-02 9.95845012e-01 -3.67254459e-04 -6.22944135e+00] [-4.91345732e-03 -8.05216167e-05 9.99987926e-01 -9.37697889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-6.23, Z:-0.94 [[ 9.96315302e-01 8.56259625e-02 4.90039195e-03 1.36773948e+02] [-8.56251929e-02 9.96327352e-01 -3.67022217e-04 -6.23070620e+00] [-4.91382116e-03 -5.39271550e-05 9.99987926e-01 -9.35727587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:-6.23, Z:-0.94 [[ 9.96924552e-01 7.82139645e-02 4.90041019e-03 1.36831648e+02] [-7.82131065e-02 9.96936596e-01 -3.66778502e-04 -6.22799249e+00] [-4.91408545e-03 -1.76258099e-05 9.99987926e-01 -9.36131667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48587156000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:-6.23, Z:-0.94 [[ 9.97241857e-01 7.40585137e-02 4.90043724e-03 1.36890367e+02] [-7.40576073e-02 9.97253898e-01 -3.66416677e-04 -6.22853174e+00] [-4.91411641e-03 2.49139083e-06 9.99987926e-01 -9.35251749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:-6.23, Z:-0.94 [[ 9.97524661e-01 7.01465334e-02 4.90045442e-03 1.36948987e+02] [-7.01455809e-02 9.97536698e-01 -3.66186849e-04 -6.23038693e+00] [-4.91406985e-03 2.15351905e-05 9.99987926e-01 -9.35865818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:137.01, Y:-6.23, Z:-0.94 [[ 9.97901731e-01 6.45609806e-02 4.90047149e-03 1.37008044e+02] [-6.45599618e-02 9.97913763e-01 -3.65958201e-04 -6.23164276e+00] [-4.91387456e-03 4.88160696e-05 9.99987926e-01 -9.35236820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.07, Y:-6.23, Z:-0.94 [[ 9.98234349e-01 5.91960228e-02 4.90048933e-03 1.37067120e+02] [-5.91949406e-02 9.98246375e-01 -3.65719111e-04 -6.23399169e+00] [-4.91354483e-03 7.49892040e-05 9.99987926e-01 -9.37610413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.13, Y:-6.24, Z:-0.94 [[ 9.98424508e-01 5.58971119e-02 4.90050247e-03 1.37125941e+02] [-5.58959907e-02 9.98436530e-01 -3.65543008e-04 -6.23889640e+00] [-4.91327348e-03 9.10486569e-05 9.99987926e-01 -9.37372841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:-6.24, Z:-0.94 [[ 9.98590491e-01 5.28489890e-02 4.90051545e-03 1.37184880e+02] [-5.28478321e-02 9.98602510e-01 -3.65368974e-04 -6.24353039e+00] [-4.91297641e-03 1.05872366e-04 9.99987926e-01 -9.37749133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.24, Y:-6.25, Z:-0.94 [[ 9.98651694e-01 5.16795836e-02 4.90052382e-03 1.37244357e+02] [-5.16784131e-02 9.98663711e-01 -3.65256671e-04 -6.24864469e+00] [-4.91285161e-03 1.11512899e-04 9.99987926e-01 -9.37251539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.30, Y:-6.26, Z:-0.94 [[ 9.98704429e-01 5.06502477e-02 4.90053225e-03 1.37304068e+02] [-5.06490654e-02 9.98716446e-01 -3.65143420e-04 -6.25552283e+00] [-4.91273676e-03 1.16462973e-04 9.99987926e-01 -9.37038247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.36, Y:-6.26, Z:-0.94 [[ 9.98688126e-01 5.09707025e-02 4.90054080e-03 1.37362633e+02] [-5.09695246e-02 9.98700142e-01 -3.65028650e-04 -6.26187088e+00] [-4.91277656e-03 1.14771543e-04 9.99987926e-01 -9.37183267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.42, Y:-6.27, Z:-0.94 [[ 9.98632359e-01 5.20518534e-02 4.90055355e-03 1.37422230e+02] [-5.20506894e-02 9.98644377e-01 -3.64857461e-04 -6.27069604e+00] [-4.91290176e-03 1.09281276e-04 9.99987926e-01 -9.37487858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.48, Y:-6.28, Z:-0.94 [[ 9.98615038e-01 5.23831049e-02 4.90056211e-03 1.37481760e+02] [-5.23819454e-02 9.98627057e-01 -3.64742413e-04 -6.27879520e+00] [-4.91294026e-03 1.07536281e-04 9.99987926e-01 -9.39653939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.54, Y:-6.29, Z:-0.94 [[ 9.98502868e-01 5.44794128e-02 4.90057060e-03 1.37541168e+02] [-5.44782791e-02 9.98514889e-01 -3.64628317e-04 -6.28966138e+00] [-4.91315745e-03 9.71077672e-05 9.99987926e-01 -9.38020056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.60, Y:-6.30, Z:-0.94 [[ 9.98319896e-01 5.77353443e-02 4.90057923e-03 1.37600641e+02] [-5.77342504e-02 9.98331920e-01 -3.64512332e-04 -6.29777343e+00] [-4.91344992e-03 8.09686447e-05 9.99987926e-01 -9.36686200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.66, Y:-6.31, Z:-0.94 [[ 9.97919993e-01 6.42780820e-02 4.90058805e-03 1.37658800e+02] [-6.42770675e-02 9.97932025e-01 -3.64393740e-04 -6.30715442e+00] [-4.91387628e-03 4.86403703e-05 9.99987926e-01 -9.36014443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.72, Y:-6.32, Z:-0.94 [[ 9.97564628e-01 6.95758331e-02 4.90060122e-03 1.37716462e+02] [-6.95748833e-02 9.97576665e-01 -3.64216447e-04 -6.31969340e+00] [-4.91406609e-03 2.23706866e-05 9.99987926e-01 -9.36151383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:-6.33, Z:-0.94 [[ 9.97301625e-01 7.32492538e-02 4.90061825e-03 1.37775594e+02] [-7.32483496e-02 9.97313665e-01 -3.63987228e-04 -6.32764262e+00] [-4.91411534e-03 4.04285479e-06 9.99987926e-01 -9.35085542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:-6.34, Z:-0.94 [[ 9.96822563e-01 7.95032208e-02 4.90062688e-03 1.37834296e+02] [-7.95023926e-02 9.96834609e-01 -3.63870999e-04 -6.33635169e+00] [-4.91404339e-03 -2.68967405e-05 9.99987926e-01 -9.35038231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:-6.34, Z:-0.94 [[ 9.96380645e-01 8.48622088e-02 4.90063550e-03 1.37891984e+02] [-8.48614460e-02 9.96392695e-01 -3.63754810e-04 -6.34207844e+00] [-4.91382645e-03 -5.34367625e-05 9.99987926e-01 -9.36661791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:-6.35, Z:-0.94 [[ 9.95601321e-01 9.35627776e-02 4.90065689e-03 1.37950867e+02] [-9.35621215e-02 9.95613377e-01 -3.63466405e-04 -6.34594308e+00] [-4.91316649e-03 -9.66482232e-05 9.99987926e-01 -9.38675778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.01, Y:-6.35, Z:-0.94 [[ 9.95100938e-01 9.87426268e-02 4.90067428e-03 1.38009645e+02] [-9.87420347e-02 9.95112998e-01 -3.63231747e-04 -6.34796432e+00] [-4.91259114e-03 -1.22450298e-04 9.99987926e-01 -9.38909721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:-6.35, Z:-0.94 [[ 9.94581551e-01 1.03843738e-01 4.90069140e-03 1.38068657e+02] [-1.03843209e-01 9.94593614e-01 -3.63000666e-04 -6.34773188e+00] [-4.91189172e-03 -1.47869756e-04 9.99987926e-01 -9.37142718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:-6.35, Z:-0.94 [[ 9.94581578e-01 1.03843477e-01 4.90070864e-03 1.38127115e+02] [-1.03842949e-01 9.94593641e-01 -3.62767776e-04 -6.34566406e+00] [-4.91188472e-03 -1.48101890e-04 9.99987926e-01 -9.38840929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.19, Y:-6.35, Z:-0.94 [[ 9.94879448e-01 1.00949818e-01 4.90073005e-03 1.38186315e+02] [-1.00949257e-01 9.94891510e-01 -3.62478306e-04 -6.34746755e+00] [-4.91228684e-03 -1.34102839e-04 9.99987926e-01 -9.40461545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:-6.35, Z:-0.94 [[ 9.95592510e-01 9.36564858e-02 4.90074735e-03 1.38244348e+02] [-9.36558369e-02 9.95604567e-01 -3.62244287e-04 -6.34632870e+00] [-4.91313297e-03 -9.83358959e-05 9.99987926e-01 -9.44347257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92587156000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:-6.35, Z:-0.94 [[ 9.95814852e-01 9.12620586e-02 4.90076997e-03 1.38302779e+02] [-9.12613822e-02 9.95826907e-01 -3.61937996e-04 -6.35034810e+00] [-4.91334981e-03 -8.68278098e-05 9.99987926e-01 -9.42470057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.36, Y:-6.35, Z:-0.94 [[ 9.96217881e-01 8.67520378e-02 4.90078761e-03 1.38360223e+02] [-8.67513080e-02 9.96229933e-01 -3.61698944e-04 -6.35148293e+00] [-4.91368944e-03 -6.48187802e-05 9.99987926e-01 -9.42364276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:-6.35, Z:-0.94 [[ 9.96565771e-01 8.26598265e-02 4.90080937e-03 1.38419265e+02] [-8.26590487e-02 9.96577820e-01 -3.61403876e-04 -6.34863353e+00] [-4.91391150e-03 -4.49335079e-05 9.99987926e-01 -9.42471287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.48, Y:-6.35, Z:-0.94 [[ 9.96785069e-01 7.99719262e-02 4.90082623e-03 1.38478746e+02] [-7.99711169e-02 9.96797116e-01 -3.61175071e-04 -6.34626899e+00] [-4.91401332e-03 -3.19106304e-05 9.99987926e-01 -9.40739320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.54, Y:-6.35, Z:-0.94 [[ 9.96967353e-01 7.76664613e-02 4.90084341e-03 1.38537827e+02] [-7.76656254e-02 9.96979398e-01 -3.60941832e-04 -6.34829467e+00] [-4.91407299e-03 -2.07798455e-05 9.99987926e-01 -9.40423392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:-6.35, Z:-0.94 [[ 9.97397251e-01 7.19354186e-02 4.90086067e-03 1.38595819e+02] [-7.19345146e-02 9.97409292e-01 -3.60707314e-04 -6.34909747e+00] [-4.91411160e-03 7.22744994e-06 9.99987926e-01 -9.41235940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:-6.35, Z:-0.94 [[ 9.97716838e-01 6.73579483e-02 4.90088197e-03 1.38654979e+02] [-6.73569905e-02 9.97728874e-01 -3.60417754e-04 -6.35043011e+00] [-4.91402845e-03 2.94862013e-05 9.99987926e-01 -9.39541003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.71, Y:-6.36, Z:-0.94 [[ 9.98195063e-01 5.98548010e-02 4.90089936e-03 1.38713454e+02] [-5.98537539e-02 9.98207092e-01 -3.60181054e-04 -6.35510566e+00] [-4.91367107e-03 6.61937261e-05 9.99987926e-01 -9.42190849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.77, Y:-6.36, Z:-0.94 [[ 9.98494785e-01 5.46273320e-02 4.90091224e-03 1.38772461e+02] [-5.46262227e-02 9.98506808e-01 -3.60005689e-04 -6.36060831e+00] [-4.91326039e-03 9.17454792e-05 9.99987926e-01 -9.41522090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:-6.37, Z:-0.94 [[ 9.98537087e-01 5.38485548e-02 4.90092095e-03 1.38829773e+02] [-5.38474367e-02 9.98549109e-01 -3.59887132e-04 -6.36555082e+00] [-4.91318965e-03 9.54586171e-05 9.99987926e-01 -9.40933844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:-6.37, Z:-0.94 [[ 9.98402944e-01 5.62809217e-02 4.90094243e-03 1.38888486e+02] [-5.62798344e-02 9.98414969e-01 -3.59594397e-04 -6.37113831e+00] [-4.91341259e-03 8.31958756e-05 9.99987926e-01 -9.40447179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:-6.38, Z:-0.94 [[ 9.98259026e-01 5.87783811e-02 4.90095969e-03 1.38946653e+02] [-5.87773251e-02 9.98271054e-01 -3.59358930e-04 -6.37721084e+00] [-4.91360874e-03 7.06679947e-05 9.99987926e-01 -9.41172933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64587156000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:-6.38, Z:-0.94 [[ 9.98054349e-01 6.21570291e-02 4.90097685e-03 1.39004177e+02] [-6.21560149e-02 9.98066381e-01 -3.59124819e-04 -6.38453940e+00] [-4.91382236e-03 5.38008971e-05 9.99987926e-01 -9.43372203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70587156000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:139.06, Y:-6.39, Z:-0.94 [[ 9.97955791e-01 6.37198561e-02 4.90099817e-03 1.39063770e+02] [-6.37188622e-02 9.97967824e-01 -3.58833593e-04 -6.39024471e+00] [-4.91390331e-03 4.58140349e-05 9.99987926e-01 -9.43998371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.12, Y:-6.40, Z:-0.94 [[ 9.97811517e-01 6.59405598e-02 4.90100659e-03 1.39123462e+02] [-6.59395932e-02 9.97823552e-01 -3.58718637e-04 -6.39657823e+00] [-4.91399391e-03 3.47632071e-05 9.99987926e-01 -9.41625136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.18, Y:-6.40, Z:-0.94 [[ 9.97705594e-01 6.75242817e-02 4.90101528e-03 1.39181936e+02] [-6.75233348e-02 9.97717631e-01 -3.58599782e-04 -6.40450438e+00] [-4.91404355e-03 2.68441124e-05 9.99987926e-01 -9.42430038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:-6.41, Z:-0.94 [[ 9.97507892e-01 7.03845512e-02 4.90102817e-03 1.39240102e+02] [-7.03836397e-02 9.97519932e-01 -3.58423610e-04 -6.40987458e+00] [-4.91410077e-03 1.25781790e-05 9.99987926e-01 -9.40822704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:-6.42, Z:-0.95 [[ 9.97300287e-01 7.32674349e-02 4.90104561e-03 1.39297537e+02] [-7.32665594e-02 9.97312330e-01 -3.58184990e-04 -6.41532222e+00] [-4.91411651e-03 -1.86475521e-06 9.99987926e-01 -9.45508125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:139.36, Y:-6.42, Z:-0.95 [[ 9.97152794e-01 7.52481618e-02 4.90106728e-03 1.39356024e+02] [-7.52473117e-02 9.97164838e-01 -3.57888185e-04 -6.42031781e+00] [-4.91410239e-03 -1.19229340e-05 9.99987926e-01 -9.46823701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.42, Y:-6.42, Z:-0.95 [[ 9.96981287e-01 7.74873684e-02 4.90108340e-03 1.39415121e+02] [-7.74865464e-02 9.96993334e-01 -3.57667233e-04 -6.42390457e+00] [-4.91406217e-03 -2.31804880e-05 9.99987926e-01 -9.47650766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:-6.43, Z:-0.95 [[ 9.96890067e-01 7.86522346e-02 4.90109947e-03 1.39473366e+02] [-7.86514278e-02 9.96902114e-01 -3.57446981e-04 -6.42801102e+00] [-4.91403042e-03 -2.91431255e-05 9.99987926e-01 -9.46912294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.53, Y:-6.43, Z:-0.95 [[ 9.96805946e-01 7.97112554e-02 4.90111623e-03 1.39531903e+02] [-7.97104625e-02 9.96817995e-01 -3.57216931e-04 -6.43105426e+00] [-4.91399507e-03 -3.45942803e-05 9.99987926e-01 -9.46623753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24587156 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:139.59, Y:-6.43, Z:-0.94 [[ 9.96887723e-01 7.86819296e-02 4.90113312e-03 1.39590604e+02] [-7.86811254e-02 9.96899771e-01 -3.56985138e-04 -6.43446038e+00] [-4.91402676e-03 -2.97525673e-05 9.99987926e-01 -9.44457749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.65, Y:-6.44, Z:-0.94 [[ 9.97121565e-01 7.56608467e-02 4.90115035e-03 1.39648071e+02] [-7.56600071e-02 9.97133610e-01 -3.56748427e-04 -6.43608404e+00] [-4.91409363e-03 -1.50995205e-05 9.99987926e-01 -9.44231130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.71, Y:-6.44, Z:-0.94 [[ 9.97427019e-01 7.15214668e-02 4.90117170e-03 1.39706523e+02] [-7.15205787e-02 9.97439061e-01 -3.56454791e-04 -6.44029768e+00] [-4.91411427e-03 5.00300337e-06 9.99987926e-01 -9.44740316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.76, Y:-6.44, Z:-0.95 [[ 9.97669134e-01 6.80608359e-02 4.90118859e-03 1.39763840e+02] [-6.80599072e-02 9.97681173e-01 -3.56222447e-04 -6.44421971e+00] [-4.91406838e-03 2.18176995e-05 9.99987926e-01 -9.46099605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.82, Y:-6.45, Z:-0.95 [[ 9.98006581e-01 6.29193385e-02 4.90121092e-03 1.39822861e+02] [-6.29183493e-02 9.98018614e-01 -3.55914929e-04 -6.44773342e+00] [-4.91389366e-03 4.68293411e-05 9.99987926e-01 -9.48323179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:139.88, Y:-6.45, Z:-0.95 [[ 9.98156148e-01 6.05002681e-02 4.90122102e-03 1.39882446e+02] [-6.04992504e-02 9.98168179e-01 -3.55775752e-04 -6.45332164e+00] [-4.91376739e-03 5.85995561e-05 9.99987926e-01 -9.45050704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:139.94, Y:-6.46, Z:-0.95 [[ 9.98254796e-01 5.88501515e-02 4.90122925e-03 1.39941479e+02] [-5.88491145e-02 9.98266826e-01 -3.55662354e-04 -6.45961785e+00] [-4.91366535e-03 6.66086494e-05 9.99987926e-01 -9.45521155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:-6.46, Z:-0.95 [[ 9.98299819e-01 5.80814044e-02 4.90123763e-03 1.40000204e+02] [-5.80803587e-02 9.98311848e-01 -3.55546844e-04 -6.46473704e+00] [-4.91361426e-03 7.02767098e-05 9.99987926e-01 -9.46750009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:140.06, Y:-6.47, Z:-0.95 [[ 9.98403900e-01 5.62639266e-02 4.90125004e-03 1.40059129e+02] [-5.62628598e-02 9.98415928e-01 -3.55375771e-04 -6.47140753e+00] [-4.91348094e-03 7.90502127e-05 9.99987926e-01 -9.50402050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:-6.48, Z:-0.95 [[ 9.98439670e-01 5.56255580e-02 4.90125829e-03 1.40118493e+02] [-5.56244841e-02 9.98451697e-01 -3.55261869e-04 -6.47714182e+00] [-4.91343130e-03 8.20775799e-05 9.99987926e-01 -9.50754738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:140.18, Y:-6.48, Z:-0.95 [[ 9.98516345e-01 5.42317756e-02 4.90126649e-03 1.40177870e+02] [-5.42306855e-02 9.98528370e-01 -3.55148671e-04 -6.48478279e+00] [-4.91331399e-03 8.88227112e-05 9.99987926e-01 -9.46922424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.24, Y:-6.49, Z:-0.95 [[ 9.98521928e-01 5.41288933e-02 4.90127476e-03 1.40236813e+02] [-5.41278025e-02 9.98533953e-01 -3.55034558e-04 -6.49116517e+00] [-4.91330689e-03 8.92145595e-05 9.99987926e-01 -9.46083704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.30, Y:-6.50, Z:-0.95 [[ 9.98427440e-01 5.58446548e-02 4.90128310e-03 1.40296520e+02] [-5.58435852e-02 9.98439466e-01 -3.54919397e-04 -6.49883084e+00] [-4.91345483e-03 8.06560449e-05 9.99987926e-01 -9.47055034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.36, Y:-6.51, Z:-0.95 [[ 9.98293933e-01 5.81824753e-02 4.90129154e-03 1.40355128e+02] [-5.81814345e-02 9.98305963e-01 -3.54802763e-04 -6.50639172e+00] [-4.91363187e-03 6.90332731e-05 9.99987926e-01 -9.47845922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:140.41, Y:-6.51, Z:-0.95 [[ 9.97925058e-01 6.41993462e-02 4.90130409e-03 1.40414353e+02] [-6.41983787e-02 9.97937093e-01 -3.54629329e-04 -6.51477290e+00] [-4.91396013e-03 3.92377173e-05 9.99987926e-01 -9.48266186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.47, Y:-6.52, Z:-0.95 [[ 9.97613414e-01 6.88727394e-02 4.90131232e-03 1.40474127e+02] [-6.88718288e-02 9.97625454e-01 -3.54515596e-04 -6.52129909e+00] [-4.91409038e-03 1.61071713e-05 9.99987926e-01 -9.51087480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:-6.53, Z:-0.95 [[ 9.97243043e-01 7.40424835e-02 4.90132053e-03 1.40533012e+02] [-7.40416359e-02 9.97255088e-01 -3.54402065e-04 -6.52727191e+00] [-4.91410764e-03 -9.47679601e-06 9.99987926e-01 -9.49374551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:-6.53, Z:-0.95 [[ 9.97101139e-01 7.59295405e-02 4.90133322e-03 1.40591735e+02] [-7.59287166e-02 9.97113185e-01 -3.54226364e-04 -6.53277418e+00] [-4.91408023e-03 -1.89524300e-05 9.99987926e-01 -9.49476984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.65, Y:-6.54, Z:-0.95 [[ 9.97082402e-01 7.61751896e-02 4.90134195e-03 1.40651704e+02] [-7.61743693e-02 9.97094449e-01 -3.54105565e-04 -6.53668162e+00] [-4.91407491e-03 -2.02842045e-05 9.99987926e-01 -9.51010733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:-6.54, Z:-0.95 [[ 9.97146315e-01 7.53339447e-02 4.90134997e-03 1.40710310e+02] [-7.53331147e-02 9.97158361e-01 -3.53994520e-04 -6.54153208e+00] [-4.91408991e-03 -1.62496291e-05 9.99987926e-01 -9.53084064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:-6.55, Z:-0.95 [[ 9.97138736e-01 7.54342012e-02 4.90136187e-03 1.40770230e+02] [-7.54333733e-02 9.97150781e-01 -3.53829654e-04 -6.54552742e+00] [-4.91408768e-03 -1.69090057e-05 9.99987926e-01 -9.53325934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.83, Y:-6.55, Z:-0.95 [[ 9.97109103e-01 7.58248902e-02 4.90137018e-03 1.40829055e+02] [-7.58240676e-02 9.97121149e-01 -3.53714619e-04 -6.54862232e+00] [-4.91408023e-03 -1.89497570e-05 9.99987926e-01 -9.52649002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:-6.55, Z:-0.95 [[ 9.97108281e-01 7.58356924e-02 4.90138249e-03 1.40888468e+02] [-7.58348707e-02 9.97120327e-01 -3.53543904e-04 -6.54915216e+00] [-4.91407936e-03 -1.91741535e-05 9.99987926e-01 -9.51338084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.95, Y:-6.55, Z:-0.95 [[ 9.97227513e-01 7.42513541e-02 4.90139082e-03 1.40947146e+02] [-7.42505138e-02 9.97239558e-01 -3.53428350e-04 -6.55302499e+00] [-4.91410335e-03 -1.14823127e-05 9.99987926e-01 -9.53747990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.01, Y:-6.56, Z:-0.95 [[ 9.97613317e-01 6.88741280e-02 4.90140323e-03 1.41006246e+02] [-6.88732236e-02 9.97625358e-01 -3.53256154e-04 -6.55616168e+00] [-4.91409436e-03 1.48376023e-05 9.99987926e-01 -9.54642649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.07, Y:-6.56, Z:-0.96 [[ 9.97948324e-01 6.38366519e-02 4.90141160e-03 1.41065751e+02] [-6.38356873e-02 9.97960360e-01 -3.53140084e-04 -6.56152301e+00] [-4.91395776e-03 3.95305772e-05 9.99987926e-01 -9.55137093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:-6.57, Z:-0.96 [[ 9.98268325e-01 5.86201884e-02 4.90141986e-03 1.41125493e+02] [-5.86191616e-02 9.98280356e-01 -3.53025293e-04 -6.56576126e+00] [-4.91368558e-03 6.50968451e-05 9.99987926e-01 -9.55364374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.18, Y:-6.57, Z:-0.96 [[ 9.98309772e-01 5.79100569e-02 4.90142812e-03 1.41184985e+02] [-5.79090220e-02 9.98321802e-01 -3.52910643e-04 -6.57051473e+00] [-4.91363963e-03 6.84772347e-05 9.99987926e-01 -9.55577616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.25, Y:-6.57, Z:-0.95 [[ 9.98153684e-01 6.05408958e-02 4.90142404e-03 1.41245031e+02] [-6.05398924e-02 9.98165716e-01 -3.52967231e-04 -6.57414519e+00] [-4.91380239e-03 5.55838573e-05 9.99987926e-01 -9.53853024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.30, Y:-6.58, Z:-0.95 [[ 9.97996922e-01 6.30723383e-02 4.90143204e-03 1.41304307e+02] [-6.30713659e-02 9.98008957e-01 -3.52856147e-04 -6.57731340e+00] [-4.91392854e-03 4.30093345e-05 9.99987926e-01 -9.50807744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:-6.58, Z:-0.95 [[ 9.97834220e-01 6.55960717e-02 4.90144045e-03 1.41363641e+02] [-6.55951303e-02 9.97846258e-01 -3.52739264e-04 -6.57855164e+00] [-4.91402232e-03 3.04646829e-05 9.99987926e-01 -9.48941520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:141.42, Y:-6.58, Z:-0.95 [[ 9.97879054e-01 6.49104749e-02 4.90145748e-03 1.41422368e+02] [-6.49095264e-02 9.97891091e-01 -3.52502537e-04 -6.58476125e+00] [-4.91400185e-03 3.36036147e-05 9.99987926e-01 -9.49949746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.48, Y:-6.59, Z:-0.95 [[ 9.98015812e-01 6.27727290e-02 4.90147012e-03 1.41481568e+02] [-6.27717556e-02 9.98027847e-01 -3.52326621e-04 -6.58834967e+00] [-4.91392017e-03 4.39536543e-05 9.99987926e-01 -9.51236533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.54, Y:-6.59, Z:-0.95 [[ 9.98004944e-01 6.29452659e-02 4.90147843e-03 1.41540202e+02] [-6.29442952e-02 9.98016980e-01 -3.52211041e-04 -6.59197705e+00] [-4.91392871e-03 4.29882553e-05 9.99987926e-01 -9.52123525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.60, Y:-6.60, Z:-0.95 [[ 9.97883639e-01 6.48399408e-02 4.90149071e-03 1.41598927e+02] [-6.48389938e-02 9.97895676e-01 -3.52039972e-04 -6.59504950e+00] [-4.91400264e-03 3.34872021e-05 9.99987926e-01 -9.51236738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.66, Y:-6.60, Z:-0.95 [[ 9.97793889e-01 6.62067243e-02 4.90150783e-03 1.41657114e+02] [-6.62057949e-02 9.97805927e-01 -3.51801499e-04 -6.59747756e+00] [-4.91404519e-03 2.65171637e-05 9.99987926e-01 -9.53721082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.72, Y:-6.60, Z:-0.95 [[ 9.97870403e-01 6.50433201e-02 4.90152051e-03 1.41715163e+02] [-6.50423776e-02 9.97882441e-01 -3.51624774e-04 -6.60200838e+00] [-4.91401209e-03 3.20694074e-05 9.99987926e-01 -9.53953257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.77, Y:-6.61, Z:-0.96 [[ 9.98183347e-01 6.00498147e-02 4.90153281e-03 1.41774163e+02] [-6.00488128e-02 9.98195380e-01 -3.51453140e-04 -6.60937463e+00] [-4.91379211e-03 5.64834455e-05 9.99987926e-01 -9.56157352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:-6.62, Z:-0.96 [[ 9.98429637e-01 5.58053301e-02 4.90153685e-03 1.41834099e+02] [-5.58042773e-02 9.98441665e-01 -3.51396867e-04 -6.61850547e+00] [-4.91350843e-03 7.73183244e-05 9.99987926e-01 -9.55694123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:-6.63, Z:-0.96 [[ 9.98665976e-01 5.14027600e-02 4.90153685e-03 1.41893509e+02] [-5.14016542e-02 9.98677999e-01 -3.51396867e-04 -6.62832586e+00] [-4.91311978e-03 9.89809924e-05 9.99987926e-01 -9.57927024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64587156000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:141.95, Y:-6.64, Z:-0.96 [[ 9.98677202e-01 5.11841945e-02 4.90153215e-03 1.41953643e+02] [-5.11830857e-02 9.98689225e-01 -3.51462438e-04 -6.64058123e+00] [-4.91309666e-03 1.00121984e-04 9.99987926e-01 -9.56854483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.01, Y:-6.65, Z:-0.96 [[ 9.98624784e-01 5.21968892e-02 4.90153215e-03 1.42013876e+02] [-5.21957926e-02 9.98636809e-01 -3.51462438e-04 -6.64691623e+00] [-4.91319567e-03 9.51397461e-05 9.99987926e-01 -9.56657030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.07, Y:-6.66, Z:-0.96 [[ 9.98455836e-01 5.53346054e-02 4.90153215e-03 1.42073730e+02] [-5.53335467e-02 9.98467864e-01 -3.51462438e-04 -6.65597676e+00] [-4.91347037e-03 7.97005647e-05 9.99987926e-01 -9.55629457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.13, Y:-6.66, Z:-0.95 [[ 9.98061610e-01 6.20402893e-02 4.90153215e-03 1.42132927e+02] [-6.20393114e-02 9.98073645e-01 -3.51462438e-04 -6.66432041e+00] [-4.91389489e-03 4.66934878e-05 9.99987926e-01 -9.54183442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.19, Y:-6.67, Z:-0.95 [[ 9.97800250e-01 6.61107820e-02 4.90153629e-03 1.42192937e+02] [-6.61098534e-02 9.97812289e-01 -3.51404624e-04 -6.67178795e+00] [-4.91404478e-03 2.65917760e-05 9.99987926e-01 -9.53940268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.25, Y:-6.68, Z:-0.96 [[ 9.97504952e-01 7.04261762e-02 4.90153629e-03 1.42253322e+02] [-7.04252997e-02 9.97516994e-01 -3.51404624e-04 -6.68023017e+00] [-4.91411383e-03 5.33569003e-06 9.99987926e-01 -9.55353774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:-6.69, Z:-0.95 [[ 9.97373568e-01 7.22630010e-02 4.90153629e-03 1.42313384e+02] [-7.22621467e-02 9.97385612e-01 -3.51404624e-04 -6.68614510e+00] [-4.91411533e-03 -3.71385126e-06 9.99987926e-01 -9.54935969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:-6.69, Z:-0.96 [[ 9.97243746e-01 7.40330092e-02 4.90153629e-03 1.42372824e+02] [-7.40321762e-02 9.97255791e-01 -3.51404624e-04 -6.69354449e+00] [-4.91410100e-03 -1.24353351e-05 9.99987926e-01 -9.56995518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:-6.70, Z:-0.96 [[ 9.97189339e-01 7.47622761e-02 4.90154057e-03 1.42432653e+02] [-7.47614523e-02 9.97201385e-01 -3.51344927e-04 -6.69766660e+00] [-4.91409039e-03 -1.60888763e-05 9.99987926e-01 -9.57649852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.49, Y:-6.70, Z:-0.96 [[ 9.97213240e-01 7.44427845e-02 4.90154461e-03 1.42492430e+02] [-7.44419571e-02 9.97225286e-01 -3.51288501e-04 -6.70332728e+00] [-4.91409513e-03 -1.45710294e-05 9.99987926e-01 -9.57652340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.55, Y:-6.71, Z:-0.96 [[ 9.97356021e-01 7.25047718e-02 4.90154461e-03 1.42551748e+02] [-7.25039209e-02 9.97368065e-01 -3.51288501e-04 -6.70759630e+00] [-4.91411416e-03 -5.02150153e-06 9.99987926e-01 -9.58879470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:-6.71, Z:-0.96 [[ 9.97550052e-01 6.97844500e-02 4.90154885e-03 1.42612153e+02] [-6.97835666e-02 9.97562094e-01 -3.51229463e-04 -6.71241868e+00] [-4.91410968e-03 8.32140855e-06 9.99987926e-01 -9.57707989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.67, Y:-6.72, Z:-0.96 [[ 9.97851996e-01 6.53251021e-02 4.90154885e-03 1.42672635e+02] [-6.53241649e-02 9.97864034e-01 -3.51229463e-04 -6.71739699e+00] [-4.91402340e-03 3.02854359e-05 9.99987926e-01 -9.56685101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.73, Y:-6.72, Z:-0.96 [[ 9.98144699e-01 6.06888335e-02 4.90154476e-03 1.42733603e+02] [-6.06878401e-02 9.98156733e-01 -3.51286430e-04 -6.72415973e+00] [-4.91382907e-03 5.31705229e-05 9.99987926e-01 -9.55692261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.79, Y:-6.73, Z:-0.96 [[ 9.98297406e-01 5.81228293e-02 4.90153645e-03 1.42793859e+02] [-5.81218044e-02 9.98309437e-01 -3.51402410e-04 -6.73133786e+00] [-4.91367459e-03 6.59179716e-05 9.99987926e-01 -9.57056288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:-6.74, Z:-0.96 [[ 9.98457006e-01 5.53134974e-02 4.90153233e-03 1.42855719e+02] [-5.53124383e-02 9.98469033e-01 -3.51459890e-04 -6.73911529e+00] [-4.91346872e-03 7.98018851e-05 9.99987926e-01 -9.56281198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.92, Y:-6.75, Z:-0.96 [[ 9.98500126e-01 5.45295714e-02 4.90147192e-03 1.42916342e+02] [-5.45284988e-02 9.98512153e-01 -3.52300282e-04 -6.74624700e+00] [-4.91339006e-03 8.45019703e-05 9.99987926e-01 -9.59160326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:142.98, Y:-6.75, Z:-0.96 [[ 9.98480128e-01 5.48945368e-02 4.90141641e-03 1.42977688e+02] [-5.48934648e-02 9.98492155e-01 -3.53070927e-04 -6.75437733e+00] [-4.91340750e-03 8.34785756e-05 9.99987926e-01 -9.58293254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:-6.76, Z:-0.96 [[ 9.98395124e-01 5.64194358e-02 4.90135718e-03 1.43038517e+02] [-5.64183781e-02 9.98407152e-01 -3.53891217e-04 -6.76175215e+00] [-4.91351641e-03 7.67966425e-05 9.99987926e-01 -9.59515535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.10, Y:-6.77, Z:-0.96 [[ 9.98155279e-01 6.05145955e-02 4.90130244e-03 1.43100144e+02] [-6.05135835e-02 9.98167311e-01 -3.54647755e-04 -6.76829073e+00] [-4.91378124e-03 5.73981542e-05 9.99987926e-01 -9.57608199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.16, Y:-6.77, Z:-0.96 [[ 9.97945120e-01 6.38867367e-02 4.90124190e-03 1.43160631e+02] [-6.38857613e-02 9.97957155e-01 -3.55482510e-04 -6.77358796e+00] [-4.91394004e-03 4.16324667e-05 9.99987926e-01 -9.58904594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.22, Y:-6.78, Z:-0.96 [[ 9.97636663e-01 6.85351490e-02 4.90118610e-03 1.43222010e+02] [-6.85342258e-02 9.97648702e-01 -3.56250172e-04 -6.77824392e+00] [-4.91407761e-03 1.95092380e-05 9.99987926e-01 -9.56411851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96587156 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:143.28, Y:-6.78, Z:-0.96 [[ 9.97383621e-01 7.21241395e-02 4.90117748e-03 1.43282254e+02] [-7.21232591e-02 9.97395663e-01 -3.56368715e-04 -6.78304907e+00] [-4.91411595e-03 1.94742634e-06 9.99987926e-01 -9.59825609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.34, Y:-6.79, Z:-0.96 [[ 9.97263097e-01 7.37719093e-02 4.90117320e-03 1.43342681e+02] [-7.37710486e-02 9.97275140e-01 -3.56427579e-04 -6.78662198e+00] [-4.91411253e-03 -6.11261479e-06 9.99987926e-01 -9.61754760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.40, Y:-6.79, Z:-0.96 [[ 9.97266581e-01 7.37247962e-02 4.90117320e-03 1.43404006e+02] [-7.37239348e-02 9.97278624e-01 -3.56427579e-04 -6.79039240e+00] [-4.91411281e-03 -5.88046031e-06 9.99987926e-01 -9.62218551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.46, Y:-6.80, Z:-0.96 [[ 9.97401454e-01 7.18771000e-02 4.90116439e-03 1.43463724e+02] [-7.18762157e-02 9.97413496e-01 -3.56548696e-04 -6.79524648e+00] [-4.91411519e-03 3.34503883e-06 9.99987926e-01 -9.61833705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.52, Y:-6.80, Z:-0.96 [[ 9.97602804e-01 6.90262600e-02 4.90116001e-03 1.43524422e+02] [-6.90253410e-02 9.97614843e-01 -3.56608902e-04 -6.80355362e+00] [-4.91408535e-03 1.74498000e-05 9.99987926e-01 -9.61749612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.59, Y:-6.81, Z:-0.96 [[ 9.97674614e-01 6.79804610e-02 4.90110514e-03 1.43586040e+02] [-6.79795257e-02 9.97686652e-01 -3.57361315e-04 -6.80845782e+00] [-4.91406077e-03 2.33555085e-05 9.99987926e-01 -9.62671703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.65, Y:-6.81, Z:-0.96 [[ 9.97640512e-01 6.84791116e-02 4.90109673e-03 1.43646625e+02] [-6.84781817e-02 9.97652550e-01 -3.57476619e-04 -6.81456117e+00] [-4.91407134e-03 2.10149642e-05 9.99987926e-01 -9.63370147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:-6.82, Z:-0.96 [[ 9.97618753e-01 6.87953746e-02 4.90104249e-03 1.43707734e+02] [-6.87944450e-02 9.97630791e-01 -3.58218771e-04 -6.82231627e+00] [-4.91407469e-03 2.02012655e-05 9.99987926e-01 -9.62733254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.77, Y:-6.83, Z:-0.96 [[ 9.97678072e-01 6.79297004e-02 4.90103420e-03 1.43769963e+02] [-6.79287597e-02 9.97690110e-01 -3.58332107e-04 -6.83023877e+00] [-4.91405475e-03 2.45789110e-05 9.99987926e-01 -9.61865975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.83, Y:-6.84, Z:-0.96 [[ 9.97781328e-01 6.63957979e-02 4.90097247e-03 1.43832027e+02] [-6.63948346e-02 9.97793364e-01 -3.59174516e-04 -6.83754652e+00] [-4.91400548e-03 3.29783696e-05 9.99987926e-01 -9.64896820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:-6.85, Z:-0.96 [[ 9.97847986e-01 6.53863790e-02 4.90090703e-03 1.43894019e+02] [-6.53853991e-02 9.97860020e-01 -3.60065205e-04 -6.84608923e+00] [-4.91396255e-03 3.88425774e-05 9.99987926e-01 -9.63069362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-6.85, Z:-0.96 [[ 9.97850873e-01 6.53422990e-02 4.90084690e-03 1.43956065e+02] [-6.53413146e-02 9.97862908e-01 -3.60881804e-04 -6.85325831e+00] [-4.91395418e-03 3.98784441e-05 9.99987926e-01 -9.63344113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.02, Y:-6.86, Z:-0.96 [[ 9.97870439e-01 6.50428210e-02 4.90078303e-03 1.44018449e+02] [-6.50418288e-02 9.97882473e-01 -3.61746983e-04 -6.86300729e+00] [-4.91393454e-03 4.22207299e-05 9.99987926e-01 -9.61251402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.08, Y:-6.87, Z:-0.96 [[ 9.97843731e-01 6.54512936e-02 4.90071425e-03 1.44080405e+02] [-6.54503017e-02 9.97855764e-01 -3.62676419e-04 -6.86910836e+00] [-4.91394361e-03 4.11411646e-05 9.99987926e-01 -9.63878533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.14, Y:-6.88, Z:-0.96 [[ 9.97893417e-01 6.46893438e-02 4.90065411e-03 1.44141626e+02] [-6.46883387e-02 9.97905450e-01 -3.63487332e-04 -6.87683543e+00] [-4.91390320e-03 4.57064427e-05 9.99987926e-01 -9.64335697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86587156000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.20, Y:-6.89, Z:-0.96 [[ 9.98009638e-01 6.28708796e-02 4.90059000e-03 1.44204248e+02] [-6.28698483e-02 9.98021668e-01 -3.64349512e-04 -6.88611924e+00] [-4.91380198e-03 5.55249737e-05 9.99987926e-01 -9.64099110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:-6.90, Z:-0.97 [[ 9.98222330e-01 5.93983586e-02 4.90052240e-03 1.44266490e+02] [-5.93972811e-02 9.98234356e-01 -3.65256582e-04 -6.89804119e+00] [-4.91356546e-03 7.35295702e-05 9.99987926e-01 -9.66106853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.33, Y:-6.91, Z:-0.97 [[ 9.98339150e-01 5.74014515e-02 4.90045469e-03 1.44329248e+02] [-5.74003455e-02 9.98351174e-01 -3.66162693e-04 -6.90753782e+00] [-4.91339296e-03 8.42667591e-05 9.99987926e-01 -9.66546712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:144.39, Y:-6.92, Z:-0.97 [[ 9.98397109e-01 5.63843781e-02 4.90038507e-03 1.44391499e+02] [-5.63832552e-02 9.98409131e-01 -3.67092066e-04 -6.91898798e+00] [-4.91328746e-03 9.02039955e-05 9.99987926e-01 -9.66050640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:144.45, Y:-6.93, Z:-0.97 [[ 9.98271507e-01 5.85660748e-02 4.90031392e-03 1.44453099e+02] [-5.85649736e-02 9.98283531e-01 -3.68039443e-04 -6.92777466e+00] [-4.91345731e-03 8.04165340e-05 9.99987926e-01 -9.66246158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.52, Y:-6.94, Z:-0.97 [[ 9.97886500e-01 6.47959886e-02 4.90024795e-03 1.44515726e+02] [-6.47949582e-02 9.97898531e-01 -3.68915696e-04 -6.93785195e+00] [-4.91385449e-03 5.06246315e-05 9.99987926e-01 -9.66533825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:-6.95, Z:-0.97 [[ 9.97490096e-01 7.06363711e-02 4.90017823e-03 1.44578566e+02] [-7.06354066e-02 9.97502132e-01 -3.69839398e-04 -6.94689283e+00] [-4.91406235e-03 2.27850543e-05 9.99987926e-01 -9.67833532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:-6.95, Z:-0.97 [[ 9.97246294e-01 7.39987749e-02 4.90010847e-03 1.44640495e+02] [-7.39978465e-02 9.97258332e-01 -3.70761426e-04 -6.95377707e+00] [-4.91410989e-03 7.14298410e-06 9.99987926e-01 -9.69680231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.70, Y:-6.96, Z:-0.97 [[ 9.96841302e-01 7.92679468e-02 4.90004587e-03 1.44703161e+02] [-7.92670779e-02 9.96853345e-01 -3.71586899e-04 -6.96150609e+00] [-4.91408205e-03 -1.79991497e-05 9.99987926e-01 -9.70896154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:-6.97, Z:-0.97 [[ 9.96599058e-01 8.22575659e-02 4.89997323e-03 1.44765527e+02] [-8.22567285e-02 9.96611104e-01 -3.72542383e-04 -6.96747851e+00] [-4.91401215e-03 -3.17803793e-05 9.99987926e-01 -9.70188356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:-6.97, Z:-0.97 [[ 9.96361639e-01 8.50851067e-02 4.89990113e-03 1.44827574e+02] [-8.50842988e-02 9.96373686e-01 -3.73488166e-04 -6.97194747e+00] [-4.91391084e-03 -4.47753712e-05 9.99987926e-01 -9.67033447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.89, Y:-6.98, Z:-0.97 [[ 9.96271145e-01 8.61382430e-02 4.89983715e-03 1.44889477e+02] [-8.61374437e-02 9.96283193e-01 -3.74325666e-04 -6.97810284e+00] [-4.91386916e-03 -4.91295865e-05 9.99987926e-01 -9.67839148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.95, Y:-6.98, Z:-0.97 [[ 9.96283920e-01 8.59903657e-02 4.89976932e-03 1.44951429e+02] [-8.59895603e-02 9.96295967e-01 -3.75211516e-04 -6.98463344e+00] [-4.91388499e-03 -4.75118095e-05 9.99987926e-01 -9.68692247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64587156000002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:-6.99, Z:-0.97 [[ 9.96317393e-01 8.56016627e-02 4.89972467e-03 1.45013724e+02] [-8.56008496e-02 9.96329440e-01 -3.75793649e-04 -6.98987198e+00] [-4.91390850e-03 -4.50108457e-05 9.99987926e-01 -9.69639934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70587156000002 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:145.08, Y:-6.99, Z:-0.97 [[ 9.96317117e-01 8.56048818e-02 4.89966303e-03 1.45076797e+02] [-8.56040649e-02 9.96329164e-01 -3.76595588e-04 -6.99423231e+00] [-4.91391559e-03 -4.42224414e-05 9.99987926e-01 -9.69697007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:-7.00, Z:-0.97 [[ 9.96295353e-01 8.58578120e-02 4.89959209e-03 1.45139893e+02] [-8.58569936e-02 9.96307399e-01 -3.77516320e-04 -6.99979648e+00] [-4.91391258e-03 -4.45464910e-05 9.99987926e-01 -9.71387028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.20, Y:-7.00, Z:-0.97 [[ 9.96265637e-01 8.62019450e-02 4.89952168e-03 1.45202373e+02] [-8.62011263e-02 9.96277683e-01 -3.78427892e-04 -7.00464511e+00] [-4.91390533e-03 -4.53295821e-05 9.99987926e-01 -9.70902315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:-7.01, Z:-0.97 [[ 9.96223262e-01 8.66902952e-02 4.89945170e-03 1.45265813e+02] [-8.66894779e-02 9.96235309e-01 -3.79331716e-04 -7.00735439e+00] [-4.91389116e-03 -4.68318312e-05 9.99987926e-01 -9.71086297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:-7.01, Z:-0.97 [[ 9.96182707e-01 8.71550951e-02 4.89938209e-03 1.45327061e+02] [-8.71542790e-02 9.96194754e-01 -3.80228770e-04 -7.01121420e+00] [-4.91387760e-03 -4.82247878e-05 9.99987926e-01 -9.73568285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.39, Y:-7.01, Z:-0.97 [[ 9.96116602e-01 8.79074078e-02 4.89932614e-03 1.45390061e+02] [-8.79065973e-02 9.96128649e-01 -3.80948252e-04 -7.01312461e+00] [-4.91384730e-03 -5.12142116e-05 9.99987926e-01 -9.72264508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.45, Y:-7.01, Z:-0.97 [[ 9.96068341e-01 8.84525711e-02 4.89925818e-03 1.45453192e+02] [-8.84517629e-02 9.96080388e-01 -3.81820266e-04 -7.01385750e+00] [-4.91382798e-03 -5.30289446e-05 9.99987926e-01 -9.71227493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.52, Y:-7.01, Z:-0.97 [[ 9.96085644e-01 8.82575112e-02 4.89918353e-03 1.45516220e+02] [-8.82566960e-02 9.96097691e-01 -3.82775759e-04 -7.01415811e+00] [-4.91384823e-03 -5.11083129e-05 9.99987926e-01 -9.69653805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:-7.02, Z:-0.97 [[ 9.96390302e-01 8.47488386e-02 4.89910833e-03 1.45577907e+02] [-8.47479762e-02 9.96402345e-01 -3.83735872e-04 -7.01600728e+00] [-4.91400419e-03 -3.28388148e-05 9.99987926e-01 -9.69225673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:-7.02, Z:-0.97 [[ 9.96672606e-01 8.13616369e-02 4.89904784e-03 1.45641008e+02] [-8.13607297e-02 9.96684646e-01 -3.84506526e-04 -7.01796613e+00] [-4.91408984e-03 -1.53629862e-05 9.99987926e-01 -9.71176119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.70, Y:-7.02, Z:-0.97 [[ 9.96913508e-01 7.83546903e-02 4.89898161e-03 1.45703286e+02] [-7.83537427e-02 9.96925545e-01 -3.85348565e-04 -7.02150373e+00] [-4.91411378e-03 3.05645028e-07 9.99987926e-01 -9.74033469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36587156000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:145.77, Y:-7.02, Z:-0.97 [[ 9.97098046e-01 7.59702993e-02 4.89892362e-03 1.45765300e+02] [-7.59693193e-02 9.97110081e-01 -3.86084338e-04 -7.02236372e+00] [-4.91409707e-03 1.27960466e-05 9.99987926e-01 -9.73835635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.83, Y:-7.02, Z:-0.98 [[ 9.97152160e-01 7.52567052e-02 4.89885784e-03 1.45826684e+02] [-7.52557126e-02 9.97164193e-01 -3.86917140e-04 -7.02420731e+00] [-4.91408374e-03 1.71482236e-05 9.99987926e-01 -9.78157096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.89, Y:-7.02, Z:-0.98 [[ 9.97253261e-01 7.39049025e-02 4.89879723e-03 1.45889259e+02] [-7.39038897e-02 9.97265293e-01 -3.87683017e-04 -7.02496180e+00] [-4.91405213e-03 2.45779827e-05 9.99987926e-01 -9.80684562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.95, Y:-7.03, Z:-0.98 [[ 9.97318954e-01 7.30130604e-02 4.89873395e-03 1.45952451e+02] [-7.30120330e-02 9.97330984e-01 -3.88481004e-04 -7.02798489e+00] [-4.91402334e-03 2.97729437e-05 9.99987926e-01 -9.80557964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:146.01, Y:-7.03, Z:-0.98 [[ 9.97358260e-01 7.24741604e-02 4.89866010e-03 1.46014442e+02] [-7.24731219e-02 9.97370290e-01 -3.89410050e-04 -7.03036213e+00] [-4.91400021e-03 3.33601398e-05 9.99987926e-01 -9.79859000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:-7.03, Z:-0.98 [[ 9.97416061e-01 7.16742934e-02 4.89859125e-03 1.46076327e+02] [-7.16732410e-02 9.97428090e-01 -3.90274202e-04 -7.03173940e+00] [-4.91396514e-03 3.81678460e-05 9.99987926e-01 -9.82380434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:146.14, Y:-7.04, Z:-0.98 [[ 9.97490987e-01 7.06238949e-02 4.89852747e-03 1.46139546e+02] [-7.06228259e-02 9.97503014e-01 -3.91073101e-04 -7.03600030e+00] [-4.91391502e-03 4.41440404e-05 9.99987926e-01 -9.82584768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.20, Y:-7.04, Z:-0.98 [[ 9.97662616e-01 6.81565105e-02 4.89845411e-03 1.46201806e+02] [-6.81554073e-02 9.97674640e-01 -3.91989876e-04 -7.03975762e+00] [-4.91378010e-03 5.72175102e-05 9.99987926e-01 -9.79895515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:-7.05, Z:-0.98 [[ 9.97736028e-01 6.70732822e-02 4.89838842e-03 1.46263191e+02] [-6.70721619e-02 9.97748050e-01 -3.92809045e-04 -7.04528393e+00] [-4.91370448e-03 6.33742345e-05 9.99987926e-01 -9.80560414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.33, Y:-7.05, Z:-0.98 [[ 9.97800190e-01 6.61119330e-02 4.89834202e-03 1.46325668e+02] [-6.61107983e-02 9.97812211e-01 -3.93386818e-04 -7.05060510e+00] [-4.91363304e-03 6.86881411e-05 9.99987926e-01 -9.82010430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.39, Y:-7.06, Z:-0.98 [[ 9.97799276e-01 6.61257305e-02 4.89826864e-03 1.46388290e+02] [-6.61245914e-02 9.97811296e-01 -3.94298305e-04 -7.05758897e+00] [-4.91362105e-03 6.95345507e-05 9.99987926e-01 -9.82702401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.45, Y:-7.07, Z:-0.98 [[ 9.97727358e-01 6.72021365e-02 4.89819477e-03 1.46451145e+02] [-6.72010059e-02 9.97739379e-01 -3.95213846e-04 -7.06538444e+00] [-4.91368103e-03 6.51520505e-05 9.99987926e-01 -9.84714740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:-7.07, Z:-0.98 [[ 9.97610634e-01 6.89132223e-02 4.89812125e-03 1.46513302e+02] [-6.89121079e-02 9.97622656e-01 -3.96123030e-04 -7.07292886e+00] [-4.91377484e-03 5.76366876e-05 9.99987926e-01 -9.83576774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14587156000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:146.58, Y:-7.08, Z:-0.99 [[ 9.97494300e-01 7.05771306e-02 4.89804579e-03 1.46575093e+02] [-7.05760317e-02 9.97506324e-01 -3.97053871e-04 -7.08034119e+00] [-4.91385457e-03 5.03743377e-05 9.99987926e-01 -9.85366158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:-7.09, Z:-0.99 [[ 9.97241025e-01 7.40698793e-02 4.89798020e-03 1.46636695e+02] [-7.40688185e-02 9.97253053e-01 -3.97861303e-04 -7.08894384e+00] [-4.91399525e-03 3.39760077e-05 9.99987926e-01 -9.86474597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:-7.10, Z:-0.98 [[ 9.96916737e-01 7.83136664e-02 4.89791043e-03 1.46697213e+02] [-7.83126526e-02 9.96928769e-01 -3.98718404e-04 -7.09600107e+00] [-4.91409291e-03 1.39206922e-05 9.99987926e-01 -9.84000526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:-7.10, Z:-0.98 [[ 9.96640322e-01 8.17562218e-02 4.89785061e-03 1.46760313e+02] [-8.17552460e-02 9.96652357e-01 -3.99451890e-04 -7.10307187e+00] [-4.91411203e-03 -2.31512097e-06 9.99987926e-01 -9.82995837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:-7.11, Z:-0.98 [[ 9.96112459e-01 8.79544192e-02 4.89777477e-03 1.46822261e+02] [-8.79535138e-02 9.96124500e-01 -4.00379620e-04 -7.10764350e+00] [-4.91400860e-03 -3.19533722e-05 9.99987926e-01 -9.82554344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:-7.11, Z:-0.98 [[ 9.95770606e-01 9.17437361e-02 4.89770763e-03 1.46883907e+02] [-9.17428724e-02 9.95782649e-01 -4.01199175e-04 -7.11316438e+00] [-4.91385979e-03 -4.98274211e-05 9.99987926e-01 -9.83432616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:146.95, Y:-7.12, Z:-0.98 [[ 9.95420771e-01 9.54646650e-02 4.89764030e-03 1.46945438e+02] [-9.54638423e-02 9.95432817e-01 -4.02019467e-04 -7.11664326e+00] [-4.91365053e-03 -6.73690334e-05 9.99987926e-01 -9.84282247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.01, Y:-7.12, Z:-0.98 [[ 9.95283337e-01 9.68870068e-02 4.89757846e-03 1.47007531e+02] [-9.68861976e-02 9.95295385e-01 -4.02771443e-04 -7.12082921e+00] [-4.91356055e-03 -7.36360478e-05 9.99987926e-01 -9.84550026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.07, Y:-7.12, Z:-0.98 [[ 9.95247997e-01 9.72493667e-02 4.89751074e-03 1.47069283e+02] [-9.72485578e-02 9.95260044e-01 -4.03593216e-04 -7.12353629e+00] [-4.91354594e-03 -7.46005164e-05 9.99987926e-01 -9.83172517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:147.13, Y:-7.13, Z:-0.98 [[ 9.95287440e-01 9.68448626e-02 4.89744346e-03 1.47131278e+02] [-9.68440448e-02 9.95299486e-01 -4.04408012e-04 -7.12873256e+00] [-4.91358779e-03 -7.17860188e-05 9.99987926e-01 -9.84647605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:-7.13, Z:-0.99 [[ 9.95308463e-01 9.66285607e-02 4.89737675e-03 1.47193730e+02] [-9.66277363e-02 9.95320509e-01 -4.05214259e-04 -7.13041690e+00] [-4.91361479e-03 -6.99092474e-05 9.99987926e-01 -9.86836468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:-7.13, Z:-0.99 [[ 9.95264906e-01 9.70761709e-02 4.89730891e-03 1.47255278e+02] [-9.70753480e-02 9.95276952e-01 -4.06032501e-04 -7.13262835e+00] [-4.91359476e-03 -7.12980676e-05 9.99987926e-01 -9.89062786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.32, Y:-7.14, Z:-0.99 [[ 9.95306821e-01 9.66454821e-02 4.89724656e-03 1.47317462e+02] [-9.66446502e-02 9.95318867e-01 -4.06783071e-04 -7.13601217e+00] [-4.91363564e-03 -6.84187156e-05 9.99987926e-01 -9.90336428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:-7.14, Z:-0.99 [[ 9.95476093e-01 9.48860726e-02 4.89717902e-03 1.47378913e+02] [-9.48852155e-02 9.95488136e-01 -4.07594509e-04 -7.13941262e+00] [-4.91375866e-03 -5.89192974e-05 9.99987926e-01 -9.90828838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.44, Y:-7.14, Z:-0.99 [[ 9.95605469e-01 9.35188160e-02 4.89711697e-03 1.47440976e+02] [-9.35179387e-02 9.95617511e-01 -4.08338716e-04 -7.14358913e+00] [-4.91384276e-03 -5.14240260e-05 9.99987926e-01 -9.87588189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.50, Y:-7.15, Z:-0.99 [[ 9.95693725e-01 9.25744331e-02 4.89704654e-03 1.47502413e+02] [-9.25735401e-02 9.95705766e-01 -4.09181634e-04 -7.14541562e+00] [-4.91389723e-03 -4.59173487e-05 9.99987926e-01 -9.85515003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.56, Y:-7.15, Z:-0.99 [[ 9.95654809e-01 9.29920500e-02 4.89700661e-03 1.47563240e+02] [-9.29911598e-02 9.95666850e-01 -4.09658908e-04 -7.14853071e+00] [-4.91388217e-03 -4.74994631e-05 9.99987926e-01 -9.88399214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.62, Y:-7.15, Z:-0.99 [[ 9.95588107e-01 9.37034669e-02 4.89699702e-03 1.47624127e+02] [-9.37025847e-02 9.95600150e-01 -4.09773537e-04 -7.15365650e+00] [-4.91384817e-03 -5.08956178e-05 9.99987926e-01 -9.87967765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.69, Y:-7.16, Z:-0.99 [[ 9.95532319e-01 9.42943330e-02 4.89698731e-03 1.47685824e+02] [-9.42934575e-02 9.95544362e-01 -4.09889507e-04 -7.15620716e+00] [-4.91381837e-03 -5.36956138e-05 9.99987926e-01 -9.88220117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:-7.16, Z:-0.99 [[ 9.95440032e-01 9.52636502e-02 4.89697761e-03 1.47746272e+02] [-9.52627857e-02 9.95452075e-01 -4.10005451e-04 -7.15980153e+00] [-4.91376513e-03 -5.83638889e-05 9.99987926e-01 -9.88386404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.81, Y:-7.16, Z:-0.99 [[ 9.95294830e-01 9.67689055e-02 4.89697761e-03 1.47808095e+02] [-9.67680592e-02 9.95306875e-01 -4.10005451e-04 -7.16203917e+00] [-4.91367125e-03 -6.57947132e-05 9.99987926e-01 -9.87817095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:147.87, Y:-7.16, Z:-0.99 [[ 9.94949932e-01 1.00252941e-01 4.89696738e-03 1.47867720e+02] [-1.00252136e-01 9.94961980e-01 -4.10127581e-04 -7.16217320e+00] [-4.91341285e-03 -8.28750320e-05 9.99987926e-01 -9.87638998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.93, Y:-7.17, Z:-0.99 [[ 9.94856515e-01 1.01175762e-01 4.89697243e-03 1.47927429e+02] [-1.01174969e-01 9.94868563e-01 -4.10067192e-04 -7.16525646e+00] [-4.91333279e-03 -8.74930162e-05 9.99987926e-01 -9.88376920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:-7.16, Z:-0.99 [[ 9.94715208e-01 1.02555715e-01 4.89696710e-03 1.47987164e+02] [-1.02554938e-01 9.94727257e-01 -4.10130863e-04 -7.16498509e+00] [-4.91320792e-03 -9.42447505e-05 9.99987926e-01 -9.89504084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:-7.17, Z:-0.99 [[ 9.94729292e-01 1.02419013e-01 4.89697687e-03 1.48045499e+02] [-1.02418235e-01 9.94741342e-01 -4.10014160e-04 -7.16580037e+00] [-4.91321859e-03 -9.36866345e-05 9.99987926e-01 -9.91476853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.11, Y:-7.16, Z:-0.99 [[ 9.94897279e-01 1.00774124e-01 4.89699136e-03 1.48105281e+02] [-1.00773327e-01 9.94909327e-01 -4.09841035e-04 -7.16360937e+00] [-4.91336375e-03 -8.57363816e-05 9.99987926e-01 -9.90928378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.16, Y:-7.16, Z:-0.99 [[ 9.95101066e-01 9.87415239e-02 4.89700100e-03 1.48164734e+02] [-9.87407029e-02 9.95113112e-01 -4.09725831e-04 -7.16414061e+00] [-4.91352686e-03 -7.58147097e-05 9.99987926e-01 -9.92357645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.22, Y:-7.16, Z:-0.99 [[ 9.95419885e-01 9.54739317e-02 4.89701072e-03 1.48223127e+02] [-9.54730718e-02 9.95431929e-01 -4.09609624e-04 -7.16415661e+00] [-4.91374787e-03 -5.97990916e-05 9.99987926e-01 -9.93202674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.28, Y:-7.17, Z:-0.99 [[ 9.95663095e-01 9.29032865e-02 4.89702126e-03 1.48282932e+02] [-9.29023961e-02 9.95675136e-01 -4.09483602e-04 -7.16506083e+00] [-4.91388468e-03 -4.72372984e-05 9.99987926e-01 -9.93644080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:-7.16, Z:-0.99 [[ 9.95929151e-01 9.00063603e-02 4.89703075e-03 1.48341976e+02] [-9.00054354e-02 9.95941190e-01 -4.09370062e-04 -7.16358950e+00] [-4.91400054e-03 -3.30558066e-05 9.99987926e-01 -9.94207569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.40, Y:-7.17, Z:-0.99 [[ 9.95984763e-01 8.93888760e-02 4.89704066e-03 1.48401657e+02] [-8.93879443e-02 9.95996801e-01 -4.09251431e-04 -7.16507216e+00] [-4.91401936e-03 -3.01282082e-05 9.99987926e-01 -9.94197124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:-7.16, Z:-0.99 [[ 9.95925418e-01 9.00476550e-02 4.89705044e-03 1.48460673e+02] [-9.00467318e-02 9.95937457e-01 -4.09134399e-04 -7.16425543e+00] [-4.91399756e-03 -3.34960405e-05 9.99987926e-01 -9.94825773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:-7.16, Z:-0.99 [[ 9.95827950e-01 9.11192200e-02 4.89707017e-03 1.48520246e+02] [-9.11183109e-02 9.95839990e-01 -4.08898118e-04 -7.16269883e+00] [-4.91395679e-03 -3.90205874e-05 9.99987926e-01 -9.93579386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:-7.16, Z:-1.00 [[ 9.95835836e-01 9.10329998e-02 4.89709031e-03 1.48578210e+02] [-9.10320908e-02 9.95847876e-01 -4.08656791e-04 -7.16458267e+00] [-4.91395824e-03 -3.88372933e-05 9.99987926e-01 -9.95915130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:-7.16, Z:-0.99 [[ 9.95945304e-01 8.98274471e-02 4.89711628e-03 1.48637177e+02] [-8.98265251e-02 9.95957343e-01 -4.08345348e-04 -7.16453364e+00] [-4.91399954e-03 -3.32013068e-05 9.99987926e-01 -9.93188278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:-7.17, Z:-0.99 [[ 9.96102918e-01 8.80624438e-02 4.89713513e-03 1.48696568e+02] [-8.80615016e-02 9.96114956e-01 -4.08119197e-04 -7.16623443e+00] [-4.91404951e-03 -2.47203495e-05 9.99987926e-01 -9.93014992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.75, Y:-7.17, Z:-0.99 [[ 9.96414237e-01 8.44670763e-02 4.89715414e-03 1.48754816e+02] [-8.44660917e-02 9.96426271e-01 -4.07890892e-04 -7.17016144e+00] [-4.91410639e-03 -7.21517939e-06 9.99987926e-01 -9.92656294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-7.17, Z:-0.99 [[ 9.96619775e-01 8.20063522e-02 4.89717342e-03 1.48813933e+02] [-8.20053391e-02 9.96631807e-01 -4.07659351e-04 -7.17415527e+00] [-4.91410945e-03 4.68700386e-06 9.99987926e-01 -9.91199813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.87, Y:-7.18, Z:-0.99 [[ 9.96742581e-01 8.04999661e-02 4.89719263e-03 1.48871713e+02] [-8.04989359e-02 9.96754611e-01 -4.07428386e-04 -7.17823771e+00] [-4.91409731e-03 1.18824248e-05 9.99987926e-01 -9.90607997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.93, Y:-7.18, Z:-0.99 [[ 9.96737790e-01 8.05592678e-02 4.89721623e-03 1.48930896e+02] [-8.05582397e-02 9.96749820e-01 -4.07144503e-04 -7.18217986e+00] [-4.91409866e-03 1.13051930e-05 9.99987926e-01 -9.91364632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:-7.19, Z:-0.99 [[ 9.96755796e-01 8.03361681e-02 4.89723110e-03 1.48990595e+02] [-8.03351382e-02 9.96767827e-01 -4.06965643e-04 -7.18892555e+00] [-4.91409646e-03 1.22256261e-05 9.99987926e-01 -9.92604980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:-7.19, Z:-0.99 [[ 9.96782975e-01 7.99982356e-02 4.89724105e-03 1.49048800e+02] [-7.99972023e-02 9.96795005e-01 -4.06845880e-04 -7.19309310e+00] [-4.91409237e-03 1.37714642e-05 9.99987926e-01 -9.92518221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:-7.20, Z:-0.99 [[ 9.96774741e-01 8.01007647e-02 4.89725575e-03 1.49108144e+02] [-8.00997335e-02 9.96786771e-01 -4.06668759e-04 -7.19806724e+00] [-4.91409423e-03 1.30882658e-05 9.99987926e-01 -9.93139962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:-7.20, Z:-0.99 [[ 9.96793367e-01 7.98686416e-02 4.89726572e-03 1.49168057e+02] [-7.98676081e-02 9.96805397e-01 -4.06548694e-04 -7.20263789e+00] [-4.91409140e-03 1.41121420e-05 9.99987926e-01 -9.94552327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:-7.21, Z:-1.00 [[ 9.96853444e-01 7.91152815e-02 4.89727567e-03 1.49227251e+02] [-7.91142395e-02 9.96865473e-01 -4.06428776e-04 -7.21069921e+00] [-4.91407976e-03 1.77056842e-05 9.99987926e-01 -9.96417634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:-7.22, Z:-1.00 [[ 9.96956653e-01 7.78039086e-02 4.89728556e-03 1.49286020e+02] [-7.78028513e-02 9.96968681e-01 -4.06309603e-04 -7.21643497e+00] [-4.91405280e-03 2.40502818e-05 9.99987926e-01 -1.00038506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:-7.22, Z:-1.00 [[ 9.97038509e-01 7.67478260e-02 4.89729657e-03 1.49345189e+02] [-7.67467567e-02 9.97050536e-01 -4.06176820e-04 -7.22400434e+00] [-4.91402536e-03 2.91223027e-05 9.99987926e-01 -9.98761834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.40, Y:-7.23, Z:-1.00 [[ 9.97219900e-01 7.43538015e-02 4.89730610e-03 1.49404739e+02] [-7.43527039e-02 9.97231924e-01 -4.06061880e-04 -7.23345082e+00] [-4.91394223e-03 4.08050369e-05 9.99987926e-01 -1.00008777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:-7.24, Z:-1.00 [[ 9.97334029e-01 7.28069420e-02 4.89731560e-03 1.49463712e+02] [-7.28058263e-02 9.97346052e-01 -4.05947358e-04 -7.24235419e+00] [-4.91387416e-03 4.83120057e-05 9.99987926e-01 -1.00005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:-7.25, Z:-1.00 [[ 9.97453628e-01 7.11496694e-02 4.89732510e-03 1.49523049e+02] [-7.11485343e-02 9.97465649e-01 -4.05832631e-04 -7.25399678e+00] [-4.91378842e-03 5.63617274e-05 9.99987926e-01 -9.98855600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.58, Y:-7.27, Z:-1.00 [[ 9.97401741e-01 7.18733788e-02 4.89733494e-03 1.49581454e+02] [-7.18722530e-02 9.97413763e-01 -4.05713865e-04 -7.26735432e+00] [-4.91382930e-03 5.26772195e-05 9.99987926e-01 -9.97824630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:-7.28, Z:-1.00 [[ 9.97189950e-01 7.47543938e-02 4.89733092e-03 1.49641689e+02] [-7.47533025e-02 9.97201975e-01 -4.05762434e-04 -7.27640835e+00] [-4.91396059e-03 3.85305610e-05 9.99987926e-01 -9.98115551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.70, Y:-7.29, Z:-1.00 [[ 9.96533014e-01 8.30540022e-02 4.89733092e-03 1.49700923e+02] [-8.30530110e-02 9.96545048e-01 -4.05762434e-04 -7.28629147e+00] [-4.91411107e-03 -2.38241781e-06 9.99987926e-01 -9.98719400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:-7.29, Z:-1.00 [[ 9.96276081e-01 8.60812832e-02 4.89734079e-03 1.49758761e+02] [-8.60803292e-02 9.96288117e-01 -4.05643294e-04 -7.29288490e+00] [-4.91408073e-03 -1.74319962e-05 9.99987926e-01 -9.99360644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:-7.30, Z:-1.00 [[ 9.95596645e-01 9.36126988e-02 4.89735550e-03 1.49816566e+02] [-9.36118367e-02 9.95608688e-01 -4.05465565e-04 -7.30299945e+00] [-4.91380641e-03 -5.47702879e-05 9.99987926e-01 -9.99086519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.88, Y:-7.31, Z:-1.00 [[ 9.95282037e-01 9.69003698e-02 4.89737008e-03 1.49875617e+02] [-9.68995484e-02 9.95294084e-01 -4.05289363e-04 -7.30958856e+00] [-4.91359616e-03 -7.11757269e-05 9.99987926e-01 -9.96988627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:149.93, Y:-7.32, Z:-1.00 [[ 9.95133587e-01 9.84132111e-02 4.89737968e-03 1.49934818e+02] [-9.84124085e-02 9.95145634e-01 -4.05173349e-04 -7.31927092e+00] [-4.91348042e-03 -7.87613224e-05 9.99987926e-01 -9.98789694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.99, Y:-7.33, Z:-1.00 [[ 9.95097025e-01 9.87822204e-02 4.89738922e-03 1.49994054e+02] [-9.87814229e-02 9.95109073e-01 -4.05058033e-04 -7.32555403e+00] [-4.91344898e-03 -8.06990324e-05 9.99987926e-01 -1.00019859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.05, Y:-7.33, Z:-1.00 [[ 9.95123926e-01 9.85108487e-02 4.89739875e-03 1.50053558e+02] [-9.85100484e-02 9.95135974e-01 -4.04942756e-04 -7.33256466e+00] [-4.91346893e-03 -7.94747630e-05 9.99987926e-01 -9.99915065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:-7.34, Z:-1.00 [[ 9.95183473e-01 9.79074632e-02 4.89740836e-03 1.50112750e+02] [-9.79066562e-02 9.95195520e-01 -4.04826539e-04 -7.33839625e+00] [-4.91351440e-03 -7.66121957e-05 9.99987926e-01 -1.00029893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:-7.35, Z:-1.00 [[ 9.95408571e-01 9.55918002e-02 4.89741311e-03 1.50172645e+02] [-9.55909655e-02 9.95420616e-01 -4.04768997e-04 -7.34717239e+00] [-4.91367858e-03 -6.52379195e-05 9.99987926e-01 -9.99422210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.23, Y:-7.35, Z:-1.00 [[ 9.95559443e-01 9.40075035e-02 4.89741311e-03 1.50232677e+02] [-9.40066497e-02 9.95571487e-01 -4.04768997e-04 -7.35246710e+00] [-4.91377618e-03 -5.74178019e-05 9.99987926e-01 -1.00180599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:-7.36, Z:-1.00 [[ 9.95743868e-01 9.20335006e-02 4.89741311e-03 1.50292224e+02] [-9.20326228e-02 9.95755910e-01 -4.04768997e-04 -7.36077143e+00] [-4.91388036e-03 -4.76755278e-05 9.99987926e-01 -1.00311152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92587156000002 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:150.35, Y:-7.37, Z:-1.00 [[ 9.95818586e-01 9.12214874e-02 4.89740835e-03 1.50352668e+02] [-9.12205996e-02 9.95830627e-01 -4.04826600e-04 -7.36896241e+00] [-4.91391812e-03 -4.36106742e-05 9.99987926e-01 -1.00207227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.41, Y:-7.37, Z:-1.00 [[ 9.95840083e-01 9.09865071e-02 4.89740835e-03 1.50413047e+02] [-9.09856164e-02 9.95852124e-01 -4.04826600e-04 -7.37497254e+00] [-4.91392827e-03 -4.24511629e-05 9.99987926e-01 -1.00248395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:-7.38, Z:-1.01 [[ 9.95784299e-01 9.15950064e-02 4.89740835e-03 1.50473594e+02] [-9.15941230e-02 9.95796341e-01 -4.04826600e-04 -7.38029266e+00] [-4.91390141e-03 -4.54538514e-05 9.99987926e-01 -1.00534390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.53, Y:-7.39, Z:-1.01 [[ 9.95731037e-01 9.21722133e-02 4.89740357e-03 1.50533502e+02] [-9.21713366e-02 9.95743080e-01 -4.04884469e-04 -7.38614415e+00] [-4.91387481e-03 -4.82442006e-05 9.99987926e-01 -1.00586898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.59, Y:-7.39, Z:-1.00 [[ 9.95610360e-01 9.34667098e-02 4.89739878e-03 1.50593238e+02] [-9.34658485e-02 9.95622404e-01 -4.04942368e-04 -7.39219080e+00] [-4.91380858e-03 -5.45747155e-05 9.99987926e-01 -1.00426642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:150.65, Y:-7.40, Z:-1.01 [[ 9.95515220e-01 9.44746694e-02 4.89739878e-03 1.50654338e+02] [-9.44738203e-02 9.95527264e-01 -4.04942368e-04 -7.39714459e+00] [-4.91375081e-03 -5.95496821e-05 9.99987926e-01 -1.00520579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:-7.40, Z:-1.00 [[ 9.95428831e-01 9.53805975e-02 4.89738957e-03 1.50715018e+02] [-9.53797588e-02 9.95440876e-01 -4.05053691e-04 -7.40121150e+00] [-4.91369603e-03 -6.39097145e-05 9.99987926e-01 -1.00459127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:-7.40, Z:-1.00 [[ 9.95298094e-01 9.67353054e-02 4.89738957e-03 1.50775559e+02] [-9.67344831e-02 9.95310140e-01 -4.05053691e-04 -7.40454302e+00] [-4.91360450e-03 -7.05972823e-05 9.99987926e-01 -1.00370293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:-7.41, Z:-1.00 [[ 9.95231131e-01 9.74218222e-02 4.89736815e-03 1.50836436e+02] [-9.74210070e-02 9.95243178e-01 -4.05312497e-04 -7.40772745e+00] [-4.91355853e-03 -7.37269228e-05 9.99987926e-01 -1.00322272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:-7.41, Z:-1.00 [[ 9.95171841e-01 9.80256181e-02 4.89736815e-03 1.50896511e+02] [-9.80248102e-02 9.95183889e-01 -4.05312496e-04 -7.40931890e+00] [-4.91351289e-03 -7.67080003e-05 9.99987926e-01 -1.00139857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.96, Y:-7.41, Z:-1.00 [[ 9.95229898e-01 9.74344152e-02 4.89736330e-03 1.50957113e+02] [-9.74335998e-02 9.95241945e-01 -4.05371165e-04 -7.41273903e+00] [-4.91355848e-03 -7.37302321e-05 9.99987926e-01 -1.00156147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.02, Y:-7.41, Z:-1.00 [[ 9.95326852e-01 9.64389585e-02 4.89736330e-03 1.51016644e+02] [-9.64381310e-02 9.95338898e-01 -4.05371165e-04 -7.41304650e+00] [-4.91362976e-03 -6.88157573e-05 9.99987926e-01 -1.00497536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.08, Y:-7.42, Z:-1.00 [[ 9.95667986e-01 9.28508308e-02 4.89735752e-03 1.51076886e+02] [-9.28499596e-02 9.95680029e-01 -4.05440925e-04 -7.41553488e+00] [-4.91384661e-03 -5.10348987e-05 9.99987926e-01 -1.00415708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.14, Y:-7.42, Z:-1.00 [[ 9.96027309e-01 8.89135259e-02 4.89735752e-03 1.51137679e+02] [-8.89126072e-02 9.96039349e-01 -4.05440925e-04 -7.41848552e+00] [-4.91400998e-03 -3.16065918e-05 9.99987926e-01 -1.00317335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:-7.42, Z:-1.00 [[ 9.96531160e-01 8.30762541e-02 4.89735752e-03 1.51198238e+02] [-8.30752648e-02 9.96543193e-01 -4.05440925e-04 -7.42207844e+00] [-4.91411082e-03 -2.81475775e-06 9.99987926e-01 -1.00430715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:-7.43, Z:-1.00 [[ 9.96786788e-01 7.99506994e-02 4.89735255e-03 1.51258961e+02] [-7.99496721e-02 9.96798819e-01 -4.05501011e-04 -7.42638996e+00] [-4.91409533e-03 1.26563206e-05 9.99987926e-01 -1.00297994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.32, Y:-7.43, Z:-1.00 [[ 9.97076989e-01 7.62462708e-02 4.89735255e-03 1.51320397e+02] [-7.62451988e-02 9.97089016e-01 -4.05501011e-04 -7.43343306e+00] [-4.91401437e-03 3.09161088e-05 9.99987926e-01 -1.00345408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:-7.44, Z:-1.00 [[ 9.97202924e-01 7.45811245e-02 4.89734312e-03 1.51381279e+02] [-7.45800318e-02 9.97214949e-01 -4.05614796e-04 -7.43969515e+00] [-4.91395498e-03 3.92362545e-05 9.99987926e-01 -1.00441648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.44, Y:-7.45, Z:-1.00 [[ 9.97202770e-01 7.45831817e-02 4.89733363e-03 1.51441524e+02] [-7.45820885e-02 9.97214795e-01 -4.05729433e-04 -7.44700077e+00] [-4.91395414e-03 3.93411445e-05 9.99987926e-01 -1.00467831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:-7.45, Z:-1.01 [[ 9.97001558e-01 7.72263477e-02 4.89733363e-03 1.51501834e+02] [-7.72252863e-02 9.97013586e-01 -4.05729433e-04 -7.45248660e+00] [-4.91404116e-03 2.63148854e-05 9.99987926e-01 -1.00663170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.56, Y:-7.46, Z:-1.01 [[ 9.96413748e-01 8.44728284e-02 4.89732879e-03 1.51561376e+02] [-8.44718542e-02 9.96425783e-01 -4.05787859e-04 -7.45782365e+00] [-4.91410272e-03 -9.35384183e-06 9.99987926e-01 -1.00705367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.62, Y:-7.46, Z:-1.01 [[ 9.95564810e-01 9.39506520e-02 4.89732416e-03 1.51621446e+02] [-9.39497921e-02 9.95576854e-01 -4.05843648e-04 -7.46013742e+00] [-4.91379186e-03 -5.60589322e-05 9.99987926e-01 -1.00573701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.68, Y:-7.46, Z:-1.01 [[ 9.95302563e-01 9.66893219e-02 4.89733369e-03 1.51681158e+02] [-9.66884958e-02 9.95314609e-01 -4.05728676e-04 -7.46332750e+00] [-4.91361739e-03 -6.96930368e-05 9.99987926e-01 -1.00630838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.74, Y:-7.46, Z:-1.01 [[ 9.94851228e-01 1.01227715e-01 4.89734338e-03 1.51740034e+02] [-1.01226945e-01 9.94863278e-01 -4.05611636e-04 -7.46430433e+00] [-4.91324623e-03 -9.22198728e-05 9.99987926e-01 -1.00957080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.80, Y:-7.46, Z:-1.01 [[ 9.94497086e-01 1.04649708e-01 4.89735774e-03 1.51800527e+02] [-1.04648980e-01 9.94509139e-01 -4.05438137e-04 -7.46144033e+00] [-4.91289601e-03 -1.09296447e-04 9.99987926e-01 -1.00920144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.86, Y:-7.46, Z:-1.01 [[ 9.94553889e-01 1.04108491e-01 4.89736716e-03 1.51860573e+02] [-1.04107756e-01 9.94565941e-01 -4.05324326e-04 -7.46433519e+00] [-4.91295229e-03 -1.06737024e-04 9.99987926e-01 -1.00995385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:-7.46, Z:-1.01 [[ 9.94958661e-01 1.00166259e-01 4.89737664e-03 1.51919835e+02] [-1.00165477e-01 9.94970710e-01 -4.05209834e-04 -7.46175139e+00] [-4.91333466e-03 -8.73810343e-05 9.99987926e-01 -1.00902568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.98, Y:-7.46, Z:-1.01 [[ 9.95527756e-01 9.43424793e-02 4.89739556e-03 1.51980239e+02] [-9.43416284e-02 9.95539800e-01 -4.04980984e-04 -7.45961036e+00] [-4.91375911e-03 -5.88584621e-05 9.99987926e-01 -1.00765842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.04, Y:-7.46, Z:-1.01 [[ 9.96052844e-01 8.86270102e-02 4.89740512e-03 1.52039842e+02] [-8.86260908e-02 9.96064883e-01 -4.04865316e-04 -7.46234516e+00] [-4.91401527e-03 -3.07706217e-05 9.99987926e-01 -1.00790076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:-7.47, Z:-1.01 [[ 9.96877440e-01 7.88123357e-02 4.89741472e-03 1.52099673e+02] [-7.88112983e-02 9.96889470e-01 -4.04749164e-04 -7.46549156e+00] [-4.91408039e-03 1.75136974e-05 9.99987926e-01 -1.00621575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.16, Y:-7.47, Z:-1.01 [[ 9.97297819e-01 7.33012650e-02 4.89742468e-03 1.52158997e+02] [-7.33001617e-02 9.97309843e-01 -4.04628643e-04 -7.46824847e+00] [-4.91390963e-03 4.45532424e-05 9.99987926e-01 -1.00771489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:152.22, Y:-7.47, Z:-1.01 [[ 9.97660045e-01 6.81942114e-02 4.89742956e-03 1.52219602e+02] [-6.81930468e-02 9.97672063e-01 -4.04569584e-04 -7.47168479e+00] [-4.91361795e-03 6.96522658e-05 9.99987926e-01 -1.00695633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.28, Y:-7.48, Z:-1.01 [[ 9.97847520e-01 6.53937516e-02 4.89742956e-03 1.52279433e+02] [-6.53925533e-02 9.97859534e-01 -4.04569584e-04 -7.47841603e+00] [-4.91340310e-03 8.34433323e-05 9.99987926e-01 -1.01022560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.34, Y:-7.48, Z:-1.01 [[ 9.97955460e-01 6.37253095e-02 4.89742956e-03 1.52340266e+02] [-6.37240912e-02 9.97967473e-01 -4.04569584e-04 -7.48207453e+00] [-4.91325672e-03 9.16581773e-05 9.99987926e-01 -1.01163880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.40, Y:-7.49, Z:-1.01 [[ 9.98051724e-01 6.21994510e-02 4.89742956e-03 1.52400032e+02] [-6.21982143e-02 9.98063735e-01 -4.04569584e-04 -7.49089297e+00] [-4.91311084e-03 9.91699975e-05 9.99987926e-01 -1.01081896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.46, Y:-7.50, Z:-1.01 [[ 9.98003735e-01 6.29647548e-02 4.89742956e-03 1.52459269e+02] [-6.29635273e-02 9.98015747e-01 -4.04569584e-04 -7.49914270e+00] [-4.91318544e-03 9.54025161e-05 9.99987926e-01 -1.01291167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:-7.51, Z:-1.01 [[ 9.97711742e-01 6.74336344e-02 4.89743437e-03 1.52518261e+02] [-6.74324610e-02 9.97723759e-01 -4.04511366e-04 -7.50709118e+00] [-4.91356430e-03 7.33396874e-05 9.99987926e-01 -1.01353242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.58, Y:-7.51, Z:-1.01 [[ 9.97397359e-01 7.19341590e-02 4.89743893e-03 1.52578155e+02] [-7.19330401e-02 9.97409381e-01 -4.04456156e-04 -7.51189416e+00] [-4.91384574e-03 5.11158314e-05 9.99987926e-01 -1.01484397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.64, Y:-7.52, Z:-1.01 [[ 9.96921907e-01 7.82478463e-02 4.89744799e-03 1.52637942e+02] [-7.82468041e-02 9.96933937e-01 -4.04346340e-04 -7.51863804e+00] [-4.91407134e-03 1.98920706e-05 9.99987926e-01 -1.01484230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.70, Y:-7.53, Z:-1.02 [[ 9.96607192e-01 8.21591105e-02 4.89745755e-03 1.52696635e+02] [-8.21581161e-02 9.96619225e-01 -4.04230534e-04 -7.52529798e+00] [-4.91411157e-03 4.93171082e-07 9.99987926e-01 -1.01694532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.76, Y:-7.53, Z:-1.02 [[ 9.96391226e-01 8.47380602e-02 4.89747181e-03 1.52756159e+02] [-8.47370977e-02 9.96403262e-01 -4.04057703e-04 -7.53213939e+00] [-4.91409596e-03 -1.23979979e-05 9.99987926e-01 -1.01632781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:-7.54, Z:-1.02 [[ 9.96334553e-01 8.54018280e-02 4.89748128e-03 1.52815429e+02] [-8.54008741e-02 9.96346590e-01 -4.03942932e-04 -7.53860927e+00] [-4.91408624e-03 -1.57868809e-05 9.99987926e-01 -1.01588479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.87, Y:-7.55, Z:-1.02 [[ 9.96281153e-01 8.60225483e-02 4.89749086e-03 1.52874377e+02] [-8.60216025e-02 9.96293190e-01 -4.03826738e-04 -7.54677287e+00] [-4.91407500e-03 -1.89650440e-05 9.99987926e-01 -1.01569000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.93, Y:-7.55, Z:-1.02 [[ 9.96260232e-01 8.62645018e-02 4.89750047e-03 1.52933986e+02] [-8.62635595e-02 9.96272270e-01 -4.03710088e-04 -7.55263373e+00] [-4.91406976e-03 -2.02755180e-05 9.99987926e-01 -1.01587375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.99, Y:-7.56, Z:-1.02 [[ 9.96190319e-01 8.70681454e-02 4.89750524e-03 1.52993523e+02] [-8.70672131e-02 9.96202358e-01 -4.03652321e-04 -7.55947184e+00] [-4.91405152e-03 -2.42975975e-05 9.99987926e-01 -1.01816475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.05, Y:-7.57, Z:-1.02 [[ 9.96064708e-01 8.84935707e-02 4.89751477e-03 1.53053003e+02] [-8.84926562e-02 9.96076748e-01 -4.03536626e-04 -7.56530164e+00] [-4.91401098e-03 -3.14454993e-05 9.99987926e-01 -1.01844903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.11, Y:-7.57, Z:-1.02 [[ 9.95890794e-01 9.04297567e-02 4.89752430e-03 1.53112139e+02] [-9.04288662e-02 9.95902835e-01 -4.03420858e-04 -7.57286898e+00] [-4.91393959e-03 -4.11144515e-05 9.99987926e-01 -1.01903218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:-7.58, Z:-1.02 [[ 9.95891529e-01 9.04216597e-02 4.89751922e-03 1.53171941e+02] [-9.04207687e-02 9.95903571e-01 -4.03482615e-04 -7.57844154e+00] [-4.91394044e-03 -4.10125340e-05 9.99987926e-01 -1.01605155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.23, Y:-7.58, Z:-1.01 [[ 9.95920038e-01 9.01071189e-02 4.89752878e-03 1.53231968e+02] [-9.01062248e-02 9.95932079e-01 -4.03366500e-04 -7.58490669e+00] [-4.91395221e-03 -3.95770490e-05 9.99987926e-01 -1.01399806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.29, Y:-7.59, Z:-1.02 [[ 9.95933632e-01 8.99567400e-02 4.89752878e-03 1.53291990e+02] [-8.99558440e-02 9.95945673e-01 -4.03366500e-04 -7.59323169e+00] [-4.91395813e-03 -3.88350715e-05 9.99987926e-01 -1.01616355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.35, Y:-7.60, Z:-1.02 [[ 9.95854266e-01 9.08311351e-02 4.89752878e-03 1.53351580e+02] [-9.08302497e-02 9.95866308e-01 -4.03366500e-04 -7.60042471e+00] [-4.91392214e-03 -4.31495121e-05 9.99987926e-01 -1.01879776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.41, Y:-7.61, Z:-1.02 [[ 9.95563633e-01 9.39631153e-02 4.89752878e-03 1.53411636e+02] [-9.39622678e-02 9.95575677e-01 -4.03366500e-04 -7.60539723e+00] [-4.91376211e-03 -5.86058924e-05 9.99987926e-01 -1.01602366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:153.47, Y:-7.61, Z:-1.02 [[ 9.95318430e-01 9.65258358e-02 4.89752878e-03 1.53471346e+02] [-9.65250193e-02 9.95330477e-01 -4.03366500e-04 -7.61101939e+00] [-4.91359494e-03 -7.12559481e-05 9.99987926e-01 -1.01795152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:153.53, Y:-7.61, Z:-1.02 [[ 9.95103221e-01 9.87197768e-02 4.89753350e-03 1.53531193e+02] [-9.87189872e-02 9.95115269e-01 -4.03309166e-04 -7.61452212e+00] [-4.91342496e-03 -8.21452965e-05 9.99987926e-01 -1.01809432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.59, Y:-7.62, Z:-1.02 [[ 9.95005162e-01 9.97032711e-02 4.89754287e-03 1.53591043e+02] [-9.97024939e-02 9.95017211e-01 -4.03195343e-04 -7.61696736e+00] [-4.91333934e-03 -8.71157907e-05 9.99987926e-01 -1.01979994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.65, Y:-7.62, Z:-1.02 [[ 9.95142403e-01 9.83240157e-02 4.89755225e-03 1.53650790e+02] [-9.83232224e-02 9.95154451e-01 -4.03081426e-04 -7.61889848e+00] [-4.91345350e-03 -8.04196996e-05 9.99987926e-01 -1.01982644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:-7.62, Z:-1.02 [[ 9.95505695e-01 9.45749664e-02 4.89755691e-03 1.53709023e+02] [-9.45741279e-02 9.95517741e-01 -4.03024726e-04 -7.62066793e+00] [-4.91372084e-03 -6.19687642e-05 9.99987926e-01 -1.01738220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:-7.62, Z:-1.02 [[ 9.95871198e-01 9.06452987e-02 4.89757558e-03 1.53768402e+02] [-9.06444139e-02 9.95883240e-01 -4.02797741e-04 -7.62339112e+00] [-4.91392516e-03 -4.28031990e-05 9.99987926e-01 -1.01598892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.83, Y:-7.62, Z:-1.02 [[ 9.96396087e-01 8.46808784e-02 4.89758473e-03 1.53828893e+02] [-8.46799220e-02 9.96408124e-01 -4.02686426e-04 -7.62457671e+00] [-4.91409306e-03 -1.34919148e-05 9.99987926e-01 -1.01577639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.89, Y:-7.63, Z:-1.02 [[ 9.96722379e-01 8.07496866e-02 4.89758473e-03 1.53888027e+02] [-8.07486828e-02 9.96734412e-01 -4.02686426e-04 -7.62869169e+00] [-4.91410804e-03 5.89305619e-06 9.99987926e-01 -1.01744076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:-7.63, Z:-1.02 [[ 9.97146008e-01 7.53382573e-02 4.89758956e-03 1.53948360e+02] [-7.53371884e-02 9.97158035e-01 -4.02627780e-04 -7.63112227e+00] [-4.91400405e-03 3.25080559e-05 9.99987926e-01 -1.02090255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58587156000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.01, Y:-7.64, Z:-1.02 [[ 9.97337969e-01 7.27529322e-02 4.89758956e-03 1.54009213e+02] [-7.27518321e-02 9.97349993e-01 -4.02627780e-04 -7.63557632e+00] [-4.91390326e-03 4.52473589e-05 9.99987926e-01 -1.02320641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:-7.64, Z:-1.03 [[ 9.97460559e-01 7.10524280e-02 4.89758470e-03 1.54068194e+02] [-7.10513071e-02 9.97472581e-01 -4.02686895e-04 -7.64108799e+00] [-4.91381833e-03 5.36845008e-05 9.99987926e-01 -1.02673588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.13, Y:-7.65, Z:-1.03 [[ 9.97458664e-01 7.10790205e-02 4.89758951e-03 1.54129010e+02] [-7.10779003e-02 9.97470686e-01 -4.02628352e-04 -7.64566166e+00] [-4.91382040e-03 5.34947598e-05 9.99987926e-01 -1.02648012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:-7.65, Z:-1.03 [[ 9.97399943e-01 7.18983104e-02 4.89758951e-03 1.54189576e+02] [-7.18972001e-02 9.97411966e-01 -4.02628352e-04 -7.64915430e+00] [-4.91386268e-03 4.94585229e-05 9.99987926e-01 -1.02528269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:-7.65, Z:-1.02 [[ 9.97268284e-01 7.37019913e-02 4.89758951e-03 1.54249970e+02] [-7.37009027e-02 9.97280309e-01 -4.02628352e-04 -7.65392100e+00] [-4.91394409e-03 4.05717180e-05 9.99987926e-01 -1.02183643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:-7.66, Z:-1.02 [[ 9.97187822e-01 7.47827601e-02 4.89758951e-03 1.54310117e+02] [-7.47816845e-02 9.97199848e-01 -4.02628352e-04 -7.65879221e+00] [-4.91398517e-03 3.52460964e-05 9.99987926e-01 -1.01961726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:-7.66, Z:-1.02 [[ 9.97056963e-01 7.65076904e-02 4.89758951e-03 1.54369438e+02] [-7.65066356e-02 9.97068991e-01 -4.02628352e-04 -7.66236155e+00] [-4.91403879e-03 2.67453060e-05 9.99987926e-01 -1.02170492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:-7.67, Z:-1.02 [[ 9.96964951e-01 7.76974946e-02 4.89759430e-03 1.54428567e+02] [-7.76964545e-02 9.96976980e-01 -4.02570006e-04 -7.66623308e+00] [-4.91406746e-03 2.08224733e-05 9.99987926e-01 -1.02241991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:-7.67, Z:-1.02 [[ 9.96806722e-01 7.97017735e-02 4.89760386e-03 1.54488337e+02] [-7.97007582e-02 9.96818753e-01 -4.02453711e-04 -7.66903983e+00] [-4.91409965e-03 1.08258240e-05 9.99987926e-01 -1.02208428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:-7.67, Z:-1.02 [[ 9.96621734e-01 8.19825170e-02 4.89761372e-03 1.54547971e+02] [-8.19815298e-02 9.96633768e-01 -4.02333707e-04 -7.67315843e+00] [-4.91411154e-03 -5.39347796e-07 9.99987926e-01 -1.01951544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.61, Y:-7.68, Z:-1.02 [[ 9.96458202e-01 8.39468013e-02 4.89762350e-03 1.54606970e+02] [-8.39458384e-02 9.96470238e-01 -4.02214638e-04 -7.67690571e+00] [-4.91410068e-03 -1.03450361e-05 9.99987926e-01 -1.02167932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:-7.68, Z:-1.02 [[ 9.96276422e-01 8.60773172e-02 4.89763803e-03 1.54666709e+02] [-8.60763808e-02 9.96288460e-01 -4.02037553e-04 -7.67901760e+00] [-4.91406657e-03 -2.10304223e-05 9.99987926e-01 -1.02303520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:-7.68, Z:-1.02 [[ 9.96247368e-01 8.64129296e-02 4.89764759e-03 1.54725032e+02] [-8.64119979e-02 9.96259407e-01 -4.01921078e-04 -7.68227313e+00] [-4.91405866e-03 -2.28026971e-05 9.99987926e-01 -1.02419221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:-7.69, Z:-1.02 [[ 9.96367453e-01 8.50171192e-02 4.89765840e-03 1.54784838e+02] [-8.50161713e-02 9.96379491e-01 -4.01789360e-04 -7.68658979e+00] [-4.91408535e-03 -1.60503238e-05 9.99987926e-01 -1.02476943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.84, Y:-7.69, Z:-1.02 [[ 9.96551781e-01 8.28285065e-02 4.89766790e-03 1.54844341e+02] [-8.28275327e-02 9.96563816e-01 -4.01673444e-04 -7.68751717e+00] [-4.91410863e-03 -5.37336243e-06 9.99987926e-01 -1.02350959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.90, Y:-7.69, Z:-1.02 [[ 9.96727262e-01 8.06893866e-02 4.89767768e-03 1.54902717e+02] [-8.06883875e-02 9.96739295e-01 -4.01554186e-04 -7.69096477e+00] [-4.91410896e-03 5.05428916e-06 9.99987926e-01 -1.02328171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:154.96, Y:-7.70, Z:-1.02 [[ 9.97100518e-01 7.59379316e-02 4.89769214e-03 1.54961878e+02] [-7.59368761e-02 9.97112546e-01 -4.01377810e-04 -7.69530931e+00] [-4.91403008e-03 2.82985817e-05 9.99987926e-01 -1.02163310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:155.02, Y:-7.70, Z:-1.02 [[ 9.97400268e-01 7.18937922e-02 4.89770169e-03 1.55021746e+02] [-7.18926885e-02 9.97412292e-01 -4.01261155e-04 -7.69902304e+00] [-4.91387606e-03 4.81090417e-05 9.99987926e-01 -1.02352458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:-7.71, Z:-1.03 [[ 9.97774671e-01 6.64960070e-02 4.89769593e-03 1.55081995e+02] [-6.64948379e-02 9.97786688e-01 -4.01331464e-04 -7.70617860e+00] [-4.91354275e-03 7.47668716e-05 9.99987926e-01 -1.02711955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.14, Y:-7.71, Z:-1.03 [[ 9.97941581e-01 6.39422611e-02 4.89769593e-03 1.55142612e+02] [-6.39410612e-02 9.97953596e-01 -4.01331464e-04 -7.71098626e+00] [-4.91333531e-03 8.73414799e-05 9.99987926e-01 -1.02596741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.20, Y:-7.72, Z:-1.03 [[ 9.98013004e-01 6.28176380e-02 4.89769593e-03 1.55201849e+02] [-6.28164246e-02 9.98025018e-01 -4.01331464e-04 -7.71826650e+00] [-4.91323376e-03 9.28782722e-05 9.99987926e-01 -1.02728518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.26, Y:-7.72, Z:-1.03 [[ 9.98063722e-01 6.20066085e-02 4.89770054e-03 1.55261545e+02] [-6.20053856e-02 9.98075734e-01 -4.01275215e-04 -7.72456464e+00] [-4.91315778e-03 9.68144242e-05 9.99987926e-01 -1.02630953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.32, Y:-7.73, Z:-1.03 [[ 9.98083114e-01 6.16936795e-02 4.89770054e-03 1.55321917e+02] [-6.16924529e-02 9.98095126e-01 -4.01275215e-04 -7.73416466e+00] [-4.91312718e-03 9.83548563e-05 9.99987926e-01 -1.02686183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.38, Y:-7.74, Z:-1.03 [[ 9.98046248e-01 6.22872332e-02 4.89770054e-03 1.55382051e+02] [-6.22860137e-02 9.98058261e-01 -4.01275215e-04 -7.74171378e+00] [-4.91318481e-03 9.54329797e-05 9.99987926e-01 -1.02657499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:-7.75, Z:-1.03 [[ 9.97935836e-01 6.40318593e-02 4.89770054e-03 1.55440878e+02] [-6.40306608e-02 9.97947851e-01 -4.01275215e-04 -7.75113614e+00] [-4.91334413e-03 8.68439154e-05 9.99987926e-01 -1.02756901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:-7.76, Z:-1.03 [[ 9.97889957e-01 6.47429219e-02 4.89770530e-03 1.55500785e+02] [-6.47417323e-02 9.97901973e-01 -4.01217148e-04 -7.75694360e+00] [-4.91340575e-03 8.32846377e-05 9.99987926e-01 -1.02770912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14587156000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:155.56, Y:-7.77, Z:-1.02 [[ 9.97772698e-01 6.65256082e-02 4.89770530e-03 1.55560389e+02] [-6.65244400e-02 9.97784715e-01 -4.01217148e-04 -7.76759644e+00] [-4.91354670e-03 7.45064142e-05 9.99987926e-01 -1.02402286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:-7.78, Z:-1.02 [[ 9.97697040e-01 6.76507887e-02 4.89770530e-03 1.55619921e+02] [-6.76496341e-02 9.97709059e-01 -4.01217148e-04 -7.77698465e+00] [-4.91362760e-03 6.89651898e-05 9.99987926e-01 -1.02482218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:-7.79, Z:-1.03 [[ 9.97590148e-01 6.92091653e-02 4.89768318e-03 1.55679291e+02] [-6.92080281e-02 9.97602169e-01 -4.01486924e-04 -7.78766110e+00] [-4.91372594e-03 6.15604043e-05 9.99987926e-01 -1.02585707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:-7.80, Z:-1.03 [[ 9.97536175e-01 6.99827992e-02 4.89768318e-03 1.55739036e+02] [-6.99816714e-02 9.97548197e-01 -4.01486924e-04 -7.79654300e+00] [-4.91377221e-03 5.77496753e-05 9.99987926e-01 -1.02518296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:-7.80, Z:-1.02 [[ 9.97542877e-01 6.98872086e-02 4.89767848e-03 1.55800128e+02] [-6.98860794e-02 9.97554898e-01 -4.01544237e-04 -7.80388719e+00] [-4.91376597e-03 5.82780458e-05 9.99987926e-01 -1.02444168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:-7.82, Z:-1.02 [[ 9.97526198e-01 7.01248672e-02 4.89766919e-03 1.55860845e+02] [-7.01237402e-02 9.97538220e-01 -4.01657557e-04 -7.81503985e+00] [-4.91377839e-03 5.72210538e-05 9.99987926e-01 -1.02353712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:-7.82, Z:-1.02 [[ 9.97462281e-01 7.10282467e-02 4.89765936e-03 1.55922005e+02] [-7.10271300e-02 9.97474303e-01 -4.01777412e-04 -7.82312842e+00] [-4.91382690e-03 5.28911259e-05 9.99987926e-01 -1.02382998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.98, Y:-7.83, Z:-1.02 [[ 9.97257682e-01 7.38453025e-02 4.89764956e-03 1.55982931e+02] [-7.38442192e-02 9.97269708e-01 -4.01896863e-04 -7.83326354e+00] [-4.91395574e-03 3.91316269e-05 9.99987926e-01 -1.02405598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:-7.84, Z:-1.02 [[ 9.96980402e-01 7.74989845e-02 4.89758615e-03 1.56043818e+02] [-7.74979415e-02 9.96992431e-01 -4.02668111e-04 -7.84128246e+00] [-4.91406269e-03 2.18993704e-05 9.99987926e-01 -1.02357411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:-7.85, Z:-1.02 [[ 9.96861274e-01 7.90165372e-02 4.89757671e-03 1.56104786e+02] [-7.90155120e-02 9.96873305e-01 -4.02782849e-04 -7.85007603e+00] [-4.91408999e-03 1.45340927e-05 9.99987926e-01 -1.02495987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.17, Y:-7.86, Z:-1.03 [[ 9.96774734e-01 8.01008316e-02 4.89756729e-03 1.56166867e+02] [-8.00998189e-02 9.96786766e-01 -4.02897357e-04 -7.85868338e+00] [-4.91410267e-03 9.30365360e-06 9.99987926e-01 -1.02734703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.23, Y:-7.87, Z:-1.03 [[ 9.96697832e-01 8.10521189e-02 4.89749521e-03 1.56228137e+02] [-8.10511134e-02 9.96709865e-01 -4.03771698e-04 -7.86915340e+00] [-4.91410833e-03 5.49093704e-06 9.99987926e-01 -1.03078488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.29, Y:-7.88, Z:-1.03 [[ 9.96523758e-01 8.31649843e-02 4.89741866e-03 1.56290018e+02] [-8.31639997e-02 9.96535792e-01 -4.04698067e-04 -7.87821228e+00] [-4.91410969e-03 -3.99768435e-06 9.99987926e-01 -1.03047455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.35, Y:-7.89, Z:-1.03 [[ 9.96307347e-01 8.57186503e-02 4.89735115e-03 1.56351938e+02] [-8.57176925e-02 9.96319383e-01 -4.05513342e-04 -7.88530029e+00] [-4.91408593e-03 -1.57737176e-05 9.99987926e-01 -1.02985112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.41, Y:-7.89, Z:-1.03 [[ 9.95970978e-01 8.95423186e-02 4.89728184e-03 1.56413622e+02] [-8.95414030e-02 9.95983018e-01 -4.06348586e-04 -7.89328122e+00] [-4.91399495e-03 -3.37980884e-05 9.99987926e-01 -1.03111378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.47, Y:-7.90, Z:-1.03 [[ 9.95850871e-01 9.08683698e-02 4.89721255e-03 1.56474583e+02] [-9.08674661e-02 9.95862911e-01 -4.07182009e-04 -7.90014232e+00] [-4.91395231e-03 -3.95047370e-05 9.99987926e-01 -1.03242268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.54, Y:-7.91, Z:-1.03 [[ 9.95900548e-01 9.03222934e-02 4.89714882e-03 1.56536527e+02] [-9.03213793e-02 9.95912588e-01 -4.07947035e-04 -7.90795158e+00] [-4.91397886e-03 -3.60425604e-05 9.99987926e-01 -1.03419521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:156.60, Y:-7.92, Z:-1.03 [[ 9.96014366e-01 8.90584119e-02 4.89707947e-03 1.56597780e+02] [-8.90574785e-02 9.96026404e-01 -4.08777865e-04 -7.91560086e+00] [-4.91402556e-03 -2.89729236e-05 9.99987926e-01 -1.03392946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22587156 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:156.66, Y:-7.92, Z:-1.03 [[ 9.96258390e-01 8.62858002e-02 4.89700556e-03 1.56659058e+02] [-8.62848290e-02 9.96270425e-01 -4.09661302e-04 -7.92341858e+00] [-4.91408977e-03 -1.44087779e-05 9.99987926e-01 -1.03227532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.72, Y:-7.93, Z:-1.03 [[ 9.96372286e-01 8.49605038e-02 4.89693844e-03 1.56722009e+02] [-8.49595126e-02 9.96384320e-01 -4.10462080e-04 -7.93111886e+00] [-4.91410574e-03 -7.06846231e-06 9.99987926e-01 -1.03480930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.78, Y:-7.94, Z:-1.04 [[ 9.96309131e-01 8.56979333e-02 4.89686103e-03 1.56784276e+02] [-8.56969464e-02 9.96321165e-01 -4.11383498e-04 -7.93732609e+00] [-4.91410101e-03 -9.78090245e-06 9.99987926e-01 -1.03641089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:-7.94, Z:-1.04 [[ 9.96009290e-01 8.91151778e-02 4.89679302e-03 1.56844848e+02] [-8.91142282e-02 9.96021327e-01 -4.12191462e-04 -7.94136849e+00] [-4.91404280e-03 -2.58274059e-05 9.99987926e-01 -1.03803434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:-7.94, Z:-1.04 [[ 9.95719745e-01 9.22941530e-02 4.89673019e-03 1.56907226e+02] [-9.22932383e-02 9.95731785e-01 -4.12936584e-04 -7.94473909e+00] [-4.91394152e-03 -4.07659757e-05 9.99987926e-01 -1.03720413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.97, Y:-7.95, Z:-1.04 [[ 9.95316095e-01 9.65499538e-02 4.89666114e-03 1.56968552e+02] [-9.65490865e-02 9.95328138e-01 -4.13753725e-04 -7.94761397e+00] [-4.91373252e-03 -6.09524183e-05 9.99987926e-01 -1.03595670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.03, Y:-7.95, Z:-1.03 [[ 9.95073151e-01 9.90224548e-02 4.89662226e-03 1.57031260e+02] [-9.90216151e-02 9.95085196e-01 -4.14213419e-04 -7.94958055e+00] [-4.91357275e-03 -7.26987924e-05 9.99987926e-01 -1.03379851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.09, Y:-7.95, Z:-1.03 [[ 9.95181303e-01 9.79295572e-02 4.89655173e-03 1.57092678e+02] [-9.79287003e-02 9.95193347e-01 -4.15045440e-04 -7.95103480e+00] [-4.91366092e-03 -6.64674848e-05 9.99987926e-01 -1.03425316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70587156000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:-7.95, Z:-1.03 [[ 9.95336758e-01 9.63367170e-02 4.89651299e-03 1.57154368e+02] [-9.63358385e-02 9.95348800e-01 -4.15501958e-04 -7.95486033e+00] [-4.91376643e-03 -5.81453129e-05 9.99987926e-01 -1.03225383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.22, Y:-7.96, Z:-1.03 [[ 9.95500969e-01 9.46247596e-02 4.89644381e-03 1.57215388e+02] [-9.46238564e-02 9.95513010e-01 -4.16315604e-04 -7.95668328e+00] [-4.91386728e-03 -4.88778090e-05 9.99987926e-01 -1.03450716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:157.28, Y:-7.96, Z:-1.03 [[ 9.95428505e-01 9.53840510e-02 4.89640527e-03 1.57276729e+02] [-9.53831547e-02 9.95440546e-01 -4.16768369e-04 -7.95785902e+00] [-4.91383339e-03 -5.21714680e-05 9.99987926e-01 -1.03433711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:-7.96, Z:-1.04 [[ 9.95290257e-01 9.68159576e-02 4.89639539e-03 1.57338527e+02] [-9.68150781e-02 9.95302299e-01 -4.16884437e-04 -7.95930514e+00] [-4.91375466e-03 -5.91238843e-05 9.99987926e-01 -1.03610528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.40, Y:-7.96, Z:-1.04 [[ 9.95287148e-01 9.68479095e-02 4.89638554e-03 1.57400179e+02] [-9.68470298e-02 9.95299191e-01 -4.17000118e-04 -7.96299226e+00] [-4.91375416e-03 -5.91655379e-05 9.99987926e-01 -1.03735590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.46, Y:-7.96, Z:-1.04 [[ 9.95376099e-01 9.59293875e-02 4.89637578e-03 1.57462071e+02] [-9.59284961e-02 9.95388140e-01 -4.17114662e-04 -7.96358239e+00] [-4.91380794e-03 -5.45160001e-05 9.99987926e-01 -1.03535910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.52, Y:-7.97, Z:-1.03 [[ 9.95496218e-01 9.46747403e-02 4.89636603e-03 1.57522301e+02] [-9.46738332e-02 9.95508258e-01 -4.17229072e-04 -7.96566658e+00] [-4.91387387e-03 -4.82077783e-05 9.99987926e-01 -1.03494927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:157.58, Y:-7.97, Z:-1.03 [[ 9.95661741e-01 9.29178338e-02 4.89636603e-03 1.57583549e+02] [-9.29169055e-02 9.95673779e-01 -4.17229072e-04 -7.96826462e+00] [-4.91395129e-03 -3.95361558e-05 9.99987926e-01 -1.03494674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.64, Y:-7.97, Z:-1.04 [[ 9.95731934e-01 9.21625781e-02 4.89635570e-03 1.57644288e+02] [-9.21616400e-02 9.95743972e-01 -4.17350299e-04 -7.96965510e+00] [-4.91398075e-03 -3.56871513e-05 9.99987926e-01 -1.04200019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.70, Y:-7.97, Z:-1.05 [[ 9.95795318e-01 9.14751864e-02 4.89635059e-03 1.57704785e+02] [-9.14742398e-02 9.95807355e-01 -4.17410295e-04 -7.96910911e+00] [-4.91400461e-03 -3.22347301e-05 9.99987926e-01 -1.04653227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.77, Y:-7.97, Z:-1.04 [[ 9.95928835e-01 9.00098980e-02 4.89635059e-03 1.57765499e+02] [-9.00089336e-02 9.95940871e-01 -4.17410295e-04 -7.97229540e+00] [-4.91404672e-03 -2.50043465e-05 9.99987926e-01 -1.04324978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:-7.97, Z:-1.04 [[ 9.96267088e-01 8.61853498e-02 4.89635059e-03 1.57825815e+02] [-8.61843392e-02 9.96279120e-01 -4.17410295e-04 -7.97391704e+00] [-4.91410651e-03 -6.13660067e-06 9.99987926e-01 -1.04147281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:157.89, Y:-7.98, Z:-1.04 [[ 9.96623186e-01 8.19649395e-02 4.89634568e-03 1.57886692e+02] [-8.19638777e-02 9.96635213e-01 -4.17467818e-04 -7.97764155e+00] [-4.91408825e-03 1.47346278e-05 9.99987926e-01 -1.04075104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.95, Y:-7.98, Z:-1.04 [[ 9.96868292e-01 7.89280346e-02 4.89634568e-03 1.57947815e+02] [-7.89269362e-02 9.96880316e-01 -4.17467818e-04 -7.98157600e+00] [-4.91402054e-03 2.97068671e-05 9.99987926e-01 -1.04030121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.01, Y:-7.99, Z:-1.04 [[ 9.97167004e-01 7.50599254e-02 4.89633538e-03 1.58008313e+02] [-7.50587797e-02 9.97179024e-01 -4.17588622e-04 -7.98714644e+00] [-4.91386710e-03 4.88926365e-05 9.99987926e-01 -1.04280239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60587156 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:158.07, Y:-7.99, Z:-1.04 [[ 9.97287781e-01 7.34377868e-02 4.89630839e-03 1.58068500e+02] [-7.34366200e-02 9.97299799e-01 -4.17904825e-04 -7.99468886e+00] [-4.91377738e-03 5.72030369e-05 9.99987926e-01 -1.04339254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:-8.00, Z:-1.05 [[ 9.97358221e-01 7.24748524e-02 4.89630338e-03 1.58129888e+02] [-7.24736737e-02 9.97370238e-01 -4.17963476e-04 -8.00198250e+00] [-4.91371911e-03 6.20062148e-05 9.99987926e-01 -1.04604614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.19, Y:-8.01, Z:-1.05 [[ 9.97289426e-01 7.34154423e-02 4.89628819e-03 1.58189931e+02] [-7.34142741e-02 9.97301444e-01 -4.18141421e-04 -8.00913958e+00] [-4.91377332e-03 5.75505749e-05 9.99987926e-01 -1.04663474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:158.25, Y:-8.02, Z:-1.04 [[ 9.96976094e-01 7.75544606e-02 4.89628315e-03 1.58250233e+02] [-7.75533420e-02 9.96988116e-01 -4.18200412e-04 -8.01825003e+00] [-4.91396942e-03 3.72126914e-05 9.99987926e-01 -1.04272897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:-8.03, Z:-1.04 [[ 9.96566203e-01 8.26548781e-02 4.89627789e-03 1.58310336e+02] [-8.26538207e-02 9.96578231e-01 -4.18261926e-04 -8.02592763e+00] [-4.91409535e-03 1.21296247e-05 9.99987926e-01 -1.04415940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:-8.03, Z:-1.04 [[ 9.96324671e-01 8.55171146e-02 4.89627282e-03 1.58371347e+02] [-8.55160914e-02 9.96336702e-01 -4.18321259e-04 -8.03264003e+00] [-4.91410994e-03 -1.92632408e-06 9.99987926e-01 -1.04386422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:-8.04, Z:-1.04 [[ 9.96032676e-01 8.88534503e-02 4.89626290e-03 1.58432518e+02] [-8.88524669e-02 9.96044710e-01 -4.18437421e-04 -8.03962875e+00] [-4.91407637e-03 -1.82676924e-05 9.99987926e-01 -1.04487855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.49, Y:-8.05, Z:-1.05 [[ 9.95934824e-01 8.99436151e-02 4.89625267e-03 1.58492193e+02] [-8.99426443e-02 9.95946859e-01 -4.18557053e-04 -8.04645796e+00] [-4.91405400e-03 -2.35263677e-05 9.99987926e-01 -1.04636806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.55, Y:-8.05, Z:-1.05 [[ 9.95760773e-01 9.18504799e-02 4.89624761e-03 1.58552215e+02] [-9.18495318e-02 9.95772810e-01 -4.18616200e-04 -8.05239354e+00] [-4.91400034e-03 -3.28764600e-05 9.99987926e-01 -1.04569903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14587156000002 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:158.61, Y:-8.06, Z:-1.04 [[ 9.95415555e-01 9.55191049e-02 4.89624761e-03 1.58613097e+02] [-9.55182012e-02 9.95427596e-01 -4.18616200e-04 -8.05611086e+00] [-4.91384583e-03 -5.09836873e-05 9.99987926e-01 -1.04206173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:-8.06, Z:-1.04 [[ 9.95186064e-01 9.78811794e-02 4.89624761e-03 1.58673389e+02] [-9.78803043e-02 9.95198106e-01 -4.18616200e-04 -8.06033264e+00] [-4.91371100e-03 -6.26451980e-05 9.99987926e-01 -1.04221896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:-8.07, Z:-1.04 [[ 9.95117754e-01 9.85732350e-02 4.89624761e-03 1.58732253e+02] [-9.85723682e-02 9.95129797e-01 -4.18616200e-04 -8.06534093e+00] [-4.91366625e-03 -6.60623099e-05 9.99987926e-01 -1.04430750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:-8.07, Z:-1.04 [[ 9.95193602e-01 9.78045012e-02 4.89625268e-03 1.58792721e+02] [-9.78036254e-02 9.95205645e-01 -4.18556899e-04 -8.06958883e+00] [-4.91371506e-03 -6.23261159e-05 9.99987926e-01 -1.04486846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:-8.07, Z:-1.04 [[ 9.95249613e-01 9.72328875e-02 4.89625268e-03 1.58853424e+02] [-9.72320048e-02 9.95261655e-01 -4.18556899e-04 -8.07444786e+00] [-4.91375004e-03 -5.95038731e-05 9.99987926e-01 -1.04490313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:-8.08, Z:-1.04 [[ 9.95171377e-01 9.80303906e-02 4.89625268e-03 1.58913613e+02] [-9.80295175e-02 9.95183420e-01 -4.18556899e-04 -8.07773109e+00] [-4.91370078e-03 -6.34414433e-05 9.99987926e-01 -1.04454897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:-8.08, Z:-1.05 [[ 9.95017714e-01 9.95779914e-02 4.89625268e-03 1.58973493e+02] [-9.95771371e-02 9.95029758e-01 -4.18556899e-04 -8.08080730e+00] [-4.91359618e-03 -7.10832964e-05 9.99987926e-01 -1.04520433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-8.08, Z:-1.05 [[ 9.94997762e-01 9.97771506e-02 4.89626254e-03 1.59033087e+02] [-9.97762993e-02 9.95009806e-01 -4.18441569e-04 -8.08363075e+00] [-4.91358015e-03 -7.21825315e-05 9.99987926e-01 -1.04612895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:-8.09, Z:-1.05 [[ 9.95217059e-01 9.75655254e-02 4.89627239e-03 1.59093007e+02] [-9.75646479e-02 9.95229102e-01 -4.18326240e-04 -8.08704922e+00] [-4.91372699e-03 -6.13776816e-05 9.99987926e-01 -1.04507520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.15, Y:-8.09, Z:-1.04 [[ 9.95651080e-01 9.30320019e-02 4.89628220e-03 1.59153224e+02] [-9.30310701e-02 9.95663118e-01 -4.18211466e-04 -8.09178967e+00] [-4.91395465e-03 -3.91136742e-05 9.99987926e-01 -1.04218076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:-8.10, Z:-1.04 [[ 9.95855344e-01 9.08193848e-02 4.89628220e-03 1.59213312e+02] [-9.08184263e-02 9.95867380e-01 -4.18211466e-04 -8.09627910e+00] [-4.91402943e-03 -2.81945203e-05 9.99987926e-01 -1.03965644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.27, Y:-8.10, Z:-1.04 [[ 9.95933130e-01 8.99623590e-02 4.89628220e-03 1.59273428e+02] [-8.99613901e-02 9.95945166e-01 -4.18211466e-04 -8.10047585e+00] [-4.91405187e-03 -2.39656981e-05 9.99987926e-01 -1.03900251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:-8.11, Z:-1.04 [[ 9.95912814e-01 9.01869964e-02 4.89628220e-03 1.59333652e+02] [-9.01860302e-02 9.95924849e-01 -4.18211466e-04 -8.10530512e+00] [-4.91404634e-03 -2.50740961e-05 9.99987926e-01 -1.03972504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92587156000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:-8.11, Z:-1.04 [[ 9.95886428e-01 9.04778895e-02 4.89628220e-03 1.59393711e+02] [-9.04769268e-02 9.95898464e-01 -4.18211466e-04 -8.10978063e+00] [-4.91403881e-03 -2.65094424e-05 9.99987926e-01 -1.04148690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:-8.11, Z:-1.04 [[ 9.95923409e-01 9.00699156e-02 4.89628220e-03 1.59452947e+02] [-9.00689480e-02 9.95935445e-01 -4.18211466e-04 -8.11480375e+00] [-4.91404926e-03 -2.44963972e-05 9.99987926e-01 -1.04480038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:159.51, Y:-8.12, Z:-1.05 [[ 9.95958371e-01 8.96824884e-02 4.89628697e-03 1.59512790e+02] [-8.96815164e-02 9.95970407e-01 -4.18155562e-04 -8.12001704e+00] [-4.91405816e-03 -2.26409071e-05 9.99987926e-01 -1.04512241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:-8.13, Z:-1.04 [[ 9.96040770e-01 8.87626682e-02 4.89628697e-03 1.59573311e+02] [-8.87616851e-02 9.96052804e-01 -4.18155562e-04 -8.12624754e+00] [-4.91407697e-03 -1.81026941e-05 9.99987926e-01 -1.04349545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.63, Y:-8.13, Z:-1.04 [[ 9.96126107e-01 8.77997989e-02 4.89628697e-03 1.59632236e+02] [-8.77988042e-02 9.96138141e-01 -4.18155562e-04 -8.13136001e+00] [-4.91409217e-03 -1.33524684e-05 9.99987926e-01 -1.04366295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.69, Y:-8.14, Z:-1.04 [[ 9.96148953e-01 8.75402172e-02 4.89629190e-03 1.59692807e+02] [-8.75392196e-02 9.96160986e-01 -4.18097794e-04 -8.13771283e+00] [-4.91409534e-03 -1.21298925e-05 9.99987926e-01 -1.04075962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.75, Y:-8.14, Z:-1.04 [[ 9.96144430e-01 8.75916699e-02 4.89629190e-03 1.59752397e+02] [-8.75906729e-02 9.96156463e-01 -4.18097794e-04 -8.14409076e+00] [-4.91409471e-03 -1.23837140e-05 9.99987926e-01 -1.04279050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.81, Y:-8.15, Z:-1.04 [[ 9.95972738e-01 8.95227989e-02 4.89629690e-03 1.59812772e+02] [-8.95218255e-02 9.95984773e-01 -4.18039320e-04 -8.14995223e+00] [-4.91406120e-03 -2.19696702e-05 9.99987926e-01 -1.04259811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.87, Y:-8.15, Z:-1.05 [[ 9.95422321e-01 9.54485631e-02 4.89629690e-03 1.59871777e+02] [-9.54476614e-02 9.95434362e-01 -4.18039320e-04 -8.15332234e+00] [-4.91384343e-03 -5.12144175e-05 9.99987926e-01 -1.04791992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:-8.16, Z:-1.04 [[ 9.94905424e-01 1.00693707e-01 4.89630199e-03 1.59930909e+02] [-1.00692869e-01 9.94917470e-01 -4.17979670e-04 -8.15647807e+00] [-4.91350431e-03 -7.71724533e-05 9.99987926e-01 -1.04454088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.99, Y:-8.16, Z:-1.04 [[ 9.94586686e-01 1.03794754e-01 4.89631707e-03 1.59990587e+02] [-1.03793955e-01 9.94598733e-01 -4.17802958e-04 -8.15821867e+00] [-4.91323651e-03 -9.26668530e-05 9.99987926e-01 -1.04380073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.05, Y:-8.16, Z:-1.04 [[ 9.94343632e-01 1.06097912e-01 4.89632700e-03 1.60049348e+02] [-1.06097140e-01 9.94355682e-01 -4.17686474e-04 -8.15727585e+00] [-4.91300624e-03 -1.04162408e-04 9.99987926e-01 -1.04318604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.11, Y:-8.16, Z:-1.04 [[ 9.94435504e-01 1.05233328e-01 4.89634723e-03 1.60107896e+02] [-1.05232547e-01 9.94447554e-01 -4.17449203e-04 -8.15824601e+00] [-4.91309010e-03 -1.00128783e-04 9.99987926e-01 -1.04402120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.17, Y:-8.16, Z:-1.04 [[ 9.94882717e-01 1.00917815e-01 4.89636221e-03 1.60167650e+02] [-1.00916984e-01 9.94894762e-01 -4.17273409e-04 -8.15792882e+00] [-4.91347544e-03 -7.89880024e-05 9.99987926e-01 -1.04327882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:160.23, Y:-8.16, Z:-1.04 [[ 9.95542872e-01 9.41828844e-02 4.89637210e-03 1.60226394e+02] [-9.41819717e-02 9.95554912e-01 -4.17157354e-04 -8.15628922e+00] [-4.91389638e-03 -4.58519485e-05 9.99987926e-01 -1.04333021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:-8.16, Z:-1.04 [[ 9.96014909e-01 8.90523755e-02 4.89638284e-03 1.60286092e+02] [-8.90514014e-02 9.96026944e-01 -4.17031263e-04 -8.15974181e+00] [-4.91406686e-03 -2.06603980e-05 9.99987926e-01 -1.04382590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:160.34, Y:-8.16, Z:-1.05 [[ 9.96523886e-01 8.31635181e-02 4.89639256e-03 1.60344431e+02] [-8.31624734e-02 9.96535915e-01 -4.16917061e-04 -8.16238966e+00] [-4.91410333e-03 8.27169319e-06 9.99987926e-01 -1.04561656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.40, Y:-8.17, Z:-1.05 [[ 9.97103275e-01 7.59018102e-02 4.89640695e-03 1.60403737e+02] [-7.59006788e-02 9.97115296e-01 -4.16748019e-04 -8.16687208e+00] [-4.91391420e-03 4.39002026e-05 9.99987926e-01 -1.04674148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.46, Y:-8.17, Z:-1.05 [[ 9.97565319e-01 6.95662297e-02 4.89641169e-03 1.60463877e+02] [-6.95650223e-02 9.97577332e-01 -4.16692337e-04 -8.17105719e+00] [-4.91353703e-03 7.50588361e-05 9.99987926e-01 -1.04776848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.52, Y:-8.18, Z:-1.05 [[ 9.97765838e-01 6.66285091e-02 4.89641169e-03 1.60523510e+02] [-6.66272663e-02 9.97777848e-01 -4.16692337e-04 -8.17743396e+00] [-4.91329471e-03 8.95268536e-05 9.99987926e-01 -1.05084728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12587156 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:160.58, Y:-8.18, Z:-1.05 [[ 9.97941465e-01 6.39441827e-02 4.89641657e-03 1.60583457e+02] [-6.39429078e-02 9.97953471e-01 -4.16634981e-04 -8.18452722e+00] [-4.91303730e-03 1.02686210e-04 9.99987926e-01 -1.04618181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.64, Y:-8.19, Z:-1.05 [[ 9.97939738e-01 6.39711210e-02 4.89641657e-03 1.60643084e+02] [-6.39698464e-02 9.97951745e-01 -4.16634981e-04 -8.19257284e+00] [-4.91304007e-03 1.02553588e-04 9.99987926e-01 -1.04604871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:-8.20, Z:-1.05 [[ 9.97816113e-01 6.58713171e-02 4.89641657e-03 1.60703663e+02] [-6.58700654e-02 9.97828122e-01 -4.16634981e-04 -8.19975111e+00] [-4.91322645e-03 9.31978175e-05 9.99987926e-01 -1.04618362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:-8.21, Z:-1.05 [[ 9.97648437e-01 6.83638873e-02 4.89641657e-03 1.60763375e+02] [-6.83626656e-02 9.97660449e-01 -4.16634981e-04 -8.20749775e+00] [-4.91344394e-03 8.09231493e-05 9.99987926e-01 -1.04670011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.82, Y:-8.22, Z:-1.05 [[ 9.97360912e-01 7.24378117e-02 4.89641657e-03 1.60823841e+02] [-7.24366391e-02 9.97372929e-01 -4.16634981e-04 -8.21591762e+00] [-4.91373346e-03 6.08554849e-05 9.99987926e-01 -1.04656239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:-8.22, Z:-1.04 [[ 9.96987542e-01 7.74071447e-02 4.89641657e-03 1.60883529e+02] [-7.74060319e-02 9.96999565e-01 -4.16634981e-04 -8.22479910e+00] [-4.91397572e-03 3.63677083e-05 9.99987926e-01 -1.04497855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:-8.23, Z:-1.04 [[ 9.96827018e-01 7.94476025e-02 4.89641657e-03 1.60943866e+02] [-7.94465144e-02 9.96839043e-01 -4.16634981e-04 -8.23299433e+00] [-4.91403986e-03 2.63097761e-05 9.99987926e-01 -1.04499688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:-8.24, Z:-1.05 [[ 9.96872283e-01 7.88775989e-02 4.89641657e-03 1.61002816e+02] [-7.88765040e-02 9.96884308e-01 -4.16634981e-04 -8.24109188e+00] [-4.91402401e-03 2.91196440e-05 9.99987926e-01 -1.04810982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:-8.25, Z:-1.05 [[ 9.96999174e-01 7.72571837e-02 4.89641102e-03 1.61063750e+02] [-7.72560689e-02 9.97011197e-01 -4.16700234e-04 -8.24982284e+00] [-4.91396970e-03 3.71723225e-05 9.99987926e-01 -1.04896939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.12, Y:-8.26, Z:-1.05 [[ 9.97074494e-01 7.62789480e-02 4.89640109e-03 1.61124493e+02] [-7.62778207e-02 9.97086516e-01 -4.16816904e-04 -8.26154220e+00] [-4.91392986e-03 4.21106995e-05 9.99987926e-01 -1.04800792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.19, Y:-8.27, Z:-1.05 [[ 9.97080640e-01 7.61985773e-02 4.89639085e-03 1.61185150e+02] [-7.61974485e-02 9.97092661e-01 -4.16937100e-04 -8.26918282e+00] [-4.91392540e-03 4.26274205e-05 9.99987926e-01 -1.04876256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:-8.28, Z:-1.05 [[ 9.97079234e-01 7.62169656e-02 4.89638059e-03 1.61245162e+02] [-7.62158365e-02 9.97091256e-01 -4.17057522e-04 -8.28198530e+00] [-4.91392513e-03 4.26576515e-05 9.99987926e-01 -1.04973965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:-8.29, Z:-1.05 [[ 9.97054021e-01 7.65461019e-02 4.89631462e-03 1.61306010e+02] [-7.65449729e-02 9.97066042e-01 -4.17830604e-04 -8.29134454e+00] [-4.91393235e-03 4.18114141e-05 9.99987926e-01 -1.04528892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.37, Y:-8.31, Z:-1.05 [[ 9.96969123e-01 7.76440270e-02 4.89630483e-03 1.61366803e+02] [-7.76429108e-02 9.96981145e-01 -4.17945320e-04 -8.30500664e+00] [-4.91397455e-03 3.65152200e-05 9.99987926e-01 -1.04535726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:161.43, Y:-8.31, Z:-1.05 [[ 9.96800851e-01 7.97752445e-02 4.89623569e-03 1.61428098e+02] [-7.97741499e-02 9.96812876e-01 -4.18753799e-04 -8.31405460e+00] [-4.91403696e-03 2.68211040e-05 9.99987926e-01 -1.04581550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-8.33, Z:-1.05 [[ 9.96348277e-01 8.52416472e-02 4.89616632e-03 1.61489358e+02] [-8.52406146e-02 9.96360307e-01 -4.19563238e-04 -8.32699268e+00] [-4.91411004e-03 6.78882925e-07 9.99987926e-01 -1.04577613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:-8.34, Z:-1.05 [[ 9.95632590e-01 9.32296856e-02 4.89609695e-03 1.61550223e+02] [-9.32287456e-02 9.95644628e-01 -4.20371208e-04 -8.33661312e+00] [-4.91396370e-03 -3.79217022e-05 9.99987926e-01 -1.04675821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:-8.34, Z:-1.05 [[ 9.95094647e-01 9.88062289e-02 4.89608693e-03 1.61611425e+02] [-9.88053557e-02 9.95106690e-01 -4.20487936e-04 -8.34386802e+00] [-4.91367568e-03 -6.53343162e-05 9.99987926e-01 -1.04690550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:-8.35, Z:-1.05 [[ 9.94347155e-01 1.06064905e-01 4.89607681e-03 1.61671306e+02] [-1.06064119e-01 9.94359204e-01 -4.20605703e-04 -8.34980263e+00] [-4.91307054e-03 -1.01069989e-04 9.99987926e-01 -1.04883581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-8.36, Z:-1.05 [[ 9.93894083e-01 1.10229674e-01 4.89607182e-03 1.61732723e+02] [-1.10228939e-01 9.93906134e-01 -4.20663792e-04 -8.35547064e+00] [-4.91260545e-03 -1.21593546e-04 9.99987926e-01 -1.04981763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.79, Y:-8.36, Z:-1.05 [[ 9.93505586e-01 1.13677966e-01 4.89606198e-03 1.61794078e+02] [-1.13677272e-01 9.93517640e-01 -4.20778258e-04 -8.35687737e+00] [-4.91215716e-03 -1.38525419e-04 9.99987926e-01 -1.04989329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38587156 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:161.85, Y:-8.36, Z:-1.05 [[ 9.93442449e-01 1.14228406e-01 4.89605220e-03 1.61854163e+02] [-1.14227718e-01 9.93454504e-01 -4.20892020e-04 -8.35958267e+00] [-4.91208294e-03 -1.41132870e-04 9.99987926e-01 -1.04969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:-8.36, Z:-1.05 [[ 9.93576845e-01 1.13053446e-01 4.89604739e-03 1.61915972e+02] [-1.13052743e-01 9.93588899e-01 -4.20948028e-04 -8.36145896e+00] [-4.91224796e-03 -1.35267374e-04 9.99987926e-01 -1.04807269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:-8.36, Z:-1.05 [[ 9.93855511e-01 1.10576904e-01 4.89603751e-03 1.61977472e+02] [-1.10576170e-01 9.93867563e-01 -4.21062832e-04 -8.36422123e+00] [-4.91257270e-03 -1.22909462e-04 9.99987926e-01 -1.04863208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:-8.37, Z:-1.05 [[ 9.94402789e-01 1.05542041e-01 4.89602758e-03 1.62038582e+02] [-1.05541246e-01 9.94414837e-01 -4.21178329e-04 -8.36705892e+00] [-4.91313449e-03 -9.79119449e-05 9.99987926e-01 -1.05164194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:162.10, Y:-8.37, Z:-1.05 [[ 9.94740350e-01 1.02311612e-01 4.89601741e-03 1.62099985e+02] [-1.02310777e-01 9.94752395e-01 -4.21296454e-04 -8.36945991e+00] [-4.91342857e-03 -8.18347649e-05 9.99987926e-01 -1.05368213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.16, Y:-8.37, Z:-1.06 [[ 9.95133678e-01 9.84123609e-02 4.89600726e-03 1.62160793e+02] [-9.84114784e-02 9.95145720e-01 -4.21414394e-04 -8.37320470e+00] [-4.91371306e-03 -6.24596571e-05 9.99987926e-01 -1.05835386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:-8.38, Z:-1.06 [[ 9.95405408e-01 9.56247996e-02 4.89596700e-03 1.62222382e+02] [-9.56238811e-02 9.95417448e-01 -4.21881671e-04 -8.37681315e+00] [-4.91387332e-03 -4.82280696e-05 9.99987926e-01 -1.05779530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:-8.38, Z:-1.06 [[ 9.95540113e-01 9.42120687e-02 4.89595709e-03 1.62283777e+02] [-9.42111326e-02 9.95552151e-01 -4.21996647e-04 -8.38057779e+00] [-4.91393778e-03 -4.11390725e-05 9.99987926e-01 -1.05610542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86587156000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:162.35, Y:-8.38, Z:-1.05 [[ 9.95561700e-01 9.39836705e-02 4.89594708e-03 1.62345368e+02] [-9.39827311e-02 9.95573738e-01 -4.22112697e-04 -8.38358520e+00] [-4.91394804e-03 -3.98952431e-05 9.99987926e-01 -1.05307060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.41, Y:-8.39, Z:-1.05 [[ 9.95397773e-01 9.57042462e-02 4.89593699e-03 1.62405324e+02] [-9.57033270e-02 9.95409813e-01 -4.22229700e-04 -8.38874384e+00] [-4.91387290e-03 -4.82709550e-05 9.99987926e-01 -1.05189905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.47, Y:-8.39, Z:-1.05 [[ 9.95033988e-01 9.94152495e-02 4.89593199e-03 1.62465982e+02] [-9.94143749e-02 9.95046031e-01 -4.22287634e-04 -8.38911006e+00] [-4.91365953e-03 -6.65354696e-05 9.99987926e-01 -1.05311802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:-8.39, Z:-1.06 [[ 9.94737881e-01 1.02335618e-01 4.89593199e-03 1.62526395e+02] [-1.02334778e-01 9.94749926e-01 -4.22287634e-04 -8.39183816e+00] [-4.91344305e-03 -8.09586086e-05 9.99987926e-01 -1.05631266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:-8.40, Z:-1.06 [[ 9.94709855e-01 1.02607675e-01 4.89593199e-03 1.62586322e+02] [-1.02606839e-01 9.94721900e-01 -4.22287634e-04 -8.39559802e+00] [-4.91342073e-03 -8.23024321e-05 9.99987926e-01 -1.05699365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:-8.40, Z:-1.06 [[ 9.94860356e-01 1.01138032e-01 4.89593199e-03 1.62645512e+02] [-1.01137179e-01 9.94872400e-01 -4.22287634e-04 -8.39843812e+00] [-4.91353695e-03 -7.50435219e-05 9.99987926e-01 -1.05736810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:-8.40, Z:-1.06 [[ 9.95045854e-01 9.92964140e-02 4.89593698e-03 1.62706247e+02] [-9.92955382e-02 9.95057897e-01 -4.22229782e-04 -8.40384983e+00] [-4.91366666e-03 -6.60067036e-05 9.99987926e-01 -1.05844017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:-8.41, Z:-1.06 [[ 9.95410989e-01 9.55666918e-02 4.89593698e-03 1.62766062e+02] [-9.55657709e-02 9.95423028e-01 -4.22229782e-04 -8.40840442e+00] [-4.91387952e-03 -4.75918271e-05 9.99987926e-01 -1.06019825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.83, Y:-8.41, Z:-1.06 [[ 9.95659491e-01 9.29419595e-02 4.89593203e-03 1.62827371e+02] [-9.29410066e-02 9.95671528e-01 -4.22287193e-04 -8.41356584e+00] [-4.91398832e-03 -3.45785992e-05 9.99987926e-01 -1.05942837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.89, Y:-8.42, Z:-1.06 [[ 9.95715975e-01 9.23348649e-02 4.89592195e-03 1.62886747e+02] [-9.23339041e-02 9.95728011e-01 -4.22403983e-04 -8.41922998e+00] [-4.91400924e-03 -3.14651950e-05 9.99987926e-01 -1.06002415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.95, Y:-8.42, Z:-1.06 [[ 9.95645091e-01 9.30960911e-02 4.89592694e-03 1.62946863e+02] [-9.30951397e-02 9.95657128e-01 -4.22346182e-04 -8.42333286e+00] [-4.91398334e-03 -3.52800993e-05 9.99987926e-01 -1.05986862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.01, Y:-8.43, Z:-1.06 [[ 9.95471592e-01 9.49333379e-02 4.89592694e-03 1.63006560e+02] [-9.49324088e-02 9.95483631e-01 -4.22346182e-04 -8.42616156e+00] [-4.91390986e-03 -4.43485111e-05 9.99987926e-01 -1.05771648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58587156000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:163.07, Y:-8.43, Z:-1.05 [[ 9.95354024e-01 9.61581812e-02 4.89593177e-03 1.63067222e+02] [-9.61572672e-02 9.95366064e-01 -4.22290185e-04 -8.43030249e+00] [-4.91385099e-03 -5.04511843e-05 9.99987926e-01 -1.05369771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:-8.43, Z:-1.05 [[ 9.95261806e-01 9.71080221e-02 4.89593177e-03 1.63127147e+02] [-9.71071195e-02 9.95273846e-01 -4.22290185e-04 -8.43345662e+00] [-4.91380061e-03 -5.51405398e-05 9.99987926e-01 -1.05344002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:-8.44, Z:-1.05 [[ 9.95232291e-01 9.74100398e-02 4.89593668e-03 1.63186996e+02] [-9.74091411e-02 9.95244332e-01 -4.22233223e-04 -8.43679250e+00] [-4.91378299e-03 -5.66888498e-05 9.99987926e-01 -1.05449118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:-8.44, Z:-1.06 [[ 9.95189549e-01 9.78457529e-02 4.89594666e-03 1.63246784e+02] [-9.78448602e-02 9.95201590e-01 -4.22117564e-04 -8.43899486e+00] [-4.91375631e-03 -5.89562275e-05 9.99987926e-01 -1.05648355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:-8.44, Z:-1.06 [[ 9.95210451e-01 9.76329221e-02 4.89595658e-03 1.63306363e+02] [-9.76320274e-02 9.95222492e-01 -4.22002457e-04 -8.44225030e+00] [-4.91376744e-03 -5.80209108e-05 9.99987926e-01 -1.05773387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.37, Y:-8.44, Z:-1.06 [[ 9.95358185e-01 9.61151021e-02 4.89596686e-03 1.63365415e+02] [-9.61141896e-02 9.95370225e-01 -4.21883172e-04 -8.44442911e+00] [-4.91384897e-03 -5.06470185e-05 9.99987926e-01 -1.06036036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.42, Y:-8.45, Z:-1.06 [[ 9.95482922e-01 9.48144622e-02 4.89598210e-03 1.63424986e+02] [-9.48135348e-02 9.95494960e-01 -4.21706209e-04 -8.44720719e+00] [-4.91390935e-03 -4.44040401e-05 9.99987926e-01 -1.05942905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.48, Y:-8.45, Z:-1.06 [[ 9.95526109e-01 9.43599254e-02 4.89599193e-03 1.63484634e+02] [-9.43589930e-02 9.95538147e-01 -4.21592016e-04 -8.45102895e+00] [-4.91392813e-03 -4.22750087e-05 9.99987926e-01 -1.05856027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.54, Y:-8.45, Z:-1.06 [[ 9.95454984e-01 9.51073329e-02 4.89600217e-03 1.63542823e+02] [-9.51064102e-02 9.95467023e-01 -4.21473020e-04 -8.45330238e+00] [-4.91389388e-03 -4.60837729e-05 9.99987926e-01 -1.06153007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.60, Y:-8.45, Z:-1.06 [[ 9.95319522e-01 9.65146549e-02 4.89601268e-03 1.63602697e+02] [-9.65137498e-02 9.95331562e-01 -4.21350916e-04 -8.45445541e+00] [-4.91382249e-03 -5.31537509e-05 9.99987926e-01 -1.06273214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.66, Y:-8.46, Z:-1.06 [[ 9.95358686e-01 9.61099137e-02 4.89602273e-03 1.63661839e+02] [-9.61090042e-02 9.95370726e-01 -4.21234096e-04 -8.45532121e+00] [-4.91384247e-03 -5.12728533e-05 9.99987926e-01 -1.06216859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:-8.46, Z:-1.06 [[ 9.95580574e-01 9.37835278e-02 4.89603388e-03 1.63721249e+02] [-9.37825908e-02 9.95592612e-01 -4.21104503e-04 -8.45972755e+00] [-4.91394782e-03 -3.99192790e-05 9.99987926e-01 -1.06280293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.78, Y:-8.46, Z:-1.06 [[ 9.96011298e-01 8.90927769e-02 4.89604376e-03 1.63780545e+02] [-8.90917838e-02 9.96023331e-01 -4.20989569e-04 -8.46416945e+00] [-4.91408095e-03 -1.68869056e-05 9.99987926e-01 -1.06461331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36587156000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:-8.47, Z:-1.07 [[ 9.96295363e-01 8.58579004e-02 4.89605355e-03 1.63838723e+02] [-8.58568688e-02 9.96307393e-01 -4.20875679e-04 -8.46812704e+00] [-4.91410985e-03 -1.04334014e-06 9.99987926e-01 -1.06560706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.90, Y:-8.47, Z:-1.07 [[ 9.96405538e-01 8.45696845e-02 4.89606811e-03 1.63898571e+02] [-8.45686382e-02 9.96417567e-01 -4.20706304e-04 -8.47262613e+00] [-4.91410727e-03 5.14027936e-06 9.99987926e-01 -1.06742005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.96, Y:-8.48, Z:-1.07 [[ 9.96595091e-01 8.23058517e-02 4.89607759e-03 1.63957790e+02] [-8.23047786e-02 9.96607117e-01 -4.20595857e-04 -8.47639866e+00] [-4.91408328e-03 1.61931832e-05 9.99987926e-01 -1.06722097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:-8.48, Z:-1.07 [[ 9.96900400e-01 7.85214612e-02 4.89608789e-03 1.64016651e+02] [-7.85203430e-02 9.96912423e-01 -4.20475933e-04 -8.48178805e+00] [-4.91398723e-03 3.47301250e-05 9.99987926e-01 -1.06867506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:164.08, Y:-8.49, Z:-1.07 [[ 9.97181254e-01 7.48703833e-02 4.89609298e-03 1.64076945e+02] [-7.48692214e-02 9.97193273e-01 -4.20416654e-04 -8.48856557e+00] [-4.91382774e-03 5.26649369e-05 9.99987926e-01 -1.06515319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.14, Y:-8.50, Z:-1.06 [[ 9.97546598e-01 6.98341874e-02 4.89609298e-03 1.64136759e+02] [-6.98329648e-02 9.97558610e-01 -4.20416654e-04 -8.49573356e+00] [-4.91349917e-03 7.74765138e-05 9.99987926e-01 -1.06360376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:-8.50, Z:-1.06 [[ 9.97634179e-01 6.85716684e-02 4.89607026e-03 1.64197401e+02] [-6.85704294e-02 9.97646189e-01 -4.20681179e-04 -8.50165326e+00] [-4.91339264e-03 8.39602826e-05 9.99987926e-01 -1.06321686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:164.26, Y:-8.51, Z:-1.06 [[ 9.97567473e-01 6.95353587e-02 4.89607026e-03 1.64257307e+02] [-6.95341313e-02 9.97579484e-01 -4.20681179e-04 -8.51114056e+00] [-4.91347146e-03 7.92138685e-05 9.99987926e-01 -1.06491454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.32, Y:-8.52, Z:-1.07 [[ 9.97312269e-01 7.31044934e-02 4.89607026e-03 1.64316575e+02] [-7.31033089e-02 9.97324285e-01 -4.20681179e-04 -8.51729966e+00] [-4.91372345e-03 6.16315646e-05 9.99987926e-01 -1.06776347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.38, Y:-8.52, Z:-1.07 [[ 9.96733198e-01 8.06161272e-02 4.89607516e-03 1.64375655e+02] [-8.06150336e-02 9.96745223e-01 -4.20624047e-04 -8.52349822e+00] [-4.91404861e-03 2.45526875e-05 9.99987926e-01 -1.06797766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.43, Y:-8.53, Z:-1.07 [[ 9.96098545e-01 8.81119552e-02 4.89608493e-03 1.64434944e+02] [-8.81109527e-02 9.96110578e-01 -4.20510335e-04 -8.52994997e+00] [-4.91409398e-03 -1.25289747e-05 9.99987926e-01 -1.06694104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:-8.53, Z:-1.07 [[ 9.95473814e-01 9.49100261e-02 4.89609470e-03 1.64493833e+02] [-9.49091062e-02 9.95485854e-01 -4.20396522e-04 -8.53335055e+00] [-4.91389286e-03 -4.61902433e-05 9.99987926e-01 -1.06786284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:-8.54, Z:-1.07 [[ 9.95116157e-01 9.85893607e-02 4.89610564e-03 1.64553605e+02] [-9.85884861e-02 9.95128200e-01 -4.20269069e-04 -8.53629513e+00] [-4.91368685e-03 -6.44831025e-05 9.99987926e-01 -1.07003816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:-8.54, Z:-1.07 [[ 9.94882074e-01 1.00924162e-01 4.89611580e-03 1.64611509e+02] [-1.00923317e-01 9.94894119e-01 -4.20150661e-04 -8.53842885e+00] [-4.91352017e-03 -7.61318841e-05 9.99987926e-01 -1.07141070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.67, Y:-8.54, Z:-1.07 [[ 9.95022206e-01 9.95330934e-02 4.89614083e-03 1.64671180e+02] [-9.95322322e-02 9.95034250e-01 -4.19858828e-04 -8.54115368e+00] [-4.91361767e-03 -6.95549685e-05 9.99987926e-01 -1.07179522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.73, Y:-8.54, Z:-1.07 [[ 9.95287223e-01 9.68471511e-02 4.89615075e-03 1.64731033e+02] [-9.68462579e-02 9.95299265e-01 -4.19743060e-04 -8.54446008e+00] [-4.91378616e-03 -5.64089738e-05 9.99987926e-01 -1.06981060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:164.79, Y:-8.55, Z:-1.07 [[ 9.95562328e-01 9.39770093e-02 4.89616106e-03 1.64790993e+02] [-9.39760820e-02 9.95574367e-01 -4.19622840e-04 -8.54816161e+00] [-4.91392734e-03 -4.23613414e-05 9.99987926e-01 -1.06849784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:-8.55, Z:-1.07 [[ 9.95916295e-01 9.01485448e-02 4.89617150e-03 1.64850183e+02] [-9.01475718e-02 9.95928330e-01 -4.19500932e-04 -8.55117366e+00] [-4.91405331e-03 -2.35901579e-05 9.99987926e-01 -1.07047203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.91, Y:-8.56, Z:-1.07 [[ 9.96306117e-01 8.57330035e-02 4.89618193e-03 1.64908207e+02] [-8.57319777e-02 9.96318148e-01 -4.19379228e-04 -8.55604326e+00] [-4.91410955e-03 -1.92927002e-06 9.99987926e-01 -1.07493949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:164.97, Y:-8.56, Z:-1.08 [[ 9.96585213e-01 8.24253642e-02 4.89619734e-03 1.64967146e+02] [-8.24242994e-02 9.96597240e-01 -4.19199211e-04 -8.56145393e+00] [-4.91408940e-03 1.42020994e-05 9.99987926e-01 -1.07562805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.03, Y:-8.57, Z:-1.08 [[ 9.96759461e-01 8.02907534e-02 4.89620236e-03 1.65026961e+02] [-8.02896632e-02 9.96771486e-01 -4.19140524e-04 -8.56661589e+00] [-4.91404801e-03 2.46678443e-05 9.99987926e-01 -1.07503377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.09, Y:-8.57, Z:-1.07 [[ 9.96788674e-01 7.99272528e-02 4.89621231e-03 1.65087483e+02] [-7.99261587e-02 9.96800699e-01 -4.19024262e-04 -8.57166661e+00] [-4.91403931e-03 2.63431967e-05 9.99987926e-01 -1.07413662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:165.15, Y:-8.57, Z:-1.07 [[ 9.96606751e-01 8.21645420e-02 4.89621231e-03 1.65147552e+02] [-8.21634749e-02 9.96618778e-01 -4.19024263e-04 -8.57491628e+00] [-4.91408607e-03 1.53125910e-05 9.99987926e-01 -1.07306637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.21, Y:-8.58, Z:-1.07 [[ 9.96443295e-01 8.41236409e-02 4.89622243e-03 1.65206138e+02] [-8.41225980e-02 9.96455324e-01 -4.18906037e-04 -8.57870172e+00] [-4.91410681e-03 5.53316075e-06 9.99987926e-01 -1.07487578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.27, Y:-8.58, Z:-1.07 [[ 9.96418864e-01 8.44125189e-02 4.89623746e-03 1.65266133e+02] [-8.44114805e-02 9.96430894e-01 -4.18730248e-04 -8.58244511e+00] [-4.91410835e-03 3.93206526e-06 9.99987926e-01 -1.07345052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.33, Y:-8.59, Z:-1.07 [[ 9.96584152e-01 8.24381828e-02 4.89624760e-03 1.65325520e+02] [-8.24371210e-02 9.96596180e-01 -4.18611694e-04 -8.58689062e+00] [-4.91409124e-03 1.35492243e-05 9.99987926e-01 -1.07250016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.38, Y:-8.59, Z:-1.07 [[ 9.96727969e-01 8.06807491e-02 4.89625766e-03 1.65384806e+02] [-8.06796668e-02 9.96739994e-01 -4.18494010e-04 -8.59374596e+00] [-4.91406024e-03 2.20962486e-05 9.99987926e-01 -1.07232754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:-8.60, Z:-1.07 [[ 9.96863400e-01 7.89897960e-02 4.89626263e-03 1.65444564e+02] [-7.89886935e-02 9.96875424e-01 -4.18435753e-04 -8.59955896e+00] [-4.91401605e-03 3.03738992e-05 9.99987926e-01 -1.07194067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:-8.61, Z:-1.07 [[ 9.97102673e-01 7.59097172e-02 4.89627248e-03 1.65504734e+02] [-7.59085781e-02 9.97114694e-01 -4.18320496e-04 -8.60781083e+00] [-4.91389983e-03 4.54394024e-05 9.99987926e-01 -1.07483681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10587156 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:165.57, Y:-8.61, Z:-1.07 [[ 9.97280007e-01 7.35432772e-02 4.89627248e-03 1.65565342e+02] [-7.35421096e-02 9.97292025e-01 -4.18320496e-04 -8.61478319e+00] [-4.91377816e-03 5.71004594e-05 9.99987926e-01 -1.07473509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.63, Y:-8.62, Z:-1.08 [[ 9.97475785e-01 7.08384420e-02 4.89627248e-03 1.65625435e+02] [-7.08372419e-02 9.97487800e-01 -4.18320496e-04 -8.62403288e+00] [-4.91360524e-03 7.04261268e-05 9.99987926e-01 -1.07571571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.69, Y:-8.63, Z:-1.08 [[ 9.97576585e-01 6.94044939e-02 4.89627248e-03 1.65686127e+02] [-6.94032765e-02 9.97588598e-01 -4.18320496e-04 -8.63405214e+00] [-4.91349892e-03 7.74893786e-05 9.99987926e-01 -1.07807386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.75, Y:-8.64, Z:-1.08 [[ 9.97647846e-01 6.83725237e-02 4.89626276e-03 1.65745703e+02] [-6.83712933e-02 9.97659857e-01 -4.18434263e-04 -8.64319986e+00] [-4.91341421e-03 8.26862237e-05 9.99987926e-01 -1.08306028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.81, Y:-8.65, Z:-1.08 [[ 9.97504049e-01 7.04393302e-02 4.89626276e-03 1.65805664e+02] [-7.04381247e-02 9.97516063e-01 -4.18434263e-04 -8.65303451e+00] [-4.91357498e-03 7.25063044e-05 9.99987926e-01 -1.08313534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.87, Y:-8.66, Z:-1.08 [[ 9.97354461e-01 7.25265856e-02 4.89624084e-03 1.65866035e+02] [-7.25254040e-02 9.97366478e-01 -4.18690578e-04 -8.66270518e+00] [-4.91371268e-03 6.24810712e-05 9.99987926e-01 -1.08058395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:-8.67, Z:-1.08 [[ 9.97164474e-01 7.50935380e-02 4.89624084e-03 1.65927053e+02] [-7.50923873e-02 9.97176493e-01 -4.18690578e-04 -8.67458223e+00] [-4.91385723e-03 4.98329565e-05 9.99987926e-01 -1.07808097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.99, Y:-8.68, Z:-1.08 [[ 9.97063274e-01 7.64254879e-02 4.89623060e-03 1.65986674e+02] [-7.64243527e-02 9.97075295e-01 -4.18810321e-04 -8.68376199e+00] [-4.91391835e-03 4.33891358e-05 9.99987926e-01 -1.08082613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:-8.69, Z:-1.08 [[ 9.96878913e-01 7.87937798e-02 4.89622551e-03 1.66047440e+02] [-7.87926728e-02 9.96890936e-01 -4.18869798e-04 -8.69416372e+00] [-4.91400717e-03 3.17757737e-05 9.99987926e-01 -1.07969403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64587156000002 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:166.11, Y:-8.70, Z:-1.08 [[ 9.96727502e-01 8.06865202e-02 4.89621570e-03 1.66108331e+02] [-8.06854355e-02 9.96739527e-01 -4.18984409e-04 -8.70354037e+00] [-4.91405812e-03 2.25599863e-05 9.99987926e-01 -1.07920911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.17, Y:-8.71, Z:-1.08 [[ 9.96475737e-01 8.37384840e-02 4.89620587e-03 1.66169268e+02] [-8.37374356e-02 9.96487765e-01 -4.19099296e-04 -8.71440392e+00] [-4.91410398e-03 7.62655579e-06 9.99987926e-01 -1.08002630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:-8.72, Z:-1.08 [[ 9.96345875e-01 8.52697181e-02 4.89619595e-03 1.66229841e+02] [-8.52686876e-02 9.96357905e-01 -4.19215182e-04 -8.72195786e+00] [-4.91410990e-03 1.91114436e-07 9.99987926e-01 -1.08014030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.29, Y:-8.73, Z:-1.08 [[ 9.96325734e-01 8.55047347e-02 4.89618574e-03 1.66290837e+02] [-8.55037064e-02 9.96337764e-01 -4.19334367e-04 -8.73199360e+00] [-4.91410983e-03 -8.48407035e-07 9.99987926e-01 -1.08082005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.35, Y:-8.74, Z:-1.08 [[ 9.96401797e-01 8.46137470e-02 4.89611990e-03 1.66352145e+02] [-8.46127042e-02 9.96413827e-01 -4.20101723e-04 -8.74200984e+00] [-4.91410794e-03 4.31616695e-06 9.99987926e-01 -1.08122950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.41, Y:-8.75, Z:-1.08 [[ 9.96302396e-01 8.57762440e-02 4.89605057e-03 1.66413994e+02] [-8.57752113e-02 9.96314426e-01 -4.20908112e-04 -8.74944188e+00] [-4.91410973e-03 -6.08011862e-07 9.99987926e-01 -1.07890680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.47, Y:-8.76, Z:-1.08 [[ 9.95899393e-01 9.03350929e-02 4.89597835e-03 1.66474259e+02] [-9.03341111e-02 9.95911427e-01 -4.21746517e-04 -8.75730245e+00] [-4.91405930e-03 -2.22567521e-05 9.99987926e-01 -1.07937095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:-8.76, Z:-1.08 [[ 9.95611532e-01 9.34543081e-02 4.89591175e-03 1.66535252e+02] [-9.34533603e-02 9.95623569e-01 -4.22518215e-04 -8.76185628e+00] [-4.91397128e-03 -3.68753976e-05 9.99987926e-01 -1.07871077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:-8.77, Z:-1.08 [[ 9.95525486e-01 9.43665007e-02 4.89584656e-03 1.66596811e+02] [-9.43655601e-02 9.95537524e-01 -4.23272331e-04 -8.76727514e+00] [-4.91394169e-03 -4.06209094e-05 9.99987926e-01 -1.08065519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:-8.77, Z:-1.08 [[ 9.95696939e-01 9.25399216e-02 4.89577751e-03 1.66658299e+02] [-9.25389550e-02 9.95708975e-01 -4.24069480e-04 -8.77354511e+00] [-4.91401296e-03 -3.08054515e-05 9.99987926e-01 -1.08093516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:-8.78, Z:-1.08 [[ 9.96164294e-01 8.73655105e-02 4.89570515e-03 1.66719960e+02] [-8.73644774e-02 9.96176324e-01 -4.24903164e-04 -8.78227668e+00] [-4.91410744e-03 -4.43736186e-06 9.99987926e-01 -1.08043536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:-8.79, Z:-1.08 [[ 9.96402477e-01 8.46057669e-02 4.89562826e-03 1.66782804e+02] [-8.46046961e-02 9.96414504e-01 -4.25787308e-04 -8.78964605e+00] [-4.91409906e-03 1.00623875e-05 9.99987926e-01 -1.07967814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-8.80, Z:-1.08 [[ 9.96662466e-01 8.14859692e-02 4.89554734e-03 1.66844303e+02] [-8.14848562e-02 9.96674489e-01 -4.26715610e-04 -8.79891652e+00] [-4.91403848e-03 2.63784605e-05 9.99987926e-01 -1.07808834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:-8.81, Z:-1.08 [[ 9.96774516e-01 8.01036745e-02 4.89547711e-03 1.66906226e+02] [-8.01025408e-02 9.96786537e-01 -4.27519856e-04 -8.80853364e+00] [-4.91399158e-03 3.40007426e-05 9.99987926e-01 -1.07943738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:166.97, Y:-8.82, Z:-1.08 [[ 9.96758304e-01 8.03051526e-02 4.89540510e-03 1.66967688e+02] [-8.03040173e-02 9.96770325e-01 -4.28342782e-04 -8.81511607e+00] [-4.91399267e-03 3.38335295e-05 9.99987926e-01 -1.08118579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.03, Y:-8.82, Z:-1.09 [[ 9.96608081e-01 8.21484537e-02 4.89532846e-03 1.67028399e+02] [-8.21473363e-02 9.96620104e-01 -4.29216942e-04 -8.82421117e+00] [-4.91404226e-03 2.56228793e-05 9.99987926e-01 -1.08569019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.09, Y:-8.83, Z:-1.08 [[ 9.96454786e-01 8.39874702e-02 4.89526396e-03 1.67091150e+02] [-8.39863715e-02 9.96466811e-01 -4.29951233e-04 -8.83085547e+00] [-4.91407858e-03 1.72915061e-05 9.99987926e-01 -1.08386126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66587156 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:-8.84, Z:-1.08 [[ 9.96277520e-01 8.60647476e-02 4.89518038e-03 1.67152085e+02] [-8.60636693e-02 9.96289546e-01 -4.30900801e-04 -8.84022016e+00] [-4.91410240e-03 7.99959653e-06 9.99987926e-01 -1.08424785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:-8.85, Z:-1.08 [[ 9.96097308e-01 8.81259970e-02 4.89511322e-03 1.67214610e+02] [-8.81249398e-02 9.96109336e-01 -4.31662388e-04 -8.84759795e+00] [-4.91410865e-03 -1.40381536e-06 9.99987926e-01 -1.08333948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.28, Y:-8.86, Z:-1.08 [[ 9.95806235e-01 9.13563383e-02 4.89503093e-03 1.67277306e+02] [-9.13553156e-02 9.95818266e-01 -4.32593500e-04 -8.85634882e+00] [-4.91408137e-03 -1.64077910e-05 9.99987926e-01 -1.08274280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:-8.86, Z:-1.08 [[ 9.95624554e-01 9.33155257e-02 4.89494849e-03 1.67340257e+02] [-9.33145220e-02 9.95636586e-01 -4.33524372e-04 -8.86372531e+00] [-4.91404436e-03 -2.51422696e-05 9.99987926e-01 -1.08217998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:-8.87, Z:-1.08 [[ 9.95327528e-01 9.64321081e-02 4.89486651e-03 1.67403166e+02] [-9.64311375e-02 9.95339564e-01 -4.34448056e-04 -8.87099845e+00] [-4.91394903e-03 -3.95994356e-05 9.99987926e-01 -1.08241911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.47, Y:-8.88, Z:-1.08 [[ 9.94772816e-01 1.01995518e-01 4.89478399e-03 1.67465212e+02] [-1.01994611e-01 9.94784856e-01 -4.35375751e-04 -8.87586658e+00] [-4.91366336e-03 -6.61416250e-05 9.99987926e-01 -1.08350776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:167.53, Y:-8.88, Z:-1.08 [[ 9.94333741e-01 1.06190644e-01 4.89470762e-03 1.67528524e+02] [-1.06189782e-01 9.94345785e-01 -4.36232653e-04 -8.87902494e+00] [-4.91335572e-03 -8.60070906e-05 9.99987926e-01 -1.08359222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.59, Y:-8.88, Z:-1.09 [[ 9.93972246e-01 1.09522681e-01 4.89462474e-03 1.67589173e+02] [-1.09521855e-01 9.93984292e-01 -4.37160626e-04 -8.88292820e+00] [-4.91305911e-03 -1.01542854e-04 9.99987926e-01 -1.08794509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.65, Y:-8.89, Z:-1.09 [[ 9.94109709e-01 1.08267865e-01 4.89455837e-03 1.67650756e+02] [-1.08267021e-01 9.94121753e-01 -4.37902456e-04 -8.88759707e+00] [-4.91319771e-03 -9.45961690e-05 9.99987926e-01 -1.08614913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20587156000002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:167.71, Y:-8.89, Z:-1.08 [[ 9.94693459e-01 1.02766564e-01 4.89448715e-03 1.67713672e+02] [-1.02765649e-01 9.94705499e-01 -4.38697043e-04 -8.89317482e+00] [-4.91365667e-03 -6.66160703e-05 9.99987926e-01 -1.08440573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.78, Y:-8.90, Z:-1.08 [[ 9.95032913e-01 9.94260894e-02 4.89440419e-03 1.67776230e+02] [-9.94251297e-02 9.95044949e-01 -4.39620640e-04 -8.89913271e+00] [-4.91386193e-03 -4.91897655e-05 9.99987926e-01 -1.08477639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.84, Y:-8.90, Z:-1.09 [[ 9.95213558e-01 9.76013275e-02 4.89431947e-03 1.67837217e+02] [-9.76003410e-02 9.95225592e-01 -4.40561876e-04 -8.90452579e+00] [-4.91395141e-03 -3.92340970e-05 9.99987926e-01 -1.08891035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.90, Y:-8.91, Z:-1.09 [[ 9.95113438e-01 9.86168992e-02 4.89425130e-03 1.67898757e+02] [-9.86159213e-02 9.95125472e-01 -4.41317905e-04 -8.90929215e+00] [-4.91391553e-03 -4.34897233e-05 9.99987926e-01 -1.09221423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:-8.91, Z:-1.09 [[ 9.94881002e-01 1.00934827e-01 4.89417831e-03 1.67960806e+02] [-1.00933873e-01 9.94893038e-01 -4.42125803e-04 -8.91280340e+00] [-4.91380982e-03 -5.41258124e-05 9.99987926e-01 -1.09329186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:168.02, Y:-8.92, Z:-1.09 [[ 9.94717003e-01 1.02538436e-01 4.89410376e-03 1.68022818e+02] [-1.02537498e-01 9.94729041e-01 -4.42949517e-04 -8.91789349e+00] [-4.91372649e-03 -6.12197373e-05 9.99987926e-01 -1.09164344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.08, Y:-8.92, Z:-1.09 [[ 9.94538026e-01 1.04260076e-01 4.89402449e-03 1.68084859e+02] [-1.04259154e-01 9.94550065e-01 -4.43823583e-04 -8.92093985e+00] [-4.91362546e-03 -6.88474248e-05 9.99987926e-01 -1.08794408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:-8.92, Z:-1.09 [[ 9.94303006e-01 1.06478077e-01 4.89395114e-03 1.68147289e+02] [-1.06477178e-01 9.94315047e-01 -4.44630957e-04 -8.92353192e+00] [-4.91347271e-03 -7.89962101e-05 9.99987926e-01 -1.08680279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:168.21, Y:-8.93, Z:-1.09 [[ 9.94176703e-01 1.07650979e-01 4.89387863e-03 1.68209643e+02] [-1.07650090e-01 9.94188745e-01 -4.45427679e-04 -8.92783350e+00] [-4.91338977e-03 -8.39926533e-05 9.99987926e-01 -1.08679327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:-8.93, Z:-1.09 [[ 9.94084393e-01 1.08500094e-01 4.89380418e-03 1.68271687e+02] [-1.08499211e-01 9.94096435e-01 -4.46244093e-04 -8.93179074e+00] [-4.91333082e-03 -8.73696051e-05 9.99987926e-01 -1.08931523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.33, Y:-8.94, Z:-1.09 [[ 9.94078454e-01 1.08554501e-01 4.89373010e-03 1.68333951e+02] [-1.08553615e-01 9.94090495e-01 -4.47055082e-04 -8.93593375e+00] [-4.91334042e-03 -8.68242682e-05 9.99987926e-01 -1.08977244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.40, Y:-8.94, Z:-1.09 [[ 9.94150688e-01 1.07890973e-01 4.89365586e-03 1.68395736e+02] [-1.07890075e-01 9.94162729e-01 -4.47866180e-04 -8.94013567e+00] [-4.91341098e-03 -8.27304286e-05 9.99987926e-01 -1.08836327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:-8.95, Z:-1.09 [[ 9.94091272e-01 1.08437062e-01 4.89358067e-03 1.68456843e+02] [-1.08436167e-01 9.94103313e-01 -4.48686290e-04 -8.94528408e+00] [-4.91337898e-03 -8.46060041e-05 9.99987926e-01 -1.08988073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.52, Y:-8.95, Z:-1.09 [[ 9.93922443e-01 1.09973775e-01 4.89351157e-03 1.68517765e+02] [-1.09972895e-01 9.93934485e-01 -4.49438684e-04 -8.94760319e+00] [-4.91325637e-03 -9.14464384e-05 9.99987926e-01 -1.09113474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.58, Y:-8.95, Z:-1.09 [[ 9.93754052e-01 1.11485143e-01 4.89350098e-03 1.68578552e+02] [-1.11484280e-01 9.93766096e-01 -4.49553953e-04 -8.94834154e+00] [-4.91311395e-03 -9.88023703e-05 9.99987926e-01 -1.09443910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:-8.95, Z:-1.10 [[ 9.93723420e-01 1.11757854e-01 4.89349575e-03 1.68639365e+02] [-1.11756994e-01 9.93735464e-01 -4.49610826e-04 -8.95171456e+00] [-4.91308781e-03 -1.00093570e-04 9.99987926e-01 -1.09612617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.70, Y:-8.95, Z:-1.09 [[ 9.93828137e-01 1.10822779e-01 4.89348541e-03 1.68699352e+02] [-1.10821908e-01 9.93840180e-01 -4.49723330e-04 -8.95458590e+00] [-4.91318201e-03 -9.53576912e-05 9.99987926e-01 -1.09329658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:168.76, Y:-8.96, Z:-1.09 [[ 9.93943207e-01 1.09785954e-01 4.89348028e-03 1.68758708e+02] [-1.09785069e-01 9.93955249e-01 -4.49779180e-04 -8.95682487e+00] [-4.91327984e-03 -9.01761114e-05 9.99987926e-01 -1.09160067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.82, Y:-8.96, Z:-1.09 [[ 9.94207677e-01 1.07364558e-01 4.89348532e-03 1.68819935e+02] [-1.07363645e-01 9.94219717e-01 -4.49724342e-04 -8.95825133e+00] [-4.91348404e-03 -7.82630246e-05 9.99987926e-01 -1.08925295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.88, Y:-8.96, Z:-1.09 [[ 9.94586261e-01 1.03798957e-01 4.89347464e-03 1.68880817e+02] [-1.03798000e-01 9.94598297e-01 -4.49840519e-04 -8.96013962e+00] [-4.91373452e-03 -6.05276811e-05 9.99987926e-01 -1.09154207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:-8.96, Z:-1.09 [[ 9.94728077e-01 1.02430982e-01 4.89346935e-03 1.68942217e+02] [-1.02430008e-01 9.94740112e-01 -4.49898076e-04 -8.96480363e+00] [-4.91381375e-03 -5.37118559e-05 9.99987926e-01 -1.09035491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.00, Y:-8.97, Z:-1.09 [[ 9.94978261e-01 9.99715692e-02 4.89345882e-03 1.69003354e+02] [-9.99705649e-02 9.94990293e-01 -4.50012552e-04 -8.96914457e+00] [-4.91393249e-03 -4.14491365e-05 9.99987926e-01 -1.09277442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.06, Y:-8.97, Z:-1.10 [[ 9.95307693e-01 9.66366951e-02 4.89344836e-03 1.69064815e+02] [-9.66356500e-02 9.95319722e-01 -4.50126246e-04 -8.97162143e+00] [-4.91404437e-03 -2.48674479e-05 9.99987926e-01 -1.09686363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:-8.98, Z:-1.10 [[ 9.95536905e-01 9.42460909e-02 4.89343796e-03 1.69125724e+02] [-9.42450163e-02 9.95548931e-01 -4.50239337e-04 -8.97636770e+00] [-4.91409022e-03 -1.29522634e-05 9.99987926e-01 -1.09755972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.19, Y:-8.98, Z:-1.10 [[ 9.95903126e-01 9.02940602e-02 4.89342739e-03 1.69186952e+02] [-9.02929373e-02 9.95915148e-01 -4.50354152e-04 -8.98139069e+00] [-4.91410277e-03 6.66717545e-06 9.99987926e-01 -1.09647712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.25, Y:-8.99, Z:-1.10 [[ 9.96143848e-01 8.75984457e-02 4.89341696e-03 1.69247660e+02] [-8.75972898e-02 9.96155867e-01 -4.50467474e-04 -8.98673106e+00] [-4.91406626e-03 2.00803401e-05 9.99987926e-01 -1.09526148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:169.31, Y:-8.99, Z:-1.10 [[ 9.96287345e-01 8.59510409e-02 4.89340662e-03 1.69308553e+02] [-8.59498645e-02 9.96299362e-01 -4.50579704e-04 -8.99334860e+00] [-4.91402569e-03 2.83192204e-05 9.99987926e-01 -1.09608603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:-9.00, Z:-1.10 [[ 9.96496586e-01 8.34901666e-02 4.89339635e-03 1.69369028e+02] [-8.34889600e-02 9.96508600e-01 -4.50691219e-04 -9.00060762e+00] [-4.91393983e-03 4.05676890e-05 9.99987926e-01 -1.09558556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.43, Y:-9.01, Z:-1.09 [[ 9.96730476e-01 8.06499392e-02 4.89338581e-03 1.69430939e+02] [-8.06486978e-02 9.96742486e-01 -4.50805630e-04 -9.00923978e+00] [-4.91380299e-03 5.46865168e-05 9.99987926e-01 -1.09333867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.49, Y:-9.02, Z:-1.10 [[ 9.96813727e-01 7.96143757e-02 4.89331232e-03 1.69491963e+02] [-7.96131179e-02 9.96825736e-01 -4.51601908e-04 -9.02075814e+00] [-4.91373366e-03 6.05911303e-05 9.99987926e-01 -1.09713849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:169.55, Y:-9.03, Z:-1.10 [[ 9.96707167e-01 8.09374986e-02 4.89323850e-03 1.69553458e+02] [-8.09362529e-02 9.96719177e-01 -4.52400419e-04 -9.03063419e+00] [-4.91380081e-03 5.48703521e-05 9.99987926e-01 -1.09859724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:-9.04, Z:-1.09 [[ 9.96193807e-01 8.70284776e-02 4.89316461e-03 1.69615635e+02] [-8.70273014e-02 9.96205824e-01 -4.53198208e-04 -9.03849267e+00] [-4.91404023e-03 2.56343373e-05 9.99987926e-01 -1.09359988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:-9.05, Z:-1.09 [[ 9.95673779e-01 9.27889146e-02 4.89308641e-03 1.69675846e+02] [-9.27878037e-02 9.95685803e-01 -4.54040974e-04 -9.04686898e+00] [-4.91410663e-03 -1.94204864e-06 9.99987926e-01 -1.09287441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:-9.05, Z:-1.09 [[ 9.94774706e-01 1.01977171e-01 4.89304339e-03 1.69735757e+02] [-1.01976169e-01 9.94786738e-01 -4.54504034e-04 -9.05280025e+00] [-4.91388371e-03 -4.68447023e-05 9.99987926e-01 -1.09166617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.80, Y:-9.06, Z:-1.09 [[ 9.93934851e-01 1.09861594e-01 4.89304339e-03 1.69795771e+02] [-1.09860687e-01 9.93946891e-01 -4.54504034e-04 -9.05824718e+00] [-4.91335781e-03 -8.58057095e-05 9.99987926e-01 -1.09383838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-9.06, Z:-1.09 [[ 9.93596874e-01 1.12877415e-01 4.89301798e-03 1.69855529e+02] [-1.12876544e-01 9.93608917e-01 -4.54777458e-04 -9.06381946e+00] [-4.91308040e-03 -1.00441497e-04 9.99987926e-01 -1.09411610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:-9.07, Z:-1.10 [[ 9.93476721e-01 1.13930080e-01 4.89301798e-03 1.69916140e+02] [-1.13929221e-01 9.93488765e-01 -4.54777458e-04 -9.06857259e+00] [-4.91297122e-03 -1.05646908e-04 9.99987926e-01 -1.09653183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.98, Y:-9.07, Z:-1.10 [[ 9.93575725e-01 1.13063420e-01 4.89301249e-03 1.69977718e+02] [-1.13062551e-01 9.93587768e-01 -4.54836529e-04 -9.07373473e+00] [-4.91306273e-03 -1.01301939e-04 9.99987926e-01 -1.09673630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:-9.08, Z:-1.10 [[ 9.93799778e-01 1.11076823e-01 4.89300173e-03 1.70038372e+02] [-1.11075929e-01 9.93811819e-01 -4.54952202e-04 -9.08024708e+00] [-4.91325760e-03 -9.13633143e-05 9.99987926e-01 -1.09752127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.10, Y:-9.09, Z:-1.10 [[ 9.93826988e-01 1.10833101e-01 4.89299642e-03 1.70099313e+02] [-1.10832204e-01 9.93839029e-01 -4.55009380e-04 -9.08652750e+00] [-4.91328091e-03 -9.01009744e-05 9.99987926e-01 -1.09878575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:-9.09, Z:-1.10 [[ 9.93896613e-01 1.10206990e-01 4.89298567e-03 1.70160366e+02] [-1.10206084e-01 9.93908654e-01 -4.55124941e-04 -9.09171019e+00] [-4.91333875e-03 -8.68896515e-05 9.99987926e-01 -1.10050599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.22, Y:-9.09, Z:-1.10 [[ 9.93785860e-01 1.11201276e-01 4.89297494e-03 1.70220465e+02] [-1.11200381e-01 9.93797901e-01 -4.55240294e-04 -9.09263802e+00] [-4.91325152e-03 -9.16893123e-05 9.99987926e-01 -1.09904051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.28, Y:-9.09, Z:-1.10 [[ 9.93589369e-01 1.12943456e-01 4.89296962e-03 1.70279840e+02] [-1.12942583e-01 9.93601412e-01 -4.55297364e-04 -9.09448907e+00] [-4.91308439e-03 -1.00246007e-04 9.99987926e-01 -1.09745987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.34, Y:-9.10, Z:-1.10 [[ 9.93254235e-01 1.15853717e-01 4.89298017e-03 1.70340161e+02] [-1.15852880e-01 9.93266280e-01 -4.55184018e-04 -9.09514534e+00] [-4.91276697e-03 -1.14752390e-04 9.99987926e-01 -1.09683172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:-9.10, Z:-1.10 [[ 9.93163215e-01 1.16631413e-01 4.89299075e-03 1.70400126e+02] [-1.16630586e-01 9.93175261e-01 -4.55070301e-04 -9.09593738e+00] [-4.91267285e-03 -1.18713293e-04 9.99987926e-01 -1.09596771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:-9.09, Z:-1.10 [[ 9.93344680e-01 1.15075654e-01 4.89300138e-03 1.70459917e+02] [-1.15074808e-01 9.93356724e-01 -4.54955943e-04 -9.09368042e+00] [-4.91285017e-03 -1.11133128e-04 9.99987926e-01 -1.09793370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.52, Y:-9.09, Z:-1.10 [[ 9.93907759e-01 1.10106425e-01 4.89300664e-03 1.70519542e+02] [-1.10105520e-01 9.93919799e-01 -4.54899336e-04 -9.09283689e+00] [-4.91334352e-03 -8.66190597e-05 9.99987926e-01 -1.09828841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:170.58, Y:-9.10, Z:-1.10 [[ 9.94314981e-01 1.06366240e-01 4.89301724e-03 1.70579802e+02] [-1.06365290e-01 9.94327018e-01 -4.54785314e-04 -9.09571452e+00] [-4.91363304e-03 -6.82473465e-05 9.99987926e-01 -1.09730854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:-9.10, Z:-1.10 [[ 9.94777651e-01 1.01948433e-01 4.89301724e-03 1.70639903e+02] [-1.01947429e-01 9.94789684e-01 -4.54785314e-04 -9.09655536e+00] [-4.91388772e-03 -4.64202620e-05 9.99987926e-01 -1.09799477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:-9.10, Z:-1.10 [[ 9.95308986e-01 9.66234008e-02 4.89302775e-03 1.70700668e+02] [-9.66223332e-02 9.95321013e-01 -4.54672206e-04 -9.09510465e+00] [-4.91406531e-03 -2.02364253e-05 9.99987926e-01 -1.10018645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20587156000002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:-9.10, Z:-1.10 [[ 9.95810182e-01 9.13134111e-02 4.89302775e-03 1.70759979e+02] [-9.13122794e-02 9.95822203e-01 -4.54672206e-04 -9.09631562e+00] [-4.91410335e-03 5.97369555e-06 9.99987926e-01 -1.10075597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.82, Y:-9.10, Z:-1.10 [[ 9.95955874e-01 8.97103964e-02 4.89303808e-03 1.70819709e+02] [-8.97092458e-02 9.95967893e-01 -4.54560964e-04 -9.09977327e+00] [-4.91408768e-03 1.37719058e-05 9.99987926e-01 -1.10146353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:170.88, Y:-9.10, Z:-1.10 [[ 9.96385576e-01 8.48047288e-02 4.89304832e-03 1.70879637e+02] [-8.48035196e-02 9.96397590e-01 -4.54450767e-04 -9.10055303e+00] [-4.91396112e-03 3.78604705e-05 9.99987926e-01 -1.09934213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.94, Y:-9.10, Z:-1.10 [[ 9.96691701e-01 8.11277456e-02 4.89305887e-03 1.70939058e+02] [-8.11264927e-02 9.96703710e-01 -4.54337126e-04 -9.10363652e+00] [-4.91378928e-03 5.58773379e-05 9.99987926e-01 -1.09970665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:171.00, Y:-9.11, Z:-1.10 [[ 9.97219638e-01 7.43575983e-02 4.89306953e-03 1.70998126e+02] [-7.43562644e-02 9.97231638e-01 -4.54222292e-04 -9.10907209e+00] [-4.91329862e-03 8.91290183e-05 9.99987926e-01 -1.10036269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:-9.11, Z:-1.10 [[ 9.97502989e-01 7.04545606e-02 4.89306363e-03 1.71057806e+02] [-7.04531794e-02 9.97514984e-01 -4.54285860e-04 -9.11348986e+00] [-4.91291080e-03 1.08419613e-04 9.99987926e-01 -1.10321021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:-9.12, Z:-1.10 [[ 9.97718959e-01 6.73270894e-02 4.89306880e-03 1.71116468e+02] [-6.73256709e-02 9.97730950e-01 -4.54230153e-04 -9.12052908e+00] [-4.91254817e-03 1.23764896e-04 9.99987926e-01 -1.10447728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:-9.13, Z:-1.10 [[ 9.97696921e-01 6.76528703e-02 4.89307366e-03 1.71176448e+02] [-6.76514560e-02 9.97708913e-01 -4.54177815e-04 -9.12634693e+00] [-4.91258963e-03 1.22108251e-04 9.99987926e-01 -1.10153408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:-9.13, Z:-1.10 [[ 9.97415244e-01 7.16860372e-02 4.89307366e-03 1.71235270e+02] [-7.16846714e-02 9.97427241e-01 -4.54177815e-04 -9.13151157e+00] [-4.91304317e-03 1.02245500e-04 9.99987926e-01 -1.10131850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.30, Y:-9.14, Z:-1.10 [[ 9.97069141e-01 7.63491042e-02 4.89307901e-03 1.71295037e+02] [-7.63477947e-02 9.97081144e-01 -4.54120117e-04 -9.13606442e+00] [-4.91346848e-03 7.92133631e-05 9.99987926e-01 -1.09964767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:-9.14, Z:-1.10 [[ 9.96506777e-01 8.33684663e-02 4.89309001e-03 1.71354019e+02] [-8.33672420e-02 9.96518789e-01 -4.54001639e-04 -9.14000549e+00] [-4.91390555e-03 4.44922918e-05 9.99987926e-01 -1.09986558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.41, Y:-9.14, Z:-1.10 [[ 9.96174159e-01 8.72530992e-02 4.89310624e-03 1.71413949e+02] [-8.72519226e-02 9.96186175e-01 -4.53826652e-04 -9.14478889e+00] [-4.91404257e-03 2.51574565e-05 9.99987926e-01 -1.10063706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92587156000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:-9.15, Z:-1.10 [[ 9.96241146e-01 8.64848934e-02 4.89311691e-03 1.71471918e+02] [-8.64837080e-02 9.96253162e-01 -4.53711500e-04 -9.14992622e+00] [-4.91402239e-03 2.88311705e-05 9.99987926e-01 -1.10109857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:-9.16, Z:-1.10 [[ 9.96582176e-01 8.24622548e-02 4.89313275e-03 1.71531047e+02] [-8.24610218e-02 9.96594187e-01 -4.53540618e-04 -9.15637439e+00] [-4.91386764e-03 4.84977694e-05 9.99987926e-01 -1.10241719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:-9.16, Z:-1.10 [[ 9.96832980e-01 7.93729583e-02 4.89314326e-03 1.71590603e+02] [-7.93716886e-02 9.96844988e-01 -4.53427237e-04 -9.16383512e+00] [-4.91369519e-03 6.36141815e-05 9.99987926e-01 -1.10486058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:-9.17, Z:-1.11 [[ 9.96995056e-01 7.73105187e-02 4.89315362e-03 1.71649700e+02] [-7.73092247e-02 9.97007060e-01 -4.53315403e-04 -9.17277411e+00] [-4.91355475e-03 7.36673025e-05 9.99987926e-01 -1.10603938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.71, Y:-9.18, Z:-1.11 [[ 9.96975812e-01 7.75582874e-02 4.89315874e-03 1.71710017e+02] [-7.75569967e-02 9.96987817e-01 -4.53260080e-04 -9.18022383e+00] [-4.91357373e-03 7.23906400e-05 9.99987926e-01 -1.10567322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.77, Y:-9.19, Z:-1.11 [[ 9.96748723e-01 8.04241290e-02 4.89315874e-03 1.71768817e+02] [-8.04228729e-02 9.96760732e-01 -4.53260080e-04 -9.19053467e+00] [-4.91376154e-03 5.82645226e-05 9.99987926e-01 -1.10678233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.83, Y:-9.20, Z:-1.11 [[ 9.96187946e-01 8.70955430e-02 4.89316374e-03 1.71827484e+02] [-8.70943676e-02 9.96199963e-01 -4.53206096e-04 -9.19895231e+00] [-4.91404177e-03 2.53114479e-05 9.99987926e-01 -1.10898041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.89, Y:-9.21, Z:-1.10 [[ 9.95689104e-01 9.26243262e-02 4.89317366e-03 1.71886949e+02] [-9.26232180e-02 9.95701127e-01 -4.53098973e-04 -9.20638087e+00] [-4.91410652e-03 -2.07578086e-06 9.99987926e-01 -1.10439781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.95, Y:-9.21, Z:-1.11 [[ 9.94860495e-01 1.01136802e-01 4.89318477e-03 1.71945270e+02] [-1.01135798e-01 9.94872527e-01 -4.52978973e-04 -9.21175090e+00] [-4.91390794e-03 -4.42252592e-05 9.99987926e-01 -1.10660890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:-9.22, Z:-1.10 [[ 9.94382691e-01 1.05731358e-01 4.89319609e-03 1.72003554e+02] [-1.05730409e-01 9.94394728e-01 -4.52856656e-04 -9.21644756e+00] [-4.91364955e-03 -6.70468053e-05 9.99987926e-01 -1.10448582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:-9.22, Z:-1.11 [[ 9.93848017e-01 1.10644362e-01 4.89321827e-03 1.72061937e+02] [-1.10643474e-01 9.93860059e-01 -4.52616873e-04 -9.22143852e+00] [-4.91325371e-03 -9.15702854e-05 9.99987926e-01 -1.10660961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:-9.22, Z:-1.11 [[ 9.93503870e-01 1.13693081e-01 4.89324028e-03 1.72119749e+02] [-1.13692231e-01 9.93515914e-01 -4.52378803e-04 -9.22246988e+00] [-4.91294443e-03 -1.06883315e-04 9.99987926e-01 -1.10622281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:-9.23, Z:-1.11 [[ 9.93555928e-01 1.13237250e-01 4.89326744e-03 1.72178048e+02] [-1.13236396e-01 9.93567972e-01 -4.52084834e-04 -9.22592480e+00] [-4.91298665e-03 -1.04924403e-04 9.99987926e-01 -1.10514392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:-9.23, Z:-1.11 [[ 9.93786069e-01 1.11199392e-01 4.89328881e-03 1.72237262e+02] [-1.11198515e-01 9.93798111e-01 -4.51853412e-04 -9.22920951e+00] [-4.91318700e-03 -9.50808238e-05 9.99987926e-01 -1.10542265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:-9.23, Z:-1.10 [[ 9.94502720e-01 1.04596343e-01 4.89331015e-03 1.72296271e+02] [-1.04595387e-01 9.94514757e-01 -4.51622198e-04 -9.23308340e+00] [-4.91370718e-03 -6.26781622e-05 9.99987926e-01 -1.10454306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:-9.24, Z:-1.10 [[ 9.95459078e-01 9.50646109e-02 4.89333215e-03 1.72355183e+02] [-9.50635406e-02 9.95471104e-01 -4.51383663e-04 -9.23908612e+00] [-4.91408138e-03 -1.58435146e-05 9.99987926e-01 -1.10400912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:-9.25, Z:-1.10 [[ 9.96076959e-01 8.83557991e-02 4.89334327e-03 1.72413914e+02] [-8.83546484e-02 9.96088978e-01 -4.51263130e-04 -9.24690397e+00] [-4.91407701e-03 1.71431823e-05 9.99987926e-01 -1.10483065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.47, Y:-9.26, Z:-1.11 [[ 9.96795415e-01 7.98433172e-02 4.89334883e-03 1.72473705e+02] [-7.98420641e-02 9.96807424e-01 -4.51202875e-04 -9.25705931e+00] [-4.91375197e-03 5.90618862e-05 9.99987926e-01 -1.10732420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.53, Y:-9.27, Z:-1.11 [[ 9.97079415e-01 7.62148020e-02 4.89334327e-03 1.72533394e+02] [-7.62135049e-02 9.97091419e-01 -4.51263155e-04 -9.26590735e+00] [-4.91350351e-03 7.70063616e-05 9.99987926e-01 -1.10920035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.59, Y:-9.28, Z:-1.11 [[ 9.97251780e-01 7.39252557e-02 4.89331578e-03 1.72593564e+02] [-7.39239296e-02 9.97263781e-01 -4.51560959e-04 -9.27763301e+00] [-4.91330836e-03 8.85868382e-05 9.99987926e-01 -1.11044555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.65, Y:-9.29, Z:-1.11 [[ 9.97184687e-01 7.48248260e-02 4.89330524e-03 1.72653620e+02] [-7.48235102e-02 9.97196690e-01 -4.51675188e-04 -9.28856929e+00] [-4.91338431e-03 8.42693063e-05 9.99987926e-01 -1.10861242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.71, Y:-9.30, Z:-1.11 [[ 9.96924792e-01 7.82113450e-02 4.89330524e-03 1.72713792e+02] [-7.82100700e-02 9.96936799e-01 -4.51675188e-04 -9.29891628e+00] [-4.91364219e-03 6.75804475e-05 9.99987926e-01 -1.10576560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.77, Y:-9.31, Z:-1.11 [[ 9.96518854e-01 8.32239650e-02 4.89330524e-03 1.72773459e+02] [-8.32227504e-02 9.96530867e-01 -4.51675188e-04 -9.30705254e+00] [-4.91391992e-03 4.28685201e-05 9.99987926e-01 -1.10646446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:172.83, Y:-9.32, Z:-1.11 [[ 9.95707445e-01 9.24269395e-02 4.89330524e-03 1.72832622e+02] [-9.24258359e-02 9.95719469e-01 -4.51675188e-04 -9.31667974e+00] [-4.91410625e-03 -2.53147963e-06 9.99987926e-01 -1.10903900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.89, Y:-9.32, Z:-1.11 [[ 9.94820654e-01 1.01527936e-01 4.89329882e-03 1.72891865e+02] [-1.01526942e-01 9.94832687e-01 -4.51744737e-04 -9.32361095e+00] [-4.91387833e-03 -4.73966708e-05 9.99987926e-01 -1.11292678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:-9.33, Z:-1.11 [[ 9.94244582e-01 1.07022275e-01 4.89330940e-03 1.72951072e+02] [-1.07021348e-01 9.94256620e-01 -4.51630136e-04 -9.32975895e+00] [-4.91353975e-03 -7.46577522e-05 9.99987926e-01 -1.11387224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:-9.33, Z:-1.11 [[ 9.93388260e-01 1.14698822e-01 4.89332009e-03 1.73010848e+02] [-1.14697989e-01 9.93400306e-01 -4.51514218e-04 -9.33304040e+00] [-4.91281383e-03 -1.12725049e-04 9.99987926e-01 -1.10975018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.07, Y:-9.33, Z:-1.11 [[ 9.92679752e-01 1.20677115e-01 4.89333122e-03 1.73070065e+02] [-1.20676355e-01 9.92691802e-01 -4.51393615e-04 -9.33390410e+00] [-4.91204266e-03 -1.42420074e-04 9.99987926e-01 -1.11039359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.13, Y:-9.34, Z:-1.11 [[ 9.92507365e-01 1.22086795e-01 4.89334766e-03 1.73128068e+02] [-1.22086053e-01 9.92519416e-01 -4.51215270e-04 -9.33676692e+00] [-4.91182999e-03 -1.49575024e-04 9.99987926e-01 -1.11272526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:-9.34, Z:-1.11 [[ 9.92747780e-01 1.20116199e-01 4.89337385e-03 1.73186937e+02] [-1.20115434e-01 9.92759830e-01 -4.50931126e-04 -9.33747451e+00] [-4.91210912e-03 -1.40108849e-04 9.99987926e-01 -1.11336991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.25, Y:-9.34, Z:-1.11 [[ 9.93243427e-01 1.15946321e-01 4.89339514e-03 1.73246288e+02] [-1.15945506e-01 9.93255474e-01 -4.50699972e-04 -9.33916463e+00] [-4.91264851e-03 -1.19712393e-04 9.99987926e-01 -1.11305122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.30, Y:-9.34, Z:-1.11 [[ 9.94250418e-01 1.06968037e-01 4.89341632e-03 1.73304670e+02] [-1.06967115e-01 9.94262457e-01 -4.50469871e-04 -9.34073884e+00] [-4.91352601e-03 -7.55547688e-05 9.99987926e-01 -1.11248282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.37, Y:-9.34, Z:-1.11 [[ 9.95190306e-01 9.78381738e-02 4.89343207e-03 1.73365192e+02] [-9.78371423e-02 9.95202337e-01 -4.50298720e-04 -9.34490328e+00] [-4.91401143e-03 -3.06264885e-05 9.99987926e-01 -1.11079791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.42, Y:-9.35, Z:-1.11 [[ 9.95714398e-01 9.23520048e-02 4.89343207e-03 1.73424996e+02] [-9.23509071e-02 9.95726422e-01 -4.50298720e-04 -9.34866119e+00] [-4.91410559e-03 -3.54397152e-06 9.99987926e-01 -1.11189680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:-9.35, Z:-1.11 [[ 9.96378240e-01 8.48908563e-02 4.89344263e-03 1.73485894e+02] [-8.48896691e-02 9.96390256e-01 -4.50183981e-04 -9.35142195e+00] [-4.91399505e-03 3.31507978e-05 9.99987926e-01 -1.11340604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:-9.36, Z:-1.12 [[ 9.96763011e-01 8.02468317e-02 4.89344263e-03 1.73545942e+02] [-8.02455885e-02 9.96775021e-01 -4.50183981e-04 -9.35761136e+00] [-4.91378721e-03 5.60495576e-05 9.99987926e-01 -1.11574225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:-9.37, Z:-1.12 [[ 9.97264549e-01 7.37527847e-02 4.89344263e-03 1.73607182e+02] [-7.37514633e-02 9.97276551e-01 -4.50183981e-04 -9.36564283e+00] [-4.91331791e-03 8.80539710e-05 9.99987926e-01 -1.11662146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.67, Y:-9.37, Z:-1.11 [[ 9.97498224e-01 7.05219618e-02 4.89343237e-03 1.73667739e+02] [-7.05206009e-02 9.97510222e-01 -4.50295468e-04 -9.37331566e+00] [-4.91300452e-03 1.04081138e-04 9.99987926e-01 -1.11421971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20587156000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:-9.38, Z:-1.11 [[ 9.97633790e-01 6.85775124e-02 4.89342166e-03 1.73727744e+02] [-6.85761276e-02 9.97645785e-01 -4.50411749e-04 -9.38260259e+00] [-4.91278961e-03 1.13774072e-04 9.99987926e-01 -1.11440438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:-9.39, Z:-1.11 [[ 9.97635017e-01 6.85596597e-02 4.89339673e-03 1.73789002e+02] [-6.85582733e-02 9.97647012e-01 -4.50682505e-04 -9.39117593e+00] [-4.91278126e-03 1.14133818e-04 9.99987926e-01 -1.11475963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.85, Y:-9.40, Z:-1.11 [[ 9.97513758e-01 7.03019072e-02 4.89338631e-03 1.73850105e+02] [-7.03005412e-02 9.97525754e-01 -4.50795595e-04 -9.40045486e+00] [-4.91297066e-03 1.05667102e-04 9.99987926e-01 -1.11382040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.91, Y:-9.41, Z:-1.12 [[ 9.97295750e-01 7.33296737e-02 4.89337526e-03 1.73909967e+02] [-7.33283436e-02 9.97307751e-01 -4.50915466e-04 -9.41267857e+00] [-4.91326656e-03 9.08729751e-05 9.99987926e-01 -1.11575700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:-9.42, Z:-1.12 [[ 9.97087423e-01 7.61099636e-02 4.89330391e-03 1.73970811e+02] [-7.61086632e-02 9.97099427e-01 -4.51688406e-04 -9.42097859e+00] [-4.91348852e-03 7.79500097e-05 9.99987926e-01 -1.11682204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:-9.43, Z:-1.12 [[ 9.96748986e-01 8.04208616e-02 4.89329307e-03 1.74031482e+02] [-8.04196125e-02 9.96760995e-01 -4.51805849e-04 -9.43385438e+00] [-4.91377829e-03 5.68202894e-05 9.99987926e-01 -1.11597016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.09, Y:-9.44, Z:-1.12 [[ 9.96517158e-01 8.32442799e-02 4.89328224e-03 1.74091585e+02] [-8.32430642e-02 9.96529171e-01 -4.51923077e-04 -9.44359509e+00] [-4.91391851e-03 4.30172919e-05 9.99987926e-01 -1.11563192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:-9.45, Z:-1.11 [[ 9.96126560e-01 8.77948312e-02 4.89321198e-03 1.74152108e+02] [-8.77936668e-02 9.96138578e-01 -4.52682607e-04 -9.45423196e+00] [-4.91406042e-03 2.13361460e-05 9.99987926e-01 -1.11354730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.21, Y:-9.46, Z:-1.11 [[ 9.95848558e-01 9.08939241e-02 4.89320111e-03 1.74212643e+02] [-9.08927965e-02 9.95860580e-01 -4.52800055e-04 -9.46335915e+00] [-4.91410287e-03 6.16354980e-06 9.99987926e-01 -1.11420607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:-9.47, Z:-1.12 [[ 9.95527724e-01 9.43430272e-02 4.89319030e-03 1.74272190e+02] [-9.43419407e-02 9.95539750e-01 -4.52916861e-04 -9.47426063e+00] [-4.91409499e-03 -1.07417768e-05 9.99987926e-01 -1.11662892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:-9.48, Z:-1.11 [[ 9.95235672e-01 9.73756371e-02 4.89318493e-03 1.74332824e+02] [-9.73745869e-02 9.95247700e-01 -4.52974864e-04 -9.48173475e+00] [-4.91403976e-03 -2.56551186e-05 9.99987926e-01 -1.11462906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86587156000002 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:-9.49, Z:-1.11 [[ 9.95081328e-01 9.89404278e-02 4.89317402e-03 1.74393325e+02] [-9.89393959e-02 9.95093358e-01 -4.53092669e-04 -9.48965963e+00] [-4.91399415e-03 -3.32636273e-05 9.99987926e-01 -1.11489980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:-9.50, Z:-1.11 [[ 9.94966176e-01 1.00091789e-01 4.89310372e-03 1.74454527e+02] [-1.00090767e-01 9.94978207e-01 -4.53850585e-04 -9.49855419e+00] [-4.91395828e-03 -3.81885230e-05 9.99987926e-01 -1.11364969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.52, Y:-9.51, Z:-1.11 [[ 9.94903840e-01 1.00709524e-01 4.89302606e-03 1.74515690e+02] [-1.00708506e-01 9.94915871e-01 -4.54686271e-04 -9.50612827e+00] [-4.91394053e-03 -4.04002255e-05 9.99987926e-01 -1.11426083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.58, Y:-9.51, Z:-1.12 [[ 9.94757422e-01 1.02145630e-01 4.89295486e-03 1.74577786e+02] [-1.02144626e-01 9.94769455e-01 -4.55451236e-04 -9.51148055e+00] [-4.91388439e-03 -4.67255448e-05 9.99987926e-01 -1.11556140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:174.64, Y:-9.52, Z:-1.12 [[ 9.94664789e-01 1.03043760e-01 4.89287835e-03 1.74639726e+02] [-1.03042762e-01 9.94676822e-01 -4.56271729e-04 -9.51741700e+00] [-4.91384864e-03 -5.03382779e-05 9.99987926e-01 -1.11576631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.70, Y:-9.52, Z:-1.12 [[ 9.94503581e-01 1.04588185e-01 4.89279715e-03 1.74700877e+02] [-1.04587202e-01 9.94515615e-01 -4.57140832e-04 -9.52249898e+00] [-4.91377469e-03 -5.70957675e-05 9.99987926e-01 -1.11683023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:-9.53, Z:-1.12 [[ 9.94483829e-01 1.04775835e-01 4.89272756e-03 1.74762636e+02] [-1.04774850e-01 9.94495863e-01 -4.57884371e-04 -9.52790306e+00] [-4.91377253e-03 -5.72761931e-05 9.99987926e-01 -1.11665534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:-9.53, Z:-1.12 [[ 9.94436321e-01 1.05225783e-01 4.89265012e-03 1.74824175e+02] [-1.05224799e-01 9.94448355e-01 -4.58710368e-04 -9.53122096e+00] [-4.91375602e-03 -5.86698763e-05 9.99987926e-01 -1.11629818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.89, Y:-9.54, Z:-1.12 [[ 9.94379955e-01 1.05757121e-01 4.89257883e-03 1.74885214e+02] [-1.05756140e-01 9.94391989e-01 -4.59469478e-04 -9.53528975e+00] [-4.91373336e-03 -6.05330130e-05 9.99987926e-01 -1.11598051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.95, Y:-9.54, Z:-1.12 [[ 9.94312461e-01 1.06389818e-01 4.89256807e-03 1.74947067e+02] [-1.06388845e-01 9.94324496e-01 -4.59584004e-04 -9.53621712e+00] [-4.91369534e-03 -6.35445625e-05 9.99987926e-01 -1.11591476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.01, Y:-9.54, Z:-1.12 [[ 9.94442271e-01 1.05169541e-01 4.89255730e-03 1.75008457e+02] [-1.05168552e-01 9.94454305e-01 -4.59698695e-04 -9.53852627e+00] [-4.91377097e-03 -5.73993533e-05 9.99987926e-01 -1.11695784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.07, Y:-9.54, Z:-1.12 [[ 9.94801183e-01 1.01718574e-01 4.89254611e-03 1.75069399e+02] [-1.01717543e-01 9.94813214e-01 -4.59817681e-04 -9.54268869e+00] [-4.91394152e-03 -4.02305973e-05 9.99987926e-01 -1.11930930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.13, Y:-9.55, Z:-1.12 [[ 9.95225056e-01 9.74841081e-02 4.89253484e-03 1.75130858e+02] [-9.74830250e-02 9.95237081e-01 -4.59937566e-04 -9.54891953e+00] [-4.91406870e-03 -1.91977069e-05 9.99987926e-01 -1.11793219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.19, Y:-9.55, Z:-1.12 [[ 9.95823229e-01 9.11710540e-02 4.89245579e-03 1.75192068e+02] [-9.11698905e-02 9.95835247e-01 -4.60776936e-04 -9.55312761e+00] [-4.91408944e-03 1.28077175e-05 9.99987926e-01 -1.11587054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.25, Y:-9.56, Z:-1.12 [[ 9.96125715e-01 8.78044699e-02 4.89238309e-03 1.75253661e+02] [-8.78032620e-02 9.96137729e-01 -4.61547585e-04 -9.55801793e+00] [-4.91401332e-03 3.01922245e-05 9.99987926e-01 -1.11904940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:175.32, Y:-9.56, Z:-1.12 [[ 9.96095262e-01 8.81492752e-02 4.89230682e-03 1.75315120e+02] [-8.81480675e-02 9.96107276e-01 -4.62354568e-04 -9.56351226e+00] [-4.91401864e-03 2.93018026e-05 9.99987926e-01 -1.11950107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:-9.57, Z:-1.12 [[ 9.95742283e-01 9.20509133e-02 4.89229571e-03 1.75375546e+02] [-9.20497521e-02 9.95754302e-01 -4.62472128e-04 -9.56730553e+00] [-4.91409548e-03 1.01684454e-05 9.99987926e-01 -1.11964466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.44, Y:-9.57, Z:-1.12 [[ 9.95498477e-01 9.46511873e-02 4.89227058e-03 1.75436163e+02] [-9.46500562e-02 9.95510499e-01 -4.62737803e-04 -9.56993240e+00] [-4.91410541e-03 -2.39890673e-06 9.99987926e-01 -1.11945425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:-9.57, Z:-1.12 [[ 9.95243916e-01 9.72913855e-02 4.89227058e-03 1.75496494e+02] [-9.72902863e-02 9.95255940e-01 -4.62737803e-04 -9.57193059e+00] [-4.91408176e-03 -1.54334222e-05 9.99987926e-01 -1.12057443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:-9.58, Z:-1.12 [[ 9.95261701e-01 9.71092821e-02 4.89227058e-03 1.75557256e+02] [-9.71081807e-02 9.95273725e-01 -4.62737803e-04 -9.57848043e+00] [-4.91408450e-03 -1.45342823e-05 9.99987926e-01 -1.11950586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.62, Y:-9.58, Z:-1.12 [[ 9.95405997e-01 9.56188645e-02 4.89225978e-03 1.75618583e+02] [-9.56177445e-02 9.95418019e-01 -4.62851945e-04 -9.58268233e+00] [-4.91410092e-03 -7.06124401e-06 9.99987926e-01 -1.12094608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.68, Y:-9.59, Z:-1.12 [[ 9.95511070e-01 9.45186459e-02 4.89224908e-03 1.75679696e+02] [-9.45175120e-02 9.95523091e-01 -4.62965017e-04 -9.58632239e+00] [-4.91410576e-03 -1.51641225e-06 9.99987926e-01 -1.11993529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:175.74, Y:-9.59, Z:-1.12 [[ 9.95495207e-01 9.46855783e-02 4.89223851e-03 1.75740322e+02] [-9.46844460e-02 9.95507228e-01 -4.63076700e-04 -9.59212517e+00] [-4.91410548e-03 -2.22825755e-06 9.99987926e-01 -1.11808181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:175.80, Y:-9.59, Z:-1.12 [[ 9.95364655e-01 9.60482706e-02 4.89223851e-03 1.75800713e+02] [-9.60471547e-02 9.95376677e-01 -4.63076700e-04 -9.59479265e+00] [-4.91409783e-03 -8.95540948e-06 9.99987926e-01 -1.11917142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.86, Y:-9.60, Z:-1.12 [[ 9.95205982e-01 9.76786577e-02 4.89223851e-03 1.75860637e+02] [-9.76775615e-02 9.95218006e-01 -4.63076700e-04 -9.59563172e+00] [-4.91407657e-03 -1.70052263e-05 9.99987926e-01 -1.12099048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:-9.60, Z:-1.12 [[ 9.95171668e-01 9.80276318e-02 4.89224908e-03 1.75919117e+02] [-9.80265403e-02 9.95183693e-01 -4.62965051e-04 -9.59869675e+00] [-4.91406987e-03 -1.88405492e-05 9.99987926e-01 -1.12240305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.98, Y:-9.60, Z:-1.12 [[ 9.95387722e-01 9.58089167e-02 4.89226018e-03 1.75979345e+02] [-9.58077990e-02 9.95399745e-01 -4.62847675e-04 -9.60004794e+00] [-4.91409947e-03 -8.00378722e-06 9.99987926e-01 -1.12231145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.04, Y:-9.60, Z:-1.12 [[ 9.95654769e-01 9.29927281e-02 4.89227113e-03 1.76040066e+02] [-9.29915770e-02 9.95666788e-01 -4.62731919e-04 -9.60467093e+00] [-4.91410258e-03 5.78123433e-06 9.99987926e-01 -1.12373238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.10, Y:-9.61, Z:-1.13 [[ 9.96075689e-01 8.83701728e-02 4.89227113e-03 1.76099839e+02] [-8.83689659e-02 9.96087703e-01 -4.62731919e-04 -9.61065957e+00] [-4.91402281e-03 2.85910743e-05 9.99987926e-01 -1.12817016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.16, Y:-9.61, Z:-1.13 [[ 9.96364793e-01 8.50486037e-02 4.89226577e-03 1.76160823e+02] [-8.50473565e-02 9.96376803e-01 -4.62788546e-04 -9.61368298e+00] [-4.91389965e-03 4.50319422e-05 9.99987926e-01 -1.12520107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:-9.62, Z:-1.13 [[ 9.96484216e-01 8.36377500e-02 4.89226577e-03 1.76221021e+02] [-8.36364858e-02 9.96496224e-01 -4.62788546e-04 -9.61792853e+00] [-4.91383096e-03 5.19895641e-05 9.99987926e-01 -1.12667643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.28, Y:-9.62, Z:-1.12 [[ 9.96504242e-01 8.33988108e-02 4.89226060e-03 1.76281340e+02] [-8.33975435e-02 9.96516250e-01 -4.62843266e-04 -9.62318401e+00] [-4.91381776e-03 5.32227626e-05 9.99987926e-01 -1.12064035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.34, Y:-9.63, Z:-1.12 [[ 9.96497178e-01 8.34831678e-02 4.89226060e-03 1.76340531e+02] [-8.34819014e-02 9.96509186e-01 -4.62843266e-04 -9.62719202e+00] [-4.91382225e-03 5.28067921e-05 9.99987926e-01 -1.12406623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.40, Y:-9.63, Z:-1.12 [[ 9.96426629e-01 8.43210425e-02 4.89226616e-03 1.76400608e+02] [-8.43197866e-02 9.96438638e-01 -4.62784432e-04 -9.63113927e+00] [-4.91386550e-03 4.86158930e-05 9.99987926e-01 -1.12391659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.46, Y:-9.64, Z:-1.13 [[ 9.96359331e-01 8.51125669e-02 4.89227181e-03 1.76459588e+02] [-8.51113208e-02 9.96371341e-01 -4.62724657e-04 -9.63565607e+00] [-4.91390311e-03 4.46523139e-05 9.99987926e-01 -1.12725479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.52, Y:-9.64, Z:-1.13 [[ 9.96288198e-01 8.59412094e-02 4.89227744e-03 1.76519936e+02] [-8.59399736e-02 9.96300209e-01 -4.62665183e-04 -9.64153461e+00] [-4.91393904e-03 4.05056681e-05 9.99987926e-01 -1.12597715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.58, Y:-9.65, Z:-1.12 [[ 9.96242648e-01 8.64676387e-02 4.89227744e-03 1.76579912e+02] [-8.64664092e-02 9.96254659e-01 -4.62665183e-04 -9.64620671e+00] [-4.91395976e-03 3.79091239e-05 9.99987926e-01 -1.12493639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:-9.65, Z:-1.12 [[ 9.95955537e-01 8.97141794e-02 4.89227744e-03 1.76639483e+02] [-8.97129891e-02 9.95967552e-01 -4.62665183e-04 -9.64900433e+00] [-4.91405721e-03 2.18931185e-05 9.99987926e-01 -1.12391174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:-9.65, Z:-1.13 [[ 9.95318000e-01 9.65305325e-02 4.89228295e-03 1.76698512e+02] [-9.65294247e-02 9.95330024e-01 -4.62606921e-04 -9.65236598e+00] [-4.91409180e-03 -1.18082632e-05 9.99987926e-01 -1.12907588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20587156000002 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:-9.66, Z:-1.13 [[ 9.94980304e-01 9.99512884e-02 4.89229362e-03 1.76757180e+02] [-9.99502226e-02 9.94992331e-01 -4.62494029e-04 -9.65536162e+00] [-4.91402151e-03 -2.88133868e-05 9.99987926e-01 -1.12648061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.82, Y:-9.66, Z:-1.13 [[ 9.94515600e-01 1.04473853e-01 4.89231491e-03 1.76816388e+02] [-1.04472843e-01 9.94527632e-01 -4.62268758e-04 -9.65582608e+00] [-4.91383736e-03 -5.13805555e-05 9.99987926e-01 -1.12685615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.88, Y:-9.66, Z:-1.13 [[ 9.94335180e-01 1.06177282e-01 4.89233622e-03 1.76875396e+02] [-1.06176293e-01 9.94347214e-01 -4.62043103e-04 -9.65856514e+00] [-4.91373937e-03 -6.00244138e-05 9.99987926e-01 -1.12502800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:-9.66, Z:-1.13 [[ 9.94252562e-01 1.06948154e-01 4.89235851e-03 1.76933469e+02] [-1.06947176e-01 9.94264597e-01 -4.61806900e-04 -9.65899735e+00] [-4.91368826e-03 -6.40712351e-05 9.99987926e-01 -1.12572633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:-9.66, Z:-1.12 [[ 9.94179324e-01 1.07626839e-01 4.89238602e-03 1.76992115e+02] [-1.07625871e-01 9.94191359e-01 -4.61515290e-04 -9.65895408e+00] [-4.91363934e-03 -6.77183491e-05 9.99987926e-01 -1.12365072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.05, Y:-9.66, Z:-1.13 [[ 9.94140849e-01 1.07981648e-01 4.89240895e-03 1.77049975e+02] [-1.07980685e-01 9.94152885e-01 -4.61272133e-04 -9.65928285e+00] [-4.91361140e-03 -6.97162016e-05 9.99987926e-01 -1.12652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.11, Y:-9.66, Z:-1.13 [[ 9.94135657e-01 1.08029440e-01 4.89244109e-03 1.77109381e+02] [-1.08028479e-01 9.94147693e-01 -4.60930970e-04 -9.65657919e+00] [-4.91360314e-03 -7.02950574e-05 9.99987926e-01 -1.12668301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:177.17, Y:-9.66, Z:-1.12 [[ 9.94212397e-01 1.07320892e-01 4.89246247e-03 1.77168025e+02] [-1.07319924e-01 9.94224432e-01 -4.60703957e-04 -9.65785537e+00] [-4.91364888e-03 -6.70211145e-05 9.99987926e-01 -1.12445355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:-9.66, Z:-1.12 [[ 9.94358570e-01 1.05958000e-01 4.89248482e-03 1.77227610e+02] [-1.05957017e-01 9.94370604e-01 -4.60466417e-04 -9.65525123e+00] [-4.91373319e-03 -6.05243707e-05 9.99987926e-01 -1.12348610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:-9.65, Z:-1.13 [[ 9.94504020e-01 1.04584019e-01 4.89250704e-03 1.77285683e+02] [-1.04583020e-01 9.94516053e-01 -4.60230206e-04 -9.65466207e+00] [-4.91380952e-03 -5.39723720e-05 9.99987926e-01 -1.12666024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.35, Y:-9.65, Z:-1.13 [[ 9.94614848e-01 1.03524721e-01 4.89253449e-03 1.77345438e+02] [-1.03523711e-01 9.94626880e-01 -4.59938240e-04 -9.65243338e+00] [-4.91386129e-03 -4.90319236e-05 9.99987926e-01 -1.12646139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.40, Y:-9.65, Z:-1.13 [[ 9.94841935e-01 1.01319230e-01 4.89255629e-03 1.77404961e+02] [-1.01318195e-01 9.94853965e-01 -4.59706239e-04 -9.65161473e+00] [-4.91395611e-03 -3.83699254e-05 9.99987926e-01 -1.12541034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.46, Y:-9.65, Z:-1.13 [[ 9.95191665e-01 9.78243956e-02 4.89257799e-03 1.77463844e+02] [-9.78233189e-02 9.95203691e-01 -4.59475140e-04 -9.65350612e+00] [-4.91405956e-03 -2.13423875e-05 9.99987926e-01 -1.12637589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:-9.66, Z:-1.13 [[ 9.95886881e-01 9.04731033e-02 4.89260004e-03 1.77523173e+02] [-9.04719389e-02 9.95898899e-01 -4.59240208e-04 -9.65569191e+00] [-4.91408388e-03 1.47082866e-05 9.99987926e-01 -1.12882339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.58, Y:-9.66, Z:-1.13 [[ 9.96525793e-01 8.31408855e-02 4.89262193e-03 1.77581923e+02] [-8.31396339e-02 9.96537802e-01 -4.59006922e-04 -9.65838583e+00] [-4.91384495e-03 5.06414403e-05 9.99987926e-01 -1.12897474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:-9.66, Z:-1.13 [[ 9.96831679e-01 7.93893273e-02 4.89264420e-03 1.77639924e+02] [-7.93880316e-02 9.96843684e-01 -4.58769458e-04 -9.66097243e+00] [-4.91362286e-03 6.88985370e-05 9.99987926e-01 -1.12931784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:-9.67, Z:-1.13 [[ 9.97151882e-01 7.52607888e-02 4.89267304e-03 1.77698095e+02] [-7.52594449e-02 9.97163881e-01 -4.58461645e-04 -9.66560822e+00] [-4.91330102e-03 8.89360345e-05 9.99987926e-01 -1.12951192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.76, Y:-9.67, Z:-1.13 [[ 9.97335892e-01 7.27817265e-02 4.89269458e-03 1.77756378e+02] [-7.27803540e-02 9.97347888e-01 -4.58231641e-04 -9.66958417e+00] [-4.91306950e-03 1.00918819e-04 9.99987926e-01 -1.12808062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:-9.68, Z:-1.13 [[ 9.97673844e-01 6.79923652e-02 4.89271600e-03 1.77813645e+02] [-6.79909362e-02 9.97685834e-01 -4.58002869e-04 -9.67554064e+00] [-4.91253414e-03 1.24277142e-04 9.99987926e-01 -1.12670000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.87, Y:-9.68, Z:-1.13 [[ 9.97978305e-01 6.33668966e-02 4.89274243e-03 1.77872284e+02] [-6.33654134e-02 9.97990288e-01 -4.57720342e-04 -9.68451764e+00] [-4.91191374e-03 1.46764325e-04 9.99987926e-01 -1.12671653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.93, Y:-9.69, Z:-1.13 [[ 9.98119205e-01 6.11073855e-02 4.89276414e-03 1.77930277e+02] [-6.11058763e-02 9.98131185e-01 -4.57488122e-04 -9.69377779e+00] [-4.91157637e-03 1.57651040e-04 9.99987926e-01 -1.12863880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:-9.70, Z:-1.13 [[ 9.98151362e-01 6.05798637e-02 4.89278016e-03 1.77987924e+02] [-6.05783490e-02 9.98163341e-01 -4.57316689e-04 -9.70333551e+00] [-4.91149798e-03 1.60074731e-04 9.99987926e-01 -1.12931327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:-9.71, Z:-1.13 [[ 9.97994010e-01 6.31190722e-02 4.89279544e-03 1.78045698e+02] [-6.31175888e-02 9.98005992e-01 -4.57153189e-04 -9.71229139e+00] [-4.91189425e-03 1.47414693e-04 9.99987926e-01 -1.12903696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.10, Y:-9.72, Z:-1.13 [[ 9.97583934e-01 6.92990230e-02 4.89281651e-03 1.78103387e+02] [-6.92976149e-02 9.97595926e-01 -4.56927559e-04 -9.72262008e+00] [-4.91271845e-03 1.16763077e-04 9.99987926e-01 -1.13000944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.16, Y:-9.73, Z:-1.13 [[ 9.97073138e-01 7.62969084e-02 4.89283767e-03 1.78161016e+02] [-7.62955857e-02 9.97085139e-01 -4.56700868e-04 -9.73118184e+00] [-4.91342059e-03 8.20622520e-05 9.99987926e-01 -1.13158372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.22, Y:-9.74, Z:-1.13 [[ 9.96781013e-01 8.00229525e-02 4.89286396e-03 1.78219652e+02] [-8.00216760e-02 9.96793019e-01 -4.56419081e-04 -9.73940008e+00] [-4.91369664e-03 6.34146990e-05 9.99987926e-01 -1.13207823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:-9.75, Z:-1.13 [[ 9.96426620e-01 8.43211145e-02 4.89288505e-03 1.78278061e+02] [-8.43198909e-02 9.96438632e-01 -4.56192803e-04 -9.74755202e+00] [-4.91392638e-03 4.19951189e-05 9.99987926e-01 -1.13198673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.34, Y:-9.75, Z:-1.13 [[ 9.96238692e-01 8.65131676e-02 4.89290666e-03 1.78335990e+02] [-8.65119716e-02 9.96250707e-01 -4.55960980e-04 -9.75344037e+00] [-4.91400834e-03 3.09509690e-05 9.99987926e-01 -1.12989104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.39, Y:-9.76, Z:-1.13 [[ 9.96127104e-01 8.77886820e-02 4.89293629e-03 1.78393297e+02] [-8.77875029e-02 9.96139120e-01 -4.55642772e-04 -9.76020074e+00] [-4.91404553e-03 2.43394558e-05 9.99987926e-01 -1.12899383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.45, Y:-9.77, Z:-1.13 [[ 9.96099474e-01 8.81016330e-02 4.89296257e-03 1.78451686e+02] [-8.81004591e-02 9.96111491e-01 -4.55360387e-04 -9.76713999e+00] [-4.91405423e-03 2.25119928e-05 9.99987926e-01 -1.13004306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.51, Y:-9.77, Z:-1.13 [[ 9.96160917e-01 8.74041520e-02 4.89298336e-03 1.78510241e+02] [-8.74029708e-02 9.96172934e-01 -4.55136914e-04 -9.77390022e+00] [-4.91403844e-03 2.57283246e-05 9.99987926e-01 -1.12946338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.57, Y:-9.78, Z:-1.13 [[ 9.96280321e-01 8.60324366e-02 4.89300491e-03 1.78569195e+02] [-8.60312399e-02 9.96292336e-01 -4.54905087e-04 -9.78027329e+00] [-4.91399988e-03 3.22617068e-05 9.99987926e-01 -1.13001772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.63, Y:-9.79, Z:-1.13 [[ 9.96340952e-01 8.53273973e-02 4.89302635e-03 1.78628029e+02] [-8.53261933e-02 9.96352967e-01 -4.54674303e-04 -9.78626292e+00] [-4.91397750e-03 3.55073154e-05 9.99987926e-01 -1.13067317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.69, Y:-9.79, Z:-1.13 [[ 9.96504645e-01 8.33939512e-02 4.89304775e-03 1.78686895e+02] [-8.33927250e-02 9.96516657e-01 -4.54443933e-04 -9.79391515e+00] [-4.91390146e-03 4.48109044e-05 9.99987926e-01 -1.13119477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.75, Y:-9.80, Z:-1.13 [[ 9.96661876e-01 8.14933320e-02 4.89306924e-03 1.78745148e+02] [-8.14920841e-02 9.96673885e-01 -4.54212457e-04 -9.80245278e+00] [-4.91380962e-03 5.39498295e-05 9.99987926e-01 -1.13139411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:-9.81, Z:-1.13 [[ 9.96766253e-01 8.02065729e-02 4.89309045e-03 1.78803411e+02] [-8.02053105e-02 9.96778261e-01 -4.53983793e-04 -9.81127699e+00] [-4.91373868e-03 6.00638855e-05 9.99987926e-01 -1.13093460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:-9.82, Z:-1.13 [[ 9.96812474e-01 7.96300764e-02 4.89310624e-03 1.78861975e+02] [-7.96288080e-02 9.96824482e-01 -4.53813610e-04 -9.82164028e+00] [-4.91370530e-03 6.27348508e-05 9.99987926e-01 -1.13086343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.92, Y:-9.83, Z:-1.13 [[ 9.96780559e-01 8.00285852e-02 4.89311667e-03 1.78921330e+02] [-8.00273221e-02 9.96792567e-01 -4.53701058e-04 -9.83182588e+00] [-4.91373138e-03 6.06573705e-05 9.99987926e-01 -1.13156221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.98, Y:-9.84, Z:-1.13 [[ 9.96708742e-01 8.09181173e-02 4.89312701e-03 1.78978726e+02] [-8.09168655e-02 9.96720751e-01 -4.53589591e-04 -9.84370057e+00] [-4.91378484e-03 5.61602107e-05 9.99987926e-01 -1.13199770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.04, Y:-9.86, Z:-1.13 [[ 9.96550319e-01 8.28463595e-02 4.89313867e-03 1.79037465e+02] [-8.28451315e-02 9.96562330e-01 -4.53463711e-04 -9.85577801e+00] [-4.91388550e-03 4.65266888e-05 9.99987926e-01 -1.13258312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.10, Y:-9.87, Z:-1.13 [[ 9.96370978e-01 8.49760635e-02 4.89314886e-03 1.79096938e+02] [-8.49748617e-02 9.96382992e-01 -4.53353773e-04 -9.86519255e+00] [-4.91397452e-03 3.59138948e-05 9.99987926e-01 -1.13231658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:-9.88, Z:-1.13 [[ 9.95877030e-01 9.05814406e-02 4.89315948e-03 1.79154536e+02] [-9.05803070e-02 9.95889051e-01 -4.53239112e-04 -9.87588300e+00] [-4.91409900e-03 8.14653303e-06 9.99987926e-01 -1.13442884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:-9.89, Z:-1.13 [[ 9.95280153e-01 9.69199398e-02 4.89317528e-03 1.79213157e+02] [-9.69188836e-02 9.95292181e-01 -4.53068473e-04 -9.88533963e+00] [-4.91405046e-03 -2.33110260e-05 9.99987926e-01 -1.13340656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.27, Y:-9.89, Z:-1.13 [[ 9.95022925e-01 9.95260565e-02 4.89318590e-03 1.79272556e+02] [-9.95250324e-02 9.95034956e-01 -4.52953733e-04 -9.89287744e+00] [-4.91397171e-03 -3.62951371e-05 9.99987926e-01 -1.13416991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:-9.90, Z:-1.13 [[ 9.94975130e-01 1.00002738e-01 4.89319666e-03 1.79331178e+02] [-1.00001721e-01 9.94987161e-01 -4.52837405e-04 -9.90214852e+00] [-4.91395284e-03 -3.87661305e-05 9.99987926e-01 -1.13465580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:-9.91, Z:-1.13 [[ 9.95076357e-01 9.89904071e-02 4.89320743e-03 1.79390351e+02] [-9.89893776e-02 9.95088387e-01 -4.52721101e-04 -9.91188821e+00] [-4.91398893e-03 -3.38834938e-05 9.99987926e-01 -1.13490463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:-9.92, Z:-1.13 [[ 9.95111938e-01 9.86320844e-02 4.89321832e-03 1.79449057e+02] [-9.86310512e-02 9.95123968e-01 -4.52603300e-04 -9.92149906e+00] [-4.91400004e-03 -3.22323203e-05 9.99987926e-01 -1.13389439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.51, Y:-9.93, Z:-1.13 [[ 9.95037038e-01 9.93848520e-02 4.89322922e-03 1.79508552e+02] [-9.93838285e-02 9.95049069e-01 -4.52485473e-04 -9.92872382e+00] [-4.91397338e-03 -3.60680487e-05 9.99987926e-01 -1.13418162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08587156000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:179.57, Y:-9.94, Z:-1.13 [[ 9.94883981e-01 1.00905502e-01 4.89323462e-03 1.79567759e+02] [-1.00904497e-01 9.94896014e-01 -4.52427089e-04 -9.93797252e+00] [-4.91391199e-03 -4.36369160e-05 9.99987926e-01 -1.13498525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14587156000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:179.63, Y:-9.94, Z:-1.14 [[ 9.94864901e-01 1.01093447e-01 4.89324548e-03 1.79626419e+02] [-1.01092445e-01 9.94876934e-01 -4.52309511e-04 -9.94451991e+00] [-4.91390259e-03 -4.46832953e-05 9.99987926e-01 -1.13809975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20587156000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:179.69, Y:-9.95, Z:-1.14 [[ 9.94936938e-01 1.00381995e-01 4.89325086e-03 1.79686725e+02] [-1.00380985e-01 9.94948970e-01 -4.52251286e-04 -9.95185254e+00] [-4.91393280e-03 -4.12278310e-05 9.99987926e-01 -1.13518540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:-9.96, Z:-1.13 [[ 9.95231993e-01 9.74132199e-02 4.89325086e-03 1.79746585e+02] [-9.74121737e-02 9.95244022e-01 -4.52251286e-04 -9.96011670e+00] [-4.91403393e-03 -2.65672544e-05 9.99987926e-01 -1.13483429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:-9.97, Z:-1.13 [[ 9.95590266e-01 9.36807242e-02 4.89325086e-03 1.79806925e+02] [-9.36796329e-02 9.95602291e-01 -4.52251286e-04 -9.96923606e+00] [-4.91409900e-03 -8.14096668e-06 9.99987926e-01 -1.13418981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:-9.98, Z:-1.14 [[ 9.95756802e-01 9.18936699e-02 4.89323992e-03 1.79866708e+02] [-9.18925565e-02 9.95768825e-01 -4.52369713e-04 -9.97702844e+00] [-4.91410568e-03 7.97893355e-07 9.99987926e-01 -1.13580579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.93, Y:-9.99, Z:-1.14 [[ 9.95905091e-01 9.02723946e-02 4.89323451e-03 1.79927990e+02] [-9.02712613e-02 9.95917112e-01 -4.52428196e-04 -9.98681332e+00] [-4.91409776e-03 8.85709343e-06 9.99987926e-01 -1.13517568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.99, Y:-10.00, Z:-1.14 [[ 9.95953922e-01 8.97320553e-02 4.89315635e-03 1.79987640e+02] [-8.97309113e-02 9.95965942e-01 -4.53271899e-04 -9.99705011e+00] [-4.91409010e-03 1.23705469e-05 9.99987926e-01 -1.13808531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:-10.01, Z:-1.14 [[ 9.95992445e-01 8.93034565e-02 4.89315086e-03 1.80049345e+02] [-8.93023071e-02 9.96004464e-01 -4.53331211e-04 -1.00053499e+01] [-4.91408414e-03 1.45448002e-05 9.99987926e-01 -1.13775552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.11, Y:-10.02, Z:-1.14 [[ 9.96187988e-01 8.70950641e-02 4.89307673e-03 1.80110905e+02] [-8.70938841e-02 9.96200005e-01 -4.54129931e-04 -1.00156775e+01] [-4.91403554e-03 2.62417251e-05 9.99987926e-01 -1.13789078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.17, Y:-10.03, Z:-1.14 [[ 9.96393935e-01 8.47064670e-02 4.89299878e-03 1.80172154e+02] [-8.47052540e-02 9.96405948e-01 -4.54968216e-04 -1.00262272e+01] [-4.91395184e-03 3.88648660e-05 9.99987926e-01 -1.13869956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:-10.04, Z:-1.14 [[ 9.96653209e-01 8.15992656e-02 4.89291587e-03 1.80234411e+02] [-8.15980109e-02 9.96665218e-01 -4.55858132e-04 -1.00392425e+01] [-4.91379675e-03 5.50802675e-05 9.99987926e-01 -1.13829003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:-10.05, Z:-1.14 [[ 9.96671232e-01 8.13788366e-02 4.89282856e-03 1.80296682e+02] [-8.13775746e-02 9.96683240e-01 -4.56793384e-04 -1.00480694e+01] [-4.91377353e-03 5.71063041e-05 9.99987926e-01 -1.13754958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.36, Y:-10.06, Z:-1.14 [[ 9.96610519e-01 8.21190279e-02 4.89274187e-03 1.80358442e+02] [-8.21177703e-02 9.96622527e-01 -4.57720007e-04 -1.00630789e+01] [-4.91380429e-03 5.43875212e-05 9.99987926e-01 -1.13529547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.42, Y:-10.08, Z:-1.14 [[ 9.96292978e-01 8.58857639e-02 4.89265571e-03 1.80420564e+02] [-8.58845472e-02 9.96304991e-01 -4.58639134e-04 -1.00773322e+01] [-4.91396787e-03 3.67354278e-05 9.99987926e-01 -1.13553942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.48, Y:-10.09, Z:-1.14 [[ 9.95679458e-01 9.27279913e-02 4.89256908e-03 1.80480957e+02] [-9.27268526e-02 9.95691478e-01 -4.59561401e-04 -1.00897582e+01] [-4.91410355e-03 3.90331431e-06 9.99987926e-01 -1.13942942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.54, Y:-10.10, Z:-1.14 [[ 9.95101636e-01 9.87359998e-02 4.89249935e-03 1.80542917e+02] [-9.87349300e-02 9.95113663e-01 -4.60302566e-04 -1.01000422e+01] [-4.91404138e-03 -2.50127448e-05 9.99987926e-01 -1.14196456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.61, Y:-10.11, Z:-1.14 [[ 9.94415534e-01 1.05422058e-01 4.89247284e-03 1.80605554e+02] [-1.05421068e-01 9.94427567e-01 -4.60584181e-04 -1.01096082e+01] [-4.91376560e-03 -5.77576458e-05 9.99987926e-01 -1.14111933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.67, Y:-10.12, Z:-1.14 [[ 9.93453593e-01 1.14131603e-01 4.89238236e-03 1.80667916e+02] [-1.14130713e-01 9.93465635e-01 -4.61543306e-04 -1.01197423e+01] [-4.91309042e-03 -9.98492330e-05 9.99987926e-01 -1.14302206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:180.73, Y:-10.13, Z:-1.14 [[ 9.92871341e-01 1.19090576e-01 4.89229200e-03 1.80728538e+02] [-1.19089742e-01 9.92883387e-01 -4.62499036e-04 -1.01278957e+01] [-4.91255473e-03 -1.23419752e-04 9.99987926e-01 -1.14085110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.79, Y:-10.14, Z:-1.14 [[ 9.92604788e-01 1.21292210e-01 4.89221990e-03 1.80789909e+02] [-1.21291399e-01 9.92616835e-01 -4.63260496e-04 -1.01363476e+01] [-4.91228972e-03 -1.33549611e-04 9.99987926e-01 -1.14139637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.85, Y:-10.14, Z:-1.14 [[ 9.92368380e-01 1.23211469e-01 4.89213729e-03 1.80852610e+02] [-1.23210677e-01 9.92380428e-01 -4.64131195e-04 -1.01448278e+01] [-4.91204759e-03 -1.42174425e-04 9.99987926e-01 -1.14135524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.91, Y:-10.15, Z:-1.14 [[ 9.92387752e-01 1.23055340e-01 4.89205077e-03 1.80914382e+02] [-1.23054542e-01 9.92399800e-01 -4.65041377e-04 -1.01499769e+01] [-4.91209603e-03 -1.40487700e-04 9.99987926e-01 -1.14217132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:-10.16, Z:-1.14 [[ 9.92604267e-01 1.21296489e-01 4.89197032e-03 1.80976706e+02] [-1.21295665e-01 9.92616313e-01 -4.65886144e-04 -1.01581010e+01] [-4.91235990e-03 -1.30934217e-04 9.99987926e-01 -1.14336169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.04, Y:-10.17, Z:-1.14 [[ 9.92976217e-01 1.18212950e-01 4.89188459e-03 1.81038210e+02] [-1.18212084e-01 9.92988260e-01 -4.66784614e-04 -1.01655470e+01] [-4.91276395e-03 -1.14773850e-04 9.99987926e-01 -1.14134646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:-10.17, Z:-1.14 [[ 9.93042490e-01 1.17654931e-01 4.89180504e-03 1.81100413e+02] [-1.17654054e-01 9.93054533e-01 -4.67616782e-04 -1.01719128e+01] [-4.91284659e-03 -1.11177361e-04 9.99987926e-01 -1.13909301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.16, Y:-10.18, Z:-1.14 [[ 9.92828445e-01 1.19447685e-01 4.89172521e-03 1.81163123e+02] [-1.19446826e-01 9.92840489e-01 -4.68450381e-04 -1.01762870e+01] [-4.91265816e-03 -1.19210186e-04 9.99987926e-01 -1.13763554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:-10.18, Z:-1.14 [[ 9.92399961e-01 1.22956856e-01 4.89164074e-03 1.81226077e+02] [-1.22956035e-01 9.92412008e-01 -4.69330765e-04 -1.01782251e+01] [-4.91223045e-03 -1.35692919e-04 9.99987926e-01 -1.13998406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.29, Y:-10.18, Z:-1.14 [[ 9.92323213e-01 1.23574729e-01 4.89155440e-03 1.81288951e+02] [-1.23573911e-01 9.92335260e-01 -4.70228886e-04 -1.01813518e+01] [-4.91217032e-03 -1.37849472e-04 9.99987926e-01 -1.14228365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:-10.18, Z:-1.15 [[ 9.92683879e-01 1.20643237e-01 4.89146778e-03 1.81350458e+02] [-1.20642380e-01 9.92695922e-01 -4.71128279e-04 -1.01831650e+01] [-4.91257856e-03 -1.22436866e-04 9.99987926e-01 -1.14641745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.41, Y:-10.18, Z:-1.14 [[ 9.93069608e-01 1.17425837e-01 4.89139828e-03 1.81413633e+02] [-1.17424937e-01 9.93081649e-01 -4.71848751e-04 -1.01835598e+01] [-4.91296510e-03 -1.05793479e-04 9.99987926e-01 -1.14499432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.48, Y:-10.18, Z:-1.14 [[ 9.93221279e-01 1.16135978e-01 4.89131371e-03 1.81475884e+02] [-1.16135058e-01 9.93233318e-01 -4.72723813e-04 -1.01837317e+01] [-4.91311599e-03 -9.85336499e-05 9.99987926e-01 -1.14365284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.54, Y:-10.18, Z:-1.14 [[ 9.93479495e-01 1.13905964e-01 4.89123983e-03 1.81538970e+02] [-1.13905013e-01 9.93491532e-01 -4.73486995e-04 -1.01824421e+01] [-4.91333834e-03 -8.67371162e-05 9.99987926e-01 -1.14389748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.60, Y:-10.18, Z:-1.15 [[ 9.93908014e-01 1.10104204e-01 4.89121219e-03 1.81601598e+02] [-1.10103205e-01 9.93920047e-01 -4.73772303e-04 -1.01834352e+01] [-4.91363818e-03 -6.76520526e-05 9.99987926e-01 -1.14702236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.66, Y:-10.19, Z:-1.15 [[ 9.94305472e-01 1.06455180e-01 4.89113004e-03 1.81663936e+02] [-1.06454133e-01 9.94317501e-01 -4.74618898e-04 -1.01859198e+01] [-4.91386184e-03 -4.87648421e-05 9.99987926e-01 -1.14827019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.73, Y:-10.19, Z:-1.15 [[ 9.94892054e-01 1.00825986e-01 4.89105784e-03 1.81726384e+02] [-1.00824867e-01 9.94904076e-01 -4.75361810e-04 -1.01870367e+01] [-4.91406220e-03 -2.02065701e-05 9.99987926e-01 -1.14909422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.79, Y:-10.19, Z:-1.15 [[ 9.95428284e-01 9.53866312e-02 4.89098021e-03 1.81788895e+02] [-9.53854430e-02 9.95440300e-01 -4.76159242e-04 -1.01902986e+01] [-4.91409803e-03 7.45406374e-06 9.99987926e-01 -1.14796440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.85, Y:-10.20, Z:-1.15 [[ 9.95718381e-01 9.23091805e-02 4.89088815e-03 1.81850978e+02] [-9.23079505e-02 9.95730393e-01 -4.77102894e-04 -1.01965040e+01] [-4.91404696e-03 2.35922598e-05 9.99987926e-01 -1.14817245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.91, Y:-10.20, Z:-1.15 [[ 9.95974846e-01 8.94996480e-02 4.89080286e-03 1.81913204e+02] [-8.94983799e-02 9.95986853e-01 -4.77975590e-04 -1.02025296e+01] [-4.91395400e-03 3.83327319e-05 9.99987926e-01 -1.14655504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.97, Y:-10.21, Z:-1.15 [[ 9.96019802e-01 8.89979470e-02 4.89071692e-03 1.81974809e+02] [-8.89966686e-02 9.96031809e-01 -4.78853337e-04 -1.02091413e+01] [-4.91392659e-03 4.16898928e-05 9.99987926e-01 -1.14567187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:182.04, Y:-10.22, Z:-1.14 [[ 9.95836761e-01 9.10232178e-02 4.89063187e-03 1.82036455e+02] [-9.10219595e-02 9.95848770e-01 -4.79720486e-04 -1.02170214e+01] [-4.91399543e-03 3.25683998e-05 9.99987926e-01 -1.14269360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.10, Y:-10.22, Z:-1.15 [[ 9.95384964e-01 9.58376572e-02 4.89054984e-03 1.82097162e+02] [-9.58364529e-02 9.95396978e-01 -4.80555229e-04 -1.02235332e+01] [-4.91409382e-03 9.64450015e-06 9.99987926e-01 -1.14671120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.16, Y:-10.23, Z:-1.15 [[ 9.95040852e-01 9.93467979e-02 4.89050352e-03 1.82159615e+02] [-9.93456337e-02 9.95052870e-01 -4.81026171e-04 -1.02286283e+01] [-4.91409797e-03 -7.20948043e-06 9.99987926e-01 -1.14681619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.22, Y:-10.23, Z:-1.15 [[ 9.94636424e-01 1.03317314e-01 4.89041983e-03 1.82220508e+02] [-1.03316194e-01 9.94648446e-01 -4.81875530e-04 -1.02335112e+01] [-4.91403457e-03 -2.59686098e-05 9.99987926e-01 -1.14915003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.28, Y:-10.24, Z:-1.15 [[ 9.94431468e-01 1.05271746e-01 4.89034276e-03 1.82282640e+02] [-1.05270645e-01 9.94443492e-01 -4.82656364e-04 -1.02396367e+01] [-4.91397961e-03 -3.48408596e-05 9.99987926e-01 -1.14992916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:-10.24, Z:-1.15 [[ 9.94223174e-01 1.07221107e-01 4.89026130e-03 1.82344198e+02] [-1.07220026e-01 9.94235200e-01 -4.83480314e-04 -1.02437665e+01] [-4.91390922e-03 -4.36466102e-05 9.99987926e-01 -1.15090460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.41, Y:-10.25, Z:-1.15 [[ 9.94006471e-01 1.09211817e-01 4.89024949e-03 1.82405225e+02] [-1.09210760e-01 9.94018499e-01 -4.83599730e-04 -1.02491448e+01] [-4.91381327e-03 -5.33666018e-05 9.99987926e-01 -1.15256671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.47, Y:-10.25, Z:-1.15 [[ 9.93737115e-01 1.11636164e-01 4.89017336e-03 1.82466333e+02] [-1.11635132e-01 9.93749145e-01 -4.84368387e-04 -1.02526008e+01] [-4.91367862e-03 -6.45803056e-05 9.99987926e-01 -1.15302256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.53, Y:-10.26, Z:-1.15 [[ 9.93603486e-01 1.12819323e-01 4.89016159e-03 1.82526076e+02] [-1.12818304e-01 9.93615517e-01 -4.84487179e-04 -1.02572063e+01] [-4.91359995e-03 -7.03115891e-05 9.99987926e-01 -1.15394351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:-10.26, Z:-1.16 [[ 9.93594072e-01 1.12902200e-01 4.89015576e-03 1.82586933e+02] [-1.12901183e-01 9.93606103e-01 -4.84546019e-04 -1.02598222e+01] [-4.91359492e-03 -7.06623176e-05 9.99987926e-01 -1.15523706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:-10.26, Z:-1.15 [[ 9.93699155e-01 1.11973551e-01 4.89015576e-03 1.82648148e+02] [-1.11972522e-01 9.93711185e-01 -4.84546019e-04 -1.02638757e+01] [-4.91365881e-03 -6.60701025e-05 9.99987926e-01 -1.15467883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.71, Y:-10.27, Z:-1.15 [[ 9.93949754e-01 1.09726810e-01 4.89014423e-03 1.82708521e+02] [-1.09725754e-01 9.93961782e-01 -4.84662360e-04 -1.02673739e+01] [-4.91379693e-03 -5.48447280e-05 9.99987926e-01 -1.15416983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:-10.27, Z:-1.15 [[ 9.94142805e-01 1.07963747e-01 4.89013854e-03 1.82769842e+02] [-1.07962669e-01 9.94154831e-01 -4.84719810e-04 -1.02701057e+01] [-4.91388701e-03 -4.60716956e-05 9.99987926e-01 -1.15225287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:-10.27, Z:-1.15 [[ 9.94469310e-01 1.04913674e-01 4.89012658e-03 1.82830682e+02] [-1.04912558e-01 9.94481332e-01 -4.84840391e-04 -1.02716191e+01] [-4.91400598e-03 -3.08767985e-05 9.99987926e-01 -1.15356175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:-10.27, Z:-1.15 [[ 9.94669357e-01 1.02999796e-01 4.89009751e-03 1.82891432e+02] [-1.02998655e-01 9.94681377e-01 -4.85133391e-04 -1.02731025e+01] [-4.91405757e-03 -2.11261502e-05 9.99987926e-01 -1.15476378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.95, Y:-10.28, Z:-1.16 [[ 9.94848173e-01 1.01258085e-01 4.89009751e-03 1.82950438e+02] [-1.01256924e-01 9.94860191e-01 -4.85133391e-04 -1.02761932e+01] [-4.91408702e-03 -1.25221643e-05 9.99987926e-01 -1.15546080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:-10.28, Z:-1.15 [[ 9.95160047e-01 9.81456410e-02 4.89010329e-03 1.83010890e+02] [-9.81444423e-02 9.95172062e-01 -4.85075171e-04 -1.02790219e+01] [-4.91410219e-03 2.79097052e-06 9.99987926e-01 -1.15413692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.07, Y:-10.28, Z:-1.15 [[ 9.95496227e-01 9.46749643e-02 4.89010329e-03 1.83071095e+02] [-9.46737237e-02 9.95508237e-01 -4.85075171e-04 -1.02832199e+01] [-4.91406258e-03 1.99262152e-05 9.99987926e-01 -1.15418347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:-10.29, Z:-1.16 [[ 9.95671466e-01 9.28138904e-02 4.89007593e-03 1.83131565e+02] [-9.28126260e-02 9.95683474e-01 -4.85350857e-04 -1.02881573e+01] [-4.91401509e-03 2.93892118e-05 9.99987926e-01 -1.15535045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.19, Y:-10.29, Z:-1.16 [[ 9.95669261e-01 9.28375419e-02 4.89007593e-03 1.83191376e+02] [-9.28362778e-02 9.95681269e-01 -4.85350857e-04 -1.02935252e+01] [-4.91401578e-03 2.92724827e-05 9.99987926e-01 -1.15625388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:183.25, Y:-10.30, Z:-1.16 [[ 9.95479279e-01 9.48529996e-02 4.89007593e-03 1.83250154e+02] [-9.48517598e-02 9.95491290e-01 -4.85350857e-04 -1.02988765e+01] [-4.91406497e-03 1.93244145e-05 9.99987926e-01 -1.15694005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:-10.30, Z:-1.16 [[ 9.95278309e-01 9.69390259e-02 4.89008150e-03 1.83310819e+02] [-9.69378116e-02 9.95290322e-01 -4.85294666e-04 -1.03042543e+01] [-4.91409478e-03 8.96945526e-06 9.99987926e-01 -1.16032998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:183.37, Y:-10.31, Z:-1.16 [[ 9.94926822e-01 1.00482369e-01 4.89008150e-03 1.83370956e+02] [-1.00481198e-01 9.94938839e-01 -4.85294666e-04 -1.03089643e+01] [-4.91409557e-03 -8.52856696e-06 9.99987926e-01 -1.16216239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86587156000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:183.43, Y:-10.31, Z:-1.16 [[ 9.94631579e-01 1.03363964e-01 4.89008150e-03 1.83429896e+02] [-1.03362827e-01 9.94643600e-01 -4.85294666e-04 -1.03126564e+01] [-4.91405025e-03 -2.27632504e-05 9.99987926e-01 -1.16092412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92587156000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.49, Y:-10.32, Z:-1.16 [[ 9.94495368e-01 1.04666376e-01 4.89006384e-03 1.83487938e+02] [-1.04665254e-01 9.94507390e-01 -4.85472572e-04 -1.03172758e+01] [-4.91401728e-03 -2.90195494e-05 9.99987926e-01 -1.16008928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.55, Y:-10.32, Z:-1.16 [[ 9.94291104e-01 1.06589339e-01 4.89008101e-03 1.83546697e+02] [-1.06588242e-01 9.94303128e-01 -4.85299583e-04 -1.03201838e+01] [-4.91395061e-03 -3.86960771e-05 9.99987926e-01 -1.15692289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:-10.32, Z:-1.16 [[ 9.94308137e-01 1.06430332e-01 4.89010277e-03 1.83606024e+02] [-1.06429233e-01 9.94320161e-01 -4.85080144e-04 -1.03244127e+01] [-4.91395502e-03 -3.81307533e-05 9.99987926e-01 -1.15632714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.67, Y:-10.33, Z:-1.16 [[ 9.94523004e-01 1.04403456e-01 4.89011469e-03 1.83665548e+02] [-1.04402334e-01 9.94535026e-01 -4.84959995e-04 -1.03304826e+01] [-4.91402184e-03 -2.82355152e-05 9.99987926e-01 -1.15895742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.72, Y:-10.34, Z:-1.16 [[ 9.94955950e-01 1.00193529e-01 4.89012659e-03 1.83724012e+02] [-1.00192356e-01 9.94967968e-01 -4.84839993e-04 -1.03368599e+01] [-4.91409714e-03 -7.55886977e-06 9.99987926e-01 -1.16208490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.78, Y:-10.34, Z:-1.16 [[ 9.95195810e-01 9.77823368e-02 4.89014423e-03 1.83783616e+02] [-9.77811358e-02 9.95207825e-01 -4.84662032e-04 -1.03432445e+01] [-4.91410118e-03 4.16976672e-06 9.99987926e-01 -1.16071592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.84, Y:-10.35, Z:-1.16 [[ 9.95346892e-01 9.62322751e-02 4.89015579e-03 1.83843224e+02] [-9.62310559e-02 9.95358905e-01 -4.84545344e-04 -1.03483897e+01] [-4.91408901e-03 1.17058473e-05 9.99987926e-01 -1.16401044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.90, Y:-10.35, Z:-1.16 [[ 9.95306708e-01 9.66470030e-02 4.89016151e-03 1.83902240e+02] [-9.66457891e-02 9.95318721e-01 -4.84487580e-04 -1.03547801e+01] [-4.91409357e-03 9.60022027e-06 9.99987926e-01 -1.16003343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:-10.36, Z:-1.16 [[ 9.95192126e-01 9.78198226e-02 4.89017288e-03 1.83960618e+02] [-9.78186235e-02 9.95204141e-01 -4.84372783e-04 -1.03591686e+01] [-4.91410156e-03 3.69400017e-06 9.99987926e-01 -1.15749121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:184.02, Y:-10.36, Z:-1.16 [[ 9.94899569e-01 1.00751842e-01 4.89018974e-03 1.84020054e+02] [-1.00750679e-01 9.94911587e-01 -4.84202504e-04 -1.03631143e+01] [-4.91409073e-03 -1.09570754e-05 9.99987926e-01 -1.15654573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.08, Y:-10.37, Z:-1.16 [[ 9.94476073e-01 1.04849543e-01 4.89020125e-03 1.84078741e+02] [-1.04848430e-01 9.94488096e-01 -4.84086247e-04 -1.03655534e+01] [-4.91400315e-03 -3.13177339e-05 9.99987926e-01 -1.15949544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.14, Y:-10.37, Z:-1.16 [[ 9.94172423e-01 1.07690661e-01 4.89021830e-03 1.84138037e+02] [-1.07689584e-01 9.94184449e-01 -4.83913934e-04 -1.03678606e+01] [-4.91389200e-03 -4.55316855e-05 9.99987926e-01 -1.16010212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.20, Y:-10.37, Z:-1.16 [[ 9.93877351e-01 1.10380685e-01 4.89024185e-03 1.84195615e+02] [-1.10379642e-01 9.93889381e-01 -4.83675857e-04 -1.03690557e+01] [-4.91374791e-03 -5.90686631e-05 9.99987926e-01 -1.16019403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.25, Y:-10.37, Z:-1.16 [[ 9.93665170e-01 1.12274729e-01 4.89027486e-03 1.84253178e+02] [-1.12273709e-01 9.93677201e-01 -4.83341863e-04 -1.03706911e+01] [-4.91362171e-03 -6.87693247e-05 9.99987926e-01 -1.16131810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:-10.37, Z:-1.16 [[ 9.93608363e-01 1.12776350e-01 4.89030280e-03 1.84312121e+02] [-1.12775338e-01 9.93620395e-01 -4.83058978e-04 -1.03706136e+01] [-4.91358223e-03 -7.15341117e-05 9.99987926e-01 -1.16146132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:-10.37, Z:-1.16 [[ 9.93786333e-01 1.11197167e-01 4.89032559e-03 1.84370339e+02] [-1.11196137e-01 9.93798363e-01 -4.82828177e-04 -1.03728649e+01] [-4.91368669e-03 -6.39572722e-05 9.99987926e-01 -1.16373430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:-10.37, Z:-1.16 [[ 9.94293391e-01 1.06567990e-01 4.89035602e-03 1.84429385e+02] [-1.06566906e-01 9.94305417e-01 -4.82519812e-04 -1.03729339e+01] [-4.91392864e-03 -4.13838486e-05 9.99987926e-01 -1.16229091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:-10.38, Z:-1.16 [[ 9.95057933e-01 9.91755745e-02 4.89037834e-03 1.84486709e+02] [-9.91744019e-02 9.95069950e-01 -4.82293450e-04 -1.03767400e+01] [-4.91410026e-03 -5.09042316e-06 9.99987926e-01 -1.16042485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.54, Y:-10.38, Z:-1.16 [[ 9.95786313e-01 9.15734838e-02 4.89040834e-03 1.84544965e+02] [-9.15722210e-02 9.95798321e-01 -4.81989083e-04 -1.03814824e+01] [-4.91399783e-03 3.21325793e-05 9.99987926e-01 -1.16127492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:184.60, Y:-10.39, Z:-1.16 [[ 9.96180762e-01 8.71778211e-02 4.89043004e-03 1.84604169e+02] [-8.71765063e-02 9.96192765e-01 -4.81768816e-04 -1.03878124e+01] [-4.91381057e-03 5.35982214e-05 9.99987926e-01 -1.16195849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.66, Y:-10.40, Z:-1.17 [[ 9.96677147e-01 8.13065045e-02 4.89044074e-03 1.84662116e+02] [-8.13051196e-02 9.96689142e-01 -4.81660117e-04 -1.03952793e+01] [-4.91341129e-03 8.24417615e-05 9.99987926e-01 -1.16508943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.72, Y:-10.40, Z:-1.16 [[ 9.96967641e-01 7.76634164e-02 4.89045668e-03 1.84721059e+02] [-7.76619885e-02 9.96979631e-01 -4.81498211e-04 -1.04032379e+01] [-4.91308049e-03 1.00235545e-04 9.99987926e-01 -1.16377115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.78, Y:-10.41, Z:-1.16 [[ 9.97053229e-01 7.65567859e-02 4.89046782e-03 1.84780744e+02] [-7.65553452e-02 9.97065217e-01 -4.81385054e-04 -1.04117860e+01] [-4.91296865e-03 1.05575070e-04 9.99987926e-01 -1.16375228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.84, Y:-10.42, Z:-1.17 [[ 9.96946053e-01 7.79400422e-02 4.89046782e-03 1.84838543e+02] [-7.79386182e-02 9.96958043e-01 -4.81385054e-04 -1.04215061e+01] [-4.91311040e-03 9.87586256e-05 9.99987926e-01 -1.16523610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:-10.43, Z:-1.17 [[ 9.96708479e-01 8.09215161e-02 4.89048469e-03 1.84897739e+02] [-8.09201288e-02 9.96720473e-01 -4.81213596e-04 -1.04306623e+01] [-4.91338675e-03 8.38910198e-05 9.99987926e-01 -1.16573000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42587156000002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:184.96, Y:-10.44, Z:-1.16 [[ 9.96599147e-01 8.22570596e-02 4.89049015e-03 1.84956886e+02] [-8.22556886e-02 9.96611143e-01 -4.81158082e-04 -1.04400075e+01] [-4.91349563e-03 7.72510987e-05 9.99987926e-01 -1.16425120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.02, Y:-10.45, Z:-1.17 [[ 9.96546644e-01 8.28907126e-02 4.89050128e-03 1.85015625e+02] [-8.28893497e-02 9.96558641e-01 -4.81044994e-04 -1.04534441e+01] [-4.91354547e-03 7.40133033e-05 9.99987926e-01 -1.16972924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.07, Y:-10.47, Z:-1.17 [[ 9.96468436e-01 8.38256485e-02 4.89050677e-03 1.85074599e+02] [-8.38242972e-02 9.96480434e-01 -4.80989186e-04 -1.04672435e+01] [-4.91361354e-03 6.93472491e-05 9.99987926e-01 -1.16877541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:185.13, Y:-10.48, Z:-1.17 [[ 9.96282393e-01 8.60085856e-02 4.89050677e-03 1.85133776e+02] [-8.60072606e-02 9.96294394e-01 -4.80989186e-04 -1.04785553e+01] [-4.91375368e-03 5.85819671e-05 9.99987926e-01 -1.16690808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.19, Y:-10.49, Z:-1.17 [[ 9.95764466e-01 9.18107397e-02 4.89051217e-03 1.85192230e+02] [-9.18094849e-02 9.95776475e-01 -4.80934240e-04 -1.04923007e+01] [-4.91401190e-03 2.99018235e-05 9.99987926e-01 -1.16807805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:-10.50, Z:-1.17 [[ 9.95355310e-01 9.61451518e-02 4.89051751e-03 1.85251562e+02] [-9.61439496e-02 9.95367324e-01 -4.80879905e-04 -1.05023260e+01] [-4.91409560e-03 8.45269698e-06 9.99987926e-01 -1.16832109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.31, Y:-10.51, Z:-1.17 [[ 9.94816991e-01 1.01563954e-01 4.89051751e-03 1.85311163e+02] [-1.01562817e-01 9.94829012e-01 -4.80879905e-04 -1.05143994e+01] [-4.91406877e-03 -1.83072343e-05 9.99987926e-01 -1.17069632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.37, Y:-10.53, Z:-1.17 [[ 9.94507958e-01 1.04546665e-01 4.89051751e-03 1.85370562e+02] [-1.04545564e-01 9.94519982e-01 -4.80879905e-04 -1.05270400e+01] [-4.91399178e-03 -3.30430201e-05 9.99987926e-01 -1.17210133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.43, Y:-10.54, Z:-1.17 [[ 9.94525417e-01 1.04380446e-01 4.89051201e-03 1.85431091e+02] [-1.04379343e-01 9.94537441e-01 -4.80935867e-04 -1.05371458e+01] [-4.91399760e-03 -3.21654842e-05 9.99987926e-01 -1.17247951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.49, Y:-10.55, Z:-1.17 [[ 9.94561623e-01 1.04034906e-01 4.89050062e-03 1.85491676e+02] [-1.04033798e-01 9.94573646e-01 -4.81051691e-04 -1.05486071e+01] [-4.91400920e-03 -3.03418016e-05 9.99987926e-01 -1.17197362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.55, Y:-10.56, Z:-1.17 [[ 9.94460705e-01 1.04995183e-01 4.89048934e-03 1.85552368e+02] [-1.04994087e-01 9.94472730e-01 -4.81166263e-04 -1.05619414e+01] [-4.91397843e-03 -3.49715207e-05 9.99987926e-01 -1.17125616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.61, Y:-10.57, Z:-1.17 [[ 9.94342532e-01 1.06108490e-01 4.89047800e-03 1.85613910e+02] [-1.06107406e-01 9.94354558e-01 -4.81281565e-04 -1.05708045e+01] [-4.91393715e-03 -4.03572057e-05 9.99987926e-01 -1.16997211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.67, Y:-10.58, Z:-1.17 [[ 9.94194245e-01 1.07489010e-01 4.89039790e-03 1.85674470e+02] [-1.07487939e-01 9.94206272e-01 -4.82094083e-04 -1.05804787e+01] [-4.91388408e-03 -4.63636281e-05 9.99987926e-01 -1.17213883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:-10.59, Z:-1.17 [[ 9.94172824e-01 1.07686958e-01 4.89035351e-03 1.85736192e+02] [-1.07685887e-01 9.94184850e-01 -4.82543952e-04 -1.05907632e+01] [-4.91387906e-03 -4.68899711e-05 9.99987926e-01 -1.17245544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.80, Y:-10.60, Z:-1.17 [[ 9.94336624e-01 1.06163853e-01 4.89027248e-03 1.85797014e+02] [-1.06162759e-01 9.94348649e-01 -4.83363759e-04 -1.06008975e+01] [-4.91395159e-03 -3.85385324e-05 9.99987926e-01 -1.17371301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:-10.61, Z:-1.17 [[ 9.94849693e-01 1.01243149e-01 4.89018614e-03 1.85859576e+02] [-1.01241992e-01 9.94861711e-01 -4.84235692e-04 -1.06128273e+01] [-4.91408450e-03 -1.33504582e-05 9.99987926e-01 -1.17330481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.92, Y:-10.63, Z:-1.17 [[ 9.95336247e-01 9.63423199e-02 4.89009068e-03 1.85919553e+02] [-9.63410989e-02 9.95348259e-01 -4.85197804e-04 -1.06253816e+01] [-4.91408832e-03 1.18182520e-05 9.99987926e-01 -1.17142284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.98, Y:-10.64, Z:-1.17 [[ 9.95410038e-01 9.55768980e-02 4.89001377e-03 1.85980817e+02] [-9.55756639e-02 9.95422049e-01 -4.85971662e-04 -1.06359439e+01] [-4.91407519e-03 1.63747578e-05 9.99987926e-01 -1.17092727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.04, Y:-10.65, Z:-1.17 [[ 9.95208890e-01 9.76491389e-02 4.88992711e-03 1.86043214e+02] [-9.76479256e-02 9.95220903e-01 -4.86842105e-04 -1.06465284e+01] [-4.91409738e-03 7.01835287e-06 9.99987926e-01 -1.16928895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:186.11, Y:-10.66, Z:-1.17 [[ 9.94814361e-01 1.01589742e-01 4.88983410e-03 1.86105905e+02] [-1.01588572e-01 9.94826379e-01 -4.87774544e-04 -1.06552710e+01] [-4.91408884e-03 -1.15061417e-05 9.99987926e-01 -1.16825157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:-10.66, Z:-1.17 [[ 9.94066048e-01 1.08668225e-01 4.88973804e-03 1.86166491e+02] [-1.08667136e-01 9.94078073e-01 -4.88735519e-04 -1.06642253e+01] [-4.91389139e-03 -4.55184426e-05 9.99987926e-01 -1.17169435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.23, Y:-10.67, Z:-1.17 [[ 9.93481317e-01 1.13890137e-01 4.88966083e-03 1.86227702e+02] [-1.13889107e-01 9.93493348e-01 -4.89506835e-04 -1.06732076e+01] [-4.91359550e-03 -7.05632078e-05 9.99987926e-01 -1.17375552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:186.29, Y:-10.68, Z:-1.18 [[ 9.93243067e-01 1.15949563e-01 4.88957752e-03 1.86288662e+02] [-1.15948553e-01 9.93255099e-01 -4.90337544e-04 -1.06833339e+01] [-4.91345223e-03 -7.99150739e-05 9.99987926e-01 -1.17598090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.35, Y:-10.69, Z:-1.18 [[ 9.93229882e-01 1.16062455e-01 4.88949532e-03 1.86349176e+02] [-1.16061443e-01 9.93241914e-01 -4.91155848e-04 -1.06922066e+01] [-4.91345645e-03 -7.96512182e-05 9.99987926e-01 -1.17904162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.41, Y:-10.70, Z:-1.18 [[ 9.93216863e-01 1.16173817e-01 4.88942007e-03 1.86410702e+02] [-1.16172803e-01 9.93228895e-01 -4.91903872e-04 -1.07018412e+01] [-4.91345964e-03 -7.94504139e-05 9.99987926e-01 -1.17975819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:-10.71, Z:-1.18 [[ 9.93098612e-01 1.17180377e-01 4.88933943e-03 1.86473650e+02] [-1.17179371e-01 9.93110644e-01 -4.92704121e-04 -1.07086540e+01] [-4.91339028e-03 -8.36259417e-05 9.99987926e-01 -1.18033366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.54, Y:-10.71, Z:-1.18 [[ 9.92724445e-01 1.20309068e-01 4.88924762e-03 1.86536718e+02] [-1.20308096e-01 9.92736480e-01 -4.93613485e-04 -1.07139050e+01] [-4.91312065e-03 -9.81938973e-05 9.99987926e-01 -1.17850198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.60, Y:-10.72, Z:-1.18 [[ 9.92386531e-01 1.23065305e-01 4.88915086e-03 1.86598084e+02] [-1.23064362e-01 9.92398568e-01 -4.94570020e-04 -1.07186974e+01] [-4.91285072e-03 -1.10875602e-04 9.99987926e-01 -1.17937203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:-10.72, Z:-1.18 [[ 9.92312801e-01 1.23658411e-01 4.88906128e-03 1.86661182e+02] [-1.23657470e-01 9.92324838e-01 -4.95453933e-04 -1.07231935e+01] [-4.91280399e-03 -1.12923670e-04 9.99987926e-01 -1.17935025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:-10.73, Z:-1.18 [[ 9.92525708e-01 1.21937758e-01 4.88896830e-03 1.86724227e+02] [-1.21936791e-01 9.92537744e-01 -4.96369752e-04 -1.07284479e+01] [-4.91301178e-03 -1.03485367e-04 9.99987926e-01 -1.17694934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:-10.73, Z:-1.18 [[ 9.92876433e-01 1.19048261e-01 4.88887295e-03 1.86786942e+02] [-1.19047255e-01 9.92888465e-01 -4.97307129e-04 -1.07327375e+01] [-4.91330911e-03 -8.82423769e-05 9.99987926e-01 -1.17624352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:-10.74, Z:-1.18 [[ 9.93163930e-01 1.16625504e-01 4.88877840e-03 1.86849770e+02] [-1.16624464e-01 9.93175959e-01 -4.98234833e-04 -1.07383927e+01] [-4.91352407e-03 -7.53222958e-05 9.99987926e-01 -1.17774192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:-10.74, Z:-1.18 [[ 9.93534753e-01 1.13423084e-01 4.88868315e-03 1.86911466e+02] [-1.13422001e-01 9.93546778e-01 -4.99167746e-04 -1.07431494e+01] [-4.91375253e-03 -5.85437225e-05 9.99987926e-01 -1.17657479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.97, Y:-10.75, Z:-1.18 [[ 9.93752371e-01 1.11500341e-01 4.88859466e-03 1.86974640e+02] [-1.11499230e-01 9.93764394e-01 -5.00032835e-04 -1.07481729e+01] [-4.91386514e-03 -4.81657244e-05 9.99987926e-01 -1.17775480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:187.04, Y:-10.75, Z:-1.18 [[ 9.93774309e-01 1.11304650e-01 4.88850050e-03 1.87036732e+02] [-1.11303532e-01 9.93786332e-01 -5.00951634e-04 -1.07518715e+01] [-4.91388323e-03 -4.62745083e-05 9.99987926e-01 -1.17815949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:187.10, Y:-10.76, Z:-1.18 [[ 9.93642221e-01 1.12477732e-01 4.88841753e-03 1.87099380e+02] [-1.12476624e-01 9.93654244e-01 -5.01760037e-04 -1.07572300e+01] [-4.91383366e-03 -5.12627427e-05 9.99987926e-01 -1.17891071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:-10.76, Z:-1.18 [[ 9.93576210e-01 1.13059361e-01 4.88832303e-03 1.87161472e+02] [-1.13058256e-01 9.93588234e-01 -5.02679023e-04 -1.07595897e+01] [-4.91381281e-03 -5.32153586e-05 9.99987926e-01 -1.18195709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:-10.77, Z:-1.18 [[ 9.93663587e-01 1.12288830e-01 4.88826430e-03 1.87224154e+02] [-1.12287712e-01 9.93675609e-01 -5.03249440e-04 -1.07652509e+01] [-4.91385830e-03 -4.88313729e-05 9.99987926e-01 -1.17814802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.29, Y:-10.77, Z:-1.18 [[ 9.94082984e-01 1.08513256e-01 4.88817070e-03 1.87286527e+02] [-1.08512089e-01 9.94095002e-01 -5.04156932e-04 -1.07691497e+01] [-4.91401378e-03 -2.92517858e-05 9.99987926e-01 -1.17896358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.35, Y:-10.77, Z:-1.18 [[ 9.94727320e-01 1.02438590e-01 4.88811253e-03 1.87347855e+02] [-1.02437347e-01 9.94739330e-01 -5.04720300e-04 -1.07745321e+01] [-4.91410062e-03 1.33379147e-06 9.99987926e-01 -1.18048284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.41, Y:-10.78, Z:-1.18 [[ 9.95364358e-01 9.60515578e-02 4.88802652e-03 1.87409963e+02] [-9.60502333e-02 9.95376360e-01 -5.05551951e-04 -1.07831396e+01] [-4.91398509e-03 3.37123059e-05 9.99987926e-01 -1.18323822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.47, Y:-10.79, Z:-1.18 [[ 9.95673292e-01 9.27944177e-02 4.88799814e-03 1.87470336e+02] [-9.27930525e-02 9.95685288e-01 -5.05826167e-04 -1.07898440e+01] [-4.91384568e-03 5.00653361e-05 9.99987926e-01 -1.18139369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.53, Y:-10.80, Z:-1.18 [[ 9.95990391e-01 8.93266378e-02 4.88795522e-03 1.87532205e+02] [-8.93252289e-02 9.96002383e-01 -5.06240626e-04 -1.07987174e+01] [-4.91363582e-03 6.75930812e-05 9.99987926e-01 -1.17746793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00587156 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:187.59, Y:-10.81, Z:-1.18 [[ 9.96024867e-01 8.89414060e-02 4.88787154e-03 1.87592691e+02] [-8.89399884e-02 9.96036857e-01 -5.07047239e-04 -1.08070678e+01] [-4.91359771e-03 7.03044199e-05 9.99987926e-01 -1.17907866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:-10.82, Z:-1.19 [[ 9.95854100e-01 9.08334809e-02 4.88779449e-03 1.87653683e+02] [-9.08320825e-02 9.95866093e-01 -5.07788909e-04 -1.08165864e+01] [-4.91371304e-03 6.17151146e-05 9.99987926e-01 -1.18510259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:-10.83, Z:-1.18 [[ 9.95403077e-01 9.56494925e-02 4.88771277e-03 1.87716571e+02] [-9.56481483e-02 9.95415076e-01 -5.08574277e-04 -1.08252530e+01] [-4.91394785e-03 3.87357243e-05 9.99987926e-01 -1.18267148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.78, Y:-10.83, Z:-1.18 [[ 9.95044057e-01 9.93148281e-02 4.88761609e-03 1.87778295e+02] [-9.93135236e-02 9.95056061e-01 -5.09501761e-04 -1.08328303e+01] [-4.91405309e-03 2.15703241e-05 9.99987926e-01 -1.18353628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:-10.84, Z:-1.18 [[ 9.94509067e-01 1.04536249e-01 4.88755598e-03 1.87839322e+02] [-1.04535005e-01 9.94521077e-01 -5.10077744e-04 -1.08409468e+01] [-4.91409905e-03 -3.64374638e-06 9.99987926e-01 -1.18417159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:-10.85, Z:-1.18 [[ 9.94011270e-01 1.09168253e-01 4.88746909e-03 1.87901033e+02] [-1.09167061e-01 9.94023285e-01 -5.10908922e-04 -1.08492781e+01] [-4.91403312e-03 -2.57014094e-05 9.99987926e-01 -1.17986241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-10.86, Z:-1.18 [[ 9.93721559e-01 1.11774670e-01 4.88738342e-03 1.87963488e+02] [-1.11773505e-01 9.93733577e-01 -5.11727121e-04 -1.08559545e+01] [-4.91395514e-03 -3.77657027e-05 9.99987926e-01 -1.18067168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.03, Y:-10.86, Z:-1.18 [[ 9.93394351e-01 1.14646318e-01 4.88728612e-03 1.88026358e+02] [-1.14645183e-01 9.93406372e-01 -5.12654696e-04 -1.08630989e+01] [-4.91383515e-03 -5.10355340e-05 9.99987926e-01 -1.18036930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:-10.87, Z:-1.18 [[ 9.93090450e-01 1.17249623e-01 4.88718983e-03 1.88089451e+02] [-1.17248516e-01 9.93102473e-01 -5.13571001e-04 -1.08695473e+01] [-4.91369632e-03 -6.29932972e-05 9.99987926e-01 -1.17970152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.15, Y:-10.87, Z:-1.18 [[ 9.92940905e-01 1.18509387e-01 4.88709315e-03 1.88151005e+02] [-1.18508290e-01 9.92952930e-01 -5.14489384e-04 -1.08741044e+01] [-4.91362528e-03 -6.83034983e-05 9.99987926e-01 -1.18130197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:-10.88, Z:-1.18 [[ 9.93186746e-01 1.16431116e-01 4.88700583e-03 1.88213083e+02] [-1.16429990e-01 9.93198768e-01 -5.15317480e-04 -1.08794985e+01] [-4.91376716e-03 -5.71875463e-05 9.99987926e-01 -1.18374721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.28, Y:-10.89, Z:-1.18 [[ 9.93375389e-01 1.14810515e-01 4.88691279e-03 1.88275646e+02] [-1.14809364e-01 9.93387409e-01 -5.16198288e-04 -1.08855021e+01] [-4.91386263e-03 -4.82846764e-05 9.99987926e-01 -1.18269790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.34, Y:-10.89, Z:-1.18 [[ 9.93504646e-01 1.13686579e-01 4.88681402e-03 1.88336364e+02] [-1.13685411e-01 9.93516663e-01 -5.17131695e-04 -1.08911090e+01] [-4.91392209e-03 -4.17867168e-05 9.99987926e-01 -1.18251635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.40, Y:-10.90, Z:-1.18 [[ 9.93547890e-01 1.13308032e-01 4.88673443e-03 1.88399562e+02] [-1.13306855e-01 9.93559907e-01 -5.17882683e-04 -1.08972708e+01] [-4.91394367e-03 -3.91592630e-05 9.99987926e-01 -1.17963524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84587156 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:188.46, Y:-10.90, Z:-1.18 [[ 9.93582237e-01 1.13006456e-01 4.88663690e-03 1.88461336e+02] [-1.13005271e-01 9.93594253e-01 -5.18801352e-04 -1.09026421e+01] [-4.91396224e-03 -3.67439180e-05 9.99987926e-01 -1.18097544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.52, Y:-10.91, Z:-1.18 [[ 9.93708995e-01 1.11886348e-01 4.88657645e-03 1.88523481e+02] [-1.11885147e-01 9.93721009e-01 -5.19370051e-04 -1.09076740e+01] [-4.91400410e-03 -3.06326315e-05 9.99987926e-01 -1.18443183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.59, Y:-10.91, Z:-1.19 [[ 9.93865751e-01 1.10485250e-01 4.88649048e-03 1.88585351e+02] [-1.10484028e-01 9.93877764e-01 -5.20177649e-04 -1.09135660e+01] [-4.91404619e-03 -2.28924001e-05 9.99987926e-01 -1.18673175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.65, Y:-10.92, Z:-1.19 [[ 9.93924035e-01 1.09959703e-01 4.88640531e-03 1.88647677e+02] [-1.09958471e-01 9.93936046e-01 -5.20976467e-04 -1.09201863e+01] [-4.91406079e-03 -1.94906240e-05 9.99987926e-01 -1.18668463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.71, Y:-10.93, Z:-1.19 [[ 9.93949016e-01 1.09733667e-01 4.88637420e-03 1.88708952e+02] [-1.09732431e-01 9.93961026e-01 -5.21268090e-04 -1.09267345e+01] [-4.91406618e-03 -1.80798127e-05 9.99987926e-01 -1.18667770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14587156000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:188.77, Y:-10.93, Z:-1.18 [[ 9.93860981e-01 1.10528160e-01 4.88628168e-03 1.88770753e+02] [-1.10526929e-01 9.93872993e-01 -5.22133960e-04 -1.09333340e+01] [-4.91405390e-03 -2.11371386e-05 9.99987926e-01 -1.18352850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.83, Y:-10.94, Z:-1.18 [[ 9.93740985e-01 1.11601885e-01 4.88619567e-03 1.88833610e+02] [-1.11600663e-01 9.93752997e-01 -5.22937644e-04 -1.09389436e+01] [-4.91403241e-03 -2.56381057e-05 9.99987926e-01 -1.18340681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:-10.95, Z:-1.18 [[ 9.93566939e-01 1.13140904e-01 4.88609498e-03 1.88894229e+02] [-1.13139696e-01 9.93578952e-01 -5.23876752e-04 -1.09455052e+01] [-4.91399302e-03 -3.23046786e-05 9.99987926e-01 -1.18465674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:-10.95, Z:-1.19 [[ 9.93731025e-01 1.11690537e-01 4.88604605e-03 1.88956726e+02] [-1.11689309e-01 9.93743037e-01 -5.24332701e-04 -1.09532742e+01] [-4.91403724e-03 -2.46734353e-05 9.99987926e-01 -1.18653426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.02, Y:-10.96, Z:-1.19 [[ 9.93981139e-01 1.09442324e-01 4.88594745e-03 1.89018880e+02] [-1.09441065e-01 9.93993148e-01 -5.25249895e-04 -1.09598608e+01] [-4.91408285e-03 -1.26348024e-05 9.99987926e-01 -1.18588704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:-10.97, Z:-1.19 [[ 9.94089583e-01 1.08452886e-01 4.88588322e-03 1.89080127e+02] [-1.08451611e-01 9.94101590e-01 -5.25846633e-04 -1.09673056e+01] [-4.91409387e-03 -7.14324607e-06 9.99987926e-01 -1.18614345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:-10.97, Z:-1.18 [[ 9.93807469e-01 1.11008302e-01 4.88581934e-03 1.89143366e+02] [-1.11007056e-01 9.93819479e-01 -5.26439492e-04 -1.09727230e+01] [-4.91406159e-03 -1.91809218e-05 9.99987926e-01 -1.18476620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.20, Y:-10.98, Z:-1.19 [[ 9.93482911e-01 1.13876407e-01 4.88571776e-03 1.89204979e+02] [-1.13875190e-01 9.93494923e-01 -5.27380572e-04 -1.09781591e+01] [-4.91399200e-03 -3.24184531e-05 9.99987926e-01 -1.18712992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.27, Y:-10.98, Z:-1.19 [[ 9.93157473e-01 1.16680608e-01 4.88562347e-03 1.89266976e+02] [-1.16679421e-01 9.93169489e-01 -5.28252621e-04 -1.09821812e+01] [-4.91388900e-03 -4.54136814e-05 9.99987926e-01 -1.18818350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.33, Y:-10.99, Z:-1.19 [[ 9.93095492e-01 1.17206978e-01 4.88553429e-03 1.89329211e+02] [-1.17205794e-01 9.93107508e-01 -5.29076155e-04 -1.09873730e+01] [-4.91387220e-03 -4.71897787e-05 9.99987926e-01 -1.18959888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.39, Y:-10.99, Z:-1.19 [[ 9.93141663e-01 1.16815111e-01 4.88543935e-03 1.89391453e+02] [-1.16813918e-01 9.93153678e-01 -5.29951354e-04 -1.09910928e+01] [-4.91389838e-03 -4.43705406e-05 9.99987926e-01 -1.18609082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:-10.99, Z:-1.19 [[ 9.93180355e-01 1.16485690e-01 4.88535200e-03 1.89452489e+02] [-1.16484489e-01 9.93192369e-01 -5.30755379e-04 -1.09943108e+01] [-4.91391973e-03 -4.19319149e-05 9.99987926e-01 -1.18903688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.51, Y:-10.99, Z:-1.19 [[ 9.93063522e-01 1.17477551e-01 4.88530305e-03 1.89513884e+02] [-1.17476359e-01 9.93075537e-01 -5.31205581e-04 -1.09933915e+01] [-4.91387968e-03 -4.63867304e-05 9.99987926e-01 -1.19185995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.58, Y:-10.99, Z:-1.19 [[ 9.92993315e-01 1.18069513e-01 4.88529051e-03 1.89575414e+02] [-1.18068328e-01 9.93005331e-01 -5.31320864e-04 -1.09946122e+01] [-4.91385231e-03 -4.92000143e-05 9.99987926e-01 -1.19226027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:189.64, Y:-10.99, Z:-1.19 [[ 9.93099546e-01 1.17172633e-01 4.88527799e-03 1.89637448e+02] [-1.17171436e-01 9.93111561e-01 -5.31435899e-04 -1.09945550e+01] [-4.91389580e-03 -4.46462877e-05 9.99987926e-01 -1.18945599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.70, Y:-11.00, Z:-1.19 [[ 9.93330571e-01 1.15197703e-01 4.88526552e-03 1.89697711e+02] [-1.15196482e-01 9.93342583e-01 -5.31550554e-04 -1.09957175e+01] [-4.91397567e-03 -3.47599868e-05 9.99987926e-01 -1.19016724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.76, Y:-10.99, Z:-1.19 [[ 9.94125289e-01 1.08125132e-01 4.88526715e-03 1.89759168e+02] [-1.08123826e-01 9.94137292e-01 -5.31535553e-04 -1.09938017e+01] [-4.91409861e-03 1.99161247e-07 9.99987926e-01 -1.18706574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.82, Y:-11.00, Z:-1.19 [[ 9.95034791e-01 9.94077457e-02 4.88523848e-03 1.89819878e+02] [-9.94063327e-02 9.95046782e-01 -5.31798930e-04 -1.09958774e+01] [-4.91390576e-03 4.35347948e-05 9.99987926e-01 -1.18757586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:189.88, Y:-11.00, Z:-1.19 [[ 9.95639252e-01 9.31590789e-02 4.88523208e-03 1.89880038e+02] [-9.31575904e-02 9.95651234e-01 -5.31857743e-04 -1.09989342e+01] [-4.91353473e-03 7.44419970e-05 9.99987926e-01 -1.18774264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.94, Y:-11.00, Z:-1.19 [[ 9.95937153e-01 8.99184123e-02 4.88522586e-03 1.89941689e+02] [-8.99168845e-02 9.95949131e-01 -5.31914860e-04 -1.10029410e+01] [-4.91326539e-03 9.04894817e-05 9.99987926e-01 -1.18622531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:190.00, Y:-11.01, Z:-1.19 [[ 9.96095808e-01 8.81434947e-02 4.88521330e-03 1.90002396e+02] [-8.81419450e-02 9.96107783e-01 -5.32030213e-04 -1.10091510e+01] [-4.91309399e-03 9.93608629e-05 9.99987926e-01 -1.18529780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:-11.02, Z:-1.19 [[ 9.96607004e-01 8.21621179e-02 4.88520073e-03 1.90064105e+02] [-8.21604958e-02 9.96618969e-01 -5.32145590e-04 -1.10163417e+01] [-4.91240592e-03 1.28969508e-04 9.99987926e-01 -1.18711383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:-11.03, Z:-1.19 [[ 9.97082907e-01 7.61696329e-02 4.88511349e-03 1.90125979e+02] [-7.61679350e-02 9.97094861e-01 -5.32945266e-04 -1.10260422e+01] [-4.91151580e-03 1.59301608e-04 9.99987926e-01 -1.18965920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.19, Y:-11.03, Z:-1.19 [[ 9.97233929e-01 7.41662205e-02 4.88502648e-03 1.90187134e+02] [-7.41644947e-02 9.97245879e-01 -5.33741610e-04 -1.10345007e+01] [-4.91115812e-03 1.69969723e-04 9.99987926e-01 -1.19156289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:190.25, Y:-11.05, Z:-1.19 [[ 9.97117181e-01 7.57196493e-02 4.88494032e-03 1.90248703e+02] [-7.57179383e-02 9.97129133e-01 -5.34528951e-04 -1.10463586e+01] [-4.91139065e-03 1.63110391e-04 9.99987926e-01 -1.18981833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64587156000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:190.31, Y:-11.06, Z:-1.19 [[ 9.96775321e-01 8.00943078e-02 4.88485281e-03 1.90310097e+02] [-8.00926453e-02 9.96787280e-01 -5.35327516e-04 -1.10563824e+01] [-4.91203583e-03 1.42360473e-04 9.99987926e-01 -1.18759823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:-11.07, Z:-1.19 [[ 9.95915917e-01 9.01533400e-02 4.88476580e-03 1.90370852e+02] [-9.01517944e-02 9.95927892e-01 -5.36120291e-04 -1.10652684e+01] [-4.91320754e-03 9.35603297e-05 9.99987926e-01 -1.18793170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:-11.07, Z:-1.19 [[ 9.94805017e-01 1.01681448e-01 4.88475295e-03 1.90429709e+02] [-1.01680041e-01 9.94817009e-01 -5.36237348e-04 -1.10731465e+01] [-4.91396071e-03 3.67697241e-05 9.99987926e-01 -1.18991561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.49, Y:-11.08, Z:-1.19 [[ 9.94074454e-01 1.08591521e-01 4.88475932e-03 1.90490163e+02] [-1.08590197e-01 9.94086456e-01 -5.36179277e-04 -1.10788150e+01] [-4.91409761e-03 2.56514525e-06 9.99987926e-01 -1.19101530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:-11.08, Z:-1.19 [[ 9.93100530e-01 1.17164310e-01 4.88475932e-03 1.90550088e+02] [-1.17163090e-01 9.93112543e-01 -5.36179277e-04 -1.10823004e+01] [-4.91393683e-03 -3.98335710e-05 9.99987926e-01 -1.19204227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:-11.08, Z:-1.20 [[ 9.92383742e-01 1.23087968e-01 4.88477225e-03 1.90610390e+02] [-1.23086820e-01 9.92395761e-01 -5.36061470e-04 -1.10837685e+01] [-4.91361000e-03 -6.92723953e-05 9.99987926e-01 -1.19506154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.67, Y:-11.09, Z:-1.20 [[ 9.92178935e-01 1.24728107e-01 4.88478506e-03 1.90670294e+02] [-1.24726979e-01 9.92190956e-01 -5.35944738e-04 -1.10869434e+01] [-4.91348693e-03 -7.75114054e-05 9.99987926e-01 -1.19860855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:-11.09, Z:-1.20 [[ 9.92391415e-01 1.23026090e-01 4.88479136e-03 1.90730165e+02] [-1.23024943e-01 9.92403434e-01 -5.35887277e-04 -1.10878944e+01] [-4.91361184e-03 -6.91412444e-05 9.99987926e-01 -1.19859879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.79, Y:-11.09, Z:-1.20 [[ 9.92912306e-01 1.18748857e-01 4.88480404e-03 1.90789901e+02] [-1.18747658e-01 9.92924321e-01 -5.35771666e-04 -1.10915450e+01] [-4.91386301e-03 -4.80847583e-05 9.99987926e-01 -1.19746895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.85, Y:-11.10, Z:-1.20 [[ 9.94096266e-01 1.08391659e-01 4.88481662e-03 1.90850560e+02] [-1.08390335e-01 9.94108268e-01 -5.35656995e-04 -1.10950834e+01] [-4.91409734e-03 3.02770663e-06 9.99987926e-01 -1.19651956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:190.91, Y:-11.10, Z:-1.20 [[ 9.95482392e-01 9.48205969e-02 4.88481662e-03 1.90910241e+02] [-9.48191098e-02 9.95494374e-01 -5.35656995e-04 -1.11011429e+01] [-4.91359878e-03 7.00631431e-05 9.99987926e-01 -1.19633673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:-11.11, Z:-1.20 [[ 9.96326536e-01 8.54960387e-02 4.88481031e-03 1.90971407e+02] [-8.54944391e-02 9.96338504e-01 -5.35714501e-04 -1.11090256e+01] [-4.91272606e-03 1.16122455e-04 9.99987926e-01 -1.19737410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36587156000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.03, Y:-11.12, Z:-1.20 [[ 9.97387237e-01 7.20752310e-02 4.88479766e-03 1.91033963e+02] [-7.20734699e-02 9.97399182e-01 -5.35829869e-04 -1.11201093e+01] [-4.91071325e-03 1.82365555e-04 9.99987926e-01 -1.19864071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.09, Y:-11.13, Z:-1.20 [[ 9.97828548e-01 6.56835413e-02 4.88469473e-03 1.91094790e+02] [-6.56816992e-02 9.97840481e-01 -5.36766561e-04 -1.11305250e+01] [-4.90940286e-03 2.14765949e-04 9.99987926e-01 -1.19903237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:-11.14, Z:-1.20 [[ 9.98160781e-01 6.04251226e-02 4.88459928e-03 1.91156916e+02] [-6.04232133e-02 9.98172704e-01 -5.37633698e-04 -1.11448672e+01] [-4.90816025e-03 2.41501687e-04 9.99987926e-01 -1.19740161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.22, Y:-11.16, Z:-1.20 [[ 9.98189819e-01 5.99435360e-02 4.88450056e-03 1.91217360e+02] [-5.99416166e-02 9.98201739e-01 -5.38529098e-04 -1.11591627e+01] [-4.90799830e-03 2.44769402e-04 9.99987926e-01 -1.19861169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-11.17, Z:-1.20 [[ 9.98132077e-01 6.08974467e-02 4.88440849e-03 1.91279096e+02] [-6.08955346e-02 9.98143999e-01 -5.39362897e-04 -1.11726384e+01] [-4.90818885e-03 2.40916742e-04 9.99987926e-01 -1.19829414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:-11.19, Z:-1.20 [[ 9.97898561e-01 6.46111864e-02 4.88431121e-03 1.91340414e+02] [-6.46093144e-02 9.97910489e-01 -5.40242441e-04 -1.11901709e+01] [-4.90901109e-03 2.23535156e-04 9.99987926e-01 -1.19976387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:-11.21, Z:-1.20 [[ 9.97440949e-01 7.13281043e-02 4.88421278e-03 1.91400958e+02] [-7.13263084e-02 9.97452889e-01 -5.41130790e-04 -1.12057730e+01] [-4.91036998e-03 1.91373141e-04 9.99987926e-01 -1.20099034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:-11.22, Z:-1.20 [[ 9.96939601e-01 7.80229294e-02 4.88412543e-03 1.91462275e+02] [-7.80212098e-02 9.96951552e-01 -5.41918114e-04 -1.12192714e+01] [-4.91151846e-03 1.59194254e-04 9.99987926e-01 -1.20230441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:-11.24, Z:-1.20 [[ 9.96034533e-01 8.88332951e-02 4.88403204e-03 1.91524315e+02] [-8.88317011e-02 9.96046502e-01 -5.42758425e-04 -1.12356764e+01] [-4.91293805e-03 1.06749260e-04 9.99987926e-01 -1.20092440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.59, Y:-11.25, Z:-1.20 [[ 9.95339770e-01 9.63062323e-02 4.88392714e-03 1.91585454e+02] [-9.63047236e-02 9.95351749e-01 -5.43700734e-04 -1.12485727e+01] [-4.91358719e-03 7.08217101e-05 9.99987926e-01 -1.20254024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.65, Y:-11.26, Z:-1.20 [[ 9.94395688e-01 1.05609490e-01 4.88382909e-03 1.91646054e+02] [-1.05608089e-01 9.94407680e-01 -5.44580037e-04 -1.12633048e+01] [-4.91402998e-03 2.57561841e-05 9.99987926e-01 -1.20341858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:-11.28, Z:-1.20 [[ 9.93679007e-01 1.12152482e-01 4.88373444e-03 1.91707301e+02] [-1.12151156e-01 9.93691009e-01 -5.45427594e-04 -1.12782843e+01] [-4.91409406e-03 -5.73651303e-06 9.99987926e-01 -1.20253890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:-11.29, Z:-1.20 [[ 9.93258617e-01 1.15816538e-01 4.88363068e-03 1.91769203e+02] [-1.15815252e-01 9.93270622e-01 -5.46355007e-04 -1.12890178e+01] [-4.91404383e-03 -2.29270972e-05 9.99987926e-01 -1.20419817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14587156000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:191.83, Y:-11.30, Z:-1.21 [[ 9.92500782e-01 1.22140692e-01 4.88352855e-03 1.91830038e+02] [-1.22139477e-01 9.92512795e-01 -5.47266329e-04 -1.13019651e+01] [-4.91380806e-03 -5.33093644e-05 9.99987926e-01 -1.20554468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:-11.31, Z:-1.21 [[ 9.91648300e-01 1.28879019e-01 4.88343756e-03 1.91892935e+02] [-1.28877882e-01 9.91660320e-01 -5.48077078e-04 -1.13092378e+01] [-4.91334689e-03 -8.58673884e-05 9.99987926e-01 -1.20677293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.96, Y:-11.32, Z:-1.21 [[ 9.91385505e-01 1.30885194e-01 4.88333430e-03 1.91955562e+02] [-1.30884077e-01 9.91397527e-01 -5.48995580e-04 -1.13170865e+01] [-4.91318095e-03 -9.48844451e-05 9.99987926e-01 -1.20671635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:-11.33, Z:-1.21 [[ 9.90990954e-01 1.33839764e-01 4.88322966e-03 1.92016884e+02] [-1.33838678e-01 9.91002980e-01 -5.49924757e-04 -1.13264501e+01] [-4.91289695e-03 -1.08594545e-04 9.99987926e-01 -1.20799570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.08, Y:-11.33, Z:-1.21 [[ 9.91034831e-01 1.33514492e-01 4.88313281e-03 1.92077950e+02] [-1.33513398e-01 9.91046855e-01 -5.50783461e-04 -1.13340066e+01] [-4.91295099e-03 -1.06118062e-04 9.99987926e-01 -1.20994535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:-11.34, Z:-1.21 [[ 9.91367147e-01 1.31024180e-01 4.88306926e-03 1.92141026e+02] [-1.31023053e-01 9.91379168e-01 -5.51346248e-04 -1.13409573e+01] [-4.91321284e-03 -9.32080856e-05 9.99987926e-01 -1.21054740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:-11.35, Z:-1.21 [[ 9.91796029e-01 1.27737204e-01 4.88296842e-03 1.92203716e+02] [-1.27736033e-01 9.91808046e-01 -5.52237958e-04 -1.13489356e+01] [-4.91350870e-03 -7.60235982e-05 9.99987926e-01 -1.20925983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:-11.36, Z:-1.21 [[ 9.92025628e-01 1.25941700e-01 4.88286335e-03 1.92265380e+02] [-1.25940503e-01 9.92037642e-01 -5.53165381e-04 -1.13556194e+01] [-4.91365083e-03 -6.61960309e-05 9.99987926e-01 -1.21104987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.33, Y:-11.36, Z:-1.21 [[ 9.92243225e-01 1.24215700e-01 4.88276582e-03 1.92328211e+02] [-1.24214478e-01 9.92255238e-01 -5.54024925e-04 -1.13606644e+01] [-4.91376856e-03 -5.67827285e-05 9.99987926e-01 -1.21086343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:-11.37, Z:-1.21 [[ 9.92479424e-01 1.22314151e-01 4.88266233e-03 1.92390730e+02] [-1.22312901e-01 9.92491434e-01 -5.54935490e-04 -1.13682986e+01] [-4.91387700e-03 -4.64505400e-05 9.99987926e-01 -1.20877668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.45, Y:-11.38, Z:-1.21 [[ 9.92682243e-01 1.20657059e-01 4.88255842e-03 1.92453398e+02] [-1.20655785e-01 9.92694249e-01 -5.55848257e-04 -1.13758099e+01] [-4.91395468e-03 -3.73282223e-05 9.99987926e-01 -1.20728861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:-11.38, Z:-1.21 [[ 9.92838563e-01 1.19363933e-01 4.88244959e-03 1.92514908e+02] [-1.19362638e-01 9.92850568e-01 -5.56802590e-04 -1.13815705e+01] [-4.91400499e-03 -2.99669797e-05 9.99987926e-01 -1.20730915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86587156000002 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:192.58, Y:-11.39, Z:-1.21 [[ 9.92973922e-01 1.18232624e-01 4.88234825e-03 1.92577049e+02] [-1.18231311e-01 9.92985924e-01 -5.57689762e-04 -1.13884372e+01] [-4.91404021e-03 -2.34750429e-05 9.99987926e-01 -1.20658249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:-11.40, Z:-1.21 [[ 9.93412966e-01 1.14485116e-01 4.88223864e-03 1.92638134e+02] [-1.14483753e-01 9.93424964e-01 -5.58647630e-04 -1.13959924e+01] [-4.91409459e-03 -3.96920513e-06 9.99987926e-01 -1.20704642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:-11.40, Z:-1.21 [[ 9.93735761e-01 1.11648560e-01 4.88218619e-03 1.92700928e+02] [-1.11647161e-01 9.93747754e-01 -5.59105665e-04 -1.14031252e+01] [-4.91408491e-03 1.05210665e-05 9.99987926e-01 -1.20797923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.76, Y:-11.41, Z:-1.21 [[ 9.94207755e-01 1.07364360e-01 4.88207731e-03 1.92761909e+02] [-1.07362904e-01 9.94219741e-01 -5.60054772e-04 -1.14112200e+01] [-4.91398756e-03 3.26567986e-05 9.99987926e-01 -1.21030551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.82, Y:-11.42, Z:-1.21 [[ 9.94480001e-01 1.04812661e-01 4.88197602e-03 1.92824654e+02] [-1.04811171e-01 9.94491983e-01 -5.60936308e-04 -1.14212392e+01] [-4.91387924e-03 4.61543189e-05 9.99987926e-01 -1.20956992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:-11.43, Z:-1.21 [[ 9.94524250e-01 1.04391974e-01 4.88186884e-03 1.92887242e+02] [-1.04390474e-01 9.94536230e-01 -5.61867610e-04 -1.14299807e+01] [-4.91384990e-03 4.91703617e-05 9.99987926e-01 -1.20939012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:-11.44, Z:-1.21 [[ 9.94451783e-01 1.05080067e-01 4.88176165e-03 1.92948403e+02] [-1.05078570e-01 9.94463764e-01 -5.62797352e-04 -1.14383326e+01] [-4.91387385e-03 4.67062947e-05 9.99987926e-01 -1.20841552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:-11.45, Z:-1.21 [[ 9.94289346e-01 1.06606124e-01 4.88166191e-03 1.93009347e+02] [-1.06604641e-01 9.94301329e-01 -5.63661214e-04 -1.14483009e+01] [-4.91393266e-03 4.00345234e-05 9.99987926e-01 -1.21051545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:193.07, Y:-11.46, Z:-1.21 [[ 9.94169166e-01 1.07721122e-01 4.88156929e-03 1.93070948e+02] [-1.07719649e-01 9.94181150e-01 -5.64462219e-04 -1.14573618e+01] [-4.91396867e-03 3.53300040e-05 9.99987926e-01 -1.21320297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:-11.47, Z:-1.21 [[ 9.93983510e-01 1.09420994e-01 4.88147675e-03 1.93131978e+02] [-1.09419537e-01 9.93995496e-01 -5.65261300e-04 -1.14670092e+01] [-4.91401736e-03 2.77314842e-05 9.99987926e-01 -1.21373389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:-11.48, Z:-1.21 [[ 9.93697475e-01 1.11988843e-01 4.88137797e-03 1.93193176e+02] [-1.11987413e-01 9.93709464e-01 -5.66113097e-04 -1.14755522e+01] [-4.91406983e-03 1.58922630e-05 9.99987926e-01 -1.21003733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.25, Y:-11.48, Z:-1.21 [[ 9.93290231e-01 1.15545183e-01 4.88128261e-03 1.93254694e+02] [-1.15543792e-01 9.93302225e-01 -5.66934149e-04 -1.14829667e+01] [-4.91409539e-03 -8.71750613e-07 9.99987926e-01 -1.20894599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:-11.49, Z:-1.21 [[ 9.92456278e-01 1.22501882e-01 4.88118146e-03 1.93317749e+02] [-1.22500571e-01 9.92468280e-01 -5.67803686e-04 -1.14893186e+01] [-4.91397479e-03 -3.44271819e-05 9.99987926e-01 -1.21075139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:-11.50, Z:-1.21 [[ 9.91885890e-01 1.27037618e-01 4.88107082e-03 1.93379870e+02] [-1.27036357e-01 9.91897898e-01 -5.68753156e-04 -1.14952293e+01] [-4.91377694e-03 -5.59352264e-05 9.99987926e-01 -1.21399656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:-11.50, Z:-1.22 [[ 9.91362586e-01 1.31058759e-01 4.88096814e-03 1.93441511e+02] [-1.31057542e-01 9.91374599e-01 -5.69633034e-04 -1.15017582e+01] [-4.91352323e-03 -7.49748108e-05 9.99987926e-01 -1.21598836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.50, Y:-11.51, Z:-1.21 [[ 9.91256837e-01 1.31856207e-01 4.88087465e-03 1.93503015e+02] [-1.31854996e-01 9.91268851e-01 -5.70432971e-04 -1.15070756e+01] [-4.91347413e-03 -7.81221263e-05 9.99987926e-01 -1.21239443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.56, Y:-11.51, Z:-1.21 [[ 9.91143754e-01 1.32703566e-01 4.88078758e-03 1.93564750e+02] [-1.32702362e-01 9.91155768e-01 -5.71176998e-04 -1.15124751e+01] [-4.91341799e-03 -8.15735254e-05 9.99987926e-01 -1.21049175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.63, Y:-11.51, Z:-1.21 [[ 9.90815863e-01 1.35129954e-01 4.88068774e-03 1.93628460e+02] [-1.35128775e-01 9.90827880e-01 -5.72028807e-04 -1.15137130e+01] [-4.91321971e-03 -9.27461390e-05 9.99987926e-01 -1.21056188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:-11.52, Z:-1.21 [[ 9.90572625e-01 1.36901624e-01 4.88057947e-03 1.93691951e+02] [-1.36900462e-01 9.90584643e-01 -5.72951084e-04 -1.15164582e+01] [-4.91306501e-03 -1.00603926e-04 9.99987926e-01 -1.21266045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:193.75, Y:-11.52, Z:-1.21 [[ 9.90416723e-01 1.38024980e-01 4.88047020e-03 1.93753040e+02] [-1.38023827e-01 9.90428742e-01 -5.73880425e-04 -1.15182294e+01] [-4.91296779e-03 -1.05240406e-04 9.99987926e-01 -1.21473144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:-11.52, Z:-1.22 [[ 9.90596927e-01 1.36725674e-01 4.88038221e-03 1.93816545e+02] [-1.36724502e-01 9.90608944e-01 -5.74627738e-04 -1.15181166e+01] [-4.91311663e-03 -9.80433543e-05 9.99987926e-01 -1.21573459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.88, Y:-11.52, Z:-1.22 [[ 9.90805359e-01 1.35206968e-01 4.88027635e-03 1.93879514e+02] [-1.35205773e-01 9.90817374e-01 -5.75525362e-04 -1.15214411e+01] [-4.91327763e-03 -8.96079225e-05 9.99987926e-01 -1.21556310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:-11.52, Z:-1.22 [[ 9.90915228e-01 1.34399384e-01 4.88017005e-03 1.93942598e+02] [-1.34398174e-01 9.90927242e-01 -5.76425338e-04 -1.15244587e+01] [-4.91336466e-03 -8.46972997e-05 9.99987926e-01 -1.21559266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:-11.53, Z:-1.21 [[ 9.90995085e-01 1.33809293e-01 4.88006388e-03 1.94004065e+02] [-1.33808072e-01 9.91007097e-01 -5.77322779e-04 -1.15253687e+01] [-4.91342909e-03 -8.08679050e-05 9.99987926e-01 -1.21486184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.07, Y:-11.52, Z:-1.22 [[ 9.91134559e-01 1.32772258e-01 4.87997845e-03 1.94065243e+02] [-1.32771021e-01 9.91146569e-01 -5.78043969e-04 -1.15219958e+01] [-4.91352210e-03 -7.50003663e-05 9.99987926e-01 -1.21685902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.13, Y:-11.52, Z:-1.22 [[ 9.91293392e-01 1.31581143e-01 4.87997197e-03 1.94126069e+02] [-1.31579891e-01 9.91305401e-01 -5.78098678e-04 -1.15229093e+01] [-4.91360946e-03 -6.90407821e-05 9.99987926e-01 -1.21889807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:-11.52, Z:-1.22 [[ 9.91732313e-01 1.28231065e-01 4.87997197e-03 1.94186926e+02] [-1.28229772e-01 9.91744317e-01 -5.78098678e-04 -1.15211395e+01] [-4.91381468e-03 -5.24385562e-05 9.99987926e-01 -1.22019116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:-11.52, Z:-1.22 [[ 9.92161762e-01 1.24864826e-01 4.87997197e-03 1.94247722e+02] [-1.24863493e-01 9.92173762e-01 -5.78098678e-04 -1.15225035e+01] [-4.91396434e-03 -3.57629446e-05 9.99987926e-01 -1.21946817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.31, Y:-11.52, Z:-1.22 [[ 9.92696696e-01 1.20538188e-01 4.87997197e-03 1.94308396e+02] [-1.20536802e-01 9.92708691e-01 -5.78098678e-04 -1.15219360e+01] [-4.91407355e-03 -1.43395693e-05 9.99987926e-01 -1.22098829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:-11.52, Z:-1.22 [[ 9.93133713e-01 1.16882904e-01 4.87997197e-03 1.94368194e+02] [-1.16881474e-01 9.93145703e-01 -5.78098678e-04 -1.15203352e+01] [-4.91409304e-03 3.75096859e-06 9.99987926e-01 -1.22100092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.43, Y:-11.52, Z:-1.22 [[ 9.93526957e-01 1.13491728e-01 4.87997892e-03 1.94429288e+02] [-1.13490258e-01 9.93538941e-01 -5.78039975e-04 -1.15230864e+01] [-4.91405185e-03 2.04682310e-05 9.99987926e-01 -1.22114199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:194.49, Y:-11.53, Z:-1.22 [[ 9.94117230e-01 1.08199441e-01 4.87997892e-03 1.94489532e+02] [-1.08197906e-01 9.94129206e-01 -5.78039975e-04 -1.15255406e+01] [-4.91387318e-03 4.66359953e-05 9.99987926e-01 -1.22173940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.55, Y:-11.53, Z:-1.22 [[ 9.94683408e-01 1.02864496e-01 4.87997892e-03 1.94548866e+02] [-1.02862898e-01 9.94695376e-01 -5.78039975e-04 -1.15304948e+01] [-4.91355226e-03 7.29979999e-05 9.99987926e-01 -1.22236224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:-11.54, Z:-1.22 [[ 9.95050049e-01 9.92551529e-02 4.87998568e-03 1.94609115e+02] [-9.92535115e-02 9.95062011e-01 -5.77982945e-04 -1.15367319e+01] [-4.91325615e-03 9.07662426e-05 9.99987926e-01 -1.22055368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.67, Y:-11.55, Z:-1.22 [[ 9.95453960e-01 9.51188710e-02 4.87998568e-03 1.94669376e+02] [-9.51171799e-02 9.95465915e-01 -5.77982945e-04 -1.15452643e+01] [-4.91283649e-03 1.11184935e-04 9.99987926e-01 -1.21966303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.73, Y:-11.55, Z:-1.22 [[ 9.95567364e-01 9.39244877e-02 4.87998568e-03 1.94730001e+02] [-9.39227823e-02 9.95579317e-01 -5.77982945e-04 -1.15544140e+01] [-4.91269956e-03 1.17079124e-04 9.99987926e-01 -1.22037119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:-11.57, Z:-1.22 [[ 9.95454439e-01 9.51138553e-02 4.87997264e-03 1.94789977e+02] [-9.51121636e-02 9.95466394e-01 -5.78092975e-04 -1.15652805e+01] [-4.91283342e-03 1.11320462e-04 9.99987926e-01 -1.22216649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:-11.57, Z:-1.22 [[ 9.95079617e-01 9.89582782e-02 4.87997264e-03 1.94850277e+02] [-9.89566328e-02 9.95091579e-01 -5.78092975e-04 -1.15738729e+01] [-4.91322677e-03 9.23428757e-05 9.99987926e-01 -1.22223133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:-11.58, Z:-1.22 [[ 9.94033424e-01 1.08966679e-01 4.87997264e-03 1.94908623e+02] [-1.08965154e-01 9.94045402e-01 -5.78092975e-04 -1.15833118e+01] [-4.91390724e-03 4.28967691e-05 9.99987926e-01 -1.22350552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:-11.59, Z:-1.22 [[ 9.93219013e-01 1.16155835e-01 4.87997937e-03 1.94967525e+02] [-1.16154397e-01 9.93231001e-01 -5.78036218e-04 -1.15904834e+01] [-4.91408907e-03 7.28550091e-06 9.99987926e-01 -1.22166317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.03, Y:-11.60, Z:-1.22 [[ 9.92043077e-01 1.25804288e-01 4.87999340e-03 1.95025786e+02] [-1.25802967e-01 9.92055079e-01 -5.77917721e-04 -1.15978821e+01] [-4.91392677e-03 -4.05983765e-05 9.99987926e-01 -1.22210980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.08, Y:-11.60, Z:-1.22 [[ 9.90954539e-01 1.34109237e-01 4.88001425e-03 1.95083735e+02] [-1.34108018e-01 9.90966551e-01 -5.77741609e-04 -1.16037998e+01] [-4.91341138e-03 -8.19333695e-05 9.99987926e-01 -1.22437361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:-11.61, Z:-1.22 [[ 9.90339089e-01 1.38580930e-01 4.88004848e-03 1.95142735e+02] [-1.38579767e-01 9.90351107e-01 -5.77452316e-04 -1.16077637e+01] [-4.91298530e-03 -1.04402379e-04 9.99987926e-01 -1.22321302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:-11.61, Z:-1.23 [[ 9.89555824e-01 1.44067539e-01 4.88007571e-03 1.95201095e+02] [-1.44066443e-01 9.89567849e-01 -5.77222143e-04 -1.16101472e+01] [-4.91232499e-03 -1.31861616e-04 9.99987926e-01 -1.22540036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:-11.61, Z:-1.22 [[ 9.89138477e-01 1.46905607e-01 4.88010932e-03 1.95259876e+02] [-1.46904547e-01 9.89150505e-01 -5.76937837e-04 -1.16118295e+01] [-4.91191800e-03 -1.46238836e-04 9.99987926e-01 -1.22435646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.32, Y:-11.61, Z:-1.23 [[ 9.88851629e-01 1.48824195e-01 4.88013637e-03 1.95319234e+02] [-1.48823159e-01 9.88863658e-01 -5.76708914e-04 -1.16102957e+01] [-4.91161775e-03 -1.55997765e-04 9.99987926e-01 -1.22677819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:-11.61, Z:-1.23 [[ 9.89392789e-01 1.45182964e-01 4.88016314e-03 1.95377968e+02] [-1.45181886e-01 9.89404815e-01 -5.76482270e-04 -1.16088018e+01] [-4.91215232e-03 -1.38143886e-04 9.99987926e-01 -1.23067809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.44, Y:-11.61, Z:-1.23 [[ 9.90149161e-01 1.39931493e-01 4.88019630e-03 1.95436104e+02] [-1.39930352e-01 9.90161181e-01 -5.76201459e-04 -1.16100456e+01] [-4.91280966e-03 -1.12362192e-04 9.99987926e-01 -1.23152488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.50, Y:-11.61, Z:-1.23 [[ 9.91557701e-01 1.29574338e-01 4.88022830e-03 1.95495808e+02] [-1.29573072e-01 9.91569709e-01 -5.75930329e-04 -1.16096650e+01] [-4.91371234e-03 -6.12780217e-05 9.99987926e-01 -1.23151657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.55, Y:-11.61, Z:-1.23 [[ 9.92888762e-01 1.18945743e-01 4.88025382e-03 1.95554137e+02] [-1.18944350e-01 9.92900755e-01 -5.75713985e-04 -1.16116938e+01] [-4.91408643e-03 -8.85867024e-06 9.99987926e-01 -1.23070079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.61, Y:-11.61, Z:-1.23 [[ 9.93556024e-01 1.13236963e-01 4.88028556e-03 1.95613123e+02] [-1.13235503e-01 9.93568010e-01 -5.75444767e-04 -1.16147831e+01] [-4.91405723e-03 1.91150266e-05 9.99987926e-01 -1.23015749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:-11.62, Z:-1.23 [[ 9.94215697e-01 1.07290871e-01 4.88031064e-03 1.95672192e+02] [-1.07289340e-01 9.94227673e-01 -5.75232023e-04 -1.16169731e+01] [-4.91385704e-03 4.82993994e-05 9.99987926e-01 -1.22723548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:195.73, Y:-11.62, Z:-1.23 [[ 9.94556414e-01 1.04085168e-01 4.88033868e-03 1.95729461e+02] [-1.04083600e-01 9.94568386e-01 -5.74994054e-04 -1.16213038e+01] [-4.91367891e-03 6.39008078e-05 9.99987926e-01 -1.22751577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:-11.63, Z:-1.23 [[ 9.94690432e-01 1.02796526e-01 4.88037337e-03 1.95787289e+02] [-1.02794944e-01 9.94702402e-01 -5.74699424e-04 -1.16267709e+01] [-4.91359622e-03 6.99703130e-05 9.99987926e-01 -1.22983845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:-11.63, Z:-1.23 [[ 9.94641519e-01 1.03268731e-01 4.88040736e-03 1.95845844e+02] [-1.03267156e-01 9.94653490e-01 -5.74410652e-04 -1.16315772e+01] [-4.91363287e-03 6.73468965e-05 9.99987926e-01 -1.23057224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.90, Y:-11.63, Z:-1.23 [[ 9.94328408e-01 1.06241229e-01 4.88043414e-03 1.95903960e+02] [-1.06239691e-01 9.94340384e-01 -5.74183001e-04 -1.16340370e+01] [-4.91381466e-03 5.24306556e-05 9.99987926e-01 -1.23114042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.96, Y:-11.64, Z:-1.23 [[ 9.94009360e-01 1.09185955e-01 4.88046727e-03 1.95961868e+02] [-1.09184454e-01 9.94021341e-01 -5.73901260e-04 -1.16380234e+01] [-4.91395058e-03 3.75920720e-05 9.99987926e-01 -1.23418099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.02, Y:-11.64, Z:-1.23 [[ 9.93494312e-01 1.13777115e-01 4.88049998e-03 1.96020511e+02] [-1.13775670e-01 9.93506300e-01 -5.73622954e-04 -1.16403821e+01] [-4.91407264e-03 1.46089895e-05 9.99987926e-01 -1.23273504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:196.08, Y:-11.64, Z:-1.23 [[ 9.93233700e-01 1.16030156e-01 4.88052674e-03 1.96078018e+02] [-1.16028739e-01 9.93245691e-01 -5.73395237e-04 -1.16449085e+01] [-4.91409329e-03 3.23410966e-06 9.99987926e-01 -1.23436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:-11.65, Z:-1.23 [[ 9.93095692e-01 1.17205486e-01 4.88055990e-03 1.96135895e+02] [-1.17204085e-01 9.93107685e-01 -5.73112838e-04 -1.16483748e+01] [-4.91409351e-03 -2.86566477e-06 9.99987926e-01 -1.23200187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:-11.65, Z:-1.23 [[ 9.92980618e-01 1.18176447e-01 4.88060108e-03 1.96193907e+02] [-1.18175060e-01 9.92992612e-01 -5.72761939e-04 -1.16507829e+01] [-4.91408778e-03 -8.02381875e-06 9.99987926e-01 -1.23146141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:-11.66, Z:-1.23 [[ 9.93031766e-01 1.17745874e-01 4.88063500e-03 1.96252281e+02] [-1.17744482e-01 9.93043760e-01 -5.72472711e-04 -1.16563069e+01] [-4.91409043e-03 -6.18425430e-06 9.99987926e-01 -1.23119797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:-11.66, Z:-1.23 [[ 9.93406697e-01 1.14539568e-01 4.88066096e-03 1.96311097e+02] [-1.14538139e-01 9.93418687e-01 -5.72251346e-04 -1.16599522e+01] [-4.91408522e-03 9.45649743e-06 9.99987926e-01 -1.23289102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:-11.67, Z:-1.23 [[ 9.93769532e-01 1.11347636e-01 4.88068720e-03 1.96369381e+02] [-1.11346170e-01 9.93781517e-01 -5.72027399e-04 -1.16672645e+01] [-4.91403063e-03 2.50175733e-05 9.99987926e-01 -1.23449693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.43, Y:-11.67, Z:-1.23 [[ 9.94121236e-01 1.08162590e-01 4.88071334e-03 1.96428201e+02] [-1.08161086e-01 9.94133217e-01 -5.71804292e-04 -1.16744133e+01] [-4.91392709e-03 4.05395352e-05 9.99987926e-01 -1.23421908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:-11.68, Z:-1.23 [[ 9.94019267e-01 1.09095718e-01 4.88073964e-03 1.96485497e+02] [-1.09094226e-01 9.94031249e-01 -5.71579690e-04 -1.16798780e+01] [-4.91396462e-03 3.57007101e-05 9.99987926e-01 -1.23095050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.54, Y:-11.69, Z:-1.23 [[ 9.93746034e-01 1.11557155e-01 4.88078103e-03 1.96542609e+02] [-1.11555695e-01 9.93758019e-01 -5.71226112e-04 -1.16850476e+01] [-4.91403964e-03 2.31747657e-05 9.99987926e-01 -1.23001806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:-11.69, Z:-1.23 [[ 9.93321584e-01 1.15275358e-01 4.88082196e-03 1.96599860e+02] [-1.15273945e-01 9.93333575e-01 -5.70876162e-04 -1.16894240e+01] [-4.91409228e-03 4.43201389e-06 9.99987926e-01 -1.22837013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:196.66, Y:-11.69, Z:-1.23 [[ 9.93077293e-01 1.17361265e-01 4.88085586e-03 1.96657681e+02] [-1.17359878e-01 9.93089288e-01 -5.70586134e-04 -1.16941740e+01] [-4.91409038e-03 -6.18051616e-06 9.99987926e-01 -1.22987857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:-11.70, Z:-1.23 [[ 9.93028421e-01 1.17774070e-01 4.88088927e-03 1.96716621e+02] [-1.17772690e-01 9.93040416e-01 -5.70300256e-04 -1.17003327e+01] [-4.91408689e-03 -8.51109324e-06 9.99987926e-01 -1.23195206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:-11.71, Z:-1.23 [[ 9.93186899e-01 1.16430069e-01 4.88091598e-03 1.96775623e+02] [-1.16428674e-01 9.93198892e-01 -5.70071486e-04 -1.17051656e+01] [-4.91409381e-03 -2.09104420e-06 9.99987926e-01 -1.23425533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:-11.71, Z:-1.24 [[ 9.93656344e-01 1.12353222e-01 4.88094316e-03 1.96832841e+02] [-1.12351778e-01 9.93668332e-01 -5.69838756e-04 -1.17126393e+01] [-4.91406186e-03 1.78412533e-05 9.99987926e-01 -1.23644067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:-11.72, Z:-1.23 [[ 9.93919481e-01 1.10001093e-01 4.88097699e-03 1.96890843e+02] [-1.09999623e-01 9.93931466e-01 -5.69548801e-04 -1.17196102e+01] [-4.91400760e-03 2.91800219e-05 9.99987926e-01 -1.23341919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.95, Y:-11.73, Z:-1.23 [[ 9.94052988e-01 1.08788019e-01 4.88100345e-03 1.96948963e+02] [-1.08786535e-01 9.94064971e-01 -5.69321917e-04 -1.17256921e+01] [-4.91396996e-03 3.49486998e-05 9.99987926e-01 -1.23110656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:-11.73, Z:-1.23 [[ 9.94025952e-01 1.09034775e-01 4.88102995e-03 1.97006022e+02] [-1.09033295e-01 9.94037935e-01 -5.69094644e-04 -1.17316224e+01] [-4.91398004e-03 3.35000648e-05 9.99987926e-01 -1.23332049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:-11.74, Z:-1.24 [[ 9.93949557e-01 1.09728998e-01 4.88106266e-03 1.97064164e+02] [-1.09727528e-01 9.93961542e-01 -5.68813936e-04 -1.17377721e+01] [-4.91400395e-03 2.97854204e-05 9.99987926e-01 -1.23651132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.12, Y:-11.74, Z:-1.24 [[ 9.93951275e-01 1.09713438e-01 4.88108896e-03 1.97122038e+02] [-1.09711969e-01 9.93963259e-01 -5.68588189e-04 -1.17442798e+01] [-4.91400486e-03 2.96350747e-05 9.99987926e-01 -1.23738639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:-11.75, Z:-1.23 [[ 9.93884230e-01 1.10319136e-01 4.88112139e-03 1.97180271e+02] [-1.10317675e-01 9.93896216e-01 -5.68309697e-04 -1.17491754e+01] [-4.91402351e-03 2.63600836e-05 9.99987926e-01 -1.23212941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.24, Y:-11.76, Z:-1.23 [[ 9.93791370e-01 1.11152543e-01 4.88114918e-03 1.97237354e+02] [-1.11151094e-01 9.93803357e-01 -5.68070884e-04 -1.17558801e+01] [-4.91404496e-03 2.19988709e-05 9.99987926e-01 -1.23485748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.30, Y:-11.76, Z:-1.23 [[ 9.93644563e-01 1.12457351e-01 4.88118375e-03 1.97295832e+02] [-1.12455919e-01 9.93656552e-01 -5.67773632e-04 -1.17623141e+01] [-4.91407054e-03 1.52471791e-05 9.99987926e-01 -1.23190779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.35, Y:-11.77, Z:-1.23 [[ 9.93510277e-01 1.13637597e-01 4.88120452e-03 1.97353180e+02] [-1.13636180e-01 9.93522268e-01 -5.67595076e-04 -1.17667653e+01] [-4.91408552e-03 9.23010760e-06 9.99987926e-01 -1.23317075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:-11.77, Z:-1.23 [[ 9.93462507e-01 1.14054467e-01 4.88123912e-03 1.97412143e+02] [-1.14053056e-01 9.93474498e-01 -5.67297352e-04 -1.17731348e+01] [-4.91408938e-03 6.86841027e-06 9.99987926e-01 -1.23422455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.47, Y:-11.78, Z:-1.24 [[ 9.93322327e-01 1.15268941e-01 4.88125939e-03 1.97469578e+02] [-1.15267545e-01 9.93334320e-01 -5.67122857e-04 -1.17787138e+01] [-4.91409413e-03 6.85007161e-07 9.99987926e-01 -1.23601439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84587156 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:197.53, Y:-11.78, Z:-1.23 [[ 9.93267368e-01 1.15741564e-01 4.88129303e-03 1.97528105e+02] [-1.15740176e-01 9.93279362e-01 -5.66833147e-04 -1.17848332e+01] [-4.91409378e-03 -1.94484646e-06 9.99987926e-01 -1.22969333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.59, Y:-11.79, Z:-1.23 [[ 9.93338152e-01 1.15132483e-01 4.88132017e-03 1.97585662e+02] [-1.15131089e-01 9.93350145e-01 -5.66599350e-04 -1.17911605e+01] [-4.91409409e-03 8.33045733e-07 9.99987926e-01 -1.23102743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:-11.80, Z:-1.23 [[ 9.93459266e-01 1.14082685e-01 4.88135376e-03 1.97643779e+02] [-1.14081280e-01 9.93471258e-01 -5.66309817e-04 -1.17994376e+01] [-4.91409081e-03 5.73465188e-06 9.99987926e-01 -1.23149574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:-11.81, Z:-1.23 [[ 9.93603389e-01 1.12820556e-01 4.88138010e-03 1.97702127e+02] [-1.12819137e-01 9.93615379e-01 -5.66082730e-04 -1.18060316e+01] [-4.91408011e-03 1.17486295e-05 9.99987926e-01 -1.23163709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08587156000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:-11.81, Z:-1.23 [[ 9.93904787e-01 1.10133769e-01 4.88140627e-03 1.97760834e+02] [-1.10132318e-01 9.93916773e-01 -5.65856983e-04 -1.18135726e+01] [-4.91403153e-03 2.48073746e-05 9.99987926e-01 -1.23351436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.82, Y:-11.82, Z:-1.24 [[ 9.94156157e-01 1.07841118e-01 4.88143277e-03 1.97817671e+02] [-1.07839641e-01 9.94168141e-01 -5.65628267e-04 -1.18220103e+01] [-4.91396292e-03 3.59108677e-05 9.99987926e-01 -1.23561904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:-11.83, Z:-1.23 [[ 9.94312679e-01 1.06388286e-01 4.88146543e-03 1.97876038e+02] [-1.06386793e-01 9.94324661e-01 -5.65346296e-04 -1.18319731e+01] [-4.91390768e-03 4.28075405e-05 9.99987926e-01 -1.23147553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:-11.84, Z:-1.23 [[ 9.94223665e-01 1.07216952e-01 4.88149214e-03 1.97934007e+02] [-1.07215470e-01 9.94235648e-01 -5.65115497e-04 -1.18390073e+01] [-4.91394347e-03 3.84797274e-05 9.99987926e-01 -1.23011488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:-11.85, Z:-1.23 [[ 9.94034962e-01 1.08952580e-01 4.88151925e-03 1.97992607e+02] [-1.08951120e-01 9.94046948e-01 -5.64881246e-04 -1.18474671e+01] [-4.91400458e-03 2.96647205e-05 9.99987926e-01 -1.23192323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:198.05, Y:-11.85, Z:-1.23 [[ 9.93615337e-01 1.12715276e-01 4.88154625e-03 1.98049881e+02] [-1.12713863e-01 9.93627328e-01 -5.64647865e-04 -1.18536458e+01] [-4.91408219e-03 1.08248452e-05 9.99987926e-01 -1.23449444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:-11.86, Z:-1.24 [[ 9.93533847e-01 1.13431327e-01 4.88157953e-03 1.98106842e+02] [-1.13429923e-01 9.93545839e-01 -5.64359965e-04 -1.18603903e+01] [-4.91408913e-03 6.99353476e-06 9.99987926e-01 -1.23766185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:-11.87, Z:-1.24 [[ 9.93582516e-01 1.13004217e-01 4.88161249e-03 1.98164916e+02] [-1.13002810e-01 9.93594508e-01 -5.64074732e-04 -1.18674810e+01] [-4.91408618e-03 8.81886380e-06 9.99987926e-01 -1.23588755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:-11.88, Z:-1.23 [[ 9.93612142e-01 1.12743428e-01 4.88163879e-03 1.98223669e+02] [-1.12742019e-01 9.93624134e-01 -5.63847025e-04 -1.18754523e+01] [-4.91408416e-03 9.87943762e-06 9.99987926e-01 -1.23424882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:-11.88, Z:-1.23 [[ 9.93503154e-01 1.13699834e-01 4.88166478e-03 1.98281832e+02] [-1.13698437e-01 9.93515147e-01 -5.63621910e-04 -1.18810850e+01] [-4.91409162e-03 4.92248788e-06 9.99987926e-01 -1.23351571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:-11.89, Z:-1.23 [[ 9.93443825e-01 1.14217057e-01 4.88169123e-03 1.98339067e+02] [-1.14215667e-01 9.93455819e-01 -5.63392756e-04 -1.18877952e+01] [-4.91409362e-03 2.13343337e-06 9.99987926e-01 -1.23456310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.40, Y:-11.89, Z:-1.23 [[ 9.93404012e-01 1.14562815e-01 4.88172379e-03 1.98397907e+02] [-1.14561431e-01 9.93416006e-01 -5.63110445e-04 -1.18949458e+01] [-4.91409407e-03 1.38909323e-07 9.99987926e-01 -1.23397062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.46, Y:-11.90, Z:-1.23 [[ 9.93429325e-01 1.14343103e-01 4.88174976e-03 1.98455895e+02] [-1.14341718e-01 9.93441319e-01 -5.62885203e-04 -1.19020684e+01] [-4.91409397e-03 9.99013484e-07 9.99987926e-01 -1.23400608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.51, Y:-11.91, Z:-1.23 [[ 9.93522373e-01 1.13531766e-01 4.88177579e-03 1.98513637e+02] [-1.13530372e-01 9.93534367e-01 -5.62659424e-04 -1.19110120e+01] [-4.91409173e-03 4.78490466e-06 9.99987926e-01 -1.23338040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.57, Y:-11.92, Z:-1.23 [[ 9.93621594e-01 1.12660091e-01 4.88180184e-03 1.98572009e+02] [-1.12658687e-01 9.93633586e-01 -5.62433306e-04 -1.19186111e+01] [-4.91408606e-03 8.86849088e-06 9.99987926e-01 -1.23309925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.63, Y:-11.93, Z:-1.23 [[ 9.93956145e-01 1.09669271e-01 4.88182847e-03 1.98628676e+02] [-1.09667833e-01 9.93968133e-01 -5.62202089e-04 -1.19284709e+01] [-4.91403822e-03 2.34246735e-05 9.99987926e-01 -1.23484029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:198.69, Y:-11.94, Z:-1.24 [[ 9.94460529e-01 1.04997257e-01 4.88186125e-03 1.98686799e+02] [-1.04995763e-01 9.94472510e-01 -5.61917252e-04 -1.19399092e+01] [-4.91387658e-03 4.62297792e-05 9.99987926e-01 -1.23732312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.74, Y:-11.95, Z:-1.24 [[ 9.94754444e-01 1.02175158e-01 4.88188714e-03 1.98743590e+02] [-1.02173631e-01 9.94766422e-01 -5.61692278e-04 -1.19508848e+01] [-4.91372839e-03 5.99457528e-05 9.99987926e-01 -1.23826810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:-11.96, Z:-1.24 [[ 9.94943707e-01 1.00315440e-01 4.88192228e-03 1.98801506e+02] [-1.00313893e-01 9.94955681e-01 -5.61386677e-04 -1.19640413e+01] [-4.91361206e-03 6.88235121e-05 9.99987926e-01 -1.23781999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.86, Y:-11.97, Z:-1.24 [[ 9.94927445e-01 1.00476595e-01 4.88194769e-03 1.98858039e+02] [-1.00475051e-01 9.94939420e-01 -5.61165592e-04 -1.19749335e+01] [-4.91362621e-03 6.78051047e-05 9.99987926e-01 -1.23628698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.92, Y:-11.99, Z:-1.24 [[ 9.94736981e-01 1.02345032e-01 4.88197908e-03 1.98915157e+02] [-1.02343511e-01 9.94748959e-01 -5.60892366e-04 -1.19881188e+01] [-4.91374816e-03 5.83014977e-05 9.99987926e-01 -1.23591397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.97, Y:-12.00, Z:-1.23 [[ 9.94483224e-01 1.04782074e-01 4.88201010e-03 1.98973427e+02] [-1.04780585e-01 9.94495206e-01 -5.60622283e-04 -1.19987464e+01] [-4.91387880e-03 4.59895824e-05 9.99987926e-01 -1.23373194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.03, Y:-12.01, Z:-1.24 [[ 9.93897714e-01 1.10197552e-01 4.88203771e-03 1.99030572e+02] [-1.10196129e-01 9.93909704e-01 -5.60381697e-04 -1.20113314e+01] [-4.91405735e-03 1.89804318e-05 9.99987926e-01 -1.23759051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:199.09, Y:-12.02, Z:-1.24 [[ 9.93475755e-01 1.13938973e-01 4.88207288e-03 1.99088076e+02] [-1.13937596e-01 9.93487751e-01 -5.60075173e-04 -1.20239181e+01] [-4.91409399e-03 1.69457096e-07 9.99987926e-01 -1.23646222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:-12.03, Z:-1.24 [[ 9.93422700e-01 1.14400633e-01 4.88209934e-03 1.99146381e+02] [-1.14399263e-01 9.93434696e-01 -5.59844424e-04 -1.20344205e+01] [-4.91409343e-03 -2.34640566e-06 9.99987926e-01 -1.23818661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:-12.05, Z:-1.24 [[ 9.93377195e-01 1.14795090e-01 4.88212577e-03 1.99204118e+02] [-1.14793727e-01 9.93389192e-01 -5.59613803e-04 -1.20460256e+01] [-4.91409189e-03 -4.52982088e-06 9.99987926e-01 -1.23725692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.26, Y:-12.06, Z:-1.23 [[ 9.92910438e-01 1.18764587e-01 4.88215266e-03 1.99261477e+02] [-1.18763273e-01 9.92922440e-01 -5.59379107e-04 -1.20561638e+01] [-4.91403336e-03 -2.44070732e-05 9.99987926e-01 -1.23489676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.32, Y:-12.06, Z:-1.23 [[ 9.92488458e-01 1.22240846e-01 4.88218588e-03 1.99319566e+02] [-1.22239575e-01 9.92500465e-01 -5.59089081e-04 -1.20642975e+01] [-4.91391528e-03 -4.19068664e-05 9.99987926e-01 -1.23381331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.38, Y:-12.07, Z:-1.24 [[ 9.92013612e-01 1.26036332e-01 4.88221296e-03 1.99377051e+02] [-1.26035107e-01 9.92025624e-01 -5.58852478e-04 -1.20711229e+01] [-4.91371607e-03 -6.09409692e-05 9.99987926e-01 -1.23515355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:199.44, Y:-12.08, Z:-1.23 [[ 9.91904729e-01 1.26890395e-01 4.88224645e-03 1.99435221e+02] [-1.26889183e-01 9.91916742e-01 -5.58559709e-04 -1.20780355e+01] [-4.91365786e-03 -6.54662451e-05 9.99987926e-01 -1.23470369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.49, Y:-12.08, Z:-1.24 [[ 9.91949953e-01 1.26536376e-01 4.88227255e-03 1.99493308e+02] [-1.26535160e-01 9.91961966e-01 -5.58331551e-04 -1.20845790e+01] [-4.91367792e-03 -6.39421835e-05 9.99987926e-01 -1.23788336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:-12.09, Z:-1.24 [[ 9.92084239e-01 1.25479185e-01 4.88229861e-03 1.99551574e+02] [-1.25477957e-01 9.92096251e-01 -5.58103532e-04 -1.20913606e+01] [-4.91374052e-03 -5.89351385e-05 9.99987926e-01 -1.23994633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:-12.10, Z:-1.24 [[ 9.92319228e-01 1.23607093e-01 4.88232488e-03 1.99609531e+02] [-1.23605844e-01 9.92331237e-01 -5.57873603e-04 -1.20987615e+01] [-4.91384063e-03 -4.98951836e-05 9.99987926e-01 -1.24035889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.67, Y:-12.11, Z:-1.24 [[ 9.92672271e-01 1.20739080e-01 4.88235120e-03 1.99667042e+02] [-1.20737798e-01 9.92684277e-01 -5.57643179e-04 -1.21068415e+01] [-4.91396260e-03 -3.59274111e-05 9.99987926e-01 -1.24046394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.73, Y:-12.12, Z:-1.24 [[ 9.93432304e-01 1.14317186e-01 4.88238665e-03 1.99726463e+02] [-1.14315827e-01 9.93444302e-01 -5.57332638e-04 -1.21161663e+01] [-4.91409190e-03 -4.46182139e-06 9.99987926e-01 -1.23969825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:199.79, Y:-12.12, Z:-1.24 [[ 9.94049454e-01 1.08820242e-01 4.88239975e-03 1.99785373e+02] [-1.08818818e-01 9.94061444e-01 -5.57217842e-04 -1.21244969e+01] [-4.91404193e-03 2.26051217e-05 9.99987926e-01 -1.23648055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:-12.13, Z:-1.24 [[ 9.94241631e-01 1.07050178e-01 4.88241324e-03 1.99843196e+02] [-1.07048733e-01 9.94253619e-01 -5.57099657e-04 -1.21325126e+01] [-4.91399465e-03 3.12355208e-05 9.99987926e-01 -1.23900953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.90, Y:-12.14, Z:-1.24 [[ 9.94433533e-01 1.05252601e-01 4.88243321e-03 1.99902374e+02] [-1.05251135e-01 9.94445518e-01 -5.56924523e-04 -1.21442472e+01] [-4.91393158e-03 3.99427838e-05 9.99987926e-01 -1.23987489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36587156000002 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:-12.15, Z:-1.24 [[ 9.94478843e-01 1.04823628e-01 4.88244632e-03 1.99961424e+02] [-1.04822157e-01 9.94490827e-01 -5.56809631e-04 -1.21528660e+01] [-4.91391488e-03 4.19468404e-05 9.99987926e-01 -1.24100774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.02, Y:-12.16, Z:-1.24 [[ 9.94271033e-01 1.06776752e-01 4.88245931e-03 2.00020281e+02] [-1.06775305e-01 9.94283020e-01 -5.56695652e-04 -1.21627456e+01] [-4.91398854e-03 3.21802777e-05 9.99987926e-01 -1.24332410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:-12.17, Z:-1.24 [[ 9.93862261e-01 1.10516821e-01 4.88247231e-03 2.00079248e+02] [-1.10515421e-01 9.93874254e-01 -5.56581611e-04 -1.21743893e+01] [-4.91407516e-03 1.35769761e-05 9.99987926e-01 -1.24348666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.14, Y:-12.18, Z:-1.24 [[ 9.93484972e-01 1.13858562e-01 4.88248528e-03 2.00138504e+02] [-1.13857202e-01 9.93496969e-01 -5.56467803e-04 -1.21831266e+01] [-4.91409296e-03 -3.06371553e-06 9.99987926e-01 -1.24300940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.20, Y:-12.19, Z:-1.24 [[ 9.92767494e-01 1.19953592e-01 4.88249856e-03 2.00196688e+02] [-1.19952306e-01 9.92779500e-01 -5.56351306e-04 -1.21901733e+01] [-4.91398081e-03 -3.33394701e-05 9.99987926e-01 -1.24303124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.26, Y:-12.20, Z:-1.24 [[ 9.91958721e-01 1.26467616e-01 4.88251281e-03 2.00255994e+02] [-1.26466410e-01 9.91970734e-01 -5.56226223e-04 -1.21968919e+01] [-4.91365442e-03 -6.57204130e-05 9.99987926e-01 -1.24368015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.31, Y:-12.20, Z:-1.24 [[ 9.91504536e-01 1.29980448e-01 4.88252582e-03 2.00314072e+02] [-1.29979285e-01 9.91516554e-01 -5.56112008e-04 -1.22040320e+01] [-4.91338886e-03 -8.32396368e-05 9.99987926e-01 -1.24439908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:200.37, Y:-12.21, Z:-1.24 [[ 9.91007800e-01 1.33715001e-01 4.88253947e-03 2.00372675e+02] [-1.33713884e-01 9.91019822e-01 -5.55992065e-04 -1.22093276e+01] [-4.91303788e-03 -1.01870842e-04 9.99987926e-01 -1.24301887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:-12.21, Z:-1.24 [[ 9.90731898e-01 1.35744119e-01 4.88256614e-03 2.00430870e+02] [-1.35743028e-01 9.90743923e-01 -5.55757779e-04 -1.22115792e+01] [-4.91281359e-03 -1.12167352e-04 9.99987926e-01 -1.24236509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.49, Y:-12.21, Z:-1.24 [[ 9.90572784e-01 1.36900403e-01 4.88259905e-03 2.00489663e+02] [-1.36899327e-01 9.90584810e-01 -5.55468516e-04 -1.22149922e+01] [-4.91267232e-03 -1.18192531e-04 9.99987926e-01 -1.24347288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:-12.22, Z:-1.25 [[ 9.90505941e-01 1.37383193e-01 4.88262507e-03 2.00548503e+02] [-1.37382124e-01 9.90517967e-01 -5.55239744e-04 -1.22179824e+01] [-4.91260846e-03 -1.20817137e-04 9.99987926e-01 -1.24591685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:-12.22, Z:-1.25 [[ 9.90782814e-01 1.35371991e-01 4.88265117e-03 2.00607640e+02] [-1.35370899e-01 9.90794838e-01 -5.55010085e-04 -1.22184609e+01] [-4.91283840e-03 -1.11074425e-04 9.99987926e-01 -1.24853363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.67, Y:-12.22, Z:-1.25 [[ 9.91479439e-01 1.30171736e-01 4.88267731e-03 2.00666287e+02] [-1.30170582e-01 9.91491458e-01 -5.54779997e-04 -1.22200275e+01] [-4.91334953e-03 -8.55279894e-05 9.99987926e-01 -1.24585482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.72, Y:-12.22, Z:-1.24 [[ 9.92042917e-01 1.25805443e-01 4.88270370e-03 2.00724918e+02] [-1.25804237e-01 9.92054931e-01 -5.54547687e-04 -1.22242360e+01] [-4.91367540e-03 -6.41297104e-05 9.99987926e-01 -1.24495504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.78, Y:-12.23, Z:-1.25 [[ 9.92791293e-01 1.19756452e-01 4.88273033e-03 2.00784016e+02] [-1.19755174e-01 9.92803299e-01 -5.54313096e-04 -1.22264272e+01] [-4.91397335e-03 -3.44150051e-05 9.99987926e-01 -1.24519835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.84, Y:-12.23, Z:-1.25 [[ 9.93494299e-01 1.13777132e-01 4.88275689e-03 2.00841914e+02] [-1.13775783e-01 9.93506298e-01 -5.54079001e-04 -1.22291124e+01] [-4.91409125e-03 -5.06516210e-06 9.99987926e-01 -1.24795494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:200.90, Y:-12.23, Z:-1.25 [[ 9.94199684e-01 1.07439036e-01 4.88278967e-03 2.00901896e+02] [-1.07437612e-01 9.94211674e-01 -5.53789988e-04 -1.22328907e+01] [-4.91402516e-03 2.59825709e-05 9.99987926e-01 -1.25070807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:-12.24, Z:-1.25 [[ 9.94567387e-01 1.03980143e-01 4.88280258e-03 2.00961600e+02] [-1.03978678e-01 9.94579372e-01 -5.53676142e-04 -1.22395581e+01] [-4.91390605e-03 4.29608786e-05 9.99987926e-01 -1.25176717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.02, Y:-12.24, Z:-1.25 [[ 9.94850887e-01 1.01231771e-01 4.88281566e-03 2.01020873e+02] [-1.01230274e-01 9.94862868e-01 -5.53560793e-04 -1.22447138e+01] [-4.91376993e-03 5.64216812e-05 9.99987926e-01 -1.24874384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.08, Y:-12.25, Z:-1.25 [[ 9.94860069e-01 1.01141493e-01 4.88282858e-03 2.01079523e+02] [-1.01139995e-01 9.94872050e-01 -5.53446806e-04 -1.22507511e+01] [-4.91376611e-03 5.67528713e-05 9.99987926e-01 -1.24752378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-12.26, Z:-1.25 [[ 9.94549639e-01 1.04149763e-01 4.88284774e-03 2.01137734e+02] [-1.04148302e-01 9.94561625e-01 -5.53277683e-04 -1.22553106e+01] [-4.91391672e-03 4.17218204e-05 9.99987926e-01 -1.24854028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:-12.26, Z:-1.25 [[ 9.94273334e-01 1.06755301e-01 4.88287246e-03 2.01196862e+02] [-1.06753872e-01 9.94285324e-01 -5.53059432e-04 -1.22605116e+01] [-4.91401045e-03 2.86267041e-05 9.99987926e-01 -1.24951788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:-12.27, Z:-1.25 [[ 9.93814888e-01 1.10941991e-01 4.88289170e-03 2.01255179e+02] [-1.10940613e-01 9.93826884e-01 -5.52889531e-04 -1.22656567e+01] [-4.91408771e-03 7.75884820e-06 9.99987926e-01 -1.25115448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:201.31, Y:-12.27, Z:-1.25 [[ 9.93423431e-01 1.14394246e-01 4.88291836e-03 2.01313391e+02] [-1.14392911e-01 9.93435431e-01 -5.52654000e-04 -1.22707793e+01] [-4.91408454e-03 -9.55181389e-06 9.99987926e-01 -1.24940759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:-12.28, Z:-1.25 [[ 9.92968099e-01 1.18281493e-01 4.88294529e-03 2.01372251e+02] [-1.18280207e-01 9.92980104e-01 -5.52415972e-04 -1.22755864e+01] [-4.91400811e-03 -2.90243396e-05 9.99987926e-01 -1.24960657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86587156000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:201.43, Y:-12.28, Z:-1.25 [[ 9.92422800e-01 1.22772727e-01 4.88297246e-03 2.01429735e+02] [-1.22771496e-01 9.92434811e-01 -5.52175723e-04 -1.22794886e+01] [-4.91382397e-03 -5.14980547e-05 9.99987926e-01 -1.24840347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.49, Y:-12.28, Z:-1.25 [[ 9.91715532e-01 1.28360660e-01 4.88300611e-03 2.01487823e+02] [-1.28359499e-01 9.91727551e-01 -5.51877911e-04 -1.22815444e+01] [-4.91345111e-03 -7.94743193e-05 9.99987926e-01 -1.25022480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:-12.28, Z:-1.25 [[ 9.91438488e-01 1.30483259e-01 4.88303938e-03 2.01545636e+02] [-1.30482125e-01 9.91450509e-01 -5.51583392e-04 -1.22831802e+01] [-4.91326428e-03 -9.02883491e-05 9.99987926e-01 -1.25182075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.60, Y:-12.29, Z:-1.25 [[ 9.91661244e-01 1.28779398e-01 4.88307186e-03 2.01604297e+02] [-1.28778244e-01 9.91673263e-01 -5.51295743e-04 -1.22860093e+01] [-4.91340734e-03 -8.21347969e-05 9.99987926e-01 -1.25286074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.66, Y:-12.29, Z:-1.25 [[ 9.92061833e-01 1.25656173e-01 4.88309769e-03 2.01662905e+02] [-1.25654983e-01 9.92073849e-01 -5.51066886e-04 -1.22901026e+01] [-4.91363847e-03 -6.68931304e-05 9.99987926e-01 -1.25282511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.72, Y:-12.29, Z:-1.25 [[ 9.92738851e-01 1.20190384e-01 4.88312348e-03 2.01720248e+02] [-1.20189128e-01 9.92750860e-01 -5.50838217e-04 -1.22940599e+01] [-4.91393049e-03 -4.00598565e-05 9.99987926e-01 -1.25368179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.78, Y:-12.30, Z:-1.25 [[ 9.93197340e-01 1.16340874e-01 4.88315524e-03 2.01778873e+02] [-1.16339573e-01 9.93209344e-01 -5.50556493e-04 -1.22986264e+01] [-4.91404764e-03 -2.12929532e-05 9.99987926e-01 -1.25340164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:201.84, Y:-12.30, Z:-1.25 [[ 9.93765635e-01 1.11382305e-01 4.88318190e-03 2.01836416e+02] [-1.11380946e-01 9.93777632e-01 -5.50319994e-04 -1.23031739e+01] [-4.91409285e-03 2.99568178e-06 9.99987926e-01 -1.25354373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.90, Y:-12.31, Z:-1.25 [[ 9.94265118e-01 1.06831777e-01 4.88321467e-03 2.01895340e+02] [-1.06830364e-01 9.94277110e-01 -5.50029033e-04 -1.23087251e+01] [-4.91402915e-03 2.51990822e-05 9.99987926e-01 -1.25376601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.95, Y:-12.32, Z:-1.25 [[ 9.94611609e-01 1.03556272e-01 4.88324076e-03 2.01953066e+02] [-1.03554820e-01 9.94623596e-01 -5.49797314e-04 -1.23157486e+01] [-4.91392144e-03 4.11516714e-05 9.99987926e-01 -1.25360501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.01, Y:-12.32, Z:-1.25 [[ 9.95038091e-01 9.93748017e-02 4.88327617e-03 2.02011085e+02] [-9.93733015e-02 9.95050072e-01 -5.49482571e-04 -1.23235150e+01] [-4.91370903e-03 6.14888130e-05 9.99987926e-01 -1.25228397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.07, Y:-12.33, Z:-1.25 [[ 9.95156355e-01 9.81834122e-02 4.88330205e-03 2.02068928e+02] [-9.81818989e-02 9.95168334e-01 -5.49252468e-04 -1.23332376e+01] [-4.91363505e-03 6.71402160e-05 9.99987926e-01 -1.25229396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.13, Y:-12.34, Z:-1.25 [[ 9.94632942e-01 1.03351172e-01 4.88332804e-03 2.02125838e+02] [-1.03349722e-01 9.94644928e-01 -5.49021324e-04 -1.23402938e+01] [-4.91391947e-03 4.13841009e-05 9.99987926e-01 -1.25368240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.18, Y:-12.35, Z:-1.25 [[ 9.93958405e-01 1.09648722e-01 4.88336022e-03 2.02184699e+02] [-1.09647350e-01 9.93970401e-01 -5.48734966e-04 -1.23463784e+01] [-4.91408360e-03 9.97222677e-06 9.99987926e-01 -1.25465927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.24, Y:-12.35, Z:-1.26 [[ 9.93173338e-01 1.16545587e-01 4.88338686e-03 2.02242660e+02] [-1.16544299e-01 9.93185343e-01 -5.48497800e-04 -1.23524172e+01] [-4.91403325e-03 -2.43775059e-05 9.99987926e-01 -1.25724616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:-12.35, Z:-1.26 [[ 9.91910704e-01 1.26843632e-01 4.88341996e-03 2.02300920e+02] [-1.26842470e-01 9.91922722e-01 -5.48202966e-04 -1.23546343e+01] [-4.91351127e-03 -7.56566581e-05 9.99987926e-01 -1.25553691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:-12.36, Z:-1.25 [[ 9.90897341e-01 1.34531077e-01 4.88345224e-03 2.02359597e+02] [-1.34530010e-01 9.90909368e-01 -5.47915215e-04 -1.23553629e+01] [-4.91277020e-03 -1.14043147e-04 9.99987926e-01 -1.25232890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:-12.36, Z:-1.25 [[ 9.90487158e-01 1.37518513e-01 4.88347793e-03 2.02418042e+02] [-1.37517483e-01 9.90499188e-01 -5.47686135e-04 -1.23579269e+01] [-4.91239791e-03 -1.29087512e-04 9.99987926e-01 -1.25333152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.48, Y:-12.36, Z:-1.25 [[ 9.90267873e-01 1.39088787e-01 4.88351633e-03 2.02477715e+02] [-1.39087778e-01 9.90279905e-01 -5.47343495e-04 -1.23572437e+01] [-4.91217744e-03 -1.37220755e-04 9.99987926e-01 -1.25244591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:-12.36, Z:-1.26 [[ 9.90407488e-01 1.38091122e-01 4.88354281e-03 2.02535831e+02] [-1.38090102e-01 9.90419519e-01 -5.47107198e-04 -1.23575930e+01] [-4.91230677e-03 -1.32509856e-04 9.99987926e-01 -1.25825066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:-12.36, Z:-1.26 [[ 9.90739841e-01 1.35686099e-01 4.88357555e-03 2.02594653e+02] [-1.35685051e-01 9.90751870e-01 -5.46814782e-04 -1.23568914e+01] [-4.91260677e-03 -1.20877007e-04 9.99987926e-01 -1.25878257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:202.65, Y:-12.36, Z:-1.26 [[ 9.91056966e-01 1.33350071e-01 4.88360259e-03 2.02652600e+02] [-1.33348995e-01 9.91068992e-01 -5.46573193e-04 -1.23597345e+01] [-4.91287267e-03 -1.09538329e-04 9.99987926e-01 -1.25788132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.71, Y:-12.36, Z:-1.26 [[ 9.91445496e-01 1.30429973e-01 4.88363608e-03 2.02711958e+02] [-1.30428864e-01 9.91457520e-01 -5.46273755e-04 -1.23582700e+01] [-4.91316819e-03 -9.53664530e-05 9.99987926e-01 -1.25578675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.77, Y:-12.36, Z:-1.26 [[ 9.91690171e-01 1.28556424e-01 4.88366245e-03 2.02769470e+02] [-1.28555293e-01 9.91702192e-01 -5.46037971e-04 -1.23589882e+01] [-4.91333544e-03 -8.63201690e-05 9.99987926e-01 -1.25641303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.83, Y:-12.36, Z:-1.26 [[ 9.92021034e-01 1.25977848e-01 4.88370802e-03 2.02828545e+02] [-1.25976689e-01 9.92033052e-01 -5.45630087e-04 -1.23559607e+01] [-4.91353707e-03 -7.39568405e-05 9.99987926e-01 -1.25933346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.89, Y:-12.36, Z:-1.26 [[ 9.92410566e-01 1.22871547e-01 4.88373280e-03 2.02887122e+02] [-1.22870350e-01 9.92422581e-01 -5.45408199e-04 -1.23583099e+01] [-4.91374186e-03 -5.87971008e-05 9.99987926e-01 -1.26036975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:202.94, Y:-12.36, Z:-1.26 [[ 9.93242808e-01 1.15952031e-01 4.88375917e-03 2.02944601e+02] [-1.15950752e-01 9.93254814e-01 -5.45171959e-04 -1.23573116e+01] [-4.91403110e-03 -2.47874206e-05 9.99987926e-01 -1.26080784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:203.00, Y:-12.36, Z:-1.26 [[ 9.94220763e-01 1.07243752e-01 4.88380478e-03 2.03002715e+02] [-1.07242370e-01 9.94232758e-01 -5.44763064e-04 -1.23580673e+01] [-4.91406113e-03 1.78639496e-05 9.99987926e-01 -1.26000413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:203.06, Y:-12.36, Z:-1.26 [[ 9.95100416e-01 9.87487193e-02 4.88383575e-03 2.03061067e+02] [-9.87472361e-02 9.95112399e-01 -5.44485294e-04 -1.23614347e+01] [-4.91373273e-03 5.95522608e-05 9.99987926e-01 -1.25843078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.12, Y:-12.37, Z:-1.26 [[ 9.95537586e-01 9.42393918e-02 4.88387428e-03 2.03117875e+02] [-9.42378560e-02 9.95549562e-01 -5.44139467e-04 -1.23669187e+01] [-4.91341827e-03 8.14654502e-05 9.99987926e-01 -1.26069276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.18, Y:-12.37, Z:-1.26 [[ 9.95830339e-01 9.10938207e-02 4.88391851e-03 2.03175702e+02] [-9.10922491e-02 9.95842310e-01 -5.43742179e-04 -1.23724064e+01] [-4.91314424e-03 9.65878375e-05 9.99987926e-01 -1.25995481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.23, Y:-12.38, Z:-1.26 [[ 9.96053425e-01 8.86212228e-02 4.88395660e-03 2.03233348e+02] [-8.86196232e-02 9.96065393e-01 -5.43399815e-04 -1.23775054e+01] [-4.91289691e-03 1.08440853e-04 9.99987926e-01 -1.25916952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.29, Y:-12.39, Z:-1.26 [[ 9.96328092e-01 8.54779508e-02 4.88399546e-03 2.03290092e+02] [-8.54763151e-02 9.96340055e-01 -5.43050295e-04 -1.23858933e+01] [-4.91253913e-03 1.23590329e-04 9.99987926e-01 -1.25901947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:203.35, Y:-12.40, Z:-1.26 [[ 9.96564661e-01 8.26741940e-02 4.88403367e-03 2.03347142e+02] [-8.26725264e-02 9.96576620e-01 -5.42706489e-04 -1.23952872e+01] [-4.91218158e-03 1.37066707e-04 9.99987926e-01 -1.25854710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:-12.41, Z:-1.26 [[ 9.96869142e-01 7.89180556e-02 4.88407168e-03 2.03404032e+02] [-7.89163445e-02 9.96881094e-01 -5.42364139e-04 -1.24081317e+01] [-4.91164105e-03 1.55232991e-04 9.99987926e-01 -1.26087850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:-12.42, Z:-1.26 [[ 9.96868799e-01 7.89223843e-02 4.88410291e-03 2.03460820e+02] [-7.89206747e-02 9.96880752e-01 -5.42082780e-04 -1.24201713e+01] [-4.91165065e-03 1.54928713e-04 9.99987926e-01 -1.26349501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:-12.43, Z:-1.26 [[ 9.96635399e-01 8.18170264e-02 4.88413366e-03 2.03518875e+02] [-8.18153528e-02 9.96647357e-01 -5.41805567e-04 -1.24305575e+01] [-4.91208783e-03 1.40385489e-04 9.99987926e-01 -1.26483695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:-12.44, Z:-1.26 [[ 9.96036725e-01 8.88087169e-02 4.88415835e-03 2.03576561e+02] [-8.88071284e-02 9.96048694e-01 -5.41582900e-04 -1.24425281e+01] [-4.91295683e-03 1.05688380e-04 9.99987926e-01 -1.26454474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14587156000002 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:-12.45, Z:-1.26 [[ 9.95342599e-01 9.62769724e-02 4.88418372e-03 2.03634488e+02] [-9.62754749e-02 9.95354580e-01 -5.41353992e-04 -1.24527146e+01] [-4.91361456e-03 6.86055818e-05 9.99987926e-01 -1.26228290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:-12.46, Z:-1.26 [[ 9.94888968e-01 1.00856762e-01 4.88420920e-03 2.03691791e+02] [-1.00855321e-01 9.94900956e-01 -5.41124053e-04 -1.24629609e+01] [-4.91388042e-03 4.57598652e-05 9.99987926e-01 -1.26340095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:203.75, Y:-12.48, Z:-1.26 [[ 9.94141586e-01 1.07975236e-01 4.88424827e-03 2.03748678e+02] [-1.07973882e-01 9.94153584e-01 -5.40771177e-04 -1.24755888e+01] [-4.91408282e-03 1.02318678e-05 9.99987926e-01 -1.26262230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.81, Y:-12.48, Z:-1.26 [[ 9.93587855e-01 1.12957155e-01 4.88428059e-03 2.03806397e+02] [-1.12955863e-01 9.93599860e-01 -5.40479088e-04 -1.24840071e+01] [-4.91407149e-03 -1.46946699e-05 9.99987926e-01 -1.26310134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:-12.49, Z:-1.27 [[ 9.92464420e-01 1.22435770e-01 4.88431975e-03 2.03863686e+02] [-1.22434594e-01 9.92476437e-01 -5.40125004e-04 -1.24916537e+01] [-4.91370288e-03 -6.19548584e-05 9.99987926e-01 -1.26648886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.92, Y:-12.50, Z:-1.27 [[ 9.91293466e-01 1.31580420e-01 4.88435204e-03 2.03921995e+02] [-1.31579357e-01 9.91305494e-01 -5.39832829e-04 -1.24990044e+01] [-4.91291644e-03 -1.07547142e-04 9.99987926e-01 -1.26812896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.98, Y:-12.50, Z:-1.27 [[ 9.90670903e-01 1.36188493e-01 4.88437708e-03 2.03980967e+02] [-1.36187487e-01 9.90682935e-01 -5.39606129e-04 -1.25048309e+01] [-4.91235717e-03 -1.30618949e-04 9.99987926e-01 -1.26630788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.04, Y:-12.51, Z:-1.27 [[ 9.90160314e-01 1.39852402e-01 4.88440341e-03 2.04039171e+02] [-1.39851442e-01 9.90172350e-01 -5.39367739e-04 -1.25075295e+01] [-4.91183308e-03 -1.49030327e-04 9.99987926e-01 -1.26660172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.10, Y:-12.51, Z:-1.27 [[ 9.90350044e-01 1.38502461e-01 4.88445111e-03 2.04098237e+02] [-1.38501487e-01 9.90362079e-01 -5.38935385e-04 -1.25116172e+01] [-4.91201904e-03 -1.42769057e-04 9.99987926e-01 -1.26840204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.16, Y:-12.51, Z:-1.27 [[ 9.91180589e-01 1.32428029e-01 4.88447611e-03 2.04156719e+02] [-1.32426981e-01 9.91192617e-01 -5.38708757e-04 -1.25147569e+01] [-4.91279680e-03 -1.12878762e-04 9.99987926e-01 -1.26668650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:-12.52, Z:-1.27 [[ 9.91805900e-01 1.27660480e-01 4.88450133e-03 2.04214598e+02] [-1.27659375e-01 9.91817924e-01 -5.38479961e-04 -1.25190602e+01] [-4.91327858e-03 -8.94847861e-05 9.99987926e-01 -1.26651329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.27, Y:-12.52, Z:-1.27 [[ 9.92529545e-01 1.21906699e-01 4.88454131e-03 2.04271922e+02] [-1.21905526e-01 9.92541562e-01 -5.38117047e-04 -1.25209161e+01] [-4.91371034e-03 -6.13555119e-05 9.99987926e-01 -1.26873447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86587156000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.33, Y:-12.52, Z:-1.27 [[ 9.92892637e-01 1.18913210e-01 4.88458727e-03 2.04330291e+02] [-1.18912004e-01 9.92904651e-01 -5.37699577e-04 -1.25241353e+01] [-4.91386900e-03 -4.69581103e-05 9.99987926e-01 -1.26632310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92587156000002 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:-12.53, Z:-1.27 [[ 9.93379946e-01 1.14771179e-01 4.88461305e-03 2.04387650e+02] [-1.14769923e-01 9.93391955e-01 -5.37465244e-04 -1.25250105e+01] [-4.91402083e-03 -2.66994708e-05 9.99987926e-01 -1.26731445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:-12.53, Z:-1.27 [[ 9.93668061e-01 1.12249388e-01 4.88465749e-03 2.04445122e+02] [-1.12248104e-01 9.93680067e-01 -5.37061078e-04 -1.25270782e+01] [-4.91407156e-03 -1.46331016e-05 9.99987926e-01 -1.26752104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.50, Y:-12.53, Z:-1.27 [[ 9.94242470e-01 1.07042284e-01 4.88468852e-03 2.04503762e+02] [-1.07040938e-01 9.94254469e-01 -5.36778673e-04 -1.25286055e+01] [-4.91408141e-03 1.08265112e-05 9.99987926e-01 -1.26821462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:-12.53, Z:-1.27 [[ 9.94811473e-01 1.01618271e-01 4.88472667e-03 2.04562543e+02] [-1.01616862e-01 9.94823465e-01 -5.36431316e-04 -1.25320412e+01] [-4.91395193e-03 3.72774329e-05 9.99987926e-01 -1.27089808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.62, Y:-12.54, Z:-1.27 [[ 9.95041305e-01 9.93425385e-02 4.88475177e-03 2.04620356e+02] [-9.93411031e-02 9.95053294e-01 -5.36202649e-04 -1.25354602e+01] [-4.91385607e-03 4.82871545e-05 9.99987926e-01 -1.27090648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.68, Y:-12.54, Z:-1.27 [[ 9.95090916e-01 9.88443606e-02 4.88478991e-03 2.04677826e+02] [-9.88429209e-02 9.95102904e-01 -5.35854973e-04 -1.25371854e+01] [-4.91383487e-03 5.03975137e-05 9.99987926e-01 -1.27145712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:-12.54, Z:-1.27 [[ 9.95085821e-01 9.88956412e-02 4.88483380e-03 2.04736295e+02] [-9.88942041e-02 9.95097809e-01 -5.35454522e-04 -1.25391850e+01] [-4.91384154e-03 4.97414506e-05 9.99987926e-01 -1.27278349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.79, Y:-12.54, Z:-1.27 [[ 9.95195386e-01 9.77869202e-02 4.88485892e-03 2.04794440e+02] [-9.77854709e-02 9.95207373e-01 -5.35225298e-04 -1.25398158e+01] [-4.91378565e-03 5.49855173e-05 9.99987926e-01 -1.27284044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:-12.54, Z:-1.27 [[ 9.95325180e-01 9.64568452e-02 4.88489642e-03 2.04851236e+02] [-9.64553815e-02 9.95337166e-01 -5.34882868e-04 -1.25431392e+01] [-4.91371207e-03 6.12078391e-05 9.99987926e-01 -1.27378667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:-12.55, Z:-1.27 [[ 9.95626014e-01 9.33004702e-02 4.88493970e-03 2.04908253e+02] [-9.32989706e-02 9.95637995e-01 -5.34487253e-04 -1.25477224e+01] [-4.91349948e-03 7.63895681e-05 9.99987926e-01 -1.27499275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.97, Y:-12.55, Z:-1.27 [[ 9.95982975e-01 8.94094543e-02 4.88498250e-03 2.04967006e+02] [-8.94079097e-02 9.95994950e-01 -5.34095788e-04 -1.25537361e+01] [-4.91317112e-03 9.51942370e-05 9.99987926e-01 -1.27031555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:205.02, Y:-12.56, Z:-1.27 [[ 9.96110946e-01 8.79722731e-02 4.88500829e-03 2.05024636e+02] [-8.79707124e-02 9.96122918e-01 -5.33859856e-04 -1.25596787e+01] [-4.91303358e-03 1.02045987e-04 9.99987926e-01 -1.27023543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64587156000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:-12.56, Z:-1.27 [[ 9.96304188e-01 8.57560517e-02 4.88504009e-03 2.05082126e+02] [-8.57544658e-02 9.96316158e-01 -5.33568684e-04 -1.25646860e+01] [-4.91280112e-03 1.12682712e-04 9.99987926e-01 -1.26913439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:-12.57, Z:-1.27 [[ 9.96380199e-01 8.48683351e-02 4.88507750e-03 2.05141102e+02] [-8.48667402e-02 9.96392168e-01 -5.33225958e-04 -1.25708329e+01] [-4.91270696e-03 1.16715183e-04 9.99987926e-01 -1.27171097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:-12.58, Z:-1.27 [[ 9.96288417e-01 8.59390781e-02 4.88510216e-03 2.05198386e+02] [-8.59374972e-02 9.96300388e-01 -5.32999902e-04 -1.25767408e+01] [-4.91283470e-03 1.11208175e-04 9.99987926e-01 -1.27208623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:-12.58, Z:-1.27 [[ 9.96257247e-01 8.62996656e-02 4.88513985e-03 2.05257074e+02] [-8.62980907e-02 9.96269219e-01 -5.32654297e-04 -1.25832612e+01] [-4.91288235e-03 1.09082462e-04 9.99987926e-01 -1.27275045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:-12.59, Z:-1.27 [[ 9.96404606e-01 8.45813012e-02 4.88516544e-03 2.05314299e+02] [-8.45797068e-02 9.96416574e-01 -5.32419441e-04 -1.25908000e+01] [-4.91269255e-03 1.17319322e-04 9.99987926e-01 -1.27472271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.37, Y:-12.60, Z:-1.27 [[ 9.96635275e-01 8.18184793e-02 4.88519708e-03 2.05371909e+02] [-8.18168532e-02 9.96647239e-01 -5.32128972e-04 -1.26009860e+01] [-4.91235617e-03 1.30647051e-04 9.99987926e-01 -1.27409732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.43, Y:-12.61, Z:-1.27 [[ 9.96785193e-01 7.99713240e-02 4.88522181e-03 2.05429165e+02] [-7.99696768e-02 9.96797155e-01 -5.31901907e-04 -1.26104203e+01] [-4.91211210e-03 1.39522336e-04 9.99987926e-01 -1.27441784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:205.49, Y:-12.62, Z:-1.27 [[ 9.96895338e-01 7.85863829e-02 4.88525927e-03 2.05486828e+02] [-7.85847208e-02 9.96907297e-01 -5.31557630e-04 -1.26191124e+01] [-4.91192380e-03 1.46000588e-04 9.99987926e-01 -1.27443890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.54, Y:-12.63, Z:-1.28 [[ 9.97077881e-01 7.62353738e-02 4.88529251e-03 2.05544447e+02] [-7.62336849e-02 9.97089837e-01 -5.31251967e-04 -1.26316367e+01] [-4.91157570e-03 1.57275736e-04 9.99987926e-01 -1.27574252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:-12.64, Z:-1.27 [[ 9.97151385e-01 7.52678453e-02 4.88531676e-03 2.05602280e+02] [-7.52661459e-02 9.97163339e-01 -5.31028859e-04 -1.26421204e+01] [-4.91142817e-03 1.61817199e-04 9.99987926e-01 -1.27392576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:-12.65, Z:-1.27 [[ 9.97124094e-01 7.56285340e-02 4.88534101e-03 2.05659681e+02] [-7.56268401e-02 9.97136049e-01 -5.30805616e-04 -1.26542963e+01] [-4.91149368e-03 1.59816165e-04 9.99987926e-01 -1.27271908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.72, Y:-12.67, Z:-1.27 [[ 9.96770538e-01 8.01537773e-02 4.88536510e-03 2.05717692e+02] [-8.01521387e-02 9.96782500e-01 -5.30583845e-04 -1.26668813e+01] [-4.91217474e-03 1.37297884e-04 9.99987926e-01 -1.27119602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:-12.68, Z:-1.27 [[ 9.96441141e-01 8.41497762e-02 4.88538988e-03 2.05774347e+02] [-8.41481867e-02 9.96453110e-01 -5.30355557e-04 -1.26778141e+01] [-4.91269125e-03 1.17371396e-04 9.99987926e-01 -1.27143575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:-12.69, Z:-1.27 [[ 9.96183311e-01 8.71489736e-02 4.88542065e-03 2.05832518e+02] [-8.71474215e-02 9.96195285e-01 -5.30071952e-04 -1.26912109e+01] [-4.91302825e-03 1.02297019e-04 9.99987926e-01 -1.27166831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:-12.71, Z:-1.27 [[ 9.96262133e-01 8.62432302e-02 4.88544424e-03 2.05890088e+02] [-8.62416683e-02 9.96274106e-01 -5.29854514e-04 -1.27056003e+01] [-4.91293795e-03 1.06545127e-04 9.99987926e-01 -1.27263190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:-12.72, Z:-1.27 [[ 9.96321637e-01 8.55530681e-02 4.88546955e-03 2.05946800e+02] [-8.55514992e-02 9.96333609e-01 -5.29621012e-04 -1.27177613e+01] [-4.91286821e-03 1.09713629e-04 9.99987926e-01 -1.27209070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:-12.73, Z:-1.27 [[ 9.96407424e-01 8.45480733e-02 4.88550085e-03 2.06004713e+02] [-8.45464936e-02 9.96419395e-01 -5.29332099e-04 -1.27333052e+01] [-4.91276181e-03 1.14378467e-04 9.99987926e-01 -1.27344455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:-12.75, Z:-1.27 [[ 9.96400096e-01 8.46343897e-02 4.88552545e-03 2.06062863e+02] [-8.46328122e-02 9.96412067e-01 -5.29104943e-04 -1.27454211e+01] [-4.91277699e-03 1.13724458e-04 9.99987926e-01 -1.27396622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.12, Y:-12.76, Z:-1.27 [[ 9.96285778e-01 8.59696500e-02 4.88555010e-03 2.06119931e+02] [-8.59680896e-02 9.96297751e-01 -5.28877257e-04 -1.27605509e+01] [-4.91292997e-03 1.06911480e-04 9.99987926e-01 -1.27327396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:-12.78, Z:-1.27 [[ 9.96006311e-01 8.91490879e-02 4.88557477e-03 2.06176052e+02] [-8.91475669e-02 9.96018289e-01 -5.28649304e-04 -1.27770070e+01] [-4.91325042e-03 9.10009394e-05 9.99987926e-01 -1.27417609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.23, Y:-12.79, Z:-1.28 [[ 9.95630617e-01 9.32513058e-02 4.88560772e-03 2.06232725e+02] [-9.32498356e-02 9.95642601e-01 -5.28344585e-04 -1.27922491e+01] [-4.91358800e-03 7.04539287e-05 9.99987926e-01 -1.27708278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.29, Y:-12.81, Z:-1.28 [[ 9.95324988e-01 9.64587894e-02 4.88563804e-03 2.06290292e+02] [-9.64573592e-02 9.95336978e-01 -5.28064031e-04 -1.28051019e+01] [-4.91379262e-03 5.43395816e-05 9.99987926e-01 -1.27719771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:-12.82, Z:-1.28 [[ 9.94715684e-01 1.02551635e-01 4.88566254e-03 2.06347838e+02] [-1.02550279e-01 9.94727682e-01 -5.27837286e-04 -1.28190295e+01] [-4.91403435e-03 2.40219680e-05 9.99987926e-01 -1.27628740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.41, Y:-12.83, Z:-1.28 [[ 9.93854071e-01 1.10590305e-01 4.88568681e-03 2.06405830e+02] [-1.10589047e-01 9.93866080e-01 -5.27612593e-04 -1.28327666e+01] [-4.91406723e-03 -1.59335252e-05 9.99987926e-01 -1.27542141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:-12.84, Z:-1.28 [[ 9.93133986e-01 1.16880344e-01 4.88571092e-03 2.06463702e+02] [-1.16879163e-01 9.93146003e-01 -5.27389198e-04 -1.28412788e+01] [-4.91386570e-03 -4.72696686e-05 9.99987926e-01 -1.27808984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:-12.85, Z:-1.28 [[ 9.91931093e-01 1.26684000e-01 4.88573519e-03 2.06520868e+02] [-1.26682940e-01 9.91943121e-01 -5.27164230e-04 -1.28506902e+01] [-4.91315469e-03 -9.60287072e-05 9.99987926e-01 -1.27846265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.58, Y:-12.86, Z:-1.28 [[ 9.91003980e-01 1.33743192e-01 4.88576523e-03 2.06579177e+02] [-1.33742219e-01 9.91016015e-01 -5.26885698e-04 -1.28566664e+01] [-4.91233896e-03 -1.31287258e-04 9.99987926e-01 -1.27682160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.64, Y:-12.86, Z:-1.28 [[ 9.90717981e-01 1.35845542e-01 4.88578996e-03 2.06636884e+02] [-1.35844595e-01 9.90730018e-01 -5.26656304e-04 -1.28613597e+01] [-4.91204268e-03 -1.41940288e-04 9.99987926e-01 -1.27544360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:-12.87, Z:-1.27 [[ 9.90779044e-01 1.35399465e-01 4.88582376e-03 2.06695621e+02] [-1.35398514e-01 9.90791081e-01 -5.26342536e-04 -1.28659657e+01] [-4.91209710e-03 -1.40044124e-04 9.99987926e-01 -1.27258876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:-12.87, Z:-1.27 [[ 9.91190752e-01 1.32351885e-01 4.88584840e-03 2.06754121e+02] [-1.32350899e-01 9.91202786e-01 -5.26113676e-04 -1.28730108e+01] [-4.91249869e-03 -1.25167418e-04 9.99987926e-01 -1.27392257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:-12.88, Z:-1.27 [[ 9.91818317e-01 1.27563925e-01 4.88587373e-03 2.06811278e+02] [-1.27562881e-01 9.91830346e-01 -5.25878354e-04 -1.28789076e+01] [-4.91304094e-03 -1.01680347e-04 9.99987926e-01 -1.27300944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.87, Y:-12.89, Z:-1.27 [[ 9.92588290e-01 1.21427400e-01 4.88590513e-03 2.06869462e+02] [-1.21426284e-01 9.92600313e-01 -5.25586435e-04 -1.28858600e+01] [-4.91357156e-03 -7.15863645e-05 9.99987926e-01 -1.27477735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.93, Y:-12.89, Z:-1.28 [[ 9.93793990e-01 1.11128901e-01 4.88592975e-03 2.06928506e+02] [-1.11127661e-01 9.93806001e-01 -5.25357508e-04 -1.28918674e+01] [-4.91404871e-03 -2.08648129e-05 9.99987926e-01 -1.27590618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.99, Y:-12.90, Z:-1.27 [[ 9.94892662e-01 1.00820226e-01 4.88594272e-03 2.06988520e+02] [-1.00818863e-01 9.94904659e-01 -5.25236860e-04 -1.29005839e+01] [-4.91400168e-03 2.99591100e-05 9.99987926e-01 -1.27436103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:-12.91, Z:-1.28 [[ 9.95498375e-01 9.46525888e-02 4.88594272e-03 2.07047125e+02] [-9.46511508e-02 9.95510363e-01 -5.25236860e-04 -1.29077849e+01] [-4.91372164e-03 6.04123394e-05 9.99987926e-01 -1.27777719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:-12.92, Z:-1.28 [[ 9.96193178e-01 8.70360822e-02 4.88594906e-03 2.07107319e+02] [-8.70345528e-02 9.96205155e-01 -5.25177918e-04 -1.29161442e+01] [-4.91311706e-03 9.79322680e-05 9.99987926e-01 -1.27509703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:-12.93, Z:-1.27 [[ 9.96635376e-01 8.18172054e-02 4.88594906e-03 2.07167275e+02] [-8.18156133e-02 9.96647345e-01 -5.25177918e-04 -1.29264296e+01] [-4.91253674e-03 1.23663973e-04 9.99987926e-01 -1.27497712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:207.23, Y:-12.94, Z:-1.27 [[ 9.96788004e-01 7.99362411e-02 4.88594906e-03 2.07228037e+02] [-7.99346264e-02 9.96799970e-01 -5.25177918e-04 -1.29368241e+01] [-4.91229462e-03 1.32934536e-04 9.99987926e-01 -1.27450327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.29, Y:-12.95, Z:-1.28 [[ 9.96931504e-01 7.81262093e-02 4.88593670e-03 2.07287780e+02] [-7.81245723e-02 9.96943466e-01 -5.25292873e-04 -1.29485607e+01] [-4.91204181e-03 1.41969299e-04 9.99987926e-01 -1.27740566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:-12.96, Z:-1.28 [[ 9.96888514e-01 7.86728561e-02 4.88593057e-03 2.07347733e+02] [-7.86712254e-02 9.96900478e-01 -5.25349845e-04 -1.29615646e+01] [-4.91211729e-03 1.39333081e-04 9.99987926e-01 -1.27748368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-12.97, Z:-1.28 [[ 9.96659380e-01 8.15242842e-02 4.88591845e-03 2.07407095e+02] [-8.15226872e-02 9.96671348e-01 -5.25462503e-04 -1.29729150e+01] [-4.91249289e-03 1.25393930e-04 9.99987926e-01 -1.27812868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.47, Y:-12.99, Z:-1.28 [[ 9.95986398e-01 8.93712647e-02 4.88589038e-03 2.07467280e+02] [-8.93697607e-02 9.95998378e-01 -5.25723420e-04 -1.29856558e+01] [-4.91332346e-03 8.69625210e-05 9.99987926e-01 -1.27710140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:-13.00, Z:-1.28 [[ 9.94886829e-01 1.00877775e-01 4.88587764e-03 2.07526170e+02] [-1.00876409e-01 9.94898826e-01 -5.25841803e-04 -1.29951876e+01] [-4.91399968e-03 3.02832952e-05 9.99987926e-01 -1.27734755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.58, Y:-13.00, Z:-1.28 [[ 9.94008871e-01 1.09190171e-01 4.88587164e-03 2.07584889e+02] [-1.09188905e-01 9.94020878e-01 -5.25897571e-04 -1.30026758e+01] [-4.91408126e-03 -1.07361252e-05 9.99987926e-01 -1.27623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:-13.01, Z:-1.28 [[ 9.92941493e-01 1.18504514e-01 4.88586533e-03 2.07644217e+02] [-1.18503360e-01 9.92953512e-01 -5.25956136e-04 -1.30101453e+01] [-4.91376532e-03 -5.67477881e-05 9.99987926e-01 -1.27561243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:-13.02, Z:-1.28 [[ 9.92413312e-01 1.22849286e-01 4.88587765e-03 2.07703273e+02] [-1.22848185e-01 9.92425336e-01 -5.25841677e-04 -1.30162616e+01] [-4.91346804e-03 -7.83689237e-05 9.99987926e-01 -1.27685518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:-13.02, Z:-1.28 [[ 9.92370391e-01 1.23195516e-01 4.88588999e-03 2.07763085e+02] [-1.23194421e-01 9.92382415e-01 -5.25727005e-04 -1.30219121e+01] [-4.91343852e-03 -8.01984739e-05 9.99987926e-01 -1.27608345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.82, Y:-13.03, Z:-1.28 [[ 9.92546336e-01 1.21769864e-01 4.88590255e-03 2.07823263e+02] [-1.21768752e-01 9.92558358e-01 -5.25610239e-04 -1.30273462e+01] [-4.91354690e-03 -7.32577376e-05 9.99987926e-01 -1.27622790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:-13.03, Z:-1.28 [[ 9.93010204e-01 1.17927363e-01 4.88590255e-03 2.07883176e+02] [-1.17926204e-01 9.93022222e-01 -5.25610239e-04 -1.30332228e+01] [-4.91379364e-03 -5.42396119e-05 9.99987926e-01 -1.27886960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.94, Y:-13.04, Z:-1.28 [[ 9.93277952e-01 1.15650501e-01 4.88590255e-03 2.07943788e+02] [-1.15649314e-01 9.93289968e-01 -5.25610239e-04 -1.30386212e+01] [-4.91390507e-03 -4.29742177e-05 9.99987926e-01 -1.27856479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:-13.04, Z:-1.28 [[ 9.93436717e-01 1.14278686e-01 4.88590255e-03 2.08004594e+02] [-1.14277483e-01 9.93448731e-01 -5.25610239e-04 -1.30426611e+01] [-4.91395973e-03 -3.61881338e-05 9.99987926e-01 -1.27599415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:-13.04, Z:-1.28 [[ 9.93640724e-01 1.12491065e-01 4.88590255e-03 2.08064237e+02] [-1.12489841e-01 9.93652736e-01 -5.25610239e-04 -1.30438289e+01] [-4.91401689e-03 -2.73466617e-05 9.99987926e-01 -1.27945029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.12, Y:-13.05, Z:-1.28 [[ 9.94046600e-01 1.08846152e-01 4.88590889e-03 2.08124339e+02] [-1.08844884e-01 9.94058607e-01 -5.25551281e-04 -1.30479905e+01] [-4.91408402e-03 -9.38372274e-06 9.99987926e-01 -1.28087630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:-13.05, Z:-1.28 [[ 9.94897372e-01 1.00773744e-01 4.88590889e-03 2.08184572e+02] [-1.00772378e-01 9.94909369e-01 -5.25551281e-04 -1.30533359e+01] [-4.91399830e-03 3.05049311e-05 9.99987926e-01 -1.28155569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.25, Y:-13.06, Z:-1.28 [[ 9.95429085e-01 9.53785331e-02 4.88590889e-03 2.08245235e+02] [-9.53771023e-02 9.95441074e-01 -5.25551281e-04 -1.30598475e+01] [-4.91376071e-03 5.71451982e-05 9.99987926e-01 -1.28370354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.31, Y:-13.06, Z:-1.29 [[ 9.95720125e-01 9.22906361e-02 4.88589625e-03 2.08306765e+02] [-9.22891675e-02 9.95732109e-01 -5.25668803e-04 -1.30642222e+01] [-4.91355808e-03 7.25037086e-05 9.99987926e-01 -1.28578091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.37, Y:-13.07, Z:-1.29 [[ 9.95538677e-01 9.42277606e-02 4.88588372e-03 2.08366691e+02] [-9.42263148e-02 9.95550664e-01 -5.25785247e-04 -1.30679343e+01] [-4.91368835e-03 6.30607317e-05 9.99987926e-01 -1.28598699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:-13.07, Z:-1.28 [[ 9.95496200e-01 9.46754712e-02 4.88588991e-03 2.08427261e+02] [-9.46740310e-02 9.95508188e-01 -5.25727705e-04 -1.30738413e+01] [-4.91371693e-03 6.07930391e-05 9.99987926e-01 -1.28401584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:208.49, Y:-13.08, Z:-1.28 [[ 9.95636933e-01 9.31838311e-02 4.88588991e-03 2.08487947e+02] [-9.31823730e-02 9.95648919e-01 -5.25727705e-04 -1.30793164e+01] [-4.91362033e-03 6.81551033e-05 9.99987926e-01 -1.28361609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.55, Y:-13.09, Z:-1.29 [[ 9.95786575e-01 9.15708721e-02 4.88588991e-03 2.08547886e+02] [-9.15693946e-02 9.95798559e-01 -5.25727705e-04 -1.30864359e+01] [-4.91350347e-03 7.61146097e-05 9.99987926e-01 -1.28551214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.61, Y:-13.10, Z:-1.29 [[ 9.95945029e-01 8.98311068e-02 4.88588991e-03 2.08607487e+02] [-8.98296083e-02 9.95957010e-01 -5.25727705e-04 -1.30954383e+01] [-4.91336300e-03 8.46983171e-05 9.99987926e-01 -1.28538124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:-13.10, Z:-1.28 [[ 9.96002228e-01 8.91946775e-02 4.88588366e-03 2.08667496e+02] [-8.91931711e-02 9.96014208e-01 -5.25785726e-04 -1.31028111e+01] [-4.91330684e-03 8.78962966e-05 9.99987926e-01 -1.28342516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.73, Y:-13.11, Z:-1.28 [[ 9.95910628e-01 9.02116887e-02 4.88587749e-03 2.08727653e+02] [-9.02101942e-02 9.95922610e-01 -5.25843054e-04 -1.31103151e+01] [-4.91339305e-03 8.29367290e-05 9.99987926e-01 -1.28208186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.79, Y:-13.12, Z:-1.28 [[ 9.95774775e-01 9.16990994e-02 4.88587749e-03 2.08787978e+02] [-9.16976229e-02 9.95786759e-01 -5.25843054e-04 -1.31182801e+01] [-4.91351145e-03 7.55978975e-05 9.99987926e-01 -1.28229419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:-13.13, Z:-1.28 [[ 9.95545506e-01 9.41555858e-02 4.88587749e-03 2.08846643e+02] [-9.41541389e-02 9.95557493e-01 -5.25843054e-04 -1.31261170e+01] [-4.91368301e-03 6.34751015e-05 9.99987926e-01 -1.28425533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.91, Y:-13.13, Z:-1.28 [[ 9.95034817e-01 9.94074518e-02 4.88588351e-03 2.08906910e+02] [-9.94060684e-02 9.95046812e-01 -5.25787202e-04 -1.31334533e+01] [-4.91394997e-03 3.74901023e-05 9.99987926e-01 -1.28459305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.97, Y:-13.14, Z:-1.29 [[ 9.94488596e-01 1.04730896e-01 4.88588351e-03 2.08965487e+02] [-1.04729576e-01 9.94500598e-01 -5.25787202e-04 -1.31411734e+01] [-4.91408023e-03 1.11928665e-05 9.99987926e-01 -1.28755104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66587156 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:209.03, Y:-13.15, Z:-1.29 [[ 9.94238393e-01 1.07080088e-01 4.88588965e-03 2.09025684e+02] [-1.07078798e-01 9.94250398e-01 -5.25730103e-04 -1.31496033e+01] [-4.91409296e-03 -4.74136348e-07 9.99987926e-01 -1.28582111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:-13.16, Z:-1.29 [[ 9.93962114e-01 1.09614980e-01 4.88588965e-03 2.09084696e+02] [-1.09613720e-01 9.93974122e-01 -5.25730103e-04 -1.31578876e+01] [-4.91407577e-03 -1.30047342e-05 9.99987926e-01 -1.28684685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:-13.16, Z:-1.28 [[ 9.93722994e-01 1.11761975e-01 4.88588309e-03 2.09144006e+02] [-1.11760741e-01 9.93735005e-01 -5.25791025e-04 -1.31645228e+01] [-4.91403650e-03 -2.35592822e-05 9.99987926e-01 -1.28487501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:-13.17, Z:-1.29 [[ 9.93576825e-01 1.13054065e-01 4.88589488e-03 2.09203542e+02] [-1.13052847e-01 9.93588837e-01 -5.25681460e-04 -1.31725994e+01] [-4.91400104e-03 -3.00594094e-05 9.99987926e-01 -1.28618307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90587156 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:-13.18, Z:-1.29 [[ 9.93461866e-01 1.14059850e-01 4.88589488e-03 2.09263668e+02] [-1.14058644e-01 9.93473880e-01 -5.25681460e-04 -1.31794128e+01] [-4.91396809e-03 -3.50340602e-05 9.99987926e-01 -1.28607793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:-13.18, Z:-1.29 [[ 9.93370101e-01 1.14856303e-01 4.88589488e-03 2.09323261e+02] [-1.14855107e-01 9.93382116e-01 -5.25681460e-04 -1.31847881e+01] [-4.91393842e-03 -3.89737322e-05 9.99987926e-01 -1.28822768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.38, Y:-13.19, Z:-1.29 [[ 9.93327798e-01 1.15221584e-01 4.88590115e-03 2.09383002e+02] [-1.15220392e-01 9.93339813e-01 -5.25623168e-04 -1.31907946e+01] [-4.91392327e-03 -4.08393424e-05 9.99987926e-01 -1.29100869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:-13.19, Z:-1.29 [[ 9.93293099e-01 1.15520337e-01 4.88591352e-03 2.09442273e+02] [-1.15519150e-01 9.93305114e-01 -5.25508186e-04 -1.31949822e+01] [-4.91390977e-03 -4.24329214e-05 9.99987926e-01 -1.28782996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:-13.20, Z:-1.29 [[ 9.93323515e-01 1.15258500e-01 4.88592618e-03 2.09500568e+02] [-1.15257310e-01 9.93335531e-01 -5.25390460e-04 -1.31981102e+01] [-4.91391979e-03 -4.12560075e-05 9.99987926e-01 -1.28818373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:-13.20, Z:-1.29 [[ 9.93331289e-01 1.15191479e-01 4.88594501e-03 2.09558672e+02] [-1.15190289e-01 9.93343305e-01 -5.25215250e-04 -1.32024938e+01] [-4.91392109e-03 -4.11006775e-05 9.99987926e-01 -1.29026891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:-13.21, Z:-1.28 [[ 9.93382755e-01 1.14746807e-01 4.88596348e-03 2.09619378e+02] [-1.14745612e-01 9.93394770e-01 -5.25043395e-04 -1.32066437e+01] [-4.91393762e-03 -3.90738183e-05 9.99987926e-01 -1.28421239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:-13.21, Z:-1.29 [[ 9.93386888e-01 1.14711023e-01 4.88596348e-03 2.09678755e+02] [-1.14709828e-01 9.93398903e-01 -5.25043395e-04 -1.32101920e+01] [-4.91393902e-03 -3.88968047e-05 9.99987926e-01 -1.28523313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:-13.21, Z:-1.28 [[ 9.93304677e-01 1.15420736e-01 4.88597563e-03 2.09738367e+02] [-1.15419551e-01 9.93316693e-01 -5.24930280e-04 -1.32125897e+01] [-4.91390900e-03 -4.25214092e-05 9.99987926e-01 -1.28350606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.80, Y:-13.21, Z:-1.29 [[ 9.93025157e-01 1.17801379e-01 4.88598773e-03 2.09796344e+02] [-1.17800223e-01 9.93037176e-01 -5.24817664e-04 -1.32137076e+01] [-4.91379170e-03 -5.44132991e-05 9.99987926e-01 -1.28655632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:209.85, Y:-13.21, Z:-1.29 [[ 9.92632340e-01 1.21066776e-01 4.88601755e-03 2.09854392e+02] [-1.21065660e-01 9.92644363e-01 -5.24539844e-04 -1.32114237e+01] [-4.91358213e-03 -7.08537281e-05 9.99987926e-01 -1.28844804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.91, Y:-13.21, Z:-1.29 [[ 9.92394500e-01 1.23001150e-01 4.88604701e-03 2.09913296e+02] [-1.23000059e-01 9.92406525e-01 -5.24265362e-04 -1.32108706e+01] [-4.91343017e-03 -8.07060097e-05 9.99987926e-01 -1.29115520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.97, Y:-13.21, Z:-1.29 [[ 9.92622293e-01 1.21149122e-01 4.88607037e-03 2.09971988e+02] [-1.21148010e-01 9.92634316e-01 -5.24047539e-04 -1.32067314e+01] [-4.91356902e-03 -7.17564299e-05 9.99987926e-01 -1.29319458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.03, Y:-13.21, Z:-1.30 [[ 9.93269957e-01 1.15719139e-01 4.88609925e-03 2.10030783e+02] [-1.15717963e-01 9.93281973e-01 -5.23778158e-04 -1.32086515e+01] [-4.91388546e-03 -4.51563422e-05 9.99987926e-01 -1.29585527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.09, Y:-13.21, Z:-1.30 [[ 9.94543019e-01 1.04212806e-01 4.88612222e-03 2.10088620e+02] [-1.04211492e-01 9.94555022e-01 -5.23563746e-04 -1.32098670e+01] [-4.91407944e-03 1.15165830e-05 9.99987926e-01 -1.29715913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.15, Y:-13.21, Z:-1.29 [[ 9.95728782e-01 9.21971743e-02 4.88615073e-03 2.10147260e+02] [-9.21957162e-02 9.95740768e-01 -5.23297570e-04 -1.32122825e+01] [-4.91358603e-03 7.05802855e-05 9.99987926e-01 -1.29347628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.21, Y:-13.22, Z:-1.29 [[ 9.96583604e-01 8.24454036e-02 4.88617544e-03 2.10206477e+02] [-8.24438294e-02 9.96595576e-01 -5.23066693e-04 -1.32161470e+01] [-4.91266527e-03 1.18444675e-04 9.99987926e-01 -1.29342232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.27, Y:-13.22, Z:-1.30 [[ 9.96965004e-01 7.76975275e-02 4.88618799e-03 2.10265355e+02] [-7.76958968e-02 9.96976968e-01 -5.22949492e-04 -1.32209718e+01] [-4.91204877e-03 1.41725585e-04 9.99987926e-01 -1.29732240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:-13.23, Z:-1.29 [[ 9.97311448e-01 7.31163504e-02 4.88620652e-03 2.10325057e+02] [-7.31146656e-02 9.97323404e-01 -5.22776232e-04 -1.32279367e+01] [-4.91135161e-03 1.64117364e-04 9.99987926e-01 -1.29393566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:-13.24, Z:-1.29 [[ 9.97661163e-01 6.81786553e-02 4.88621831e-03 2.10384842e+02] [-6.81769119e-02 9.97673111e-01 -5.22666035e-04 -1.32372015e+01] [-4.91048329e-03 1.88316329e-04 9.99987926e-01 -1.29201842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.44, Y:-13.25, Z:-1.29 [[ 9.97841682e-01 6.54836047e-02 4.88621831e-03 2.10443315e+02] [-6.54818291e-02 9.97853625e-01 -5.22666035e-04 -1.32464534e+01] [-4.90995671e-03 2.01579444e-04 9.99987926e-01 -1.29350238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:-13.26, Z:-1.29 [[ 9.97854320e-01 6.52907339e-02 4.88622424e-03 2.10502209e+02] [-6.52889562e-02 9.97866263e-01 -5.22610567e-04 -1.32609142e+01] [-4.90991995e-03 2.02472731e-04 9.99987926e-01 -1.29255141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:-13.27, Z:-1.29 [[ 9.97480493e-01 7.07728082e-02 4.88622424e-03 2.10561864e+02] [-7.07710962e-02 9.97492445e-01 -5.22610567e-04 -1.32728038e+01] [-4.91095839e-03 1.75490400e-04 9.99987926e-01 -1.29380150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:-13.28, Z:-1.29 [[ 9.97303436e-01 7.32255496e-02 4.88622424e-03 2.10622101e+02] [-7.32238669e-02 9.97315393e-01 -5.22610567e-04 -1.32815741e+01] [-4.91137510e-03 1.63413080e-04 9.99987926e-01 -1.29449548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:-13.30, Z:-1.30 [[ 9.96653087e-01 8.16011553e-02 4.88622424e-03 2.10680890e+02] [-8.15995732e-02 9.96665057e-01 -5.22610567e-04 -1.32951517e+01] [-4.91257459e-03 1.22147622e-04 9.99987926e-01 -1.29535992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:-13.31, Z:-1.29 [[ 9.96120710e-01 8.78615771e-02 4.88623016e-03 2.10740005e+02] [-8.78600705e-02 9.96132689e-01 -5.22555275e-04 -1.33060429e+01] [-4.91324612e-03 9.12236050e-05 9.99987926e-01 -1.29387205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:-13.32, Z:-1.29 [[ 9.95344120e-01 9.62611370e-02 4.88624206e-03 2.10798381e+02] [-9.62597321e-02 9.95356113e-01 -5.22443987e-04 -1.33197565e+01] [-4.91384195e-03 4.96631991e-05 9.99987926e-01 -1.29484333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:-13.33, Z:-1.30 [[ 9.94939710e-01 1.00354864e-01 4.88625438e-03 2.10857289e+02] [-1.00353509e-01 9.94951708e-01 -5.22328686e-04 -1.33307420e+01] [-4.91400536e-03 2.93327792e-05 9.99987926e-01 -1.29531027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.92, Y:-13.35, Z:-1.30 [[ 9.94480849e-01 1.04804415e-01 4.88626669e-03 2.10915712e+02] [-1.04803114e-01 9.94492853e-01 -5.22213496e-04 -1.33456604e+01] [-4.91408758e-03 7.23535578e-06 9.99987926e-01 -1.29706182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.97, Y:-13.36, Z:-1.30 [[ 9.93965668e-01 1.09582735e-01 4.88627277e-03 2.10973900e+02] [-1.09581492e-01 9.93977678e-01 -5.22156580e-04 -1.33590119e+01] [-4.91406541e-03 -1.64393484e-05 9.99987926e-01 -1.29820261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.03, Y:-13.37, Z:-1.30 [[ 9.93228469e-01 1.16074686e-01 4.88628490e-03 2.11032864e+02] [-1.16073522e-01 9.93240487e-01 -5.22043057e-04 -1.33712512e+01] [-4.91385198e-03 -4.86602732e-05 9.99987926e-01 -1.29752456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.09, Y:-13.38, Z:-1.30 [[ 9.92666632e-01 1.20785268e-01 4.88629691e-03 2.11091463e+02] [-1.20784162e-01 9.92678656e-01 -5.21930692e-04 -1.33809237e+01] [-4.91356418e-03 -7.20840945e-05 9.99987926e-01 -1.29667281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.15, Y:-13.39, Z:-1.30 [[ 9.91932084e-01 1.26676222e-01 4.88630881e-03 2.11150559e+02] [-1.26675188e-01 9.91944114e-01 -5.21819186e-04 -1.33903366e+01] [-4.91304735e-03 -1.01364894e-04 9.99987926e-01 -1.29747992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:-13.40, Z:-1.30 [[ 9.91371737e-01 1.30989323e-01 4.88631467e-03 2.11210012e+02] [-1.30988342e-01 9.91383771e-01 -5.21764335e-04 -1.33974512e+01] [-4.91255862e-03 -1.22787841e-04 9.99987926e-01 -1.29896514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:-13.40, Z:-1.30 [[ 9.91107442e-01 1.32974290e-01 4.88632626e-03 2.11269073e+02] [-1.32973333e-01 9.91119478e-01 -5.21655790e-04 -1.34041615e+01] [-4.91229994e-03 -1.32734152e-04 9.99987926e-01 -1.29841403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.33, Y:-13.41, Z:-1.30 [[ 9.90860148e-01 1.34804642e-01 4.88633771e-03 2.11327395e+02] [-1.34803707e-01 9.90872186e-01 -5.21548492e-04 -1.34092882e+01] [-4.91204329e-03 -1.41914823e-04 9.99987926e-01 -1.29646977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:-13.41, Z:-1.30 [[ 9.90761499e-01 1.35527764e-01 4.88635033e-03 2.11386531e+02] [-1.35526839e-01 9.90773538e-01 -5.21430221e-04 -1.34127311e+01] [-4.91193488e-03 -1.45618628e-04 9.99987926e-01 -1.29695066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.45, Y:-13.42, Z:-1.30 [[ 9.90738947e-01 1.35692527e-01 4.88636147e-03 2.11445193e+02] [-1.35691604e-01 9.90750986e-01 -5.21325812e-04 -1.34162933e+01] [-4.91190746e-03 -1.46540440e-04 9.99987926e-01 -1.29719047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:-13.42, Z:-1.30 [[ 9.90823219e-01 1.35075800e-01 4.88638357e-03 2.11503769e+02] [-1.35074871e-01 9.90835258e-01 -5.21118564e-04 -1.34185856e+01] [-4.91199163e-03 -1.43691258e-04 9.99987926e-01 -1.29570639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.56, Y:-13.42, Z:-1.30 [[ 9.91126265e-01 1.32833920e-01 4.88640003e-03 2.11563334e+02] [-1.32832965e-01 9.91138301e-01 -5.20964201e-04 -1.34188274e+01] [-4.91229994e-03 -1.32733701e-04 9.99987926e-01 -1.29720333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:-13.42, Z:-1.30 [[ 9.91565618e-01 1.29513502e-01 4.88641154e-03 2.11621744e+02] [-1.29512507e-01 9.91577652e-01 -5.20856267e-04 -1.34217729e+01] [-4.91271440e-03 -1.16388242e-04 9.99987926e-01 -1.29811901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:-13.42, Z:-1.30 [[ 9.92330474e-01 1.23516614e-01 4.88642871e-03 2.11682039e+02] [-1.23515547e-01 9.92342501e-01 -5.20695080e-04 -1.34224552e+01] [-4.91332538e-03 -8.68483210e-05 9.99987926e-01 -1.29593514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.74, Y:-13.42, Z:-1.30 [[ 9.92910869e-01 1.18760806e-01 4.88643955e-03 2.11742204e+02] [-1.18759682e-01 9.92922891e-01 -5.20593347e-04 -1.34244181e+01] [-4.91368377e-03 -6.34092146e-05 9.99987926e-01 -1.29714177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:-13.42, Z:-1.30 [[ 9.93122960e-01 1.16973963e-01 4.88645158e-03 2.11801092e+02] [-1.16972818e-01 9.93134980e-01 -5.20480391e-04 -1.34248137e+01] [-4.91378865e-03 -5.46809843e-05 9.99987926e-01 -1.29787787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:-13.42, Z:-1.30 [[ 9.93526754e-01 1.13493225e-01 4.88647624e-03 2.11859184e+02] [-1.13492039e-01 9.93538769e-01 -5.20248808e-04 -1.34247415e+01] [-4.91394830e-03 -3.76950419e-05 9.99987926e-01 -1.30082805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:-13.42, Z:-1.30 [[ 9.94084281e-01 1.08501450e-01 4.88650680e-03 2.11918150e+02] [-1.08500205e-01 9.94096291e-01 -5.19961573e-04 -1.34245710e+01] [-4.91407487e-03 -1.33013646e-05 9.99987926e-01 -1.30120437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:-13.43, Z:-1.30 [[ 9.94626750e-01 1.03410588e-01 4.88652997e-03 2.11978142e+02] [-1.03409283e-01 9.94638754e-01 -5.19743730e-04 -1.34253366e+01] [-4.91407909e-03 1.16384575e-05 9.99987926e-01 -1.29995009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:-13.43, Z:-1.30 [[ 9.94866415e-01 1.01078868e-01 4.88654260e-03 2.12036748e+02] [-1.01077535e-01 9.94878416e-01 -5.19625006e-04 -1.34282694e+01] [-4.91403886e-03 2.30377852e-05 9.99987926e-01 -1.30068063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:-13.43, Z:-1.30 [[ 9.94857107e-01 1.01170441e-01 4.88656137e-03 2.12095870e+02] [-1.01169110e-01 9.94869108e-01 -5.19448383e-04 -1.34282552e+01] [-4.91404177e-03 2.24078512e-05 9.99987926e-01 -1.30021797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:212.15, Y:-13.43, Z:-1.30 [[ 9.94732362e-01 1.02389691e-01 4.88658671e-03 2.12154014e+02] [-1.02388376e-01 9.94744365e-01 -5.19209956e-04 -1.34296042e+01] [-4.91406633e-03 1.61452688e-05 9.99987926e-01 -1.30310605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90587156 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:212.21, Y:-13.43, Z:-1.30 [[ 9.94530801e-01 1.04329319e-01 4.88661795e-03 2.12212860e+02] [-1.04328029e-01 9.94542806e-01 -5.18915743e-04 -1.34283764e+01] [-4.91408885e-03 6.26646993e-06 9.99987926e-01 -1.30160684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.27, Y:-13.43, Z:-1.30 [[ 9.94443067e-01 1.05162290e-01 4.88664219e-03 2.12272068e+02] [-1.05161011e-01 9.94455073e-01 -5.18687318e-04 -1.34292441e+01] [-4.91409247e-03 1.92077288e-06 9.99987926e-01 -1.30310200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:212.33, Y:-13.43, Z:-1.30 [[ 9.94409693e-01 1.05477408e-01 4.88666679e-03 2.12331222e+02] [-1.05476134e-01 9.94421699e-01 -5.18455451e-04 -1.34264678e+01] [-4.91409284e-03 1.30405229e-07 9.99987926e-01 -1.30263218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:-13.43, Z:-1.31 [[ 9.94636982e-01 1.03312116e-01 4.88669127e-03 2.12389193e+02] [-1.03310817e-01 9.94648987e-01 -5.18224694e-04 -1.34257853e+01] [-4.91408141e-03 1.05973799e-05 9.99987926e-01 -1.30722257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.45, Y:-13.43, Z:-1.31 [[ 9.94941190e-01 1.00340160e-01 4.88672148e-03 2.12447455e+02] [-1.00338826e-01 9.94953191e-01 -5.17939653e-04 -1.34257908e+01] [-4.91402927e-03 2.49915982e-05 9.99987926e-01 -1.30660098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:-13.43, Z:-1.31 [[ 9.95057883e-01 9.91762515e-02 4.88675106e-03 2.12504780e+02] [-9.91749052e-02 9.95069882e-01 -5.17660428e-04 -1.34295350e+01] [-4.91399842e-03 3.04590173e-05 9.99987926e-01 -1.30546927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:-13.43, Z:-1.31 [[ 9.95428311e-01 9.53865708e-02 4.88678025e-03 2.12564345e+02] [-9.53851802e-02 9.95440304e-01 -5.17384648e-04 -1.34299148e+01] [-4.91384957e-03 4.88929111e-05 9.99987926e-01 -1.30525368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:-13.44, Z:-1.31 [[ 9.95725340e-01 9.22343030e-02 4.88680464e-03 2.12623024e+02] [-9.22328755e-02 9.95737329e-01 -5.17154237e-04 -1.34350316e+01] [-4.91367316e-03 6.42195342e-05 9.99987926e-01 -1.30741473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:-13.44, Z:-1.31 [[ 9.96124447e-01 8.78191632e-02 4.88682930e-03 2.12680408e+02] [-8.78176837e-02 9.96136430e-01 -5.16921079e-04 -1.34384777e+01] [-4.91334427e-03 8.57676942e-05 9.99987926e-01 -1.30655479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:-13.44, Z:-1.31 [[ 9.96339082e-01 8.53495932e-02 4.88685975e-03 2.12738198e+02] [-8.53480854e-02 9.96351061e-01 -5.16633047e-04 -1.34425386e+01] [-4.91312232e-03 9.76575726e-05 9.99987926e-01 -1.30603795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:-13.45, Z:-1.31 [[ 9.96468881e-01 8.38205663e-02 4.88688959e-03 2.12796489e+02] [-8.38190416e-02 9.96480859e-01 -5.16350687e-04 -1.34475190e+01] [-4.91297274e-03 1.04912990e-04 9.99987926e-01 -1.30519916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:-13.45, Z:-1.30 [[ 9.96372265e-01 8.49613317e-02 4.88691326e-03 2.12855222e+02] [-8.49598218e-02 9.96384244e-01 -5.16126514e-04 -1.34531118e+01] [-4.91309417e-03 9.90628639e-05 9.99987926e-01 -1.30498132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.91, Y:-13.46, Z:-1.31 [[ 9.96082040e-01 8.82988492e-02 4.88693744e-03 2.12914191e+02] [-8.82973805e-02 9.96094025e-01 -5.15897461e-04 -1.34576190e+01] [-4.91340234e-03 8.23724211e-05 9.99987926e-01 -1.30790665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.97, Y:-13.46, Z:-1.31 [[ 9.95775590e-01 9.16901978e-02 4.88696183e-03 2.12972217e+02] [-9.16887711e-02 9.95787579e-01 -5.15666354e-04 -1.34626284e+01] [-4.91365744e-03 6.54084436e-05 9.99987926e-01 -1.30785159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:-13.47, Z:-1.31 [[ 9.95265568e-01 9.70699075e-02 4.88699211e-03 2.13030578e+02] [-9.70685470e-02 9.95277565e-01 -5.15379250e-04 -1.34666212e+01] [-4.91394142e-03 3.85659990e-05 9.99987926e-01 -1.30806718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:-13.47, Z:-1.31 [[ 9.94806367e-01 1.01668135e-01 4.88701607e-03 2.13088858e+02] [-1.01666831e-01 9.94818370e-01 -5.15151900e-04 -1.34707127e+01] [-4.91406790e-03 1.56289544e-05 9.99987926e-01 -1.30990510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86587156000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:-13.48, Z:-1.31 [[ 9.94698171e-01 1.02721302e-01 4.88704071e-03 2.13146705e+02] [-1.02720012e-01 9.94710176e-01 -5.14918027e-04 -1.34755756e+01] [-4.91408218e-03 1.01911374e-05 9.99987926e-01 -1.30994102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:-13.48, Z:-1.31 [[ 9.94819755e-01 1.01537048e-01 4.88707137e-03 2.13204915e+02] [-1.01535745e-01 9.94831758e-01 -5.14626918e-04 -1.34809833e+01] [-4.91406750e-03 1.57485932e-05 9.99987926e-01 -1.31052248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:-13.49, Z:-1.31 [[ 9.95118682e-01 9.85643220e-02 4.88709534e-03 2.13262825e+02] [-9.85629843e-02 9.95130682e-01 -5.14399144e-04 -1.34871726e+01] [-4.91399992e-03 3.02014969e-05 9.99987926e-01 -1.31017377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:-13.49, Z:-1.31 [[ 9.95264668e-01 9.70791221e-02 4.88713094e-03 2.13320943e+02] [-9.70777682e-02 9.95276666e-01 -5.14060693e-04 -1.34947276e+01] [-4.91395195e-03 3.71946807e-05 9.99987926e-01 -1.31122018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:-13.50, Z:-1.31 [[ 9.95497391e-01 9.46628795e-02 4.88715447e-03 2.13378089e+02] [-9.46614976e-02 9.95509386e-01 -5.13836916e-04 -1.35030558e+01] [-4.91384943e-03 4.88979478e-05 9.99987926e-01 -1.31168807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:-13.51, Z:-1.31 [[ 9.95735345e-01 9.21262034e-02 4.88718357e-03 2.13436568e+02] [-9.21247923e-02 9.95747337e-01 -5.13559992e-04 -1.35132347e+01] [-4.91371236e-03 6.11390649e-05 9.99987926e-01 -1.31231943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:-13.52, Z:-1.31 [[ 9.95829619e-01 9.11015104e-02 4.88720661e-03 2.13494451e+02] [-9.11000880e-02 9.95841609e-01 -5.13340611e-04 -1.35225030e+01] [-4.91364980e-03 6.59748325e-05 9.99987926e-01 -1.31325498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:-13.54, Z:-1.31 [[ 9.95827857e-01 9.11207722e-02 4.88722943e-03 2.13551242e+02] [-9.11193511e-02 9.95839847e-01 -5.13123292e-04 -1.35359911e+01] [-4.91365400e-03 6.56612937e-05 9.99987926e-01 -1.31497518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:-13.55, Z:-1.31 [[ 9.95775350e-01 9.16927849e-02 4.88726097e-03 2.13608720e+02] [-9.16913721e-02 9.95787341e-01 -5.12822713e-04 -1.35483058e+01] [-4.91369475e-03 6.25365522e-05 9.99987926e-01 -1.31290918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:-13.56, Z:-1.31 [[ 9.95646381e-01 9.30827505e-02 4.88728510e-03 2.13666473e+02] [-9.30813556e-02 9.95658374e-01 -5.12592630e-04 -1.35578150e+01] [-4.91377987e-03 5.54458740e-05 9.99987926e-01 -1.31218696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:-13.57, Z:-1.31 [[ 9.95285262e-01 9.68677508e-02 4.88730909e-03 2.13722880e+02] [-9.68664027e-02 9.95297261e-01 -5.12363828e-04 -1.35695788e+01] [-4.91395688e-03 3.65321165e-05 9.99987926e-01 -1.31391311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:-13.58, Z:-1.31 [[ 9.94956752e-01 1.00185710e-01 4.88733098e-03 2.13781123e+02] [-1.00184403e-01 9.94968755e-01 -5.12154905e-04 -1.35786988e+01] [-4.91405223e-03 1.99376416e-05 9.99987926e-01 -1.31390709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:-13.59, Z:-1.31 [[ 9.94343704e-01 1.06097657e-01 4.88735460e-03 2.13839561e+02] [-1.06096422e-01 9.94355715e-01 -5.11929480e-04 -1.35871447e+01] [-4.91408349e-03 -9.49698109e-06 9.99987926e-01 -1.31223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64587156000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:-13.60, Z:-1.31 [[ 9.93768000e-01 1.11361017e-01 4.88737903e-03 2.13897824e+02] [-1.11359847e-01 9.93780017e-01 -5.11696084e-04 -1.35958744e+01] [-4.91396261e-03 -3.57505897e-05 9.99987926e-01 -1.31042717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:-13.60, Z:-1.31 [[ 9.93388634e-01 1.14695837e-01 4.88740399e-03 2.13955212e+02] [-1.14694709e-01 9.93400655e-01 -5.11457616e-04 -1.36026625e+01] [-4.91381238e-03 -5.24831948e-05 9.99987926e-01 -1.30928002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:-13.61, Z:-1.31 [[ 9.93297636e-01 1.15481252e-01 4.88743502e-03 2.14013989e+02] [-1.15480135e-01 9.93309658e-01 -5.11160897e-04 -1.36079230e+01] [-4.91376591e-03 -5.66667451e-05 9.99987926e-01 -1.31079481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:-13.61, Z:-1.31 [[ 9.93378663e-01 1.14782158e-01 4.88745959e-03 2.14071420e+02] [-1.14781033e-01 9.93390685e-01 -5.10925864e-04 -1.36118863e+01] [-4.91380200e-03 -5.34448094e-05 9.99987926e-01 -1.31132879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:-13.62, Z:-1.31 [[ 9.93828738e-01 1.10817651e-01 4.88749377e-03 2.14128431e+02] [-1.10816480e-01 9.93840755e-01 -5.10598723e-04 -1.36183167e+01] [-4.91397385e-03 -3.41671708e-05 9.99987926e-01 -1.31086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:-13.63, Z:-1.31 [[ 9.94408103e-01 1.05492352e-01 4.88752367e-03 2.14186828e+02] [-1.05491118e-01 9.94420114e-01 -5.10312358e-04 -1.36260878e+01] [-4.91408589e-03 -8.13159079e-06 9.99987926e-01 -1.31088861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:-13.63, Z:-1.31 [[ 9.94773046e-01 1.01993626e-01 4.88754744e-03 2.14244253e+02] [-1.01992351e-01 9.94785052e-01 -5.10084579e-04 -1.36328018e+01] [-4.91408451e-03 8.92593515e-06 9.99987926e-01 -1.31246697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:-13.64, Z:-1.31 [[ 9.95146065e-01 9.82874402e-02 4.88757678e-03 2.14302500e+02] [-9.82861217e-02 9.95158067e-01 -5.09803249e-04 -1.36401340e+01] [-4.91401872e-03 2.69477302e-05 9.99987926e-01 -1.31443324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:-13.65, Z:-1.32 [[ 9.95183705e-01 9.79055910e-02 4.88760150e-03 2.14359811e+02] [-9.79042691e-02 9.95195707e-01 -5.09566182e-04 -1.36467537e+01] [-4.91400940e-03 2.85949084e-05 9.99987926e-01 -1.31597867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:-13.66, Z:-1.32 [[ 9.95166786e-01 9.80774089e-02 4.88763206e-03 2.14417801e+02] [-9.80760905e-02 9.95178789e-01 -5.09272820e-04 -1.36552528e+01] [-4.91401592e-03 2.74515515e-05 9.99987926e-01 -1.31608962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:-13.66, Z:-1.32 [[ 9.94968585e-01 1.00068100e-01 4.88765609e-03 2.14475989e+02] [-1.00066807e-01 9.94980590e-01 -5.09042097e-04 -1.36625546e+01] [-4.91406182e-03 1.73887555e-05 9.99987926e-01 -1.31777934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:-13.67, Z:-1.32 [[ 9.94822691e-01 1.01508243e-01 4.88767988e-03 2.14534647e+02] [-1.01506968e-01 9.94834698e-01 -5.08813623e-04 -1.36704066e+01] [-4.91408231e-03 1.00457741e-05 9.99987926e-01 -1.31879292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:-13.68, Z:-1.32 [[ 9.94743814e-01 1.02278323e-01 4.88769777e-03 2.14593308e+02] [-1.02277059e-01 9.94755822e-01 -5.08641727e-04 -1.36784394e+01] [-4.91408883e-03 6.06886018e-06 9.99987926e-01 -1.31744118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:-13.69, Z:-1.31 [[ 9.94479625e-01 1.04815963e-01 4.88772256e-03 2.14650780e+02] [-1.04814730e-01 9.94491636e-01 -5.08403398e-04 -1.36860030e+01] [-4.91408799e-03 -6.70850028e-06 9.99987926e-01 -1.31410935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:-13.69, Z:-1.31 [[ 9.94136610e-01 1.08020882e-01 4.88775274e-03 2.14708445e+02] [-1.08019689e-01 9.94148625e-01 -5.08113041e-04 -1.36936262e+01] [-4.91403949e-03 -2.28397577e-05 9.99987926e-01 -1.31223593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:-13.70, Z:-1.31 [[ 9.93964228e-01 1.09595723e-01 4.88778585e-03 2.14766530e+02] [-1.09594551e-01 9.93976245e-01 -5.07794326e-04 -1.37000992e+01] [-4.91399512e-03 -3.09453029e-05 9.99987926e-01 -1.31083552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.82, Y:-13.71, Z:-1.31 [[ 9.93945469e-01 1.09765724e-01 4.88781065e-03 2.14823798e+02] [-1.09764555e-01 9.93957486e-01 -5.07555548e-04 -1.37079773e+01] [-4.91398819e-03 -3.20258242e-05 9.99987926e-01 -1.31414022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:-13.72, Z:-1.32 [[ 9.94088720e-01 1.08460709e-01 4.88784145e-03 2.14882462e+02] [-1.08459526e-01 9.94100736e-01 -5.07258719e-04 -1.37158276e+01] [-4.91402443e-03 -2.58727952e-05 9.99987926e-01 -1.31559706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:-13.73, Z:-1.32 [[ 9.94354034e-01 1.06000775e-01 4.88786609e-03 2.14940783e+02] [-1.05999564e-01 9.94366047e-01 -5.07021183e-04 -1.37269440e+01] [-4.91407272e-03 -1.39531152e-05 9.99987926e-01 -1.31613728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:-13.73, Z:-1.32 [[ 9.94518756e-01 1.04444015e-01 4.88789078e-03 2.14999364e+02] [-1.04442785e-01 9.94530768e-01 -5.06783067e-04 -1.37343957e+01] [-4.91408823e-03 -6.49966316e-06 9.99987926e-01 -1.32094487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:-13.74, Z:-1.32 [[ 9.94531724e-01 1.04320456e-01 4.88790913e-03 2.15057671e+02] [-1.04319226e-01 9.94543736e-01 -5.06606070e-04 -1.37420019e+01] [-4.91408878e-03 -6.06708788e-06 9.99987926e-01 -1.31565480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.12, Y:-13.75, Z:-1.32 [[ 9.94422142e-01 1.05359916e-01 4.88793289e-03 2.15115827e+02] [-1.05358700e-01 9.94434155e-01 -5.06376702e-04 -1.37513740e+01] [-4.91407922e-03 -1.14340491e-05 9.99987926e-01 -1.31517573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.17, Y:-13.76, Z:-1.31 [[ 9.94350111e-01 1.06037562e-01 4.88795686e-03 2.15174630e+02] [-1.06036355e-01 9.94362125e-01 -5.06145194e-04 -1.37591414e+01] [-4.91406957e-03 -1.50155997e-05 9.99987926e-01 -1.31384048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:-13.77, Z:-1.32 [[ 9.94309632e-01 1.06416461e-01 4.88796921e-03 2.15232795e+02] [-1.06415259e-01 9.94321646e-01 -5.06025916e-04 -1.37669424e+01] [-4.91406308e-03 -1.70080680e-05 9.99987926e-01 -1.31699286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:-13.78, Z:-1.32 [[ 9.94269902e-01 1.06787027e-01 4.88798745e-03 2.15291649e+02] [-1.06785830e-01 9.94281917e-01 -5.05849667e-04 -1.37762131e+01] [-4.91405571e-03 -1.90166994e-05 9.99987926e-01 -1.31703039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:-13.78, Z:-1.32 [[ 9.94093500e-01 1.08416881e-01 4.88799944e-03 2.15350766e+02] [-1.08415705e-01 9.94105517e-01 -5.05733810e-04 -1.37838788e+01] [-4.91401729e-03 -2.71892100e-05 9.99987926e-01 -1.31501803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:-13.79, Z:-1.31 [[ 9.93776005e-01 1.11289530e-01 4.88801139e-03 2.15409589e+02] [-1.11288390e-01 9.93788025e-01 -5.05618267e-04 -1.37896152e+01] [-4.91391720e-03 -4.15076142e-05 9.99987926e-01 -1.31443310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-13.80, Z:-1.31 [[ 9.93596624e-01 1.12879830e-01 4.88803540e-03 2.15467773e+02] [-1.12878710e-01 9.93608646e-01 -5.05385980e-04 -1.37950572e+01] [-4.91384212e-03 -4.96053258e-05 9.99987926e-01 -1.31419484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-13.80, Z:-1.32 [[ 9.93342088e-01 1.15098234e-01 4.88806005e-03 2.15525471e+02] [-1.15097141e-01 9.93354113e-01 -5.05147481e-04 -1.37996383e+01] [-4.91371614e-03 -6.08174844e-05 9.99987926e-01 -1.31617302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:-13.80, Z:-1.32 [[ 9.93206082e-01 1.16266007e-01 4.88809360e-03 2.15583901e+02] [-1.16264931e-01 9.93218108e-01 -5.04822592e-04 -1.38030633e+01] [-4.91363679e-03 -6.69209951e-05 9.99987926e-01 -1.31689097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:-13.81, Z:-1.32 [[ 9.93284667e-01 1.15592715e-01 4.88811754e-03 2.15642288e+02] [-1.15591631e-01 9.93296693e-01 -5.04590722e-04 -1.38054552e+01] [-4.91367800e-03 -6.38232527e-05 9.99987926e-01 -1.31917247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.70, Y:-13.81, Z:-1.32 [[ 9.93515045e-01 1.13595606e-01 4.88814146e-03 2.15701167e+02] [-1.13594499e-01 9.93527068e-01 -5.04358851e-04 -1.38091531e+01] [-4.91379381e-03 -5.41778752e-05 9.99987926e-01 -1.31849291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:-13.81, Z:-1.32 [[ 9.93928218e-01 1.09921806e-01 4.88816530e-03 2.15759989e+02] [-1.09920656e-01 9.93940237e-01 -5.04127687e-04 -1.38135765e+01] [-4.91395881e-03 -3.62436050e-05 9.99987926e-01 -1.31575607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:-13.82, Z:-1.32 [[ 9.94467982e-01 1.04926349e-01 4.88818303e-03 2.15818663e+02] [-1.04925139e-01 9.94479995e-01 -5.03955801e-04 -1.38179201e+01] [-4.91407847e-03 -1.17253755e-05 9.99987926e-01 -1.31620879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:-13.82, Z:-1.32 [[ 9.95020977e-01 9.95457672e-02 4.88820722e-03 2.15878462e+02] [-9.95444938e-02 9.95032984e-01 -5.03721014e-04 -1.38239531e+01] [-4.91407071e-03 1.46188624e-05 9.99987926e-01 -1.31761655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-13.83, Z:-1.32 [[ 9.95392457e-01 9.57599161e-02 4.88821938e-03 2.15936716e+02] [-9.57585976e-02 9.95404459e-01 -5.03602974e-04 -1.38317790e+01] [-4.91398035e-03 3.31935688e-05 9.99987926e-01 -1.31823502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:-13.84, Z:-1.32 [[ 9.95671748e-01 9.28109646e-02 4.88823736e-03 2.15995859e+02] [-9.28096115e-02 9.95683746e-01 -5.03428429e-04 -1.38401753e+01] [-4.91386216e-03 4.75740545e-05 9.99987926e-01 -1.31692157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:-13.85, Z:-1.32 [[ 9.95647625e-01 9.30693922e-02 4.88824955e-03 2.16054097e+02] [-9.30680428e-02 9.95659624e-01 -5.03309959e-04 -1.38477451e+01] [-4.91387546e-03 4.61795471e-05 9.99987926e-01 -1.31648144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:-13.86, Z:-1.32 [[ 9.95324735e-01 9.64612720e-02 4.88826370e-03 2.16113640e+02] [-9.64599640e-02 9.95336738e-01 -5.03172546e-04 -1.38557059e+01] [-4.91400511e-03 2.92983406e-05 9.99987926e-01 -1.31568395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:-13.86, Z:-1.32 [[ 9.94991573e-01 9.98392440e-02 4.88827615e-03 2.16171725e+02] [-9.98379775e-02 9.95003580e-01 -5.03051569e-04 -1.38614604e+01] [-4.91407656e-03 1.24964678e-05 9.99987926e-01 -1.31875378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.23, Y:-13.87, Z:-1.32 [[ 9.94670155e-01 1.02992174e-01 4.88828963e-03 2.16229849e+02] [-1.02990946e-01 9.94682166e-01 -5.02920509e-04 -1.38667222e+01] [-4.91409140e-03 -3.20955516e-06 9.99987926e-01 -1.31992310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.29, Y:-13.87, Z:-1.32 [[ 9.94204806e-01 1.07391380e-01 4.88831327e-03 2.16288646e+02] [-1.07390206e-01 9.94216823e-01 -5.02690633e-04 -1.38716459e+01] [-4.91402793e-03 -2.51795269e-05 9.99987926e-01 -1.31863101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.35, Y:-13.88, Z:-1.32 [[ 9.93758022e-01 1.11449980e-01 4.88833707e-03 2.16346986e+02] [-1.11448857e-01 9.93770044e-01 -5.02459107e-04 -1.38756714e+01] [-4.91388200e-03 -4.54768109e-05 9.99987926e-01 -1.31855236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.41, Y:-13.88, Z:-1.32 [[ 9.93628132e-01 1.12602128e-01 4.88836071e-03 2.16405698e+02] [-1.12601020e-01 9.93640155e-01 -5.02228973e-04 -1.38792340e+01] [-4.91382355e-03 -5.14055656e-05 9.99987926e-01 -1.31745329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:-13.88, Z:-1.32 [[ 9.93730323e-01 1.11696685e-01 4.88838506e-03 2.16464399e+02] [-1.11695567e-01 9.93742345e-01 -5.01991851e-04 -1.38823110e+01] [-4.91386606e-03 -4.71664173e-05 9.99987926e-01 -1.31761399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:-13.89, Z:-1.32 [[ 9.93922446e-01 1.09973971e-01 4.88840938e-03 2.16521843e+02] [-1.09972833e-01 9.93934467e-01 -5.01754949e-04 -1.38850294e+01] [-4.91393856e-03 -3.88867238e-05 9.99987926e-01 -1.31586526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:216.58, Y:-13.89, Z:-1.31 [[ 9.94009031e-01 1.09188599e-01 4.88844289e-03 2.16581061e+02] [-1.09187454e-01 9.94021050e-01 -5.01428256e-04 -1.38884299e+01] [-4.91396539e-03 -3.53324166e-05 9.99987926e-01 -1.31395260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.64, Y:-13.89, Z:-1.32 [[ 9.94080592e-01 1.08535150e-01 4.88846670e-03 2.16640366e+02] [-1.08533998e-01 9.94092611e-01 -5.01196079e-04 -1.38908985e+01] [-4.91398601e-03 -3.23355378e-05 9.99987926e-01 -1.31625990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.70, Y:-13.89, Z:-1.32 [[ 9.94298755e-01 1.06518016e-01 4.88849044e-03 2.16698505e+02] [-1.06516840e-01 9.94310772e-01 -5.00964401e-04 -1.38939836e+01] [-4.91404044e-03 -2.25982735e-05 9.99987926e-01 -1.31865971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.76, Y:-13.90, Z:-1.32 [[ 9.94750397e-01 1.02214235e-01 4.88851981e-03 2.16756688e+02] [-1.02213008e-01 9.94762409e-01 -5.00677642e-04 -1.38985222e+01] [-4.91409212e-03 -1.62103322e-06 9.99987926e-01 -1.31811695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.82, Y:-13.90, Z:-1.32 [[ 9.95023783e-01 9.95177074e-02 4.88854336e-03 2.16815726e+02] [-9.95164497e-02 9.95035791e-01 -5.00447548e-04 -1.39033512e+01] [-4.91407900e-03 1.14667324e-05 9.99987926e-01 -1.31713271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.87, Y:-13.91, Z:-1.32 [[ 9.95164283e-01 9.81027617e-02 4.88856810e-03 2.16873460e+02] [-9.81014882e-02 9.95176290e-01 -5.00205729e-04 -1.39077216e+01] [-4.91405863e-03 1.82110700e-05 9.99987926e-01 -1.31793915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.93, Y:-13.91, Z:-1.32 [[ 9.94978339e-01 9.99710274e-02 4.88860279e-03 2.16931271e+02] [-9.99697781e-02 9.94990348e-01 -4.99866488e-04 -1.39119688e+01] [-4.91408476e-03 8.64379197e-06 9.99987926e-01 -1.31738266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:-13.92, Z:-1.32 [[ 9.94828389e-01 1.01452340e-01 4.88863152e-03 2.16989589e+02] [-1.01451110e-01 9.94840401e-01 -4.99585345e-04 -1.39160551e+01] [-4.91409225e-03 1.04458722e-06 9.99987926e-01 -1.31503368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:-13.92, Z:-1.32 [[ 9.94516393e-01 1.04466474e-01 4.88865579e-03 2.17046948e+02] [-1.04465282e-01 9.94528409e-01 -4.99347770e-04 -1.39204618e+01] [-4.91407216e-03 -1.40852611e-05 9.99987926e-01 -1.31781787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.11, Y:-13.92, Z:-1.32 [[ 9.94248017e-01 1.06990571e-01 4.88868565e-03 2.17105525e+02] [-1.06989410e-01 9.94260035e-01 -4.99055316e-04 -1.39214574e+01] [-4.91401897e-03 -2.68528370e-05 9.99987926e-01 -1.32067110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:-13.92, Z:-1.32 [[ 9.93996203e-01 1.09305304e-01 4.88870944e-03 2.17163502e+02] [-1.09304172e-01 9.94008224e-01 -4.98822150e-04 -1.39237054e+01] [-4.91394129e-03 -3.85290160e-05 9.99987926e-01 -1.32277033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:-13.93, Z:-1.32 [[ 9.93973503e-01 1.09511531e-01 4.88874017e-03 2.17221924e+02] [-1.09510404e-01 9.93985525e-01 -4.98520761e-04 -1.39266702e+01] [-4.91393073e-03 -3.98514825e-05 9.99987926e-01 -1.32199451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.28, Y:-13.93, Z:-1.32 [[ 9.94238512e-01 1.07078859e-01 4.88876379e-03 2.17280390e+02] [-1.07077704e-01 9.94250530e-01 -4.98288989e-04 -1.39291709e+01] [-4.91401221e-03 -2.80594973e-05 9.99987926e-01 -1.31807217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.34, Y:-13.93, Z:-1.32 [[ 9.94746800e-01 1.02249227e-01 4.88878719e-03 2.17339285e+02] [-1.02248014e-01 9.94758813e-01 -4.98059297e-04 -1.39338120e+01] [-4.91409032e-03 -4.42588932e-06 9.99987926e-01 -1.31724245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.40, Y:-13.94, Z:-1.32 [[ 9.95256527e-01 9.71624654e-02 4.88881104e-03 2.17397451e+02] [-9.71611922e-02 9.95268534e-01 -4.97825125e-04 -1.39395227e+01] [-4.91404971e-03 2.04609964e-05 9.99987926e-01 -1.31815718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:-13.95, Z:-1.32 [[ 9.95588247e-01 9.37024122e-02 4.88883506e-03 2.17454564e+02] [-9.37010984e-02 9.95600249e-01 -4.97589159e-04 -1.39464460e+01] [-4.91395071e-03 3.73047038e-05 9.99987926e-01 -1.32129575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:-13.95, Z:-1.32 [[ 9.95977819e-01 8.94666554e-02 4.88886462e-03 2.17512558e+02] [-8.94652920e-02 9.95989816e-01 -4.97298554e-04 -1.39546358e+01] [-4.91375101e-03 5.79146283e-05 9.99987926e-01 -1.32371854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:-13.96, Z:-1.32 [[ 9.96129707e-01 8.77593644e-02 4.88888812e-03 2.17569283e+02] [-8.77579816e-02 9.96141702e-01 -4.97067404e-04 -1.39637831e+01] [-4.91364765e-03 6.61046542e-05 9.99987926e-01 -1.32263173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:-13.97, Z:-1.32 [[ 9.96026125e-01 8.89272555e-02 4.88891710e-03 2.17626383e+02] [-8.89258881e-02 9.96038122e-01 -4.96782156e-04 -1.39723601e+01] [-4.91372528e-03 6.00567107e-05 9.99987926e-01 -1.32350071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.69, Y:-13.98, Z:-1.32 [[ 9.95919964e-01 9.01083999e-02 4.88894539e-03 2.17685151e+02] [-9.01070482e-02 9.95931962e-01 -4.96503611e-04 -1.39803804e+01] [-4.91379612e-03 5.39494209e-05 9.99987926e-01 -1.32405962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:-13.99, Z:-1.33 [[ 9.95648688e-01 9.30579812e-02 4.88896855e-03 2.17742784e+02] [-9.30566661e-02 9.95660691e-01 -4.96275500e-04 -1.39896563e+01] [-4.91393620e-03 3.91649368e-05 9.99987926e-01 -1.32721668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:-14.00, Z:-1.33 [[ 9.95329877e-01 9.64081606e-02 4.88899784e-03 2.17801209e+02] [-9.64068874e-02 9.95341884e-01 -4.95986723e-04 -1.39989526e+01] [-4.91404149e-03 2.23373392e-05 9.99987926e-01 -1.32735071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:-14.01, Z:-1.32 [[ 9.95022939e-01 9.95261231e-02 4.88902007e-03 2.17860041e+02] [-9.95248885e-02 9.95034950e-01 -4.95767520e-04 -1.40062442e+01] [-4.91408766e-03 6.72087678e-06 9.99987926e-01 -1.32364062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:-14.01, Z:-1.33 [[ 9.94438421e-01 1.05206099e-01 4.88904374e-03 2.17917147e+02] [-1.05204934e-01 9.94450439e-01 -4.95533978e-04 -1.40146832e+01] [-4.91404489e-03 -2.15734995e-05 9.99987926e-01 -1.32543845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:-14.02, Z:-1.33 [[ 9.93871978e-01 1.10429113e-01 4.88907310e-03 2.17975724e+02] [-1.10428012e-01 9.93884002e-01 -4.95244169e-04 -1.40223574e+01] [-4.91386091e-03 -4.76813221e-05 9.99987926e-01 -1.32540867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:218.03, Y:-14.03, Z:-1.32 [[ 9.93737598e-01 1.11631905e-01 4.88909639e-03 2.18034004e+02] [-1.11630821e-01 9.93749624e-01 -4.95014128e-04 -1.40287346e+01] [-4.91379707e-03 -5.38596911e-05 9.99987926e-01 -1.32438360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:-14.04, Z:-1.33 [[ 9.93366966e-01 1.14883281e-01 4.88911959e-03 2.18091204e+02] [-1.14882237e-01 9.93378995e-01 -4.94784910e-04 -1.40369981e+01] [-4.91359121e-03 -7.01700100e-05 9.99987926e-01 -1.32897208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.15, Y:-14.04, Z:-1.33 [[ 9.93117229e-01 1.17022503e-01 4.88915157e-03 2.18149817e+02] [-1.17021486e-01 9.93129260e-01 -4.94468691e-04 -1.40427123e+01] [-4.91342344e-03 -8.10704076e-05 9.99987926e-01 -1.32908243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:-14.05, Z:-1.33 [[ 9.92969731e-01 1.18267529e-01 4.88917465e-03 2.18208016e+02] [-1.18266529e-01 9.92981764e-01 -4.94240351e-04 -1.40470950e+01] [-4.91331386e-03 -8.74600055e-05 9.99987926e-01 -1.32912859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14587156000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:-14.05, Z:-1.33 [[ 9.93003179e-01 1.17986363e-01 4.88919796e-03 2.18266515e+02] [-1.17985360e-01 9.93015212e-01 -4.94009619e-04 -1.40517082e+01] [-4.91333435e-03 -8.63006603e-05 9.99987926e-01 -1.32768008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.32, Y:-14.06, Z:-1.33 [[ 9.93372163e-01 1.14838329e-01 4.88922118e-03 2.18324548e+02] [-1.14837289e-01 9.93384192e-01 -4.93779779e-04 -1.40581375e+01] [-4.91357987e-03 -7.09578206e-05 9.99987926e-01 -1.32869902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.38, Y:-14.06, Z:-1.33 [[ 9.94016376e-01 1.09121669e-01 4.88924422e-03 2.18382546e+02] [-1.09120562e-01 9.94028400e-01 -4.93551499e-04 -1.40634636e+01] [-4.91390477e-03 -4.29188021e-05 9.99987926e-01 -1.33017021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:218.44, Y:-14.07, Z:-1.33 [[ 9.94503374e-01 1.04590317e-01 4.88927279e-03 2.18441625e+02] [-1.04589156e-01 9.94515392e-01 -4.93268346e-04 -1.40685677e+01] [-4.91404814e-03 -2.08078793e-05 9.99987926e-01 -1.32936030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.50, Y:-14.08, Z:-1.33 [[ 9.95070764e-01 9.90468063e-02 4.88929547e-03 2.18498701e+02] [-9.90455793e-02 9.95082776e-01 -4.93043427e-04 -1.40777071e+01] [-4.91408808e-03 6.34999699e-06 9.99987926e-01 -1.33010198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:-14.08, Z:-1.33 [[ 9.95419094e-01 9.54825746e-02 4.88932351e-03 2.18556964e+02] [-9.54813060e-02 9.95431101e-01 -4.92765177e-04 -1.40848188e+01] [-4.91403518e-03 2.36688721e-05 9.99987926e-01 -1.32760858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.62, Y:-14.09, Z:-1.33 [[ 9.95575981e-01 9.38326160e-02 4.88934570e-03 2.18615114e+02] [-9.38313285e-02 9.95587987e-01 -4.92544945e-04 -1.40915763e+01] [-4.91399062e-03 3.15921143e-05 9.99987926e-01 -1.32772957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.67, Y:-14.10, Z:-1.33 [[ 9.95784541e-01 9.15928008e-02 4.88936757e-03 2.18673487e+02] [-9.15914875e-02 9.95796544e-01 -4.92327702e-04 -1.41013427e+01] [-4.91390900e-03 4.24278659e-05 9.99987926e-01 -1.33158723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:218.73, Y:-14.11, Z:-1.33 [[ 9.95872048e-01 9.06364077e-02 4.88938382e-03 2.18732975e+02] [-9.06350836e-02 9.95884049e-01 -4.92166323e-04 -1.41101550e+01] [-4.91386754e-03 4.69849731e-05 9.99987926e-01 -1.33130496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.79, Y:-14.12, Z:-1.33 [[ 9.95806971e-01 9.13486233e-02 4.88939540e-03 2.18790889e+02] [-9.13473084e-02 9.95818973e-01 -4.92051267e-04 -1.41158429e+01] [-4.91390091e-03 4.33549727e-05 9.99987926e-01 -1.33432731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:-14.12, Z:-1.33 [[ 9.95643455e-01 9.31139347e-02 4.88941260e-03 2.18850534e+02] [-9.31126418e-02 9.95655459e-01 -4.91880257e-04 -1.41238761e+01] [-4.91397126e-03 3.44712343e-05 9.99987926e-01 -1.32917900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:-14.13, Z:-1.33 [[ 9.95379787e-01 9.58914658e-02 4.88942412e-03 2.18908302e+02] [-9.58902071e-02 9.95391795e-01 -4.91765708e-04 -1.41318682e+01] [-4.91404879e-03 2.06457538e-05 9.99987926e-01 -1.33008535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.97, Y:-14.14, Z:-1.33 [[ 9.95221037e-01 9.75252877e-02 4.88944122e-03 2.18967582e+02] [-9.75240495e-02 9.95233047e-01 -4.91595663e-04 -1.41374688e+01] [-4.91407649e-03 1.24082384e-05 9.99987926e-01 -1.33047543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.03, Y:-14.15, Z:-1.33 [[ 9.95197292e-01 9.77672875e-02 4.88945201e-03 2.19026579e+02] [-9.77660528e-02 9.95209303e-01 -4.91488297e-04 -1.41465619e+01] [-4.91407961e-03 1.11053991e-05 9.99987926e-01 -1.33352983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.08, Y:-14.16, Z:-1.34 [[ 9.95302450e-01 9.66908845e-02 4.88946271e-03 2.19084077e+02] [-9.66896372e-02 9.95314459e-01 -4.91381817e-04 -1.41567256e+01] [-4.91406508e-03 1.63131501e-05 9.99987926e-01 -1.33506822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:219.14, Y:-14.17, Z:-1.33 [[ 9.95363358e-01 9.60618508e-02 4.88947365e-03 2.19143287e+02] [-9.60605965e-02 9.95375367e-01 -4.91272938e-04 -1.41666133e+01] [-4.91405422e-03 1.93093253e-05 9.99987926e-01 -1.33234170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.20, Y:-14.18, Z:-1.33 [[ 9.95426970e-01 9.54004218e-02 4.88948509e-03 2.19201964e+02] [-9.53991601e-02 9.95438978e-01 -4.91159076e-04 -1.41753578e+01] [-4.91404082e-03 2.24602197e-05 9.99987926e-01 -1.33407284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.26, Y:-14.19, Z:-1.33 [[ 9.95396873e-01 9.57139410e-02 4.88949652e-03 2.19261968e+02] [-9.57126837e-02 9.95408881e-01 -4.91045276e-04 -1.41873306e+01] [-4.91404814e-03 2.07980990e-05 9.99987926e-01 -1.33327612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:219.32, Y:-14.20, Z:-1.33 [[ 9.95238945e-01 9.73423562e-02 4.88949652e-03 2.19321518e+02] [-9.73411184e-02 9.95250956e-01 -4.91045276e-04 -1.41971759e+01] [-4.91407559e-03 1.27583233e-05 9.99987926e-01 -1.33265395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:219.38, Y:-14.21, Z:-1.33 [[ 9.94955832e-01 1.00194741e-01 4.88949652e-03 2.19381366e+02] [-1.00193537e-01 9.94967846e-01 -4.91045276e-04 -1.42083490e+01] [-4.91409197e-03 -1.32759052e-06 9.99987926e-01 -1.33422118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.44, Y:-14.22, Z:-1.34 [[ 9.94728787e-01 1.02424283e-01 4.88949652e-03 2.19441362e+02] [-1.02423107e-01 9.94740803e-01 -4.91045276e-04 -1.42158925e+01] [-4.91407665e-03 -1.23405507e-05 9.99987926e-01 -1.33668255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.50, Y:-14.23, Z:-1.34 [[ 9.94622827e-01 1.03448178e-01 4.88949652e-03 2.19501083e+02] [-1.03447014e-01 9.94634845e-01 -4.91045276e-04 -1.42272690e+01] [-4.91406135e-03 -1.73989762e-05 9.99987926e-01 -1.33661648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:-14.24, Z:-1.34 [[ 9.94662226e-01 1.03068657e-01 4.88949652e-03 2.19560535e+02] [-1.03067488e-01 9.94674244e-01 -4.91045276e-04 -1.42363347e+01] [-4.91406763e-03 -1.55239369e-05 9.99987926e-01 -1.33697884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.62, Y:-14.25, Z:-1.34 [[ 9.94511193e-01 1.04515928e-01 4.88949069e-03 2.19620789e+02] [-1.04514777e-01 9.94523213e-01 -4.91103340e-04 -1.42456788e+01] [-4.91404011e-03 -2.26162590e-05 9.99987926e-01 -1.33661241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.68, Y:-14.25, Z:-1.34 [[ 9.94144078e-01 1.07952045e-01 4.88949069e-03 2.19680865e+02] [-1.07950935e-01 9.94156102e-01 -4.91103340e-04 -1.42540007e+01] [-4.91393261e-03 -3.95976161e-05 9.99987926e-01 -1.33775296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.74, Y:-14.26, Z:-1.34 [[ 9.93897180e-01 1.10202035e-01 4.88949069e-03 2.19741736e+02] [-1.10200952e-01 9.93909206e-01 -4.91103340e-04 -1.42611326e+01] [-4.91383039e-03 -5.07203055e-05 9.99987926e-01 -1.33868380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.80, Y:-14.27, Z:-1.34 [[ 9.93652824e-01 1.12383976e-01 4.88947875e-03 2.19801378e+02] [-1.12382919e-01 9.93664852e-01 -4.91222115e-04 -1.42660094e+01] [-4.91370868e-03 -6.13896513e-05 9.99987926e-01 -1.33795281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.86, Y:-14.27, Z:-1.34 [[ 9.93527054e-01 1.13490470e-01 4.88944931e-03 2.19861993e+02] [-1.13489425e-01 9.93539083e-01 -4.91515051e-04 -1.42721294e+01] [-4.91364125e-03 -6.65672914e-05 9.99987926e-01 -1.33671443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.92, Y:-14.28, Z:-1.34 [[ 9.93500167e-01 1.13725594e-01 4.88944931e-03 2.19922380e+02] [-1.13724552e-01 9.93512197e-01 -4.91515051e-04 -1.42780419e+01] [-4.91362536e-03 -6.77301456e-05 9.99987926e-01 -1.33785123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:-14.28, Z:-1.34 [[ 9.93466385e-01 1.14020331e-01 4.88944931e-03 2.19981793e+02] [-1.14019292e-01 9.93478414e-01 -4.91515051e-04 -1.42804399e+01] [-4.91360505e-03 -6.91878682e-05 9.99987926e-01 -1.33908161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.04, Y:-14.28, Z:-1.34 [[ 9.93469001e-01 1.13997536e-01 4.88945525e-03 2.20042642e+02] [-1.13996498e-01 9.93481030e-01 -4.91455907e-04 -1.42831242e+01] [-4.91360580e-03 -6.91345651e-05 9.99987926e-01 -1.33819290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:-14.28, Z:-1.34 [[ 9.93468208e-01 1.14004439e-01 4.88945525e-03 2.20102126e+02] [-1.14003401e-01 9.93480238e-01 -4.91455907e-04 -1.42848522e+01] [-4.91360532e-03 -6.91687067e-05 9.99987926e-01 -1.33556474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.16, Y:-14.29, Z:-1.33 [[ 9.93542143e-01 1.13358300e-01 4.88946129e-03 2.20161639e+02] [-1.13357254e-01 9.93554171e-01 -4.91395820e-04 -1.42869755e+01] [-4.91364845e-03 -6.60334505e-05 9.99987926e-01 -1.33413921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:-14.29, Z:-1.33 [[ 9.93769684e-01 1.11345898e-01 4.88947287e-03 2.20221877e+02] [-1.11344828e-01 9.93781710e-01 -4.91280515e-04 -1.42884053e+01] [-4.91377079e-03 -5.61978370e-05 9.99987926e-01 -1.33320683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:-14.29, Z:-1.33 [[ 9.94018652e-01 1.09100931e-01 4.88948514e-03 2.20281033e+02] [-1.09099835e-01 9.94030676e-01 -4.91158433e-04 -1.42888466e+01] [-4.91388406e-03 -4.52213777e-05 9.99987926e-01 -1.33481383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:-14.29, Z:-1.34 [[ 9.94180827e-01 1.07613080e-01 4.88950333e-03 2.20340423e+02] [-1.07611967e-01 9.94192850e-01 -4.90977306e-04 -1.42885522e+01] [-4.91394483e-03 -3.80488469e-05 9.99987926e-01 -1.33972319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.40, Y:-14.29, Z:-1.34 [[ 9.94219407e-01 1.07256067e-01 4.88951558e-03 2.20400653e+02] [-1.07254950e-01 9.94231429e-01 -4.90855204e-04 -1.42904896e+01] [-4.91395726e-03 -3.64069816e-05 9.99987926e-01 -1.34023646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:-14.29, Z:-1.34 [[ 9.94267954e-01 1.06805090e-01 4.88952722e-03 2.20459890e+02] [-1.06803968e-01 9.94279976e-01 -4.90739238e-04 -1.42877565e+01] [-4.91397246e-03 -3.42946123e-05 9.99987926e-01 -1.34077247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:-14.28, Z:-1.34 [[ 9.94238917e-01 1.07075058e-01 4.88955050e-03 2.20519805e+02] [-1.07073941e-01 9.94250939e-01 -4.90507235e-04 -1.42844668e+01] [-4.91396127e-03 -3.58620584e-05 9.99987926e-01 -1.33984305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.58, Y:-14.28, Z:-1.34 [[ 9.94156256e-01 1.07839837e-01 4.88957365e-03 2.20579063e+02] [-1.07838730e-01 9.94168280e-01 -4.90276277e-04 -1.42808119e+01] [-4.91393034e-03 -3.98741837e-05 9.99987926e-01 -1.34061154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.64, Y:-14.28, Z:-1.34 [[ 9.94170800e-01 1.07705676e-01 4.88959662e-03 2.20638531e+02] [-1.07704569e-01 9.94182823e-01 -4.90047164e-04 -1.42769017e+01] [-4.91393383e-03 -3.94413147e-05 9.99987926e-01 -1.34365235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.70, Y:-14.27, Z:-1.34 [[ 9.94321314e-01 1.06307182e-01 4.88961939e-03 2.20698188e+02] [-1.06306058e-01 9.94333335e-01 -4.89819817e-04 -1.42707019e+01] [-4.91398292e-03 -3.27578801e-05 9.99987926e-01 -1.34340906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:-14.27, Z:-1.34 [[ 9.94595228e-01 1.03713182e-01 4.88964201e-03 2.20757457e+02] [-1.03712029e-01 9.94607247e-01 -4.89593874e-04 -1.42690587e+01] [-4.91405072e-03 -2.01669622e-05 9.99987926e-01 -1.34191357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:220.82, Y:-14.27, Z:-1.34 [[ 9.95328990e-01 9.64172813e-02 4.88966511e-03 2.20817091e+02] [-9.64160407e-02 9.95341001e-01 -4.89363120e-04 -1.42659215e+01] [-4.91406722e-03 1.56351506e-05 9.99987926e-01 -1.33950624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:-14.26, Z:-1.34 [[ 9.96063413e-01 8.85085789e-02 4.88968830e-03 2.20874887e+02] [-8.85072440e-02 9.96075413e-01 -4.89131241e-04 -1.42644254e+01] [-4.91379061e-03 5.44328968e-05 9.99987926e-01 -1.33972175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.93, Y:-14.27, Z:-1.34 [[ 9.96460569e-01 8.39191592e-02 4.88971679e-03 2.20934331e+02] [-8.39177705e-02 9.96472563e-01 -4.88846297e-04 -1.42654575e+01] [-4.91349219e-03 7.67819280e-05 9.99987926e-01 -1.33881631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:-14.27, Z:-1.34 [[ 9.96951499e-01 7.78703993e-02 4.88974034e-03 2.20992271e+02] [-7.78689390e-02 9.96963485e-01 -4.88610655e-04 -1.42659590e+01] [-4.91294087e-03 1.06362233e-04 9.99987926e-01 -1.34015125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:-14.27, Z:-1.34 [[ 9.97560805e-01 6.96313925e-02 4.88976931e-03 2.21050734e+02] [-6.96298347e-02 9.97572778e-01 -4.88320542e-04 -1.42715278e+01] [-4.91190319e-03 1.46655604e-04 9.99987926e-01 -1.34147747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.11, Y:-14.28, Z:-1.34 [[ 9.97915065e-01 6.43553672e-02 4.88979226e-03 2.21109218e+02] [-6.43537472e-02 9.97927030e-01 -4.88090674e-04 -1.42776773e+01] [-4.91106712e-03 1.72396583e-04 9.99987926e-01 -1.34287480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.17, Y:-14.29, Z:-1.35 [[ 9.98244859e-01 5.90194055e-02 4.88981557e-03 2.21167001e+02] [-5.90177227e-02 9.98256816e-01 -4.87856964e-04 -1.42857608e+01] [-4.91008475e-03 1.98414927e-04 9.99987926e-01 -1.34646974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14587156000002 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:-14.30, Z:-1.34 [[ 9.98261477e-01 5.87376590e-02 4.88983277e-03 2.21224500e+02] [-5.87359736e-02 9.98273433e-01 -4.87684558e-04 -1.42965110e+01] [-4.91003559e-03 1.99627618e-04 9.99987926e-01 -1.34472368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:-14.31, Z:-1.34 [[ 9.98026339e-01 6.26060307e-02 4.88986091e-03 2.21282807e+02] [-6.26043931e-02 9.98038302e-01 -4.87402198e-04 -1.43085634e+01] [-4.91078280e-03 1.80313456e-04 9.99987926e-01 -1.34349021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.34, Y:-14.32, Z:-1.35 [[ 9.97550989e-01 6.97718694e-02 4.88988314e-03 2.21340810e+02] [-6.97703189e-02 9.97562963e-01 -4.87179136e-04 -1.43175958e+01] [-4.91195771e-03 1.44817323e-04 9.99987926e-01 -1.34501948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.40, Y:-14.33, Z:-1.34 [[ 9.97109016e-01 7.58267721e-02 4.88990523e-03 2.21398652e+02] [-7.58252953e-02 9.97120999e-01 -4.86957292e-04 -1.43265203e+01] [-4.91275159e-03 1.14770998e-04 9.99987926e-01 -1.34376542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.46, Y:-14.33, Z:-1.34 [[ 9.96483783e-01 8.36430432e-02 4.88992906e-03 2.21455956e+02] [-8.36416616e-02 9.96495778e-01 -4.86717826e-04 -1.43349535e+01] [-4.91350423e-03 7.60046282e-05 9.99987926e-01 -1.34456615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.51, Y:-14.35, Z:-1.35 [[ 9.95988606e-01 8.93464339e-02 4.88995873e-03 2.21513179e+02] [-8.93451224e-02 9.96000609e-01 -4.86419570e-04 -1.43454528e+01] [-4.91386173e-03 4.75743876e-05 9.99987926e-01 -1.34717106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.57, Y:-14.35, Z:-1.35 [[ 9.95741640e-01 9.20579973e-02 4.88998786e-03 2.21571820e+02] [-9.20567200e-02 9.95753646e-01 -4.86126522e-04 -1.43540863e+01] [-4.91397508e-03 3.39001762e-05 9.99987926e-01 -1.34677355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.63, Y:-14.36, Z:-1.35 [[ 9.95379251e-01 9.58970008e-02 4.89001156e-03 2.21629025e+02] [-9.58957710e-02 9.95391262e-01 -4.85887996e-04 -1.43639667e+01] [-4.91406999e-03 1.47114001e-05 9.99987926e-01 -1.34836351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:221.69, Y:-14.37, Z:-1.35 [[ 9.95057911e-01 9.91758115e-02 4.89004085e-03 2.21687103e+02] [-9.91746227e-02 9.95069926e-01 -4.85593054e-04 -1.43722474e+01] [-4.91409168e-03 -1.77474688e-06 9.99987926e-01 -1.34597111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:-14.38, Z:-1.35 [[ 9.94991047e-01 9.98443924e-02 4.89006401e-03 2.21744560e+02] [-9.98432129e-02 9.95003064e-01 -4.85359742e-04 -1.43805814e+01] [-4.91408912e-03 -5.31110387e-06 9.99987926e-01 -1.34744207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.80, Y:-14.39, Z:-1.35 [[ 9.94982224e-01 9.99322851e-02 4.89009274e-03 2.21802980e+02] [-9.99311080e-02 9.94994240e-01 -4.85070116e-04 -1.43871574e+01] [-4.91408828e-03 -6.03624369e-06 9.99987926e-01 -1.34788117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:221.86, Y:-14.39, Z:-1.35 [[ 9.94826640e-01 1.01469416e-01 4.89011623e-03 2.21860702e+02] [-1.01468258e-01 9.94838659e-01 -4.84833214e-04 -1.43949457e+01] [-4.91407241e-03 -1.38665786e-05 9.99987926e-01 -1.34728499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.92, Y:-14.40, Z:-1.35 [[ 9.94644804e-01 1.03236627e-01 4.89014896e-03 2.21917968e+02] [-1.03235493e-01 9.94656824e-01 -4.84502890e-04 -1.44013563e+01] [-4.91403847e-03 -2.29286549e-05 9.99987926e-01 -1.34966413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.98, Y:-14.41, Z:-1.35 [[ 9.94237213e-01 1.07090847e-01 4.89018152e-03 2.21977014e+02] [-1.07089761e-01 9.94249239e-01 -4.84173998e-04 -1.44055262e+01] [-4.91390986e-03 -4.23045632e-05 9.99987926e-01 -1.35026966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.04, Y:-14.41, Z:-1.35 [[ 9.93760534e-01 1.11427493e-01 4.89020424e-03 2.22035761e+02] [-1.11426461e-01 9.93772564e-01 -4.83944381e-04 -1.44081052e+01] [-4.91367552e-03 -6.39733236e-05 9.99987926e-01 -1.34948242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:-14.41, Z:-1.35 [[ 9.93551403e-01 1.13277071e-01 4.89022705e-03 2.22094978e+02] [-1.13276062e-01 9.93563435e-01 -4.83713793e-04 -1.44118972e+01] [-4.91354447e-03 -7.33511462e-05 9.99987926e-01 -1.34959587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.15, Y:-14.41, Z:-1.35 [[ 9.93427563e-01 1.14358044e-01 4.89024973e-03 2.22152487e+02] [-1.14357049e-01 9.93439596e-01 -4.83484380e-04 -1.44132438e+01] [-4.91345805e-03 -7.89278195e-05 9.99987926e-01 -1.35041116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.21, Y:-14.41, Z:-1.35 [[ 9.93483335e-01 1.13872512e-01 4.89027781e-03 2.22210666e+02] [-1.13871513e-01 9.93495367e-01 -4.83200241e-04 -1.44133817e+01] [-4.91349157e-03 -7.68119454e-05 9.99987926e-01 -1.35239204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:-14.42, Z:-1.35 [[ 9.93787234e-01 1.11189113e-01 4.89030558e-03 2.22270051e+02] [-1.11188082e-01 9.93799264e-01 -4.82919001e-04 -1.44157538e+01] [-4.91367742e-03 -6.38249600e-05 9.99987926e-01 -1.35493346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:222.33, Y:-14.42, Z:-1.35 [[ 9.94104733e-01 1.08313736e-01 4.89032207e-03 2.22329113e+02] [-1.08312671e-01 9.94116760e-01 -4.82751950e-04 -1.44193467e+01] [-4.91383980e-03 -4.97778492e-05 9.99987926e-01 -1.35140286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:222.39, Y:-14.42, Z:-1.35 [[ 9.94649083e-01 1.03195375e-01 4.89034557e-03 2.22386723e+02] [-1.03194250e-01 9.94661105e-01 -4.82513799e-04 -1.44234437e+01] [-4.91402972e-03 -2.47236326e-05 9.99987926e-01 -1.35205787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.44, Y:-14.43, Z:-1.35 [[ 9.95284939e-01 9.68709207e-02 4.89037899e-03 2.22444461e+02] [-9.68697209e-02 9.95296953e-01 -4.82174782e-04 -1.44322633e+01] [-4.91408803e-03 6.17164986e-06 9.99987926e-01 -1.35074969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.50, Y:-14.44, Z:-1.35 [[ 9.95711148e-01 9.23871946e-02 4.89040748e-03 2.22503178e+02] [-9.23859421e-02 9.95723157e-01 -4.81885679e-04 -1.44393710e+01] [-4.91401204e-03 2.80140407e-05 9.99987926e-01 -1.35233320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.56, Y:-14.45, Z:-1.35 [[ 9.95965499e-01 8.96036138e-02 4.89042992e-03 2.22560947e+02] [-8.96023289e-02 9.95977505e-01 -4.81657891e-04 -1.44485920e+01] [-4.91391647e-03 4.15207320e-05 9.99987926e-01 -1.35190286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58587156000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:222.62, Y:-14.46, Z:-1.35 [[ 9.96051613e-01 8.86412328e-02 4.89045293e-03 2.22619401e+02] [-8.86399374e-02 9.96063617e-01 -4.81424150e-04 -1.44567842e+01] [-4.91387626e-03 4.60338597e-05 9.99987926e-01 -1.34948645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64587156000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:222.68, Y:-14.47, Z:-1.35 [[ 9.95935498e-01 8.99364583e-02 4.89047636e-03 2.22676323e+02] [-8.99351797e-02 9.95947505e-01 -4.81185993e-04 -1.44680526e+01] [-4.91393389e-03 3.94043415e-05 9.99987926e-01 -1.35194245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.73, Y:-14.48, Z:-1.35 [[ 9.95495930e-01 9.46780695e-02 4.89050521e-03 2.22733619e+02] [-9.46768495e-02 9.95507942e-01 -4.80892542e-04 -1.44753565e+01] [-4.91406676e-03 1.57089421e-05 9.99987926e-01 -1.35196416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.79, Y:-14.48, Z:-1.35 [[ 9.95022588e-01 9.95295563e-02 4.89053633e-03 2.22791643e+02] [-9.95283965e-02 9.95034606e-01 -4.80575934e-04 -1.44831522e+01] [-4.91408440e-03 -8.56332857e-06 9.99987926e-01 -1.35294126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.85, Y:-14.49, Z:-1.35 [[ 9.94867212e-01 1.01070828e-01 4.89055914e-03 2.22850394e+02] [-1.01069688e-01 9.94879233e-01 -4.80343657e-04 -1.44917162e+01] [-4.91406446e-03 -1.64091322e-05 9.99987926e-01 -1.35119588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.91, Y:-14.50, Z:-1.35 [[ 9.94882637e-01 1.00918883e-01 4.89058287e-03 2.22908009e+02] [-1.00917742e-01 9.94894657e-01 -4.80101968e-04 -1.44975676e+01] [-4.91406612e-03 -1.59014690e-05 9.99987926e-01 -1.35164067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.97, Y:-14.51, Z:-1.35 [[ 9.95048213e-01 9.92730355e-02 4.89061218e-03 2.22966285e+02] [-9.92718763e-02 9.95060232e-01 -4.79803136e-04 -1.45055505e+01] [-4.91408521e-03 -8.07299518e-06 9.99987926e-01 -1.35418649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.02, Y:-14.51, Z:-1.35 [[ 9.95173592e-01 9.80081761e-02 4.89063486e-03 2.23024615e+02] [-9.80070028e-02 9.95185610e-01 -4.79571904e-04 -1.45131488e+01] [-4.91409140e-03 -2.05917009e-06 9.99987926e-01 -1.35424754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:223.08, Y:-14.52, Z:-1.35 [[ 9.95224029e-01 9.74946812e-02 4.89065765e-03 2.23081707e+02] [-9.74935028e-02 9.95236046e-01 -4.79339362e-04 -1.45213595e+01] [-4.91409182e-03 2.42705380e-07 9.99987926e-01 -1.35243798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.14, Y:-14.53, Z:-1.35 [[ 9.95178807e-01 9.79552113e-02 4.89068940e-03 2.23140394e+02] [-9.79540401e-02 9.95190824e-01 -4.79015149e-04 -1.45286216e+01] [-4.91409125e-03 -2.35706203e-06 9.99987926e-01 -1.35344791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.20, Y:-14.53, Z:-1.35 [[ 9.95052317e-01 9.92318913e-02 4.89071207e-03 2.23197622e+02] [-9.92307367e-02 9.95064335e-01 -4.78783639e-04 -1.45347537e+01] [-4.91408376e-03 -8.89419186e-06 9.99987926e-01 -1.35308214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:-14.54, Z:-1.35 [[ 9.94742694e-01 1.02289071e-01 4.89074009e-03 2.23254506e+02] [-1.02287954e-01 9.94754716e-01 -4.78497185e-04 -1.45428154e+01] [-4.91403181e-03 -2.42822210e-05 9.99987926e-01 -1.35136241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.31, Y:-14.55, Z:-1.35 [[ 9.94350408e-01 1.06034647e-01 4.89077216e-03 2.23313596e+02] [-1.06033578e-01 9.94362435e-01 -4.78169253e-04 -1.45474046e+01] [-4.91390262e-03 -4.31182794e-05 9.99987926e-01 -1.35030843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.37, Y:-14.55, Z:-1.35 [[ 9.94124360e-01 1.08133421e-01 4.89079457e-03 2.23372015e+02] [-1.08132378e-01 9.94136389e-01 -4.77939893e-04 -1.45519188e+01] [-4.91379813e-03 -5.37215570e-05 9.99987926e-01 -1.35135134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.43, Y:-14.56, Z:-1.35 [[ 9.93987958e-01 1.09380163e-01 4.89081692e-03 2.23430542e+02] [-1.09379136e-01 9.93999988e-01 -4.77711068e-04 -1.45578121e+01] [-4.91372408e-03 -6.01142799e-05 9.99987926e-01 -1.35211787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.49, Y:-14.56, Z:-1.35 [[ 9.93797517e-01 1.11097142e-01 4.89083976e-03 2.23489348e+02] [-1.11096137e-01 9.93809549e-01 -4.77477161e-04 -1.45621539e+01] [-4.91360960e-03 -6.88377884e-05 9.99987926e-01 -1.35161085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:-14.57, Z:-1.35 [[ 9.93672751e-01 1.12207587e-01 4.89086288e-03 2.23547966e+02] [-1.12206597e-01 9.93684785e-01 -4.77240140e-04 -1.45653175e+01] [-4.91352600e-03 -7.45665574e-05 9.99987926e-01 -1.35071334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.61, Y:-14.57, Z:-1.35 [[ 9.93611108e-01 1.12752141e-01 4.89088605e-03 2.23606008e+02] [-1.12751159e-01 9.93623142e-01 -4.77002609e-04 -1.45685425e+01] [-4.91348063e-03 -7.74979799e-05 9.99987926e-01 -1.35145744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:-14.57, Z:-1.35 [[ 9.93592454e-01 1.12916407e-01 4.89091464e-03 2.23665004e+02] [-1.12915428e-01 9.93604488e-01 -4.76709237e-04 -1.45687998e+01] [-4.91346304e-03 -7.86050222e-05 9.99987926e-01 -1.35064117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.72, Y:-14.57, Z:-1.35 [[ 9.93705782e-01 1.11914689e-01 4.89093731e-03 2.23723106e+02] [-1.11913699e-01 9.93717816e-01 -4.76476600e-04 -1.45703969e+01] [-4.91353627e-03 -7.38853352e-05 9.99987926e-01 -1.35110032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.78, Y:-14.57, Z:-1.35 [[ 9.94131824e-01 1.08064774e-01 4.89096523e-03 2.23782055e+02] [-1.08063739e-01 9.94143854e-01 -4.76189778e-04 -1.45717520e+01] [-4.91378237e-03 -5.51405769e-05 9.99987926e-01 -1.35230514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.84, Y:-14.57, Z:-1.35 [[ 9.94688194e-01 1.02817676e-01 4.89098770e-03 2.23840711e+02] [-1.02816578e-01 9.94700218e-01 -4.75958961e-04 -1.45727318e+01] [-4.91400352e-03 -2.94438599e-05 9.99987926e-01 -1.35192766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:223.90, Y:-14.58, Z:-1.35 [[ 9.95074812e-01 9.90060415e-02 4.89101077e-03 2.23898632e+02] [-9.90048992e-02 9.95086832e-01 -4.75721713e-04 -1.45756114e+01] [-4.91407974e-03 -1.08553345e-05 9.99987926e-01 -1.35074199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:223.96, Y:-14.58, Z:-1.35 [[ 9.95737797e-01 9.20994932e-02 4.89103926e-03 2.23957722e+02] [-9.20982690e-02 9.95749809e-01 -4.75428582e-04 -1.45787715e+01] [-4.91403815e-03 2.29459590e-05 9.99987926e-01 -1.34889035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:-14.58, Z:-1.35 [[ 9.96224746e-01 8.66737120e-02 4.89106171e-03 2.24016821e+02] [-8.66724235e-02 9.96236752e-01 -4.75197538e-04 -1.45836459e+01] [-4.91384257e-03 4.94833751e-05 9.99987926e-01 -1.35110706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.07, Y:-14.59, Z:-1.35 [[ 9.96373138e-01 8.49508483e-02 4.89107838e-03 2.24074769e+02] [-8.49495398e-02 9.96385141e-01 -4.75025926e-04 -1.45871259e+01] [-4.91375168e-03 5.78082147e-05 9.99987926e-01 -1.35239538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:-14.59, Z:-1.35 [[ 9.96346546e-01 8.52621678e-02 4.89110585e-03 2.24133504e+02] [-8.52608645e-02 9.96358550e-01 -4.74742917e-04 -1.45930820e+01] [-4.91377274e-03 5.59885528e-05 9.99987926e-01 -1.35012870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.19, Y:-14.60, Z:-1.35 [[ 9.96037272e-01 8.88021912e-02 4.89112763e-03 2.24192129e+02] [-8.88009316e-02 9.96049281e-01 -4.74518369e-04 -1.45987645e+01] [-4.91394243e-03 3.83012909e-05 9.99987926e-01 -1.34724483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.25, Y:-14.60, Z:-1.35 [[ 9.95646653e-01 9.30796329e-02 4.89115068e-03 2.24249647e+02] [-9.30784261e-02 9.95658667e-01 -4.74280689e-04 -1.46041795e+01] [-4.91406244e-03 1.69553738e-05 9.99987926e-01 -1.35068923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.31, Y:-14.61, Z:-1.35 [[ 9.95293250e-01 9.67854526e-02 4.89117935e-03 2.24306798e+02] [-9.67842920e-02 9.95305268e-01 -4.73984840e-04 -1.46088365e+01] [-4.91409141e-03 -1.63541825e-06 9.99987926e-01 -1.35386409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:-14.61, Z:-1.35 [[ 9.95016410e-01 9.95912654e-02 4.89120573e-03 2.24365420e+02] [-9.95901400e-02 9.95028432e-01 -4.73712424e-04 -1.46140303e+01] [-4.91406639e-03 -1.57642289e-05 9.99987926e-01 -1.35010530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44587156 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:224.42, Y:-14.62, Z:-1.36 [[ 9.94574167e-01 1.03914875e-01 4.89122800e-03 2.24422768e+02] [-1.03913803e-01 9.94586194e-01 -4.73482410e-04 -1.46195117e+01] [-4.91394971e-03 -3.73527301e-05 9.99987926e-01 -1.35516982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.48, Y:-14.62, Z:-1.35 [[ 9.94189988e-01 1.07528335e-01 4.89125779e-03 2.24481408e+02] [-1.07527309e-01 9.94202019e-01 -4.73174498e-04 -1.46215604e+01] [-4.91377803e-03 -5.55184370e-05 9.99987926e-01 -1.35276021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.54, Y:-14.62, Z:-1.36 [[ 9.93997909e-01 1.09289673e-01 4.89128026e-03 2.24538825e+02] [-1.09288668e-01 9.94009941e-01 -4.72942056e-04 -1.46241145e+01] [-4.91366889e-03 -6.44580922e-05 9.99987926e-01 -1.35594672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:-14.63, Z:-1.35 [[ 9.94074009e-01 1.08595307e-01 4.89130809e-03 2.24596935e+02] [-1.08594296e-01 9.94086040e-01 -4.72654022e-04 -1.46294514e+01] [-4.91370910e-03 -6.13150801e-05 9.99987926e-01 -1.35269936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.66, Y:-14.63, Z:-1.35 [[ 9.94365887e-01 1.05889364e-01 4.89133031e-03 2.24655626e+02] [-1.05888321e-01 9.94377916e-01 -4.72424003e-04 -1.46323179e+01] [-4.91385552e-03 -4.81724416e-05 9.99987926e-01 -1.35143441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.71, Y:-14.63, Z:-1.35 [[ 9.94611744e-01 1.03554588e-01 4.89135260e-03 2.24714335e+02] [-1.03553518e-01 9.94623771e-01 -4.72193105e-04 -1.46345432e+01] [-4.91395333e-03 -3.68679630e-05 9.99987926e-01 -1.35211609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.77, Y:-14.64, Z:-1.35 [[ 9.94931626e-01 1.00434724e-01 4.89137463e-03 2.24772631e+02] [-1.00433618e-01 9.94943650e-01 -4.71964804e-04 -1.46393282e+01] [-4.91404378e-03 -2.16857391e-05 9.99987926e-01 -1.35331791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.83, Y:-14.64, Z:-1.35 [[ 9.95627061e-01 9.32889588e-02 4.89139729e-03 2.24829936e+02] [-9.32877671e-02 9.95639076e-01 -4.71729879e-04 -1.46445496e+01] [-4.91407346e-03 1.33595026e-05 9.99987926e-01 -1.35370951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:-14.65, Z:-1.35 [[ 9.95956523e-01 8.97032833e-02 4.89142522e-03 2.24888490e+02] [-8.97020497e-02 9.95968534e-01 -4.71440093e-04 -1.46504701e+01] [-4.91399532e-03 3.07629679e-05 9.99987926e-01 -1.35321323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:-14.66, Z:-1.36 [[ 9.96253855e-01 8.63384624e-02 4.89144746e-03 2.24946630e+02] [-8.63371894e-02 9.96265862e-01 -4.71209176e-04 -1.46598611e+01] [-4.91386560e-03 4.71301319e-05 9.99987926e-01 -1.35587856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.00, Y:-14.67, Z:-1.36 [[ 9.96230825e-01 8.66037954e-02 4.89146953e-03 2.25003611e+02] [-8.66025267e-02 9.96242832e-01 -4.70979974e-04 -1.46673066e+01] [-4.91388011e-03 4.55911474e-05 9.99987926e-01 -1.35621430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.06, Y:-14.67, Z:-1.36 [[ 9.95970491e-01 8.95480566e-02 4.89149681e-03 2.25062387e+02] [-8.95468248e-02 9.95982502e-01 -4.70696442e-04 -1.46745715e+01] [-4.91399519e-03 3.07817581e-05 9.99987926e-01 -1.35661752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:-14.68, Z:-1.36 [[ 9.95744536e-01 9.20265814e-02 4.89151859e-03 2.25120021e+02] [-9.20253806e-02 9.95756551e-01 -4.70470012e-04 -1.46812435e+01] [-4.91405743e-03 1.83240843e-05 9.99987926e-01 -1.35791584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.18, Y:-14.69, Z:-1.36 [[ 9.95467546e-01 9.49759885e-02 4.89154561e-03 2.25178830e+02] [-9.49748247e-02 9.95479564e-01 -4.70188966e-04 -1.46866615e+01] [-4.91409035e-03 3.48416965e-06 9.99987926e-01 -1.36003891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:-14.69, Z:-1.36 [[ 9.95249100e-01 9.72383754e-02 4.89156767e-03 2.25237127e+02] [-9.72372400e-02 9.95261121e-01 -4.69959286e-04 -1.46930920e+01] [-4.91408520e-03 -7.91598373e-06 9.99987926e-01 -1.35832818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.30, Y:-14.70, Z:-1.36 [[ 9.95078705e-01 9.89668775e-02 4.89158998e-03 2.25295328e+02] [-9.89657642e-02 9.95090728e-01 -4.69726975e-04 -1.46991950e+01] [-4.91406325e-03 -1.66846304e-05 9.99987926e-01 -1.35931615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.35, Y:-14.70, Z:-1.36 [[ 9.94942068e-01 1.00331220e-01 4.89161284e-03 2.25353317e+02] [-1.00330125e-01 9.94954092e-01 -4.69488831e-04 -1.47045189e+01] [-4.91403460e-03 -2.36619369e-05 9.99987926e-01 -1.35964862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46587156 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:-14.71, Z:-1.36 [[ 9.94925723e-01 1.00493176e-01 4.89164390e-03 2.25411950e+02] [-1.00492084e-01 9.94937747e-01 -4.69164960e-04 -1.47106455e+01] [-4.91402904e-03 -2.47872032e-05 9.99987926e-01 -1.35749040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:-14.72, Z:-1.36 [[ 9.94986653e-01 9.98881005e-02 4.89166644e-03 2.25470797e+02] [-9.98870022e-02 9.94998677e-01 -4.68929873e-04 -1.47174222e+01] [-4.91404215e-03 -2.20349312e-05 9.99987926e-01 -1.35951902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.53, Y:-14.73, Z:-1.36 [[ 9.95150086e-01 9.82465145e-02 4.89168883e-03 2.25529400e+02] [-9.82453976e-02 9.95162108e-01 -4.68696140e-04 -1.47254774e+01] [-4.91407113e-03 -1.41629105e-05 9.99987926e-01 -1.35914074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64587156000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:225.59, Y:-14.73, Z:-1.36 [[ 9.95235410e-01 9.73783844e-02 4.89171111e-03 2.25587947e+02] [-9.73772581e-02 9.95247432e-01 -4.68463466e-04 -1.47342566e+01] [-4.91408114e-03 -1.01099857e-05 9.99987926e-01 -1.35725421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.65, Y:-14.74, Z:-1.36 [[ 9.95117879e-01 9.85722000e-02 4.89173399e-03 2.25645374e+02] [-9.85710892e-02 9.95129902e-01 -4.68224427e-04 -1.47412640e+01] [-4.91406468e-03 -1.62450493e-05 9.99987926e-01 -1.35902410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:-14.75, Z:-1.36 [[ 9.94761074e-01 1.02110121e-01 4.89176227e-03 2.25703885e+02] [-1.02109054e-01 9.94773101e-01 -4.67928837e-04 -1.47476956e+01] [-4.91397379e-03 -3.40158264e-05 9.99987926e-01 -1.35871526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:-14.75, Z:-1.36 [[ 9.94194638e-01 1.07485312e-01 4.89178475e-03 2.25761815e+02] [-1.07484312e-01 9.94206671e-01 -4.67693678e-04 -1.47508517e+01] [-4.91371523e-03 -6.08115713e-05 9.99987926e-01 -1.36080285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.82, Y:-14.76, Z:-1.36 [[ 9.93874061e-01 1.10410241e-01 4.89181262e-03 2.25820845e+02] [-1.10409277e-01 9.93886097e-01 -4.67402021e-04 -1.47552524e+01] [-4.91351052e-03 -7.55627524e-05 9.99987926e-01 -1.36302115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:-14.76, Z:-1.36 [[ 9.93701231e-01 1.11955049e-01 4.89183448e-03 2.25879194e+02] [-1.11954106e-01 9.93713268e-01 -4.67173149e-04 -1.47579284e+01] [-4.91338322e-03 -8.34304214e-05 9.99987926e-01 -1.36301503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:-14.76, Z:-1.36 [[ 9.93873792e-01 1.10412656e-01 4.89186779e-03 2.25936938e+02] [-1.10411695e-01 9.93885828e-01 -4.66824020e-04 -1.47620584e+01] [-4.91350135e-03 -7.61552577e-05 9.99987926e-01 -1.36088456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:-14.77, Z:-1.36 [[ 9.94093190e-01 1.08419553e-01 4.89189523e-03 2.25995332e+02] [-1.08418569e-01 9.94105224e-01 -4.66536369e-04 -1.47658288e+01] [-4.91364026e-03 -6.65916549e-05 9.99987926e-01 -1.35959261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:226.05, Y:-14.77, Z:-1.36 [[ 9.94453987e-01 1.05058734e-01 4.89192976e-03 2.26053474e+02] [-1.05057712e-01 9.94466017e-01 -4.66174041e-04 -1.47706264e+01] [-4.91383356e-03 -5.03463145e-05 9.99987926e-01 -1.36105666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:226.11, Y:-14.78, Z:-1.36 [[ 9.94936880e-01 1.00382633e-01 4.89195243e-03 2.26110710e+02] [-1.00381555e-01 9.94948906e-01 -4.65935949e-04 -1.47760550e+01] [-4.91401460e-03 -2.74849331e-05 9.99987926e-01 -1.36379570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.17, Y:-14.78, Z:-1.36 [[ 9.95252580e-01 9.72027315e-02 4.89198047e-03 2.26168963e+02] [-9.72016170e-02 9.95264602e-01 -4.65641413e-04 -1.47813510e+01] [-4.91407661e-03 -1.20775941e-05 9.99987926e-01 -1.36339010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.23, Y:-14.79, Z:-1.36 [[ 9.95365791e-01 9.60365026e-02 4.89200243e-03 2.26227421e+02] [-9.60353750e-02 9.95377813e-01 -4.65410549e-04 -1.47887278e+01] [-4.91408708e-03 -6.55154904e-06 9.99987926e-01 -1.36258038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36587156000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:226.29, Y:-14.79, Z:-1.36 [[ 9.95371852e-01 9.59736653e-02 4.89202493e-03 2.26285519e+02] [-9.59725382e-02 9.95383873e-01 -4.65173992e-04 -1.47941490e+01] [-4.91408717e-03 -6.47895057e-06 9.99987926e-01 -1.36188478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:-14.80, Z:-1.36 [[ 9.95404182e-01 9.56377700e-02 4.89204728e-03 2.26344456e+02] [-9.56366400e-02 9.95416203e-01 -4.64938739e-04 -1.48003475e+01] [-4.91408884e-03 -5.05700037e-06 9.99987926e-01 -1.36461174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.40, Y:-14.81, Z:-1.37 [[ 9.95451977e-01 9.51389970e-02 4.89206967e-03 2.26402422e+02] [-9.51378621e-02 9.95463998e-01 -4.64703051e-04 -1.48055392e+01] [-4.91409062e-03 -2.83147918e-06 9.99987926e-01 -1.36620698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54587156 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:-14.81, Z:-1.36 [[ 9.95406117e-01 9.56176195e-02 4.89209748e-03 2.26461402e+02] [-9.56164918e-02 9.95418139e-01 -4.64410124e-04 -1.48118025e+01] [-4.91408836e-03 -5.48851969e-06 9.99987926e-01 -1.36102103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:226.52, Y:-14.82, Z:-1.36 [[ 9.95193734e-01 9.78033739e-02 4.89212012e-03 2.26518841e+02] [-9.78022739e-02 9.95205758e-01 -4.64171512e-04 -1.48169068e+01] [-4.91406365e-03 -1.65198916e-05 9.99987926e-01 -1.36040140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:226.58, Y:-14.82, Z:-1.36 [[ 9.94920263e-01 1.00547189e-01 4.89215083e-03 2.26577406e+02] [-1.00546123e-01 9.94932290e-01 -4.63847660e-04 -1.48201347e+01] [-4.91399740e-03 -3.03953648e-05 9.99987926e-01 -1.35895143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.64, Y:-14.82, Z:-1.36 [[ 9.94614478e-01 1.03528285e-01 4.89217253e-03 2.26635885e+02] [-1.03527257e-01 9.94626509e-01 -4.63618630e-04 -1.48230180e+01] [-4.91388213e-03 -4.53514021e-05 9.99987926e-01 -1.36174607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:226.69, Y:-14.83, Z:-1.36 [[ 9.94494766e-01 1.04671999e-01 4.89219507e-03 2.26693869e+02] [-1.04670986e-01 9.94506797e-01 -4.63380679e-04 -1.48259872e+01] [-4.91382423e-03 -5.12412219e-05 9.99987926e-01 -1.36379006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.75, Y:-14.83, Z:-1.36 [[ 9.94510887e-01 1.04518714e-01 4.89222733e-03 2.26752305e+02] [-1.04517701e-01 9.94522919e-01 -4.63039780e-04 -1.48307437e+01] [-4.91382853e-03 -5.08262489e-05 9.99987926e-01 -1.36446199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.81, Y:-14.83, Z:-1.36 [[ 9.94700109e-01 1.02702282e-01 4.89224951e-03 2.26810332e+02] [-1.02701248e-01 9.94712139e-01 -4.62805378e-04 -1.48331595e+01] [-4.91391114e-03 -4.20875695e-05 9.99987926e-01 -1.36193499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.87, Y:-14.84, Z:-1.36 [[ 9.94893992e-01 1.00806795e-01 4.89227692e-03 2.26868399e+02] [-1.00805739e-01 9.94906020e-01 -4.62515460e-04 -1.48370023e+01] [-4.91398046e-03 -3.30157368e-05 9.99987926e-01 -1.36300818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.93, Y:-14.84, Z:-1.36 [[ 9.94937383e-01 1.00377630e-01 4.89230935e-03 2.26926597e+02] [-1.00376570e-01 9.94949411e-01 -4.62172132e-04 -1.48390943e+01] [-4.91399205e-03 -3.12409025e-05 9.99987926e-01 -1.36305155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.99, Y:-14.84, Z:-1.37 [[ 9.94912977e-01 1.00619251e-01 4.89234255e-03 2.26985075e+02] [-1.00618197e-01 9.94925005e-01 -4.61820412e-04 -1.48425167e+01] [-4.91398196e-03 -3.27875647e-05 9.99987926e-01 -1.36519523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:-14.84, Z:-1.37 [[ 9.94937633e-01 1.00375155e-01 4.89236478e-03 2.27042812e+02] [-1.00374099e-01 9.94949661e-01 -4.61584777e-04 -1.48446098e+01] [-4.91398832e-03 -3.18186409e-05 9.99987926e-01 -1.36818343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:-14.85, Z:-1.37 [[ 9.95045914e-01 9.92959886e-02 4.89239223e-03 2.27101988e+02] [-9.92949207e-02 9.95057941e-01 -4.61293717e-04 -1.48461579e+01] [-4.91401835e-03 -2.67812700e-05 9.99987926e-01 -1.36629162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:-14.85, Z:-1.37 [[ 9.95108555e-01 9.86662474e-02 4.89241390e-03 2.27159726e+02] [-9.86651730e-02 9.95120581e-01 -4.61063726e-04 -1.48467993e+01] [-4.91403319e-03 -2.39024056e-05 9.99987926e-01 -1.36503754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:-14.85, Z:-1.37 [[ 9.94957488e-01 1.00178145e-01 4.89244062e-03 2.27217597e+02] [-1.00177090e-01 9.94969516e-01 -4.60780043e-04 -1.48468546e+01] [-4.91398937e-03 -3.16539095e-05 9.99987926e-01 -1.36743979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:-14.85, Z:-1.37 [[ 9.94760521e-01 1.02115472e-01 4.89246700e-03 2.27276121e+02] [-1.02114442e-01 9.94772551e-01 -4.60499758e-04 -1.48475516e+01] [-4.91391603e-03 -4.15045589e-05 9.99987926e-01 -1.36782533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44587156 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:-14.85, Z:-1.37 [[ 9.94559352e-01 1.04056520e-01 4.89248801e-03 2.27335121e+02] [-1.04055515e-01 9.94571384e-01 -4.60276458e-04 -1.48477703e+01] [-4.91382334e-03 -5.13181023e-05 9.99987926e-01 -1.36753189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.39, Y:-14.85, Z:-1.37 [[ 9.94545484e-01 1.04188984e-01 4.89250890e-03 2.27393959e+02] [-1.04187981e-01 9.94557516e-01 -4.60054318e-04 -1.48460173e+01] [-4.91381409e-03 -5.21956796e-05 9.99987926e-01 -1.37153557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:227.45, Y:-14.85, Z:-1.37 [[ 9.94651183e-01 1.03175036e-01 4.89252965e-03 2.27452918e+02] [-1.03174022e-01 9.94663214e-01 -4.59833562e-04 -1.48473676e+01] [-4.91386261e-03 -4.74079638e-05 9.99987926e-01 -1.37226754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:-14.85, Z:-1.37 [[ 9.94930392e-01 1.00446896e-01 4.89255021e-03 2.27512603e+02] [-1.00445850e-01 9.94942420e-01 -4.59614634e-04 -1.48450051e+01] [-4.91397261e-03 -3.41517978e-05 9.99987926e-01 -1.37123235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.57, Y:-14.84, Z:-1.37 [[ 9.95299452e-01 9.67215734e-02 4.89257206e-03 2.27572236e+02] [-9.67204838e-02 9.95311477e-01 -4.59381985e-04 -1.48440666e+01] [-4.91406527e-03 -1.59892982e-05 9.99987926e-01 -1.36875821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.63, Y:-14.84, Z:-1.37 [[ 9.95595361e-01 9.36265936e-02 4.89259381e-03 2.27631008e+02] [-9.36254678e-02 9.95607383e-01 -4.59150177e-04 -1.48447659e+01] [-4.91409119e-03 -9.43597577e-07 9.99987926e-01 -1.36761050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:227.69, Y:-14.84, Z:-1.37 [[ 9.96196817e-01 8.69940477e-02 4.89261555e-03 2.27688314e+02] [-8.69928430e-02 9.96208831e-01 -4.58918368e-04 -1.48433154e+01] [-4.91398999e-03 3.15504813e-05 9.99987926e-01 -1.36643853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.75, Y:-14.85, Z:-1.37 [[ 9.96907425e-01 7.84324428e-02 4.89265303e-03 2.27746074e+02] [-7.84311368e-02 9.96919428e-01 -4.58518486e-04 -1.48467314e+01] [-4.91354359e-03 7.33641440e-05 9.99987926e-01 -1.36944943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.80, Y:-14.85, Z:-1.37 [[ 9.97514269e-01 7.02947024e-02 4.89268450e-03 2.27804656e+02] [-7.02933002e-02 9.97526261e-01 -4.58182431e-04 -1.48515625e+01] [-4.91278907e-03 1.13120572e-04 9.99987926e-01 -1.37208907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:-14.86, Z:-1.37 [[ 9.97779005e-01 6.64313085e-02 4.89270518e-03 2.27863526e+02] [-6.64298609e-02 9.97790992e-01 -4.57961477e-04 -1.48576287e+01] [-4.91232014e-03 1.31922622e-04 9.99987926e-01 -1.37206330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:227.92, Y:-14.86, Z:-1.37 [[ 9.97903332e-01 6.45368133e-02 4.89272697e-03 2.27922619e+02] [-6.45353442e-02 9.97915317e-01 -4.57728544e-04 -1.48628702e+01] [-4.91206753e-03 1.41015020e-04 9.99987926e-01 -1.37153356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:-14.87, Z:-1.38 [[ 9.97812866e-01 6.59207461e-02 4.89274320e-03 2.27979792e+02] [-6.59192944e-02 9.97824853e-01 -4.57555060e-04 -1.48692252e+01] [-4.91226313e-03 1.34028147e-04 9.99987926e-01 -1.37507874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:228.04, Y:-14.88, Z:-1.37 [[ 9.97610279e-01 6.89187325e-02 4.89277003e-03 2.28037788e+02] [-6.89173182e-02 9.97622270e-01 -4.57267973e-04 -1.48762214e+01] [-4.91265067e-03 1.18978641e-04 9.99987926e-01 -1.37210597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:-14.88, Z:-1.37 [[ 9.97445768e-01 7.12600909e-02 4.89279128e-03 2.28096126e+02] [-7.12587059e-02 9.97457762e-01 -4.57040494e-04 -1.48818649e+01] [-4.91292139e-03 1.07219131e-04 9.99987926e-01 -1.36992450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:-14.89, Z:-1.37 [[ 9.97038643e-01 7.67463672e-02 4.89281351e-03 2.28153822e+02] [-7.67450494e-02 9.97050645e-01 -4.56802359e-04 -1.48883896e+01] [-4.91344079e-03 7.99503904e-05 9.99987926e-01 -1.37044774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.21, Y:-14.90, Z:-1.37 [[ 9.96588325e-01 8.23879246e-02 4.89284098e-03 2.28211663e+02] [-8.23866762e-02 9.96600335e-01 -4.56507959e-04 -1.48950870e+01] [-4.91381770e-03 5.18455971e-05 9.99987926e-01 -1.37450215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:228.27, Y:-14.90, Z:-1.37 [[ 9.96093508e-01 8.81690602e-02 4.89286704e-03 2.28270202e+02] [-8.81678829e-02 9.96105525e-01 -4.56228385e-04 -1.48993639e+01] [-4.91403712e-03 2.30524043e-05 9.99987926e-01 -1.37316326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.33, Y:-14.90, Z:-1.38 [[ 9.95838975e-01 9.09988725e-02 4.89288816e-03 2.28327888e+02] [-9.09977304e-02 9.95850995e-01 -4.56001769e-04 -1.49049161e+01] [-4.91408320e-03 8.86261615e-06 9.99987926e-01 -1.37509624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.39, Y:-14.91, Z:-1.37 [[ 9.95677243e-01 9.27517497e-02 4.89292019e-03 2.28385412e+02] [-9.27506305e-02 9.95689265e-01 -4.55657855e-04 -1.49115799e+01] [-4.91409117e-03 -1.33275785e-07 9.99987926e-01 -1.37347814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:-14.92, Z:-1.37 [[ 9.95658522e-01 9.29524968e-02 4.89295398e-03 2.28442609e+02] [-9.29513818e-02 9.95670545e-01 -4.55294766e-04 -1.49167899e+01] [-4.91409094e-03 -1.48871939e-06 9.99987926e-01 -1.37386499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:-14.92, Z:-1.37 [[ 9.95691714e-01 9.25962755e-02 4.89299106e-03 2.28500769e+02] [-9.25951581e-02 9.95703736e-01 -4.54895846e-04 -1.49226041e+01] [-4.91409114e-03 -1.31257331e-07 9.99987926e-01 -1.37234065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.56, Y:-14.93, Z:-1.38 [[ 9.95713706e-01 9.23594828e-02 4.89301262e-03 2.28557908e+02] [-9.23583637e-02 9.95725728e-01 -4.54663873e-04 -1.49290577e+01] [-4.91409107e-03 8.04410876e-07 9.99987926e-01 -1.37549946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:-14.93, Z:-1.38 [[ 9.95804897e-01 9.13710303e-02 4.89303919e-03 2.28616137e+02] [-9.13699007e-02 9.95816918e-01 -4.54377796e-04 -1.49344926e+01] [-4.91408817e-03 5.39512938e-06 9.99987926e-01 -1.37708394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.67, Y:-14.94, Z:-1.38 [[ 9.95902547e-01 9.03004654e-02 4.89305992e-03 2.28674596e+02] [-9.02993239e-02 9.95914568e-01 -4.54154454e-04 -1.49408988e+01] [-4.91408001e-03 1.04535759e-05 9.99987926e-01 -1.37655262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.73, Y:-14.95, Z:-1.38 [[ 9.95937091e-01 8.99186742e-02 4.89308158e-03 2.28731626e+02] [-8.99175293e-02 9.95949111e-01 -4.53920867e-04 -1.49469365e+01] [-4.91407622e-03 1.21028215e-05 9.99987926e-01 -1.37868568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:-14.95, Z:-1.38 [[ 9.95949051e-01 8.97861043e-02 4.89310832e-03 2.28790302e+02] [-8.97849592e-02 9.95961071e-01 -4.53632467e-04 -1.49532734e+01] [-4.91407530e-03 1.24672940e-05 9.99987926e-01 -1.37991399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.85, Y:-14.96, Z:-1.38 [[ 9.95981544e-01 8.94249456e-02 4.89312946e-03 2.28849245e+02] [-8.94237973e-02 9.95993564e-01 -4.53404350e-04 -1.49596165e+01] [-4.91407111e-03 1.40201473e-05 9.99987926e-01 -1.37749056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:-14.96, Z:-1.38 [[ 9.95956386e-01 8.97047113e-02 4.89315162e-03 2.28906993e+02] [-8.97035675e-02 9.95968405e-01 -4.53165087e-04 -1.49640326e+01] [-4.91407546e-03 1.23995056e-05 9.99987926e-01 -1.37781649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:-14.97, Z:-1.38 [[ 9.95975021e-01 8.94975606e-02 4.89317894e-03 2.28965303e+02] [-8.94964158e-02 9.95987041e-01 -4.52869852e-04 -1.49705328e+01] [-4.91407356e-03 1.31250831e-05 9.99987926e-01 -1.37752989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.02, Y:-14.98, Z:-1.38 [[ 9.96074203e-01 8.83868653e-02 4.89320057e-03 2.29023324e+02] [-8.83857082e-02 9.96086222e-01 -4.52636046e-04 -1.49772489e+01] [-4.91405675e-03 1.83700908e-05 9.99987926e-01 -1.37805545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:-14.98, Z:-1.38 [[ 9.96143193e-01 8.76059103e-02 4.89323317e-03 2.29080556e+02] [-8.76047455e-02 9.96155211e-01 -4.52283393e-04 -1.49830837e+01] [-4.91404241e-03 2.18685773e-05 9.99987926e-01 -1.37784699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:-14.99, Z:-1.38 [[ 9.96230620e-01 8.66060501e-02 4.89326579e-03 2.29138520e+02] [-8.66048750e-02 9.96242637e-01 -4.51930190e-04 -1.49896152e+01] [-4.91401990e-03 2.64460219e-05 9.99987926e-01 -1.37747268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36587156000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:229.20, Y:-14.99, Z:-1.38 [[ 9.96237393e-01 8.65281025e-02 4.89329264e-03 2.29196348e+02] [-8.65269279e-02 9.96249410e-01 -4.51639240e-04 -1.49945052e+01] [-4.91401939e-03 2.65383192e-05 9.99987926e-01 -1.37594313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.25, Y:-15.00, Z:-1.38 [[ 9.96206550e-01 8.68824831e-02 4.89332506e-03 2.29253589e+02] [-8.68813145e-02 9.96218567e-01 -4.51287748e-04 -1.49994588e+01] [-4.91403028e-03 2.44372965e-05 9.99987926e-01 -1.37920310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.31, Y:-15.00, Z:-1.38 [[ 9.96095936e-01 8.81415946e-02 4.89335645e-03 2.29312221e+02] [-8.81404429e-02 9.96107955e-01 -4.50947094e-04 -1.50048673e+01] [-4.91405849e-03 1.78839635e-05 9.99987926e-01 -1.37800048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.37, Y:-15.01, Z:-1.38 [[ 9.96005338e-01 8.91595317e-02 4.89337738e-03 2.29371244e+02] [-8.91583933e-02 9.96017358e-01 -4.50719914e-04 -1.50095062e+01] [-4.91407478e-03 1.26337758e-05 9.99987926e-01 -1.37727149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:-15.01, Z:-1.38 [[ 9.95942034e-01 8.98638958e-02 4.89339892e-03 2.29429460e+02] [-8.98627671e-02 9.95954055e-01 -4.50485885e-04 -1.50112395e+01] [-4.91408292e-03 8.92346139e-06 9.99987926e-01 -1.37713337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:-15.02, Z:-1.38 [[ 9.96275036e-01 8.60935924e-02 4.89342554e-03 2.29487915e+02] [-8.60924196e-02 9.96287053e-01 -4.50196585e-04 -1.50162340e+01] [-4.91401555e-03 2.72327744e-05 9.99987926e-01 -1.37766476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.54, Y:-15.02, Z:-1.38 [[ 9.96909241e-01 7.84093044e-02 4.89344660e-03 2.29544924e+02] [-7.84080401e-02 9.96921249e-01 -4.49967496e-04 -1.50226077e+01] [-4.91366254e-03 6.48911974e-05 9.99987926e-01 -1.37901860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:-15.03, Z:-1.38 [[ 9.97297358e-01 7.33078075e-02 4.89347262e-03 2.29603392e+02] [-7.33064832e-02 9.97309359e-01 -4.49684351e-04 -1.50304826e+01] [-4.91327142e-03 8.97457462e-05 9.99987926e-01 -1.38163325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:-15.04, Z:-1.38 [[ 9.97647057e-01 6.83842392e-02 4.89349321e-03 2.29661443e+02] [-6.83828568e-02 9.97659051e-01 -4.49460222e-04 -1.50396123e+01] [-4.91277379e-03 1.13771623e-04 9.99987926e-01 -1.38332746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:-15.05, Z:-1.38 [[ 9.97724302e-01 6.72478354e-02 4.89351353e-03 2.29718924e+02] [-6.72464404e-02 9.97736295e-01 -4.49238864e-04 -1.50473022e+01] [-4.91264640e-03 1.19145166e-04 9.99987926e-01 -1.38464714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.78, Y:-15.06, Z:-1.38 [[ 9.97698754e-01 6.76258046e-02 4.89354050e-03 2.29776646e+02] [-6.76244156e-02 9.97710748e-01 -4.48944876e-04 -1.50581488e+01] [-4.91269821e-03 1.16988927e-04 9.99987926e-01 -1.38427381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.83, Y:-15.07, Z:-1.38 [[ 9.97592473e-01 6.91759409e-02 4.89356043e-03 2.29834583e+02] [-6.91745716e-02 9.97604469e-01 -4.48727574e-04 -1.50674182e+01] [-4.91287890e-03 1.09137305e-04 9.99987926e-01 -1.38233724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.89, Y:-15.08, Z:-1.38 [[ 9.97387404e-01 7.20723164e-02 4.89358200e-03 2.29891130e+02] [-7.20709831e-02 9.97399405e-01 -4.48492164e-04 -1.50788834e+01] [-4.91317964e-03 9.46351697e-05 9.99987926e-01 -1.38402341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:-15.09, Z:-1.38 [[ 9.97084292e-01 7.61509555e-02 4.89360342e-03 2.29949759e+02] [-7.61496724e-02 9.97096297e-01 -4.48258339e-04 -1.50878978e+01] [-4.91352915e-03 7.43050509e-05 9.99987926e-01 -1.38345842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.01, Y:-15.10, Z:-1.38 [[ 9.96502119e-01 8.34240973e-02 4.89362474e-03 2.30007837e+02] [-8.34229030e-02 9.96514134e-01 -4.48025444e-04 -1.50961027e+01] [-4.91394234e-03 3.82179219e-05 9.99987926e-01 -1.38403686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.07, Y:-15.10, Z:-1.39 [[ 9.95876981e-01 9.05819526e-02 4.89364595e-03 2.30065448e+02] [-9.05808458e-02 9.95889005e-01 -4.47793651e-04 -1.51015710e+01] [-4.91409022e-03 2.67680034e-06 9.99987926e-01 -1.38593302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.12, Y:-15.11, Z:-1.39 [[ 9.95433448e-01 9.53325921e-02 4.89367439e-03 2.30123720e+02] [-9.53315442e-02 9.95445476e-01 -4.47482651e-04 -1.51064249e+01] [-4.91404572e-03 -2.10823377e-05 9.99987926e-01 -1.38783808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.18, Y:-15.11, Z:-1.39 [[ 9.95344124e-01 9.62607176e-02 4.89369549e-03 2.30180739e+02] [-9.62596821e-02 9.95356154e-01 -4.47251772e-04 -1.51129618e+01] [-4.91402270e-03 -2.58961492e-05 9.99987926e-01 -1.39045311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.24, Y:-15.12, Z:-1.39 [[ 9.95529682e-01 9.43223418e-02 4.89372165e-03 2.30238128e+02] [-9.43212842e-02 9.95541710e-01 -4.46965399e-04 -1.51196368e+01] [-4.91406284e-03 -1.66147892e-05 9.99987926e-01 -1.39122125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.30, Y:-15.13, Z:-1.39 [[ 9.95908954e-01 9.02297406e-02 4.89375122e-03 2.30296735e+02] [-9.02286352e-02 9.95920978e-01 -4.46641332e-04 -1.51272153e+01] [-4.91408983e-03 3.25760837e-06 9.99987926e-01 -1.38781889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:-15.14, Z:-1.38 [[ 9.96185252e-01 8.71263188e-02 4.89377208e-03 2.30355316e+02] [-8.71251771e-02 9.96197272e-01 -4.46412637e-04 -1.51351752e+01] [-4.91405669e-03 1.83389258e-05 9.99987926e-01 -1.38328548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:-15.14, Z:-1.38 [[ 9.96311732e-01 8.56678684e-02 4.89379298e-03 2.30414021e+02] [-8.56667102e-02 9.96323750e-01 -4.46183405e-04 -1.51427523e+01] [-4.91402576e-03 2.53026157e-05 9.99987926e-01 -1.38391013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:-15.15, Z:-1.38 [[ 9.96291050e-01 8.59080531e-02 4.89381482e-03 2.30471614e+02] [-8.59068989e-02 9.96303069e-01 -4.45943801e-04 -1.51490597e+01] [-4.91403289e-03 2.38773626e-05 9.99987926e-01 -1.38431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.53, Y:-15.16, Z:-1.39 [[ 9.96224890e-01 8.66719052e-02 4.89384393e-03 2.30529270e+02] [-8.66707619e-02 9.96236910e-01 -4.45624103e-04 -1.51562393e+01] [-4.91405104e-03 1.97886413e-05 9.99987926e-01 -1.38606123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.59, Y:-15.16, Z:-1.39 [[ 9.96214061e-01 8.67962797e-02 4.89387021e-03 2.30587257e+02] [-8.67951393e-02 9.96226082e-01 -4.45335318e-04 -1.51635150e+01] [-4.91405459e-03 1.88851592e-05 9.99987926e-01 -1.38867459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.65, Y:-15.17, Z:-1.39 [[ 9.96216686e-01 8.67661498e-02 4.89389061e-03 2.30645328e+02] [-8.67650101e-02 9.96228706e-01 -4.45111036e-04 -1.51681070e+01] [-4.91405488e-03 1.88085730e-05 9.99987926e-01 -1.39046432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:-15.18, Z:-1.39 [[ 9.96288012e-01 8.59432709e-02 4.89391580e-03 2.30704150e+02] [-8.59421226e-02 9.96300032e-01 -4.44833897e-04 -1.51753480e+01] [-4.91403895e-03 2.25891669e-05 9.99987926e-01 -1.38901902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.76, Y:-15.18, Z:-1.39 [[ 9.96407873e-01 8.45422926e-02 4.89393685e-03 2.30762564e+02] [-8.45411286e-02 9.96419891e-01 -4.44602170e-04 -1.51799643e+01] [-4.91400371e-03 2.92661582e-05 9.99987926e-01 -1.38555054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:-15.19, Z:-1.38 [[ 9.96703595e-01 8.09814370e-02 4.89395797e-03 2.30820079e+02] [-8.09802312e-02 9.96715609e-01 -4.44369536e-04 -1.51889110e+01] [-4.91386998e-03 4.65908660e-05 9.99987926e-01 -1.38428094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.88, Y:-15.20, Z:-1.38 [[ 9.96890426e-01 7.86481240e-02 4.89398416e-03 2.30878561e+02] [-7.86468915e-02 9.96902437e-01 -4.44080985e-04 -1.51963926e+01] [-4.91375087e-03 5.78034415e-05 9.99987926e-01 -1.38417016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.94, Y:-15.20, Z:-1.39 [[ 9.97051892e-01 7.65739762e-02 4.89400508e-03 2.30935656e+02] [-7.65727198e-02 9.97063900e-01 -4.43850234e-04 -1.52042242e+01] [-4.91362317e-03 6.77944357e-05 9.99987926e-01 -1.38830909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.99, Y:-15.21, Z:-1.39 [[ 9.97077322e-01 7.62421325e-02 4.89403090e-03 2.30994603e+02] [-7.62408736e-02 9.97089330e-01 -4.43565371e-04 -1.52102298e+01] [-4.91360436e-03 6.91437814e-05 9.99987926e-01 -1.38869850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:-15.22, Z:-1.39 [[ 9.97115119e-01 7.57462016e-02 4.89405114e-03 2.31052729e+02] [-7.57449378e-02 9.97127127e-01 -4.43341925e-04 -1.52212497e+01] [-4.91357262e-03 7.13633370e-05 9.99987926e-01 -1.38940320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.11, Y:-15.23, Z:-1.39 [[ 9.97081393e-01 7.61888671e-02 4.89407156e-03 2.31109489e+02] [-7.61876097e-02 9.97093402e-01 -4.43116450e-04 -1.52313240e+01] [-4.91360700e-03 6.89555539e-05 9.99987926e-01 -1.38900630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.17, Y:-15.24, Z:-1.38 [[ 9.97010742e-01 7.71078949e-02 4.89409691e-03 2.31167131e+02] [-7.71066500e-02 9.97022752e-01 -4.42836224e-04 -1.52415180e+01] [-4.91367214e-03 6.41450542e-05 9.99987926e-01 -1.38440168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:-15.25, Z:-1.38 [[ 9.96916416e-01 7.83179912e-02 4.89412332e-03 2.31224616e+02] [-7.83167623e-02 9.96928427e-01 -4.42544245e-04 -1.52502919e+01] [-4.91374984e-03 5.78877299e-05 9.99987926e-01 -1.38465242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:-15.26, Z:-1.39 [[ 9.96649291e-01 8.16470304e-02 4.89414953e-03 2.31282480e+02] [-8.16458430e-02 9.96661307e-01 -4.42254115e-04 -1.52606087e+01] [-4.91391821e-03 4.11852861e-05 9.99987926e-01 -1.38528396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:-15.27, Z:-1.39 [[ 9.96274894e-01 8.60951956e-02 4.89416904e-03 2.31341020e+02] [-8.60940629e-02 9.96286915e-01 -4.42038083e-04 -1.52707858e+01] [-4.91405393e-03 1.90325461e-05 9.99987926e-01 -1.38696869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:-15.28, Z:-1.39 [[ 9.95987953e-01 8.93534776e-02 4.89418957e-03 2.31398881e+02] [-8.93523854e-02 9.95999978e-01 -4.41810663e-04 -1.52796403e+01] [-4.91409003e-03 2.73058521e-06 9.99987926e-01 -1.38704292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.46, Y:-15.29, Z:-1.39 [[ 9.95416281e-01 9.55116440e-02 4.89421010e-03 2.31456208e+02] [-9.55106273e-02 9.95428312e-01 -4.41583118e-04 -1.52887387e+01] [-4.91401163e-03 -2.78900520e-05 9.99987926e-01 -1.38828479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.51, Y:-15.30, Z:-1.39 [[ 9.94801222e-01 1.01718119e-01 4.89423562e-03 2.31514496e+02] [-1.01717178e-01 9.94813259e-01 -4.41300179e-04 -1.52973580e+01] [-4.91373871e-03 -5.88218806e-05 9.99987926e-01 -1.38733879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.57, Y:-15.31, Z:-1.39 [[ 9.94257685e-01 1.06900432e-01 4.89425468e-03 2.31572519e+02] [-1.06899555e-01 9.94269727e-01 -4.41088656e-04 -1.53056451e+01] [-4.91336183e-03 -8.46378632e-05 9.99987926e-01 -1.38635388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.63, Y:-15.31, Z:-1.39 [[ 9.93733249e-01 1.11670391e-01 4.89427478e-03 2.31631157e+02] [-1.11669573e-01 9.93745295e-01 -4.40865513e-04 -1.53110128e+01] [-4.91289416e-03 -1.08438856e-04 9.99987926e-01 -1.38811387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.69, Y:-15.32, Z:-1.39 [[ 9.93483513e-01 1.13870782e-01 4.89429470e-03 2.31688653e+02] [-1.13869992e-01 9.93495561e-01 -4.40644238e-04 -1.53161130e+01] [-4.91263657e-03 -1.19540516e-04 9.99987926e-01 -1.39032007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.75, Y:-15.32, Z:-1.39 [[ 9.93233308e-01 1.16032935e-01 4.89431931e-03 2.31747694e+02] [-1.16032173e-01 9.93245358e-01 -4.40370699e-04 -1.53201971e+01] [-4.91235744e-03 -1.30507659e-04 9.99987926e-01 -1.39090495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.81, Y:-15.32, Z:-1.39 [[ 9.93058063e-01 1.17523312e-01 4.89433876e-03 2.31806094e+02] [-1.17522569e-01 9.93070114e-01 -4.40154463e-04 -1.53221415e+01] [-4.91214996e-03 -1.38096327e-04 9.99987926e-01 -1.38611993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.86, Y:-15.32, Z:-1.39 [[ 9.93056822e-01 1.17533799e-01 4.89436470e-03 2.31864046e+02] [-1.17533058e-01 9.93068873e-01 -4.39865809e-04 -1.53222963e+01] [-4.91214034e-03 -1.38437907e-04 9.99987926e-01 -1.38957966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.92, Y:-15.32, Z:-1.39 [[ 9.93130130e-01 1.16912748e-01 4.89439269e-03 2.31923102e+02] [-1.16912000e-01 9.93142181e-01 -4.39554222e-04 -1.53218679e+01] [-4.91221732e-03 -1.35678698e-04 9.99987926e-01 -1.38932985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:-15.32, Z:-1.39 [[ 9.93343028e-01 1.15089848e-01 4.89441320e-03 2.31981829e+02] [-1.15089080e-01 9.93355078e-01 -4.39325700e-04 -1.53233329e+01] [-4.91245213e-03 -1.26892389e-04 9.99987926e-01 -1.38731383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.04, Y:-15.32, Z:-1.39 [[ 9.93861111e-01 1.10526633e-01 4.89443436e-03 2.32039599e+02] [-1.10525810e-01 9.93873157e-01 -4.39089815e-04 -1.53212166e+01] [-4.91297805e-03 -1.04567032e-04 9.99987926e-01 -1.38655995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.10, Y:-15.32, Z:-1.39 [[ 9.94672888e-01 1.02965483e-01 4.89446582e-03 2.32097254e+02] [-1.02964571e-01 9.94684927e-01 -4.38738887e-04 -1.53223100e+01] [-4.91362634e-03 -6.75548959e-05 9.99987926e-01 -1.38791028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.16, Y:-15.32, Z:-1.39 [[ 9.95230390e-01 9.74295328e-02 4.89449122e-03 2.32155872e+02] [-9.74285546e-02 9.95242425e-01 -4.38455259e-04 -1.53235388e+01] [-4.91392381e-03 -4.04992074e-05 9.99987926e-01 -1.38600490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.21, Y:-15.33, Z:-1.39 [[ 9.95374736e-01 9.59436203e-02 4.89451256e-03 2.32214878e+02] [-9.59426253e-02 9.95386769e-01 -4.38216905e-04 -1.53260538e+01] [-4.91397717e-03 -3.34023487e-05 9.99987926e-01 -1.38870303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:-15.33, Z:-1.39 [[ 9.95442473e-01 9.52382621e-02 4.89453370e-03 2.32272716e+02] [-9.52372598e-02 9.95454506e-01 -4.37980731e-04 -1.53252582e+01] [-4.91399815e-03 -3.01573555e-05 9.99987926e-01 -1.39486430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:-15.33, Z:-1.39 [[ 9.95739131e-01 9.20848840e-02 4.89455983e-03 2.32331560e+02] [-9.20838450e-02 9.95751161e-01 -4.37688562e-04 -1.53264100e+01] [-4.91406813e-03 -1.48862603e-05 9.99987926e-01 -1.39433141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.39, Y:-15.33, Z:-1.39 [[ 9.96306725e-01 8.57260335e-02 4.89457909e-03 2.32390419e+02] [-8.57249188e-02 9.96318748e-01 -4.37472986e-04 -1.53294865e+01] [-4.91406374e-03 1.62698830e-05 9.99987926e-01 -1.39136796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.45, Y:-15.33, Z:-1.39 [[ 9.96733600e-01 8.06112535e-02 4.89459852e-03 2.32448653e+02] [-8.06100781e-02 9.96745617e-01 -4.37255467e-04 -1.53322358e+01] [-4.91391734e-03 4.12732466e-05 9.99987926e-01 -1.39066520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:-15.34, Z:-1.39 [[ 9.96876410e-01 7.88255447e-02 4.89462239e-03 2.32507324e+02] [-7.88243491e-02 9.96888425e-01 -4.36988163e-04 -1.53363357e+01] [-4.91383823e-03 4.98077664e-05 9.99987926e-01 -1.38757667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:-15.34, Z:-1.39 [[ 9.97020081e-01 7.69870141e-02 4.89464291e-03 2.32565528e+02] [-7.69857976e-02 9.97032094e-01 -4.36758195e-04 -1.53414677e+01] [-4.91374078e-03 5.86387027e-05 9.99987926e-01 -1.38846771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:-15.35, Z:-1.39 [[ 9.97091702e-01 7.60537978e-02 4.89466377e-03 2.32623169e+02] [-7.60525711e-02 9.97103714e-01 -4.36524253e-04 -1.53480335e+01] [-4.91368675e-03 6.30029456e-05 9.99987926e-01 -1.38874791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.68, Y:-15.35, Z:-1.39 [[ 9.96962048e-01 7.77349190e-02 4.89468944e-03 2.32681302e+02] [-7.77337140e-02 9.96974062e-01 -4.36236278e-04 -1.53547824e+01] [-4.91378920e-03 5.44286244e-05 9.99987926e-01 -1.38571145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:232.74, Y:-15.36, Z:-1.39 [[ 9.96582779e-01 8.24548768e-02 4.89471063e-03 2.32738752e+02] [-8.24537299e-02 9.96594798e-01 -4.35998410e-04 -1.53617432e+01] [-4.91399335e-03 3.09213587e-05 9.99987926e-01 -1.38710426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:-15.37, Z:-1.39 [[ 9.96256708e-01 8.63053507e-02 4.89473688e-03 2.32797751e+02] [-8.63042517e-02 9.96268732e-01 -4.35703540e-04 -1.53672234e+01] [-4.91407685e-03 1.16359712e-05 9.99987926e-01 -1.38857295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:-15.37, Z:-1.39 [[ 9.95891110e-01 9.04264197e-02 4.89475745e-03 2.32856185e+02] [-9.04253716e-02 9.95903139e-01 -4.35472273e-04 -1.53726227e+01] [-4.91408251e-03 -8.92729567e-06 9.99987926e-01 -1.38970211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:-15.38, Z:-1.39 [[ 9.95434397e-01 9.53226182e-02 4.89477886e-03 2.32913525e+02] [-9.53216304e-02 9.95446431e-01 -4.35231512e-04 -1.53772502e+01] [-4.91397755e-03 -3.33338829e-05 9.99987926e-01 -1.39117197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:-15.38, Z:-1.39 [[ 9.95118013e-01 9.85706893e-02 4.89480525e-03 2.32972650e+02] [-9.85697422e-02 9.95130050e-01 -4.34934451e-04 -1.53819649e+01] [-4.91383959e-03 -4.96685851e-05 9.99987926e-01 -1.39059978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:-15.39, Z:-1.39 [[ 9.94602575e-01 1.03642450e-01 4.89482629e-03 2.33031595e+02] [-1.03641566e-01 9.94614617e-01 -4.34697608e-04 -1.53852567e+01] [-4.91351890e-03 -7.49560999e-05 9.99987926e-01 -1.38909957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:-15.39, Z:-1.39 [[ 9.94258317e-01 1.06894528e-01 4.89484719e-03 2.33089377e+02] [-1.06893684e-01 9.94270361e-01 -4.34462153e-04 -1.53872528e+01] [-4.91324311e-03 -9.12606417e-05 9.99987926e-01 -1.38750271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:-15.39, Z:-1.39 [[ 9.94258338e-01 1.06894328e-01 4.89487317e-03 2.33147830e+02] [-1.06893486e-01 9.94270383e-01 -4.34169246e-04 -1.53897868e+01] [-4.91323765e-03 -9.15536619e-05 9.99987926e-01 -1.38623157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.21, Y:-15.39, Z:-1.39 [[ 9.94466419e-01 1.04940848e-01 4.89489403e-03 2.33205382e+02] [-1.04939983e-01 9.94478462e-01 -4.33933922e-04 -1.53914484e+01] [-4.91340408e-03 -8.21373839e-05 9.99987926e-01 -1.39162855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.26, Y:-15.40, Z:-1.39 [[ 9.94673694e-01 1.02957674e-01 4.89491980e-03 2.33263928e+02] [-1.02956786e-01 9.94685735e-01 -4.33642976e-04 -1.53953127e+01] [-4.91355378e-03 -7.26319499e-05 9.99987926e-01 -1.38880647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:-15.40, Z:-1.39 [[ 9.94821963e-01 1.01515033e-01 4.89494028e-03 2.33321667e+02] [-1.01514129e-01 9.94834003e-01 -4.33411700e-04 -1.53984465e+01] [-4.91365084e-03 -6.57381221e-05 9.99987926e-01 -1.38859756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.38, Y:-15.40, Z:-1.39 [[ 9.94950273e-01 1.00249656e-01 4.89496567e-03 2.33380504e+02] [-1.00248738e-01 9.94962312e-01 -4.33124820e-04 -1.53998242e+01] [-4.91372697e-03 -5.97764710e-05 9.99987926e-01 -1.38698807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.44, Y:-15.40, Z:-1.39 [[ 9.95097091e-01 9.87816747e-02 4.89498631e-03 2.33438818e+02] [-9.87807402e-02 9.95109129e-01 -4.32891421e-04 -1.54040039e+01] [-4.91380730e-03 -5.27613772e-05 9.99987926e-01 -1.38539170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:-15.41, Z:-1.39 [[ 9.95324267e-01 9.64657544e-02 4.89500733e-03 2.33496222e+02] [-9.64647931e-02 9.95336303e-01 -4.32653554e-04 -1.54069884e+01] [-4.91391475e-03 -4.15652879e-05 9.99987926e-01 -1.38705879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:-15.41, Z:-1.39 [[ 9.95508964e-01 9.45406861e-02 4.89503344e-03 2.33553934e+02] [-9.45397030e-02 9.95520998e-01 -4.32357934e-04 -1.54127350e+01] [-4.91398399e-03 -3.23588085e-05 9.99987926e-01 -1.38647003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.61, Y:-15.42, Z:-1.39 [[ 9.95769221e-01 9.17589010e-02 4.89506483e-03 2.33611763e+02] [-9.17578860e-02 9.95781253e-01 -4.32002313e-04 -1.54187563e+01] [-4.91405384e-03 -1.89861931e-05 9.99987926e-01 -1.38600379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:233.67, Y:-15.43, Z:-1.38 [[ 9.95817600e-01 9.12323737e-02 4.89509056e-03 2.33670757e+02] [-9.12313538e-02 9.95829631e-01 -4.31710562e-04 -1.54250959e+01] [-4.91406220e-03 -1.66807625e-05 9.99987926e-01 -1.38491182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.73, Y:-15.43, Z:-1.39 [[ 9.95552906e-01 9.40768240e-02 4.89510613e-03 2.33728160e+02] [-9.40758393e-02 9.95564940e-01 -4.31533865e-04 -1.54296331e+01] [-4.91399338e-03 -3.08964247e-05 9.99987926e-01 -1.38571046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.79, Y:-15.43, Z:-1.39 [[ 9.95361973e-01 9.60759121e-02 4.89513179e-03 2.33786764e+02] [-9.60749531e-02 9.95374009e-01 -4.31242622e-04 -1.54349423e+01] [-4.91391898e-03 -4.10570497e-05 9.99987926e-01 -1.38656265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:-15.44, Z:-1.39 [[ 9.95120393e-01 9.85466427e-02 4.89515217e-03 2.33844265e+02] [-9.85457147e-02 9.95132432e-01 -4.31011177e-04 -1.54399940e+01] [-4.91379939e-03 -5.34882570e-05 9.99987926e-01 -1.38660752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:-15.44, Z:-1.38 [[ 9.94958713e-01 1.00165850e-01 4.89518166e-03 2.33903243e+02] [-1.00164943e-01 9.94970753e-01 -4.30675968e-04 -1.54439376e+01] [-4.91370161e-03 -6.18207849e-05 9.99987926e-01 -1.38420484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:-15.45, Z:-1.38 [[ 9.94936652e-01 1.00384740e-01 4.89520177e-03 2.33962240e+02] [-1.00383837e-01 9.94948692e-01 -4.30447284e-04 -1.54483399e+01] [-4.91368494e-03 -6.31313559e-05 9.99987926e-01 -1.38344225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:-15.45, Z:-1.39 [[ 9.95021013e-01 9.95450686e-02 4.89522165e-03 2.34019853e+02] [-9.95441565e-02 9.95033053e-01 -4.30221098e-04 -1.54509528e+01] [-4.91373373e-03 -5.92116770e-05 9.99987926e-01 -1.38620033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:-15.45, Z:-1.39 [[ 9.95124624e-01 9.85039057e-02 4.89525363e-03 2.34078897e+02] [-9.85029828e-02 9.95136663e-01 -4.29856914e-04 -1.54548147e+01] [-4.91378894e-03 -5.44358843e-05 9.99987926e-01 -1.38754256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:-15.46, Z:-1.39 [[ 9.95430941e-01 9.53586776e-02 4.89527305e-03 2.34137861e+02] [-9.53577178e-02 9.95442977e-01 -4.29635594e-04 -1.54579670e+01] [-4.91393466e-03 -3.91295027e-05 9.99987926e-01 -1.38899353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:-15.46, Z:-1.39 [[ 9.96083335e-01 8.82837809e-02 4.89529323e-03 2.34196100e+02] [-8.82827367e-02 9.96095364e-01 -4.29405596e-04 -1.54632963e+01] [-4.91408844e-03 -4.44612523e-06 9.99987926e-01 -1.39003142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58587156000002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:234.25, Y:-15.47, Z:-1.39 [[ 9.96888554e-01 7.86717637e-02 4.89531385e-03 2.34253111e+02] [-7.86706047e-02 9.96900573e-01 -4.29170318e-04 -1.54706615e+01] [-4.91390477e-03 4.27176769e-05 9.99987926e-01 -1.38976009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:-15.48, Z:-1.39 [[ 9.97453642e-01 7.11496165e-02 4.89534322e-03 2.34311601e+02] [-7.11483685e-02 9.97465651e-01 -4.28835098e-04 -1.54802233e+01] [-4.91344817e-03 7.94474470e-05 9.99987926e-01 -1.38631274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.37, Y:-15.49, Z:-1.39 [[ 9.97611039e-01 6.89075485e-02 4.89536331e-03 2.34369830e+02] [-6.89062747e-02 9.97623046e-01 -4.28605666e-04 -1.54882230e+01] [-4.91326142e-03 9.02604953e-05 9.99987926e-01 -1.38564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:234.43, Y:-15.50, Z:-1.38 [[ 9.97580905e-01 6.93424277e-02 4.89538347e-03 2.34427178e+02] [-6.93411602e-02 9.97592913e-01 -4.28375250e-04 -1.54975362e+01] [-4.91330443e-03 8.78874003e-05 9.99987926e-01 -1.38450963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:234.49, Y:-15.51, Z:-1.38 [[ 9.97334261e-01 7.28038900e-02 4.89540835e-03 2.34485612e+02] [-7.28026656e-02 9.97346273e-01 -4.28090735e-04 -1.55057768e+01] [-4.91358394e-03 7.05507799e-05 9.99987926e-01 -1.38394853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.54, Y:-15.51, Z:-1.38 [[ 9.96980369e-01 7.74995439e-02 4.89542849e-03 2.34542685e+02] [-7.74983772e-02 9.96992386e-01 -4.27860253e-04 -1.55146669e+01] [-4.91386391e-03 4.71805086e-05 9.99987926e-01 -1.38474713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.60, Y:-15.52, Z:-1.38 [[ 9.96560073e-01 8.27288034e-02 4.89545361e-03 2.34601531e+02] [-8.27277012e-02 9.96572097e-01 -4.27572671e-04 -1.55218756e+01] [-4.91404505e-03 2.11122286e-05 9.99987926e-01 -1.38426231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.66, Y:-15.53, Z:-1.39 [[ 9.96041495e-01 8.87545775e-02 4.89547337e-03 2.34660485e+02] [-8.87535491e-02 9.96053525e-01 -4.27346273e-04 -1.55272356e+01] [-4.91408245e-03 -8.83601578e-06 9.99987926e-01 -1.38539445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.72, Y:-15.53, Z:-1.39 [[ 9.95885211e-01 9.04913306e-02 4.89549305e-03 2.34718041e+02] [-9.04903243e-02 9.95897243e-01 -4.27120733e-04 -1.55326001e+01] [-4.91405876e-03 -1.76315326e-05 9.99987926e-01 -1.38629614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:234.78, Y:-15.54, Z:-1.39 [[ 9.95574033e-01 9.38529677e-02 4.89551746e-03 2.34776328e+02] [-9.38520034e-02 9.95586068e-01 -4.26840839e-04 -1.55374449e+01] [-4.91396926e-03 -3.45024655e-05 9.99987926e-01 -1.38526692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.83, Y:-15.54, Z:-1.39 [[ 9.95437687e-01 9.52882181e-02 4.89553798e-03 2.34834065e+02] [-9.52872723e-02 9.95449724e-01 -4.26605268e-04 -1.55425919e+01] [-4.91391239e-03 -4.18234997e-05 9.99987926e-01 -1.38550641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.89, Y:-15.55, Z:-1.38 [[ 9.95424646e-01 9.54243582e-02 4.89556597e-03 2.34892909e+02] [-9.54234156e-02 9.95436683e-01 -4.26283823e-04 -1.55464751e+01] [-4.91390382e-03 -4.28182036e-05 9.99987926e-01 -1.38411151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.95, Y:-15.55, Z:-1.39 [[ 9.95525707e-01 9.43641830e-02 4.89558641e-03 2.34950566e+02] [-9.43632288e-02 9.95537744e-01 -4.26049045e-04 -1.55512619e+01] [-4.91394482e-03 -3.78205627e-05 9.99987926e-01 -1.38623025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36587156000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:235.01, Y:-15.56, Z:-1.39 [[ 9.95614068e-01 9.34272962e-02 4.89561165e-03 2.35009136e+02] [-9.34263321e-02 9.95626104e-01 -4.25758830e-04 -1.55566507e+01] [-4.91397625e-03 -3.34875589e-05 9.99987926e-01 -1.38797751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.07, Y:-15.56, Z:-1.39 [[ 9.95706046e-01 9.24418926e-02 4.89563160e-03 2.35067288e+02] [-9.24409177e-02 9.95718080e-01 -4.25529306e-04 -1.55614082e+01] [-4.91400563e-03 -2.88545748e-05 9.99987926e-01 -1.38512439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.13, Y:-15.57, Z:-1.39 [[ 9.95840903e-01 9.09776267e-02 4.89565690e-03 2.35126003e+02] [-9.09766355e-02 9.95852936e-01 -4.25237951e-04 -1.55653481e+01] [-4.91404144e-03 -2.19210491e-05 9.99987926e-01 -1.38522396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:235.18, Y:-15.57, Z:-1.39 [[ 9.96042138e-01 8.87473496e-02 4.89567745e-03 2.35183952e+02] [-8.87463326e-02 9.96054169e-01 -4.25001301e-04 -1.55701101e+01] [-4.91407767e-03 -1.11542145e-05 9.99987926e-01 -1.38586546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.24, Y:-15.58, Z:-1.39 [[ 9.96478689e-01 8.37033678e-02 4.89570272e-03 2.35242132e+02] [-8.37022914e-02 9.96490715e-01 -4.24710025e-04 -1.55753270e+01] [-4.91407196e-03 1.34329533e-05 9.99987926e-01 -1.38636850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.30, Y:-15.58, Z:-1.39 [[ 9.96674612e-01 8.13372616e-02 4.89572324e-03 2.35300594e+02] [-8.13361578e-02 9.96686635e-01 -4.24473289e-04 -1.55791852e+01] [-4.91402742e-03 2.48624327e-05 9.99987926e-01 -1.38534506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-15.58, Z:-1.39 [[ 9.96540189e-01 8.29679660e-02 4.89574390e-03 2.35358026e+02] [-8.29668831e-02 9.96552215e-01 -4.24234928e-04 -1.55826815e+01] [-4.91406233e-03 1.65825438e-05 9.99987926e-01 -1.38822284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.42, Y:-15.59, Z:-1.39 [[ 9.96283109e-01 8.59999862e-02 4.89576951e-03 2.35416992e+02] [-8.59989413e-02 9.96295138e-01 -4.23939075e-04 -1.55851979e+01] [-4.91409012e-03 1.33234486e-06 9.99987926e-01 -1.38835591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.47, Y:-15.59, Z:-1.39 [[ 9.96185740e-01 8.71206237e-02 4.89578972e-03 2.35474369e+02] [-8.71195935e-02 9.96197770e-01 -4.23705637e-04 -1.55871848e+01] [-4.91408830e-03 -4.42969650e-06 9.99987926e-01 -1.38847215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:-15.59, Z:-1.39 [[ 9.96309258e-01 8.56965233e-02 4.89581467e-03 2.35533475e+02] [-8.56954773e-02 9.96321286e-01 -4.23417077e-04 -1.55884524e+01] [-4.91408975e-03 2.30517898e-06 9.99987926e-01 -1.38790847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:-15.59, Z:-1.39 [[ 9.96483128e-01 8.36505040e-02 4.89583432e-03 2.35592228e+02] [-8.36494344e-02 9.96495155e-01 -4.23189783e-04 -1.55922633e+01] [-4.91407522e-03 1.21677070e-05 9.99987926e-01 -1.38977862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02587156 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:-15.59, Z:-1.39 [[ 9.96611606e-01 8.21056432e-02 4.89585438e-03 2.35650116e+02] [-8.21045561e-02 9.96623632e-01 -4.22957546e-04 -1.55938264e+01] [-4.91405138e-03 1.95524486e-05 9.99987926e-01 -1.38932727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08587156000002 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:-15.60, Z:-1.39 [[ 9.96604152e-01 8.21960794e-02 4.89587906e-03 2.35709250e+02] [-8.21949948e-02 9.96616177e-01 -4.22671735e-04 -1.55961027e+01] [-4.91405423e-03 1.88196516e-05 9.99987926e-01 -1.38974219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14587156000002 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:235.77, Y:-15.60, Z:-1.39 [[ 9.96597571e-01 8.22758271e-02 4.89589923e-03 2.35768054e+02] [-8.22747447e-02 9.96609597e-01 -4.22437931e-04 -1.55988364e+01] [-4.91405659e-03 1.81917570e-05 9.99987926e-01 -1.38852463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20587156 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:-15.60, Z:-1.39 [[ 9.96753885e-01 8.03599555e-02 4.89592018e-03 2.35826094e+02] [-8.03588511e-02 9.96765909e-01 -4.22194990e-04 -1.56029835e+01] [-4.91401390e-03 2.73939756e-05 9.99987926e-01 -1.38928042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:235.88, Y:-15.61, Z:-1.39 [[ 9.96917489e-01 7.83042129e-02 4.89594583e-03 2.35884913e+02] [-7.83030852e-02 9.96929510e-01 -4.21897307e-04 -1.56074826e+01] [-4.91394922e-03 3.72291406e-05 9.99987926e-01 -1.38968911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:235.94, Y:-15.61, Z:-1.39 [[ 9.97106441e-01 7.58602359e-02 4.89596582e-03 2.35942150e+02] [-7.58590798e-02 9.97118459e-01 -4.21665195e-04 -1.56126429e+01] [-4.91384552e-03 4.90416192e-05 9.99987926e-01 -1.39004314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:-15.62, Z:-1.39 [[ 9.97360041e-01 7.24498235e-02 4.89599061e-03 2.36000903e+02] [-7.24486277e-02 9.97372056e-01 -4.21377223e-04 -1.56196264e+01] [-4.91365293e-03 6.55570040e-05 9.99987926e-01 -1.38944324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:-15.63, Z:-1.39 [[ 9.97547583e-01 6.98201116e-02 4.89601067e-03 2.36059941e+02] [-6.98188854e-02 9.97559595e-01 -4.21143987e-04 -1.56250821e+01] [-4.91346674e-03 7.82771590e-05 9.99987926e-01 -1.39045359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:236.12, Y:-15.63, Z:-1.39 [[ 9.97754734e-01 6.67946008e-02 4.89603042e-03 2.36117055e+02] [-6.67933393e-02 9.97766743e-01 -4.20914318e-04 -1.56335837e+01] [-4.91321112e-03 9.29470332e-05 9.99987926e-01 -1.39126647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:-15.64, Z:-1.39 [[ 9.97808618e-01 6.59847772e-02 4.89605471e-03 2.36175374e+02] [-6.59835072e-02 9.97820625e-01 -4.20631524e-04 -1.56409516e+01] [-4.91313965e-03 9.66508976e-05 9.99987926e-01 -1.39014380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:236.23, Y:-15.65, Z:-1.39 [[ 9.97671028e-01 6.80334363e-02 4.89607466e-03 2.36232812e+02] [-6.80321922e-02 9.97683038e-01 -4.20399195e-04 -1.56478581e+01] [-4.91333184e-03 8.63294052e-05 9.99987926e-01 -1.39221411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:236.29, Y:-15.66, Z:-1.40 [[ 9.97539204e-01 6.99397169e-02 4.89609930e-03 2.36290270e+02] [-6.99384971e-02 9.97551217e-01 -4.20112091e-04 -1.56568593e+01] [-4.91349233e-03 7.66524541e-05 9.99987926e-01 -1.39641999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:-15.67, Z:-1.40 [[ 9.97554328e-01 6.97236685e-02 4.89612508e-03 2.36348340e+02] [-6.97224477e-02 9.97566341e-01 -4.19811431e-04 -1.56658023e+01] [-4.91348037e-03 7.74148857e-05 9.99987926e-01 -1.39696502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:236.41, Y:-15.67, Z:-1.40 [[ 9.97595499e-01 6.91321087e-02 4.89614460e-03 2.36407283e+02] [-6.91308818e-02 9.97607511e-01 -4.19583656e-04 -1.56725888e+01] [-4.91343732e-03 8.00999734e-05 9.99987926e-01 -1.39593289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86587156000002 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:236.47, Y:-15.68, Z:-1.40 [[ 9.97597746e-01 6.90996720e-02 4.89616426e-03 2.36465333e+02] [-6.90984459e-02 9.97609758e-01 -4.19354108e-04 -1.56829380e+01] [-4.91343847e-03 8.00293719e-05 9.99987926e-01 -1.39801170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:236.52, Y:-15.69, Z:-1.40 [[ 9.97527438e-01 7.01073345e-02 4.89618486e-03 2.36523770e+02] [-7.01061216e-02 9.97539451e-01 -4.19113434e-04 -1.56913074e+01] [-4.91352048e-03 7.48246191e-05 9.99987926e-01 -1.39810491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:-15.70, Z:-1.40 [[ 9.97447829e-01 7.12310013e-02 4.89620008e-03 2.36582204e+02] [-7.12298028e-02 9.97459844e-01 -4.18935532e-04 -1.56985735e+01] [-4.91360416e-03 6.91109702e-05 9.99987926e-01 -1.39718808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:236.64, Y:-15.71, Z:-1.40 [[ 9.97377154e-01 7.22138469e-02 4.89622004e-03 2.36640740e+02] [-7.22126614e-02 9.97389170e-01 -4.18702073e-04 -1.57084459e+01] [-4.91367293e-03 6.40348018e-05 9.99987926e-01 -1.39574355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:236.70, Y:-15.72, Z:-1.40 [[ 9.97370117e-01 7.23109740e-02 4.89623502e-03 2.36698207e+02] [-7.23097906e-02 9.97382133e-01 -4.18526826e-04 -1.57198833e+01] [-4.91368141e-03 6.33804202e-05 9.99987926e-01 -1.39647868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:-15.73, Z:-1.40 [[ 9.97211000e-01 7.44731403e-02 4.89624975e-03 2.36757082e+02] [-7.44719838e-02 9.97223018e-01 -4.18354455e-04 -1.57320554e+01] [-4.91380913e-03 5.25542319e-05 9.99987926e-01 -1.39575269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:-15.74, Z:-1.40 [[ 9.96781558e-01 8.00159457e-02 4.89625945e-03 2.36815089e+02] [-8.00148566e-02 9.96793583e-01 -4.18240933e-04 -1.57406570e+01] [-4.91402595e-03 2.51213512e-05 9.99987926e-01 -1.39601462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:236.87, Y:-15.75, Z:-1.39 [[ 9.96385888e-01 8.48008722e-02 4.89627881e-03 2.36873736e+02] [-8.47998419e-02 9.96397919e-01 -4.18014144e-04 -1.57482532e+01] [-4.91408998e-03 1.29972539e-06 9.99987926e-01 -1.39488893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:236.93, Y:-15.76, Z:-1.40 [[ 9.95711199e-01 9.23863308e-02 4.89629810e-03 2.36932636e+02] [-9.23853932e-02 9.95723237e-01 -4.17788032e-04 -1.57550300e+01] [-4.91395570e-03 -3.63502036e-05 9.99987926e-01 -1.39557888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:236.99, Y:-15.76, Z:-1.40 [[ 9.95103466e-01 9.87173634e-02 4.89631735e-03 2.36991119e+02] [-9.87165036e-02 9.95115510e-01 -4.17562393e-04 -1.57603505e+01] [-4.91362199e-03 -6.78295447e-05 9.99987926e-01 -1.39712534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:237.05, Y:-15.76, Z:-1.40 [[ 9.94537977e-01 1.04260439e-01 4.89633779e-03 2.37048952e+02] [-1.04259647e-01 9.94550025e-01 -4.17322595e-04 -1.57638704e+01] [-4.91316310e-03 -9.54472813e-05 9.99987926e-01 -1.39796782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:237.11, Y:-15.76, Z:-1.39 [[ 9.94175116e-01 1.07665517e-01 4.89636313e-03 2.37108046e+02] [-1.07664769e-01 9.94187167e-01 -4.17025058e-04 -1.57646590e+01] [-4.91280061e-03 -1.12569867e-04 9.99987926e-01 -1.39489860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:237.17, Y:-15.77, Z:-1.40 [[ 9.94189700e-01 1.07530769e-01 4.89638358e-03 2.37165801e+02] [-1.07530020e-01 9.94201751e-01 -4.16784826e-04 -1.57683196e+01] [-4.91281032e-03 -1.12145041e-04 9.99987926e-01 -1.39806986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64587156000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:237.22, Y:-15.77, Z:-1.40 [[ 9.94464264e-01 1.04961201e-01 4.89640872e-03 2.37224242e+02] [-1.04960422e-01 9.94476313e-01 -4.16489207e-04 -1.57703381e+01] [-4.91307770e-03 -9.97454936e-05 9.99987926e-01 -1.39988102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:237.28, Y:-15.77, Z:-1.40 [[ 9.95103507e-01 9.87169428e-02 4.89642806e-03 2.37283207e+02] [-9.87160893e-02 9.95115551e-01 -4.16261761e-04 -1.57718874e+01] [-4.91360379e-03 -6.91326908e-05 9.99987926e-01 -1.39787883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:-15.77, Z:-1.40 [[ 9.95636292e-01 9.31901174e-02 4.89644795e-03 2.37341747e+02] [-9.31891983e-02 9.95648332e-01 -4.16027668e-04 -1.57733231e+01] [-4.91390990e-03 -4.20838133e-05 9.99987926e-01 -1.39904379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:-15.78, Z:-1.40 [[ 9.96147954e-01 8.75515720e-02 4.89646767e-03 2.37400858e+02] [-8.75505858e-02 9.96159988e-01 -4.15795402e-04 -1.57753282e+01] [-4.91406872e-03 -1.44948741e-05 9.99987926e-01 -1.39842926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88587156 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:-15.78, Z:-1.40 [[ 9.96830563e-01 7.94031029e-02 4.89648744e-03 2.37460153e+02] [-7.94020196e-02 9.96842589e-01 -4.15562436e-04 -1.57769138e+01] [-4.91402416e-03 2.54543456e-05 9.99987926e-01 -1.40026659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:-15.78, Z:-1.40 [[ 9.97282863e-01 7.35045286e-02 4.89650705e-03 2.37518802e+02] [-7.35033753e-02 9.97294882e-01 -4.15331295e-04 -1.57812043e+01] [-4.91379015e-03 5.42929879e-05 9.99987926e-01 -1.40104531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:-15.79, Z:-1.40 [[ 9.97853526e-01 6.53020960e-02 4.89652687e-03 2.37578361e+02] [-6.53008450e-02 9.97865536e-01 -4.15097462e-04 -1.57853791e+01] [-4.91318214e-03 9.44591239e-05 9.99987926e-01 -1.40037848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06587156 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:237.64, Y:-15.79, Z:-1.40 [[ 9.98228848e-01 5.92890531e-02 4.89653685e-03 2.37637585e+02] [-5.92877304e-02 9.98240849e-01 -4.14979664e-04 -1.57925060e+01] [-4.91252686e-03 1.23940115e-04 9.99987926e-01 -1.39807695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:237.70, Y:-15.80, Z:-1.40 [[ 9.98337329e-01 5.74334496e-02 4.89654680e-03 2.37695814e+02] [-5.74321051e-02 9.98349328e-01 -4.14862289e-04 -1.57986522e+01] [-4.91229118e-03 1.32953519e-04 9.99987926e-01 -1.39942217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:-15.80, Z:-1.40 [[ 9.98442315e-01 5.55784780e-02 4.89656146e-03 2.37754808e+02] [-5.55771120e-02 9.98454312e-01 -4.14689130e-04 -1.58049344e+01] [-4.91204070e-03 1.41906430e-04 9.99987926e-01 -1.40092471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24587156 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:237.81, Y:-15.81, Z:-1.40 [[ 9.98436383e-01 5.56849475e-02 4.89657141e-03 2.37814136e+02] [-5.56835834e-02 9.98448380e-01 -4.14571614e-04 -1.58146818e+01] [-4.91205919e-03 1.41264740e-04 9.99987926e-01 -1.40264959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:237.87, Y:-15.82, Z:-1.40 [[ 9.98158916e-01 6.04549504e-02 4.89657635e-03 2.37873111e+02] [-6.04536440e-02 9.98170920e-01 -4.14513349e-04 -1.58219866e+01] [-4.91267950e-03 1.17734312e-04 9.99987926e-01 -1.39996501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36587156000002 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:-15.83, Z:-1.40 [[ 9.97686811e-01 6.78015559e-02 4.89658635e-03 2.37931956e+02] [-6.78003385e-02 9.97698823e-01 -4.14395182e-04 -1.58300050e+01] [-4.91341507e-03 8.14463961e-05 9.99987926e-01 -1.40188574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42587156 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:237.99, Y:-15.84, Z:-1.40 [[ 9.97222142e-01 7.43237720e-02 4.89660117e-03 2.37989396e+02] [-7.43226340e-02 9.97234162e-01 -4.14219992e-04 -1.58355585e+01] [-4.91384435e-03 4.91410510e-05 9.99987926e-01 -1.40448747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:238.05, Y:-15.84, Z:-1.40 [[ 9.96954690e-01 7.78290988e-02 4.89662586e-03 2.38048030e+02] [-7.78280045e-02 9.96966715e-01 -4.13927883e-04 -1.58421406e+01] [-4.91398863e-03 3.15727251e-05 9.99987926e-01 -1.40491355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:238.11, Y:-15.85, Z:-1.41 [[ 9.96896230e-01 7.85743594e-02 4.89664517e-03 2.38106626e+02] [-7.85732752e-02 9.96908255e-01 -4.13699273e-04 -1.58478277e+01] [-4.91401215e-03 2.76697962e-05 9.99987926e-01 -1.40632518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60587156 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:238.17, Y:-15.86, Z:-1.40 [[ 9.96894795e-01 7.85925621e-02 4.89666464e-03 2.38165215e+02] [-7.85914792e-02 9.96906820e-01 -4.13468668e-04 -1.58565478e+01] [-4.91401394e-03 2.73486455e-05 9.99987926e-01 -1.40360980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.22, Y:-15.86, Z:-1.40 [[ 9.96893101e-01 7.86140415e-02 4.89668408e-03 2.38222946e+02] [-7.86129601e-02 9.96905127e-01 -4.13238334e-04 -1.58644602e+01] [-4.91401580e-03 2.70116140e-05 9.99987926e-01 -1.40434401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72587156 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:-15.87, Z:-1.40 [[ 9.96855846e-01 7.90850412e-02 4.89669537e-03 2.38281878e+02] [-7.90839660e-02 9.96867873e-01 -4.13104558e-04 -1.58701177e+01] [-4.91402869e-03 2.45556034e-05 9.99987926e-01 -1.40371434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:-15.88, Z:-1.40 [[ 9.96809977e-01 7.96611110e-02 4.89671442e-03 2.38341140e+02] [-7.96600439e-02 9.96822004e-01 -4.12878625e-04 -1.58799771e+01] [-4.91404305e-03 2.14890470e-05 9.99987926e-01 -1.40422572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:-15.89, Z:-1.41 [[ 9.96797357e-01 7.98188684e-02 4.89672386e-03 2.38399486e+02] [-7.98178038e-02 9.96809384e-01 -4.12766686e-04 -1.58897319e+01] [-4.91404686e-03 2.05989976e-05 9.99987926e-01 -1.40609442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:-15.90, Z:-1.41 [[ 9.96789979e-01 7.99109537e-02 4.89673789e-03 2.38458364e+02] [-7.99098910e-02 9.96802006e-01 -4.12600077e-04 -1.58962377e+01] [-4.91404942e-03 1.99778304e-05 9.99987926e-01 -1.40686637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:-15.90, Z:-1.41 [[ 9.96647479e-01 8.16689974e-02 4.89674721e-03 2.38516011e+02] [-8.16679565e-02 9.96659508e-01 -4.12489512e-04 -1.59048606e+01] [-4.91407727e-03 1.11992940e-05 9.99987926e-01 -1.40897818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:238.57, Y:-15.91, Z:-1.41 [[ 9.96299232e-01 8.58129523e-02 4.89676104e-03 2.38574667e+02] [-8.58119623e-02 9.96311265e-01 -4.12325267e-04 -1.59137596e+01] [-4.91408103e-03 -9.40132686e-06 9.99987926e-01 -1.41021514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08587156000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:-15.92, Z:-1.41 [[ 9.95767807e-01 9.17741562e-02 4.89677007e-03 2.38633041e+02] [-9.17732387e-02 9.95779847e-01 -4.12218003e-04 -1.59202922e+01] [-4.91393591e-03 -3.89190312e-05 9.99987926e-01 -1.40847425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14587156000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:238.69, Y:-15.93, Z:-1.41 [[ 9.95380240e-01 9.58863920e-02 4.89678817e-03 2.38691389e+02] [-9.58855253e-02 9.95392283e-01 -4.12002873e-04 -1.59271697e+01] [-4.91373062e-03 -5.94315868e-05 9.99987926e-01 -1.40670007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20587156 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:-15.93, Z:-1.41 [[ 9.94918597e-01 1.00563443e-01 4.89680614e-03 2.38749827e+02] [-1.00562634e-01 9.94930644e-01 -4.11789109e-04 -1.59328745e+01] [-4.91339342e-03 -8.27390827e-05 9.99987926e-01 -1.40824236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:-15.94, Z:-1.41 [[ 9.94680339e-01 1.02893360e-01 4.89682435e-03 2.38808706e+02] [-1.02892580e-01 9.94692388e-01 -4.11572468e-04 -1.59383177e+01] [-4.91318198e-03 -9.44638510e-05 9.99987926e-01 -1.41101782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:238.87, Y:-15.95, Z:-1.41 [[ 9.94498791e-01 1.04633526e-01 4.89684238e-03 2.38866825e+02] [-1.04632768e-01 9.94510842e-01 -4.11357820e-04 -1.59457424e+01] [-4.91300466e-03 -1.03275320e-04 9.99987926e-01 -1.41139684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:-15.95, Z:-1.41 [[ 9.94369957e-01 1.05850881e-01 4.89686035e-03 2.38925162e+02] [-1.05850139e-01 9.94382009e-01 -4.11143889e-04 -1.59509352e+01] [-4.91286977e-03 -1.09504219e-04 9.99987926e-01 -1.40883575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:238.98, Y:-15.95, Z:-1.41 [[ 9.94020597e-01 1.09082870e-01 4.89687943e-03 2.38982837e+02] [-1.09082168e-01 9.94032651e-01 -4.10916484e-04 -1.59525253e+01] [-4.91248199e-03 -1.25702777e-04 9.99987926e-01 -1.40937209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:-15.95, Z:-1.41 [[ 9.93466530e-01 1.14018748e-01 4.89690304e-03 2.39040773e+02] [-1.14018107e-01 9.93478587e-01 -4.10634865e-04 -1.59514925e+01] [-4.91178839e-03 -1.50383623e-04 9.99987926e-01 -1.41058759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:-15.95, Z:-1.41 [[ 9.93041663e-01 1.17661699e-01 4.89692616e-03 2.39099308e+02] [-1.17661105e-01 9.93053723e-01 -4.10359061e-04 -1.59506457e+01] [-4.91119429e-03 -1.68674096e-04 9.99987926e-01 -1.41239230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.16, Y:-15.95, Z:-1.41 [[ 9.93240655e-01 1.15969915e-01 4.89694890e-03 2.39158706e+02] [-1.15969301e-01 9.93252714e-01 -4.10087463e-04 -1.59466637e+01] [-4.91146559e-03 -1.60580203e-04 9.99987926e-01 -1.40768391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:-15.94, Z:-1.41 [[ 9.94091731e-01 1.08432696e-01 4.89696819e-03 2.39217394e+02] [-1.08431992e-01 9.94103785e-01 -4.09856972e-04 -1.59443153e+01] [-4.91253651e-03 -1.23552588e-04 9.99987926e-01 -1.40819873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.28, Y:-15.94, Z:-1.41 [[ 9.94754187e-01 1.02176938e-01 4.89699207e-03 2.39276818e+02] [-1.02176159e-01 9.94766236e-01 -4.09571429e-04 -1.59446515e+01] [-4.91321113e-03 -9.29329482e-05 9.99987926e-01 -1.40608215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.34, Y:-15.94, Z:-1.41 [[ 9.95675364e-01 9.27716980e-02 4.89701070e-03 2.39335877e+02] [-9.27708066e-02 9.95687406e-01 -4.09348624e-04 -1.59446721e+01] [-4.91386784e-03 -4.67212920e-05 9.99987926e-01 -1.40894224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.40, Y:-15.94, Z:-1.41 [[ 9.96422728e-01 8.43668562e-02 4.89702945e-03 2.39395450e+02] [-8.43658644e-02 9.96434761e-01 -4.09124123e-04 -1.59437657e+01] [-4.91408689e-03 -5.48154808e-06 9.99987926e-01 -1.41175300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:-15.94, Z:-1.41 [[ 9.97050827e-01 7.65876385e-02 4.89704393e-03 2.39454936e+02] [-7.65865537e-02 9.97062853e-01 -4.08950812e-04 -1.59440828e+01] [-4.91398117e-03 3.26970276e-05 9.99987926e-01 -1.41421863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:-15.95, Z:-1.41 [[ 9.97492242e-01 7.06062754e-02 4.89705818e-03 2.39512650e+02] [-7.06051193e-02 9.97504261e-01 -4.08780115e-04 -1.59454660e+01] [-4.91369884e-03 6.19976166e-05 9.99987926e-01 -1.41215848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.57, Y:-15.95, Z:-1.41 [[ 9.97799306e-01 6.61253665e-02 4.89708156e-03 2.39571257e+02] [-6.61241578e-02 9.97811319e-01 -4.08499811e-04 -1.59484990e+01] [-4.91337561e-03 8.37854344e-05 9.99987926e-01 -1.41004576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:-15.95, Z:-1.41 [[ 9.98045389e-01 6.23010444e-02 4.89709535e-03 2.39630161e+02] [-6.22997905e-02 9.98057398e-01 -4.08334425e-04 -1.59549295e+01] [-4.91302190e-03 1.02448276e-04 9.99987926e-01 -1.41387133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:-15.96, Z:-1.42 [[ 9.98153792e-01 6.05394587e-02 4.89710442e-03 2.39689863e+02] [-6.05381841e-02 9.98165799e-01 -4.08225613e-04 -1.59610237e+01] [-4.91283590e-03 1.11010134e-04 9.99987926e-01 -1.41632460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.75, Y:-15.97, Z:-1.42 [[ 9.98083764e-01 6.16832152e-02 4.89710897e-03 2.39748037e+02] [-6.16819547e-02 9.98095772e-01 -4.08171045e-04 -1.59676161e+01] [-4.91296106e-03 1.05325639e-04 9.99987926e-01 -1.41822116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.81, Y:-15.97, Z:-1.42 [[ 9.97891437e-01 6.47201561e-02 4.89712261e-03 2.39805909e+02] [-6.47189328e-02 9.97903449e-01 -4.08007261e-04 -1.59749334e+01] [-4.91326184e-03 9.02104021e-05 9.99987926e-01 -1.41656122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:-15.98, Z:-1.41 [[ 9.97668660e-01 6.80680690e-02 4.89713600e-03 2.39864662e+02] [-6.80668869e-02 9.97680677e-01 -4.07846489e-04 -1.59831437e+01] [-4.91353928e-03 7.35628581e-05 9.99987926e-01 -1.41290109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40587156 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:-15.99, Z:-1.42 [[ 9.97560862e-01 6.96300578e-02 4.89714572e-03 2.39922701e+02] [-6.96288951e-02 9.97572880e-01 -4.07729749e-04 -1.59908303e+01] [-4.91365001e-03 6.57523939e-05 9.99987926e-01 -1.41516226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:-16.00, Z:-1.42 [[ 9.97407114e-01 7.17987982e-02 4.89716018e-03 2.39981928e+02] [-7.17976624e-02 9.97419134e-01 -4.07556040e-04 -1.60001780e+01] [-4.91378330e-03 5.48946403e-05 9.99987926e-01 -1.41560717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:-16.01, Z:-1.42 [[ 9.97204063e-01 7.45659113e-02 4.89716986e-03 2.40041082e+02] [-7.45648095e-02 9.97216087e-01 -4.07439715e-04 -1.60099019e+01] [-4.91391767e-03 4.11440020e-05 9.99987926e-01 -1.41517885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:-16.02, Z:-1.42 [[ 9.96982541e-01 7.74714840e-02 4.89717958e-03 2.40099218e+02] [-7.74704178e-02 9.96994568e-01 -4.07322868e-04 -1.60185599e+01] [-4.91401734e-03 2.67072403e-05 9.99987926e-01 -1.41648645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64587156000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:-16.03, Z:-1.42 [[ 9.96661925e-01 8.14924853e-02 4.89719400e-03 2.40157922e+02] [-8.14914685e-02 9.96673956e-01 -4.07149423e-04 -1.60264751e+01] [-4.91408533e-03 6.71079731e-06 9.99987926e-01 -1.41781931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.22, Y:-16.03, Z:-1.42 [[ 9.96469928e-01 8.38075213e-02 4.89721291e-03 2.40216194e+02] [-8.38065335e-02 9.96481961e-01 -4.06921786e-04 -1.60325693e+01] [-4.91408743e-03 -4.93311546e-06 9.99987926e-01 -1.41732425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.27, Y:-16.04, Z:-1.42 [[ 9.96321372e-01 8.55554879e-02 4.89723230e-03 2.40274446e+02] [-8.55545224e-02 9.96333407e-01 -4.06688295e-04 -1.60395502e+01] [-4.91407056e-03 -1.37881308e-05 9.99987926e-01 -1.41981221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:-16.05, Z:-1.42 [[ 9.96088876e-01 8.82211282e-02 4.89725182e-03 2.40331449e+02] [-8.82201961e-02 9.96100914e-01 -4.06453090e-04 -1.60460030e+01] [-4.91401477e-03 -2.71731146e-05 9.99987926e-01 -1.42247411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.39, Y:-16.05, Z:-1.42 [[ 9.95875178e-01 9.06015783e-02 4.89727732e-03 2.40389004e+02] [-9.06006765e-02 9.95887219e-01 -4.06145633e-04 -1.60515119e+01] [-4.91393333e-03 -3.92262829e-05 9.99987926e-01 -1.42228517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:-16.06, Z:-1.42 [[ 9.95747167e-01 9.19977996e-02 4.89730121e-03 2.40447680e+02] [-9.19969161e-02 9.95759209e-01 -4.05857406e-04 -1.60579473e+01] [-4.91387076e-03 -4.64052458e-05 9.99987926e-01 -1.42196336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.51, Y:-16.07, Z:-1.42 [[ 9.95808338e-01 9.13332879e-02 4.89732011e-03 2.40505632e+02] [-9.13323974e-02 9.95820380e-01 -4.05629156e-04 -1.60657382e+01] [-4.91389862e-03 -4.33550908e-05 9.99987926e-01 -1.42264322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:-16.07, Z:-1.42 [[ 9.95881571e-01 9.05312812e-02 4.89733416e-03 2.40564544e+02] [-9.05303819e-02 9.95893612e-01 -4.05459439e-04 -1.60718666e+01] [-4.91393057e-03 -3.95679493e-05 9.99987926e-01 -1.42195097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:-16.08, Z:-1.42 [[ 9.95983361e-01 8.94044733e-02 4.89735276e-03 2.40623560e+02] [-8.94035615e-02 9.95995401e-01 -4.05234726e-04 -1.60788427e+01] [-4.91397062e-03 -3.42337339e-05 9.99987926e-01 -1.42285804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18587156 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:240.68, Y:-16.09, Z:-1.43 [[ 9.95809203e-01 9.13238583e-02 4.89736205e-03 2.40680625e+02] [-9.13229702e-02 9.95821244e-01 -4.05122410e-04 -1.60862256e+01] [-4.91389451e-03 -4.38170243e-05 9.99987926e-01 -1.42532711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24587156 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:-16.09, Z:-1.42 [[ 9.95504420e-01 9.45883965e-02 4.89738765e-03 2.40739460e+02] [-9.45875495e-02 9.95516465e-01 -4.04812713e-04 -1.60905164e+01] [-4.91372062e-03 -6.02390513e-05 9.99987926e-01 -1.42483680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:-16.10, Z:-1.42 [[ 9.95283423e-01 9.68861389e-02 4.89740554e-03 2.40798061e+02] [-9.68853207e-02 9.95295469e-01 -4.04596172e-04 -1.60951157e+01] [-4.91356530e-03 -7.17988431e-05 9.99987926e-01 -1.42357675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36587156000002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:240.86, Y:-16.10, Z:-1.42 [[ 9.95268411e-01 9.70402259e-02 4.89742497e-03 2.40856286e+02] [-9.70394108e-02 9.95280458e-01 -4.04360793e-04 -1.60993356e+01] [-4.91355063e-03 -7.27957095e-05 9.99987926e-01 -1.42283956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42587156 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:-16.10, Z:-1.42 [[ 9.95262235e-01 9.71035430e-02 4.89744412e-03 2.40913784e+02] [-9.71027297e-02 9.95274282e-01 -4.04128691e-04 -1.61028220e+01] [-4.91354251e-03 -7.33411688e-05 9.99987926e-01 -1.42216176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48587156 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:-16.11, Z:-1.42 [[ 9.95273057e-01 9.69925655e-02 4.89747145e-03 2.40971506e+02] [-9.69917525e-02 9.95285103e-01 -4.03797297e-04 -1.61060604e+01] [-4.91354571e-03 -7.31257688e-05 9.99987926e-01 -1.42254014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54587156 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:-16.11, Z:-1.42 [[ 9.95309777e-01 9.66150201e-02 4.89749437e-03 2.41029897e+02] [-9.66142039e-02 9.95321824e-01 -4.03519066e-04 -1.61084763e+01] [-4.91356903e-03 -7.15410480e-05 9.99987926e-01 -1.42319737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:-16.11, Z:-1.42 [[ 9.95481780e-01 9.48263722e-02 4.89751248e-03 2.41088843e+02] [-9.48255354e-02 9.95493825e-01 -4.03299106e-04 -1.61108134e+01] [-4.91368683e-03 -6.29323321e-05 9.99987926e-01 -1.42293014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:241.15, Y:-16.11, Z:-1.42 [[ 9.95656202e-01 9.29770986e-02 4.89753165e-03 2.41147285e+02] [-9.29762406e-02 9.95668246e-01 -4.03066286e-04 -1.61146917e+01] [-4.91379268e-03 -5.40386328e-05 9.99987926e-01 -1.42218032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:-16.12, Z:-1.42 [[ 9.96014248e-01 8.90597098e-02 4.89755090e-03 2.41206317e+02] [-8.90588056e-02 9.96026288e-01 -4.02832191e-04 -1.61180608e+01] [-4.91396556e-03 -3.49434319e-05 9.99987926e-01 -1.42027964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:-16.12, Z:-1.42 [[ 9.96445092e-01 8.41022779e-02 4.89756518e-03 2.41264918e+02] [-8.41013147e-02 9.96457127e-01 -4.02658479e-04 -1.61244491e+01] [-4.91407823e-03 -1.06646052e-05 9.99987926e-01 -1.42099261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:241.32, Y:-16.13, Z:-1.42 [[ 9.96883243e-01 7.87388930e-02 4.89757914e-03 2.41324446e+02] [-7.87378659e-02 9.96895274e-01 -4.02488603e-04 -1.61325344e+01] [-4.91406501e-03 1.56092146e-05 9.99987926e-01 -1.41956530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90587156 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:-16.14, Z:-1.42 [[ 9.97247511e-01 7.39825358e-02 4.89758871e-03 2.41383195e+02] [-7.39814518e-02 9.97259536e-01 -4.02372163e-04 -1.61432758e+01] [-4.91393556e-03 3.89339148e-05 9.99987926e-01 -1.41973677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96587156 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:-16.16, Z:-1.42 [[ 9.97384076e-01 7.21180941e-02 4.89758351e-03 2.41443407e+02] [-7.21169873e-02 9.97396099e-01 -4.02435458e-04 -1.61551694e+01] [-4.91385356e-03 4.81837492e-05 9.99987926e-01 -1.41858882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02587156 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:-16.17, Z:-1.42 [[ 9.97237595e-01 7.41160721e-02 4.89758351e-03 2.41501730e+02] [-7.41149894e-02 9.97249621e-01 -4.02435458e-04 -1.61666745e+01] [-4.91394023e-03 3.83394181e-05 9.99987926e-01 -1.42098344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08587156000002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:-16.18, Z:-1.42 [[ 9.97021848e-01 7.69639354e-02 4.89757826e-03 2.41561930e+02] [-7.69628868e-02 9.97033877e-01 -4.02499361e-04 -1.61762100e+01] [-4.91402937e-03 2.43688963e-05 9.99987926e-01 -1.42104792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14587156000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:-16.19, Z:-1.42 [[ 9.96564645e-01 8.26735842e-02 4.89757826e-03 2.41620375e+02] [-8.26726045e-02 9.96576680e-01 -4.02499361e-04 -1.61877577e+01] [-4.91408834e-03 -3.77891697e-06 9.99987926e-01 -1.42358277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-16.20, Z:-1.42 [[ 9.96006618e-01 8.91449981e-02 4.89758734e-03 2.41679834e+02] [-8.91440971e-02 9.96018658e-01 -4.02388850e-04 -1.61989233e+01] [-4.91395932e-03 -3.58090436e-05 9.99987926e-01 -1.42419842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:-16.21, Z:-1.42 [[ 9.95421079e-01 9.54614521e-02 4.89758734e-03 2.41739190e+02] [-9.54606276e-02 9.95433125e-01 -4.02388850e-04 -1.62085755e+01] [-4.91363329e-03 -6.69804174e-05 9.99987926e-01 -1.42235121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:241.80, Y:-16.22, Z:-1.42 [[ 9.94780442e-01 1.01920979e-01 4.89759722e-03 2.41798234e+02] [-1.01920233e-01 9.94792493e-01 -4.02268474e-04 -1.62157116e+01] [-4.91309255e-03 -9.89954424e-05 9.99987926e-01 -1.42417722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.86, Y:-16.22, Z:-1.42 [[ 9.94264479e-01 1.06837073e-01 4.89760210e-03 2.41857317e+02] [-1.06836387e-01 9.94276533e-01 -4.02209139e-04 -1.62215898e+01] [-4.91254168e-03 -1.23339853e-04 9.99987926e-01 -1.42454165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:-16.23, Z:-1.42 [[ 9.94008662e-01 1.09191540e-01 4.89761083e-03 2.41916689e+02] [-1.09190883e-01 9.94020719e-01 -4.02102747e-04 -1.62254654e+01] [-4.91223286e-03 -1.35080838e-04 9.99987926e-01 -1.42414620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50587156 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:-16.23, Z:-1.42 [[ 9.93964563e-01 1.09592246e-01 4.89762008e-03 2.41975415e+02] [-1.09591595e-01 9.93976620e-01 -4.01990030e-04 -1.62272892e+01] [-4.91217485e-03 -1.37174150e-04 9.99987926e-01 -1.42380519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:-16.23, Z:-1.43 [[ 9.94099099e-01 1.08365098e-01 4.89762997e-03 2.42035417e+02] [-1.08364432e-01 9.94111155e-01 -4.01869565e-04 -1.62300346e+01] [-4.91233722e-03 -1.31230716e-04 9.99987926e-01 -1.42509308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.10, Y:-16.23, Z:-1.42 [[ 9.94195112e-01 1.07480661e-01 4.89763905e-03 2.42095095e+02] [-1.07479985e-01 9.94207167e-01 -4.01758855e-04 -1.62330308e+01] [-4.91244915e-03 -1.26971482e-04 9.99987926e-01 -1.42450206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68587156 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:-16.24, Z:-1.43 [[ 9.94327279e-01 1.06251004e-01 4.89764873e-03 2.42154708e+02] [-1.06250314e-01 9.94339333e-01 -4.01640805e-04 -1.62350985e+01] [-4.91259951e-03 -1.21014307e-04 9.99987926e-01 -1.42624792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74587156 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:-16.24, Z:-1.43 [[ 9.94557189e-01 1.04076951e-01 4.89765839e-03 2.42213955e+02] [-1.04076235e-01 9.94569241e-01 -4.01522979e-04 -1.62356857e+01] [-4.91284968e-03 -1.10392280e-04 9.99987926e-01 -1.42875360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80587156 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:-16.24, Z:-1.43 [[ 9.94852795e-01 1.01212297e-01 4.89766864e-03 2.42273966e+02] [-1.01211546e-01 9.94864846e-01 -4.01397927e-04 -1.62363316e+01] [-4.91314476e-03 -9.63687673e-05 9.99987926e-01 -1.42820890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86587156000002 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:-16.24, Z:-1.43 [[ 9.95318955e-01 9.65204175e-02 4.89767792e-03 2.42332593e+02] [-9.65196112e-02 9.95331002e-01 -4.01284642e-04 -1.62361495e+01] [-4.91354283e-03 -7.33157580e-05 9.99987926e-01 -1.43214941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92587156 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:-16.24, Z:-1.43 [[ 9.95719450e-01 9.22972835e-02 4.89769176e-03 2.42392345e+02] [-9.22964269e-02 9.95731494e-01 -4.01115704e-04 -1.62381777e+01] [-4.91380782e-03 -5.26407412e-05 9.99987926e-01 -1.43022500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98587156 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:-16.24, Z:-1.43 [[ 9.95903469e-01 9.02900486e-02 4.89770099e-03 2.42451702e+02] [-9.02891682e-02 9.95915511e-01 -4.01002955e-04 -1.62408084e+01] [-4.91390296e-03 -4.28491150e-05 9.99987926e-01 -1.43069364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04587156 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:-16.24, Z:-1.43 [[ 9.96090470e-01 8.82031066e-02 4.89771039e-03 2.42511111e+02] [-8.82022016e-02 9.96102510e-01 -4.00888108e-04 -1.62431736e+01] [-4.91398119e-03 -3.26680152e-05 9.99987926e-01 -1.43108449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:242.57, Y:-16.25, Z:-1.43 [[ 9.96309799e-01 8.56901183e-02 4.89771971e-03 2.42571126e+02] [-8.56891835e-02 9.96321837e-01 -4.00774180e-04 -1.62454861e+01] [-4.91404749e-03 -2.03863605e-05 9.99987926e-01 -1.43002178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16587156 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:-16.25, Z:-1.43 [[ 9.96653274e-01 8.15981810e-02 4.89772890e-03 2.42630276e+02] [-8.15971973e-02 9.96665308e-01 -4.00661886e-04 -1.62509372e+01] [-4.91408976e-03 -3.19970987e-07 9.99987926e-01 -1.43273052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:242.69, Y:-16.26, Z:-1.43 [[ 9.96942048e-01 7.79907999e-02 4.89773801e-03 2.42689816e+02] [-7.79897732e-02 9.96954079e-01 -4.00550440e-04 -1.62585468e+01] [-4.91405914e-03 1.73520991e-05 9.99987926e-01 -1.43348822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28587156 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:242.75, Y:-16.27, Z:-1.44 [[ 9.97014623e-01 7.70574675e-02 4.89773301e-03 2.42749892e+02] [-7.70564292e-02 9.97026653e-01 -4.00611639e-04 -1.62675067e+01] [-4.91404046e-03 2.20138453e-05 9.99987926e-01 -1.43718973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34587156 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:-16.27, Z:-1.44 [[ 9.96714554e-01 8.08462106e-02 4.89773301e-03 2.42809017e+02] [-8.08452181e-02 9.96726588e-01 -4.00611639e-04 -1.62734680e+01] [-4.91408864e-03 3.33715815e-06 9.99987926e-01 -1.43694371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:-16.28, Z:-1.44 [[ 9.96418431e-01 8.44175481e-02 4.89773739e-03 2.42868301e+02] [-8.44165990e-02 9.96430468e-01 -4.00558083e-04 -1.62797373e+01] [-4.91406889e-03 -1.43268763e-05 9.99987926e-01 -1.43681462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46587156 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:242.93, Y:-16.29, Z:-1.44 [[ 9.95977251e-01 8.94724970e-02 4.89774613e-03 2.42927372e+02] [-8.94716095e-02 9.95989292e-01 -4.00451156e-04 -1.62870692e+01] [-4.91393207e-03 -3.93689878e-05 9.99987926e-01 -1.43589825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:-16.29, Z:-1.43 [[ 9.95584719e-01 9.37394231e-02 4.89775481e-03 2.42986179e+02] [-9.37385877e-02 9.95596764e-01 -4.00344943e-04 -1.62940403e+01] [-4.91371694e-03 -6.05313108e-05 9.99987926e-01 -1.43305406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58587156000002 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:-16.30, Z:-1.44 [[ 9.95238637e-01 9.73450974e-02 4.89776908e-03 2.43044891e+02] [-9.73443066e-02 9.95250685e-01 -4.00170278e-04 -1.62991527e+01] [-4.91346265e-03 -7.85050130e-05 9.99987926e-01 -1.43609909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64587156000002 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:-16.30, Z:-1.44 [[ 9.94996012e-01 9.97945243e-02 4.89778318e-03 2.43103203e+02] [-9.97937639e-02 9.95008063e-01 -3.99997650e-04 -1.63031330e+01] [-4.91325133e-03 -9.07721512e-05 9.99987926e-01 -1.43633026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.16, Y:-16.31, Z:-1.43 [[ 9.94937320e-01 1.00377991e-01 4.89780003e-03 2.43162684e+02] [-1.00377238e-01 9.94949371e-01 -3.99791204e-04 -1.63081502e+01] [-4.91319330e-03 -9.38604516e-05 9.99987926e-01 -1.43493497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76587156 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:243.22, Y:-16.31, Z:-1.44 [[ 9.95056769e-01 9.91868801e-02 4.89780971e-03 2.43220845e+02] [-9.91861140e-02 9.95068819e-01 -3.99672646e-04 -1.63133921e+01] [-4.91330000e-03 -8.80977398e-05 9.99987926e-01 -1.43530099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82587156 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:243.28, Y:-16.32, Z:-1.44 [[ 9.95157204e-01 9.81740812e-02 4.89782405e-03 2.43280869e+02] [-9.81733036e-02 9.95169253e-01 -3.99496750e-04 -1.63174182e+01] [-4.91338413e-03 -8.32734990e-05 9.99987926e-01 -1.43582863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:243.34, Y:-16.32, Z:-1.44 [[ 9.95343216e-01 9.62699007e-02 4.89783334e-03 2.43340058e+02] [-9.62691007e-02 9.95355264e-01 -3.99382889e-04 -1.63210883e+01] [-4.91353274e-03 -7.39869613e-05 9.99987926e-01 -1.43600696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94587156 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:243.40, Y:-16.32, Z:-1.43 [[ 9.95608140e-01 9.34903384e-02 4.89784256e-03 2.43400052e+02] [-9.34895053e-02 9.95620185e-01 -3.99269731e-04 -1.63249197e+01] [-4.91371878e-03 -6.03806838e-05 9.99987926e-01 -1.43424367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:-16.33, Z:-1.43 [[ 9.96039542e-01 8.87763599e-02 4.89785199e-03 2.43459690e+02] [-8.87754704e-02 9.96051583e-01 -3.99154028e-04 -1.63311809e+01] [-4.91394867e-03 -3.72359195e-05 9.99987926e-01 -1.43419238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:-16.34, Z:-1.44 [[ 9.96503096e-01 8.34121709e-02 4.89785666e-03 2.43519615e+02] [-8.34112169e-02 9.96515133e-01 -3.99096686e-04 -1.63382060e+01] [-4.91407780e-03 -1.08351006e-05 9.99987926e-01 -1.43687910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12587156 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:-16.35, Z:-1.44 [[ 9.96715797e-01 8.08308732e-02 4.89785666e-03 2.43578926e+02] [-8.08298880e-02 9.96727831e-01 -3.99096686e-04 -1.63461443e+01] [-4.91408938e-03 1.89276649e-06 9.99987926e-01 -1.43815954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:-16.35, Z:-1.44 [[ 9.96703574e-01 8.09814558e-02 4.89786124e-03 2.43638726e+02] [-8.09804727e-02 9.96715608e-01 -3.99040520e-04 -1.63532873e+01] [-4.91408963e-03 1.09399390e-06 9.99987926e-01 -1.43849035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:-16.36, Z:-1.44 [[ 9.96586176e-01 8.24136145e-02 4.89786124e-03 2.43698389e+02] [-8.24126486e-02 9.96598212e-01 -3.99040520e-04 -1.63605725e+01] [-4.91408613e-03 -5.96745177e-06 9.99987926e-01 -1.43705355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:243.76, Y:-16.37, Z:-1.44 [[ 9.96370141e-01 8.49856061e-02 4.89786124e-03 2.43757808e+02] [-8.49846713e-02 9.96382179e-01 -3.99040520e-04 -1.63680713e+01] [-4.91405435e-03 -1.86510687e-05 9.99987926e-01 -1.43864966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36587156000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:-16.37, Z:-1.44 [[ 9.96205326e-01 8.68962607e-02 4.89786569e-03 2.43817522e+02] [-8.68953493e-02 9.96217365e-01 -3.98985899e-04 -1.63744244e+01] [-4.91400924e-03 -2.81298725e-05 9.99987926e-01 -1.44128534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:-16.38, Z:-1.45 [[ 9.95583750e-01 9.37497085e-02 4.89786569e-03 2.43876859e+02] [-9.37488800e-02 9.95595796e-01 -3.98985899e-04 -1.63802318e+01] [-4.91369930e-03 -6.19455455e-05 9.99987926e-01 -1.44574515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:-16.38, Z:-1.44 [[ 9.95156024e-01 9.81860415e-02 4.89787448e-03 2.43936822e+02] [-9.81852672e-02 9.95168073e-01 -3.98877923e-04 -1.63839324e+01] [-4.91337256e-03 -8.39533473e-05 9.99987926e-01 -1.44410827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:-16.39, Z:-1.44 [[ 9.94966662e-01 1.00086722e-01 4.89788348e-03 2.43996211e+02] [-1.00085972e-01 9.94978713e-01 -3.98767368e-04 -1.63876944e+01] [-4.91320112e-03 -9.34491905e-05 9.99987926e-01 -1.44051126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:-16.39, Z:-1.44 [[ 9.94390307e-01 1.05659486e-01 4.89789318e-03 2.44054736e+02] [-1.05658803e-01 9.94402362e-01 -3.98648215e-04 -1.63901696e+01] [-4.91259752e-03 -1.21093612e-04 9.99987926e-01 -1.43878154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:-16.39, Z:-1.44 [[ 9.94242717e-01 1.07039386e-01 4.89790754e-03 2.44112840e+02] [-1.07038721e-01 9.94254773e-01 -3.98471770e-04 -1.63938925e+01] [-4.91242012e-03 -1.28088101e-04 9.99987926e-01 -1.44171132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:-16.40, Z:-1.44 [[ 9.94135786e-01 1.08028002e-01 4.89792151e-03 2.44172728e+02] [-1.08027350e-01 9.94147843e-01 -3.98299898e-04 -1.63959794e+01] [-4.91228565e-03 -1.33145299e-04 9.99987926e-01 -1.44443291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:-16.40, Z:-1.45 [[ 9.94110443e-01 1.08260970e-01 4.89793093e-03 2.44232515e+02] [-1.08260321e-01 9.94122500e-01 -3.98184008e-04 -1.63977932e+01] [-4.91225113e-03 -1.34412696e-04 9.99987926e-01 -1.44532352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:-16.40, Z:-1.44 [[ 9.94243395e-01 1.07033090e-01 4.89794023e-03 2.44292807e+02] [-1.07032427e-01 9.94255451e-01 -3.98069605e-04 -1.63967614e+01] [-4.91241039e-03 -1.28460353e-04 9.99987926e-01 -1.44275494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:-16.40, Z:-1.44 [[ 9.94578138e-01 1.03876547e-01 4.89794949e-03 2.44351881e+02] [-1.03875847e-01 9.94590192e-01 -3.97955671e-04 -1.63969346e+01] [-4.91279078e-03 -1.12980639e-04 9.99987926e-01 -1.44114938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:-16.40, Z:-1.44 [[ 9.94784241e-01 1.01883876e-01 4.89796830e-03 2.44410359e+02] [-1.01883152e-01 9.94796293e-01 -3.97723963e-04 -1.63988995e+01] [-4.91300237e-03 -1.03370918e-04 9.99987926e-01 -1.44386021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:-16.40, Z:-1.44 [[ 9.95060882e-01 9.91456035e-02 4.89798228e-03 2.44469490e+02] [-9.91448473e-02 9.95072933e-01 -3.97551840e-04 -1.63979428e+01] [-4.91326510e-03 -9.00214206e-05 9.99987926e-01 -1.44293801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:-16.40, Z:-1.45 [[ 9.95474133e-01 9.49065851e-02 4.89800101e-03 2.44528505e+02] [-9.49057787e-02 9.95486180e-01 -3.97320885e-04 -1.63968613e+01] [-4.91360069e-03 -6.93259361e-05 9.99987926e-01 -1.44595877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14587156000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:-16.40, Z:-1.44 [[ 9.95955037e-01 8.97194160e-02 4.89801493e-03 2.44587737e+02] [-8.97185477e-02 9.95967080e-01 -3.97149269e-04 -1.63968452e+01] [-4.91389362e-03 -4.38999708e-05 9.99987926e-01 -1.44493596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:-16.40, Z:-1.45 [[ 9.96404266e-01 8.45845646e-02 4.89803331e-03 2.44647194e+02] [-8.45836354e-02 9.96416304e-01 -3.96922399e-04 -1.63992978e+01] [-4.91405376e-03 -1.87982917e-05 9.99987926e-01 -1.44798462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:-16.40, Z:-1.45 [[ 9.96719248e-01 8.07883053e-02 4.89804239e-03 2.44705538e+02] [-8.07873308e-02 9.96731283e-01 -3.96810332e-04 -1.64006127e+01] [-4.91408971e-03 -1.91274874e-07 9.99987926e-01 -1.45012086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:-16.40, Z:-1.45 [[ 9.96867509e-01 7.89378106e-02 4.89805585e-03 2.44764042e+02] [-7.89368146e-02 9.96879542e-01 -3.96644155e-04 -1.64019850e+01] [-4.91408189e-03 8.76474436e-06 9.99987926e-01 -1.45052746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.82, Y:-16.40, Z:-1.45 [[ 9.96833748e-01 7.93630124e-02 4.89807361e-03 2.44823753e+02] [-7.93620226e-02 9.96845782e-01 -3.96424662e-04 -1.64044197e+01] [-4.91408547e-03 6.44845307e-06 9.99987926e-01 -1.44735714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:-16.41, Z:-1.45 [[ 9.96756519e-01 8.03271500e-02 4.89808324e-03 2.44882465e+02] [-8.03261723e-02 9.96768553e-01 -3.96305691e-04 -1.64064927e+01] [-4.91408945e-03 1.57600313e-06 9.99987926e-01 -1.44780532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.94, Y:-16.41, Z:-1.45 [[ 9.96768598e-01 8.01771232e-02 4.89809756e-03 2.44941408e+02] [-8.01761447e-02 9.96780632e-01 -3.96128590e-04 -1.64093613e+01] [-4.91408923e-03 2.13796052e-06 9.99987926e-01 -1.44531879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.00, Y:-16.41, Z:-1.45 [[ 9.96769880e-01 8.01611851e-02 4.89811681e-03 2.45000240e+02] [-8.01602075e-02 9.96781914e-01 -3.95890419e-04 -1.64130538e+01] [-4.91408929e-03 1.97758539e-06 9.99987926e-01 -1.44976204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.06, Y:-16.42, Z:-1.45 [[ 9.96516923e-01 8.32468037e-02 4.89812595e-03 2.45058733e+02] [-8.32458639e-02 9.96528961e-01 -3.95777249e-04 -1.64162677e+01] [-4.91407156e-03 -1.33500000e-05 9.99987926e-01 -1.44620601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:245.12, Y:-16.42, Z:-1.45 [[ 9.96322249e-01 8.55452137e-02 4.89814471e-03 2.45116244e+02] [-8.55443029e-02 9.96334289e-01 -3.95544968e-04 -1.64184961e+01] [-4.91402651e-03 -2.49181222e-05 9.99987926e-01 -1.44733189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.17, Y:-16.42, Z:-1.45 [[ 9.96056130e-01 8.85900347e-02 4.89816798e-03 2.45174719e+02] [-8.85891621e-02 9.96068172e-01 -3.95256610e-04 -1.64205756e+01] [-4.91392503e-03 -4.02268280e-05 9.99987926e-01 -1.44786534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.23, Y:-16.42, Z:-1.45 [[ 9.96018982e-01 8.90067191e-02 4.89818689e-03 2.45233327e+02] [-8.90058527e-02 9.96031025e-01 -3.95022138e-04 -1.64214899e+01] [-4.91390573e-03 -4.25177536e-05 9.99987926e-01 -1.44805223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.29, Y:-16.42, Z:-1.45 [[ 9.96089825e-01 8.82103681e-02 4.89820574e-03 2.45291398e+02] [-8.82094932e-02 9.96101867e-01 -3.94788240e-04 -1.64239786e+01] [-4.91393630e-03 -3.88236976e-05 9.99987926e-01 -1.44895466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.35, Y:-16.43, Z:-1.45 [[ 9.96170627e-01 8.72931282e-02 4.89822901e-03 2.45350186e+02] [-8.72922436e-02 9.96182668e-01 -3.94499358e-04 -1.64263106e+01] [-4.91396793e-03 -3.45887270e-05 9.99987926e-01 -1.44762728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.41, Y:-16.43, Z:-1.45 [[ 9.96393378e-01 8.47127099e-02 4.89824743e-03 2.45409532e+02] [-8.47117953e-02 9.96405418e-01 -3.94270469e-04 -1.64270698e+01] [-4.91404000e-03 -2.20908494e-05 9.99987926e-01 -1.44633830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:-16.43, Z:-1.45 [[ 9.96686226e-01 8.11946657e-02 4.89826599e-03 2.45467946e+02] [-8.11937097e-02 9.96698262e-01 -3.94039789e-04 -1.64310982e+01] [-4.91408713e-03 -4.97435636e-06 9.99987926e-01 -1.44618113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.53, Y:-16.44, Z:-1.45 [[ 9.97123062e-01 7.56413004e-02 4.89828450e-03 2.45526871e+02] [-7.56402785e-02 9.97135093e-01 -3.93809602e-04 -1.64370537e+01] [-4.91403964e-03 2.21690324e-05 9.99987926e-01 -1.44759884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:-16.44, Z:-1.45 [[ 9.97554178e-01 6.97256646e-02 4.89830273e-03 2.45585672e+02] [-6.97245725e-02 9.97566203e-01 -3.93582658e-04 -1.64433737e+01] [-4.91382407e-03 5.10879606e-05 9.99987926e-01 -1.44979087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:-16.45, Z:-1.45 [[ 9.97803477e-01 6.60622958e-02 4.89832075e-03 2.45644763e+02] [-6.60611606e-02 9.97815498e-01 -3.93358294e-04 -1.64505786e+01] [-4.91360651e-03 6.89055199e-05 9.99987926e-01 -1.45119984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:-16.46, Z:-1.45 [[ 9.97853402e-01 6.53038580e-02 4.89832965e-03 2.45703000e+02] [-6.53027143e-02 9.97865422e-01 -3.93247443e-04 -1.64590592e+01] [-4.91355436e-03 7.25290771e-05 9.99987926e-01 -1.45207230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.76, Y:-16.47, Z:-1.45 [[ 9.97858508e-01 6.52257923e-02 4.89834286e-03 2.45760659e+02] [-6.52246484e-02 9.97870528e-01 -3.93082820e-04 -1.64682078e+01] [-4.91355111e-03 7.27483454e-05 9.99987926e-01 -1.45315248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:-16.48, Z:-1.45 [[ 9.97766294e-01 6.66215374e-02 4.89835590e-03 2.45818999e+02] [-6.66204111e-02 9.97778315e-01 -3.92920189e-04 -1.64781353e+01] [-4.91365025e-03 6.57120360e-05 9.99987926e-01 -1.45119159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:-16.49, Z:-1.45 [[ 9.97663924e-01 6.81373636e-02 4.89836879e-03 2.45878475e+02] [-6.81362564e-02 9.97675948e-01 -3.92759418e-04 -1.64853501e+01] [-4.91374632e-03 5.80853900e-05 9.99987926e-01 -1.45173620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.94, Y:-16.49, Z:-1.45 [[ 9.97538101e-01 6.99552929e-02 4.89837740e-03 2.45938101e+02] [-6.99542081e-02 9.97550126e-01 -3.92652119e-04 -1.64933994e+01] [-4.91384508e-03 4.90233372e-05 9.99987926e-01 -1.45249693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:-16.50, Z:-1.46 [[ 9.97286322e-01 7.34574570e-02 4.89838593e-03 2.45997213e+02] [-7.34564150e-02 9.97298351e-01 -3.92545567e-04 -1.65026500e+01] [-4.91398761e-03 3.16624548e-05 9.99987926e-01 -1.45571717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:-16.51, Z:-1.45 [[ 9.96943741e-01 7.79691221e-02 4.89839440e-03 2.46056174e+02] [-7.79681350e-02 9.96955774e-01 -3.92439866e-04 -1.65118006e+01] [-4.91408078e-03 9.32179198e-06 9.99987926e-01 -1.45402075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70587156 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:-16.52, Z:-1.46 [[ 9.96720757e-01 8.07696669e-02 4.89840365e-03 2.46114028e+02] [-8.07687142e-02 9.96732793e-01 -3.92324351e-04 -1.65189954e+01] [-4.91408746e-03 -4.59994131e-06 9.99987926e-01 -1.45674066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.17, Y:-16.53, Z:-1.46 [[ 9.96717994e-01 8.08037487e-02 4.89841737e-03 2.46172155e+02] [-8.08027972e-02 9.96730031e-01 -3.92153026e-04 -1.65292267e+01] [-4.91408713e-03 -4.93984858e-06 9.99987926e-01 -1.45575049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:-16.54, Z:-1.45 [[ 9.96887569e-01 7.86840576e-02 4.89842967e-03 2.46231051e+02] [-7.86830813e-02 9.96899603e-01 -3.91999272e-04 -1.65377788e+01] [-4.91408669e-03 5.35566057e-06 9.99987926e-01 -1.45266747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.29, Y:-16.55, Z:-1.46 [[ 9.97144614e-01 7.53566455e-02 4.89843878e-03 2.46289408e+02] [-7.53556296e-02 9.97156645e-01 -3.91885505e-04 -1.65496858e+01] [-4.91404195e-03 2.16415828e-05 9.99987926e-01 -1.45780086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.35, Y:-16.56, Z:-1.46 [[ 9.97311471e-01 7.31152163e-02 4.89844325e-03 2.46348901e+02] [-7.31141736e-02 9.97323500e-01 -3.91829528e-04 -1.65618602e+01] [-4.91398127e-03 3.26304525e-05 9.99987926e-01 -1.45658863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:246.41, Y:-16.57, Z:-1.46 [[ 9.97341084e-01 7.27101669e-02 4.89844325e-03 2.46409124e+02] [-7.27091194e-02 9.97353112e-01 -3.91829528e-04 -1.65732304e+01] [-4.91396761e-03 3.46261906e-05 9.99987926e-01 -1.45660907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.47, Y:-16.58, Z:-1.46 [[ 9.97315746e-01 7.30568784e-02 4.89844325e-03 2.46469303e+02] [-7.30558350e-02 9.97327775e-01 -3.91829528e-04 -1.65821992e+01] [-4.91397936e-03 3.29178960e-05 9.99987926e-01 -1.45695847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:246.53, Y:-16.59, Z:-1.46 [[ 9.97155309e-01 7.52149864e-02 4.89843872e-03 2.46528979e+02] [-7.52139688e-02 9.97167341e-01 -3.91886242e-04 -1.65928488e+01] [-4.91403883e-03 2.23404298e-05 9.99987926e-01 -1.45512134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.59, Y:-16.60, Z:-1.46 [[ 9.96753687e-01 8.03622649e-02 4.89843872e-03 2.46589343e+02] [-8.03613095e-02 9.96765723e-01 -3.91886242e-04 -1.66019633e+01] [-4.91408867e-03 -3.03089366e-06 9.99987926e-01 -1.45746575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.65, Y:-16.61, Z:-1.46 [[ 9.96226344e-01 8.66549324e-02 4.89843872e-03 2.46649194e+02] [-8.66540530e-02 9.96238386e-01 -3.91886242e-04 -1.66077638e+01] [-4.91397156e-03 -3.40621706e-05 9.99987926e-01 -1.45841258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.71, Y:-16.61, Z:-1.46 [[ 9.95853707e-01 9.08372155e-02 4.89843872e-03 2.46708072e+02] [-9.08363866e-02 9.95865753e-01 -3.91886242e-04 -1.66131976e+01] [-4.91378521e-03 -5.46951069e-05 9.99987926e-01 -1.45656690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.77, Y:-16.62, Z:-1.46 [[ 9.95855844e-01 9.08137779e-02 4.89844315e-03 2.46768513e+02] [-9.08129491e-02 9.95867890e-01 -3.91830811e-04 -1.66176653e+01] [-4.91378588e-03 -5.46350647e-05 9.99987926e-01 -1.45639058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.83, Y:-16.62, Z:-1.46 [[ 9.96039450e-01 8.87773591e-02 4.89843877e-03 2.46828949e+02] [-8.87765053e-02 9.96051494e-01 -3.91885605e-04 -1.66218696e+01] [-4.91388782e-03 -4.45327529e-05 9.99987926e-01 -1.45788495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.89, Y:-16.63, Z:-1.46 [[ 9.96141019e-01 8.76303376e-02 4.89843877e-03 2.46889943e+02] [-8.76294700e-02 9.96153062e-01 -3.91885605e-04 -1.66277279e+01] [-4.91393584e-03 -3.88742672e-05 9.99987926e-01 -1.45760897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.95, Y:-16.63, Z:-1.46 [[ 9.96272174e-01 8.61264279e-02 4.89843010e-03 2.46951137e+02] [-8.61255415e-02 9.96284215e-01 -3.91993906e-04 -1.66301318e+01] [-4.91398962e-03 -3.13473241e-05 9.99987926e-01 -1.45861419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:-16.63, Z:-1.46 [[ 9.96415626e-01 8.44506076e-02 4.89842151e-03 2.47012389e+02] [-8.44497005e-02 9.96427666e-01 -3.92101266e-04 -1.66332829e+01] [-4.91403590e-03 -2.29744008e-05 9.99987926e-01 -1.45957736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:-16.64, Z:-1.46 [[ 9.96652075e-01 8.16127826e-02 4.89841197e-03 2.47072406e+02] [-8.16118406e-02 9.96664113e-01 -3.92220402e-04 -1.66377396e+01] [-4.91408162e-03 -8.86113844e-06 9.99987926e-01 -1.46188962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:-16.64, Z:-1.46 [[ 9.97034716e-01 7.67970094e-02 4.89840726e-03 2.47133449e+02] [-7.67960090e-02 9.97046749e-01 -3.92279163e-04 -1.66415619e+01] [-4.91406690e-03 1.49378153e-05 9.99987926e-01 -1.45927041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:247.19, Y:-16.65, Z:-1.46 [[ 9.97507722e-01 7.03871385e-02 4.89839770e-03 2.47194244e+02] [-7.03860602e-02 9.97519748e-01 -3.92398478e-04 -1.66472717e+01] [-4.91386825e-03 4.66415967e-05 9.99987926e-01 -1.45713424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:247.26, Y:-16.65, Z:-1.46 [[ 9.97800332e-01 6.61097925e-02 4.89833653e-03 2.47255308e+02] [-6.61086589e-02 9.97812352e-01 -3.93160566e-04 -1.66543867e+01] [-4.91361246e-03 6.84732840e-05 9.99987926e-01 -1.45885281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.32, Y:-16.66, Z:-1.46 [[ 9.97885862e-01 6.48059655e-02 4.89832739e-03 2.47317515e+02] [-6.48048156e-02 9.97897881e-01 -3.93274412e-04 -1.66618508e+01] [-4.91351706e-03 7.50077722e-05 9.99987926e-01 -1.46145798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.38, Y:-16.67, Z:-1.46 [[ 9.97855550e-01 6.52710410e-02 4.89826120e-03 2.47379233e+02] [-6.52698927e-02 9.97867569e-01 -3.94097189e-04 -1.66695866e+01] [-4.91353913e-03 7.35430849e-05 9.99987926e-01 -1.46125273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.44, Y:-16.68, Z:-1.46 [[ 9.97747717e-01 6.68991775e-02 4.89819403e-03 2.47441138e+02] [-6.68980447e-02 9.97759738e-01 -3.94930262e-04 -1.66778935e+01] [-4.91364130e-03 6.63611648e-05 9.99987926e-01 -1.46237466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.50, Y:-16.69, Z:-1.46 [[ 9.97292304e-01 7.33762094e-02 4.89812241e-03 2.47503084e+02] [-7.33751503e-02 9.97304332e-01 -3.95816487e-04 -1.66870349e+01] [-4.91396221e-03 3.53442681e-05 9.99987926e-01 -1.46143347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.56, Y:-16.69, Z:-1.46 [[ 9.96853765e-01 7.91111918e-02 4.89805691e-03 2.47563983e+02] [-7.91101979e-02 9.96865798e-01 -3.96625388e-04 -1.66940368e+01] [-4.91408292e-03 7.89125926e-06 9.99987926e-01 -1.46066190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:247.62, Y:-16.70, Z:-1.46 [[ 9.96084838e-01 8.82666700e-02 4.89804739e-03 2.47623842e+02] [-8.82657862e-02 9.96096880e-01 -3.96742878e-04 -1.66995963e+01] [-4.91394890e-03 -3.71404387e-05 9.99987926e-01 -1.46216227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.68, Y:-16.70, Z:-1.47 [[ 9.95440250e-01 9.52613098e-02 4.89802284e-03 2.47684678e+02] [-9.52605091e-02 9.95452298e-01 -3.97045781e-04 -1.67029888e+01] [-4.91357119e-03 -7.13527979e-05 9.99987926e-01 -1.46531777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:247.74, Y:-16.71, Z:-1.46 [[ 9.95066041e-01 9.90938152e-02 4.89802284e-03 2.47743867e+02] [-9.90930609e-02 9.95078091e-01 -3.97045781e-04 -1.67055680e+01] [-4.91326000e-03 -9.02733028e-05 9.99987926e-01 -1.46373093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.80, Y:-16.71, Z:-1.46 [[ 9.94908943e-01 1.00658856e-01 4.89802747e-03 2.47803866e+02] [-1.00658121e-01 9.94920994e-01 -3.96988645e-04 -1.67089432e+01] [-4.91311078e-03 -9.80586883e-05 9.99987926e-01 -1.46439818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.86, Y:-16.71, Z:-1.46 [[ 9.94904646e-01 1.00701318e-01 4.89802747e-03 2.47863881e+02] [-1.00700584e-01 9.94916697e-01 -3.96988645e-04 -1.67114814e+01] [-4.91310660e-03 -9.82683773e-05 9.99987926e-01 -1.46305070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.93, Y:-16.71, Z:-1.46 [[ 9.95131868e-01 9.84305546e-02 4.89802747e-03 2.47925159e+02] [-9.84297925e-02 9.95143918e-01 -3.96988645e-04 -1.67133561e+01] [-4.91331806e-03 -8.70557754e-05 9.99987926e-01 -1.46302797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:-16.72, Z:-1.46 [[ 9.95595745e-01 9.36222332e-02 4.89801790e-03 2.47985162e+02] [-9.36214123e-02 9.95607791e-01 -3.97106743e-04 -1.67154242e+01] [-4.91368280e-03 -6.32015694e-05 9.99987926e-01 -1.46412117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:248.05, Y:-16.72, Z:-1.46 [[ 9.96065562e-01 8.84839294e-02 4.89799477e-03 2.48046361e+02] [-8.84830450e-02 9.96077604e-01 -3.97391790e-04 -1.67173092e+01] [-4.91394568e-03 -3.75612148e-05 9.99987926e-01 -1.46449566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.11, Y:-16.72, Z:-1.47 [[ 9.96349758e-01 8.52242256e-02 4.89798546e-03 2.48107922e+02] [-8.52233012e-02 9.96361797e-01 -3.97506545e-04 -1.67195122e+01] [-4.91404278e-03 -2.13669395e-05 9.99987926e-01 -1.46601357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.17, Y:-16.72, Z:-1.47 [[ 9.96569616e-01 8.26136199e-02 4.89797609e-03 2.48168698e+02] [-8.26126634e-02 9.96581652e-01 -3.97621880e-04 -1.67216841e+01] [-4.91408209e-03 -8.37696617e-06 9.99987926e-01 -1.46703212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:248.23, Y:-16.72, Z:-1.47 [[ 9.96711453e-01 8.08844152e-02 4.89797609e-03 2.48229401e+02] [-8.08834378e-02 9.96723488e-01 -3.97621880e-04 -1.67220786e+01] [-4.91408923e-03 1.49137075e-07 9.99987926e-01 -1.46517141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.29, Y:-16.72, Z:-1.47 [[ 9.96643812e-01 8.17136563e-02 4.89797609e-03 2.48288735e+02] [-8.17126890e-02 9.96655848e-01 -3.97621880e-04 -1.67241489e+01] [-4.91408765e-03 -3.93941104e-06 9.99987926e-01 -1.46768279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.35, Y:-16.72, Z:-1.46 [[ 9.96399868e-01 8.46363604e-02 4.89798088e-03 2.48348462e+02] [-8.46354287e-02 9.96411906e-01 -3.97562956e-04 -1.67239531e+01] [-4.91405474e-03 -1.84110345e-05 9.99987926e-01 -1.46387637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.41, Y:-16.72, Z:-1.46 [[ 9.96138575e-01 8.76581323e-02 4.89799030e-03 2.48408017e+02] [-8.76572377e-02 9.96150616e-01 -3.97446830e-04 -1.67241291e+01] [-4.91397550e-03 -3.34321807e-05 9.99987926e-01 -1.46459724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.47, Y:-16.72, Z:-1.47 [[ 9.95776260e-01 9.16823342e-02 4.89799977e-03 2.48468254e+02] [-9.16814888e-02 9.95788304e-01 -3.97330029e-04 -1.67204444e+01] [-4.91379903e-03 -5.34041015e-05 9.99987926e-01 -1.46633539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.53, Y:-16.72, Z:-1.47 [[ 9.95722871e-01 9.22603556e-02 4.89800925e-03 2.48527173e+02] [-9.22595177e-02 9.95734916e-01 -3.97213121e-04 -1.67168142e+01] [-4.91376586e-03 -5.63737823e-05 9.99987926e-01 -1.46684890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.59, Y:-16.72, Z:-1.47 [[ 9.95764800e-01 9.18067099e-02 4.89802873e-03 2.48585323e+02] [-9.18058677e-02 9.95776845e-01 -3.96972791e-04 -1.67158580e+01] [-4.91378836e-03 -5.43762456e-05 9.99987926e-01 -1.46821101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.65, Y:-16.71, Z:-1.47 [[ 9.96131780e-01 8.77353122e-02 4.89805271e-03 2.48645028e+02] [-8.77344223e-02 9.96143822e-01 -3.96676716e-04 -1.67133709e+01] [-4.91396750e-03 -3.45855413e-05 9.99987926e-01 -1.46949287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.70, Y:-16.71, Z:-1.47 [[ 9.96393080e-01 8.47162299e-02 4.89808408e-03 2.48703889e+02] [-8.47153054e-02 9.96405118e-01 -3.96289009e-04 -1.67139971e+01] [-4.91404816e-03 -2.00830628e-05 9.99987926e-01 -1.47090696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.76, Y:-16.71, Z:-1.47 [[ 9.96851504e-01 7.91396721e-02 4.89810289e-03 2.48762451e+02] [-7.91386814e-02 9.96863537e-01 -3.96056373e-04 -1.67139094e+01] [-4.91408394e-03 7.17998747e-06 9.99987926e-01 -1.46942451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.82, Y:-16.72, Z:-1.47 [[ 9.97227740e-01 7.42485256e-02 4.89812191e-03 2.48821990e+02] [-7.42474770e-02 9.97239768e-01 -3.95821044e-04 -1.67181369e+01] [-4.91399108e-03 3.10505310e-05 9.99987926e-01 -1.46825009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46587156 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:248.88, Y:-16.72, Z:-1.47 [[ 9.97469917e-01 7.09208891e-02 4.89813155e-03 2.48880456e+02] [-7.09198010e-02 9.97481942e-01 -3.95701671e-04 -1.67225384e+01] [-4.91386129e-03 4.73259983e-05 9.99987926e-01 -1.47019295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.94, Y:-16.73, Z:-1.47 [[ 9.97652317e-01 6.83071235e-02 4.89814583e-03 2.48940142e+02] [-6.83060048e-02 9.97664339e-01 -3.95524893e-04 -1.67274801e+01] [-4.91372258e-03 6.00235542e-05 9.99987926e-01 -1.47190360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58587156000002 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:249.00, Y:-16.73, Z:-1.47 [[ 9.97699998e-01 6.76071141e-02 4.89815529e-03 2.48998287e+02] [-6.76059875e-02 9.97712020e-01 -3.95407620e-04 -1.67339729e+01] [-4.91368078e-03 6.33535565e-05 9.99987926e-01 -1.47134113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.06, Y:-16.74, Z:-1.47 [[ 9.97624696e-01 6.87093484e-02 4.89816454e-03 2.49058099e+02] [-6.87082357e-02 9.97636719e-01 -3.95292969e-04 -1.67405643e+01] [-4.91374913e-03 5.78097841e-05 9.99987926e-01 -1.47113458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.12, Y:-16.75, Z:-1.47 [[ 9.97481628e-01 7.07559854e-02 4.89817404e-03 2.49116428e+02] [-7.07548979e-02 9.97493653e-01 -3.95175273e-04 -1.67453707e+01] [-4.91385853e-03 4.76102707e-05 9.99987926e-01 -1.46945598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.18, Y:-16.75, Z:-1.47 [[ 9.97306107e-01 7.31883664e-02 4.89818385e-03 2.49175005e+02] [-7.31873088e-02 9.97318135e-01 -3.95053655e-04 -1.67509679e+01] [-4.91396091e-03 3.55045288e-05 9.99987926e-01 -1.47031307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.23, Y:-16.76, Z:-1.47 [[ 9.97228683e-01 7.42358502e-02 4.89819763e-03 2.49234357e+02] [-7.42348061e-02 9.97240712e-01 -3.94882700e-04 -1.67552240e+01] [-4.91399655e-03 3.01716039e-05 9.99987926e-01 -1.47130863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.29, Y:-16.76, Z:-1.47 [[ 9.97267939e-01 7.37066219e-02 4.89820685e-03 2.49293924e+02] [-7.37055720e-02 9.97279967e-01 -3.94768362e-04 -1.67586783e+01] [-4.91398061e-03 3.26646931e-05 9.99987926e-01 -1.47363783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.35, Y:-16.76, Z:-1.48 [[ 9.97353062e-01 7.25456868e-02 4.89821606e-03 2.49353826e+02] [-7.25446234e-02 9.97365090e-01 -3.94654023e-04 -1.67641058e+01] [-4.91394015e-03 3.82701589e-05 9.99987926e-01 -1.47601840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.41, Y:-16.77, Z:-1.48 [[ 9.97458134e-01 7.10864211e-02 4.89822072e-03 2.49411822e+02] [-7.10853404e-02 9.97470159e-01 -3.94596141e-04 -1.67689369e+01] [-4.91387943e-03 4.54014431e-05 9.99987926e-01 -1.47863985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.47, Y:-16.77, Z:-1.48 [[ 9.97462649e-01 7.10230309e-02 4.89823457e-03 2.49471034e+02] [-7.10219503e-02 9.97474675e-01 -3.94424163e-04 -1.67747197e+01] [-4.91387813e-03 4.55411980e-05 9.99987926e-01 -1.47884892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.53, Y:-16.78, Z:-1.48 [[ 9.97441957e-01 7.13130341e-02 4.89824369e-03 2.49529228e+02] [-7.13119575e-02 9.97453984e-01 -3.94310903e-04 -1.67791418e+01] [-4.91389219e-03 4.39988930e-05 9.99987926e-01 -1.48045858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:249.59, Y:-16.79, Z:-1.48 [[ 9.97430986e-01 7.14663245e-02 4.89825722e-03 2.49588401e+02] [-7.14652506e-02 9.97443012e-01 -3.94142775e-04 -1.67850817e+01] [-4.91390037e-03 4.30750369e-05 9.99987926e-01 -1.47853549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.65, Y:-16.79, Z:-1.48 [[ 9.97461846e-01 7.10343138e-02 4.89826621e-03 2.49647385e+02] [-7.10332353e-02 9.97473871e-01 -3.94030921e-04 -1.67912177e+01] [-4.91388228e-03 4.50911131e-05 9.99987926e-01 -1.47861751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.71, Y:-16.80, Z:-1.48 [[ 9.97484911e-01 7.07096782e-02 4.89827523e-03 2.49706157e+02] [-7.07085963e-02 9.97496937e-01 -3.93918750e-04 -1.67972754e+01] [-4.91386841e-03 4.65778437e-05 9.99987926e-01 -1.47934438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.77, Y:-16.81, Z:-1.48 [[ 9.97509413e-01 7.03631789e-02 4.89828864e-03 2.49765525e+02] [-7.03620937e-02 9.97521439e-01 -3.93751989e-04 -1.68068268e+01] [-4.91385357e-03 4.81174711e-05 9.99987926e-01 -1.47858629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.82, Y:-16.81, Z:-1.48 [[ 9.97494864e-01 7.05691348e-02 4.89829783e-03 2.49824341e+02] [-7.05680526e-02 9.97506890e-01 -3.93637640e-04 -1.68145891e+01] [-4.91386450e-03 4.69881858e-05 9.99987926e-01 -1.47889582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.88, Y:-16.82, Z:-1.48 [[ 9.97389679e-01 7.20405100e-02 4.89830694e-03 2.49883022e+02] [-7.20394460e-02 9.97401706e-01 -3.93524202e-04 -1.68237465e+01] [-4.91392939e-03 3.96256592e-05 9.99987926e-01 -1.47703547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.94, Y:-16.83, Z:-1.48 [[ 9.97208168e-01 7.45109152e-02 4.89831598e-03 2.49941856e+02] [-7.45098816e-02 9.97220198e-01 -3.93411660e-04 -1.68324287e+01] [-4.91401309e-03 2.73403771e-05 9.99987926e-01 -1.47548585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.00, Y:-16.84, Z:-1.48 [[ 9.97102681e-01 7.59094823e-02 4.89832529e-03 2.50000890e+02] [-7.59084662e-02 9.97114713e-01 -3.93295769e-04 -1.68411712e+01] [-4.91404709e-03 2.03319064e-05 9.99987926e-01 -1.47549032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.06, Y:-16.85, Z:-1.48 [[ 9.97154426e-01 7.52267064e-02 4.89833489e-03 2.50059401e+02] [-7.52256826e-02 9.97166457e-01 -3.93176126e-04 -1.68515719e+01] [-4.91403259e-03 2.35767282e-05 9.99987926e-01 -1.47698022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.12, Y:-16.86, Z:-1.48 [[ 9.97270789e-01 7.36680422e-02 4.89832974e-03 2.50119426e+02] [-7.36669993e-02 9.97282818e-01 -3.93240310e-04 -1.68597993e+01] [-4.91398933e-03 3.13218205e-05 9.99987926e-01 -1.48099968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.18, Y:-16.87, Z:-1.48 [[ 9.97245499e-01 7.40096049e-02 4.89832974e-03 2.50179170e+02] [-7.40085661e-02 9.97257528e-01 -3.93240310e-04 -1.68674612e+01] [-4.91399977e-03 2.96387689e-05 9.99987926e-01 -1.48100833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.24, Y:-16.87, Z:-1.48 [[ 9.97088805e-01 7.60915384e-02 4.89832974e-03 2.50238734e+02] [-7.60905247e-02 9.97100836e-01 -3.93240310e-04 -1.68737397e+01] [-4.91405094e-03 1.93790306e-05 9.99987926e-01 -1.48072893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.30, Y:-16.88, Z:-1.48 [[ 9.97033891e-01 7.68077212e-02 4.89833436e-03 2.50298182e+02] [-7.68067165e-02 9.97045924e-01 -3.93182757e-04 -1.68783889e+01] [-4.91406377e-03 1.57915559e-05 9.99987926e-01 -1.48297698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.36, Y:-16.88, Z:-1.48 [[ 9.97204808e-01 7.45558662e-02 4.89833891e-03 2.50358054e+02] [-7.45548345e-02 9.97216838e-01 -3.93126022e-04 -1.68834238e+01] [-4.91401589e-03 2.68323128e-05 9.99987926e-01 -1.48268726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.42, Y:-16.89, Z:-1.48 [[ 9.97357826e-01 7.24801613e-02 4.89833891e-03 2.50417629e+02] [-7.24791046e-02 9.97369854e-01 -3.93126022e-04 -1.68896016e+01] [-4.91394940e-03 3.70600968e-05 9.99987926e-01 -1.48317492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.48, Y:-16.89, Z:-1.48 [[ 9.97490156e-01 7.06356558e-02 4.89831739e-03 2.50477499e+02] [-7.06345756e-02 9.97502181e-01 -3.93393965e-04 -1.68942712e+01] [-4.91386992e-03 4.64160369e-05 9.99987926e-01 -1.48067133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14587156000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.54, Y:-16.90, Z:-1.48 [[ 9.97599802e-01 6.90698344e-02 4.89831739e-03 2.50537931e+02] [-6.90687353e-02 9.97611826e-01 -3.93393965e-04 -1.69000999e+01] [-4.91379101e-03 5.41291538e-05 9.99987926e-01 -1.47918830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.60, Y:-16.91, Z:-1.48 [[ 9.97682043e-01 6.78715593e-02 4.89831739e-03 2.50598008e+02] [-6.78704457e-02 9.97694065e-01 -3.93393965e-04 -1.69066788e+01] [-4.91372245e-03 6.00311095e-05 9.99987926e-01 -1.47885285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.66, Y:-16.91, Z:-1.48 [[ 9.97871478e-01 6.50270665e-02 4.89831260e-03 2.50659164e+02] [-6.50259184e-02 9.97883498e-01 -3.93453560e-04 -1.69126790e+01] [-4.91353045e-03 7.40988096e-05 9.99987926e-01 -1.48142072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.72, Y:-16.92, Z:-1.48 [[ 9.97887640e-01 6.47785859e-02 4.89830347e-03 2.50719664e+02] [-6.47774342e-02 9.97899659e-01 -3.93567235e-04 -1.69194149e+01] [-4.91351009e-03 7.54363479e-05 9.99987926e-01 -1.48357632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.78, Y:-16.93, Z:-1.49 [[ 9.97790952e-01 6.62512114e-02 4.89829441e-03 2.50779939e+02] [-6.62500770e-02 9.97802973e-01 -3.93679979e-04 -1.69267031e+01] [-4.91361450e-03 6.82979392e-05 9.99987926e-01 -1.48603976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:-16.93, Z:-1.49 [[ 9.97589639e-01 6.92164613e-02 4.89828992e-03 2.50840462e+02] [-6.92153623e-02 9.97601663e-01 -3.93735772e-04 -1.69320430e+01] [-4.91379517e-03 5.37498148e-05 9.99987926e-01 -1.48755308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.90, Y:-16.94, Z:-1.49 [[ 9.97474231e-01 7.08601770e-02 4.89828992e-03 2.50900787e+02] [-7.08590978e-02 9.97486257e-01 -3.93735772e-04 -1.69400314e+01] [-4.91387707e-03 4.56528812e-05 9.99987926e-01 -1.48673246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.96, Y:-16.95, Z:-1.48 [[ 9.97390226e-01 7.20329385e-02 4.89828992e-03 2.50961931e+02] [-7.20318734e-02 9.97402253e-01 -3.93735772e-04 -1.69457637e+01] [-4.91392735e-03 3.98752104e-05 9.99987926e-01 -1.48342745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.02, Y:-16.95, Z:-1.48 [[ 9.97395626e-01 7.19581311e-02 4.89828027e-03 2.51021892e+02] [-7.19570645e-02 9.97407653e-01 -3.93855789e-04 -1.69525220e+01] [-4.91392336e-03 4.03641713e-05 9.99987926e-01 -1.48482579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:-16.96, Z:-1.49 [[ 9.97515428e-01 7.02778558e-02 4.89827552e-03 2.51081993e+02] [-7.02767686e-02 9.97527454e-01 -3.93914961e-04 -1.69622224e+01] [-4.91384780e-03 4.87012755e-05 9.99987926e-01 -1.48522469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.14, Y:-16.97, Z:-1.49 [[ 9.97734192e-01 6.71005884e-02 4.89822379e-03 2.51143144e+02] [-6.70994599e-02 9.97746214e-01 -3.94557153e-04 -1.69728587e+01] [-4.91365925e-03 6.49949924e-05 9.99987926e-01 -1.48529682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.20, Y:-16.98, Z:-1.49 [[ 9.97863773e-01 6.51452099e-02 4.89815730e-03 2.51204642e+02] [-6.51440537e-02 9.97875792e-01 -3.95380793e-04 -1.69833998e+01] [-4.91350976e-03 7.54503477e-05 9.99987926e-01 -1.48696785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86587156000002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:251.27, Y:-17.00, Z:-1.49 [[ 9.97818006e-01 6.58425106e-02 4.89808647e-03 2.51266364e+02] [-6.58413585e-02 9.97830025e-01 -3.96256381e-04 -1.69955867e+01] [-4.91354826e-03 7.28950844e-05 9.99987926e-01 -1.48712061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.33, Y:-17.01, Z:-1.49 [[ 9.97663697e-01 6.81407170e-02 4.89802102e-03 2.51328024e+02] [-6.81395887e-02 9.97675718e-01 -3.97063700e-04 -1.70093491e+01] [-4.91369285e-03 6.23869007e-05 9.99987926e-01 -1.49053669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.39, Y:-17.02, Z:-1.49 [[ 9.97295483e-01 7.33330011e-02 4.89795596e-03 2.51389191e+02] [-7.33319314e-02 9.97307510e-01 -3.97864644e-04 -1.70182285e+01] [-4.91394487e-03 3.76120418e-05 9.99987926e-01 -1.49137237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.45, Y:-17.03, Z:-1.49 [[ 9.96792189e-01 7.98833075e-02 4.89788664e-03 2.51450694e+02] [-7.98823127e-02 9.96804222e-01 -3.98716162e-04 -1.70272659e+01] [-4.91408485e-03 6.18264320e-06 9.99987926e-01 -1.48667301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.51, Y:-17.04, Z:-1.49 [[ 9.96300166e-01 8.58020487e-02 4.89782014e-03 2.51512215e+02] [-8.58011213e-02 9.96312204e-01 -3.99531392e-04 -1.70357455e+01] [-4.91403859e-03 -2.21852681e-05 9.99987926e-01 -1.48715427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.57, Y:-17.04, Z:-1.49 [[ 9.95982279e-01 8.94165106e-02 4.89775413e-03 2.51573970e+02] [-8.94156230e-02 9.95994320e-01 -4.00338908e-04 -1.70421172e+01] [-4.91393221e-03 -3.92052795e-05 9.99987926e-01 -1.48794873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.63, Y:-17.05, Z:-1.49 [[ 9.95758047e-01 9.18799502e-02 4.89768798e-03 2.51634322e+02] [-9.18790884e-02 9.95770090e-01 -4.01146658e-04 -1.70494312e+01] [-4.91382853e-03 -5.05500941e-05 9.99987926e-01 -1.48982682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.70, Y:-17.06, Z:-1.49 [[ 9.95596147e-01 9.36179785e-02 4.89765111e-03 2.51696423e+02] [-9.36171356e-02 9.95608191e-01 -4.01596193e-04 -1.70566627e+01] [-4.91373819e-03 -5.86764459e-05 9.99987926e-01 -1.48829264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:-17.06, Z:-1.49 [[ 9.95564551e-01 9.39533810e-02 4.89758402e-03 2.51758216e+02] [-9.39525380e-02 9.95576596e-01 -4.02412744e-04 -1.70636705e+01] [-4.91372807e-03 -5.95125856e-05 9.99987926e-01 -1.49038279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:-17.07, Z:-1.49 [[ 9.95601940e-01 9.35563588e-02 4.89751270e-03 2.51820878e+02] [-9.35555068e-02 9.95613984e-01 -4.03278904e-04 -1.70690343e+01] [-4.91376143e-03 -5.66840234e-05 9.99987926e-01 -1.48841281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.88, Y:-17.08, Z:-1.49 [[ 9.95599038e-01 9.35872381e-02 4.89743588e-03 2.51883575e+02] [-9.35863819e-02 9.95611082e-01 -4.04209628e-04 -1.70751029e+01] [-4.91377030e-03 -5.59025879e-05 9.99987926e-01 -1.48950614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.95, Y:-17.08, Z:-1.49 [[ 9.95563998e-01 9.39592590e-02 4.89735951e-03 2.51946634e+02] [-9.39584027e-02 9.95576042e-01 -4.05132799e-04 -1.70800584e+01] [-4.91375978e-03 -5.68124485e-05 9.99987926e-01 -1.48918523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.01, Y:-17.08, Z:-1.49 [[ 9.95501405e-01 9.46201286e-02 4.89728202e-03 2.52008532e+02] [-9.46192758e-02 9.95513449e-01 -4.06067353e-04 -1.70846816e+01] [-4.91373226e-03 -5.91366578e-05 9.99987926e-01 -1.49271017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.07, Y:-17.09, Z:-1.49 [[ 9.95540487e-01 9.42080477e-02 4.89720986e-03 2.52070497e+02] [-9.42071856e-02 9.95552530e-01 -4.06935806e-04 -1.70907365e+01] [-4.91376629e-03 -5.62312877e-05 9.99987926e-01 -1.49156211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:-17.10, Z:-1.49 [[ 9.95621616e-01 9.33467503e-02 4.89714150e-03 2.52132002e+02] [-9.33458737e-02 9.95633658e-01 -4.07756765e-04 -1.70964338e+01] [-4.91382168e-03 -5.11565028e-05 9.99987926e-01 -1.49429847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:-17.10, Z:-1.49 [[ 9.95669241e-01 9.28373895e-02 4.89707354e-03 2.52193707e+02] [-9.28365027e-02 9.95681283e-01 -4.08571376e-04 -1.71024034e+01] [-4.91385516e-03 -4.78252285e-05 9.99987926e-01 -1.49445337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.26, Y:-17.11, Z:-1.49 [[ 9.95562617e-01 9.39739057e-02 4.89700126e-03 2.52255516e+02] [-9.39730285e-02 9.95574659e-01 -4.09435888e-04 -1.71061281e+01] [-4.91380665e-03 -5.25669743e-05 9.99987926e-01 -1.49267864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:-17.11, Z:-1.49 [[ 9.95321219e-01 9.64971027e-02 4.89693320e-03 2.52317566e+02] [-9.64962520e-02 9.95333263e-01 -4.10248264e-04 -1.71088747e+01] [-4.91366827e-03 -6.42068977e-05 9.99987926e-01 -1.49149718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:-17.11, Z:-1.49 [[ 9.95134271e-01 9.84063198e-02 4.89686473e-03 2.52378395e+02] [-9.84054881e-02 9.95146316e-01 -4.11063953e-04 -1.71108280e+01] [-4.91354818e-03 -7.28145363e-05 9.99987926e-01 -1.49303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:-17.11, Z:-1.49 [[ 9.95106830e-01 9.86834275e-02 4.89680184e-03 2.52440381e+02] [-9.86825956e-02 9.95118875e-01 -4.11811761e-04 -1.71115397e+01] [-4.91353893e-03 -7.34324188e-05 9.99987926e-01 -1.49400496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:-17.11, Z:-1.49 [[ 9.95379903e-01 9.58898895e-02 4.89673332e-03 2.52501458e+02] [-9.58890197e-02 9.95391946e-01 -4.12624840e-04 -1.71137099e+01] [-4.91373546e-03 -5.88244845e-05 9.99987926e-01 -1.49097207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:-17.12, Z:-1.49 [[ 9.95885840e-01 9.04843470e-02 4.89667049e-03 2.52563645e+02] [-9.04834083e-02 9.95897877e-01 -4.13369185e-04 -1.71167370e+01] [-4.91398718e-03 -3.13989169e-05 9.99987926e-01 -1.49111102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.63, Y:-17.12, Z:-1.49 [[ 9.96299753e-01 8.58069078e-02 4.89660312e-03 2.52625506e+02] [-8.58059086e-02 9.96311786e-01 -4.14165643e-04 -1.71199239e+01] [-4.91408167e-03 -7.52435144e-06 9.99987926e-01 -1.49236297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.69, Y:-17.12, Z:-1.49 [[ 9.96509034e-01 8.33412848e-02 4.89653408e-03 2.52686444e+02] [-8.33402518e-02 9.96521064e-01 -4.14980288e-04 -1.71235676e+01] [-4.91408434e-03 5.45322244e-06 9.99987926e-01 -1.49459086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.75, Y:-17.13, Z:-1.50 [[ 9.96425582e-01 8.43331705e-02 4.89647048e-03 2.52747355e+02] [-8.43321458e-02 9.96437613e-01 -4.15729390e-04 -1.71276142e+01] [-4.91408713e-03 1.31353749e-06 9.99987926e-01 -1.49523450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.81, Y:-17.13, Z:-1.49 [[ 9.96041844e-01 8.87506115e-02 4.89640872e-03 2.52807488e+02] [-8.87496366e-02 9.96053878e-01 -4.16455433e-04 -1.71297104e+01] [-4.91404757e-03 -1.97474574e-05 9.99987926e-01 -1.49395714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.87, Y:-17.13, Z:-1.49 [[ 9.95574454e-01 9.38484469e-02 4.89640401e-03 2.52867837e+02] [-9.38475334e-02 9.95586494e-01 -4.16510801e-04 -1.71311957e+01] [-4.91388260e-03 -4.48479258e-05 9.99987926e-01 -1.49369805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.93, Y:-17.13, Z:-1.49 [[ 9.95237725e-01 9.73544875e-02 4.89639936e-03 2.52928275e+02] [-9.73536161e-02 9.95249768e-01 -4.16565478e-04 -1.71319057e+01] [-4.91369485e-03 -6.21005053e-05 9.99987926e-01 -1.49346129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.99, Y:-17.13, Z:-1.49 [[ 9.95005243e-01 9.97025111e-02 4.89639936e-03 2.52988213e+02] [-9.97016681e-02 9.95017288e-01 -4.16565478e-04 -1.71314162e+01] [-4.91353464e-03 -7.36943494e-05 9.99987926e-01 -1.49409890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.05, Y:-17.13, Z:-1.49 [[ 9.94844872e-01 1.01290208e-01 4.89639560e-03 2.53049246e+02] [-1.01289384e-01 9.94856918e-01 -4.16609676e-04 -1.71302025e+01] [-4.91341152e-03 -8.14908918e-05 9.99987926e-01 -1.49140707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:-17.13, Z:-1.49 [[ 9.94900122e-01 1.00746077e-01 4.89639560e-03 2.53108267e+02] [-1.00745247e-01 9.94912168e-01 -4.16609676e-04 -1.71280330e+01] [-4.91345535e-03 -7.88035646e-05 9.99987926e-01 -1.49470179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.17, Y:-17.13, Z:-1.50 [[ 9.95075589e-01 9.89979710e-02 4.89641048e-03 2.53167998e+02] [-9.89971201e-02 9.95087633e-01 -4.16434791e-04 -1.71293030e+01] [-4.91358371e-03 -7.03464411e-05 9.99987926e-01 -1.49656407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.23, Y:-17.13, Z:-1.49 [[ 9.95463290e-01 9.50203265e-02 4.89641926e-03 2.53228018e+02] [-9.50194280e-02 9.95475331e-01 -4.16331459e-04 -1.71272386e+01] [-4.91382454e-03 -5.08122735e-05 9.99987926e-01 -1.49246194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.29, Y:-17.13, Z:-1.50 [[ 9.95983794e-01 8.93997035e-02 4.89642910e-03 2.53287195e+02] [-8.93987376e-02 9.95995830e-01 -4.16215717e-04 -1.71277767e+01] [-4.91403253e-03 -2.31904716e-05 9.99987926e-01 -1.49698245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:253.35, Y:-17.13, Z:-1.50 [[ 9.96521134e-01 8.31964856e-02 4.89644369e-03 2.53348123e+02] [-8.31954456e-02 9.96533163e-01 -4.16044061e-04 -1.71297270e+01] [-4.91408192e-03 7.23488453e-06 9.99987926e-01 -1.49539823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:253.41, Y:-17.13, Z:-1.49 [[ 9.96964015e-01 7.77095671e-02 4.89644369e-03 2.53409124e+02] [-7.77084610e-02 9.96976039e-01 -4.16044061e-04 -1.71322804e+01] [-4.91396763e-03 3.42858543e-05 9.99987926e-01 -1.49248924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.47, Y:-17.14, Z:-1.49 [[ 9.97278368e-01 7.35654944e-02 4.89644369e-03 2.53469479e+02] [-7.35643383e-02 9.97290387e-01 -4.16044061e-04 -1.71379393e+01] [-4.91378270e-03 5.47081020e-05 9.99987926e-01 -1.49393469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.53, Y:-17.14, Z:-1.50 [[ 9.97328350e-01 7.28847531e-02 4.89644369e-03 2.53528361e+02] [-7.28835888e-02 9.97340368e-01 -4.16044061e-04 -1.71427338e+01] [-4.91374422e-03 5.80621484e-05 9.99987926e-01 -1.49659228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.59, Y:-17.15, Z:-1.50 [[ 9.97277131e-01 7.35822580e-02 4.89644855e-03 2.53588782e+02] [-7.35811023e-02 9.97289150e-01 -4.15986791e-04 -1.71454539e+01] [-4.91378426e-03 5.45680313e-05 9.99987926e-01 -1.49789483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:253.65, Y:-17.15, Z:-1.50 [[ 9.96914141e-01 7.83467903e-02 4.89644855e-03 2.53648135e+02] [-7.83456921e-02 9.96926166e-01 -4.15986791e-04 -1.71478999e+01] [-4.91398891e-03 3.10874639e-05 9.99987926e-01 -1.49565718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.71, Y:-17.15, Z:-1.49 [[ 9.96518852e-01 8.32238035e-02 4.89645781e-03 2.53708157e+02] [-8.32227647e-02 9.96530882e-01 -4.15877808e-04 -1.71488428e+01] [-4.91408235e-03 6.93332009e-06 9.99987926e-01 -1.49419569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.77, Y:-17.15, Z:-1.49 [[ 9.96344116e-01 8.52902580e-02 4.89646736e-03 2.53767114e+02] [-8.52892447e-02 9.96356147e-01 -4.15765316e-04 -1.71505310e+01] [-4.91408608e-03 -3.37067742e-06 9.99987926e-01 -1.49375472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:253.83, Y:-17.15, Z:-1.50 [[ 9.96361498e-01 8.50869516e-02 4.89648155e-03 2.53825455e+02] [-8.50859367e-02 9.96373530e-01 -4.15598080e-04 -1.71525021e+01] [-4.91408658e-03 -2.53579381e-06 9.99987926e-01 -1.49763601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.88, Y:-17.16, Z:-1.50 [[ 9.96370998e-01 8.49756372e-02 4.89649554e-03 2.53884219e+02] [-8.49746217e-02 9.96383029e-01 -4.15433237e-04 -1.71561833e+01] [-4.91408676e-03 -2.15222676e-06 9.99987926e-01 -1.50188187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:-17.16, Z:-1.50 [[ 9.96239539e-01 8.65032039e-02 4.89650941e-03 2.53943377e+02] [-8.65022077e-02 9.96251572e-01 -4.15269699e-04 -1.71571344e+01] [-4.91407736e-03 -9.85077984e-06 9.99987926e-01 -1.50063809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.00, Y:-17.16, Z:-1.50 [[ 9.96147826e-01 8.75530324e-02 4.89652774e-03 2.54001503e+02] [-8.75520499e-02 9.96159860e-01 -4.15053436e-04 -1.71579606e+01] [-4.91406357e-03 -1.52464631e-05 9.99987926e-01 -1.50338727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.06, Y:-17.16, Z:-1.50 [[ 9.96064479e-01 8.84962006e-02 4.89655047e-03 2.54059639e+02] [-8.84952308e-02 9.96076514e-01 -4.14785061e-04 -1.71577062e+01] [-4.91404583e-03 -2.01686986e-05 9.99987926e-01 -1.50421762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.12, Y:-17.16, Z:-1.50 [[ 9.96100003e-01 8.80954512e-02 4.89657290e-03 2.54118451e+02] [-8.80944779e-02 9.96112037e-01 -4.14520150e-04 -1.71575374e+01] [-4.91405255e-03 -1.84575110e-05 9.99987926e-01 -1.50076906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.18, Y:-17.16, Z:-1.50 [[ 9.96251864e-01 8.63611441e-02 4.89659242e-03 2.54176063e+02] [-8.63601510e-02 9.96263897e-01 -4.14289485e-04 -1.71579121e+01] [-4.91407676e-03 -1.01337889e-05 9.99987926e-01 -1.50493342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80587155999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:254.24, Y:-17.16, Z:-1.50 [[ 9.96412621e-01 8.44861638e-02 4.89661646e-03 2.54235737e+02] [-8.44851494e-02 9.96424653e-01 -4.14005152e-04 -1.71563396e+01] [-4.91408706e-03 -1.17141445e-06 9.99987926e-01 -1.49965584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.29, Y:-17.16, Z:-1.50 [[ 9.96535318e-01 8.30263947e-02 4.89663571e-03 2.54294416e+02] [-8.30253638e-02 9.96547348e-01 -4.13777292e-04 -1.71560432e+01] [-4.91408377e-03 5.79872392e-06 9.99987926e-01 -1.49862361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92587155999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:254.35, Y:-17.16, Z:-1.50 [[ 9.96634710e-01 8.18246798e-02 4.89665530e-03 2.54352342e+02] [-8.18236355e-02 9.96646739e-01 -4.13545307e-04 -1.71564527e+01] [-4.91407375e-03 1.14914683e-05 9.99987926e-01 -1.49899544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.41, Y:-17.16, Z:-1.50 [[ 9.96695124e-01 8.10854622e-02 4.89667956e-03 2.54411796e+02] [-8.10844105e-02 9.96707152e-01 -4.13257892e-04 -1.71554271e+01] [-4.91406475e-03 1.48477504e-05 9.99987926e-01 -1.50074250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.47, Y:-17.16, Z:-1.50 [[ 9.96690431e-01 8.11431292e-02 4.89669859e-03 2.54471019e+02] [-8.11420793e-02 9.96702459e-01 -4.13032235e-04 -1.71564916e+01] [-4.91406626e-03 1.43369706e-05 9.99987926e-01 -1.49956984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.53, Y:-17.16, Z:-1.50 [[ 9.96669724e-01 8.13970766e-02 4.89671780e-03 2.54529315e+02] [-8.13960308e-02 9.96681752e-01 -4.12804419e-04 -1.71566152e+01] [-4.91407035e-03 1.28562729e-05 9.99987926e-01 -1.50041596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16587155999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:254.59, Y:-17.16, Z:-1.50 [[ 9.96682965e-01 8.12347782e-02 4.89674160e-03 2.54588282e+02] [-8.12337318e-02 9.96694994e-01 -4.12521911e-04 -1.71589470e+01] [-4.91406896e-03 1.33729670e-05 9.99987926e-01 -1.49779404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.65, Y:-17.16, Z:-1.50 [[ 9.96689537e-01 8.11541031e-02 4.89676140e-03 2.54646191e+02] [-8.11530570e-02 9.96701566e-01 -4.12286779e-04 -1.71599317e+01] [-4.91406852e-03 1.35347627e-05 9.99987926e-01 -1.50070766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.70, Y:-17.16, Z:-1.50 [[ 9.96780592e-01 8.00279485e-02 4.89678579e-03 2.54704685e+02] [-8.00268902e-02 9.96792620e-01 -4.11996857e-04 -1.71622312e+01] [-4.91405120e-03 1.87959324e-05 9.99987926e-01 -1.50218824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.76, Y:-17.16, Z:-1.50 [[ 9.96724941e-01 8.07181131e-02 4.89680534e-03 2.54763547e+02] [-8.07170643e-02 9.96736969e-01 -4.11764299e-04 -1.71630356e+01] [-4.91406376e-03 1.51599946e-05 9.99987926e-01 -1.50071152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.82, Y:-17.17, Z:-1.50 [[ 9.96606293e-01 8.21700494e-02 4.89682483e-03 2.54822696e+02] [-8.21690192e-02 9.96618324e-01 -4.11532500e-04 -1.71653358e+01] [-4.91408099e-03 7.76858674e-06 9.99987926e-01 -1.49900078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.88, Y:-17.17, Z:-1.50 [[ 9.96561109e-01 8.27162389e-02 4.89684429e-03 2.54881780e+02] [-8.27152165e-02 9.96573140e-01 -4.11300701e-04 -1.71699407e+01] [-4.91408474e-03 4.84274705e-06 9.99987926e-01 -1.50033812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.94, Y:-17.17, Z:-1.50 [[ 9.96535224e-01 8.30275157e-02 4.89686358e-03 2.54941092e+02] [-8.30264982e-02 9.96547255e-01 -4.11070978e-04 -1.71719845e+01] [-4.91408616e-03 3.07727369e-06 9.99987926e-01 -1.50116578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.00, Y:-17.17, Z:-1.50 [[ 9.96659262e-01 8.15250686e-02 4.89688319e-03 2.54999915e+02] [-8.15240340e-02 9.96671291e-01 -4.10837209e-04 -1.71746440e+01] [-4.91407643e-03 1.02510373e-05 9.99987926e-01 -1.50196920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.06, Y:-17.18, Z:-1.50 [[ 9.96941958e-01 7.79920064e-02 4.89690321e-03 2.55057661e+02] [-7.79909304e-02 9.96953984e-01 -4.10598432e-04 -1.71795293e+01] [-4.91401056e-03 2.74287670e-05 9.99987926e-01 -1.50301669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.12, Y:-17.18, Z:-1.50 [[ 9.97345740e-01 7.26463659e-02 4.89692791e-03 2.55116704e+02] [-7.26452269e-02 9.97357761e-01 -4.10303702e-04 -1.71845965e+01] [-4.91379613e-03 5.34762099e-05 9.99987926e-01 -1.50101848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.18, Y:-17.19, Z:-1.50 [[ 9.97903580e-01 6.45326618e-02 4.89694717e-03 2.55175183e+02] [-6.45314262e-02 9.97915591e-01 -4.10073705e-04 -1.71946455e+01] [-4.91320308e-03 9.32070331e-05 9.99987926e-01 -1.50179285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.23, Y:-17.20, Z:-1.50 [[ 9.98035138e-01 6.24650620e-02 4.89696694e-03 2.55232895e+02] [-6.24638027e-02 9.98047146e-01 -4.09837496e-04 -1.72035730e+01] [-4.91300440e-03 1.03149046e-04 9.99987926e-01 -1.50400560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.29, Y:-17.21, Z:-1.50 [[ 9.98027098e-01 6.25933776e-02 4.89699309e-03 2.55290788e+02] [-6.25921213e-02 9.98039107e-01 -4.09524757e-04 -1.72129575e+01] [-4.91302415e-03 1.02203620e-04 9.99987926e-01 -1.50259811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.35, Y:-17.22, Z:-1.50 [[ 9.97842518e-01 6.54700597e-02 4.89701246e-03 2.55348622e+02] [-6.54688392e-02 9.97854530e-01 -4.09292966e-04 -1.72225976e+01] [-4.91330251e-03 8.78082019e-05 9.99987926e-01 -1.50098411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.41, Y:-17.23, Z:-1.50 [[ 9.97614146e-01 6.88624404e-02 4.89702691e-03 2.55407477e+02] [-6.88612616e-02 9.97626162e-01 -4.09120102e-04 -1.72299737e+01] [-4.91357517e-03 7.09285505e-05 9.99987926e-01 -1.49981778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.46, Y:-17.24, Z:-1.50 [[ 9.97332961e-01 7.28215919e-02 4.89704651e-03 2.55464577e+02] [-7.28204620e-02 9.97344982e-01 -4.08885321e-04 -1.72389418e+01] [-4.91382044e-03 5.11896191e-05 9.99987926e-01 -1.50338796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12587155999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:-17.25, Z:-1.50 [[ 9.97163065e-01 7.51121805e-02 4.89707220e-03 2.55522722e+02] [-7.51110797e-02 9.97175089e-01 -4.08577409e-04 -1.72485822e+01] [-4.91392755e-03 3.95939215e-05 9.99987926e-01 -1.50287591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.58, Y:-17.26, Z:-1.50 [[ 9.96994017e-01 7.73236632e-02 4.89709205e-03 2.55580410e+02] [-7.73225902e-02 9.97006043e-01 -4.08339373e-04 -1.72569460e+01] [-4.91400466e-03 2.84560697e-05 9.99987926e-01 -1.50450675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.64, Y:-17.26, Z:-1.50 [[ 9.96713396e-01 8.08605291e-02 4.89711650e-03 2.55639091e+02] [-8.08595003e-02 9.96725426e-01 -4.08045877e-04 -1.72623881e+01] [-4.91407534e-03 1.07263988e-05 9.99987926e-01 -1.50286725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.70, Y:-17.27, Z:-1.50 [[ 9.96546079e-01 8.28971043e-02 4.89713592e-03 2.55696169e+02] [-8.28961011e-02 9.96558112e-01 -4.07812669e-04 -1.72680152e+01] [-4.91408702e-03 4.50641435e-07 9.99987926e-01 -1.50255241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36587155999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:255.76, Y:-17.27, Z:-1.50 [[ 9.96522235e-01 8.31832478e-02 4.89716468e-03 2.55755096e+02] [-8.31822498e-02 9.96534268e-01 -4.07467009e-04 -1.72740239e+01] [-4.91408685e-03 -1.30724155e-06 9.99987926e-01 -1.49981567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.81, Y:-17.28, Z:-1.50 [[ 9.96719549e-01 8.07846354e-02 4.89718373e-03 2.55814138e+02] [-8.07836096e-02 9.96731580e-01 -4.07238028e-04 -1.72794440e+01] [-4.91407625e-03 1.02899255e-05 9.99987926e-01 -1.49961096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.87, Y:-17.29, Z:-1.50 [[ 9.97169964e-01 7.50205360e-02 4.89720303e-03 2.55872899e+02] [-7.50194418e-02 9.97181988e-01 -4.07005727e-04 -1.72875497e+01] [-4.91393644e-03 3.84684480e-05 9.99987926e-01 -1.50055819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.93, Y:-17.30, Z:-1.50 [[ 9.97324786e-01 7.29334496e-02 4.89722203e-03 2.55931205e+02] [-7.29323314e-02 9.97336808e-01 -4.06776948e-04 -1.72962628e+01] [-4.91384744e-03 4.85229128e-05 9.99987926e-01 -1.50343931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:-17.30, Z:-1.50 [[ 9.97407516e-01 7.17931998e-02 4.89724101e-03 2.55990819e+02] [-7.17920689e-02 9.97419537e-01 -4.06548373e-04 -1.73046644e+01] [-4.91379127e-03 5.39113386e-05 9.99987926e-01 -1.50479457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.05, Y:-17.31, Z:-1.51 [[ 9.97329281e-01 7.28719625e-02 4.89725079e-03 2.56048397e+02] [-7.28708452e-02 9.97341303e-01 -4.06430549e-04 -1.73140125e+01] [-4.91384787e-03 4.84782832e-05 9.99987926e-01 -1.50593795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.11, Y:-17.32, Z:-1.51 [[ 9.97213403e-01 7.44408852e-02 4.89727014e-03 2.56107943e+02] [-7.44397879e-02 9.97225427e-01 -4.06197256e-04 -1.73238395e+01] [-4.91391999e-03 4.05135974e-05 9.99987926e-01 -1.50794739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:-17.33, Z:-1.51 [[ 9.97026705e-01 7.69010148e-02 4.89727487e-03 2.56167259e+02] [-7.68999475e-02 9.97038732e-01 -4.06140209e-04 -1.73312184e+01] [-4.91400532e-03 2.83324542e-05 9.99987926e-01 -1.50921670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:-17.34, Z:-1.51 [[ 9.96758831e-01 8.02985045e-02 4.89728449e-03 2.56226227e+02] [-8.02974788e-02 9.96770861e-01 -4.06024125e-04 -1.73384021e+01] [-4.91407361e-03 1.14685345e-05 9.99987926e-01 -1.50894946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:-17.35, Z:-1.51 [[ 9.96586982e-01 8.24039014e-02 4.89729413e-03 2.56285759e+02] [-8.24029017e-02 9.96599015e-01 -4.05907903e-04 -1.73453839e+01] [-4.91408690e-03 9.71285413e-07 9.99987926e-01 -1.51016899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:-17.35, Z:-1.51 [[ 9.96565233e-01 8.26665147e-02 4.89730375e-03 2.56345262e+02] [-8.26655187e-02 9.96577266e-01 -4.05791785e-04 -1.73520198e+01] [-4.91408697e-03 -4.40169533e-07 9.99987926e-01 -1.51029709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:256.40, Y:-17.36, Z:-1.51 [[ 9.96798773e-01 7.98011480e-02 4.89731343e-03 2.56404385e+02] [-7.98001180e-02 9.96810803e-01 -4.05674861e-04 -1.73590129e+01] [-4.91406826e-03 1.35700139e-05 9.99987926e-01 -1.50807790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.46, Y:-17.37, Z:-1.51 [[ 9.97107199e-01 7.58501836e-02 4.89732332e-03 2.56463726e+02] [-7.58491066e-02 9.97119225e-01 -4.05555432e-04 -1.73688944e+01] [-4.91397669e-03 3.29246415e-05 9.99987926e-01 -1.51097961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.52, Y:-17.38, Z:-1.51 [[ 9.97111250e-01 7.57969127e-02 4.89732822e-03 2.56522633e+02] [-7.57958353e-02 9.97123276e-01 -4.05496319e-04 -1.73750842e+01] [-4.91397532e-03 3.31278581e-05 9.99987926e-01 -1.51108047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.58, Y:-17.38, Z:-1.51 [[ 9.97010283e-01 7.71136292e-02 4.89733773e-03 2.56582231e+02] [-7.71125682e-02 9.97022310e-01 -4.05381378e-04 -1.73807127e+01] [-4.91401541e-03 2.65231124e-05 9.99987926e-01 -1.51151640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.64, Y:-17.39, Z:-1.51 [[ 9.96947481e-01 7.79213502e-02 4.89734746e-03 2.56640604e+02] [-7.79202996e-02 9.96959509e-01 -4.05263843e-04 -1.73879286e+01] [-4.91403582e-03 2.24239860e-05 9.99987926e-01 -1.51441842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.70, Y:-17.39, Z:-1.51 [[ 9.96818274e-01 7.95571746e-02 4.89735673e-03 2.56700395e+02] [-7.95561442e-02 9.96830304e-01 -4.05151769e-04 -1.73938221e+01] [-4.91406633e-03 1.42478690e-05 9.99987926e-01 -1.51284254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:-17.40, Z:-1.51 [[ 9.96571467e-01 8.25913198e-02 4.89736652e-03 2.56758760e+02] [-8.25903266e-02 9.96583501e-01 -4.05033399e-04 -1.73971462e+01] [-4.91408691e-03 -8.30371830e-07 9.99987926e-01 -1.51421134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.82, Y:-17.40, Z:-1.51 [[ 9.96172115e-01 8.72761930e-02 4.89738101e-03 2.56818094e+02] [-8.72752573e-02 9.96184152e-01 -4.04858111e-04 -1.73998056e+01] [-4.91402783e-03 -2.41118276e-05 9.99987926e-01 -1.51288771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.88, Y:-17.40, Z:-1.51 [[ 9.96149509e-01 8.75338264e-02 4.89739067e-03 2.56877333e+02] [-8.75328944e-02 9.96161547e-01 -4.04741250e-04 -1.74001468e+01] [-4.91402082e-03 -2.54999825e-05 9.99987926e-01 -1.51276591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.94, Y:-17.40, Z:-1.51 [[ 9.96349743e-01 8.52244403e-02 4.89740504e-03 2.56936389e+02] [-8.52234813e-02 9.96361779e-01 -4.04567279e-04 -1.74019399e+01] [-4.91406622e-03 -1.42834026e-05 9.99987926e-01 -1.51373465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.00, Y:-17.41, Z:-1.52 [[ 9.96496208e-01 8.34944505e-02 4.89742404e-03 2.56995563e+02] [-8.34934716e-02 9.96508242e-01 -4.04337180e-04 -1.74057516e+01] [-4.91408333e-03 -5.98246811e-06 9.99987926e-01 -1.51502398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.06, Y:-17.41, Z:-1.52 [[ 9.96803990e-01 7.97359486e-02 4.89744313e-03 2.57055241e+02] [-7.97349256e-02 9.96816020e-01 -4.04105851e-04 -1.74074159e+01] [-4.91407153e-03 1.23170614e-05 9.99987926e-01 -1.51585688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.11, Y:-17.41, Z:-1.52 [[ 9.97197855e-01 7.46488616e-02 4.89745259e-03 2.57114844e+02] [-7.46477777e-02 9.97209881e-01 -4.03991121e-04 -1.74123401e+01] [-4.91394559e-03 3.72751268e-05 9.99987926e-01 -1.51516241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80587155999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.17, Y:-17.42, Z:-1.51 [[ 9.97655043e-01 6.82673390e-02 4.89746213e-03 2.57174865e+02] [-6.82661788e-02 9.97667062e-01 -4.03875459e-04 -1.74210295e+01] [-4.91360815e-03 6.85973630e-05 9.99987926e-01 -1.51299357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.23, Y:-17.43, Z:-1.51 [[ 9.97887085e-01 6.47871970e-02 4.89746213e-03 2.57233629e+02] [-6.47859949e-02 9.97899099e-01 -4.03875459e-04 -1.74274247e+01] [-4.91333900e-03 8.57351479e-05 9.99987926e-01 -1.51389033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.29, Y:-17.43, Z:-1.51 [[ 9.97946636e-01 6.38633419e-02 4.89746685e-03 2.57293761e+02] [-6.38621289e-02 9.97958649e-01 -4.03818193e-04 -1.74338045e+01] [-4.91325858e-03 9.02263476e-05 9.99987926e-01 -1.51194421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.35, Y:-17.44, Z:-1.51 [[ 9.98071965e-01 6.18738025e-02 4.89746685e-03 2.57353260e+02] [-6.18725655e-02 9.98083976e-01 -4.03818193e-04 -1.74429428e+01] [-4.91306895e-03 1.00020778e-04 9.99987926e-01 -1.51290056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.41, Y:-17.45, Z:-1.51 [[ 9.98144568e-01 6.06913119e-02 4.89746685e-03 2.57412794e+02] [-6.06900608e-02 9.98156578e-01 -4.03818193e-04 -1.74521863e+01] [-4.91294701e-03 1.05841375e-04 9.99987926e-01 -1.51411843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.47, Y:-17.46, Z:-1.52 [[ 9.98230327e-01 5.92640629e-02 4.89746685e-03 2.57472250e+02] [-5.92627946e-02 9.98242334e-01 -4.03818193e-04 -1.74617446e+01] [-4.91279065e-03 1.12865995e-04 9.99987926e-01 -1.51642826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:-17.47, Z:-1.52 [[ 9.98385011e-01 5.65984459e-02 4.89746206e-03 2.57531757e+02] [-5.65971452e-02 9.98397015e-01 -4.03876319e-04 -1.74718567e+01] [-4.91247027e-03 1.26041692e-04 9.99987926e-01 -1.51579494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.59, Y:-17.48, Z:-1.52 [[ 9.98595253e-01 5.27592198e-02 4.89744080e-03 2.57592687e+02] [-5.27578717e-02 9.98607252e-01 -4.04133883e-04 -1.74839457e+01] [-4.91194169e-03 1.45187624e-04 9.99987926e-01 -1.51710191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.65, Y:-17.50, Z:-1.52 [[ 9.98688985e-01 5.09541596e-02 4.89743144e-03 2.57652629e+02] [-5.09527893e-02 9.98700981e-01 -4.04247306e-04 -1.74972461e+01] [-4.91166767e-03 1.54179539e-04 9.99987926e-01 -1.52045170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.71, Y:-17.51, Z:-1.52 [[ 9.98599765e-01 5.26737570e-02 4.89737132e-03 2.57713899e+02] [-5.26724038e-02 9.98611763e-01 -4.04974322e-04 -1.75109202e+01] [-4.91190413e-03 1.46450943e-04 9.99987926e-01 -1.51974345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.78, Y:-17.53, Z:-1.52 [[ 9.98380909e-01 5.66707851e-02 4.89730505e-03 2.57775404e+02] [-5.66694760e-02 9.98392912e-01 -4.05774209e-04 -1.75253261e+01] [-4.91243019e-03 1.27589512e-04 9.99987926e-01 -1.51830616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.84, Y:-17.54, Z:-1.52 [[ 9.97912611e-01 6.43928429e-02 4.89723932e-03 2.57836301e+02] [-6.43916228e-02 9.97924623e-01 -4.06565852e-04 -1.75420867e+01] [-4.91325564e-03 9.03760033e-05 9.99987926e-01 -1.51691384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52587156 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:-17.56, Z:-1.52 [[ 9.97465650e-01 7.09809434e-02 4.89717255e-03 2.57896966e+02] [-7.09797988e-02 9.97477670e-01 -4.07368579e-04 -1.75574415e+01] [-4.91373567e-03 5.87358426e-05 9.99987926e-01 -1.51759618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.96, Y:-17.57, Z:-1.52 [[ 9.97078870e-01 7.62216912e-02 4.89710431e-03 2.57958238e+02] [-7.62206057e-02 9.97090895e-01 -4.08187285e-04 -1.75668963e+01] [-4.91397084e-03 3.37346603e-05 9.99987926e-01 -1.51909165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.02, Y:-17.58, Z:-1.52 [[ 9.96220096e-01 8.67268113e-02 4.89703137e-03 2.58019801e+02] [-8.67258483e-02 9.96232132e-01 -4.09060438e-04 -1.75815148e+01] [-4.91405651e-03 -1.71849709e-05 9.99987926e-01 -1.52059491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.08, Y:-17.59, Z:-1.52 [[ 9.95795748e-01 9.14704807e-02 4.89696420e-03 2.58082200e+02] [-9.14695711e-02 9.95807787e-01 -4.09863012e-04 -1.75912355e+01] [-4.91392545e-03 -3.97833702e-05 9.99987926e-01 -1.52026221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:258.14, Y:-17.60, Z:-1.52 [[ 9.95276194e-01 9.69603979e-02 4.89688437e-03 2.58143031e+02] [-9.69595500e-02 9.95288238e-01 -4.10814513e-04 -1.76027757e+01] [-4.91364416e-03 -6.59258009e-05 9.99987926e-01 -1.52028422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.20, Y:-17.61, Z:-1.52 [[ 9.94817039e-01 1.01563178e-01 4.89681018e-03 2.58204001e+02] [-1.01562382e-01 9.94829087e-01 -4.11696962e-04 -1.76134050e+01] [-4.91330246e-03 -8.77685529e-05 9.99987926e-01 -1.52119297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.27, Y:-17.62, Z:-1.52 [[ 9.94262785e-01 1.06852869e-01 4.89673832e-03 2.58266627e+02] [-1.06852133e-01 9.94274837e-01 -4.12549923e-04 -1.76210349e+01] [-4.91278584e-03 -1.13043896e-04 9.99987926e-01 -1.51831962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.33, Y:-17.63, Z:-1.52 [[ 9.93632584e-01 1.12562473e-01 4.89665977e-03 2.58328548e+02] [-1.12561801e-01 9.93644640e-01 -4.13480120e-04 -1.76264499e+01] [-4.91208208e-03 -1.40329524e-04 9.99987926e-01 -1.51907588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:-17.63, Z:-1.52 [[ 9.93142358e-01 1.16808735e-01 4.89658996e-03 2.58389589e+02] [-1.16808110e-01 9.93154416e-01 -4.14305262e-04 -1.76311383e+01] [-4.91146441e-03 -1.60497314e-04 9.99987926e-01 -1.52205452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.45, Y:-17.63, Z:-1.52 [[ 9.93007661e-01 1.17948329e-01 4.89652577e-03 2.58452840e+02] [-1.17947715e-01 9.93019720e-01 -4.15062437e-04 -1.76332308e+01] [-4.91130257e-03 -1.65373847e-04 9.99987926e-01 -1.52091671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.51, Y:-17.64, Z:-1.52 [[ 9.93121215e-01 1.16988361e-01 4.89644683e-03 2.58514782e+02] [-1.16987731e-01 9.93133273e-01 -4.15991596e-04 -1.76362748e+01] [-4.91149045e-03 -1.59694124e-04 9.99987926e-01 -1.52051504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:-17.64, Z:-1.52 [[ 9.93407788e-01 1.14529443e-01 4.89637336e-03 2.58577615e+02] [-1.14528778e-01 9.93419843e-01 -4.16854581e-04 -1.76371261e+01] [-4.91189658e-03 -1.46669070e-04 9.99987926e-01 -1.52398689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:-17.64, Z:-1.52 [[ 9.93528761e-01 1.13475225e-01 4.89634879e-03 2.58639030e+02] [-1.13474546e-01 9.93540816e-01 -4.17143016e-04 -1.76351490e+01] [-4.91205777e-03 -1.41167374e-04 9.99987926e-01 -1.52410466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30587155999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:-17.64, Z:-1.52 [[ 9.93560109e-01 1.13200423e-01 4.89633903e-03 2.58699369e+02] [-1.13199740e-01 9.93572164e-01 -4.17257598e-04 -1.76351993e+01] [-4.91209990e-03 -1.39693801e-04 9.99987926e-01 -1.52386567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:-17.63, Z:-1.52 [[ 9.93662530e-01 1.12297828e-01 4.89631517e-03 2.58760535e+02] [-1.12297133e-01 9.93674584e-01 -4.17537392e-04 -1.76318734e+01] [-4.91223248e-03 -1.34950892e-04 9.99987926e-01 -1.52316184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.82, Y:-17.63, Z:-1.52 [[ 9.93876704e-01 1.10386242e-01 4.89631043e-03 2.58822017e+02] [-1.10385524e-01 9.93888757e-01 -4.17592984e-04 -1.76293166e+01] [-4.91248440e-03 -1.25445852e-04 9.99987926e-01 -1.52073087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48587155999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:258.88, Y:-17.63, Z:-1.52 [[ 9.94344279e-01 1.06091851e-01 4.89630029e-03 2.58883168e+02] [-1.06091079e-01 9.94356329e-01 -4.17711840e-04 -1.76266576e+01] [-4.91298300e-03 -1.04104403e-04 9.99987926e-01 -1.51856102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54587155999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.94, Y:-17.63, Z:-1.52 [[ 9.94853268e-01 1.01207717e-01 4.89629527e-03 2.58944362e+02] [-1.01206886e-01 9.94865313e-01 -4.17770679e-04 -1.76255523e+01] [-4.91343594e-03 -7.99182720e-05 9.99987926e-01 -1.52111748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:-17.63, Z:-1.52 [[ 9.95250454e-01 9.72242784e-02 4.89629527e-03 2.59005005e+02] [-9.72233995e-02 9.95262496e-01 -4.17770679e-04 -1.76251664e+01] [-4.91371650e-03 -6.02480133e-05 9.99987926e-01 -1.52382719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.07, Y:-17.62, Z:-1.52 [[ 9.95498161e-01 9.46543063e-02 4.89629527e-03 2.59065733e+02] [-9.46533963e-02 9.95510201e-01 -4.17770679e-04 -1.76245139e+01] [-4.91385568e-03 -4.75610338e-05 9.99987926e-01 -1.52494828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:-17.62, Z:-1.53 [[ 9.95641051e-01 9.31392697e-02 4.89629527e-03 2.59125254e+02] [-9.31383414e-02 9.95653090e-01 -4.17770679e-04 -1.76238749e+01] [-4.91392236e-03 -4.00831826e-05 9.99987926e-01 -1.52582026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:259.18, Y:-17.63, Z:-1.53 [[ 9.95673759e-01 9.27889696e-02 4.89628943e-03 2.59184704e+02] [-9.27880367e-02 9.95685797e-01 -4.17839100e-04 -1.76277202e+01] [-4.91393670e-03 -3.82856563e-05 9.99987926e-01 -1.52617528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:259.25, Y:-17.63, Z:-1.53 [[ 9.95621058e-01 9.33527475e-02 4.89628379e-03 2.59245121e+02] [-9.33518211e-02 9.95633097e-01 -4.17905116e-04 -1.76272299e+01] [-4.91391478e-03 -4.10018750e-05 9.99987926e-01 -1.52589933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.31, Y:-17.63, Z:-1.53 [[ 9.95565394e-01 9.39445160e-02 4.89629380e-03 2.59305423e+02] [-9.39435973e-02 9.95577433e-01 -4.17787821e-04 -1.76270046e+01] [-4.91388849e-03 -4.40403564e-05 9.99987926e-01 -1.52528122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96587156 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:-17.63, Z:-1.53 [[ 9.95643193e-01 9.31163670e-02 4.89630376e-03 2.59365276e+02] [-9.31154389e-02 9.95655232e-01 -4.17671126e-04 -1.76270734e+01] [-4.91392247e-03 -4.00700593e-05 9.99987926e-01 -1.52665996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.43, Y:-17.63, Z:-1.53 [[ 9.95838735e-01 9.10013226e-02 4.89631359e-03 2.59425198e+02] [-9.10003695e-02 9.95850771e-01 -4.17555835e-04 -1.76276496e+01] [-4.91399579e-03 -2.97480708e-05 9.99987926e-01 -1.52735115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.49, Y:-17.63, Z:-1.53 [[ 9.96058870e-01 8.85593188e-02 4.89632359e-03 2.59485269e+02] [-8.85583368e-02 9.96070904e-01 -4.17438499e-04 -1.76303219e+01] [-4.91405354e-03 -1.78169539e-05 9.99987926e-01 -1.52679865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.54, Y:-17.63, Z:-1.53 [[ 9.96214158e-01 8.67950285e-02 4.89633382e-03 2.59543757e+02] [-8.67940258e-02 9.96226191e-01 -4.17318457e-04 -1.76343899e+01] [-4.91407716e-03 -9.23396872e-06 9.99987926e-01 -1.52849383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:-17.64, Z:-1.53 [[ 9.96452097e-01 8.40193112e-02 4.89634550e-03 2.59603480e+02] [-8.40182756e-02 9.96464126e-01 -4.17181376e-04 -1.76392346e+01] [-4.91408393e-03 4.31875131e-06 9.99987926e-01 -1.53045496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.66, Y:-17.65, Z:-1.53 [[ 9.96466126e-01 8.38527595e-02 4.89635489e-03 2.59662972e+02] [-8.38517224e-02 9.96478156e-01 -4.17071105e-04 -1.76450186e+01] [-4.91408326e-03 5.02943688e-06 9.99987926e-01 -1.52910736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:259.72, Y:-17.65, Z:-1.53 [[ 9.96338765e-01 8.53527500e-02 4.89636478e-03 2.59722785e+02] [-8.53517316e-02 9.96350796e-01 -4.16955043e-04 -1.76487436e+01] [-4.91408520e-03 -2.48474038e-06 9.99987926e-01 -1.52939594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:259.78, Y:-17.65, Z:-1.53 [[ 9.96064744e-01 8.84932247e-02 4.89637459e-03 2.59781089e+02] [-8.84922448e-02 9.96076779e-01 -4.16839783e-04 -1.76524060e+01] [-4.91405253e-03 -1.80917676e-05 9.99987926e-01 -1.52750846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.84, Y:-17.66, Z:-1.53 [[ 9.95904475e-01 9.02790261e-02 4.89638917e-03 2.59839685e+02] [-9.02780686e-02 9.95916511e-01 -4.16668434e-04 -1.76563864e+01] [-4.91401124e-03 -2.70745994e-05 9.99987926e-01 -1.52783508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.90, Y:-17.66, Z:-1.53 [[ 9.95674318e-01 9.27829635e-02 4.89640925e-03 2.59897755e+02] [-9.27820374e-02 9.95686356e-01 -4.16432320e-04 -1.76582409e+01] [-4.91392571e-03 -3.96678602e-05 9.99987926e-01 -1.52940193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56587155999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:-17.66, Z:-1.53 [[ 9.95412779e-01 9.55480238e-02 4.89643412e-03 2.59955359e+02] [-9.55471327e-02 9.95424820e-01 -4.16139690e-04 -1.76613148e+01] [-4.91379338e-03 -5.36094761e-05 9.99987926e-01 -1.52967233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:260.01, Y:-17.66, Z:-1.53 [[ 9.95263200e-01 9.70937029e-02 4.89645781e-03 2.60014057e+02] [-9.70928318e-02 9.95275243e-01 -4.15860810e-04 -1.76603013e+01] [-4.91370070e-03 -6.15199943e-05 9.99987926e-01 -1.53155463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:-17.66, Z:-1.54 [[ 9.95446504e-01 9.51960158e-02 4.89647661e-03 2.60072438e+02] [-9.51951228e-02 9.95458546e-01 -4.15639317e-04 -1.76609549e+01] [-4.91380669e-03 -5.23739869e-05 9.99987926e-01 -1.53607648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:-17.66, Z:-1.54 [[ 9.95965121e-01 8.96074902e-02 4.89649989e-03 2.60130139e+02] [-8.96065310e-02 9.95977157e-01 -4.15364881e-04 -1.76626568e+01] [-4.91402184e-03 -2.50694351e-05 9.99987926e-01 -1.53679429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-17.67, Z:-1.53 [[ 9.96430881e-01 8.42705395e-02 4.89652274e-03 2.60188948e+02] [-8.42695172e-02 9.96442912e-01 -4.15095292e-04 -1.76659794e+01] [-4.91408568e-03 9.86160214e-07 9.99987926e-01 -1.53074695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.25, Y:-17.67, Z:-1.53 [[ 9.96719783e-01 8.07817983e-02 4.89654296e-03 2.60246774e+02] [-8.07807351e-02 9.96731810e-01 -4.14856687e-04 -1.76702290e+01] [-4.91405300e-03 1.79495269e-05 9.99987926e-01 -1.53381429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.31, Y:-17.67, Z:-1.53 [[ 9.97075706e-01 7.62630988e-02 4.89656792e-03 2.60306051e+02] [-7.62619825e-02 9.97087728e-01 -4.14561894e-04 -1.76748748e+01] [-4.91392356e-03 3.99276168e-05 9.99987926e-01 -1.52987069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:-17.68, Z:-1.53 [[ 9.97247404e-01 7.39840443e-02 4.89657793e-03 2.60365054e+02] [-7.39829011e-02 9.97259424e-01 -4.14443551e-04 -1.76792467e+01] [-4.91382070e-03 5.10397148e-05 9.99987926e-01 -1.53158017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04587155999997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:260.42, Y:-17.68, Z:-1.53 [[ 9.97185576e-01 7.48127670e-02 4.89658782e-03 2.60424710e+02] [-7.48116344e-02 9.97197597e-01 -4.14326743e-04 -1.76849630e+01] [-4.91386254e-03 4.68389145e-05 9.99987926e-01 -1.53200648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.48, Y:-17.69, Z:-1.54 [[ 9.97012212e-01 7.70887321e-02 4.89659744e-03 2.60483548e+02] [-7.70876275e-02 9.97024235e-01 -4.14212949e-04 -1.76918571e+01] [-4.91395747e-03 3.55082892e-05 9.99987926e-01 -1.53511724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.54, Y:-17.70, Z:-1.54 [[ 9.96787620e-01 7.99403774e-02 4.89660716e-03 2.60542214e+02] [-7.99393077e-02 9.96799647e-01 -4.14098097e-04 -1.76969493e+01] [-4.91403944e-03 2.13364704e-05 9.99987926e-01 -1.53612434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:260.60, Y:-17.70, Z:-1.53 [[ 9.96728697e-01 8.06717293e-02 4.89662166e-03 2.60600488e+02] [-8.06706693e-02 9.96740724e-01 -4.13926529e-04 -1.77049767e+01] [-4.91405439e-03 1.75587035e-05 9.99987926e-01 -1.53390948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28587156 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:260.66, Y:-17.71, Z:-1.53 [[ 9.96801823e-01 7.97630727e-02 4.89664111e-03 2.60659766e+02] [-7.97620029e-02 9.96813850e-01 -4.13696340e-04 -1.77136141e+01] [-4.91403737e-03 2.18073640e-05 9.99987926e-01 -1.53340663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34587156 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:260.72, Y:-17.72, Z:-1.54 [[ 9.96815467e-01 7.95923815e-02 4.89665090e-03 2.60717859e+02] [-7.95913101e-02 9.96827494e-01 -4.13580456e-04 -1.77232007e+01] [-4.91403409e-03 2.25325355e-05 9.99987926e-01 -1.53564388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.78, Y:-17.73, Z:-1.54 [[ 9.96577625e-01 8.25170232e-02 4.89666164e-03 2.60776633e+02] [-8.25159878e-02 9.96589655e-01 -4.13453186e-04 -1.77320310e+01] [-4.91407926e-03 7.98532207e-06 9.99987926e-01 -1.53862585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.84, Y:-17.74, Z:-1.54 [[ 9.96297345e-01 8.58348540e-02 4.89667124e-03 2.60836160e+02] [-8.58338592e-02 9.96309379e-01 -4.13339484e-04 -1.77389862e+01] [-4.91407841e-03 -8.49115866e-06 9.99987926e-01 -1.53811977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.90, Y:-17.75, Z:-1.54 [[ 9.96102803e-01 8.80637736e-02 4.89668099e-03 2.60895468e+02] [-8.80628063e-02 9.96114838e-01 -4.13223977e-04 -1.77473841e+01] [-4.91404665e-03 -1.96019074e-05 9.99987926e-01 -1.53658960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.96, Y:-17.75, Z:-1.54 [[ 9.95979405e-01 8.94485781e-02 4.89669085e-03 2.60955015e+02] [-8.94476281e-02 9.95991441e-01 -4.13107101e-04 -1.77535481e+01] [-4.91401402e-03 -2.65512176e-05 9.99987926e-01 -1.53523216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:261.01, Y:-17.76, Z:-1.53 [[ 9.95915464e-01 9.01577021e-02 4.89670071e-03 2.61013373e+02] [-9.01567612e-02 9.95927501e-01 -4.12990191e-04 -1.77617466e+01] [-4.91399315e-03 -3.01673586e-05 9.99987926e-01 -1.53459487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70587156 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:261.07, Y:-17.77, Z:-1.54 [[ 9.95941060e-01 8.98745026e-02 4.89671532e-03 2.61072336e+02] [-8.98735592e-02 9.95953098e-01 -4.12816811e-04 -1.77673766e+01] [-4.91400050e-03 -2.89440218e-05 9.99987926e-01 -1.53553988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.13, Y:-17.77, Z:-1.54 [[ 9.96158480e-01 8.74317207e-02 4.89672463e-03 2.61131518e+02] [-8.74307483e-02 9.96170514e-01 -4.12706415e-04 -1.77735919e+01] [-4.91405632e-03 -1.70033041e-05 9.99987926e-01 -1.53822974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.19, Y:-17.78, Z:-1.54 [[ 9.96441343e-01 8.41467307e-02 4.89673459e-03 2.61189530e+02] [-8.41457192e-02 9.96453375e-01 -4.12588177e-04 -1.77797369e+01] [-4.91408565e-03 -9.19337004e-07 9.99987926e-01 -1.53866528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.25, Y:-17.79, Z:-1.54 [[ 9.96752355e-01 8.03788851e-02 4.89674547e-03 2.61249534e+02] [-8.03778287e-02 9.96764383e-01 -4.12459076e-04 -1.77904443e+01] [-4.91405447e-03 1.75297868e-05 9.99987926e-01 -1.54037114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.31, Y:-17.80, Z:-1.54 [[ 9.96892626e-01 7.86200674e-02 4.89674547e-03 2.61308779e+02] [-7.86189898e-02 9.96904652e-01 -4.12459076e-04 -1.77997376e+01] [-4.91401589e-03 2.62002291e-05 9.99987926e-01 -1.53963842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.37, Y:-17.81, Z:-1.54 [[ 9.96830442e-01 7.94046139e-02 4.89675044e-03 2.61367369e+02] [-7.94035461e-02 9.96842468e-01 -4.12400041e-04 -1.78106227e+01] [-4.91403526e-03 2.22735662e-05 9.99987926e-01 -1.53849346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.43, Y:-17.82, Z:-1.54 [[ 9.96407628e-01 8.45450239e-02 4.89674585e-03 2.61426230e+02] [-8.45440178e-02 9.96419660e-01 -4.12454501e-04 -1.78222613e+01] [-4.91408481e-03 -3.01775762e-06 9.99987926e-01 -1.53731573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.49, Y:-17.83, Z:-1.54 [[ 9.96087411e-01 8.82376985e-02 4.89675068e-03 2.61486338e+02] [-8.82367373e-02 9.96099447e-01 -4.12397141e-04 -1.78302297e+01] [-4.91403962e-03 -2.12897034e-05 9.99987926e-01 -1.53870532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.55, Y:-17.84, Z:-1.54 [[ 9.95579668e-01 9.37931083e-02 4.89675068e-03 2.61546716e+02] [-9.37922143e-02 9.95591709e-01 -4.12397141e-04 -1.78379389e+01] [-4.91384439e-03 -4.87028807e-05 9.99987926e-01 -1.53857575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:-17.84, Z:-1.54 [[ 9.94827669e-01 1.01459007e-01 4.89675068e-03 2.61604604e+02] [-1.01458206e-01 9.94839717e-01 -4.12397141e-04 -1.78439424e+01] [-4.91332347e-03 -8.65514530e-05 9.99987926e-01 -1.54055532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:-17.85, Z:-1.54 [[ 9.94367433e-01 1.05874595e-01 4.89676518e-03 2.61664482e+02] [-1.05873848e-01 9.94379484e-01 -4.12224953e-04 -1.78484284e+01] [-4.91288698e-03 -1.08536304e-04 9.99987926e-01 -1.54215641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.72, Y:-17.85, Z:-1.54 [[ 9.93900107e-01 1.10175306e-01 4.89677458e-03 2.61723833e+02] [-1.10174612e-01 9.93912162e-01 -4.12113201e-04 -1.78520094e+01] [-4.91236851e-03 -1.29900882e-04 9.99987926e-01 -1.54192435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.78, Y:-17.85, Z:-1.54 [[ 9.93984533e-01 1.09411015e-01 4.89678427e-03 2.61782858e+02] [-1.09410312e-01 9.93996586e-01 -4.11998043e-04 -1.78544106e+01] [-4.91246397e-03 -1.26239012e-04 9.99987926e-01 -1.54261825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:-17.86, Z:-1.54 [[ 9.94288000e-01 1.06617979e-01 4.89679869e-03 2.61842193e+02] [-1.06617243e-01 9.94300052e-01 -4.11826622e-04 -1.78568563e+01] [-4.91279531e-03 -1.12608909e-04 9.99987926e-01 -1.54281807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.90, Y:-17.86, Z:-1.54 [[ 9.94829686e-01 1.01439232e-01 4.89680838e-03 2.61902194e+02] [-1.01438434e-01 9.94841733e-01 -4.11711280e-04 -1.78582166e+01] [-4.91331302e-03 -8.71419729e-05 9.99987926e-01 -1.54251586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60587155999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:261.96, Y:-17.86, Z:-1.54 [[ 9.95200189e-01 9.77374311e-02 4.89681858e-03 2.61962066e+02] [-9.77365888e-02 9.95212234e-01 -4.11589976e-04 -1.78613722e+01] [-4.91360150e-03 -6.89839222e-05 9.99987926e-01 -1.54132634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.02, Y:-17.86, Z:-1.55 [[ 9.95839253e-01 9.09956207e-02 4.89682869e-03 2.62021512e+02] [-9.09946975e-02 9.95851292e-01 -4.11469654e-04 -1.78623298e+01] [-4.91395512e-03 -3.58278129e-05 9.99987926e-01 -1.54669014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.08, Y:-17.87, Z:-1.54 [[ 9.96473268e-01 8.37678137e-02 4.89683371e-03 2.62081967e+02] [-8.37668034e-02 9.96485300e-01 -4.11409868e-04 -1.78666127e+01] [-4.91408572e-03 -2.33171312e-07 9.99987926e-01 -1.54361674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.14, Y:-17.87, Z:-1.54 [[ 9.97035967e-01 7.67808687e-02 4.89683371e-03 2.62142432e+02] [-7.67797741e-02 9.97047991e-01 -4.11409868e-04 -1.78714694e+01] [-4.91396663e-03 3.42126491e-05 9.99987926e-01 -1.54114293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.20, Y:-17.88, Z:-1.54 [[ 9.97498590e-01 7.05165455e-02 4.89682880e-03 2.62203034e+02] [-7.05153751e-02 9.97510608e-01 -4.11468395e-04 -1.78763924e+01] [-4.91365400e-03 6.51374246e-05 9.99987926e-01 -1.54237584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.26, Y:-17.89, Z:-1.54 [[ 9.97882067e-01 6.48644839e-02 4.89680643e-03 2.62264029e+02] [-6.48632441e-02 9.97894078e-01 -4.11734355e-04 -1.78854361e+01] [-4.91320108e-03 9.32395783e-05 9.99987926e-01 -1.54332822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:-17.90, Z:-1.55 [[ 9.98155323e-01 6.05142308e-02 4.89679636e-03 2.62324254e+02] [-6.05129381e-02 9.98167328e-01 -4.11854077e-04 -1.78953653e+01] [-4.91274518e-03 1.14774804e-04 9.99987926e-01 -1.54557887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.38, Y:-17.90, Z:-1.55 [[ 9.98208400e-01 5.96323143e-02 4.89673175e-03 2.62384998e+02] [-5.96310072e-02 9.98220403e-01 -4.12620932e-04 -1.79038492e+01] [-4.91262308e-03 1.19884634e-04 9.99987926e-01 -1.54560957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.45, Y:-17.92, Z:-1.54 [[ 9.98106197e-01 6.13191799e-02 4.89667061e-03 2.62446048e+02] [-6.13178896e-02 9.98118202e-01 -4.13345121e-04 -1.79160505e+01] [-4.91280205e-03 1.12308819e-04 9.99987926e-01 -1.54495725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.51, Y:-17.93, Z:-1.54 [[ 9.97831188e-01 6.56425448e-02 4.89660502e-03 2.62507935e+02] [-6.56413027e-02 9.97843198e-01 -4.14120699e-04 -1.79271027e+01] [-4.91322795e-03 9.18030162e-05 9.99987926e-01 -1.54312592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:262.57, Y:-17.94, Z:-1.54 [[ 9.97412224e-01 7.17278095e-02 4.89653495e-03 2.62568276e+02] [-7.17266366e-02 9.97424241e-01 -4.14947608e-04 -1.79384767e+01] [-4.91368594e-03 6.26618341e-05 9.99987926e-01 -1.54448752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:262.63, Y:-17.95, Z:-1.55 [[ 9.96904296e-01 7.84719581e-02 4.89647074e-03 2.62629418e+02] [-7.84708628e-02 9.96916321e-01 -4.15703874e-04 -1.79489972e+01] [-4.91399269e-03 3.01866939e-05 9.99987926e-01 -1.54604670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.69, Y:-17.96, Z:-1.55 [[ 9.96337054e-01 8.53727090e-02 4.89639979e-03 2.62690587e+02] [-8.53716928e-02 9.96349086e-01 -4.16537933e-04 -1.79564701e+01] [-4.91408442e-03 -3.00176140e-06 9.99987926e-01 -1.54728347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38587156 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:262.75, Y:-17.96, Z:-1.54 [[ 9.95821844e-01 9.11859674e-02 4.89633405e-03 2.62751162e+02] [-9.11850177e-02 9.95833881e-01 -4.17309204e-04 -1.79614583e+01] [-4.91398808e-03 -3.09066856e-05 9.99987926e-01 -1.54469832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.81, Y:-17.97, Z:-1.55 [[ 9.95365610e-01 9.60381644e-02 4.89633405e-03 2.62811604e+02] [-9.60372734e-02 9.95377651e-01 -4.17309204e-04 -1.79650915e+01] [-4.91377910e-03 -5.48553415e-05 9.99987926e-01 -1.54583544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.87, Y:-17.97, Z:-1.55 [[ 9.94945831e-01 1.00293668e-01 4.89631252e-03 2.62871502e+02] [-1.00292827e-01 9.94957876e-01 -4.17561660e-04 -1.79669825e+01] [-4.91350350e-03 -7.56137928e-05 9.99987926e-01 -1.54773753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.93, Y:-17.97, Z:-1.55 [[ 9.94629890e-01 1.03379922e-01 4.89631696e-03 2.62931134e+02] [-1.03379119e-01 9.94641937e-01 -4.17509643e-04 -1.79661306e+01] [-4.91324430e-03 -9.09093633e-05 9.99987926e-01 -1.54760168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.99, Y:-17.97, Z:-1.55 [[ 9.94605973e-01 1.03609775e-01 4.89632580e-03 2.62990693e+02] [-1.03608975e-01 9.94618020e-01 -4.17405895e-04 -1.79693782e+01] [-4.91322121e-03 -9.21489015e-05 9.99987926e-01 -1.54521764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.05, Y:-17.97, Z:-1.55 [[ 9.94847910e-01 1.01260369e-01 4.89633546e-03 2.63051029e+02] [-1.01259541e-01 9.94859956e-01 -4.17292610e-04 -1.79651546e+01] [-4.91342328e-03 -8.06579997e-05 9.99987926e-01 -1.54586316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.11, Y:-17.97, Z:-1.55 [[ 9.95019514e-01 9.95599941e-02 4.89634523e-03 2.63109556e+02] [-9.95591464e-02 9.95031558e-01 -4.17177938e-04 -1.79655556e+01] [-4.91355226e-03 -7.23757622e-05 9.99987926e-01 -1.54947763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.17, Y:-17.96, Z:-1.55 [[ 9.95293065e-01 9.67870868e-02 4.89635977e-03 2.63169799e+02] [-9.67862064e-02 9.95305107e-01 -4.17007188e-04 -1.79625033e+01] [-4.91373280e-03 -5.88557247e-05 9.99987926e-01 -1.54697873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.23, Y:-17.96, Z:-1.55 [[ 9.95598310e-01 9.35950393e-02 4.89636916e-03 2.63229556e+02] [-9.35941208e-02 9.95610349e-01 -4.16896858e-04 -1.79581952e+01] [-4.91389529e-03 -4.32095598e-05 9.99987926e-01 -1.54544546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92587155999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:263.29, Y:-17.96, Z:-1.55 [[ 9.95746937e-01 9.20003388e-02 4.89638395e-03 2.63288148e+02] [-9.19994018e-02 9.95758975e-01 -4.16723177e-04 -1.79575862e+01] [-4.91395693e-03 -3.55135672e-05 9.99987926e-01 -1.54593235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98587155999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:263.35, Y:-17.96, Z:-1.55 [[ 9.95970134e-01 8.95517559e-02 4.89639858e-03 2.63347720e+02] [-8.95507902e-02 9.95982170e-01 -4.16551109e-04 -1.79562697e+01] [-4.91402857e-03 -2.36038984e-05 9.99987926e-01 -1.54531253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04587155999997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:-17.96, Z:-1.54 [[ 9.96228365e-01 8.66318054e-02 4.89640849e-03 2.63407528e+02] [-8.66308050e-02 9.96240398e-01 -4.16434664e-04 -1.79564186e+01] [-4.91407643e-03 -9.31578434e-06 9.99987926e-01 -1.54331543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.47, Y:-17.96, Z:-1.54 [[ 9.96464607e-01 8.38708000e-02 4.89641856e-03 2.63466322e+02] [-8.38697669e-02 9.96476637e-01 -4.16316249e-04 -1.79556309e+01] [-4.91408347e-03 4.18292500e-06 9.99987926e-01 -1.54429394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16587155999997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:263.53, Y:-17.96, Z:-1.54 [[ 9.96539536e-01 8.29757665e-02 4.89643352e-03 2.63525044e+02] [-8.29747234e-02 9.96551565e-01 -4.16140192e-04 -1.79565476e+01] [-4.91407804e-03 8.41993719e-06 9.99987926e-01 -1.54399879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:-17.96, Z:-1.55 [[ 9.96583541e-01 8.24455582e-02 4.89645308e-03 2.63584138e+02] [-8.24445098e-02 9.96595570e-01 -4.15909933e-04 -1.79564282e+01] [-4.91407337e-03 1.08033202e-05 9.99987926e-01 -1.54845719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:-17.96, Z:-1.55 [[ 9.96666326e-01 8.14386837e-02 4.89647279e-03 2.63642404e+02] [-8.14376243e-02 9.96678354e-01 -4.15677731e-04 -1.79579162e+01] [-4.91406069e-03 1.55348860e-05 9.99987926e-01 -1.54849954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.70, Y:-17.96, Z:-1.55 [[ 9.96791237e-01 7.98952663e-02 4.89649795e-03 2.63701370e+02] [-7.98941898e-02 9.96803263e-01 -4.15381172e-04 -1.79590014e+01] [-4.91403212e-03 2.28465767e-05 9.99987926e-01 -1.54744254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:-17.96, Z:-1.54 [[ 9.96834893e-01 7.93487262e-02 4.89651783e-03 2.63759199e+02] [-7.93476442e-02 9.96846919e-01 -4.15146648e-04 -1.79581996e+01] [-4.91402007e-03 2.53055092e-05 9.99987926e-01 -1.54478567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.82, Y:-17.96, Z:-1.55 [[ 9.96853725e-01 7.91117931e-02 4.89654229e-03 2.63817844e+02] [-7.91107096e-02 9.96865750e-01 -4.14857946e-04 -1.79583921e+01] [-4.91401546e-03 2.61837529e-05 9.99987926e-01 -1.54522876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52587156 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:263.88, Y:-17.96, Z:-1.55 [[ 9.96925785e-01 7.81984866e-02 4.89656178e-03 2.63876492e+02] [-7.81973933e-02 9.96937809e-01 -4.14627824e-04 -1.79593770e+01] [-4.91399084e-03 3.04548017e-05 9.99987926e-01 -1.54649796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:263.93, Y:-17.96, Z:-1.55 [[ 9.97148259e-01 7.53085202e-02 4.89658208e-03 2.63934351e+02] [-7.53073932e-02 9.97160280e-01 -4.14387876e-04 -1.79628786e+01] [-4.91388410e-03 4.44573170e-05 9.99987926e-01 -1.55066187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:263.99, Y:-17.97, Z:-1.55 [[ 9.97227913e-01 7.42462994e-02 4.89660886e-03 2.63993444e+02] [-7.42451612e-02 9.97239933e-01 -4.14071241e-04 -1.79675945e+01] [-4.91383715e-03 4.93738857e-05 9.99987926e-01 -1.54796511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70587156 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:264.05, Y:-17.97, Z:-1.55 [[ 9.97209247e-01 7.44965877e-02 4.89662856e-03 2.64051909e+02] [-7.44954536e-02 9.97221267e-01 -4.13838188e-04 -1.79718245e+01] [-4.91385167e-03 4.79067021e-05 9.99987926e-01 -1.54659089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76587156 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:264.11, Y:-17.98, Z:-1.55 [[ 9.97067578e-01 7.63692902e-02 4.89664852e-03 2.64110468e+02] [-7.63681799e-02 9.97079601e-01 -4.13601777e-04 -1.79756479e+01] [-4.91393483e-03 3.84407865e-05 9.99987926e-01 -1.54975388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82587156 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:264.17, Y:-17.98, Z:-1.55 [[ 9.96751137e-01 8.03939863e-02 4.89666837e-03 2.64169101e+02] [-8.03929256e-02 9.96763165e-01 -4.13366666e-04 -1.79782084e+01] [-4.91405086e-03 1.83661984e-05 9.99987926e-01 -1.54861220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88587156 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:264.23, Y:-17.98, Z:-1.55 [[ 9.96396036e-01 8.46815366e-02 4.89668862e-03 2.64226798e+02] [-8.46805290e-02 9.96408068e-01 -4.13126644e-04 -1.79829272e+01] [-4.91408425e-03 -3.01643245e-06 9.99987926e-01 -1.54826752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94587156 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:264.28, Y:-17.99, Z:-1.55 [[ 9.96292377e-01 8.58924962e-02 4.89671585e-03 2.64284681e+02] [-8.58915047e-02 9.96304411e-01 -4.12803690e-04 -1.79852357e+01] [-4.91407634e-03 -9.31312303e-06 9.99987926e-01 -1.54736495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00587156 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:264.34, Y:-17.99, Z:-1.55 [[ 9.96485527e-01 8.36218656e-02 4.89674055e-03 2.64343478e+02] [-8.36208482e-02 9.96497558e-01 -4.12510505e-04 -1.79897780e+01] [-4.91408490e-03 1.59115052e-06 9.99987926e-01 -1.54637427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06587155999995 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:264.40, Y:-18.00, Z:-1.55 [[ 9.96621099e-01 8.19902829e-02 4.89676007e-03 2.64402215e+02] [-8.19892469e-02 9.96633129e-01 -4.12278645e-04 -1.79978159e+01] [-4.91407615e-03 9.40392625e-06 9.99987926e-01 -1.54759856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12587155999995 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:264.46, Y:-18.00, Z:-1.55 [[ 9.96506043e-01 8.33770166e-02 4.89677943e-03 2.64460286e+02] [-8.33759985e-02 9.96518075e-01 -4.12048529e-04 -1.80038293e+01] [-4.91408459e-03 2.33497437e-06 9.99987926e-01 -1.54838744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18587155999995 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:-18.01, Z:-1.55 [[ 9.96164182e-01 8.73667212e-02 4.89679875e-03 2.64517667e+02] [-8.73657524e-02 9.96176217e-01 -4.11818808e-04 -1.80093421e+01] [-4.91405371e-03 -1.75733610e-05 9.99987926e-01 -1.54875875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24587155999996 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:264.58, Y:-18.01, Z:-1.55 [[ 9.95750710e-01 9.19594762e-02 4.89682468e-03 2.64576333e+02] [-9.19585644e-02 9.95762749e-01 -4.11510243e-04 -1.80136949e+01] [-4.91391787e-03 -4.05433512e-05 9.99987926e-01 -1.54863951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30587155999996 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:264.63, Y:-18.02, Z:-1.55 [[ 9.95401726e-01 9.56630832e-02 4.89684469e-03 2.64633812e+02] [-9.56622174e-02 9.95413769e-01 -4.11272049e-04 -1.80166750e+01] [-4.91373018e-03 -5.90621132e-05 9.99987926e-01 -1.54815006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36587155999996 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:264.69, Y:-18.02, Z:-1.55 [[ 9.95187950e-01 9.78619702e-02 4.89686952e-03 2.64692879e+02] [-9.78611324e-02 9.95199995e-01 -4.10976150e-04 -1.80215479e+01] [-4.91358346e-03 -7.02146843e-05 9.99987926e-01 -1.54816199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42587155999996 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:-18.02, Z:-1.55 [[ 9.95154981e-01 9.81966620e-02 4.89688941e-03 2.64750608e+02] [-9.81958295e-02 9.95167026e-01 -4.10739004e-04 -1.80244916e+01] [-4.91355607e-03 -7.21051517e-05 9.99987926e-01 -1.54968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48587155999996 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:-18.03, Z:-1.55 [[ 9.95195151e-01 9.77887054e-02 4.89691395e-03 2.64809315e+02] [-9.77878694e-02 9.95207197e-01 -4.10446243e-04 -1.80269325e+01] [-4.91358101e-03 -7.03846711e-05 9.99987926e-01 -1.54908882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54587155999997 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:264.87, Y:-18.03, Z:-1.55 [[ 9.95205713e-01 9.76811642e-02 4.89693383e-03 2.64867364e+02] [-9.76803280e-02 9.95217758e-01 -4.10208875e-04 -1.80313932e+01] [-4.91358519e-03 -7.00918874e-05 9.99987926e-01 -1.55182505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60587155999997 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:264.93, Y:-18.03, Z:-1.55 [[ 9.95190463e-01 9.78364080e-02 4.89695845e-03 2.64925909e+02] [-9.78355751e-02 9.95202508e-01 -4.09914767e-04 -1.80333844e+01] [-4.91356992e-03 -7.11534795e-05 9.99987926e-01 -1.55258212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66587155999997 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:264.99, Y:-18.03, Z:-1.55 [[ 9.95061389e-01 9.91405620e-02 4.89697696e-03 2.64985163e+02] [-9.91397460e-02 9.95073436e-01 -4.09693562e-04 -1.80341521e+01] [-4.91346894e-03 -7.78148073e-05 9.99987926e-01 -1.55159508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72587156 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:265.04, Y:-18.04, Z:-1.55 [[ 9.94893452e-01 1.00811900e-01 4.89699636e-03 2.65042998e+02] [-1.00811105e-01 9.94905500e-01 -4.09461545e-04 -1.80354728e+01] [-4.91332721e-03 -8.63010044e-05 9.99987926e-01 -1.55495063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78587156 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:-18.04, Z:-1.55 [[ 9.94886757e-01 1.00877950e-01 4.89702033e-03 2.65101455e+02] [-1.00877157e-01 9.94898805e-01 -4.09174624e-04 -1.80371320e+01] [-4.91331637e-03 -8.69150760e-05 9.99987926e-01 -1.55382446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84587156 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:265.16, Y:-18.04, Z:-1.55 [[ 9.95050276e-01 9.92520372e-02 4.89704044e-03 2.65159716e+02] [-9.92512263e-02 9.95062323e-01 -4.08933892e-04 -1.80379934e+01] [-4.91344795e-03 -7.91274864e-05 9.99987926e-01 -1.55486581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90587156 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:265.22, Y:-18.04, Z:-1.55 [[ 9.95254235e-01 9.71855279e-02 4.89706533e-03 2.65218760e+02] [-9.71846934e-02 9.95266280e-01 -4.08635587e-04 -1.80391030e+01] [-4.91359746e-03 -6.92234938e-05 9.99987926e-01 -1.55317991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96587156 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:265.28, Y:-18.04, Z:-1.55 [[ 9.95470717e-01 9.49424547e-02 4.89708492e-03 2.65277259e+02] [-9.49415943e-02 9.95482761e-01 -4.08400656e-04 -1.80400166e+01] [-4.91373818e-03 -5.83861557e-05 9.99987926e-01 -1.55353555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02587156 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:265.34, Y:-18.04, Z:-1.55 [[ 9.95597504e-01 9.36035659e-02 4.89710445e-03 2.65336618e+02] [-9.36026904e-02 9.95609547e-01 -4.08166318e-04 -1.80401512e+01] [-4.91380977e-03 -5.20127849e-05 9.99987926e-01 -1.55285598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08587156 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:265.39, Y:-18.04, Z:-1.55 [[ 9.95926515e-01 9.00355191e-02 4.89712411e-03 2.65394915e+02] [-9.00346016e-02 9.95938554e-01 -4.07930319e-04 -1.80424016e+01] [-4.91396293e-03 -3.46419974e-05 9.99987926e-01 -1.55281409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14587156 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:265.45, Y:-18.05, Z:-1.55 [[ 9.96501748e-01 8.34283224e-02 4.89715386e-03 2.65452952e+02] [-8.34273269e-02 9.96513781e-01 -4.07572893e-04 -1.80454372e+01] [-4.91408443e-03 -2.40935515e-06 9.99987926e-01 -1.55495900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20587156 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:-18.05, Z:-1.56 [[ 9.97225102e-01 7.42840067e-02 4.89717819e-03 2.65510550e+02] [-7.42829022e-02 9.97237126e-01 -4.07280383e-04 -1.80527022e+01] [-4.91390232e-03 4.23736133e-05 9.99987926e-01 -1.55565713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26587156 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:265.57, Y:-18.06, Z:-1.56 [[ 9.97815239e-01 6.58844864e-02 4.89720263e-03 2.65568827e+02] [-6.58832822e-02 9.97827253e-01 -4.06986288e-04 -1.80603061e+01] [-4.91337633e-03 8.34533374e-05 9.99987926e-01 -1.55662227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32587156 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:265.63, Y:-18.07, Z:-1.56 [[ 9.98256598e-01 5.88199123e-02 4.89722152e-03 2.65626132e+02] [-5.88186242e-02 9.98268603e-01 -4.06758805e-04 -1.80690777e+01] [-4.91266800e-03 1.18001828e-04 9.99987926e-01 -1.55903776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38587156 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:-18.08, Z:-1.56 [[ 9.98463356e-01 5.51991319e-02 4.89724629e-03 2.65684674e+02] [-5.51978017e-02 9.98475356e-01 -4.06460340e-04 -1.80790152e+01] [-4.91221600e-03 1.35518525e-04 9.99987926e-01 -1.55677239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44587156 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:-18.09, Z:-1.56 [[ 9.98391912e-01 5.64766104e-02 4.89726046e-03 2.65742850e+02] [-5.64752964e-02 9.98403914e-01 -4.06289512e-04 -1.80907881e+01] [-4.91238987e-03 1.29061927e-04 9.99987926e-01 -1.55617870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50587156 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:-18.10, Z:-1.56 [[ 9.98062442e-01 6.20272373e-02 4.89727939e-03 2.65801105e+02] [-6.20259913e-02 9.98074452e-01 -4.06061217e-04 -1.81022043e+01] [-4.91303630e-03 1.01515841e-04 9.99987926e-01 -1.55817766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56587155999995 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:265.86, Y:-18.11, Z:-1.56 [[ 9.97541202e-01 6.99111301e-02 4.89729903e-03 2.65858206e+02] [-6.99099801e-02 9.97553222e-01 -4.05824270e-04 -1.81113264e+01] [-4.91368806e-03 6.24563526e-05 9.99987926e-01 -1.56080519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62587155999995 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:-18.12, Z:-1.56 [[ 9.96981754e-01 7.74815958e-02 4.89732338e-03 2.65916078e+02] [-7.74805385e-02 9.96993782e-01 -4.05530224e-04 -1.81226330e+01] [-4.91402209e-03 2.48589812e-05 9.99987926e-01 -1.55873716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68587155999995 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:265.97, Y:-18.13, Z:-1.56 [[ 9.96487557e-01 8.35976347e-02 4.89734261e-03 2.65973153e+02] [-8.35966524e-02 9.96499591e-01 -4.05297835e-04 -1.81315369e+01] [-4.91408185e-03 -5.52719788e-06 9.99987926e-01 -1.56254936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74587155999996 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:-18.14, Z:-1.56 [[ 9.96158458e-01 8.74319314e-02 4.89736642e-03 2.66030805e+02] [-8.74309969e-02 9.96170496e-01 -4.05009882e-04 -1.81400615e+01] [-4.91402274e-03 -2.47276088e-05 9.99987926e-01 -1.56348767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80587155999996 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:-18.15, Z:-1.56 [[ 9.95919773e-01 9.01100480e-02 4.89738960e-03 2.66089072e+02] [-9.01091472e-02 9.95931814e-01 -4.04729485e-04 -1.81491266e+01] [-4.91393630e-03 -3.82215030e-05 9.99987926e-01 -1.56109843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86587155999996 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:266.15, Y:-18.16, Z:-1.56 [[ 9.95594360e-01 9.36369874e-02 4.89740870e-03 2.66146356e+02] [-9.36361304e-02 9.95606404e-01 -4.04498157e-04 -1.81559491e+01] [-4.91376746e-03 -5.58583157e-05 9.99987926e-01 -1.56270918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92587155999996 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:266.20, Y:-18.16, Z:-1.56 [[ 9.95436425e-01 9.53013063e-02 4.89743238e-03 2.66204454e+02] [-9.53004708e-02 9.95448470e-01 -4.04211231e-04 -1.81614253e+01] [-4.91366343e-03 -6.43610290e-05 9.99987926e-01 -1.55936268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98587155999996 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:266.26, Y:-18.17, Z:-1.56 [[ 9.95521809e-01 9.44052081e-02 4.89745610e-03 2.66262771e+02] [-9.44043632e-02 9.95533853e-01 -4.03923691e-04 -1.81678544e+01] [-4.91371584e-03 -6.02263811e-05 9.99987926e-01 -1.56096038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04587155999997 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:-18.17, Z:-1.56 [[ 9.95683723e-01 9.26819196e-02 4.89747483e-03 2.66321129e+02] [-9.26810550e-02 9.95695766e-01 -4.03696522e-04 -1.81734612e+01] [-4.91381032e-03 -5.19490775e-05 9.99987926e-01 -1.56001453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10587155999997 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:-18.18, Z:-1.56 [[ 9.95728060e-01 9.22043686e-02 4.89749393e-03 2.66379047e+02] [-9.22034993e-02 9.95740103e-01 -4.03464562e-04 -1.81794407e+01] [-4.91383231e-03 -4.98250928e-05 9.99987926e-01 -1.56255062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16587155999997 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:266.44, Y:-18.18, Z:-1.56 [[ 9.95618628e-01 9.33785936e-02 4.89751754e-03 2.66436547e+02] [-9.33777399e-02 9.95630672e-01 -4.03177869e-04 -1.81820301e+01] [-4.91376686e-03 -5.59077218e-05 9.99987926e-01 -1.56054927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22587156 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:-18.19, Z:-1.56 [[ 9.95431706e-01 9.53505756e-02 4.89754001e-03 2.66495507e+02] [-9.53497472e-02 9.95443752e-01 -4.02904706e-04 -1.81869144e+01] [-4.91364280e-03 -6.59150823e-05 9.99987926e-01 -1.56132018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28587156 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:-18.19, Z:-1.56 [[ 9.95196314e-01 9.77768445e-02 4.89755810e-03 2.66554649e+02] [-9.77760465e-02 9.95208361e-01 -4.02684686e-04 -1.81879482e+01] [-4.91346401e-03 -7.81135537e-05 9.99987926e-01 -1.56215017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34587156 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:-18.19, Z:-1.56 [[ 9.94941866e-01 1.00332928e-01 4.89757598e-03 2.66613986e+02] [-1.00332162e-01 9.94953916e-01 -4.02467078e-04 -1.81872814e+01] [-4.91324310e-03 -9.09530416e-05 9.99987926e-01 -1.56125270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40587156 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:-18.19, Z:-1.56 [[ 9.94910295e-01 1.00645507e-01 4.89759521e-03 2.66671736e+02] [-1.00644746e-01 9.94922345e-01 -4.02232914e-04 -1.81904230e+01] [-4.91320985e-03 -9.27315603e-05 9.99987926e-01 -1.56228704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46587156 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:266.73, Y:-18.19, Z:-1.56 [[ 9.94962373e-01 1.00129363e-01 4.89761896e-03 2.66730827e+02] [-1.00128597e-01 9.94974423e-01 -4.01943547e-04 -1.81881177e+01] [-4.91325195e-03 -9.04730122e-05 9.99987926e-01 -1.56419085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52587156 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:266.79, Y:-18.19, Z:-1.56 [[ 9.95433979e-01 9.53268365e-02 4.89763642e-03 2.66789435e+02] [-9.53260136e-02 9.95446026e-01 -4.01730702e-04 -1.81891460e+01] [-4.91362842e-03 -6.69757647e-05 9.99987926e-01 -1.56259373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58587156 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:266.85, Y:-18.19, Z:-1.56 [[ 9.96136926e-01 8.76768964e-02 4.89765604e-03 2.66846964e+02] [-8.76759821e-02 9.96148965e-01 -4.01491357e-04 -1.81894329e+01] [-4.91399651e-03 -2.94664373e-05 9.99987926e-01 -1.56271671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64587156 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:266.91, Y:-18.19, Z:-1.56 [[ 9.96926722e-01 7.81864719e-02 4.89768008e-03 2.66905496e+02] [-7.81854444e-02 9.96938752e-01 -4.01197828e-04 -1.81920651e+01] [-4.91405531e-03 1.70375412e-05 9.99987926e-01 -1.56142414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70587156 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:266.96, Y:-18.20, Z:-1.56 [[ 9.97575183e-01 6.94245356e-02 4.89769960e-03 2.66963342e+02] [-6.94234036e-02 9.97587204e-01 -4.00959456e-04 -1.81965284e+01] [-4.91371887e-03 5.99722265e-05 9.99987926e-01 -1.56324636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76587156 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:-18.20, Z:-1.56 [[ 9.98022714e-01 6.26631836e-02 4.89772361e-03 2.67023023e+02] [-6.26619716e-02 9.98034727e-01 -4.00665924e-04 -1.82016417e+01] [-4.91320525e-03 9.29726751e-05 9.99987926e-01 -1.56234773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82587156 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:267.08, Y:-18.21, Z:-1.56 [[ 9.98318549e-01 5.77588642e-02 4.89773332e-03 2.67081014e+02] [-5.77575939e-02 9.98330556e-01 -4.00547182e-04 -1.82099751e+01] [-4.91269198e-03 1.16992390e-04 9.99987926e-01 -1.56153663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88587156 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:267.14, Y:-18.22, Z:-1.56 [[ 9.98450086e-01 5.54385971e-02 4.89774768e-03 2.67139258e+02] [-5.54372997e-02 9.98462090e-01 -4.00371610e-04 -1.82176304e+01] [-4.91241142e-03 1.28233163e-04 9.99987926e-01 -1.56338526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94587156 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:267.20, Y:-18.23, Z:-1.56 [[ 9.98440800e-01 5.56055894e-02 4.89776177e-03 2.67197261e+02] [-5.56042949e-02 9.98452804e-01 -4.00199127e-04 -1.82250297e+01] [-4.91243728e-03 1.27238547e-04 9.99987926e-01 -1.56446839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00587156 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:267.26, Y:-18.24, Z:-1.56 [[ 9.98271940e-01 5.85589102e-02 4.89777545e-03 2.67255753e+02] [-5.85576520e-02 9.98283948e-01 -4.00031657e-04 -1.82363766e+01] [-4.91279603e-03 1.12538148e-04 9.99987926e-01 -1.56284731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06587155999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:267.31, Y:-18.24, Z:-1.57 [[ 9.98135990e-01 6.08322092e-02 4.89778506e-03 2.67314056e+02] [-6.08309789e-02 9.98148001e-01 -3.99913962e-04 -1.82437912e+01] [-4.91304201e-03 1.01231459e-04 9.99987926e-01 -1.56722339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12587155999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:267.37, Y:-18.26, Z:-1.57 [[ 9.97865695e-01 6.51157901e-02 4.89779940e-03 2.67372733e+02] [-6.51146122e-02 9.97877712e-01 -3.99738277e-04 -1.82579462e+01] [-4.91343413e-03 7.99668053e-05 9.99987926e-01 -1.56976429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18587155999995 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:-18.27, Z:-1.57 [[ 9.97779952e-01 6.64167093e-02 4.89780880e-03 2.67432044e+02] [-6.64155477e-02 9.97791970e-01 -3.99622983e-04 -1.82664896e+01] [-4.91353594e-03 7.34451468e-05 9.99987926e-01 -1.56883654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24587155999996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:267.49, Y:-18.28, Z:-1.57 [[ 9.97682587e-01 6.78635896e-02 4.89781843e-03 2.67490417e+02] [-6.78624460e-02 9.97694607e-01 -3.99504971e-04 -1.82783308e+01] [-4.91363887e-03 6.62012139e-05 9.99987926e-01 -1.57004561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30587155999996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:267.55, Y:-18.29, Z:-1.57 [[ 9.97592310e-01 6.91779834e-02 4.89783276e-03 2.67549226e+02] [-6.91768565e-02 9.97604332e-01 -3.99329174e-04 -1.82899338e+01] [-4.91372397e-03 5.95510388e-05 9.99987926e-01 -1.56925504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36587155999996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:267.61, Y:-18.30, Z:-1.57 [[ 9.97466555e-01 7.09681853e-02 4.89784243e-03 2.67608126e+02] [-7.09670805e-02 9.97478578e-01 -3.99210581e-04 -1.83019308e+01] [-4.91382415e-03 5.06136250e-05 9.99987926e-01 -1.57109457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42587155999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:267.67, Y:-18.31, Z:-1.57 [[ 9.97321667e-01 7.29760454e-02 4.89783730e-03 2.67666664e+02] [-7.29749645e-02 9.97333693e-01 -3.99273491e-04 -1.83119299e+01] [-4.91391556e-03 4.07846005e-05 9.99987926e-01 -1.56999310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48587155999996 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:267.73, Y:-18.32, Z:-1.57 [[ 9.97212047e-01 7.44590099e-02 4.89783294e-03 2.67726880e+02] [-7.44579466e-02 9.97224074e-01 -3.99327012e-04 -1.83232354e+01] [-4.91397041e-03 3.35311237e-05 9.99987926e-01 -1.56853193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54587155999997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:267.79, Y:-18.33, Z:-1.57 [[ 9.97096004e-01 7.59971729e-02 4.89783294e-03 2.67786843e+02] [-7.59961282e-02 9.97108033e-01 -3.99327012e-04 -1.83326118e+01] [-4.91401629e-03 2.59510281e-05 9.99987926e-01 -1.57078511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60587155999997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:267.85, Y:-18.34, Z:-1.57 [[ 9.96931087e-01 7.81307760e-02 4.89783294e-03 2.67846346e+02] [-7.81297570e-02 9.96943119e-01 -3.99327012e-04 -1.83401344e+01] [-4.91406057e-03 1.54350150e-05 9.99987926e-01 -1.57294822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66587155999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:-18.35, Z:-1.57 [[ 9.96748901e-01 8.04216408e-02 4.89783777e-03 2.67906723e+02] [-8.04206498e-02 9.96760934e-01 -3.99267729e-04 -1.83497259e+01] [-4.91408312e-03 4.08237413e-06 9.99987926e-01 -1.57201544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:267.97, Y:-18.36, Z:-1.57 [[ 9.96644539e-01 8.17048016e-02 4.89783777e-03 2.67965426e+02] [-8.17038261e-02 9.96656573e-01 -3.99267729e-04 -1.83581438e+01] [-4.91408430e-03 -2.24408373e-06 9.99987926e-01 -1.57287477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:268.02, Y:-18.37, Z:-1.57 [[ 9.96682980e-01 8.12345320e-02 4.89784257e-03 2.68024734e+02] [-8.12335511e-02 9.96695014e-01 -3.99208811e-04 -1.83671642e+01] [-4.91408481e-03 1.54820893e-08 9.99987926e-01 -1.57334454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84587156 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:268.09, Y:-18.38, Z:-1.57 [[ 9.96762417e-01 8.02539436e-02 4.89781879e-03 2.68085221e+02] [-8.02529494e-02 9.96774450e-01 -3.99500379e-04 -1.83767799e+01] [-4.91408211e-03 5.14256041e-06 9.99987926e-01 -1.57300214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:268.15, Y:-18.38, Z:-1.58 [[ 9.96814135e-01 7.96089943e-02 4.89780941e-03 2.68145640e+02] [-7.96079917e-02 9.96826167e-01 -3.99615304e-04 -1.83846491e+01] [-4.91407756e-03 8.43741264e-06 9.99987926e-01 -1.57556153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96587156 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:268.21, Y:-18.39, Z:-1.58 [[ 9.96787648e-01 7.99399534e-02 4.89779992e-03 2.68205597e+02] [-7.99389543e-02 9.96799681e-01 -3.99731584e-04 -1.83942478e+01] [-4.91407992e-03 6.92250115e-06 9.99987926e-01 -1.57686740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:268.27, Y:-18.40, Z:-1.57 [[ 9.96674921e-01 8.13333526e-02 4.89779521e-03 2.68266169e+02] [-8.13323700e-02 9.96686955e-01 -3.99789331e-04 -1.84014074e+01] [-4.91408480e-03 1.10707497e-07 9.99987926e-01 -1.57491887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:268.33, Y:-18.41, Z:-1.57 [[ 9.96356120e-01 8.51498295e-02 4.89778540e-03 2.68326007e+02] [-8.51488924e-02 9.96368158e-01 -3.99909449e-04 -1.84083234e+01] [-4.91404964e-03 -1.85887755e-05 9.99987926e-01 -1.57441943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:268.39, Y:-18.41, Z:-1.58 [[ 9.96045084e-01 8.87141560e-02 4.89778053e-03 2.68386302e+02] [-8.87132617e-02 9.96057125e-01 -3.99969072e-04 -1.84133219e+01] [-4.91395212e-03 -3.61108586e-05 9.99987926e-01 -1.57509147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:-18.42, Z:-1.58 [[ 9.96100296e-01 8.80920685e-02 4.89777595e-03 2.68446832e+02] [-8.80911664e-02 9.96112336e-01 -4.00025148e-04 -1.84197280e+01] [-4.91397409e-03 -3.29856282e-05 9.99987926e-01 -1.57959195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:268.51, Y:-18.42, Z:-1.58 [[ 9.96443264e-01 8.41239206e-02 4.89776688e-03 2.68507622e+02] [-8.41229700e-02 9.96455300e-01 -4.00136213e-04 -1.84246128e+01] [-4.91406679e-03 -1.33016624e-05 9.99987926e-01 -1.58071434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:268.57, Y:-18.43, Z:-1.58 [[ 9.96710847e-01 8.08918994e-02 4.89775787e-03 2.68568846e+02] [-8.08909093e-02 9.96722881e-01 -4.00246484e-04 -1.84311047e+01] [-4.91408403e-03 2.74592451e-06 9.99987926e-01 -1.58084536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:-18.44, Z:-1.58 [[ 9.97001391e-01 7.72284786e-02 4.89774891e-03 2.68630382e+02] [-7.72274437e-02 9.97013421e-01 -4.00356008e-04 -1.84379675e+01] [-4.91404028e-03 2.09148680e-05 9.99987926e-01 -1.57945084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:-18.44, Z:-1.58 [[ 9.97135301e-01 7.54798251e-02 4.89768657e-03 2.68691610e+02] [-7.54787654e-02 9.97147329e-01 -4.01117281e-04 -1.84437567e+01] [-4.91399134e-03 3.02968653e-05 9.99987926e-01 -1.57917557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.75, Y:-18.45, Z:-1.58 [[ 9.97303627e-01 7.32221854e-02 4.89762908e-03 2.68752420e+02] [-7.32210950e-02 9.97315652e-01 -4.01817955e-04 -1.84494956e+01] [-4.91390413e-03 4.21247399e-05 9.99987926e-01 -1.57893986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:-18.46, Z:-1.58 [[ 9.97486544e-01 7.06866901e-02 4.89757246e-03 2.68813680e+02] [-7.06855658e-02 9.97498566e-01 -4.02506946e-04 -1.84586853e+01] [-4.91377338e-03 5.53075824e-05 9.99987926e-01 -1.57691944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62587155999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:268.87, Y:-18.47, Z:-1.58 [[ 9.97657647e-01 6.82292775e-02 4.89750585e-03 2.68874663e+02] [-6.82281196e-02 9.97669665e-01 -4.03315756e-04 -1.84674546e+01] [-4.91361096e-03 6.82234329e-05 9.99987926e-01 -1.58035189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.94, Y:-18.48, Z:-1.58 [[ 9.97804036e-01 6.60539187e-02 4.89744439e-03 2.68936947e+02] [-6.60527310e-02 9.97816052e-01 -4.04060677e-04 -1.84765074e+01] [-4.91343842e-03 7.96837980e-05 9.99987926e-01 -1.57829495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.00, Y:-18.49, Z:-1.58 [[ 9.97766657e-01 6.66161630e-02 4.89736922e-03 2.68998403e+02] [-6.66149776e-02 9.97778673e-01 -4.04969722e-04 -1.84862438e+01] [-4.91346809e-03 7.78271450e-05 9.99987926e-01 -1.57820274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.06, Y:-18.49, Z:-1.58 [[ 9.97476952e-01 7.08219420e-02 4.89729946e-03 2.69060310e+02] [-7.08208031e-02 9.97488972e-01 -4.05811577e-04 -1.84932664e+01] [-4.91374257e-03 5.79570145e-05 9.99987926e-01 -1.57795030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.12, Y:-18.50, Z:-1.58 [[ 9.97174328e-01 7.49624987e-02 4.89723064e-03 2.69122219e+02] [-7.49614056e-02 9.97186353e-01 -4.06640360e-04 -1.84979501e+01] [-4.91393434e-03 3.83880351e-05 9.99987926e-01 -1.58070003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.18, Y:-18.51, Z:-1.58 [[ 9.97107555e-01 7.58455141e-02 4.89716649e-03 2.69182517e+02] [-7.58444279e-02 9.97119580e-01 -4.07411471e-04 -1.85054154e+01] [-4.91396093e-03 3.48102652e-05 9.99987926e-01 -1.58336270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98587155999996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:-18.51, Z:-1.58 [[ 9.97197207e-01 7.46575351e-02 4.89713034e-03 2.69245347e+02] [-7.46564324e-02 9.97209231e-01 -4.07845573e-04 -1.85117601e+01] [-4.91391232e-03 4.11001866e-05 9.99987926e-01 -1.58138662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04587155999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:-18.52, Z:-1.58 [[ 9.97302281e-01 7.32405610e-02 4.89705736e-03 2.69306626e+02] [-7.32394369e-02 9.97314302e-01 -4.08719895e-04 -1.85201259e+01] [-4.91384022e-03 4.89595592e-05 9.99987926e-01 -1.58356348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:-18.53, Z:-1.58 [[ 9.97522281e-01 7.01806160e-02 4.89698951e-03 2.69368976e+02] [-7.01794511e-02 9.97534299e-01 -4.09531274e-04 -1.85308948e+01] [-4.91365615e-03 6.48485352e-05 9.99987926e-01 -1.57948065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16587155999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.43, Y:-18.54, Z:-1.59 [[ 9.97651668e-01 6.83166792e-02 4.89690848e-03 2.69429132e+02] [-6.83154871e-02 9.97663684e-01 -4.10497861e-04 -1.85406072e+01] [-4.91351161e-03 7.49991873e-05 9.99987926e-01 -1.58518661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:269.49, Y:-18.55, Z:-1.58 [[ 9.97604709e-01 6.89990196e-02 4.89684315e-03 2.69489298e+02] [-6.89978319e-02 9.97616725e-01 -4.11275693e-04 -1.85511405e+01] [-4.91355025e-03 7.24190071e-05 9.99987926e-01 -1.58291413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.55, Y:-18.56, Z:-1.58 [[ 9.97458840e-01 7.10766042e-02 4.89678591e-03 2.69551780e+02] [-7.10754382e-02 9.97470858e-01 -4.11956135e-04 -1.85598335e+01] [-4.91368169e-03 6.28680839e-05 9.99987926e-01 -1.58078821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:269.61, Y:-18.57, Z:-1.58 [[ 9.97116449e-01 7.57285213e-02 4.89671585e-03 2.69613747e+02] [-7.57274073e-02 9.97128472e-01 -4.12787178e-04 -1.85686553e+01] [-4.91391456e-03 4.07812892e-05 9.99987926e-01 -1.58149483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.68, Y:-18.58, Z:-1.58 [[ 9.96705704e-01 8.09553111e-02 4.89665040e-03 2.69675247e+02] [-8.09542563e-02 9.96717732e-01 -4.13562186e-04 -1.85772214e+01] [-4.91405834e-03 1.57950984e-05 9.99987926e-01 -1.58365349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46587156 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:269.74, Y:-18.58, Z:-1.58 [[ 9.96138722e-01 8.76565501e-02 4.89658950e-03 2.69737083e+02] [-8.76555727e-02 9.96150756e-01 -4.14281974e-04 -1.85833551e+01] [-4.91405586e-03 -1.65310404e-05 9.99987926e-01 -1.58442942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.80, Y:-18.59, Z:-1.59 [[ 9.95458050e-01 9.50752041e-02 4.89652868e-03 2.69799057e+02] [-9.50743128e-02 9.95470091e-01 -4.14999547e-04 -1.85891451e+01] [-4.91380402e-03 -5.24194602e-05 9.99987926e-01 -1.58731668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.86, Y:-18.59, Z:-1.59 [[ 9.94960056e-01 1.00152446e-01 4.89646778e-03 2.69861232e+02] [-1.00151612e-01 9.94972101e-01 -4.15716920e-04 -1.85924564e+01] [-4.91348390e-03 -7.67674131e-05 9.99987926e-01 -1.58679732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.92, Y:-18.60, Z:-1.59 [[ 9.94725821e-01 1.02452753e-01 4.89640083e-03 2.69924121e+02] [-1.02451944e-01 9.94737868e-01 -4.16503916e-04 -1.85962514e+01] [-4.91330730e-03 -8.73385820e-05 9.99987926e-01 -1.58589471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.99, Y:-18.60, Z:-1.59 [[ 9.94776869e-01 1.01955910e-01 4.89632442e-03 2.69985807e+02] [-1.01955090e-01 9.94788915e-01 -4.17400267e-04 -1.85979609e+01] [-4.91336568e-03 -8.39850656e-05 9.99987926e-01 -1.58868984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:-18.60, Z:-1.59 [[ 9.94995525e-01 9.97994587e-02 4.89625359e-03 2.70047988e+02] [-9.97986087e-02 9.95007569e-01 -4.18229474e-04 -1.86015203e+01] [-4.91354846e-03 -7.25028413e-05 9.99987926e-01 -1.58592828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.11, Y:-18.60, Z:-1.58 [[ 9.95109220e-01 9.86593538e-02 4.89618901e-03 2.70111578e+02] [-9.86584863e-02 9.95121263e-01 -4.18984113e-04 -1.86029178e+01] [-4.91363850e-03 -6.61156430e-05 9.99987926e-01 -1.58430411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.17, Y:-18.60, Z:-1.59 [[ 9.95238201e-01 9.73496323e-02 4.89611116e-03 2.70174188e+02] [-9.73487445e-02 9.95250243e-01 -4.19891972e-04 -1.86034057e+01] [-4.91373215e-03 -5.87377428e-05 9.99987926e-01 -1.58742220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.24, Y:-18.60, Z:-1.58 [[ 9.95562973e-01 9.39701856e-02 4.89603895e-03 2.70236963e+02] [-9.39692527e-02 9.95575011e-01 -4.20732268e-04 -1.86048210e+01] [-4.91391032e-03 -4.12116535e-05 9.99987926e-01 -1.58409964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:270.30, Y:-18.61, Z:-1.58 [[ 9.96172868e-01 8.72676781e-02 4.89595616e-03 2.70300176e+02] [-8.72666595e-02 9.96184899e-01 -4.21693397e-04 -1.86082139e+01] [-4.91407780e-03 -7.17421894e-06 9.99987926e-01 -1.58389613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.36, Y:-18.62, Z:-1.59 [[ 9.96891336e-01 7.86364729e-02 4.89587340e-03 2.70361608e+02] [-7.86353455e-02 9.96903357e-01 -4.22652144e-04 -1.86155735e+01] [-4.91394850e-03 3.63495642e-05 9.99987926e-01 -1.58538706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.42, Y:-18.62, Z:-1.59 [[ 9.97422001e-01 7.15917815e-02 4.89582199e-03 2.70422815e+02] [-7.15905662e-02 9.97434014e-01 -4.23246767e-04 -1.86231849e+01] [-4.91356037e-03 7.16609688e-05 9.99987926e-01 -1.58605654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:-18.63, Z:-1.59 [[ 9.97574390e-01 6.94360720e-02 4.89574616e-03 2.70485296e+02] [-6.94348265e-02 9.97586400e-01 -4.24122076e-04 -1.86327848e+01] [-4.91337916e-03 8.31580354e-05 9.99987926e-01 -1.58684098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:-18.64, Z:-1.59 [[ 9.97557102e-01 6.96840028e-02 4.89566738e-03 2.70547447e+02] [-6.96827558e-02 9.97569112e-01 -4.25029557e-04 -1.86396504e+01] [-4.91338432e-03 8.28476592e-05 9.99987926e-01 -1.58662391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:-18.65, Z:-1.59 [[ 9.97367443e-01 7.23478910e-02 4.89558633e-03 2.70609555e+02] [-7.23466715e-02 9.97379455e-01 -4.25961086e-04 -1.86490629e+01] [-4.91357461e-03 7.06603432e-05 9.99987926e-01 -1.58633756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.67, Y:-18.66, Z:-1.59 [[ 9.97001026e-01 7.72333361e-02 4.89550414e-03 2.70672652e+02] [-7.72321709e-02 9.97013044e-01 -4.26903574e-04 -1.86561958e+01] [-4.91385267e-03 4.75328889e-05 9.99987926e-01 -1.58507596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.74, Y:-18.67, Z:-1.59 [[ 9.96460239e-01 8.39227409e-02 4.89542032e-03 2.70735400e+02] [-8.39216516e-02 9.96472264e-01 -4.27862635e-04 -1.86652190e+01] [-4.91405797e-03 1.55163450e-05 9.99987926e-01 -1.58519247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.80, Y:-18.67, Z:-1.59 [[ 9.95809285e-01 9.13230705e-02 4.89533706e-03 2.70797433e+02] [-9.13220659e-02 9.95821318e-01 -4.28813114e-04 -1.86719110e+01] [-4.91404153e-03 -2.00362126e-05 9.99987926e-01 -1.58693823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:-18.68, Z:-1.59 [[ 9.95104204e-01 9.87099765e-02 4.89525944e-03 2.70859970e+02] [-9.87090569e-02 9.95116243e-01 -4.29697334e-04 -1.86761590e+01] [-4.91376760e-03 -5.56128197e-05 9.99987926e-01 -1.58744496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.92, Y:-18.68, Z:-1.59 [[ 9.94691617e-01 1.02784359e-01 4.89517658e-03 2.70922354e+02] [-1.02783484e-01 9.94703659e-01 -4.30639210e-04 -1.86807941e+01] [-4.91351304e-03 -7.47900896e-05 9.99987926e-01 -1.58830949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.98, Y:-18.68, Z:-1.59 [[ 9.94341754e-01 1.06115574e-01 4.89509461e-03 2.70983377e+02] [-1.06114735e-01 9.94353799e-01 -4.31568955e-04 -1.86823692e+01] [-4.91325211e-03 -9.03146371e-05 9.99987926e-01 -1.58990249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.05, Y:-18.69, Z:-1.59 [[ 9.94387409e-01 1.05686895e-01 4.89502883e-03 2.71046240e+02] [-1.05686047e-01 9.94399453e-01 -4.32313819e-04 -1.86860497e+01] [-4.91330390e-03 -8.74488275e-05 9.99987926e-01 -1.58945462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.11, Y:-18.69, Z:-1.59 [[ 9.94749527e-01 1.02222396e-01 4.89494827e-03 2.71109207e+02] [-1.02221501e-01 9.94761568e-01 -4.33224028e-04 -1.86893049e+01] [-4.91359162e-03 -6.94195645e-05 9.99987926e-01 -1.59055091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:-18.69, Z:-1.59 [[ 9.95259924e-01 9.71273631e-02 4.89486596e-03 2.71170785e+02] [-9.71264024e-02 9.95271960e-01 -4.34152046e-04 -1.86930425e+01] [-4.91389088e-03 -4.33265888e-05 9.99987926e-01 -1.59161749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.23, Y:-18.70, Z:-1.59 [[ 9.95741446e-01 9.20598403e-02 4.89478912e-03 2.71233525e+02] [-9.20588142e-02 9.95753476e-01 -4.35016672e-04 -1.86978105e+01] [-4.91405085e-03 -1.74443514e-05 9.99987926e-01 -1.59069406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.30, Y:-18.70, Z:-1.59 [[ 9.96067814e-01 8.84587580e-02 4.89470608e-03 2.71295236e+02] [-8.84576837e-02 9.96079840e-01 -4.35949036e-04 -1.87035342e+01] [-4.91408156e-03 1.26044104e-06 9.99987926e-01 -1.59308317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.36, Y:-18.71, Z:-1.59 [[ 9.96244635e-01 8.64446024e-02 4.89462878e-03 2.71357972e+02] [-8.64434996e-02 9.96256659e-01 -4.36815192e-04 -1.87100787e+01] [-4.91406683e-03 1.20659511e-05 9.99987926e-01 -1.59086438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.42, Y:-18.72, Z:-1.59 [[ 9.96255953e-01 8.63140803e-02 4.89454498e-03 2.71419845e+02] [-8.63129714e-02 9.96267976e-01 -4.37752169e-04 -1.87152783e+01] [-4.91406259e-03 1.36504840e-05 9.99987926e-01 -1.59195033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:-18.72, Z:-1.59 [[ 9.96020920e-01 8.89852346e-02 4.89446719e-03 2.71481479e+02] [-8.89841536e-02 9.96032945e-01 -4.38620136e-04 -1.87206704e+01] [-4.91408129e-03 1.34481030e-06 9.99987926e-01 -1.59183209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.54, Y:-18.72, Z:-1.59 [[ 9.95513633e-01 9.44915424e-02 4.89439904e-03 2.71543500e+02] [-9.44905242e-02 9.95525664e-01 -4.39379286e-04 -1.87238328e+01] [-4.91401748e-03 -2.50662617e-05 9.99987926e-01 -1.58922100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.60, Y:-18.73, Z:-1.59 [[ 9.94989241e-01 9.98621846e-02 4.89432429e-03 2.71604485e+02] [-9.98612272e-02 9.95001277e-01 -4.40210418e-04 -1.87250102e+01] [-4.91381929e-03 -5.07486002e-05 9.99987926e-01 -1.58970663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.67, Y:-18.72, Z:-1.59 [[ 9.94692383e-01 1.02776992e-01 4.89428201e-03 2.71665211e+02] [-1.02776067e-01 9.94704421e-01 -4.40679996e-04 -1.87247300e+01] [-4.91365572e-03 -6.46740219e-05 9.99987926e-01 -1.59064945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:271.73, Y:-18.72, Z:-1.59 [[ 9.94628855e-01 1.03389976e-01 4.89425744e-03 2.71726674e+02] [-1.03389058e-01 9.94640894e-01 -4.40952703e-04 -1.87241853e+01] [-4.91361868e-03 -6.74283838e-05 9.99987926e-01 -1.58864640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.79, Y:-18.73, Z:-1.59 [[ 9.94741559e-01 1.02299940e-01 4.89424743e-03 2.71788449e+02] [-1.02299008e-01 9.94753597e-01 -4.41063761e-04 -1.87252672e+01] [-4.91369103e-03 -6.19322040e-05 9.99987926e-01 -1.59083501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:-18.73, Z:-1.59 [[ 9.95209713e-01 9.76405288e-02 4.89423704e-03 2.71850172e+02] [-9.76395398e-02 9.95221747e-01 -4.41179016e-04 -1.87268057e+01] [-4.91392809e-03 -3.88054106e-05 9.99987926e-01 -1.59314891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.91, Y:-18.73, Z:-1.59 [[ 9.95870837e-01 9.06494530e-02 4.89422628e-03 2.71911107e+02] [-9.06483789e-02 9.95882863e-01 -4.41298341e-04 -1.87277866e+01] [-4.91407953e-03 -4.17753091e-06 9.99987926e-01 -1.59418635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.97, Y:-18.73, Z:-1.59 [[ 9.96496599e-01 8.34899735e-02 4.89415684e-03 2.71972891e+02] [-8.34888093e-02 9.96508617e-01 -4.42067134e-04 -1.87302831e+01] [-4.91397764e-03 3.19110685e-05 9.99987926e-01 -1.59282044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:-18.73, Z:-1.59 [[ 9.96845159e-01 7.92198003e-02 4.89408052e-03 2.72032957e+02] [-7.92185804e-02 9.96857171e-01 -4.42910465e-04 -1.87331861e+01] [-4.91378654e-03 5.38110422e-05 9.99987926e-01 -1.59477515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:-18.74, Z:-1.59 [[ 9.96970745e-01 7.76233364e-02 4.89407513e-03 2.72094543e+02] [-7.76220970e-02 9.96982755e-01 -4.42970009e-04 -1.87375560e+01] [-4.91369332e-03 6.17397652e-05 9.99987926e-01 -1.59455955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.16, Y:-18.74, Z:-1.59 [[ 9.97052071e-01 7.65716322e-02 4.89406476e-03 2.72155451e+02] [-7.65703796e-02 9.97064081e-01 -4.43084562e-04 -1.87414530e+01] [-4.91362389e-03 6.70379840e-05 9.99987926e-01 -1.59290960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.22, Y:-18.75, Z:-1.59 [[ 9.97024224e-01 7.69333784e-02 4.89405436e-03 2.72216146e+02] [-7.69321296e-02 9.97036234e-01 -4.43199423e-04 -1.87470168e+01] [-4.91364635e-03 6.53705370e-05 9.99987926e-01 -1.59373936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:-18.75, Z:-1.60 [[ 9.96914970e-01 7.83363965e-02 4.89404401e-03 2.72276781e+02] [-7.83351640e-02 9.96926981e-01 -4.43313708e-04 -1.87528027e+01] [-4.91373211e-03 5.85703324e-05 9.99987926e-01 -1.59522803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:-18.76, Z:-1.60 [[ 9.96602747e-01 8.22132177e-02 4.89403371e-03 2.72336845e+02] [-8.22120314e-02 9.96614763e-01 -4.43427385e-04 -1.87573841e+01] [-4.91392183e-03 3.95724970e-05 9.99987926e-01 -1.59552200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.40, Y:-18.76, Z:-1.60 [[ 9.96144629e-01 8.75895387e-02 4.89403371e-03 2.72396781e+02] [-8.75884172e-02 9.96156651e-01 -4.43427385e-04 -1.87612189e+01] [-4.91406382e-03 1.30571415e-05 9.99987926e-01 -1.59527829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.46, Y:-18.76, Z:-1.60 [[ 9.95722307e-01 9.22666553e-02 4.89403371e-03 2.72457809e+02] [-9.22655903e-02 9.95734334e-01 -4.43427385e-04 -1.87633755e+01] [-4.91407095e-03 -1.00203702e-05 9.99987926e-01 -1.59637850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.52, Y:-18.77, Z:-1.60 [[ 9.95618347e-01 9.33817749e-02 4.89403371e-03 2.72518477e+02] [-9.33807234e-02 9.95630375e-01 -4.43427385e-04 -1.87677928e+01] [-4.91405665e-03 -1.55239679e-05 9.99987926e-01 -1.59588147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.58, Y:-18.77, Z:-1.60 [[ 9.95435061e-01 9.53157293e-02 4.89403371e-03 2.72577903e+02] [-9.53147011e-02 9.95447091e-01 -4.43427385e-04 -1.87712335e+01] [-4.91401722e-03 -2.50701943e-05 9.99987926e-01 -1.59768870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.64, Y:-18.78, Z:-1.60 [[ 9.95515503e-01 9.44718605e-02 4.89403903e-03 2.72638515e+02] [-9.44708225e-02 9.95527532e-01 -4.43368653e-04 -1.87753034e+01] [-4.91403646e-03 -2.09635241e-05 9.99987926e-01 -1.59595946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.70, Y:-18.78, Z:-1.59 [[ 9.95782637e-01 9.16132497e-02 4.89403903e-03 2.72699112e+02] [-9.16121771e-02 9.95794664e-01 -4.43368653e-04 -1.87798584e+01] [-4.91407639e-03 -6.85476311e-06 9.99987926e-01 -1.59335095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.76, Y:-18.79, Z:-1.60 [[ 9.96172759e-01 8.72690217e-02 4.89403903e-03 2.72758538e+02] [-8.72678967e-02 9.96184781e-01 -4.43368653e-04 -1.87865045e+01] [-4.91405954e-03 1.45792829e-05 9.99987926e-01 -1.59541078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.82, Y:-18.80, Z:-1.60 [[ 9.96592929e-01 8.23321485e-02 4.89404437e-03 2.72819751e+02] [-8.23309641e-02 9.96604945e-01 -4.43309635e-04 -1.87953315e+01] [-4.91392746e-03 3.88678555e-05 9.99987926e-01 -1.59632367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:-18.80, Z:-1.60 [[ 9.96913043e-01 7.83609210e-02 4.89403395e-03 2.72880026e+02] [-7.83596883e-02 9.96925054e-01 -4.43424670e-04 -1.88043428e+01] [-4.91373222e-03 5.85608620e-05 9.99987926e-01 -1.59742993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:-18.81, Z:-1.60 [[ 9.97048201e-01 7.66220132e-02 4.89402342e-03 2.72941223e+02] [-7.66207590e-02 9.97060210e-01 -4.43540892e-04 -1.88139517e+01] [-4.91362101e-03 6.72478601e-05 9.99987926e-01 -1.59836429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.00, Y:-18.83, Z:-1.60 [[ 9.97125175e-01 7.56137093e-02 4.89401290e-03 2.73001864e+02] [-7.56124423e-02 9.97137183e-01 -4.43656896e-04 -1.88253154e+01] [-4.91354878e-03 7.23331922e-05 9.99987926e-01 -1.59917358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:-18.84, Z:-1.60 [[ 9.97114667e-01 7.57521565e-02 4.89400223e-03 2.73062373e+02] [-7.57508906e-02 9.97126675e-01 -4.43774572e-04 -1.88389102e+01] [-4.91355705e-03 7.17691068e-05 9.99987926e-01 -1.60059711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.12, Y:-18.85, Z:-1.60 [[ 9.96929776e-01 7.81477482e-02 4.89396056e-03 2.73123644e+02] [-7.81465090e-02 9.96941787e-01 -4.44233594e-04 -1.88515749e+01] [-4.91370964e-03 6.04237645e-05 9.99987926e-01 -1.60001020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.18, Y:-18.86, Z:-1.60 [[ 9.96609562e-01 8.21305769e-02 4.89388759e-03 2.73184127e+02] [-8.21293817e-02 9.96621576e-01 -4.45036021e-04 -1.88640075e+01] [-4.91390503e-03 4.15951917e-05 9.99987926e-01 -1.59802990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.25, Y:-18.88, Z:-1.60 [[ 9.96196002e-01 8.70033102e-02 4.89384765e-03 2.73245259e+02] [-8.70021716e-02 9.96208022e-01 -4.45474839e-04 -1.88778636e+01] [-4.91404807e-03 1.80048803e-05 9.99987926e-01 -1.59627015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.31, Y:-18.89, Z:-1.60 [[ 9.95733587e-01 9.21448617e-02 4.89377394e-03 2.73305481e+02] [-9.21437812e-02 9.95745612e-01 -4.46283153e-04 -1.88900768e+01] [-4.91407662e-03 -6.55171010e-06 9.99987926e-01 -1.59958752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.37, Y:-18.90, Z:-1.60 [[ 9.95412772e-01 9.55482283e-02 4.89373235e-03 2.73367165e+02] [-9.55471867e-02 9.95424802e-01 -4.46738683e-04 -1.88997752e+01] [-4.91402764e-03 -2.28929674e-05 9.99987926e-01 -1.59976099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.43, Y:-18.91, Z:-1.60 [[ 9.94935162e-01 1.00399581e-01 4.89365474e-03 2.73427165e+02] [-1.00398594e-01 9.94947196e-01 -4.47587262e-04 -1.89110782e+01] [-4.91386563e-03 -4.59957483e-05 9.99987926e-01 -1.60434099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.49, Y:-18.92, Z:-1.60 [[ 9.94419233e-01 1.05387101e-01 4.89358327e-03 2.73487542e+02] [-1.05386171e-01 9.94431272e-01 -4.48367264e-04 -1.89209711e+01] [-4.91358436e-03 -6.98509722e-05 9.99987926e-01 -1.60247017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.55, Y:-18.93, Z:-1.60 [[ 9.93969023e-01 1.09551968e-01 4.89354544e-03 2.73548947e+02] [-1.09551086e-01 9.93981065e-01 -4.48779818e-04 -1.89294416e+01] [-4.91325622e-03 -9.00199792e-05 9.99987926e-01 -1.59780728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.61, Y:-18.94, Z:-1.60 [[ 9.93753659e-01 1.11488649e-01 4.89346979e-03 2.73610334e+02] [-1.11487786e-01 9.93765703e-01 -4.49603175e-04 -1.89365241e+01] [-4.91308809e-03 -9.87673116e-05 9.99987926e-01 -1.59961557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.67, Y:-18.94, Z:-1.60 [[ 9.93728255e-01 1.11714856e-01 4.89339471e-03 2.73672050e+02] [-1.11713992e-01 9.93740299e-01 -4.50418778e-04 -1.89431479e+01] [-4.91308199e-03 -9.90667915e-05 9.99987926e-01 -1.60271335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.74, Y:-18.95, Z:-1.60 [[ 9.93782462e-01 1.11231623e-01 4.89331505e-03 2.73735092e+02] [-1.11230748e-01 9.93794504e-01 -4.51282639e-04 -1.89498415e+01] [-4.91314650e-03 -9.58103227e-05 9.99987926e-01 -1.60159270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:-18.95, Z:-1.60 [[ 9.93947314e-01 1.09748778e-01 4.89323063e-03 2.73796066e+02] [-1.09747881e-01 9.93959354e-01 -4.52196137e-04 -1.89549665e+01] [-4.91330033e-03 -8.75625574e-05 9.99987926e-01 -1.60212971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48587155999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:273.86, Y:-18.96, Z:-1.60 [[ 9.94334996e-01 1.06178964e-01 4.89316274e-03 2.73857954e+02] [-1.06178020e-01 9.94347033e-01 -4.52929567e-04 -1.89615044e+01] [-4.91359344e-03 -6.91826139e-05 9.99987926e-01 -1.59808369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.92, Y:-18.97, Z:-1.60 [[ 9.94911142e-01 1.00637353e-01 4.89309029e-03 2.73920583e+02] [-1.00636338e-01 9.94923174e-01 -4.53710890e-04 -1.89674378e+01] [-4.91390918e-03 -4.10206695e-05 9.99987926e-01 -1.59919245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.98, Y:-18.97, Z:-1.60 [[ 9.95254475e-01 9.71832738e-02 4.89300628e-03 2.73982414e+02] [-9.71822132e-02 9.95266502e-01 -4.54615118e-04 -1.89745734e+01] [-4.91402623e-03 -2.30554493e-05 9.99987926e-01 -1.60071408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.05, Y:-18.98, Z:-1.60 [[ 9.95619262e-01 9.33720719e-02 4.89292797e-03 2.74045329e+02] [-9.33709611e-02 9.95631285e-01 -4.55456350e-04 -1.89830943e+01] [-4.91407907e-03 -3.39627179e-06 9.99987926e-01 -1.60120375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.11, Y:-18.99, Z:-1.60 [[ 9.95551054e-01 9.40965415e-02 4.89284073e-03 2.74106178e+02] [-9.40954349e-02 9.95563077e-01 -4.56391605e-04 -1.89886830e+01] [-4.91407645e-03 -6.03283309e-06 9.99987926e-01 -1.60474014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.17, Y:-18.99, Z:-1.60 [[ 9.95245296e-01 9.72772363e-02 4.89277036e-03 2.74169342e+02] [-9.72761644e-02 9.95257323e-01 -4.57144776e-04 -1.89936869e+01] [-4.91403531e-03 -2.09787453e-05 9.99987926e-01 -1.60252025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.23, Y:-19.00, Z:-1.60 [[ 9.94827331e-01 1.01462516e-01 4.89267994e-03 2.74230715e+02] [-1.01461490e-01 9.94839362e-01 -4.58110528e-04 -1.89983944e+01] [-4.91391163e-03 -4.06777241e-05 9.99987926e-01 -1.60227312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:-19.00, Z:-1.60 [[ 9.94374294e-01 1.05810333e-01 4.89259614e-03 2.74293884e+02] [-1.05809356e-01 9.94386328e-01 -4.59003695e-04 -1.90015458e+01] [-4.91369805e-03 -6.12609699e-05 9.99987926e-01 -1.60070428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.36, Y:-19.00, Z:-1.60 [[ 9.94015519e-01 1.09129330e-01 4.89250887e-03 2.74355983e+02] [-1.09128388e-01 9.94027557e-01 -4.59932107e-04 -1.90041881e+01] [-4.91348072e-03 -7.67319514e-05 9.99987926e-01 -1.60165662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:-19.01, Z:-1.60 [[ 9.93936973e-01 1.09842420e-01 4.89242794e-03 2.74417594e+02] [-1.09841482e-01 9.93949011e-01 -4.60791312e-04 -1.90078990e+01] [-4.91343835e-03 -7.93940159e-05 9.99987926e-01 -1.60471975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08587156 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:274.48, Y:-19.01, Z:-1.60 [[ 9.93895674e-01 1.10215493e-01 4.89237528e-03 2.74480721e+02] [-1.10214557e-01 9.93907711e-01 -4.61349762e-04 -1.90083753e+01] [-4.91341741e-03 -8.06774405e-05 9.99987926e-01 -1.60388697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:-19.01, Z:-1.60 [[ 9.94146485e-01 1.07929752e-01 4.89228827e-03 2.74544247e+02] [-1.07928784e-01 9.94158521e-01 -4.62270623e-04 -1.90093099e+01] [-4.91360282e-03 -6.84540083e-05 9.99987926e-01 -1.60236924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.61, Y:-19.01, Z:-1.60 [[ 9.94728247e-01 1.02429398e-01 4.89220042e-03 2.74605678e+02] [-1.02428359e-01 9.94740276e-01 -4.63198444e-04 -1.90113777e+01] [-4.91391394e-03 -4.03434854e-05 9.99987926e-01 -1.60080774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:-19.01, Z:-1.60 [[ 9.95411845e-01 9.55579712e-02 4.89212952e-03 2.74668836e+02] [-9.55568451e-02 9.95423867e-01 -4.63946106e-04 -1.90137476e+01] [-4.91407623e-03 -5.65901332e-06 9.99987926e-01 -1.59977514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.73, Y:-19.02, Z:-1.60 [[ 9.96069321e-01 8.84419308e-02 4.89203876e-03 2.74730059e+02] [-8.84407141e-02 9.96081334e-01 -4.64901095e-04 -1.90219725e+01] [-4.91398525e-03 3.04183162e-05 9.99987926e-01 -1.60109720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.79, Y:-19.03, Z:-1.60 [[ 9.96484276e-01 8.36370473e-02 4.89195411e-03 2.74791847e+02] [-8.36357683e-02 9.96496283e-01 -4.65790156e-04 -1.90289898e+01] [-4.91377140e-03 5.50102263e-05 9.99987926e-01 -1.60296383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44587156 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:274.85, Y:-19.04, Z:-1.60 [[ 9.96533313e-01 8.30507367e-02 4.89187467e-03 2.74852752e+02] [-8.30494466e-02 9.96545318e-01 -4.66622927e-04 -1.90352251e+01] [-4.91372818e-03 5.87378074e-05 9.99987926e-01 -1.60375017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50587155999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.91, Y:-19.04, Z:-1.61 [[ 9.96303496e-01 8.57637081e-02 4.89180152e-03 2.74914875e+02] [-8.57624469e-02 9.96315504e-01 -4.67388524e-04 -1.90439285e+01] [-4.91386268e-03 4.61279517e-05 9.99987926e-01 -1.60603988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.98, Y:-19.05, Z:-1.61 [[ 9.95841215e-01 9.09744281e-02 4.89171059e-03 2.74976914e+02] [-9.09732251e-02 9.95853229e-01 -4.68338299e-04 -1.90514117e+01] [-4.91403260e-03 2.13758919e-05 9.99987926e-01 -1.60614889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62587155999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:-19.06, Z:-1.61 [[ 9.95484304e-01 9.48001703e-02 4.89162596e-03 2.75038901e+02] [-9.47990092e-02 9.95496322e-01 -4.69220624e-04 -1.90574177e+01] [-4.91407784e-03 3.38047279e-06 9.99987926e-01 -1.60764608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:-19.06, Z:-1.61 [[ 9.94804705e-01 1.01684177e-01 4.89154773e-03 2.75100735e+02] [-1.01683095e-01 9.94816731e-01 -4.70034688e-04 -1.90614401e+01] [-4.91398861e-03 -2.97949927e-05 9.99987926e-01 -1.60761429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:-19.07, Z:-1.61 [[ 9.94454132e-01 1.05057376e-01 4.89146856e-03 2.75161877e+02] [-1.05056331e-01 9.94466161e-01 -4.70857203e-04 -1.90669422e+01] [-4.91386698e-03 -4.56338462e-05 9.99987926e-01 -1.60871300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:-19.07, Z:-1.61 [[ 9.94081577e-01 1.08525998e-01 4.89139585e-03 2.75224185e+02] [-1.08524991e-01 9.94093609e-01 -4.71611316e-04 -1.90709745e+01] [-4.91368744e-03 -6.20185713e-05 9.99987926e-01 -1.60734804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86587155999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.29, Y:-19.07, Z:-1.61 [[ 9.94052559e-01 1.08791477e-01 4.89131553e-03 2.75285337e+02] [-1.08790469e-01 9.94064591e-01 -4.72442835e-04 -1.90742547e+01] [-4.91368133e-03 -6.24955022e-05 9.99987926e-01 -1.60600727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.35, Y:-19.08, Z:-1.61 [[ 9.94391550e-01 1.05648098e-01 4.89124175e-03 2.75345796e+02] [-1.05647048e-01 9.94403579e-01 -4.73205430e-04 -1.90800700e+01] [-4.91386156e-03 -4.61937739e-05 9.99987926e-01 -1.60735831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98587155999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.41, Y:-19.09, Z:-1.61 [[ 9.94737605e-01 1.02338529e-01 4.89116932e-03 2.75407155e+02] [-1.02337435e-01 9.94749629e-01 -4.73952945e-04 -1.90881567e+01] [-4.91399252e-03 -2.90909079e-05 9.99987926e-01 -1.60851461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04587155999997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:275.47, Y:-19.09, Z:-1.61 [[ 9.94911847e-01 1.00630486e-01 4.89109135e-03 2.75469338e+02] [-1.00629368e-01 9.94923869e-01 -4.74756231e-04 -1.90949029e+01] [-4.91403848e-03 -1.98468320e-05 9.99987926e-01 -1.60813495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10587155999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:275.53, Y:-19.10, Z:-1.61 [[ 9.94990760e-01 9.98472130e-02 4.89101313e-03 2.75531450e+02] [-9.98460816e-02 9.95002781e-01 -4.75560708e-04 -1.91021561e+01] [-4.91405508e-03 -1.51699858e-05 9.99987926e-01 -1.61108692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16587155999997 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:275.59, Y:-19.11, Z:-1.61 [[ 9.95028682e-01 9.94685897e-02 4.89092381e-03 2.75594242e+02] [-9.94674493e-02 9.95040702e-01 -4.76477495e-04 -1.91112967e+01] [-4.91406281e-03 -1.23789428e-05 9.99987926e-01 -1.60719522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.66, Y:-19.12, Z:-1.61 [[ 9.95061292e-01 9.91418385e-02 4.89083384e-03 2.75656291e+02] [-9.91406896e-02 9.95073312e-01 -4.77399214e-04 -1.91202182e+01] [-4.91406847e-03 -9.83916128e-06 9.99987926e-01 -1.60827149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.72, Y:-19.13, Z:-1.61 [[ 9.95079627e-01 9.89576502e-02 4.89074346e-03 2.75718663e+02] [-9.89564945e-02 9.95091646e-01 -4.78323411e-04 -1.91304229e+01] [-4.91407172e-03 -8.00094638e-06 9.99987926e-01 -1.60788954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.78, Y:-19.14, Z:-1.61 [[ 9.94951314e-01 1.00239537e-01 4.89065126e-03 2.75780592e+02] [-1.00238392e-01 9.94963334e-01 -4.79264259e-04 -1.91397005e+01] [-4.91405991e-03 -1.33864149e-05 9.99987926e-01 -1.60813209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.84, Y:-19.15, Z:-1.61 [[ 9.94661832e-01 1.03072415e-01 4.89055942e-03 2.75843281e+02] [-1.03071300e-01 9.94673854e-01 -4.80199618e-04 -1.91495322e+01] [-4.91400692e-03 -2.64400853e-05 9.99987926e-01 -1.60795268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:275.91, Y:-19.16, Z:-1.61 [[ 9.94189349e-01 1.07534280e-01 4.89046697e-03 2.75905046e+02] [-1.07533214e-01 9.94201376e-01 -4.81139250e-04 -1.91574090e+01] [-4.91384796e-03 -4.75441130e-05 9.99987926e-01 -1.60874597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.97, Y:-19.17, Z:-1.61 [[ 9.93823218e-01 1.10867016e-01 4.89038725e-03 2.75967103e+02] [-1.10865987e-01 9.93835248e-01 -4.81948221e-04 -1.91656288e+01] [-4.91367139e-03 -6.32062767e-05 9.99987926e-01 -1.61190092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.03, Y:-19.17, Z:-1.61 [[ 9.93379700e-01 1.14773062e-01 4.89029698e-03 2.76028836e+02] [-1.14772075e-01 9.93391734e-01 -4.82862435e-04 -1.91737130e+01] [-4.91340020e-03 -8.16037907e-05 9.99987926e-01 -1.60828347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:-19.18, Z:-1.61 [[ 9.93165696e-01 1.16610403e-01 4.89021380e-03 2.76090561e+02] [-1.16609434e-01 9.93177731e-01 -4.83703388e-04 -1.91811952e+01] [-4.91325629e-03 -8.98474533e-05 9.99987926e-01 -1.60862923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70587156 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:276.15, Y:-19.19, Z:-1.61 [[ 9.93142843e-01 1.16804877e-01 4.89015520e-03 2.76152330e+02] [-1.16803908e-01 9.93154878e-01 -4.84295127e-04 -1.91889975e+01] [-4.91324952e-03 -9.02149966e-05 9.99987926e-01 -1.61137065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.21, Y:-19.20, Z:-1.61 [[ 9.93146456e-01 1.16774156e-01 4.89006887e-03 2.76214629e+02] [-1.16773183e-01 9.93158491e-01 -4.85165181e-04 -1.91974267e+01] [-4.91326818e-03 -8.91888250e-05 9.99987926e-01 -1.60956486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:-19.20, Z:-1.61 [[ 9.92985694e-01 1.18133399e-01 4.88997485e-03 2.76277006e+02] [-1.18132437e-01 9.92997730e-01 -4.86110951e-04 -1.92048401e+01] [-4.91315987e-03 -9.49634251e-05 9.99987926e-01 -1.60761060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:276.34, Y:-19.21, Z:-1.61 [[ 9.92918006e-01 1.18700978e-01 4.88987988e-03 2.76338521e+02] [-1.18700018e-01 9.92930042e-01 -4.87064467e-04 -1.92120069e+01] [-4.91312366e-03 -9.68137500e-05 9.99987926e-01 -1.60799119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:276.40, Y:-19.22, Z:-1.61 [[ 9.92911955e-01 1.18751592e-01 4.88979177e-03 2.76400728e+02] [-1.18750628e-01 9.92923990e-01 -4.87947415e-04 -1.92194467e+01] [-4.91313609e-03 -9.61770223e-05 9.99987926e-01 -1.60817602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00587155999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.46, Y:-19.23, Z:-1.61 [[ 9.92970558e-01 1.18260564e-01 4.88969983e-03 2.76462872e+02] [-1.18259590e-01 9.92982593e-01 -4.88866962e-04 -1.92262516e+01] [-4.91320050e-03 -9.28233989e-05 9.99987926e-01 -1.60752604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06587155999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.52, Y:-19.23, Z:-1.61 [[ 9.92953758e-01 1.18401545e-01 4.88960830e-03 2.76524164e+02] [-1.18400568e-01 9.92965793e-01 -4.89780748e-04 -1.92336509e+01] [-4.91320458e-03 -9.26027652e-05 9.99987926e-01 -1.60853100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.59, Y:-19.24, Z:-1.61 [[ 9.92820735e-01 1.19511841e-01 4.88952308e-03 2.76586923e+02] [-1.19510873e-01 9.92832771e-01 -4.90630060e-04 -1.92388452e+01] [-4.91311485e-03 -9.72434758e-05 9.99987926e-01 -1.60990155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:276.65, Y:-19.24, Z:-1.61 [[ 9.92638334e-01 1.21017482e-01 4.88943301e-03 2.76649951e+02] [-1.21016528e-01 9.92650371e-01 -4.91526076e-04 -1.92422404e+01] [-4.91298073e-03 -1.03794582e-04 9.99987926e-01 -1.61044049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24587155999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:276.71, Y:-19.25, Z:-1.61 [[ 9.92652311e-01 1.20902787e-01 4.88934382e-03 2.76712929e+02] [-1.20901827e-01 9.92664347e-01 -4.92411654e-04 -1.92465181e+01] [-4.91301123e-03 -1.02337035e-04 9.99987926e-01 -1.61242299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.78, Y:-19.25, Z:-1.61 [[ 9.92844035e-01 1.19318132e-01 4.88925501e-03 2.76775790e+02] [-1.19317149e-01 9.92856069e-01 -4.93291887e-04 -1.92507544e+01] [-4.91318518e-03 -9.36100619e-05 9.99987926e-01 -1.61341293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.84, Y:-19.25, Z:-1.62 [[ 9.93002747e-01 1.17990001e-01 4.88916370e-03 2.76837349e+02] [-1.17988997e-01 9.93014779e-01 -4.94195258e-04 -1.92549011e+01] [-4.91332191e-03 -8.61302739e-05 9.99987926e-01 -1.61688705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42587155999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:276.90, Y:-19.26, Z:-1.62 [[ 9.93008256e-01 1.17943631e-01 4.88908425e-03 2.76900187e+02] [-1.17942623e-01 9.93020288e-01 -4.94979930e-04 -1.92577800e+01] [-4.91333958e-03 -8.51122639e-05 9.99987926e-01 -1.61681283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48587155999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:276.96, Y:-19.26, Z:-1.62 [[ 9.92876127e-01 1.19050805e-01 4.88899192e-03 2.76962316e+02] [-1.19049806e-01 9.92888160e-01 -4.95890203e-04 -1.92605323e+01] [-4.91325832e-03 -8.96759983e-05 9.99987926e-01 -1.61510202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54587155999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.02, Y:-19.26, Z:-1.61 [[ 9.92839069e-01 1.19359463e-01 4.88891094e-03 2.77023537e+02] [-1.19358464e-01 9.92851102e-01 -4.96687298e-04 -1.92617783e+01] [-4.91324495e-03 -9.04023460e-05 9.99987926e-01 -1.61296024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60587155999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:277.08, Y:-19.26, Z:-1.61 [[ 9.92868781e-01 1.19112058e-01 4.88889939e-03 2.77084916e+02] [-1.19111056e-01 9.92880813e-01 -4.96801019e-04 -1.92645944e+01] [-4.91326939e-03 -8.90637451e-05 9.99987926e-01 -1.60973159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.15, Y:-19.27, Z:-1.61 [[ 9.92859703e-01 1.19187702e-01 4.88888769e-03 2.77145361e+02] [-1.19186699e-01 9.92871736e-01 -4.96916075e-04 -1.92688933e+01] [-4.91326470e-03 -8.93224406e-05 9.99987926e-01 -1.61232161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.21, Y:-19.27, Z:-1.61 [[ 9.92846993e-01 1.19293533e-01 4.88885789e-03 2.77206520e+02] [-1.19292530e-01 9.92859026e-01 -4.97209163e-04 -1.92698800e+01] [-4.91326052e-03 -8.95516054e-05 9.99987926e-01 -1.61435921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.27, Y:-19.27, Z:-1.61 [[ 9.92930339e-01 1.18597816e-01 4.88884613e-03 2.77268266e+02] [-1.18596805e-01 9.92942370e-01 -4.97324770e-04 -1.92708271e+01] [-4.91332409e-03 -8.59926772e-05 9.99987926e-01 -1.61476770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.33, Y:-19.27, Z:-1.61 [[ 9.93170032e-01 1.16573523e-01 4.88883428e-03 2.77329065e+02] [-1.16572487e-01 9.93182062e-01 -4.97441154e-04 -1.92722458e+01] [-4.91349098e-03 -7.58599231e-05 9.99987926e-01 -1.61336599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.39, Y:-19.27, Z:-1.61 [[ 9.93450410e-01 1.14159461e-01 4.88883428e-03 2.77388690e+02] [-1.14158395e-01 9.93462437e-01 -4.97441154e-04 -1.92735115e+01] [-4.91366083e-03 -6.39183563e-05 9.99987926e-01 -1.61335081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.45, Y:-19.27, Z:-1.61 [[ 9.93667775e-01 1.12251735e-01 4.88884012e-03 2.77448964e+02] [-1.12250646e-01 9.93679800e-01 -4.97383768e-04 -1.92747184e+01] [-4.91377387e-03 -5.45412418e-05 9.99987926e-01 -1.61173157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:277.51, Y:-19.28, Z:-1.61 [[ 9.94020112e-01 1.09087658e-01 4.88884012e-03 2.77509386e+02] [-1.09086531e-01 9.94032133e-01 -4.97383768e-04 -1.92783109e+01] [-4.91392260e-03 -3.88971403e-05 9.99987926e-01 -1.61169497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.57, Y:-19.28, Z:-1.61 [[ 9.94406427e-01 1.05508089e-01 4.88884012e-03 2.77569587e+02] [-1.05506919e-01 9.94418444e-01 -4.97383768e-04 -1.92829852e+01] [-4.91403080e-03 -2.12048432e-05 9.99987926e-01 -1.61338569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14587156 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:277.63, Y:-19.29, Z:-1.61 [[ 9.95023766e-01 9.95178632e-02 4.88883412e-03 2.77629472e+02] [-9.95166203e-02 9.95035776e-01 -4.97442754e-04 -1.92893143e+01] [-4.91406929e-03 8.44711325e-06 9.99987926e-01 -1.61320286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.69, Y:-19.30, Z:-1.62 [[ 9.95488910e-01 9.47519370e-02 4.88880410e-03 2.77689959e+02] [-9.47506352e-02 9.95500914e-01 -4.97737576e-04 -1.92967920e+01] [-4.91397055e-03 3.22749426e-05 9.99987926e-01 -1.61660038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.75, Y:-19.31, Z:-1.62 [[ 9.95653245e-01 9.30092208e-02 4.88879204e-03 2.77750572e+02] [-9.30078973e-02 9.95665247e-01 -4.97856004e-04 -1.93055460e+01] [-4.91390553e-03 4.09956778e-05 9.99987926e-01 -1.61797362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.81, Y:-19.32, Z:-1.62 [[ 9.95683617e-01 9.26835181e-02 4.88871468e-03 2.77810664e+02] [-9.26821870e-02 9.95695618e-01 -4.98614515e-04 -1.93174261e+01] [-4.91388513e-03 4.33655353e-05 9.99987926e-01 -1.61860816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.87, Y:-19.33, Z:-1.62 [[ 9.95554922e-01 9.40558289e-02 4.88863986e-03 2.77872659e+02] [-9.40545108e-02 9.95566924e-01 -4.99346966e-04 -1.93270027e+01] [-4.91393464e-03 3.73286990e-05 9.99987926e-01 -1.61806122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.93, Y:-19.34, Z:-1.62 [[ 9.95278805e-01 9.69340067e-02 4.88855682e-03 2.77932962e+02] [-9.69327192e-02 9.95290811e-01 -5.00158688e-04 -1.93379625e+01] [-4.91401806e-03 2.39362357e-05 9.99987926e-01 -1.61816336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50587155999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.99, Y:-19.35, Z:-1.62 [[ 9.94772328e-01 1.02000578e-01 4.88854460e-03 2.77992727e+02] [-1.01999351e-01 9.94784340e-01 -5.00278096e-04 -1.93499624e+01] [-4.91407626e-03 -9.65568310e-07 9.99987926e-01 -1.61839374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:278.05, Y:-19.36, Z:-1.62 [[ 9.94060512e-01 1.08718906e-01 4.88849615e-03 2.78053572e+02] [-1.08717758e-01 9.94072532e-01 -5.00751019e-04 -1.93595510e+01] [-4.91396085e-03 -3.36895288e-05 9.99987926e-01 -1.61739577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62587155999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.11, Y:-19.37, Z:-1.62 [[ 9.93519555e-01 1.13556138e-01 4.88841812e-03 2.78114852e+02] [-1.13555045e-01 9.93531580e-01 -5.01511671e-04 -1.93677100e+01] [-4.91374750e-03 -5.68428855e-05 9.99987926e-01 -1.61674044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68587155999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:-19.38, Z:-1.62 [[ 9.92808402e-01 1.19614301e-01 4.88840629e-03 2.78175630e+02] [-1.19613281e-01 9.92820433e-01 -5.01626892e-04 -1.93756157e+01] [-4.91331140e-03 -8.66989206e-05 9.99987926e-01 -1.61788593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74587155999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:278.24, Y:-19.38, Z:-1.62 [[ 9.92289265e-01 1.23847153e-01 4.88839419e-03 2.78235914e+02] [-1.23846184e-01 9.92301301e-01 -5.01744758e-04 -1.93819278e+01] [-4.91289958e-03 -1.07533028e-04 9.99987926e-01 -1.61748199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80587155999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:278.30, Y:-19.39, Z:-1.62 [[ 9.92157914e-01 1.24895065e-01 4.88838822e-03 2.78297531e+02] [-1.24894108e-01 9.92169950e-01 -5.01802934e-04 -1.93859138e+01] [-4.91278461e-03 -1.12663132e-04 9.99987926e-01 -1.61756797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.36, Y:-19.39, Z:-1.62 [[ 9.92253293e-01 1.24135034e-01 4.88837643e-03 2.78358406e+02] [-1.24134067e-01 9.92265328e-01 -5.01917741e-04 -1.93923355e+01] [-4.91287202e-03 -1.08784518e-04 9.99987926e-01 -1.61909819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:-19.40, Z:-1.62 [[ 9.92572239e-01 1.21558442e-01 4.88836474e-03 2.78418079e+02] [-1.21557443e-01 9.92584271e-01 -5.02031651e-04 -1.93978304e+01] [-4.91314014e-03 -9.59144399e-05 9.99987926e-01 -1.61644987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:-19.40, Z:-1.62 [[ 9.92794611e-01 1.19728710e-01 4.88835894e-03 2.78478993e+02] [-1.19727689e-01 9.92806642e-01 -5.02088068e-04 -1.94007970e+01] [-4.91330958e-03 -8.68015914e-05 9.99987926e-01 -1.61694830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:-19.40, Z:-1.62 [[ 9.93043265e-01 1.17648533e-01 4.88835894e-03 2.78540528e+02] [-1.17647486e-01 9.93055294e-01 -5.02088067e-04 -1.94049842e+01] [-4.91348065e-03 -7.65079679e-05 9.99987926e-01 -1.62007774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.60, Y:-19.41, Z:-1.62 [[ 9.93212096e-01 1.16214615e-01 4.88834749e-03 2.78600535e+02] [-1.16213551e-01 9.93224123e-01 -5.02199565e-04 -1.94095893e+01] [-4.91358757e-03 -6.93015365e-05 9.99987926e-01 -1.62098583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.66, Y:-19.41, Z:-1.62 [[ 9.93609859e-01 1.12763261e-01 4.88834182e-03 2.78661213e+02] [-1.12762154e-01 9.93621882e-01 -5.02254746e-04 -1.94143459e+01] [-4.91379928e-03 -5.21746865e-05 9.99987926e-01 -1.62095659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:278.72, Y:-19.42, Z:-1.62 [[ 9.93847106e-01 1.10652762e-01 4.88834182e-03 2.78721784e+02] [-1.10651630e-01 9.93859127e-01 -5.02254746e-04 -1.94187621e+01] [-4.91389901e-03 -4.17385652e-05 9.99987926e-01 -1.62042789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.78, Y:-19.42, Z:-1.62 [[ 9.93818722e-01 1.10907400e-01 4.88833625e-03 2.78782574e+02] [-1.10906271e-01 9.93830744e-01 -5.02308914e-04 -1.94246725e+01] [-4.91388863e-03 -4.29431418e-05 9.99987926e-01 -1.62113528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34587156 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:278.84, Y:-19.43, Z:-1.63 [[ 9.93594153e-01 1.12901561e-01 4.88832414e-03 2.78842438e+02] [-1.12900455e-01 9.93606177e-01 -5.02426703e-04 -1.94281219e+01] [-4.91379382e-03 -5.26857870e-05 9.99987926e-01 -1.62525508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40587156 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:278.90, Y:-19.43, Z:-1.63 [[ 9.93419097e-01 1.14431652e-01 4.88831816e-03 2.78901818e+02] [-1.14430565e-01 9.93431122e-01 -5.02484915e-04 -1.94314944e+01] [-4.91370757e-03 -6.01948978e-05 9.99987926e-01 -1.62831276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.96, Y:-19.44, Z:-1.63 [[ 9.93417672e-01 1.14444021e-01 4.88832403e-03 2.78962207e+02] [-1.14442934e-01 9.93429697e-01 -5.02427807e-04 -1.94357467e+01] [-4.91370612e-03 -6.03134838e-05 9.99987926e-01 -1.62754213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.02, Y:-19.44, Z:-1.63 [[ 9.93394441e-01 1.14645489e-01 4.88832403e-03 2.79022181e+02] [-1.14644404e-01 9.93406467e-01 -5.02427807e-04 -1.94375846e+01] [-4.91369379e-03 -6.13100051e-05 9.99987926e-01 -1.62756667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.08, Y:-19.44, Z:-1.63 [[ 9.93534569e-01 1.13424706e-01 4.88833577e-03 2.79081391e+02] [-1.13423607e-01 9.93546593e-01 -5.02313589e-04 -1.94400066e+01] [-4.91376412e-03 -5.53867604e-05 9.99987926e-01 -1.62865617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.14, Y:-19.44, Z:-1.63 [[ 9.93813939e-01 1.10950255e-01 4.88834841e-03 2.79141542e+02] [-1.10949127e-01 9.93825960e-01 -5.02190516e-04 -1.94440655e+01] [-4.91388572e-03 -4.32740548e-05 9.99987926e-01 -1.63028897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.20, Y:-19.45, Z:-1.63 [[ 9.93963035e-01 1.09606519e-01 4.88834841e-03 2.79201825e+02] [-1.09605374e-01 9.93975055e-01 -5.02190516e-04 -1.94492277e+01] [-4.91393973e-03 -3.66304481e-05 9.99987926e-01 -1.63100039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:-19.45, Z:-1.63 [[ 9.94077054e-01 1.08567561e-01 4.88834841e-03 2.79261451e+02] [-1.08566404e-01 9.94089072e-01 -5.02190516e-04 -1.94543204e+01] [-4.91397534e-03 -3.14943380e-05 9.99987926e-01 -1.63119503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.32, Y:-19.46, Z:-1.63 [[ 9.94069659e-01 1.08635244e-01 4.88835404e-03 2.79321617e+02] [-1.08634088e-01 9.94081678e-01 -5.02135722e-04 -1.94621854e+01] [-4.91397282e-03 -3.18839993e-05 9.99987926e-01 -1.63438546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.38, Y:-19.47, Z:-1.64 [[ 9.94002653e-01 1.09246646e-01 4.88835404e-03 2.79381566e+02] [-1.09245498e-01 9.94014672e-01 -5.02135722e-04 -1.94686312e+01] [-4.91395228e-03 -3.49064310e-05 9.99987926e-01 -1.63613996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.44, Y:-19.47, Z:-1.64 [[ 9.93796786e-01 1.11103791e-01 4.88835404e-03 2.79440424e+02] [-1.11102665e-01 9.93808807e-01 -5.02135722e-04 -1.94740436e+01] [-4.91387848e-03 -4.40882974e-05 9.99987926e-01 -1.63694132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.50, Y:-19.48, Z:-1.63 [[ 9.93361242e-01 1.14932792e-01 4.88834757e-03 2.79500373e+02] [-1.14931712e-01 9.93373268e-01 -5.02198688e-04 -1.94785691e+01] [-4.91367290e-03 -6.29614446e-05 9.99987926e-01 -1.63157875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.56, Y:-19.48, Z:-1.63 [[ 9.92989443e-01 1.18101945e-01 4.88835990e-03 2.79558552e+02] [-1.18100904e-01 9.93001472e-01 -5.02078659e-04 -1.94846340e+01] [-4.91344504e-03 -7.87609169e-05 9.99987926e-01 -1.63472631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.62, Y:-19.49, Z:-1.63 [[ 9.92521833e-01 1.21969319e-01 4.88837812e-03 2.79618536e+02] [-1.21968326e-01 9.92533866e-01 -5.01901205e-04 -1.94864181e+01] [-4.91309738e-03 -9.80793910e-05 9.99987926e-01 -1.62945133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.68, Y:-19.49, Z:-1.63 [[ 9.92265316e-01 1.24038888e-01 4.88839010e-03 2.79677407e+02] [-1.24037920e-01 9.92277352e-01 -5.01784527e-04 -1.94906720e+01] [-4.91287957e-03 -1.08442359e-04 9.99987926e-01 -1.62845902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.74, Y:-19.49, Z:-1.63 [[ 9.92291820e-01 1.23826687e-01 4.88840781e-03 2.79735374e+02] [-1.23825717e-01 9.92303855e-01 -5.01611860e-04 -1.94918704e+01] [-4.91289885e-03 -1.07565258e-04 9.99987926e-01 -1.63309603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.79, Y:-19.49, Z:-1.63 [[ 9.92298534e-01 1.23772867e-01 4.88843672e-03 2.79794680e+02] [-1.23771899e-01 9.92310569e-01 -5.01329985e-04 -1.94928736e+01] [-4.91289847e-03 -1.07582086e-04 9.99987926e-01 -1.63160588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.85, Y:-19.49, Z:-1.63 [[ 9.92235135e-01 1.24280090e-01 4.88845974e-03 2.79852960e+02] [-1.24279129e-01 9.92247170e-01 -5.01105423e-04 -1.94946013e+01] [-4.91283777e-03 -1.10319111e-04 9.99987926e-01 -1.63434158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.91, Y:-19.50, Z:-1.63 [[ 9.92313884e-01 1.23649737e-01 4.88848826e-03 2.79911637e+02] [-1.23648770e-01 9.92325920e-01 -5.00826997e-04 -1.94950894e+01] [-4.91290074e-03 -1.07477977e-04 9.99987926e-01 -1.63056815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.97, Y:-19.50, Z:-1.63 [[ 9.92612062e-01 1.21232819e-01 4.88851156e-03 2.79969413e+02] [-1.21231824e-01 9.92624095e-01 -5.00599500e-04 -1.94951530e+01] [-4.91314345e-03 -9.57420691e-05 9.99987926e-01 -1.62984674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.03, Y:-19.50, Z:-1.63 [[ 9.92880051e-01 1.19018094e-01 4.88854038e-03 2.80027641e+02] [-1.19017073e-01 9.92892082e-01 -5.00317961e-04 -1.94973417e+01] [-4.91333992e-03 -8.50640424e-05 9.99987926e-01 -1.63192134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.09, Y:-19.50, Z:-1.63 [[ 9.92918107e-01 1.18700186e-01 4.88856837e-03 2.80086770e+02] [-1.18699162e-01 9.92930138e-01 -5.00044277e-04 -1.94995941e+01] [-4.91336221e-03 -8.37659516e-05 9.99987926e-01 -1.63135742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.15, Y:-19.50, Z:-1.63 [[ 9.93038915e-01 1.17685240e-01 4.88859073e-03 2.80145800e+02] [-1.17684205e-01 9.93050944e-01 -4.99825539e-04 -1.95016183e+01] [-4.91344173e-03 -7.89637034e-05 9.99987926e-01 -1.63252864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.20, Y:-19.50, Z:-1.63 [[ 9.93324042e-01 1.15253849e-01 4.88861436e-03 2.80204713e+02] [-1.15252786e-01 9.93336069e-01 -4.99594354e-04 -1.95028193e+01] [-4.91361714e-03 -6.71673431e-05 9.99987926e-01 -1.63351794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.26, Y:-19.51, Z:-1.63 [[ 9.93486553e-01 1.13844498e-01 4.88863774e-03 2.80263194e+02] [-1.13843419e-01 9.93498579e-01 -4.99365442e-04 -1.95078482e+01] [-4.91370466e-03 -6.04263817e-05 9.99987926e-01 -1.63270455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.32, Y:-19.51, Z:-1.63 [[ 9.93900210e-01 1.10174737e-01 4.88866207e-03 2.80320639e+02] [-1.10173615e-01 9.93912232e-01 -4.99127220e-04 -1.95111586e+01] [-4.91389224e-03 -4.25189214e-05 9.99987926e-01 -1.63376899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.38, Y:-19.51, Z:-1.63 [[ 9.93969983e-01 1.09543482e-01 4.88869451e-03 2.80379582e+02] [-1.09542354e-01 9.93982004e-01 -4.98809254e-04 -1.95145586e+01] [-4.91391567e-03 -3.97176775e-05 9.99987926e-01 -1.63332928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.44, Y:-19.52, Z:-1.63 [[ 9.93914211e-01 1.10048363e-01 4.88871828e-03 2.80437427e+02] [-1.10047242e-01 9.93926233e-01 -4.98576169e-04 -1.95174327e+01] [-4.91389283e-03 -4.24480239e-05 9.99987926e-01 -1.63262914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.50, Y:-19.52, Z:-1.64 [[ 9.93932466e-01 1.09883362e-01 4.88875143e-03 2.80495929e+02] [-1.09882241e-01 9.93944488e-01 -4.98250916e-04 -1.95196356e+01] [-4.91389702e-03 -4.19591994e-05 9.99987926e-01 -1.63595255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.55, Y:-19.52, Z:-1.64 [[ 9.94165124e-01 1.07758087e-01 4.88877471e-03 2.80554162e+02] [-1.07756941e-01 9.94177144e-01 -4.98022407e-04 -1.95238659e+01] [-4.91397402e-03 -3.16828990e-05 9.99987926e-01 -1.63661842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.61, Y:-19.53, Z:-1.64 [[ 9.94368579e-01 1.05864199e-01 4.88879855e-03 2.80611275e+02] [-1.05863031e-01 9.94380597e-01 -4.97788251e-04 -1.95287779e+01] [-4.91402437e-03 -2.25580342e-05 9.99987926e-01 -1.63639317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.67, Y:-19.53, Z:-1.63 [[ 9.94560363e-01 1.04047025e-01 4.88881850e-03 2.80669332e+02] [-1.04045837e-01 9.94572379e-01 -4.97592267e-04 -1.95343785e+01] [-4.91405684e-03 -1.37756646e-05 9.99987926e-01 -1.63408948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.73, Y:-19.54, Z:-1.63 [[ 9.94574728e-01 1.03909621e-01 4.88884798e-03 2.80728403e+02] [-1.03908432e-01 9.94586744e-01 -4.97302471e-04 -1.95395352e+01] [-4.91405790e-03 -1.33880577e-05 9.99987926e-01 -1.63435388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.79, Y:-19.55, Z:-1.63 [[ 9.94548351e-01 1.04161782e-01 4.88887129e-03 2.80787444e+02] [-1.04160597e-01 9.94560367e-01 -4.97073186e-04 -1.95453413e+01] [-4.91405365e-03 -1.48644360e-05 9.99987926e-01 -1.63479035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.84, Y:-19.55, Z:-1.64 [[ 9.94456981e-01 1.05030531e-01 4.88888894e-03 2.80844796e+02] [-1.05029358e-01 9.94468998e-01 -4.96899477e-04 -1.95530712e+01] [-4.91403810e-03 -1.93317122e-05 9.99987926e-01 -1.63606122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.90, Y:-19.56, Z:-1.63 [[ 9.94135059e-01 1.08035104e-01 4.88891796e-03 2.80903200e+02] [-1.08033968e-01 9.94147079e-01 -4.96613799e-04 -1.95595772e+01] [-4.91395524e-03 -3.44680169e-05 9.99987926e-01 -1.63296567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:-19.56, Z:-1.63 [[ 9.93476022e-01 1.13936354e-01 4.88894103e-03 2.80961927e+02] [-1.13935290e-01 9.93488049e-01 -4.96386561e-04 -1.95638635e+01] [-4.91366096e-03 -6.38747705e-05 9.99987926e-01 -1.63113013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:-19.56, Z:-1.63 [[ 9.92689002e-01 1.20601171e-01 4.88896401e-03 2.81019773e+02] [-1.20600190e-01 9.92701037e-01 -4.96160188e-04 -1.95641804e+01] [-4.91311714e-03 -9.70772246e-05 9.99987926e-01 -1.63381193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.08, Y:-19.56, Z:-1.64 [[ 9.92281859e-01 1.23906457e-01 4.88899235e-03 2.81079001e+02] [-1.23905517e-01 9.92293896e-01 -4.95880743e-04 -1.95636215e+01] [-4.91276010e-03 -1.13719660e-04 9.99987926e-01 -1.63565885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.14, Y:-19.56, Z:-1.64 [[ 9.92238912e-01 1.24249903e-01 4.88901501e-03 2.81137071e+02] [-1.24248968e-01 9.92250950e-01 -4.95657271e-04 -1.95644712e+01] [-4.91271516e-03 -1.15644639e-04 9.99987926e-01 -1.63685618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.19, Y:-19.56, Z:-1.64 [[ 9.92605274e-01 1.21288363e-01 4.88904886e-03 2.81194965e+02] [-1.21287394e-01 9.92617309e-01 -4.95323107e-04 -1.95643762e+01] [-4.91303146e-03 -1.01319667e-04 9.99987926e-01 -1.63771901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.25, Y:-19.56, Z:-1.64 [[ 9.93488605e-01 1.13826576e-01 4.88907679e-03 2.81254602e+02] [-1.13825518e-01 9.93500632e-01 -4.95047288e-04 -1.95642613e+01] [-4.91365042e-03 -6.46778577e-05 9.99987926e-01 -1.63606955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.31, Y:-19.57, Z:-1.64 [[ 9.94656230e-01 1.03126530e-01 4.88910031e-03 2.81312551e+02] [-1.03125344e-01 9.94668246e-01 -4.94814869e-04 -1.95674241e+01] [-4.91406137e-03 -1.20194578e-05 9.99987926e-01 -1.63661272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.37, Y:-19.57, Z:-1.64 [[ 9.95290691e-01 9.68118586e-02 4.88912941e-03 2.81371055e+02] [-9.68105974e-02 9.95302700e-01 -4.94527222e-04 -1.95706268e+01] [-4.91403980e-03 1.88788019e-05 9.99987926e-01 -1.63522512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.43, Y:-19.57, Z:-1.64 [[ 9.95770881e-01 9.17412088e-02 4.88915218e-03 2.81428942e+02] [-9.17398875e-02 9.95782882e-01 -4.94302035e-04 -1.95730668e+01] [-4.91388191e-03 4.36813023e-05 9.99987926e-01 -1.63795101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.49, Y:-19.58, Z:-1.64 [[ 9.96032337e-01 8.88576387e-02 4.88918032e-03 2.81486676e+02] [-8.88562841e-02 9.96044335e-01 -4.94023477e-04 -1.95784178e+01] [-4.91373812e-03 5.76289625e-05 9.99987926e-01 -1.63834201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.55, Y:-19.58, Z:-1.64 [[ 9.96279905e-01 8.60374681e-02 4.88920624e-03 2.81545420e+02] [-8.60360807e-02 9.96291900e-01 -4.93766893e-04 -1.95844277e+01] [-4.91355902e-03 7.12818912e-05 9.99987926e-01 -1.63917053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.60, Y:-19.59, Z:-1.64 [[ 9.96812298e-01 7.96325177e-02 4.88922689e-03 2.81603898e+02] [-7.96310543e-02 9.96824283e-01 -4.93562291e-04 -1.95938339e+01] [-4.91300370e-03 1.02654669e-04 9.99987926e-01 -1.63978060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.66, Y:-19.61, Z:-1.64 [[ 9.97242073e-01 7.40563558e-02 4.88924870e-03 2.81661453e+02] [-7.40548264e-02 9.97254050e-01 -4.93346167e-04 -1.96056547e+01] [-4.91235848e-03 1.29913090e-04 9.99987926e-01 -1.63981467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.72, Y:-19.62, Z:-1.64 [[ 9.97408507e-01 7.17799776e-02 4.88927100e-03 2.81720379e+02] [-7.17784220e-02 9.97420481e-01 -4.93125059e-04 -1.96184839e+01] [-4.91205553e-03 1.40902972e-04 9.99987926e-01 -1.63873304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.78, Y:-19.63, Z:-1.64 [[ 9.97379791e-01 7.21778906e-02 4.88928265e-03 2.81779574e+02] [-7.21763403e-02 9.97391765e-01 -4.93009486e-04 -1.96305008e+01] [-4.91211464e-03 1.38827170e-04 9.99987926e-01 -1.63925098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.84, Y:-19.65, Z:-1.64 [[ 9.97181167e-01 7.48719966e-02 4.88929424e-03 2.81838264e+02] [-7.48704792e-02 9.97193145e-01 -4.92894504e-04 -1.96470911e+01] [-4.91247470e-03 1.25441313e-04 9.99987926e-01 -1.63973711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:281.90, Y:-19.66, Z:-1.64 [[ 9.96808312e-01 7.96823922e-02 4.88930598e-03 2.81895513e+02] [-7.96809333e-02 9.96820298e-01 -4.92778089e-04 -1.96621500e+01] [-4.91302518e-03 1.01620832e-04 9.99987926e-01 -1.63926740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52587156 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:281.95, Y:-19.68, Z:-1.64 [[ 9.96361355e-01 8.50890439e-02 4.88932348e-03 2.81953023e+02] [-8.50876509e-02 9.96373348e-01 -4.92604345e-04 -1.96761352e+01] [-4.91350684e-03 7.47908828e-05 9.99987926e-01 -1.63882588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.01, Y:-19.69, Z:-1.64 [[ 9.96110350e-01 8.79787737e-02 4.88934073e-03 2.82012280e+02] [-8.79774163e-02 9.96122348e-01 -4.92433079e-04 -1.96879035e+01] [-4.91370523e-03 6.03661224e-05 9.99987926e-01 -1.63984414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.07, Y:-19.70, Z:-1.64 [[ 9.95913326e-01 9.01817119e-02 4.88935220e-03 2.82070511e+02] [-9.01803816e-02 9.95925327e-01 -4.92319182e-04 -1.97007567e+01] [-4.91382787e-03 4.93835871e-05 9.99987926e-01 -1.63943453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70587156 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:-19.71, Z:-1.64 [[ 9.95768535e-01 9.17666532e-02 4.88936369e-03 2.82129191e+02] [-9.17653425e-02 9.95780538e-01 -4.92205050e-04 -1.97134698e+01] [-4.91390121e-03 4.14481679e-05 9.99987926e-01 -1.63806959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:-19.73, Z:-1.64 [[ 9.95628117e-01 9.32777978e-02 4.88937528e-03 2.82187342e+02] [-9.32765059e-02 9.95640121e-01 -4.92089922e-04 -1.97287875e+01] [-4.91395926e-03 3.38747211e-05 9.99987926e-01 -1.64356128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.25, Y:-19.74, Z:-1.64 [[ 9.95507931e-01 9.45518509e-02 4.88938101e-03 2.82246584e+02] [-9.45505746e-02 9.95519938e-01 -4.92032935e-04 -1.97426655e+01] [-4.91399890e-03 2.75289052e-05 9.99987926e-01 -1.64430058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.31, Y:-19.75, Z:-1.65 [[ 9.95447462e-01 9.51863708e-02 4.88938101e-03 2.82305079e+02] [-9.51851023e-02 9.95459469e-01 -4.92032935e-04 -1.97537877e+01] [-4.91401545e-03 2.43967048e-05 9.99987926e-01 -1.64745342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.37, Y:-19.77, Z:-1.65 [[ 9.95248448e-01 9.72451595e-02 4.88937457e-03 2.82365123e+02] [-9.72439155e-02 9.95260458e-01 -4.92096902e-04 -1.97654421e+01] [-4.91405522e-03 1.42967499e-05 9.99987926e-01 -1.64522026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:-19.77, Z:-1.64 [[ 9.95086734e-01 9.88862272e-02 4.88937457e-03 2.82425172e+02] [-9.88850029e-02 9.95098746e-01 -4.92096902e-04 -1.97743440e+01] [-4.91407211e-03 6.19327984e-06 9.99987926e-01 -1.64495358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.49, Y:-19.79, Z:-1.65 [[ 9.95231748e-01 9.74159208e-02 4.88937457e-03 2.82485371e+02] [-9.74146788e-02 9.95243758e-01 -4.92096902e-04 -1.97858626e+01] [-4.91405760e-03 1.34536061e-05 9.99987926e-01 -1.64548969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.55, Y:-19.80, Z:-1.64 [[ 9.95491443e-01 9.47252890e-02 4.88936289e-03 2.82546811e+02] [-9.47240140e-02 9.95503450e-01 -4.92212973e-04 -1.97961073e+01] [-4.91400264e-03 2.68537247e-05 9.99987926e-01 -1.64393328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.61, Y:-19.80, Z:-1.65 [[ 9.95686788e-01 9.26494234e-02 4.88927942e-03 2.82607684e+02] [-9.26481193e-02 9.95698791e-01 -4.93040689e-04 -1.98047227e+01] [-4.91392954e-03 3.79315571e-05 9.99987926e-01 -1.64606121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:-19.82, Z:-1.65 [[ 9.95888208e-01 9.04586831e-02 4.88923301e-03 2.82667872e+02] [-9.04573503e-02 9.95900208e-01 -4.93500503e-04 -1.98160575e+01] [-4.91382957e-03 4.92042688e-05 9.99987926e-01 -1.64914078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:-19.83, Z:-1.65 [[ 9.95886905e-01 9.04730260e-02 4.88915815e-03 2.82728904e+02] [-9.04716897e-02 9.95898905e-01 -4.94241059e-04 -1.98277854e+01] [-4.91382273e-03 4.98778002e-05 9.99987926e-01 -1.65135978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.79, Y:-19.84, Z:-1.65 [[ 9.95539755e-01 9.42162085e-02 4.88907926e-03 2.82790728e+02] [-9.42149135e-02 9.95551759e-01 -4.95020159e-04 -1.98369516e+01] [-4.91397038e-03 3.21880677e-05 9.99987926e-01 -1.65246607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42587155999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:282.85, Y:-19.85, Z:-1.65 [[ 9.95153097e-01 9.82161498e-02 4.88899915e-03 2.82852504e+02] [-9.82148992e-02 9.95165106e-01 -4.95810123e-04 -1.98453391e+01] [-4.91405792e-03 1.32344208e-05 9.99987926e-01 -1.64991558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.91, Y:-19.85, Z:-1.65 [[ 9.94411808e-01 1.05457356e-01 4.88891739e-03 2.82912917e+02] [-1.05456189e-01 9.94423826e-01 -4.96614978e-04 -1.98530120e+01] [-4.91402764e-03 -2.17267978e-05 9.99987926e-01 -1.65004350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.97, Y:-19.86, Z:-1.65 [[ 9.93698439e-01 1.11979959e-01 4.88890562e-03 2.82973505e+02] [-1.11978870e-01 9.93710464e-01 -4.96730869e-04 -1.98568373e+01] [-4.91378057e-03 -5.38534402e-05 9.99987926e-01 -1.65275998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60587155999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.03, Y:-19.86, Z:-1.65 [[ 9.93386104e-01 1.14717687e-01 4.88889979e-03 2.83034332e+02] [-1.14716631e-01 9.93398132e-01 -4.96788252e-04 -1.98623164e+01] [-4.91361431e-03 -6.73355671e-05 9.99987926e-01 -1.65372953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.10, Y:-19.87, Z:-1.65 [[ 9.93335836e-01 1.15152146e-01 4.88888865e-03 2.83095724e+02] [-1.15151094e-01 9.93347864e-01 -4.96897794e-04 -1.98652404e+01] [-4.91358595e-03 -6.93744930e-05 9.99987926e-01 -1.65359387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.16, Y:-19.87, Z:-1.65 [[ 9.93665959e-01 1.12267808e-01 4.88887704e-03 2.83156708e+02] [-1.12266721e-01 9.93677984e-01 -4.97011990e-04 -1.98692468e+01] [-4.91376793e-03 -5.49943009e-05 9.99987926e-01 -1.65443008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.22, Y:-19.87, Z:-1.66 [[ 9.94154862e-01 1.07852717e-01 4.88886530e-03 2.83218024e+02] [-1.07851577e-01 9.94166883e-01 -4.97127430e-04 -1.98747780e+01] [-4.91396452e-03 -3.30501791e-05 9.99987926e-01 -1.65711604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.28, Y:-19.88, Z:-1.65 [[ 9.94791210e-01 1.01816244e-01 4.88878937e-03 2.83279993e+02] [-1.01815027e-01 9.94803223e-01 -4.97873034e-04 -1.98812877e+01] [-4.91407499e-03 -2.47250435e-06 9.99987926e-01 -1.65402793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90587156 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:283.34, Y:-19.89, Z:-1.65 [[ 9.95146115e-01 9.82868790e-02 4.88870531e-03 2.83342065e+02] [-9.82856151e-02 9.95158123e-01 -4.98697102e-04 -1.98890555e+01] [-4.91405018e-03 1.57870760e-05 9.99987926e-01 -1.65394480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.40, Y:-19.90, Z:-1.66 [[ 9.95421243e-01 9.54602078e-02 4.88862161e-03 2.83403911e+02] [-9.54589057e-02 9.95433246e-01 -4.99516257e-04 -1.98981638e+01] [-4.91398040e-03 3.05666240e-05 9.99987926e-01 -1.65716699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.47, Y:-19.91, Z:-1.66 [[ 9.95429780e-01 9.53711468e-02 4.88853273e-03 2.83465761e+02] [-9.53698395e-02 9.95441783e-01 -5.00384602e-04 -1.99067624e+01] [-4.91397199e-03 3.18791531e-05 9.99987926e-01 -1.65654691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.53, Y:-19.91, Z:-1.66 [[ 9.95346041e-01 9.62411681e-02 4.88845018e-03 2.83526946e+02] [-9.62398673e-02 9.95358045e-01 -5.01189740e-04 -1.99140154e+01] [-4.91399330e-03 2.83934267e-05 9.99987926e-01 -1.65922004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.59, Y:-19.92, Z:-1.66 [[ 9.95072146e-01 9.90329646e-02 4.88837416e-03 2.83587099e+02] [-9.90316938e-02 9.95084153e-01 -5.01930075e-04 -1.99227610e+01] [-4.91405129e-03 1.53526637e-05 9.99987926e-01 -1.66086769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.65, Y:-19.93, Z:-1.66 [[ 9.94375691e-01 1.05797403e-01 4.88829903e-03 2.83647142e+02] [-1.05796210e-01 9.94387706e-01 -5.02660745e-04 -1.99283147e+01] [-4.91404466e-03 -1.73298844e-05 9.99987926e-01 -1.66143731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.71, Y:-19.93, Z:-1.66 [[ 9.93656358e-01 1.12352780e-01 4.88829330e-03 2.83707181e+02] [-1.12351667e-01 9.93668380e-01 -5.02716424e-04 -1.99331965e+01] [-4.91382408e-03 -4.96805290e-05 9.99987926e-01 -1.66312457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:-19.94, Z:-1.66 [[ 9.93410531e-01 1.14505994e-01 4.88826532e-03 2.83767732e+02] [-1.14504905e-01 9.93422556e-01 -5.02988338e-04 -1.99368329e+01] [-4.91370821e-03 -6.00564431e-05 9.99987926e-01 -1.66309642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.83, Y:-19.94, Z:-1.66 [[ 9.93622329e-01 1.12653327e-01 4.88826532e-03 2.83828691e+02] [-1.12652216e-01 9.93634352e-01 -5.02988338e-04 -1.99414361e+01] [-4.91381166e-03 -5.08934769e-05 9.99987926e-01 -1.66165638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:283.89, Y:-19.95, Z:-1.66 [[ 9.93843911e-01 1.10681459e-01 4.88825407e-03 2.83889132e+02] [-1.10680323e-01 9.93855932e-01 -5.03097643e-04 -1.99458812e+01] [-4.91390389e-03 -4.10330122e-05 9.99987926e-01 -1.66280252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:-19.95, Z:-1.66 [[ 9.94091243e-01 1.08437567e-01 4.88822798e-03 2.83950209e+02] [-1.08436403e-01 9.94103261e-01 -5.03351084e-04 -1.99512329e+01] [-4.91398554e-03 -2.96849549e-05 9.99987926e-01 -1.66275579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:-19.95, Z:-1.66 [[ 9.94206170e-01 1.07378759e-01 4.88821557e-03 2.84010857e+02] [-1.07377581e-01 9.94218186e-01 -5.03471505e-04 -1.99540410e+01] [-4.91401496e-03 -2.43302883e-05 9.99987926e-01 -1.66321272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.07, Y:-19.96, Z:-1.66 [[ 9.94329880e-01 1.06227095e-01 4.88820944e-03 2.84072444e+02] [-1.06225903e-01 9.94341895e-01 -5.03531067e-04 -1.99587553e+01] [-4.91404008e-03 -1.85784754e-05 9.99987926e-01 -1.66275397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.13, Y:-19.96, Z:-1.66 [[ 9.94520396e-01 1.04428387e-01 4.88819739e-03 2.84132507e+02] [-1.04427173e-01 9.94532409e-01 -5.03648032e-04 -1.99616837e+01] [-4.91406587e-03 -9.57239196e-06 9.99987926e-01 -1.66169160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.19, Y:-19.96, Z:-1.66 [[ 9.94503249e-01 1.04591556e-01 4.88816907e-03 2.84193599e+02] [-1.04590343e-01 9.94515262e-01 -5.03922703e-04 -1.99631638e+01] [-4.91406480e-03 -1.01025134e-05 9.99987926e-01 -1.66241662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.25, Y:-19.96, Z:-1.66 [[ 9.94338564e-01 1.06145775e-01 4.88815725e-03 2.84254319e+02] [-1.06144579e-01 9.94350579e-01 -5.04037362e-04 -1.99648537e+01] [-4.91404343e-03 -1.76676082e-05 9.99987926e-01 -1.66123763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.31, Y:-19.97, Z:-1.66 [[ 9.94136103e-01 1.08025526e-01 4.88815725e-03 2.84313924e+02] [-1.08024353e-01 9.94148120e-01 -5.04037362e-04 -1.99667074e+01] [-4.91400124e-03 -2.69582866e-05 9.99987926e-01 -1.66310620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.37, Y:-19.96, Z:-1.67 [[ 9.93808363e-01 1.11000191e-01 4.88816925e-03 2.84374225e+02] [-1.10999055e-01 9.93820384e-01 -5.03920942e-04 -1.99638036e+01] [-4.91389756e-03 -4.17813224e-05 9.99987926e-01 -1.66817469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.43, Y:-19.96, Z:-1.67 [[ 9.93800747e-01 1.11068359e-01 4.88818120e-03 2.84434650e+02] [-1.11067224e-01 9.93812768e-01 -5.03805008e-04 -1.99609209e+01] [-4.91389368e-03 -4.22349235e-05 9.99987926e-01 -1.67056178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.49, Y:-19.96, Z:-1.67 [[ 9.94088610e-01 1.08461702e-01 4.88819314e-03 2.84494689e+02] [-1.08460536e-01 9.94100628e-01 -5.03689115e-04 -1.99598159e+01] [-4.91398685e-03 -2.94644373e-05 9.99987926e-01 -1.67207645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.55, Y:-19.96, Z:-1.67 [[ 9.94351146e-01 1.06027847e-01 4.88820502e-03 2.84553854e+02] [-1.06026653e-01 9.94363161e-01 -5.03573768e-04 -1.99603636e+01] [-4.91404384e-03 -1.75508621e-05 9.99987926e-01 -1.67309478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.61, Y:-19.96, Z:-1.67 [[ 9.94809659e-01 1.01635857e-01 4.88822265e-03 2.84613408e+02] [-1.01634611e-01 9.94821669e-01 -5.03402600e-04 -1.99607363e+01] [-4.91407357e-03 3.97716287e-06 9.99987926e-01 -1.67146285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.67, Y:-19.96, Z:-1.67 [[ 9.95251409e-01 9.72149049e-02 4.88823476e-03 2.84673342e+02] [-9.72136055e-02 9.95263413e-01 -5.03284994e-04 -1.99620559e+01] [-4.91400801e-03 2.56921738e-05 9.99987926e-01 -1.67167318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.73, Y:-19.96, Z:-1.67 [[ 9.95500555e-01 9.46295407e-02 4.88824690e-03 2.84732149e+02] [-9.46282108e-02 9.95512556e-01 -5.03167028e-04 -1.99645284e+01] [-4.91392563e-03 3.83369977e-05 9.99987926e-01 -1.67265497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.79, Y:-19.97, Z:-1.67 [[ 9.95807743e-01 9.13402650e-02 4.88826482e-03 2.84792027e+02] [-9.13388962e-02 9.95819739e-01 -5.02992860e-04 -1.99678930e+01] [-4.91377410e-03 5.43954712e-05 9.99987926e-01 -1.67291401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.85, Y:-19.97, Z:-1.67 [[ 9.96001239e-01 8.92055885e-02 4.88827658e-03 2.84850656e+02] [-8.92041946e-02 9.96013232e-01 -5.02878518e-04 -1.99706375e+01] [-4.91364774e-03 6.48128508e-05 9.99987926e-01 -1.67465899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46587156 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:284.91, Y:-19.97, Z:-1.67 [[ 9.96099266e-01 8.81042334e-02 4.88829401e-03 2.84909761e+02] [-8.81028270e-02 9.96111258e-01 -5.02709113e-04 -1.99748582e+01] [-4.91357550e-03 7.00756578e-05 9.99987926e-01 -1.67300859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.97, Y:-19.98, Z:-1.68 [[ 9.96180839e-01 8.71770644e-02 4.88830626e-03 2.84968003e+02] [-8.71756475e-02 9.96192830e-01 -5.02589972e-04 -1.99802579e+01] [-4.91350996e-03 7.45292371e-05 9.99987926e-01 -1.67815755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.03, Y:-19.99, Z:-1.68 [[ 9.96178948e-01 8.71986640e-02 4.88831962e-03 2.85026703e+02] [-8.71972480e-02 9.96190939e-01 -5.02459948e-04 -1.99870543e+01] [-4.91351355e-03 7.42920043e-05 9.99987926e-01 -1.68069163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.09, Y:-19.99, Z:-1.68 [[ 9.96049100e-01 8.86695818e-02 4.88833722e-03 2.85086187e+02] [-8.86681843e-02 9.96061093e-01 -5.02288670e-04 -1.99933527e+01] [-4.91362024e-03 6.68641924e-05 9.99987926e-01 -1.67916747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-20.00, Z:-1.68 [[ 9.95856144e-01 9.08110323e-02 4.88834944e-03 2.85144106e+02] [-9.08096612e-02 9.95868141e-01 -5.02169715e-04 -1.99994201e+01] [-4.91375402e-03 5.61794402e-05 9.99987926e-01 -1.67924675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:-20.01, Z:-1.68 [[ 9.95588986e-01 9.36945817e-02 4.88836474e-03 2.85202836e+02] [-9.36932461e-02 9.95600986e-01 -5.02020761e-04 -2.00080269e+01] [-4.91389738e-03 4.17995798e-05 9.99987926e-01 -1.67894862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.26, Y:-20.01, Z:-1.68 [[ 9.95383226e-01 9.58558170e-02 4.88838868e-03 2.85260279e+02] [-9.58545086e-02 9.95395229e-01 -5.01787463e-04 -2.00140945e+01] [-4.91397802e-03 3.08967289e-05 9.99987926e-01 -1.68033582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.32, Y:-20.02, Z:-1.68 [[ 9.95075414e-01 9.90001186e-02 4.88841955e-03 2.85318949e+02] [-9.89988496e-02 9.95087421e-01 -5.01486636e-04 -2.00224491e+01] [-4.91405204e-03 1.50691101e-05 9.99987926e-01 -1.67636817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.38, Y:-20.03, Z:-1.68 [[ 9.94735790e-01 1.02356294e-01 4.88844308e-03 2.85377049e+02] [-1.02355067e-01 9.94747802e-01 -5.01257117e-04 -2.00300383e+01] [-4.91407483e-03 -1.73852427e-06 9.99987926e-01 -1.67580970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.43, Y:-20.04, Z:-1.68 [[ 9.94395335e-01 1.05612599e-01 4.88846749e-03 2.85434557e+02] [-1.05611413e-01 9.94407350e-01 -5.01018905e-04 -2.00400046e+01] [-4.91404192e-03 -1.80670958e-05 9.99987926e-01 -1.68028437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.49, Y:-20.05, Z:-1.68 [[ 9.94048470e-01 1.08828961e-01 4.88849773e-03 2.85492759e+02] [-1.08827814e-01 9.94060489e-01 -5.00723680e-04 -2.00495311e+01] [-4.91395569e-03 -3.42609154e-05 9.99987926e-01 -1.68278165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.55, Y:-20.06, Z:-1.68 [[ 9.93902903e-01 1.10150454e-01 4.88852038e-03 2.85551339e+02] [-1.10149324e-01 9.93914924e-01 -5.00502474e-04 -2.00592413e+01] [-4.91390394e-03 -4.10163548e-05 9.99987926e-01 -1.68234679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.61, Y:-20.07, Z:-1.69 [[ 9.93748141e-01 1.11538036e-01 4.88854386e-03 2.85607863e+02] [-1.11536924e-01 9.93760164e-01 -5.00273077e-04 -2.00728590e+01] [-4.91383962e-03 -4.81077060e-05 9.99987926e-01 -1.68598433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24587155999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:285.67, Y:-20.08, Z:-1.69 [[ 9.93630790e-01 1.12578665e-01 4.88857278e-03 2.85666393e+02] [-1.12577568e-01 9.93642814e-01 -4.99990293e-04 -2.00839126e+01] [-4.91378345e-03 -5.35378838e-05 9.99987926e-01 -1.68527760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.73, Y:-20.10, Z:-1.69 [[ 9.93524665e-01 1.13511419e-01 4.88858440e-03 2.85725192e+02] [-1.13510333e-01 9.93536690e-01 -4.99876685e-04 -2.00956255e+01] [-4.91372967e-03 -5.82650270e-05 9.99987926e-01 -1.68718623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.78, Y:-20.11, Z:-1.69 [[ 9.93264799e-01 1.15763296e-01 4.88859630e-03 2.85783455e+02] [-1.15762238e-01 9.93276827e-01 -4.99760288e-04 -2.01073577e+01] [-4.91358331e-03 -6.95205447e-05 9.99987926e-01 -1.68703934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.84, Y:-20.12, Z:-1.69 [[ 9.93034082e-01 1.17726009e-01 4.88860915e-03 2.85841869e+02] [-1.17724975e-01 9.93046112e-01 -4.99634482e-04 -2.01155655e+01] [-4.91343429e-03 -7.93573219e-05 9.99987926e-01 -1.68893916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.90, Y:-20.12, Z:-1.69 [[ 9.92774510e-01 1.19895261e-01 4.88862648e-03 2.85901219e+02] [-1.19894254e-01 9.92786542e-01 -4.99464917e-04 -2.01220402e+01] [-4.91324605e-03 -9.02621877e-05 9.99987926e-01 -1.68813672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.96, Y:-20.13, Z:-1.69 [[ 9.92626535e-01 1.21114258e-01 4.88863850e-03 2.85960700e+02] [-1.21113267e-01 9.92638568e-01 -4.99347234e-04 -2.01293256e+01] [-4.91312919e-03 -9.64136651e-05 9.99987926e-01 -1.69040572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.02, Y:-20.14, Z:-1.69 [[ 9.92579259e-01 1.21501097e-01 4.88865043e-03 2.86020024e+02] [-1.21500111e-01 9.92591292e-01 -4.99230410e-04 -2.01373141e+01] [-4.91308889e-03 -9.84458182e-05 9.99987926e-01 -1.69273485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:-20.14, Z:-1.69 [[ 9.92739822e-01 1.20182137e-01 4.88865632e-03 2.86079469e+02] [-1.20181136e-01 9.92751855e-01 -4.99172716e-04 -2.01443878e+01] [-4.91321427e-03 -9.19756364e-05 9.99987926e-01 -1.69079506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.14, Y:-20.15, Z:-1.69 [[ 9.92887512e-01 1.18955830e-01 4.88866830e-03 2.86137797e+02] [-1.18954814e-01 9.92899543e-01 -4.99055348e-04 -2.01487420e+01] [-4.91332207e-03 -8.60248048e-05 9.99987926e-01 -1.69220991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.20, Y:-20.16, Z:-1.69 [[ 9.92929967e-01 1.18600935e-01 4.88868613e-03 2.86198285e+02] [-1.18599916e-01 9.92941998e-01 -4.98880677e-04 -2.01556904e+01] [-4.91334948e-03 -8.44441893e-05 9.99987926e-01 -1.69197608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.26, Y:-20.16, Z:-1.69 [[ 9.92991918e-01 1.18081123e-01 4.88868613e-03 2.86258133e+02] [-1.18080098e-01 9.93003948e-01 -4.98880677e-04 -2.01629044e+01] [-4.91339302e-03 -8.18720549e-05 9.99987926e-01 -1.69353419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.32, Y:-20.17, Z:-1.69 [[ 9.93055228e-01 1.17547503e-01 4.88868613e-03 2.86317918e+02] [-1.17546471e-01 9.93067258e-01 -4.98880677e-04 -2.01690644e+01] [-4.91343630e-03 -7.92317379e-05 9.99987926e-01 -1.69465561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.38, Y:-20.17, Z:-1.70 [[ 9.93108649e-01 1.17095309e-01 4.88868613e-03 2.86377989e+02] [-1.17094272e-01 9.93120679e-01 -4.98880677e-04 -2.01735833e+01] [-4.91347187e-03 -7.69944257e-05 9.99987926e-01 -1.69571126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02587156 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:286.44, Y:-20.18, Z:-1.69 [[ 9.93056964e-01 1.17532831e-01 4.88868613e-03 2.86437486e+02] [-1.17531799e-01 9.93068994e-01 -4.98880677e-04 -2.01779615e+01] [-4.91343747e-03 -7.91591449e-05 9.99987926e-01 -1.69051288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.50, Y:-20.18, Z:-1.69 [[ 9.93146746e-01 1.16771751e-01 4.88869823e-03 2.86496424e+02] [-1.16770711e-01 9.93158775e-01 -4.98762087e-04 -2.01836002e+01] [-4.91349486e-03 -7.55128223e-05 9.99987926e-01 -1.69245253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.56, Y:-20.19, Z:-1.69 [[ 9.93621478e-01 1.12660814e-01 4.88871038e-03 2.86555341e+02] [-1.12659725e-01 9.93633503e-01 -4.98642944e-04 -2.01882054e+01] [-4.91376394e-03 -5.52984257e-05 9.99987926e-01 -1.69389683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:286.62, Y:-20.20, Z:-1.69 [[ 9.94011856e-01 1.09162861e-01 4.88872335e-03 2.86615284e+02] [-1.09161729e-01 9.94023877e-01 -4.98515757e-04 -2.01962707e+01] [-4.91392714e-03 -3.81309226e-05 9.99987926e-01 -1.69044369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.67, Y:-20.20, Z:-1.69 [[ 9.94577871e-01 1.03879537e-01 4.88872335e-03 2.86674847e+02] [-1.03878342e-01 9.94589886e-01 -4.98515757e-04 -2.02020993e+01] [-4.91406038e-03 -1.20197357e-05 9.99987926e-01 -1.69192275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.73, Y:-20.21, Z:-1.69 [[ 9.95020951e-01 9.95460023e-02 4.88872927e-03 2.86734669e+02] [-9.95447548e-02 9.95032961e-01 -4.98457711e-04 -2.02116227e+01] [-4.91406623e-03 9.32851007e-06 9.99987926e-01 -1.69356419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.80, Y:-20.22, Z:-1.69 [[ 9.95094857e-01 9.88044849e-02 4.88872927e-03 2.86795107e+02] [-9.88032284e-02 9.95106865e-01 -4.98457711e-04 -2.02199389e+01] [-4.91405791e-03 1.29904703e-05 9.99987926e-01 -1.69313895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.86, Y:-20.23, Z:-1.69 [[ 9.94918990e-01 1.00559953e-01 4.88872927e-03 2.86855018e+02] [-1.00558718e-01 9.94931000e-01 -4.98457711e-04 -2.02267225e+01] [-4.91407318e-03 4.32069397e-06 9.99987926e-01 -1.69237871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.91, Y:-20.23, Z:-1.70 [[ 9.94761164e-01 1.02109382e-01 4.88872927e-03 2.86914230e+02] [-1.02108166e-01 9.94773177e-01 -4.98457711e-04 -2.02338388e+01] [-4.91407395e-03 -3.33280478e-06 9.99987926e-01 -1.69545362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.97, Y:-20.24, Z:-1.70 [[ 9.94532497e-01 1.04313051e-01 4.88873533e-03 2.86974686e+02] [-1.04311861e-01 9.94544512e-01 -4.98398208e-04 -2.02403282e+01] [-4.91405433e-03 -1.42798671e-05 9.99987926e-01 -1.69669661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62587155999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.03, Y:-20.25, Z:-1.70 [[ 9.94228228e-01 1.07174300e-01 4.88873533e-03 2.87034632e+02] [-1.07173145e-01 9.94240247e-01 -4.98398208e-04 -2.02479746e+01] [-4.91399290e-03 -2.84195734e-05 9.99987926e-01 -1.69628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.09, Y:-20.25, Z:-1.70 [[ 9.93953312e-01 1.09694639e-01 4.88873533e-03 2.87093955e+02] [-1.09693515e-01 9.93965334e-01 -4.98398208e-04 -2.02523588e+01] [-4.91390506e-03 -4.08780120e-05 9.99987926e-01 -1.69613472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:-20.26, Z:-1.70 [[ 9.93963424e-01 1.09602971e-01 4.88873290e-03 2.87153178e+02] [-1.09601845e-01 9.93975446e-01 -4.98422098e-04 -2.02585656e+01] [-4.91390900e-03 -4.04008099e-05 9.99987926e-01 -1.69598570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80587155999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:287.21, Y:-20.27, Z:-1.70 [[ 9.94178392e-01 1.07635613e-01 4.88874453e-03 2.87212145e+02] [-1.07634464e-01 9.94190411e-01 -4.98307973e-04 -2.02667421e+01] [-4.91397862e-03 -3.07903759e-05 9.99987926e-01 -1.69850117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.27, Y:-20.27, Z:-1.70 [[ 9.94425436e-01 1.05328785e-01 4.88875028e-03 2.87272813e+02] [-1.05327608e-01 9.94437452e-01 -4.98251500e-04 -2.02726220e+01] [-4.91403660e-03 -1.94464086e-05 9.99987926e-01 -1.70048141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.33, Y:-20.28, Z:-1.70 [[ 9.94706895e-01 1.02636709e-01 4.88875028e-03 2.87332660e+02] [-1.02635500e-01 9.94718908e-01 -4.98251500e-04 -2.02790796e+01] [-4.91407124e-03 -6.14512762e-06 9.99987926e-01 -1.70235896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.39, Y:-20.29, Z:-1.70 [[ 9.95064942e-01 9.91053077e-02 4.88872033e-03 2.87393167e+02] [-9.91040544e-02 9.95076951e-01 -4.98545215e-04 -2.02862520e+01] [-4.91406140e-03 1.15928595e-05 9.99987926e-01 -1.69854293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.45, Y:-20.29, Z:-1.70 [[ 9.95248608e-01 9.72435583e-02 4.88870836e-03 2.87453971e+02] [-9.72422820e-02 9.95260614e-01 -4.98662581e-04 -2.02942580e+01] [-4.91403061e-03 2.09040823e-05 9.99987926e-01 -1.69746829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10587155999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:287.51, Y:-20.30, Z:-1.69 [[ 9.95387397e-01 9.58124809e-02 4.88869633e-03 2.87514241e+02] [-9.58111867e-02 9.95399401e-01 -4.98780462e-04 -2.03022704e+01] [-4.91399480e-03 2.80879880e-05 9.99987926e-01 -1.69309006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.58, Y:-20.31, Z:-1.69 [[ 9.95477751e-01 9.48691120e-02 4.88865479e-03 2.87575640e+02] [-9.48678045e-02 9.95489754e-01 -4.99187339e-04 -2.03100883e+01] [-4.91396321e-03 3.31539431e-05 9.99987926e-01 -1.69256561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.64, Y:-20.32, Z:-1.69 [[ 9.95379879e-01 9.58905498e-02 4.88856936e-03 2.87636863e+02] [-9.58892505e-02 9.95391883e-01 -5.00022522e-04 -2.03197316e+01] [-4.91398970e-03 2.89511062e-05 9.99987926e-01 -1.69245190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28587156 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:287.70, Y:-20.33, Z:-1.69 [[ 9.95255213e-01 9.71759418e-02 4.88848423e-03 2.87698532e+02] [-9.71746539e-02 9.95267218e-01 -5.00853432e-04 -2.03266178e+01] [-4.91401900e-03 2.34402266e-05 9.99987926e-01 -1.69116489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.76, Y:-20.33, Z:-1.69 [[ 9.94999588e-01 9.97593279e-02 4.88839909e-03 2.87759503e+02] [-9.97580671e-02 9.95011596e-01 -5.01683044e-04 -2.03346179e+01] [-4.91406134e-03 1.15171778e-05 9.99987926e-01 -1.69449649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.82, Y:-20.34, Z:-1.69 [[ 9.94863493e-01 1.01107535e-01 4.88832068e-03 2.87820383e+02] [-1.01106287e-01 9.94875503e-01 -5.02445882e-04 -2.03413028e+01] [-4.91407156e-03 5.62511134e-06 9.99987926e-01 -1.69197697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.88, Y:-20.35, Z:-1.69 [[ 9.94717338e-01 1.02535471e-01 4.88830849e-03 2.87880561e+02] [-1.02534240e-01 9.94729349e-01 -5.02564434e-04 -2.03471271e+01] [-4.91407460e-03 -1.30943805e-06 9.99987926e-01 -1.69368262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.94, Y:-20.35, Z:-1.69 [[ 9.94366448e-01 1.05884235e-01 4.88827764e-03 2.87941101e+02] [-1.05883042e-01 9.94378463e-01 -5.02864302e-04 -2.03509026e+01] [-4.91404341e-03 -1.75543194e-05 9.99987926e-01 -1.69369459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.00, Y:-20.35, Z:-1.69 [[ 9.94076740e-01 1.08570438e-01 4.88827764e-03 2.88001285e+02] [-1.08569278e-01 9.94088758e-01 -5.02864302e-04 -2.03534065e+01] [-4.91397805e-03 -3.08310667e-05 9.99987926e-01 -1.69147109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.06, Y:-20.36, Z:-1.69 [[ 9.94071935e-01 1.08614421e-01 4.88825191e-03 2.88062449e+02] [-1.08613260e-01 9.94083953e-01 -5.03114345e-04 -2.03564531e+01] [-4.91397826e-03 -3.07971255e-05 9.99987926e-01 -1.69035387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.12, Y:-20.36, Z:-1.69 [[ 9.94250182e-01 1.06970470e-01 4.88823959e-03 2.88122349e+02] [-1.06969288e-01 9.94262198e-01 -5.03233978e-04 -2.03592381e+01] [-4.91402302e-03 -2.25510361e-05 9.99987926e-01 -1.69423281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.18, Y:-20.36, Z:-1.69 [[ 9.94514123e-01 1.04488107e-01 4.88823348e-03 2.88183756e+02] [-1.04486895e-01 9.94526136e-01 -5.03293302e-04 -2.03629326e+01] [-4.91406412e-03 -1.02240436e-05 9.99987926e-01 -1.69145262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.24, Y:-20.37, Z:-1.69 [[ 9.95064095e-01 9.91138325e-02 4.88822114e-03 2.88244034e+02] [-9.91125554e-02 9.95076102e-01 -5.03413159e-04 -2.03677755e+01] [-4.91404724e-03 1.64442709e-05 9.99987926e-01 -1.69037381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.31, Y:-20.38, Z:-1.69 [[ 9.95680919e-01 9.27125271e-02 4.88821505e-03 2.88305096e+02] [-9.27111725e-02 9.95692917e-01 -5.03472339e-04 -2.03750755e+01] [-4.91383929e-03 4.81056528e-05 9.99987926e-01 -1.68858030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.37, Y:-20.38, Z:-1.69 [[ 9.96051222e-01 8.86457501e-02 4.88820259e-03 2.88366492e+02] [-8.86443459e-02 9.96063214e-01 -5.03593249e-04 -2.03842558e+01] [-4.91360018e-03 6.82931500e-05 9.99987926e-01 -1.69096418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.43, Y:-20.39, Z:-1.69 [[ 9.96084437e-01 8.82717406e-02 4.88811530e-03 2.88427098e+02] [-8.82703278e-02 9.96096428e-01 -5.04439134e-04 -2.03913261e+01] [-4.91356191e-03 7.09884319e-05 9.99987926e-01 -1.69224451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:-20.40, Z:-1.70 [[ 9.95975248e-01 8.94953222e-02 4.88810294e-03 2.88487142e+02] [-8.94939236e-02 9.95987240e-01 -5.04558799e-04 -2.04018372e+01] [-4.91364381e-03 6.50725630e-05 9.99987926e-01 -1.69574433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.55, Y:-20.41, Z:-1.69 [[ 9.95598285e-01 9.35957305e-02 4.88809072e-03 2.88548355e+02] [-9.35943806e-02 9.95610284e-01 -5.04677168e-04 -2.04090911e+01] [-4.91386902e-03 4.49578996e-05 9.99987926e-01 -1.69136915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.61, Y:-20.42, Z:-1.69 [[ 9.94715373e-01 1.02554541e-01 4.88807865e-03 2.88608698e+02] [-1.02553299e-01 9.94727383e-01 -5.04794090e-04 -2.04167206e+01] [-4.91407461e-03 8.37850584e-07 9.99987926e-01 -1.68853290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.67, Y:-20.42, Z:-1.69 [[ 9.93903608e-01 1.10144111e-01 4.88807865e-03 2.88668155e+02] [-1.10142960e-01 9.93915627e-01 -5.04794090e-04 -2.04219022e+01] [-4.91393785e-03 -3.66707839e-05 9.99987926e-01 -1.68904728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:-20.43, Z:-1.69 [[ 9.92641099e-01 1.20994854e-01 4.88808470e-03 2.88728017e+02] [-1.20993835e-01 9.92653130e-01 -5.04735484e-04 -2.04255549e+01] [-4.91324298e-03 -9.04069299e-05 9.99987926e-01 -1.68829916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:-20.43, Z:-1.69 [[ 9.91874959e-01 1.27122664e-01 4.88809694e-03 2.88786581e+02] [-1.27121720e-01 9.91886996e-01 -5.04616934e-04 -2.04250780e+01] [-4.91258804e-03 -1.20866389e-04 9.99987926e-01 -1.68877508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:-20.42, Z:-1.69 [[ 9.91833805e-01 1.27443361e-01 4.88811502e-03 2.88846543e+02] [-1.27442422e-01 9.91845842e-01 -5.04441707e-04 -2.04244758e+01] [-4.91254431e-03 -1.22630878e-04 9.99987926e-01 -1.69058068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48587155999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.91, Y:-20.43, Z:-1.69 [[ 9.92512098e-01 1.22048517e-01 4.88812694e-03 2.88906119e+02] [-1.22047513e-01 9.92524131e-01 -5.04326226e-04 -2.04266300e+01] [-4.91313621e-03 -9.60338559e-05 9.99987926e-01 -1.68721546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.97, Y:-20.43, Z:-1.69 [[ 9.93214881e-01 1.16190814e-01 4.88813934e-03 2.88965673e+02] [-1.16189740e-01 9.93226908e-01 -5.04205969e-04 -2.04300785e+01] [-4.91361562e-03 -6.71667659e-05 9.99987926e-01 -1.68925984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60587155999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:289.03, Y:-20.43, Z:-1.69 [[ 9.94440126e-01 1.05190032e-01 4.88814550e-03 2.89025863e+02] [-1.05188824e-01 9.94452139e-01 -5.04146251e-04 -2.04334706e+01] [-4.91405791e-03 -1.28350166e-05 9.99987926e-01 -1.68904850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.09, Y:-20.44, Z:-1.69 [[ 9.95557476e-01 9.40288130e-02 4.88814550e-03 2.89086212e+02] [-9.40274710e-02 9.95569475e-01 -5.04146251e-04 -2.04407951e+01] [-4.91389272e-03 4.22866102e-05 9.99987926e-01 -1.68819169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.15, Y:-20.45, Z:-1.69 [[ 9.96328752e-01 8.54700219e-02 4.88814550e-03 2.89145503e+02] [-8.54685768e-02 9.96340739e-01 -5.04146251e-04 -2.04505094e+01] [-4.91334789e-03 8.45125660e-05 9.99987926e-01 -1.68878548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78587156 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.21, Y:-20.46, Z:-1.69 [[ 9.96618052e-01 8.20278332e-02 4.88813943e-03 2.89206045e+02] [-8.20263465e-02 9.96630034e-01 -5.04205083e-04 -2.04610225e+01] [-4.91302542e-03 1.01543669e-04 9.99987926e-01 -1.68668284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:-20.47, Z:-1.69 [[ 9.96586904e-01 8.24053932e-02 4.88812763e-03 2.89267024e+02] [-8.24039104e-02 9.96598887e-01 -5.04319434e-04 -2.04709092e+01] [-4.91306120e-03 9.97973122e-05 9.99987926e-01 -1.68747627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90587156 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:289.33, Y:-20.48, Z:-1.69 [[ 9.96174975e-01 8.72440535e-02 4.88811559e-03 2.89326315e+02] [-8.72426284e-02 9.96186965e-01 -5.04436144e-04 -2.04817756e+01] [-4.91348609e-03 7.60546114e-05 9.99987926e-01 -1.68662224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.39, Y:-20.49, Z:-1.69 [[ 9.95473035e-01 9.49186143e-02 4.88811559e-03 2.89385476e+02] [-9.49172816e-02 9.95485035e-01 -5.04436144e-04 -2.04910831e+01] [-4.91392630e-03 3.81859350e-05 9.99987926e-01 -1.68991168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.45, Y:-20.50, Z:-1.69 [[ 9.94703478e-01 1.02669843e-01 4.88812156e-03 2.89445640e+02] [-1.02668604e-01 9.94715489e-01 -5.04378299e-04 -2.04979640e+01] [-4.91407466e-03 -1.49769933e-07 9.99987926e-01 -1.68861867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.50, Y:-20.50, Z:-1.69 [[ 9.94205530e-01 1.07384680e-01 4.88812156e-03 2.89504437e+02] [-1.07383498e-01 9.94217547e-01 -5.04378299e-04 -2.05048799e+01] [-4.91401873e-03 -2.34478958e-05 9.99987926e-01 -1.68888698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.56, Y:-20.51, Z:-1.69 [[ 9.93666759e-01 1.12260760e-01 4.88812767e-03 2.89563914e+02] [-1.12259637e-01 9.93678781e-01 -5.04319079e-04 -2.05105657e+01] [-4.91384398e-03 -4.76143335e-05 9.99987926e-01 -1.68552013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:289.62, Y:-20.52, Z:-1.68 [[ 9.93366397e-01 1.14888240e-01 4.88813978e-03 2.89623519e+02] [-1.14887150e-01 9.93378422e-01 -5.04201657e-04 -2.05152540e+01] [-4.91369942e-03 -6.07274621e-05 9.99987926e-01 -1.68150199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.68, Y:-20.52, Z:-1.68 [[ 9.93327692e-01 1.15222404e-01 4.88813704e-03 2.89683289e+02] [-1.15221318e-01 9.93339717e-01 -5.04228181e-04 -2.05212257e+01] [-4.91367905e-03 -6.23537761e-05 9.99987926e-01 -1.68305534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.74, Y:-20.53, Z:-1.68 [[ 9.93368552e-01 1.14869603e-01 4.88814885e-03 2.89743785e+02] [-1.14868513e-01 9.93380577e-01 -5.04113669e-04 -2.05257278e+01] [-4.91369947e-03 -6.07237258e-05 9.99987926e-01 -1.68495484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.80, Y:-20.53, Z:-1.69 [[ 9.93390482e-01 1.14679796e-01 4.88814885e-03 2.89804324e+02] [-1.14678704e-01 9.93402507e-01 -5.04113669e-04 -2.05298593e+01] [-4.91371098e-03 -5.97848533e-05 9.99987926e-01 -1.68697016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.86, Y:-20.53, Z:-1.69 [[ 9.93465918e-01 1.14024454e-01 4.88814885e-03 2.89864142e+02] [-1.14023354e-01 9.93477942e-01 -5.04113669e-04 -2.05344115e+01] [-4.91374935e-03 -5.65433757e-05 9.99987926e-01 -1.68623345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.92, Y:-20.54, Z:-1.69 [[ 9.93762596e-01 1.11409193e-01 4.88816112e-03 2.89923976e+02] [-1.11408061e-01 9.93774617e-01 -5.03994650e-04 -2.05392013e+01] [-4.91388009e-03 -4.37295228e-05 9.99987926e-01 -1.68586688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.98, Y:-20.54, Z:-1.69 [[ 9.94286403e-01 1.06633269e-01 4.88817351e-03 2.89983140e+02] [-1.06632080e-01 9.94298419e-01 -5.03874506e-04 -2.05433972e+01] [-4.91403298e-03 -2.02405400e-05 9.99987926e-01 -1.68768832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.04, Y:-20.55, Z:-1.69 [[ 9.94701519e-01 1.02688822e-01 4.88817962e-03 2.90043371e+02] [-1.02687586e-01 9.94713530e-01 -5.03815213e-04 -2.05494549e+01] [-4.91407459e-03 -8.09608609e-07 9.99987926e-01 -1.68805073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:-20.56, Z:-1.69 [[ 9.95170007e-01 9.80447024e-02 4.88817962e-03 2.90103167e+02] [-9.80434104e-02 9.95182011e-01 -5.03815213e-04 -2.05551638e+01] [-4.91402484e-03 2.21279885e-05 9.99987926e-01 -1.68745357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74587155999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:-20.56, Z:-1.68 [[ 9.95352043e-01 9.61790822e-02 4.88817962e-03 2.90162619e+02] [-9.61777678e-02 9.95364046e-01 -5.03815213e-04 -2.05629101e+01] [-4.91397473e-03 3.13392975e-05 9.99987926e-01 -1.68441151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.22, Y:-20.57, Z:-1.68 [[ 9.95203917e-01 9.76998908e-02 4.88815105e-03 2.90223088e+02] [-9.76985933e-02 9.95215922e-01 -5.04092225e-04 -2.05673544e+01] [-4.91401551e-03 2.41090759e-05 9.99987926e-01 -1.68343346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.28, Y:-20.58, Z:-1.68 [[ 9.95079360e-01 9.89604592e-02 4.88815105e-03 2.90282664e+02] [-9.89591770e-02 9.95091366e-01 -5.04092225e-04 -2.05757366e+01] [-4.91404211e-03 1.78843642e-05 9.99987926e-01 -1.68340830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92587155999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:-20.58, Z:-1.68 [[ 9.95073748e-01 9.90168733e-02 4.88815105e-03 2.90342537e+02] [-9.90155917e-02 9.95085754e-01 -5.04092226e-04 -2.05816155e+01] [-4.91404311e-03 1.76057717e-05 9.99987926e-01 -1.68105070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.40, Y:-20.59, Z:-1.68 [[ 9.94985520e-01 9.98995538e-02 4.88815105e-03 2.90401357e+02] [-9.98982828e-02 9.94997527e-01 -5.04092225e-04 -2.05874441e+01] [-4.91405680e-03 1.32465687e-05 9.99987926e-01 -1.68480066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.46, Y:-20.59, Z:-1.68 [[ 9.94659293e-01 1.03097029e-01 4.88814269e-03 2.90460606e+02] [-1.03095796e-01 9.94671304e-01 -5.04173299e-04 -2.05938165e+01] [-4.91407403e-03 -2.46630414e-06 9.99987926e-01 -1.68170516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.52, Y:-20.60, Z:-1.68 [[ 9.94051285e-01 1.08803258e-01 4.88814871e-03 2.90518972e+02] [-1.08802095e-01 9.94063303e-01 -5.04114906e-04 -2.05973818e+01] [-4.91397860e-03 -3.07247503e-05 9.99987926e-01 -1.68126618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.58, Y:-20.60, Z:-1.68 [[ 9.93700865e-01 1.11958457e-01 4.88816661e-03 2.90578586e+02] [-1.11957333e-01 9.93712887e-01 -5.03941311e-04 -2.06016100e+01] [-4.91385465e-03 -4.64991777e-05 9.99987926e-01 -1.68230678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.64, Y:-20.61, Z:-1.68 [[ 9.93428727e-01 1.14348025e-01 4.88817855e-03 2.90638367e+02] [-1.14346930e-01 9.93440751e-01 -5.03825443e-04 -2.06073674e+01] [-4.91372722e-03 -5.84335420e-05 9.99987926e-01 -1.68311343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.70, Y:-20.61, Z:-1.68 [[ 9.93389843e-01 1.14685336e-01 4.88819050e-03 2.90697899e+02] [-1.14684246e-01 9.93401867e-01 -5.03709477e-04 -2.06108614e+01] [-4.91370566e-03 -6.02185643e-05 9.99987926e-01 -1.68420992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.76, Y:-20.62, Z:-1.69 [[ 9.93479951e-01 1.13902116e-01 4.88820243e-03 2.90757206e+02] [-1.13901017e-01 9.93491975e-01 -5.03593680e-04 -2.06161647e+01] [-4.91375028e-03 -5.64610019e-05 9.99987926e-01 -1.68538556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.82, Y:-20.62, Z:-1.68 [[ 9.93751600e-01 1.11507232e-01 4.88821448e-03 2.90816705e+02] [-1.11506105e-01 9.93763621e-01 -5.03476686e-04 -2.06199487e+01] [-4.91387102e-03 -4.47349935e-05 9.99987926e-01 -1.68400614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.88, Y:-20.63, Z:-1.68 [[ 9.94008972e-01 1.09189141e-01 4.88822675e-03 2.90876405e+02] [-1.09187986e-01 9.94020991e-01 -5.03357512e-04 -2.06260406e+01] [-4.91396118e-03 -3.33937488e-05 9.99987926e-01 -1.68416888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.94, Y:-20.63, Z:-1.69 [[ 9.94288725e-01 1.06611617e-01 4.88823895e-03 2.90936185e+02] [-1.06610432e-01 9.94300741e-01 -5.03239077e-04 -2.06320889e+01] [-4.91403074e-03 -2.07723246e-05 9.99987926e-01 -1.68551275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58587156 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:-20.64, Z:-1.68 [[ 9.94381647e-01 1.05741410e-01 4.88825102e-03 2.90994505e+02] [-1.05740214e-01 9.94393661e-01 -5.03121801e-04 -2.06377051e+01] [-4.91404664e-03 -1.65896260e-05 9.99987926e-01 -1.68438772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.05, Y:-20.64, Z:-1.68 [[ 9.94511613e-01 1.04511991e-01 4.88826353e-03 2.91052547e+02] [-1.04510782e-01 9.94523626e-01 -5.03000153e-04 -2.06434672e+01] [-4.91406313e-03 -1.06367491e-05 9.99987926e-01 -1.68478525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.11, Y:-20.65, Z:-1.68 [[ 9.94622656e-01 1.03449876e-01 4.88828126e-03 2.91112099e+02] [-1.03448655e-01 9.94634668e-01 -5.02827849e-04 -2.06495463e+01] [-4.91407149e-03 -5.56214873e-06 9.99987926e-01 -1.68493269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.17, Y:-20.66, Z:-1.69 [[ 9.94661201e-01 1.03078614e-01 4.88829297e-03 2.91171478e+02] [-1.03077388e-01 9.94673212e-01 -5.02713937e-04 -2.06569552e+01] [-4.91407313e-03 -3.84242399e-06 9.99987926e-01 -1.68573646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.23, Y:-20.66, Z:-1.69 [[ 9.94650892e-01 1.03178036e-01 4.88830455e-03 2.91229799e+02] [-1.03176812e-01 9.94662904e-01 -5.02601336e-04 -2.06633409e+01] [-4.91407262e-03 -4.44681252e-06 9.99987926e-01 -1.68554666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.29, Y:-20.67, Z:-1.68 [[ 9.94610448e-01 1.03567177e-01 4.88832175e-03 2.91288243e+02] [-1.03565958e-01 9.94622461e-01 -5.02434043e-04 -2.06695075e+01] [-4.91407028e-03 -6.53757692e-06 9.99987926e-01 -1.68351754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.35, Y:-20.68, Z:-1.68 [[ 9.94633592e-01 1.03344670e-01 4.88833876e-03 2.91346985e+02] [-1.03343450e-01 9.94645605e-01 -5.02268438e-04 -2.06770077e+01] [-4.91407143e-03 -5.60473049e-06 9.99987926e-01 -1.68302542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.41, Y:-20.68, Z:-1.68 [[ 9.94744850e-01 1.02268218e-01 4.88834997e-03 2.91406072e+02] [-1.02266985e-01 9.94756861e-01 -5.02159286e-04 -2.06845041e+01] [-4.91407461e-03 -3.96451106e-07 9.99987926e-01 -1.68148648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.47, Y:-20.69, Z:-1.68 [[ 9.94877043e-01 1.00974124e-01 4.88836113e-03 2.91465204e+02] [-1.00972876e-01 9.94889052e-01 -5.02050689e-04 -2.06929139e+01] [-4.91407110e-03 5.88682440e-06 9.99987926e-01 -1.68096728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.53, Y:-20.70, Z:-1.68 [[ 9.95081834e-01 9.89355695e-02 4.88837294e-03 2.91525448e+02] [-9.89342975e-02 9.95093841e-01 -5.01935689e-04 -2.07017012e+01] [-4.91404909e-03 1.58393441e-05 9.99987926e-01 -1.68337098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18587155999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:291.58, Y:-20.71, Z:-1.69 [[ 9.95246170e-01 9.72685148e-02 4.88837294e-03 2.91584709e+02] [-9.72672227e-02 9.95258175e-01 -5.01935689e-04 -2.07112954e+01] [-4.91401567e-03 2.40711137e-05 9.99987926e-01 -1.68661287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:291.64, Y:-20.72, Z:-1.69 [[ 9.95323292e-01 9.64761570e-02 4.88836710e-03 2.91644556e+02] [-9.64748551e-02 9.95335295e-01 -5.01992553e-04 -2.07183888e+01] [-4.91399462e-03 2.80403731e-05 9.99987926e-01 -1.68867101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.71, Y:-20.73, Z:-1.68 [[ 9.95399870e-01 9.56828268e-02 4.88836710e-03 2.91705001e+02] [-9.56815153e-02 9.95411872e-01 -5.01992553e-04 -2.07290265e+01] [-4.91397071e-03 3.19569510e-05 9.99987926e-01 -1.68442733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36587155999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:291.77, Y:-20.74, Z:-1.68 [[ 9.95380380e-01 9.58853654e-02 4.88835528e-03 2.91765652e+02] [-9.58840558e-02 9.95392383e-01 -5.02107565e-04 -2.07381423e+01] [-4.91397638e-03 3.10726888e-05 9.99987926e-01 -1.68426161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.82, Y:-20.75, Z:-1.69 [[ 9.95271080e-01 9.70133040e-02 4.88834355e-03 2.91824885e+02] [-9.70120074e-02 9.95283084e-01 -5.02221788e-04 -2.07477041e+01] [-4.91400784e-03 2.56188008e-05 9.99987926e-01 -1.68732529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.89, Y:-20.75, Z:-1.69 [[ 9.94985136e-01 9.99033698e-02 4.88831415e-03 2.91885317e+02] [-9.99021067e-02 9.94997144e-01 -5.02507733e-04 -2.07546325e+01] [-4.91406084e-03 1.16348432e-05 9.99987926e-01 -1.68973231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.95, Y:-20.76, Z:-1.69 [[ 9.94838755e-01 1.01350659e-01 4.88831415e-03 2.91945305e+02] [-1.01349414e-01 9.94850765e-01 -5.02507733e-04 -2.07625044e+01] [-4.91407256e-03 4.48639390e-06 9.99987926e-01 -1.69190355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.01, Y:-20.77, Z:-1.69 [[ 9.94956917e-01 1.00184018e-01 4.88828523e-03 2.92005258e+02] [-1.00182757e-01 9.94968925e-01 -5.02788962e-04 -2.07704772e+01] [-4.91406332e-03 1.05314659e-05 9.99987926e-01 -1.69041494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.07, Y:-20.78, Z:-1.68 [[ 9.95313815e-01 9.65738851e-02 4.88827957e-03 2.92066853e+02] [-9.65725801e-02 9.95325818e-01 -5.02843905e-04 -2.07807522e+01] [-4.91399246e-03 2.84137145e-05 9.99987926e-01 -1.68422598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.13, Y:-20.79, Z:-1.68 [[ 9.95545666e-01 9.41537739e-02 4.88819521e-03 2.92128403e+02] [-9.41524357e-02 9.95557665e-01 -5.03662740e-04 -2.07931599e+01] [-4.91390195e-03 4.11837725e-05 9.99987926e-01 -1.68222405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:-20.80, Z:-1.68 [[ 9.95551863e-01 9.40882272e-02 4.88811168e-03 2.92189623e+02] [-9.40868843e-02 9.95563862e-01 -5.04472065e-04 -2.08025831e+01] [-4.91389222e-03 4.23209065e-05 9.99987926e-01 -1.68376837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.25, Y:-20.81, Z:-1.69 [[ 9.95427974e-01 9.53900221e-02 4.88802848e-03 2.92250259e+02] [-9.53886909e-02 9.95439974e-01 -5.05276893e-04 -2.08136176e+01] [-4.91393732e-03 3.67041158e-05 9.99987926e-01 -1.68657005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.31, Y:-20.83, Z:-1.69 [[ 9.95258674e-01 9.71405173e-02 4.88798130e-03 2.92310954e+02] [-9.71392050e-02 9.95270676e-01 -5.05732914e-04 -2.08257300e+01] [-4.91399161e-03 2.85204516e-05 9.99987926e-01 -1.68585391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.37, Y:-20.84, Z:-1.68 [[ 9.95119364e-01 9.85573944e-02 4.88790594e-03 2.92372450e+02] [-9.85560956e-02 9.95131368e-01 -5.06460232e-04 -2.08390530e+01] [-4.91402393e-03 2.22554585e-05 9.99987926e-01 -1.68110687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.43, Y:-20.85, Z:-1.68 [[ 9.94932499e-01 1.00426246e-01 4.88782511e-03 2.92434319e+02] [-1.00424966e-01 9.94944505e-01 -5.07239132e-04 -2.08485579e+01] [-4.91405486e-03 1.38090248e-05 9.99987926e-01 -1.68115581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.50, Y:-20.86, Z:-1.68 [[ 9.94430579e-01 1.05280262e-01 4.88773288e-03 2.92496178e+02] [-1.05279036e-01 9.94442591e-01 -5.08126297e-04 -2.08593539e+01] [-4.91406542e-03 -9.27947793e-06 9.99987926e-01 -1.68073890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.56, Y:-20.87, Z:-1.68 [[ 9.93953586e-01 1.09692202e-01 4.88764030e-03 2.92557630e+02] [-1.09691025e-01 9.93965603e-01 -5.09015269e-04 -2.08689003e+01] [-4.91398134e-03 -3.01927243e-05 9.99987926e-01 -1.68443042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.62, Y:-20.88, Z:-1.69 [[ 9.93463875e-01 1.14042276e-01 4.88755996e-03 2.92618696e+02] [-1.14041148e-01 9.93475896e-01 -5.09785530e-04 -2.08760259e+01] [-4.91381011e-03 -5.09294409e-05 9.99987926e-01 -1.68826817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.68, Y:-20.88, Z:-1.69 [[ 9.93157147e-01 1.16683306e-01 4.88751470e-03 2.92681799e+02] [-1.16682208e-01 9.93169171e-01 -5.10219099e-04 -2.08827904e+01] [-4.91366297e-03 -6.35582616e-05 9.99987926e-01 -1.68577061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32587156 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:292.74, Y:-20.89, Z:-1.69 [[ 9.92574445e-01 1.21540463e-01 4.88741433e-03 2.92743857e+02] [-1.21539419e-01 9.92586474e-01 -5.11178716e-04 -2.08858938e+01] [-4.91331026e-03 -8.66305691e-05 9.99987926e-01 -1.68596178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.81, Y:-20.89, Z:-1.69 [[ 9.92153314e-01 1.24931644e-01 4.88732089e-03 2.92805202e+02] [-1.24930636e-01 9.92165346e-01 -5.12070527e-04 -2.08891182e+01] [-4.91300424e-03 -1.02523638e-04 9.99987926e-01 -1.68890943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.87, Y:-20.89, Z:-1.69 [[ 9.92029915e-01 1.25907758e-01 4.88724169e-03 2.92866007e+02] [-1.25906759e-01 9.92041947e-01 -5.12825367e-04 -2.08921507e+01] [-4.91291745e-03 -1.06598655e-04 9.99987926e-01 -1.69252933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.93, Y:-20.89, Z:-1.69 [[ 9.92201528e-01 1.24548154e-01 4.88716409e-03 2.92927902e+02] [-1.24547135e-01 9.92213559e-01 -5.13563751e-04 -2.08910135e+01] [-4.91307390e-03 -9.91235470e-05 9.99987926e-01 -1.68668881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.99, Y:-20.89, Z:-1.69 [[ 9.92742048e-01 1.20163810e-01 4.88715169e-03 2.92989549e+02] [-1.20162737e-01 9.92754075e-01 -5.13681729e-04 -2.08911612e+01] [-4.91346571e-03 -7.73000728e-05 9.99987926e-01 -1.68735643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.05, Y:-20.89, Z:-1.69 [[ 9.93416446e-01 1.14454711e-01 4.88710389e-03 2.93051959e+02] [-1.14453567e-01 9.93428466e-01 -5.14136146e-04 -2.08922611e+01] [-4.91383342e-03 -4.85951676e-05 9.99987926e-01 -1.68609277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.11, Y:-20.89, Z:-1.69 [[ 9.93869544e-01 1.10451103e-01 4.88701786e-03 2.93112730e+02] [-1.10449906e-01 9.93881559e-01 -5.14952544e-04 -2.08943348e+01] [-4.91399401e-03 -2.79750126e-05 9.99987926e-01 -1.68610086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.17, Y:-20.89, Z:-1.69 [[ 9.94554402e-01 1.04104072e-01 4.88701177e-03 2.93174236e+02] [-1.04102798e-01 9.94566409e-01 -5.15010317e-04 -2.08938869e+01] [-4.91407242e-03 3.45417891e-06 9.99987926e-01 -1.68648529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.24, Y:-20.90, Z:-1.69 [[ 9.95297372e-01 9.67432568e-02 4.88699966e-03 2.93235463e+02] [-9.67418936e-02 9.95309369e-01 -5.15125218e-04 -2.08966678e+01] [-4.91391144e-03 3.99251745e-05 9.99987926e-01 -1.68746886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86587155999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:293.30, Y:-20.90, Z:-1.69 [[ 9.95967027e-01 8.95868161e-02 4.88698706e-03 2.93298122e+02] [-8.95853661e-02 9.95979014e-01 -5.15244709e-04 -2.08996182e+01] [-4.91349569e-03 7.53642154e-05 9.99987926e-01 -1.68939215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.36, Y:-20.91, Z:-1.69 [[ 9.96349372e-01 8.52293804e-02 4.88689980e-03 2.93358835e+02] [-8.52278739e-02 9.96361352e-01 -5.16071005e-04 -2.09066880e+01] [-4.91310251e-03 9.76869413e-05 9.99987926e-01 -1.68942648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98587155999996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:293.42, Y:-20.91, Z:-1.69 [[ 9.96370298e-01 8.49843963e-02 4.88685195e-03 2.93419812e+02] [-8.49828847e-02 9.96382277e-01 -5.16523803e-04 -2.09124794e+01] [-4.91306913e-03 9.93502002e-05 9.99987926e-01 -1.68691176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.48, Y:-20.92, Z:-1.69 [[ 9.96091584e-01 8.81911335e-02 4.88683936e-03 2.93480048e+02] [-8.81896599e-02 9.96103567e-01 -5.16642837e-04 -2.09180636e+01] [-4.91336144e-03 8.36548806e-05 9.99987926e-01 -1.68815124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.54, Y:-20.92, Z:-1.69 [[ 9.95777842e-01 9.16657383e-02 4.88683312e-03 2.93540548e+02] [-9.16643062e-02 9.95789831e-01 -5.16701833e-04 -2.09244005e+01] [-4.91362259e-03 6.65720685e-05 9.99987926e-01 -1.68976007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.60, Y:-20.93, Z:-1.69 [[ 9.95418493e-01 9.54889709e-02 4.88682110e-03 2.93600857e+02] [-9.54875843e-02 9.95430487e-01 -5.16815544e-04 -2.09303814e+01] [-4.91384089e-03 4.78170078e-05 9.99987926e-01 -1.68982150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:-20.94, Z:-1.69 [[ 9.94882146e-01 1.00923905e-01 4.88682110e-03 2.93659875e+02] [-1.00922584e-01 9.94894148e-01 -5.16815544e-04 -2.09359255e+01] [-4.91402875e-03 2.09799459e-05 9.99987926e-01 -1.69153807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:-20.94, Z:-1.69 [[ 9.94234689e-01 1.07114436e-01 4.88681416e-03 2.93720505e+02] [-1.07113189e-01 9.94246699e-01 -5.16881091e-04 -2.09395586e+01] [-4.91406428e-03 -9.54113848e-06 9.99987926e-01 -1.68918480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.78, Y:-20.94, Z:-1.69 [[ 9.93815709e-01 1.10934469e-01 4.88681416e-03 2.93780303e+02] [-1.10933269e-01 9.93827723e-01 -5.16881091e-04 -2.09435823e+01] [-4.91399132e-03 -2.84257207e-05 9.99987926e-01 -1.68949138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:-20.94, Z:-1.69 [[ 9.93350511e-01 1.15025565e-01 4.88682660e-03 2.93838867e+02] [-1.15024415e-01 9.93362530e-01 -5.16763519e-04 -2.09447725e+01] [-4.91383145e-03 -4.87770648e-05 9.99987926e-01 -1.69162964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.90, Y:-20.95, Z:-1.69 [[ 9.93301921e-01 1.15444410e-01 4.88684505e-03 2.93898173e+02] [-1.15443265e-01 9.93313941e-01 -5.16588975e-04 -2.09477168e+01] [-4.91380862e-03 -5.10245265e-05 9.99987926e-01 -1.69373050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.96, Y:-20.95, Z:-1.69 [[ 9.93559184e-01 1.13208951e-01 4.88685721e-03 2.93957947e+02] [-1.13207780e-01 9.93571201e-01 -5.16473867e-04 -2.09517067e+01] [-4.91391006e-03 -4.00829002e-05 9.99987926e-01 -1.69443296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.02, Y:-20.96, Z:-1.69 [[ 9.94185025e-01 1.07574417e-01 4.88686324e-03 2.94018252e+02] [-1.07573178e-01 9.94197035e-01 -5.16416862e-04 -2.09559490e+01] [-4.91405818e-03 -1.22814982e-05 9.99987926e-01 -1.69343235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.08, Y:-20.96, Z:-1.69 [[ 9.94831569e-01 1.01421236e-01 4.88686324e-03 2.94078486e+02] [-1.01419923e-01 9.94843572e-01 -5.16416862e-04 -2.09600528e+01] [-4.91404011e-03 1.81225043e-05 9.99987926e-01 -1.69185332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.14, Y:-20.97, Z:-1.69 [[ 9.95202663e-01 9.77127318e-02 4.88686324e-03 2.94137970e+02] [-9.77113740e-02 9.95214661e-01 -5.16416862e-04 -2.09670889e+01] [-4.91393844e-03 3.64373151e-05 9.99987926e-01 -1.69223161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.20, Y:-20.98, Z:-1.69 [[ 9.95698076e-01 9.25281561e-02 4.88687544e-03 2.94198111e+02] [-9.25267363e-02 9.95710066e-01 -5.16301346e-04 -2.09754626e+01] [-4.91368348e-03 6.19136217e-05 9.99987926e-01 -1.69421294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:-20.98, Z:-1.70 [[ 9.96081176e-01 8.83085976e-02 4.88686943e-03 2.94259279e+02] [-8.83071268e-02 9.96093161e-01 -5.16358228e-04 -2.09834506e+01] [-4.91337609e-03 8.27893124e-05 9.99987926e-01 -1.69527986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.32, Y:-21.00, Z:-1.69 [[ 9.96171056e-01 8.72888613e-02 4.88685727e-03 2.94318898e+02] [-8.72873776e-02 9.96183039e-01 -5.16473308e-04 -2.09957596e+01] [-4.91328669e-03 8.79348052e-05 9.99987926e-01 -1.69436706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.38, Y:-21.00, Z:-1.69 [[ 9.96034307e-01 8.88356835e-02 4.88683097e-03 2.94378295e+02] [-8.88342172e-02 9.96046292e-01 -5.16721999e-04 -2.10049212e+01] [-4.91341322e-03 8.05550340e-05 9.99987926e-01 -1.69347527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.44, Y:-21.01, Z:-1.69 [[ 9.95580657e-01 9.37831219e-02 4.88683097e-03 2.94437909e+02] [-9.37817152e-02 9.95592649e-01 -5.16721999e-04 -2.10137990e+01] [-4.91375280e-03 5.61430370e-05 9.99987926e-01 -1.69364515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:-21.02, Z:-1.70 [[ 9.95042741e-01 9.93280523e-02 4.88683097e-03 2.94496599e+02] [-9.93267124e-02 9.95054741e-01 -5.16721999e-04 -2.10235711e+01] [-4.91398932e-03 2.87676198e-05 9.99987926e-01 -1.69868798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:-21.03, Z:-1.70 [[ 9.94611522e-01 1.03556933e-01 4.88683715e-03 2.94557076e+02] [-1.03555645e-01 9.94623528e-01 -5.16663605e-04 -2.10311051e+01] [-4.91406730e-03 7.82000291e-06 9.99987926e-01 -1.69792760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.62, Y:-21.04, Z:-1.70 [[ 9.93935394e-01 1.09856961e-01 4.88683715e-03 2.94617092e+02] [-1.09855748e-01 9.93947407e-01 -5.16663605e-04 -2.10376884e+01] [-4.91401820e-03 -2.33169064e-05 9.99987926e-01 -1.69632881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:-21.04, Z:-1.70 [[ 9.93406837e-01 1.14538093e-01 4.88683715e-03 2.94675995e+02] [-1.14536938e-01 9.93418856e-01 -5.16663605e-04 -2.10446683e+01] [-4.91385383e-03 -4.64662028e-05 9.99987926e-01 -1.69514382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30587155999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:294.74, Y:-21.05, Z:-1.69 [[ 9.92965714e-01 1.18301352e-01 4.88683351e-03 2.94735056e+02] [-1.18300242e-01 9.92977737e-01 -5.16698003e-04 -2.10515760e+01] [-4.91364295e-03 -6.50501847e-05 9.99987926e-01 -1.69192269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.79, Y:-21.06, Z:-1.69 [[ 9.92675713e-01 1.20710591e-01 4.88684623e-03 2.94793303e+02] [-1.20709510e-01 9.92687739e-01 -5.16577700e-04 -2.10563785e+01] [-4.91346873e-03 -7.70946786e-05 9.99987926e-01 -1.69491945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:-21.06, Z:-1.69 [[ 9.92122422e-01 1.25176747e-01 4.88686509e-03 2.94852340e+02] [-1.25175721e-01 9.92134453e-01 -5.16399145e-04 -2.10612584e+01] [-4.91306839e-03 -9.93856914e-05 9.99987926e-01 -1.69455072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48587155999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:-21.07, Z:-1.70 [[ 9.91831328e-01 1.27462680e-01 4.88687716e-03 2.94911021e+02] [-1.27461683e-01 9.91843361e-01 -5.16284969e-04 -2.10664380e+01] [-4.91282373e-03 -1.10821980e-04 9.99987926e-01 -1.69609955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:-21.07, Z:-1.70 [[ 9.91469493e-01 1.30247314e-01 4.88689504e-03 2.94969972e+02] [-1.30246351e-01 9.91481529e-01 -5.16115659e-04 -2.10678522e+01] [-4.91248884e-03 -1.24787316e-04 9.99987926e-01 -1.69575507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.03, Y:-21.07, Z:-1.70 [[ 9.91377974e-01 1.30942086e-01 4.88691928e-03 2.95028673e+02] [-1.30941133e-01 9.91390011e-01 -5.15885991e-04 -2.10682616e+01] [-4.91239415e-03 -1.28460739e-04 9.99987926e-01 -1.69663062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:-21.07, Z:-1.70 [[ 9.91510421e-01 1.29935377e-01 4.88694378e-03 2.95086140e+02] [-1.29934413e-01 9.91522457e-01 -5.15653821e-04 -2.10700517e+01] [-4.91251618e-03 -1.23706035e-04 9.99987926e-01 -1.69709948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.15, Y:-21.07, Z:-1.70 [[ 9.91918333e-01 1.26783821e-01 4.88697414e-03 2.95145429e+02] [-1.26782820e-01 9.91930366e-01 -5.15365942e-04 -2.10700876e+01] [-4.91287811e-03 -1.08383438e-04 9.99987926e-01 -1.69767000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:-21.07, Z:-1.70 [[ 9.92401374e-01 1.22945638e-01 4.88699856e-03 2.95204368e+02] [-1.22944592e-01 9.92413403e-01 -5.15134270e-04 -2.10700474e+01] [-4.91325638e-03 -8.96100855e-05 9.99987926e-01 -1.69699766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.26, Y:-21.07, Z:-1.70 [[ 9.93050206e-01 1.17589986e-01 4.88702291e-03 2.95263549e+02] [-1.17588875e-01 9.93062229e-01 -5.14903160e-04 -2.10686870e+01] [-4.91366532e-03 -6.33348390e-05 9.99987926e-01 -1.69894892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.32, Y:-21.07, Z:-1.70 [[ 9.93502904e-01 1.13701783e-01 4.88704723e-03 2.95322902e+02] [-1.13700627e-01 9.93514923e-01 -5.14672242e-04 -2.10700532e+01] [-4.91387350e-03 -4.43319679e-05 9.99987926e-01 -1.70112001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.38, Y:-21.07, Z:-1.70 [[ 9.94226009e-01 1.07194961e-01 4.88707201e-03 2.95381473e+02] [-1.07193728e-01 9.94238020e-01 -5.14436795e-04 -2.10696015e+01] [-4.91405783e-03 -1.23970252e-05 9.99987926e-01 -1.70104992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.44, Y:-21.07, Z:-1.70 [[ 9.94417302e-01 1.05405629e-01 4.88710263e-03 2.95440736e+02] [-1.05404375e-01 9.94429310e-01 -5.14145785e-04 -2.10730426e+01] [-4.91407196e-03 -3.84653498e-06 9.99987926e-01 -1.70074970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.50, Y:-21.07, Z:-1.70 [[ 9.94862720e-01 1.01115207e-01 4.88712684e-03 2.95499869e+02] [-1.01113902e-01 9.94874723e-01 -5.13915502e-04 -2.10727155e+01] [-4.91404364e-03 1.71189066e-05 9.99987926e-01 -1.70234772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.56, Y:-21.07, Z:-1.70 [[ 9.95261567e-01 9.71109105e-02 4.88715117e-03 2.95559007e+02] [-9.71095588e-02 9.95273565e-01 -5.13684032e-04 -2.10734488e+01] [-4.91393670e-03 3.66608803e-05 9.99987926e-01 -1.70080912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.62, Y:-21.08, Z:-1.70 [[ 9.95498231e-01 9.46540435e-02 4.88717613e-03 2.95617418e+02] [-9.46526634e-02 9.95510226e-01 -5.13446477e-04 -2.10756205e+01] [-4.91383360e-03 4.85508226e-05 9.99987926e-01 -1.70490407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26587156 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.68, Y:-21.08, Z:-1.70 [[ 9.95755546e-01 9.19076054e-02 4.88720083e-03 2.95675819e+02] [-9.19061933e-02 9.95767537e-01 -5.13211323e-04 -2.10785232e+01] [-4.91368395e-03 6.18689978e-05 9.99987926e-01 -1.70314570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.73, Y:-21.08, Z:-1.70 [[ 9.95912716e-01 9.01885666e-02 4.88722478e-03 2.95734910e+02] [-9.01871349e-02 9.95924705e-01 -5.12983090e-04 -2.10837260e+01] [-4.91357311e-03 7.01215811e-05 9.99987926e-01 -1.70135740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.79, Y:-21.09, Z:-1.70 [[ 9.95908802e-01 9.02317721e-02 4.88724931e-03 2.95794070e+02] [-9.02303422e-02 9.95920791e-01 -5.12749273e-04 -2.10874994e+01] [-4.91357948e-03 6.96733365e-05 9.99987926e-01 -1.70117052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.85, Y:-21.09, Z:-1.70 [[ 9.95798669e-01 9.14391844e-02 4.88727368e-03 2.95852782e+02] [-9.14377701e-02 9.95810660e-01 -5.12516957e-04 -2.10920492e+01] [-4.91366336e-03 6.34822969e-05 9.99987926e-01 -1.70016265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.91, Y:-21.10, Z:-1.70 [[ 9.95420010e-01 9.54731289e-02 4.88729889e-03 2.95910427e+02] [-9.54717643e-02 9.95432007e-01 -5.12276408e-04 -2.10962537e+01] [-4.91388237e-03 4.33311391e-05 9.99987926e-01 -1.70224662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.97, Y:-21.10, Z:-1.70 [[ 9.94993568e-01 9.98194081e-02 4.88733011e-03 2.95968904e+02] [-9.98180974e-02 9.95005570e-01 -5.11978333e-04 -2.10997751e+01] [-4.91402606e-03 2.15711546e-05 9.99987926e-01 -1.70364983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62587155999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:296.03, Y:-21.10, Z:-1.70 [[ 9.94848971e-01 1.01250377e-01 4.88735388e-03 2.96027261e+02] [-1.01249084e-01 9.94860976e-01 -5.11751356e-04 -2.11033279e+01] [-4.91405267e-03 1.42752044e-05 9.99987926e-01 -1.70465120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68587155999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.09, Y:-21.11, Z:-1.70 [[ 9.94816136e-01 1.01572478e-01 4.88737825e-03 2.96086078e+02] [-1.01571191e-01 9.94828142e-01 -5.11518531e-04 -2.11057938e+01] [-4.91405763e-03 1.24500607e-05 9.99987926e-01 -1.70390722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74587155999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:296.14, Y:-21.11, Z:-1.70 [[ 9.94997651e-01 9.97786938e-02 4.88740240e-03 2.96144272e+02] [-9.97773861e-02 9.95009654e-01 -5.11287660e-04 -2.11111182e+01] [-4.91402819e-03 2.10777847e-05 9.99987926e-01 -1.70153254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80587155999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:296.20, Y:-21.12, Z:-1.70 [[ 9.95187516e-01 9.78668493e-02 4.88742627e-03 2.96203011e+02] [-9.78655196e-02 9.95199517e-01 -5.11059417e-04 -2.11152263e+01] [-4.91398004e-03 3.02894410e-05 9.99987926e-01 -1.70184193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.26, Y:-21.12, Z:-1.70 [[ 9.95570799e-01 9.38876819e-02 4.88745003e-03 2.96262116e+02] [-9.38863054e-02 9.95582795e-01 -5.10832109e-04 -2.11198005e+01] [-4.91382200e-03 4.97049058e-05 9.99987926e-01 -1.70239719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.32, Y:-21.13, Z:-1.70 [[ 9.96038660e-01 8.87868269e-02 4.88747379e-03 2.96320277e+02] [-8.87853900e-02 9.96050648e-01 -5.10604661e-04 -2.11272923e+01] [-4.91350640e-03 7.46457156e-05 9.99987926e-01 -1.70255761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98587155999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.38, Y:-21.13, Z:-1.70 [[ 9.96418435e-01 8.44180962e-02 4.88749770e-03 2.96377849e+02] [-8.44166079e-02 9.96430417e-01 -5.10375645e-04 -2.11349243e+01] [-4.91313631e-03 9.59617246e-05 9.99987926e-01 -1.70368917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.44, Y:-21.14, Z:-1.70 [[ 9.96562843e-01 8.26959017e-02 4.88752733e-03 2.96436127e+02] [-8.26943941e-02 9.96574823e-01 -5.10091744e-04 -2.11425829e+01] [-4.91296918e-03 1.04167367e-04 9.99987926e-01 -1.70327837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10587155999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.49, Y:-21.15, Z:-1.70 [[ 9.96573082e-01 8.25724226e-02 4.88755116e-03 2.96494210e+02] [-8.25709146e-02 9.96585061e-01 -5.09863291e-04 -2.11507125e+01] [-4.91296112e-03 1.04546462e-04 9.99987926e-01 -1.70163323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16587155999997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:-21.16, Z:-1.70 [[ 9.96436376e-01 8.42060616e-02 4.88757568e-03 2.96551864e+02] [-8.42045745e-02 9.96448358e-01 -5.09628170e-04 -2.11599661e+01] [-4.91313054e-03 9.62558164e-05 9.99987926e-01 -1.70281718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:-21.17, Z:-1.71 [[ 9.96247084e-01 8.64167738e-02 4.88760587e-03 2.96609033e+02] [-8.64153146e-02 9.96259070e-01 -5.09338448e-04 -2.11675010e+01] [-4.91333706e-03 8.50629447e-05 9.99987926e-01 -1.70582131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.67, Y:-21.18, Z:-1.71 [[ 9.96064774e-01 8.84933749e-02 4.88763542e-03 2.96666012e+02] [-8.84919421e-02 9.96076763e-01 -5.09054792e-04 -2.11758654e+01] [-4.91350804e-03 7.45351963e-05 9.99987926e-01 -1.70809257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34587156 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.72, Y:-21.18, Z:-1.71 [[ 9.95628144e-01 9.32775951e-02 4.88766582e-03 2.96724597e+02] [-9.32762213e-02 9.95640140e-01 -5.08762719e-04 -2.11818040e+01] [-4.91381244e-03 5.06354826e-05 9.99987926e-01 -1.70649057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.78, Y:-21.19, Z:-1.71 [[ 9.95274964e-01 9.69734805e-02 4.88769021e-03 2.96783435e+02] [-9.69721524e-02 9.95286965e-01 -5.08528238e-04 -2.11889800e+01] [-4.91396811e-03 3.21555834e-05 9.99987926e-01 -1.70627074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.84, Y:-21.20, Z:-1.71 [[ 9.94830103e-01 1.01435581e-01 4.88771474e-03 2.96840589e+02] [-1.01434308e-01 9.94842110e-01 -5.08292393e-04 -2.11961301e+01] [-4.91406338e-03 9.88261309e-06 9.99987926e-01 -1.70705207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52587156 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:296.90, Y:-21.20, Z:-1.70 [[ 9.94647124e-01 1.03214381e-01 4.88774504e-03 2.96898981e+02] [-1.03213131e-01 9.94659133e-01 -5.08000814e-04 -2.12024210e+01] [-4.91407324e-03 8.02077949e-07 9.99987926e-01 -1.70413843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.96, Y:-21.21, Z:-1.71 [[ 9.94807903e-01 1.01653070e-01 4.88777010e-03 2.96956675e+02] [-1.01651802e-01 9.94819910e-01 -5.07759632e-04 -2.12085744e+01] [-4.91406634e-03 8.27265523e-06 9.99987926e-01 -1.70830848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.01, Y:-21.22, Z:-1.71 [[ 9.94951778e-01 1.00235067e-01 4.88780481e-03 2.97014503e+02] [-1.00233784e-01 9.94963784e-01 -5.07425317e-04 -2.12153574e+01] [-4.91405058e-03 1.49405525e-05 9.99987926e-01 -1.70892185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.07, Y:-21.22, Z:-1.71 [[ 9.95203496e-01 9.77041989e-02 4.88783814e-03 2.97073086e+02] [-9.77028867e-02 9.95215499e-01 -5.07104061e-04 -2.12226192e+01] [-4.91399846e-03 2.71158390e-05 9.99987926e-01 -1.70818677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.13, Y:-21.23, Z:-1.71 [[ 9.95391233e-01 9.57726589e-02 4.88786199e-03 2.97131677e+02] [-9.57713245e-02 9.95403233e-01 -5.06874078e-04 -2.12290361e+01] [-4.91393830e-03 3.64209974e-05 9.99987926e-01 -1.70768484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.19, Y:-21.24, Z:-1.71 [[ 9.95563296e-01 9.39671891e-02 4.88788593e-03 2.97189937e+02] [-9.39658341e-02 9.95575294e-01 -5.06643056e-04 -2.12360333e+01] [-4.91386630e-03 4.51009523e-05 9.99987926e-01 -1.70834493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.25, Y:-21.24, Z:-1.71 [[ 9.95631759e-01 9.32389873e-02 4.88791047e-03 2.97247060e+02] [-9.32376246e-02 9.95643756e-01 -5.06406194e-04 -2.12422536e+01] [-4.91383434e-03 4.84569277e-05 9.99987926e-01 -1.70920218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94587156 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.30, Y:-21.25, Z:-1.71 [[ 9.95876200e-01 9.05908486e-02 4.88794491e-03 2.97303975e+02] [-9.05894557e-02 9.95888194e-01 -5.06073554e-04 -2.12499010e+01] [-4.91369226e-03 6.11903394e-05 9.99987926e-01 -1.71104185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.36, Y:-21.26, Z:-1.71 [[ 9.96139020e-01 8.76536424e-02 4.88797838e-03 2.97362462e+02] [-8.76522158e-02 9.96151009e-01 -5.05750038e-04 -2.12578895e+01] [-4.91349543e-03 7.53552108e-05 9.99987926e-01 -1.70868126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.42, Y:-21.26, Z:-1.71 [[ 9.96292650e-01 8.58898353e-02 4.88800276e-03 2.97421363e+02] [-8.58883885e-02 9.96304637e-01 -5.05514329e-04 -2.12646569e+01] [-4.91335836e-03 8.38175299e-05 9.99987926e-01 -1.70818444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12587155999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.48, Y:-21.27, Z:-1.71 [[ 9.96516244e-01 8.32555217e-02 4.88801512e-03 2.97480339e+02] [-8.32540439e-02 9.96528228e-01 -5.05394758e-04 -2.12742682e+01] [-4.91312195e-03 9.66870602e-05 9.99987926e-01 -1.70867366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18587155999995 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:297.54, Y:-21.28, Z:-1.71 [[ 9.96613092e-01 8.20880727e-02 4.88802739e-03 2.97538459e+02] [-8.20865814e-02 9.96625074e-01 -5.05276073e-04 -2.12846302e+01] [-4.91300780e-03 1.02323292e-04 9.99987926e-01 -1.70956257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24587155999996 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:297.60, Y:-21.29, Z:-1.71 [[ 9.96551945e-01 8.28270942e-02 4.88804570e-03 2.97597586e+02] [-8.28256127e-02 9.96563928e-01 -5.05098908e-04 -2.12945292e+01] [-4.91308590e-03 9.85019197e-05 9.99987926e-01 -1.70934604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30587155999996 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:-21.30, Z:-1.71 [[ 9.96518063e-01 8.32337457e-02 4.88805765e-03 2.97655491e+02] [-8.32322696e-02 9.96530047e-01 -5.04983260e-04 -2.13029678e+01] [-4.91312797e-03 9.63808081e-05 9.99987926e-01 -1.71028029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36587155999996 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:297.71, Y:-21.32, Z:-1.71 [[ 9.96423922e-01 8.43532729e-02 4.88807546e-03 2.97713834e+02] [-8.43518111e-02 9.96435907e-01 -5.04810808e-04 -2.13156144e+01] [-4.91323635e-03 9.06875474e-05 9.99987926e-01 -1.70911364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42587155999996 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:297.77, Y:-21.33, Z:-1.71 [[ 9.96167758e-01 8.73264299e-02 4.88808130e-03 2.97773253e+02] [-8.73250041e-02 9.96179747e-01 -5.04754189e-04 -2.13250376e+01] [-4.91348598e-03 7.59681282e-05 9.99987926e-01 -1.70734265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48587155999996 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:-21.34, Z:-1.71 [[ 9.95671746e-01 9.28109939e-02 4.88809349e-03 2.97830777e+02] [-9.28096348e-02 9.95683743e-01 -5.04636152e-04 -2.13363839e+01] [-4.91383101e-03 4.87897865e-05 9.99987926e-01 -1.70984733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54587155999997 meters Centerline goodness : 0.998453 with order 1 Centerline is valid? [True, True] Translation: X:297.89, Y:-21.34, Z:-1.71 [[ 9.95227978e-01 9.74544939e-02 4.88811155e-03 2.97889354e+02] [-9.74531916e-02 9.95239982e-01 -5.04461183e-04 -2.13434621e+01] [-4.91400606e-03 2.56918121e-05 9.99987926e-01 -1.71065497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60587155999997 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:297.95, Y:-21.35, Z:-1.71 [[ 9.94861905e-01 1.01123177e-01 4.88812484e-03 2.97948873e+02] [-1.01121920e-01 9.94873913e-01 -5.04332320e-04 -2.13504042e+01] [-4.91406758e-03 7.44444461e-06 9.99987926e-01 -1.70997653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66587155999997 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:-21.36, Z:-1.71 [[ 9.94448055e-01 1.05115039e-01 4.88813673e-03 2.98007784e+02] [-1.05113831e-01 9.94460069e-01 -5.04217078e-04 -2.13574751e+01] [-4.91405759e-03 -1.23930843e-05 9.99987926e-01 -1.70987949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72587156 meters Centerline goodness : 0.998389 with order 1 Centerline is valid? [True, True] Translation: X:298.07, Y:-21.37, Z:-1.71 [[ 9.94217875e-01 1.07270326e-01 4.88814899e-03 2.98065772e+02] [-1.07269144e-01 9.94229891e-01 -5.04098238e-04 -2.13651852e+01] [-4.91401862e-03 -2.31640780e-05 9.99987926e-01 -1.71162082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78587156 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:298.12, Y:-21.37, Z:-1.71 [[ 9.94013360e-01 1.09149191e-01 4.88816722e-03 2.98124831e+02] [-1.09148033e-01 9.94025378e-01 -5.03921333e-04 -2.13703475e+01] [-4.91396488e-03 -3.26292982e-05 9.99987926e-01 -1.71252792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84587156 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:-21.38, Z:-1.71 [[ 9.93887845e-01 1.10286250e-01 4.88817960e-03 2.98182822e+02] [-1.10285106e-01 9.93899865e-01 -5.03801231e-04 -2.13762877e+01] [-4.91392339e-03 -3.83714863e-05 9.99987926e-01 -1.71487652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90587156 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:-21.38, Z:-1.71 [[ 9.93917354e-01 1.10019993e-01 4.88819306e-03 2.98241118e+02] [-1.10018847e-01 9.93929374e-01 -5.03670594e-04 -2.13829349e+01] [-4.91393250e-03 -3.71864191e-05 9.99987926e-01 -1.71467107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96587156 meters Centerline goodness : 0.997953 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:-21.39, Z:-1.71 [[ 9.94112271e-01 1.08244618e-01 4.88821695e-03 2.98300169e+02] [-1.08243452e-01 9.94124289e-01 -5.03438654e-04 -2.13908052e+01] [-4.91398972e-03 -2.86429309e-05 9.99987926e-01 -1.71400856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02587156 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:298.36, Y:-21.40, Z:-1.71 [[ 9.94276279e-01 1.06727631e-01 4.88822898e-03 2.98359930e+02] [-1.06726446e-01 9.94288294e-01 -5.03321766e-04 -2.13966957e+01] [-4.91402720e-03 -2.12624137e-05 9.99987926e-01 -1.71270503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08587156 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:-21.40, Z:-1.71 [[ 9.94338724e-01 1.06144279e-01 4.88824116e-03 2.98419370e+02] [-1.06143088e-01 9.94350739e-01 -5.03203541e-04 -2.14034298e+01] [-4.91403838e-03 -1.84982455e-05 9.99987926e-01 -1.71149509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14587156 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:-21.41, Z:-1.71 [[ 9.94392629e-01 1.05638085e-01 4.88825349e-03 2.98477550e+02] [-1.05636889e-01 9.94404643e-01 -5.03083662e-04 -2.14111605e+01] [-4.91404677e-03 -1.61172041e-05 9.99987926e-01 -1.71371107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20587156 meters Centerline goodness : 0.998094 with order 1 Centerline is valid? [True, True] Translation: X:298.54, Y:-21.42, Z:-1.72 [[ 9.94359878e-01 1.05945916e-01 4.88827186e-03 2.98537364e+02] [-1.05944724e-01 9.94371893e-01 -5.02905108e-04 -2.14173318e+01] [-4.91404089e-03 -1.78179534e-05 9.99987926e-01 -1.71536571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26587156 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:298.60, Y:-21.42, Z:-1.72 [[ 9.94338874e-01 1.06142870e-01 4.88828353e-03 2.98596051e+02] [-1.06141680e-01 9.94350889e-01 -5.02791709e-04 -2.14240878e+01] [-4.91403683e-03 -1.89052867e-05 9.99987926e-01 -1.71863867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32587156 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:298.66, Y:-21.43, Z:-1.72 [[ 9.94250267e-01 1.06969676e-01 4.88830086e-03 2.98655258e+02] [-1.06968498e-01 9.94262283e-01 -5.02623094e-04 -2.14311264e+01] [-4.91401861e-03 -2.31610544e-05 9.99987926e-01 -1.71872457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38587156 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:298.72, Y:-21.44, Z:-1.72 [[ 9.94020483e-01 1.09084297e-01 4.88831263e-03 2.98715025e+02] [-1.09083145e-01 9.94032502e-01 -5.02508641e-04 -2.14366612e+01] [-4.91395743e-03 -3.37286323e-05 9.99987926e-01 -1.71578053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44587156 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:298.77, Y:-21.44, Z:-1.72 [[ 9.93863019e-01 1.10509745e-01 4.88832493e-03 2.98773250e+02] [-1.10508610e-01 9.93875040e-01 -5.02388942e-04 -2.14419527e+01] [-4.91390301e-03 -4.08962038e-05 9.99987926e-01 -1.71806947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50587155999995 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:298.83, Y:-21.45, Z:-1.72 [[ 9.93649345e-01 1.12414784e-01 4.88834324e-03 2.98830660e+02] [-1.12413673e-01 9.93661368e-01 -5.02210717e-04 -2.14456218e+01] [-4.91381374e-03 -5.04952695e-05 9.99987926e-01 -1.72016570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56587155999995 meters Centerline goodness : 0.998249 with order 1 Centerline is valid? [True, True] Translation: X:298.89, Y:-21.45, Z:-1.72 [[ 9.93574387e-01 1.13075383e-01 4.88837195e-03 2.98889399e+02] [-1.13074282e-01 9.93586410e-01 -5.01931080e-04 -2.14486764e+01] [-4.91377599e-03 -5.40432838e-05 9.99987926e-01 -1.71987619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62587155999995 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:298.95, Y:-21.45, Z:-1.72 [[ 9.93648551e-01 1.12421803e-01 4.88839572e-03 2.98946872e+02] [-1.12420695e-01 9.93660574e-01 -5.01699487e-04 -2.14530266e+01] [-4.91380806e-03 -5.10438748e-05 9.99987926e-01 -1.72060181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68587155999995 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:299.01, Y:-21.46, Z:-1.72 [[ 9.93852442e-01 1.10604825e-01 4.88842515e-03 2.99005881e+02] [-1.10603696e-01 9.93864463e-01 -5.01412556e-04 -2.14555617e+01] [-4.91389069e-03 -4.23477979e-05 9.99987926e-01 -1.71875983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74587155999996 meters Centerline goodness : 0.998155 with order 1 Centerline is valid? [True, True] Translation: X:299.06, Y:-21.46, Z:-1.72 [[ 9.94207892e-01 1.07362802e-01 4.88844940e-03 2.99064910e+02] [-1.07361635e-01 9.94219909e-01 -5.01176038e-04 -2.14585134e+01] [-4.91400138e-03 -2.65587504e-05 9.99987926e-01 -1.71849796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80587155999996 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:299.12, Y:-21.46, Z:-1.72 [[ 9.94336088e-01 1.06168959e-01 4.88846741e-03 2.99123063e+02] [-1.06167779e-01 9.94348104e-01 -5.01000367e-04 -2.14647205e+01] [-4.91402898e-03 -2.08349832e-05 9.99987926e-01 -1.72014073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86587155999996 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:299.18, Y:-21.47, Z:-1.72 [[ 9.94704141e-01 1.02663400e-01 4.88849125e-03 2.99182303e+02] [-1.02662179e-01 9.94716154e-01 -5.00767554e-04 -2.14678321e+01] [-4.91407172e-03 -3.74760352e-06 9.99987926e-01 -1.71859001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92587155999996 meters Centerline goodness : 0.998413 with order 1 Centerline is valid? [True, True] Translation: X:299.24, Y:-21.47, Z:-1.72 [[ 9.94848471e-01 1.01255237e-01 4.88850360e-03 2.99240386e+02] [-1.01253999e-01 9.94860481e-01 -5.00646984e-04 -2.14735462e+01] [-4.91407217e-03 3.08734661e-06 9.99987926e-01 -1.72066164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98587155999996 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:299.30, Y:-21.48, Z:-1.72 [[ 9.95154317e-01 9.82038108e-02 4.88852187e-03 2.99300327e+02] [-9.82025372e-02 9.95166323e-01 -5.00468534e-04 -2.14787918e+01] [-4.91404025e-03 1.79781712e-05 9.99987926e-01 -1.72138168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04587155999997 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:299.36, Y:-21.49, Z:-1.72 [[ 9.95302040e-01 9.66951493e-02 4.88852787e-03 2.99358411e+02] [-9.66938578e-02 9.95314045e-01 -5.00409900e-04 -2.14863809e+01] [-4.91400766e-03 2.53683750e-05 9.99987926e-01 -1.72408187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10587155999997 meters Centerline goodness : 0.998467 with order 1 Centerline is valid? [True, True] Translation: X:299.42, Y:-21.49, Z:-1.72 [[ 9.95297192e-01 9.67450332e-02 4.88853983e-03 2.99416993e+02] [-9.67437428e-02 9.95309197e-01 -5.00293064e-04 -2.14920794e+01] [-4.91400952e-03 2.50046419e-05 9.99987926e-01 -1.72420232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16587155999997 meters Centerline goodness : 0.998521 with order 1 Centerline is valid? [True, True] Translation: X:299.48, Y:-21.50, Z:-1.72 [[ 9.95142891e-01 9.83195204e-02 4.88855724e-03 2.99475365e+02] [-9.83182499e-02 9.95154898e-01 -5.00122842e-04 -2.14983968e+01] [-4.91404353e-03 1.70592984e-05 9.99987926e-01 -1.72265296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22587156 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:299.53, Y:-21.51, Z:-1.72 [[ 9.95068902e-01 9.90655423e-02 4.88858073e-03 2.99533219e+02] [-9.90642819e-02 9.95080910e-01 -4.99893175e-04 -2.15063290e+01] [-4.91405555e-03 1.31444129e-05 9.99987926e-01 -1.72344902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28587156 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:299.59, Y:-21.51, Z:-1.72 [[ 9.95054260e-01 9.92125102e-02 4.88860425e-03 2.99592983e+02] [-9.92112527e-02 9.95066268e-01 -4.99663014e-04 -2.15129565e+01] [-4.91405801e-03 1.21872581e-05 9.99987926e-01 -1.72489808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34587156 meters Centerline goodness : 0.998185 with order 1 Centerline is valid? [True, True] Translation: X:299.65, Y:-21.52, Z:-1.73 [[ 9.95083815e-01 9.89156294e-02 4.88861602e-03 2.99651297e+02] [-9.89143689e-02 9.95095824e-01 -4.99547841e-04 -2.15222776e+01] [-4.91405448e-03 1.35376025e-05 9.99987926e-01 -1.72725811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40587156 meters Centerline goodness : 0.998173 with order 1 Centerline is valid? [True, True] Translation: X:299.71, Y:-21.53, Z:-1.73 [[ 9.95069594e-01 9.90585882e-02 4.88862784e-03 2.99710444e+02] [-9.90573300e-02 9.95081603e-01 -4.99432188e-04 -2.15316185e+01] [-4.91405667e-03 1.27153641e-05 9.99987926e-01 -1.72663240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46587156 meters Centerline goodness : 0.998094 with order 1 Centerline is valid? [True, True] Translation: X:299.77, Y:-21.54, Z:-1.73 [[ 9.94987182e-01 9.98829754e-02 4.88863954e-03 2.99770018e+02] [-9.98817277e-02 9.94999192e-01 -4.99317657e-04 -2.15385278e+01] [-4.91406572e-03 8.52890548e-06 9.99987926e-01 -1.72526250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52587156 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:299.83, Y:-21.55, Z:-1.73 [[ 9.94676773e-01 1.02928219e-01 4.88865118e-03 2.99829303e+02] [-1.02927009e-01 9.94688786e-01 -4.99203605e-04 -2.15451314e+01] [-4.91406865e-03 -6.62801169e-06 9.99987926e-01 -1.72566088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58587156 meters Centerline goodness : 0.998148 with order 1 Centerline is valid? [True, True] Translation: X:299.89, Y:-21.55, Z:-1.73 [[ 9.94369967e-01 1.05851164e-01 4.88866324e-03 2.99887976e+02] [-1.05849989e-01 9.94381984e-01 -4.99085520e-04 -2.15515444e+01] [-4.91402744e-03 -2.11893000e-05 9.99987926e-01 -1.72828951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64587156 meters Centerline goodness : 0.998328 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:-21.56, Z:-1.73 [[ 9.94192300e-01 1.07507075e-01 4.88868124e-03 2.99947018e+02] [-1.07505921e-01 9.94204319e-01 -4.98909084e-04 -2.15575171e+01] [-4.91398426e-03 -2.95506105e-05 9.99987926e-01 -1.72894375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70587156 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:-21.57, Z:-1.73 [[ 9.94079710e-01 1.08543224e-01 4.88869351e-03 3.00004796e+02] [-1.08542083e-01 9.94091730e-01 -4.98788848e-04 -2.15651271e+01] [-4.91394994e-03 -3.47931037e-05 9.99987926e-01 -1.73207299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76587156 meters Centerline goodness : 0.998095 with order 1 Centerline is valid? [True, True] Translation: X:300.06, Y:-21.57, Z:-1.73 [[ 9.94150457e-01 1.07893323e-01 4.88871169e-03 3.00063663e+02] [-1.07892176e-01 9.94162477e-01 -4.98610609e-04 -2.15727134e+01] [-4.91397048e-03 -3.17597772e-05 9.99987926e-01 -1.73122454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82587156 meters Centerline goodness : 0.998005 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:-21.58, Z:-1.73 [[ 9.94426944e-01 1.05314545e-01 4.88872332e-03 3.00122651e+02] [-1.05313367e-01 9.94438961e-01 -4.98496555e-04 -2.15809982e+01] [-4.91403588e-03 -1.91295079e-05 9.99987926e-01 -1.72712940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88587156 meters Centerline goodness : 0.997953 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:-21.59, Z:-1.73 [[ 9.94550320e-01 1.04142984e-01 4.88873543e-03 3.00180335e+02] [-1.04141793e-01 9.94562335e-01 -4.98377811e-04 -2.15889962e+01] [-4.91405467e-03 -1.34598602e-05 9.99987926e-01 -1.72743812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94587156 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:-21.60, Z:-1.73 [[ 9.94581591e-01 1.03843918e-01 4.88875332e-03 3.00239454e+02] [-1.03842723e-01 9.94593606e-01 -4.98202179e-04 -2.15975314e+01] [-4.91405806e-03 -1.21587431e-05 9.99987926e-01 -1.72859973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00587155999995 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:-21.61, Z:-1.73 [[ 9.94404654e-01 1.05524800e-01 4.88876498e-03 3.00298324e+02] [-1.05523627e-01 9.94416671e-01 -4.98087826e-04 -2.16070799e+01] [-4.91403001e-03 -2.05793594e-05 9.99987926e-01 -1.72922150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06587155999995 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:-21.61, Z:-1.73 [[ 9.94103336e-01 1.08326627e-01 4.88877656e-03 3.00357994e+02] [-1.08325488e-01 9.94115356e-01 -4.97974074e-04 -2.16149095e+01] [-4.91395170e-03 -3.45414184e-05 9.99987926e-01 -1.72998205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12587155999995 meters Centerline goodness : 0.998039 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:-21.62, Z:-1.73 [[ 9.93905243e-01 1.10129327e-01 4.88878236e-03 3.00416983e+02] [-1.10128210e-01 9.93917265e-01 -4.97917123e-04 -2.16222506e+01] [-4.91388047e-03 -4.35104134e-05 9.99987926e-01 -1.72833198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18587155999995 meters Centerline goodness : 0.997939 with order 1 Centerline is valid? [True, True] Translation: X:300.48, Y:-21.63, Z:-1.73 [[ 9.93651127e-01 1.12399013e-01 4.88879479e-03 3.00476215e+02] [-1.12397924e-01 9.93663152e-01 -4.97795094e-04 -2.16295791e+01] [-4.91376691e-03 -5.48557303e-05 9.99987926e-01 -1.72874725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24587155999996 meters Centerline goodness : 0.998126 with order 1 Centerline is valid? [True, True] Translation: X:300.53, Y:-21.64, Z:-1.73 [[ 9.93469662e-01 1.13991800e-01 4.88880714e-03 3.00534086e+02] [-1.13990731e-01 9.93481689e-01 -4.97673804e-04 -2.16354137e+01] [-4.91367110e-03 -6.28548745e-05 9.99987926e-01 -1.73008749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30587155999996 meters Centerline goodness : 0.998305 with order 1 Centerline is valid? [True, True] Translation: X:300.59, Y:-21.64, Z:-1.73 [[ 9.93290681e-01 1.15540997e-01 4.88882013e-03 3.00593212e+02] [-1.15539947e-01 9.93302710e-01 -4.97546146e-04 -2.16415006e+01] [-4.91356526e-03 -7.06460705e-05 9.99987926e-01 -1.72905561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36587155999996 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:300.65, Y:-21.65, Z:-1.73 [[ 9.93270580e-01 1.15713673e-01 4.88883226e-03 3.00652849e+02] [-1.15712626e-01 9.93282609e-01 -4.97426881e-04 -2.16470508e+01] [-4.91355115e-03 -7.16201310e-05 9.99987926e-01 -1.72950429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42587155999996 meters Centerline goodness : 0.998186 with order 1 Centerline is valid? [True, True] Translation: X:300.71, Y:-21.65, Z:-1.73 [[ 9.93249935e-01 1.15890745e-01 4.88884444e-03 3.00711072e+02] [-1.15889701e-01 9.93261964e-01 -4.97307177e-04 -2.16521960e+01] [-4.91353653e-03 -7.26163984e-05 9.99987926e-01 -1.72893174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48587155999996 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:300.77, Y:-21.66, Z:-1.73 [[ 9.93281799e-01 1.15617333e-01 4.88886250e-03 3.00770487e+02] [-1.15616286e-01 9.93293827e-01 -4.97129604e-04 -2.16567850e+01] [-4.91355374e-03 -7.14423366e-05 9.99987926e-01 -1.72693748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54587155999997 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:300.83, Y:-21.66, Z:-1.73 [[ 9.93342089e-01 1.15098189e-01 4.88887478e-03 3.00829118e+02] [-1.15097136e-01 9.93354117e-01 -4.97008797e-04 -2.16599527e+01] [-4.91358870e-03 -6.89957308e-05 9.99987926e-01 -1.72715099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60587155999997 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:300.89, Y:-21.66, Z:-1.73 [[ 9.93352719e-01 1.15006406e-01 4.88888829e-03 3.00887595e+02] [-1.15005354e-01 9.93364748e-01 -4.96875885e-04 -2.16643239e+01] [-4.91359319e-03 -6.86753138e-05 9.99987926e-01 -1.72979805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66587155999997 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:300.95, Y:-21.67, Z:-1.73 [[ 9.93545809e-01 1.13326185e-01 4.88890628e-03 3.00946377e+02] [-1.13325112e-01 9.93557835e-01 -4.96698790e-04 -2.16674011e+01] [-4.91370012e-03 -6.05428519e-05 9.99987926e-01 -1.73042886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72587156 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:301.01, Y:-21.67, Z:-1.73 [[ 9.93657842e-01 1.12339623e-01 4.88892379e-03 3.01005499e+02] [-1.12338540e-01 9.93669868e-01 -4.96526367e-04 -2.16720270e+01] [-4.91375584e-03 -5.58372418e-05 9.99987926e-01 -1.72698024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78587156 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:301.06, Y:-21.67, Z:-1.73 [[ 9.93963203e-01 1.09604966e-01 4.88893598e-03 3.01063951e+02] [-1.09603850e-01 9.93975226e-01 -4.96406351e-04 -2.16747218e+01] [-4.91388984e-03 -4.24365565e-05 9.99987926e-01 -1.72830667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84587156 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:301.12, Y:-21.68, Z:-1.73 [[ 9.94135425e-01 1.08031735e-01 4.88895413e-03 3.01123291e+02] [-1.08030601e-01 9.94147445e-01 -4.96227439e-04 -2.16778610e+01] [-4.91394957e-03 -3.48393797e-05 9.99987926e-01 -1.72863592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90587156 meters Centerline goodness : 0.998445 with order 1 Centerline is valid? [True, True] Translation: X:301.18, Y:-21.68, Z:-1.73 [[ 9.94307652e-01 1.06434915e-01 4.88896598e-03 3.01182946e+02] [-1.06433762e-01 9.94319671e-01 -4.96110706e-04 -2.16820114e+01] [-4.91399855e-03 -2.70643727e-05 9.99987926e-01 -1.72910271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96587156 meters Centerline goodness : 0.998498 with order 1 Centerline is valid? [True, True] Translation: X:301.24, Y:-21.69, Z:-1.73 [[ 9.94656458e-01 1.03124333e-01 4.88897778e-03 3.01242234e+02] [-1.03123140e-01 9.94668473e-01 -4.95994438e-04 -2.16868230e+01] [-4.91406116e-03 -1.08226712e-05 9.99987926e-01 -1.72743278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02587156 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:301.30, Y:-21.69, Z:-1.73 [[ 9.95123673e-01 9.85138231e-02 4.88898956e-03 3.01301757e+02] [-9.85125758e-02 9.95135682e-01 -4.95878210e-04 -2.16921734e+01] [-4.91405883e-03 1.18331902e-05 9.99987926e-01 -1.72524625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08587156 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:301.36, Y:-21.70, Z:-1.73 [[ 9.95413593e-01 9.55399262e-02 4.88900179e-03 3.01360791e+02] [-9.55386436e-02 9.95425598e-01 -4.95757600e-04 -2.17001417e+01] [-4.91400218e-03 2.63952536e-05 9.99987926e-01 -1.72552489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14587156 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:301.42, Y:-21.71, Z:-1.73 [[ 9.95454981e-01 9.51077161e-02 4.88901385e-03 3.01419819e+02] [-9.51064289e-02 9.95466987e-01 -4.95638671e-04 -2.17064215e+01] [-4.91399095e-03 2.84093357e-05 9.99987926e-01 -1.72828510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20587156 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:301.48, Y:-21.71, Z:-1.72 [[ 9.95388948e-01 9.57963427e-02 4.88901981e-03 3.01479515e+02] [-9.57950641e-02 9.95400954e-01 -4.95579909e-04 -2.17128975e+01] [-4.91400973e-03 2.49507984e-05 9.99987926e-01 -1.72372542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26587156 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:301.54, Y:-21.72, Z:-1.73 [[ 9.95143712e-01 9.83111885e-02 4.88903182e-03 3.01538085e+02] [-9.83099408e-02 9.95155722e-01 -4.95461378e-04 -2.17202204e+01] [-4.91405739e-03 1.24148462e-05 9.99987926e-01 -1.72531517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32587156 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:301.60, Y:-21.73, Z:-1.73 [[ 9.95047649e-01 9.92787623e-02 4.88904962e-03 3.01597374e+02] [-9.92775271e-02 9.95059660e-01 -4.95285636e-04 -2.17279362e+01] [-4.91406740e-03 7.46005143e-06 9.99987926e-01 -1.72528577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38587156 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:-21.73, Z:-1.73 [[ 9.95067470e-01 9.90799015e-02 4.88906186e-03 3.01655975e+02] [-9.90786646e-02 9.95079481e-01 -4.95164824e-04 -2.17348166e+01] [-4.91406602e-03 8.32068894e-06 9.99987926e-01 -1.72968474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44587156 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:301.72, Y:-21.74, Z:-1.73 [[ 9.95114564e-01 9.86057920e-02 4.88906791e-03 3.01715376e+02] [-9.86045496e-02 9.95126574e-01 -4.95105057e-04 -2.17444695e+01] [-4.91406163e-03 1.06019128e-05 9.99987926e-01 -1.72518631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50587155999995 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:301.78, Y:-21.75, Z:-1.72 [[ 9.95182066e-01 9.79221783e-02 4.88907963e-03 3.01775700e+02] [-9.79209282e-02 9.95194075e-01 -4.94989272e-04 -2.17527816e+01] [-4.91405351e-03 1.38612297e-05 9.99987926e-01 -1.72180696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56587155999995 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:301.84, Y:-21.76, Z:-1.72 [[ 9.95097146e-01 9.87814111e-02 4.88907963e-03 3.01835447e+02] [-9.87801714e-02 9.95109156e-01 -4.94989272e-04 -2.17613529e+01] [-4.91406365e-03 9.61828710e-06 9.99987926e-01 -1.72067421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62587155999995 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:301.89, Y:-21.77, Z:-1.72 [[ 9.94763625e-01 1.02085394e-01 4.88907963e-03 3.01894469e+02] [-1.02084195e-01 9.94775639e-01 -4.94989272e-04 -2.17695500e+01] [-4.91406849e-03 -6.70043511e-06 9.99987926e-01 -1.71967286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68587155999995 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:301.95, Y:-21.78, Z:-1.72 [[ 9.94284403e-01 1.06651877e-01 4.88907526e-03 3.01953589e+02] [-1.06650732e-01 9.94296423e-01 -4.95032514e-04 -2.17766052e+01] [-4.91398618e-03 -2.92203489e-05 9.99987926e-01 -1.72155610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74587155999996 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:302.01, Y:-21.78, Z:-1.72 [[ 9.93622470e-01 1.12652048e-01 4.88908693e-03 3.02012011e+02] [-1.12650977e-01 9.93634496e-01 -4.94917219e-04 -2.17832619e+01] [-4.91371887e-03 -5.89995475e-05 9.99987926e-01 -1.72319988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80587155999996 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:302.07, Y:-21.79, Z:-1.72 [[ 9.93065103e-01 1.17464025e-01 4.88909967e-03 3.02071129e+02] [-1.17463012e-01 9.93077135e-01 -4.94791315e-04 -2.17884182e+01] [-4.91337327e-03 -8.29283836e-05 9.99987926e-01 -1.71992834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86587155999996 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:302.13, Y:-21.79, Z:-1.72 [[ 9.92437030e-01 1.22657404e-01 4.88911147e-03 3.02131057e+02] [-1.22656454e-01 9.92449066e-01 -4.94674660e-04 -2.17913883e+01] [-4.91286963e-03 -1.08747628e-04 9.99987926e-01 -1.71822292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92587155999996 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:302.19, Y:-21.79, Z:-1.72 [[ 9.92144805e-01 1.24999127e-01 4.88912348e-03 3.02189978e+02] [-1.24998207e-01 9.92156844e-01 -4.94555941e-04 -2.17942885e+01] [-4.91259639e-03 -1.20460559e-04 9.99987926e-01 -1.71772181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98587155999996 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:302.25, Y:-21.80, Z:-1.72 [[ 9.92063394e-01 1.25643620e-01 4.88914735e-03 3.02247661e+02] [-1.25642709e-01 9.92075433e-01 -4.94319825e-04 -2.17983092e+01] [-4.91251111e-03 -1.23889113e-04 9.99987926e-01 -1.71891263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04587155999997 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:302.31, Y:-21.80, Z:-1.72 [[ 9.91963607e-01 1.26429023e-01 4.88917674e-03 3.02306569e+02] [-1.26428123e-01 9.91975648e-01 -4.94028957e-04 -2.17977535e+01] [-4.91240387e-03 -1.28070691e-04 9.99987926e-01 -1.71731275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10587155999997 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:302.36, Y:-21.80, Z:-1.72 [[ 9.91912796e-01 1.26827053e-01 4.88920020e-03 3.02364225e+02] [-1.26826158e-01 9.91924837e-01 -4.93796679e-04 -2.17990478e+01] [-4.91234589e-03 -1.30275234e-04 9.99987926e-01 -1.71977004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16587155999997 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:302.42, Y:-21.80, Z:-1.72 [[ 9.92096293e-01 1.25383575e-01 4.88923129e-03 3.02423714e+02] [-1.25382665e-01 9.92108333e-01 -4.93488662e-04 -2.17978923e+01] [-4.91252248e-03 -1.23436576e-04 9.99987926e-01 -1.71801223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22587156 meters Centerline goodness : 0.998082 with order 1 Centerline is valid? [True, True] Translation: X:302.48, Y:-21.80, Z:-1.72 [[ 9.92448689e-01 1.22563023e-01 4.88925501e-03 3.02481894e+02] [-1.22562080e-01 9.92460726e-01 -4.93253543e-04 -2.17966777e+01] [-4.91284823e-03 -1.09708430e-04 9.99987926e-01 -1.71848835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28587156 meters Centerline goodness : 0.996960 with order 1 Centerline is valid? [True, True] Translation: X:302.54, Y:-21.80, Z:-1.72 [[ 9.92805050e-01 1.19642077e-01 4.88928720e-03 3.02540601e+02] [-1.19641100e-01 9.92817085e-01 -4.92934307e-04 -2.17969244e+01] [-4.91314355e-03 -9.55720302e-05 9.99987926e-01 -1.72037468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34587156 meters Centerline goodness : 0.995141 with order 1 Centerline is valid? [True, True] Translation: X:302.60, Y:-21.80, Z:-1.72 [[ 9.93486924e-01 1.13841232e-01 4.88930917e-03 3.02599366e+02] [-1.13840186e-01 9.93498953e-01 -4.92716283e-04 -2.17970946e+01] [-4.91361497e-03 -6.70926800e-05 9.99987926e-01 -1.71813329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40587156 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:302.66, Y:-21.80, Z:-1.72 [[ 9.94317313e-01 1.06344606e-01 4.88933284e-03 3.02657730e+02] [-1.06343470e-01 9.94329334e-01 -4.92481293e-04 -2.17976376e+01] [-4.91397979e-03 -3.02659428e-05 9.99987926e-01 -1.71964678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46587156 meters Centerline goodness : 0.989788 with order 1 Centerline is valid? [True, True] Translation: X:302.72, Y:-21.80, Z:-1.72 [[ 9.94792561e-01 1.01803019e-01 4.88936208e-03 3.02716925e+02] [-1.01801830e-01 9.94804576e-01 -4.92190840e-04 -2.18007464e+01] [-4.91406628e-03 -8.11821851e-06 9.99987926e-01 -1.71894988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52587156 meters Centerline goodness : 0.985856 with order 1 Centerline is valid? [True, True] Translation: X:302.78, Y:-21.81, Z:-1.74 [[ 9.95223149e-01 9.75037303e-02 4.88938514e-03 3.02776704e+02] [-9.75024900e-02 9.95235159e-01 -4.91961609e-04 -2.18056405e+01] [-4.91405609e-03 1.28843561e-05 9.99987926e-01 -1.73803291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58587156 meters Centerline goodness : 0.978306 with order 1 Centerline is valid? [True, True] Translation: X:302.84, Y:-21.81, Z:-1.73 [[ 9.95435239e-01 9.53141076e-02 4.88938625e-03 3.02835722e+02] [-9.53128410e-02 9.95447246e-01 -4.91950570e-04 -2.18064164e+01] [-4.91401591e-03 2.36836385e-05 9.99987926e-01 -1.72820431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64587156 meters Centerline goodness : 0.980881 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:-21.81, Z:-1.73 [[ 9.95303987e-01 9.66750584e-02 4.88939959e-03 3.02894329e+02] [-9.66738088e-02 9.95315996e-01 -4.91817943e-04 -2.18139723e+01] [-4.91404416e-03 1.68314777e-05 9.99987926e-01 -1.73431134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70587156 meters Centerline goodness : 0.976524 with order 1 Centerline is valid? [True, True] Translation: X:302.95, Y:-21.82, Z:-1.73 [[ 9.95161170e-01 9.81342955e-02 4.88941979e-03 3.02952782e+02] [-9.81330646e-02 9.95173181e-01 -4.91617131e-04 -2.18168651e+01] [-4.91406394e-03 9.42453141e-06 9.99987926e-01 -1.73478640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76587156 meters Centerline goodness : 0.969576 with order 1 Centerline is valid? [True, True] Translation: X:303.01, Y:-21.82, Z:-1.73 [[ 9.94953086e-01 1.00222007e-01 4.88943678e-03 3.03011957e+02] [-1.00220803e-01 9.94965100e-01 -4.91448051e-04 -2.18164039e+01] [-4.91407286e-03 -1.05552366e-06 9.99987926e-01 -1.72782234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82587156 meters Centerline goodness : 0.131350 with order 1 Centerline is valid? [True, False] Translation: X:303.01, Y:-21.81, Z:-1.73 [[ 9.95235164e-01 9.73581262e-02 5.32583834e-03 3.03009385e+02] [-9.73289479e-02 9.95237133e-01 -5.48853788e-03 -2.18089706e+01] [-5.83482585e-03 4.94402765e-03 9.99970755e-01 -1.72828318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88587156 meters Centerline goodness : 0.141740 with order 1 Centerline is valid? [False, False] Translation: X:303.05, Y:-21.81, Z:-1.73 [[ 9.95163964e-01 9.78783061e-02 8.27782075e-03 3.03048850e+02] [-9.78185375e-02 9.95177186e-01 -7.34175868e-03 -2.18064966e+01] [-8.95649727e-03 6.49652935e-03 9.99938786e-01 -1.73049813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94587156 meters Centerline goodness : 0.151901 with order 1 Centerline is valid? [False, False] Translation: X:303.05, Y:-21.80, Z:-1.73 [[ 9.95567471e-01 9.36683379e-02 8.46486414e-03 3.03047523e+02] [-9.35509711e-02 9.95525176e-01 -1.33356917e-02 -2.17987168e+01] [-9.67611743e-03 1.24846845e-02 9.99875245e-01 -1.73166484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00587155999995 meters Centerline goodness : 0.149626 with order 1 Centerline is valid? [False, False] Translation: X:303.11, Y:-21.80, Z:-1.73 [[ 9.96120667e-01 8.76568975e-02 7.73850141e-03 3.03109982e+02] [-8.75824533e-02 9.96112110e-01 -9.48572214e-03 -2.18029185e+01] [-8.53990394e-03 8.77116693e-03 9.99925066e-01 -1.72979518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06587155999995 meters Centerline goodness : 0.937063 with order 2 Centerline is valid? [False, False] Translation: X:303.11, Y:-21.80, Z:-1.73 [[ 9.96498786e-01 8.32688651e-02 7.51439980e-03 3.03110512e+02] [-8.31515116e-02 9.96427429e-01 -1.47717423e-02 -2.17986118e+01] [-8.71758030e-03 1.40951896e-02 9.99862655e-01 -1.73132081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12587155999995 meters Centerline goodness : 0.164124 with order 1 Centerline is valid? [False, False] Translation: X:303.14, Y:-21.81, Z:-1.74 [[ 9.96559235e-01 8.20314097e-02 1.18549384e-02 3.03136023e+02] [-8.19723749e-02 9.96620062e-01 -5.38353150e-03 -2.18066696e+01] [-1.22564881e-02 4.39323057e-03 9.99915235e-01 -1.73908700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18587155999995 meters Centerline goodness : 0.088228 with order 1 Centerline is valid? [False, False] Translation: X:303.14, Y:-21.80, Z:-1.74 [[ 9.96887884e-01 7.79843309e-02 1.15321821e-02 3.03136799e+02] [-7.78683249e-02 9.96911592e-01 -1.01883416e-02 -2.18032024e+01] [-1.22910970e-02 9.25864263e-03 9.99881596e-01 -1.73959040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24587155999996 meters Centerline goodness : 0.084231 with order 1 Centerline is valid? [False, False] Translation: X:303.16, Y:-21.81, Z:-1.75 [[ 9.96856712e-01 7.72651789e-02 1.75153613e-02 3.03163899e+02] [-7.72232940e-02 9.97009139e-01 -3.05620408e-03 -2.18148059e+01] [-1.76991135e-02 1.69400366e-03 9.99841923e-01 -1.74861120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30587155999996 meters Centerline goodness : 0.085256 with order 1 Centerline is valid? [False, False] Translation: X:303.16, Y:-21.81, Z:-1.75 [[ 9.97136969e-01 7.34976941e-02 1.77750815e-02 3.03163658e+02] [-7.33606549e-02 9.97271407e-01 -8.24343576e-03 -2.18109063e+01] [-1.83324541e-02 6.91584292e-03 9.99808028e-01 -1.75121235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36587155999996 meters Centerline goodness : 0.083401 with order 1 Centerline is valid? [False, False] Translation: X:303.25, Y:-21.79, Z:-1.75 [[ 9.97317199e-01 7.19049693e-02 1.37142376e-02 3.03247998e+02] [-7.11699859e-02 9.96302412e-01 -4.81283313e-02 -2.17889313e+01] [-1.71241942e-02 4.70231705e-02 9.98747007e-01 -1.74576896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42587155999996 meters Centerline goodness : 0.084076 with order 1 Centerline is valid? [False, False] Translation: X:303.25, Y:-21.79, Z:-1.75 [[ 9.96947639e-01 7.67576381e-02 1.42713176e-02 3.03248434e+02] [-7.60822341e-02 9.96173222e-01 -4.30163479e-02 -2.17941481e+01] [-1.75185377e-02 4.17992528e-02 9.98972434e-01 -1.74721702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48587155999996 meters Centerline goodness : 0.085469 with order 1 Centerline is valid? [False, False] Translation: X:303.27, Y:-21.80, Z:-1.75 [[ 9.96669244e-01 8.01407465e-02 1.50956848e-02 3.03271421e+02] [-7.96518339e-02 9.96352946e-01 -3.06005246e-02 -2.18009947e+01] [-1.74929789e-02 2.92962027e-02 9.99417695e-01 -1.74904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54587155999997 meters Centerline goodness : 0.087963 with order 1 Centerline is valid? [False, False] Translation: X:303.27, Y:-21.80, Z:-1.75 [[ 9.96633347e-01 8.05700516e-02 1.51801697e-02 3.03272660e+02] [-8.00721562e-02 9.96308079e-01 -3.09622563e-02 -2.17981823e+01] [-1.76187563e-02 2.96425083e-02 9.99405274e-01 -1.75006997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60587155999997 meters Centerline goodness : 0.089040 with order 1 Centerline is valid? [False, False] Translation: X:303.30, Y:-21.81, Z:-1.76 [[ 9.96450970e-01 8.12607592e-02 2.19579788e-02 3.03301898e+02] [-8.07546547e-02 9.96467921e-01 -2.30297057e-02 -2.18067677e+01] [-2.37518329e-02 2.11747636e-02 9.99493612e-01 -1.76088897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66587155999997 meters Centerline goodness : 0.091077 with order 1 Centerline is valid? [False, False] Translation: X:303.31, Y:-21.81, Z:-1.77 [[ 9.96637208e-01 7.90428879e-02 2.15985556e-02 3.03308777e+02] [-7.84887828e-02 9.96591350e-01 -2.54006340e-02 -2.18061988e+01] [-2.35326731e-02 2.36199726e-02 9.99444001e-01 -1.76729102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72587156 meters Centerline goodness : 0.089574 with order 1 Centerline is valid? [False, False] Translation: X:303.34, Y:-21.81, Z:-1.78 [[ 9.96868752e-01 7.46476440e-02 2.60848747e-02 3.03335163e+02] [-7.41341200e-02 9.97045099e-01 -2.01296703e-02 -2.18113149e+01] [-2.75104289e-02 1.81328601e-02 9.99457040e-01 -1.77534457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78587156 meters Centerline goodness : 0.068187 with order 1 Centerline is valid? [False, False] Translation: X:303.36, Y:-21.82, Z:-1.79 [[ 9.96958562e-01 7.07227207e-02 3.27402198e-02 3.03362864e+02] [-7.02462085e-02 9.97409500e-01 -1.54841499e-02 -2.18181903e+01] [-3.37504875e-02 1.31371795e-02 9.99343944e-01 -1.78671632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84587156 meters Centerline goodness : 0.811646 with order 1 Centerline is valid? [False, False] Translation: X:303.37, Y:-21.82, Z:-1.79 [[ 9.97078159e-01 6.89237779e-02 3.29341486e-02 3.03367956e+02] [-6.83945207e-02 9.97514583e-01 -1.69365470e-02 -2.18198822e+01] [-3.40196243e-02 1.46345458e-02 9.99314012e-01 -1.79192421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90587156 meters Centerline goodness : 0.803459 with order 3 Centerline is valid? [False, False] Translation: X:303.37, Y:-21.82, Z:-1.79 [[ 9.97338203e-01 6.50313883e-02 3.29761637e-02 3.03368594e+02] [-6.43476558e-02 9.97698294e-01 -2.13890806e-02 -2.18173288e+01] [-3.42912238e-02 1.92102084e-02 9.99227241e-01 -1.79274544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96587156 meters Centerline goodness : 0.785952 with order 2 Centerline is valid? [False, False] Translation: X:303.40, Y:-21.83, Z:-1.81 [[ 9.97279180e-01 6.19576554e-02 3.99435252e-02 3.03398062e+02] [-6.13463998e-02 9.97982574e-01 -1.63524140e-02 -2.18269290e+01] [-4.08760993e-02 1.38575306e-02 9.99068122e-01 -1.80568544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02587156 meters Centerline goodness : 0.777290 with order 3 Centerline is valid? [False, False] Translation: X:303.45, Y:-21.83, Z:-1.81 [[ 9.97564221e-01 6.05370429e-02 3.46538786e-02 3.03451587e+02] [-5.99921793e-02 9.98061580e-01 -1.65535611e-02 -2.18349744e+01] [-3.55888085e-02 1.44342786e-02 9.99262272e-01 -1.80633412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08587156 meters Centerline goodness : 0.766588 with order 3 Centerline is valid? [False, False] Translation: X:303.45, Y:-21.84, Z:-1.81 [[ 9.97502553e-01 6.12124283e-02 3.52376989e-02 3.03453174e+02] [-6.06906458e-02 9.98033262e-01 -1.56924355e-02 -2.18407720e+01] [-3.61289676e-02 1.35146458e-02 9.99255749e-01 -1.80916599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14587156 meters Centerline goodness : 0.760405 with order 3 Centerline is valid? [False, False] Translation: X:303.45, Y:-21.84, Z:-1.81 [[ 9.97462307e-01 6.17144166e-02 3.55003836e-02 3.03454336e+02] [-6.12036322e-02 9.98008024e-01 -1.53003080e-02 -2.18430509e+01] [-3.63739173e-02 1.30887280e-02 9.99252532e-01 -1.81038536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20587156 meters Centerline goodness : 0.468435 with order 2 Centerline is valid? [False, False] Translation: X:303.46, Y:-21.85, Z:-1.82 [[ 9.97287186e-01 6.43661971e-02 3.57108001e-02 3.03461119e+02] [-6.39236532e-02 9.97864824e-01 -1.33999712e-02 -2.18473929e+01] [-3.64970565e-02 1.10808547e-02 9.99272325e-01 -1.81677604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26587156 meters Centerline goodness : 0.742401 with order 2 Centerline is valid? [False, False] Translation: X:303.47, Y:-21.85, Z:-1.82 [[ 9.97153740e-01 6.65961632e-02 3.53464124e-02 3.03468053e+02] [-6.62118003e-02 9.97734188e-01 -1.19368418e-02 -2.18496851e+01] [-3.60612719e-02 9.56251682e-03 9.99303829e-01 -1.82170764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32587156 meters Centerline goodness : 0.478619 with order 2 Centerline is valid? [False, False] Translation: X:303.54, Y:-21.85, Z:-1.83 [[ 9.96638026e-01 7.30979873e-02 3.70044396e-02 3.03535417e+02] [-7.26325275e-02 9.97263679e-01 -1.37721003e-02 -2.18528959e+01] [-3.79098964e-02 1.10380729e-02 9.99220196e-01 -1.82572852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38587156 meters Centerline goodness : 0.488858 with order 2 Centerline is valid? [False, False] Translation: X:303.54, Y:-21.85, Z:-1.83 [[ 9.96593521e-01 7.36837459e-02 3.70413233e-02 3.03538188e+02] [-7.32148317e-02 9.97219852e-01 -1.38620108e-02 -2.18515767e+01] [-3.79597479e-02 1.11028159e-02 9.99217586e-01 -1.82751548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44587156 meters Centerline goodness : 0.490137 with order 2 Centerline is valid? [False, False] Translation: X:303.56, Y:-21.85, Z:-1.83 [[ 9.96323602e-01 7.89274974e-02 3.33126251e-02 3.03563694e+02] [-7.84808296e-02 9.96810000e-01 -1.45114923e-02 -2.18524729e+01] [-3.43517136e-02 1.18437398e-02 9.99339625e-01 -1.82822478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50587155999995 meters Centerline goodness : 0.498822 with order 2 Centerline is valid? [False, False] Translation: X:303.57, Y:-21.85, Z:-1.83 [[ 9.96303740e-01 7.92166402e-02 3.32202115e-02 3.03567691e+02] [-7.87662398e-02 9.96785368e-01 -1.46563938e-02 -2.18506755e+01] [-3.42744510e-02 1.19855888e-02 9.99340586e-01 -1.83045781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56587155999995 meters Centerline goodness : 0.507471 with order 2 Centerline is valid? [False, False] Translation: X:303.57, Y:-21.85, Z:-1.83 [[ 9.96292507e-01 7.92462870e-02 3.34853252e-02 3.03570037e+02] [-7.87902756e-02 9.96782425e-01 -1.47271952e-02 -2.18503852e+01] [-3.45446592e-02 1.20342762e-02 9.99330697e-01 -1.83218379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62587155999995 meters Centerline goodness : 0.505167 with order 2 Centerline is valid? [False, False] Translation: X:303.58, Y:-21.85, Z:-1.84 [[ 9.96518228e-01 7.63879033e-02 3.34112295e-02 3.03577201e+02] [-7.58222653e-02 9.96960975e-01 -1.78828831e-02 -2.18509987e+01] [-3.46757279e-02 1.52873038e-02 9.99281688e-01 -1.83816414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68587155999995 meters Centerline goodness : 0.501592 with order 2 Centerline is valid? [False, False] Translation: X:303.58, Y:-21.85, Z:-1.84 [[ 9.96659665e-01 7.47664786e-02 3.28555221e-02 3.03584811e+02] [-7.41790421e-02 9.97068651e-01 -1.87503534e-02 -2.18508352e+01] [-3.41611090e-02 1.62505298e-02 9.99284213e-01 -1.84255005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74587155999996 meters Centerline goodness : 0.489211 with order 2 Centerline is valid? [False, False] Translation: X:303.59, Y:-21.85, Z:-1.85 [[ 9.96786538e-01 7.32234295e-02 3.24796380e-02 3.03593134e+02] [-7.26138635e-02 9.97168157e-01 -1.95676633e-02 -2.18509244e+01] [-3.38204722e-02 1.71463114e-02 9.99280831e-01 -1.84843950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80587155999996 meters Centerline goodness : 0.475854 with order 2 Centerline is valid? [False, False] Translation: X:303.60, Y:-21.85, Z:-1.86 [[ 9.96824749e-01 7.27715597e-02 3.23221388e-02 3.03603421e+02] [-7.21552535e-02 9.97196007e-01 -1.98429428e-02 -2.18517390e+01] [-3.36755096e-02 1.74477244e-02 9.99280510e-01 -1.85658867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86587155999996 meters Centerline goodness : 0.473912 with order 2 Centerline is valid? [False, False] Translation: X:303.61, Y:-21.85, Z:-1.86 [[ 9.96839609e-01 7.26086400e-02 3.22300859e-02 3.03612896e+02] [-7.19875457e-02 9.97204359e-01 -2.00314522e-02 -2.18516480e+01] [-3.35944387e-02 1.76479802e-02 9.99279722e-01 -1.86454984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92587155999996 meters Centerline goodness : 0.438903 with order 2 Centerline is valid? [False, False] Translation: X:303.62, Y:-21.85, Z:-1.87 [[ 9.96905440e-01 7.18933270e-02 3.17945331e-02 3.03623570e+02] [-7.12692432e-02 9.97249584e-01 -2.03460810e-02 -2.18513980e+01] [-3.31698323e-02 1.80171466e-02 9.99287318e-01 -1.87242227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98587155999996 meters Centerline goodness : 0.470419 with order 2 Centerline is valid? [False, False] Translation: X:303.63, Y:-21.85, Z:-1.88 [[ 9.97007255e-01 7.06532554e-02 3.13791525e-02 3.03630752e+02] [-7.00154694e-02 9.97325253e-01 -2.09803269e-02 -2.18517448e+01] [-3.27775496e-02 1.87205120e-02 9.99287333e-01 -1.87655474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3529.13 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%| | 0/10334 [00:00