+ python -m lidar_slam --result /working/result.json --no-model /working/21c347ca-12e6-479f-b57a-69ae3df519c2 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/21c347ca-12e6-479f-b57a-69ae3df519c2 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 0.004203822 Adjusted end_distance from 9.223372036854776e+18 to 319.194203822 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004203822 meters SLAMing on 0.064203822 meters Centerline goodness : 0.283715 with order 3 Centerline is valid? [0, False] SLAMing on 0.12420382199999998 meters Centerline goodness : 0.605821 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999985e-01 -9.21455606e-05 -1.48417158e-04 1.00582787e-02] [ 9.21443368e-05 9.99999996e-01 -8.25236039e-06 -4.91268814e-04] [ 1.48417918e-04 8.23868446e-06 9.99999989e-01 -7.25343571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18420382199999996 meters Centerline goodness : 0.538684 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999944e-01 -1.59748748e-04 2.92859708e-04 1.15632399e-02] [ 1.59817679e-04 9.99999960e-01 -2.35363186e-04 4.44686572e-03] [-2.92822097e-04 2.35409977e-04 9.99999929e-01 -7.26629130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24420382199999996 meters Centerline goodness : 0.374863 with order 2 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999968e-01 2.23584881e-04 1.19194914e-04 1.68545708e-02] [-2.23527967e-04 9.99999861e-01 -4.77288511e-04 5.40369238e-03] [-1.19301612e-04 4.77261852e-04 9.99999879e-01 -8.90785448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30420382199999996 meters Centerline goodness : 0.328297 with order 2 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99999047e-01 1.22507441e-03 -6.36682243e-04 2.91561145e-02] [-1.22547892e-03 9.99999047e-01 -6.35335683e-04 1.44884005e-02] [ 6.35903303e-04 6.36115318e-04 9.99999595e-01 -1.53999880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36420382199999995 meters Centerline goodness : 0.291892 with order 2 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 9.99999343e-01 -3.66175344e-04 -1.08636328e-03 3.74173880e-02] [ 3.64717713e-04 9.99999033e-01 -1.34164782e-03 1.35321101e-02] [ 1.08685351e-03 1.34125072e-03 9.99998510e-01 -1.88263291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42420382199999995 meters Centerline goodness : 0.346168 with order 2 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99999612 -0.00240631 -0.00140672 0.04453557] [ 0.0024038 0.99999552 -0.00178458 0.00998667] [ 0.001411 0.00178119 0.99999742 -0.0223075 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48420382199999995 meters Centerline goodness : 0.276916 with order 2 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.02 [[ 0.99997766 -0.00371734 -0.00555548 0.07900442] [ 0.00373696 0.9999868 0.00352539 0.0119663 ] [ 0.0055423 -0.00354607 0.99997835 -0.02447233] [ 0. 0. 0. 1. ]] SLAMing on 0.544203822 meters Centerline goodness : 0.275469 with order 2 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.03 [[ 0.99997905 -0.00338363 -0.0055188 0.08353965] [ 0.00340374 0.99998759 0.0036386 0.00745628] [ 0.00550642 -0.0036573 0.99997815 -0.02557542] [ 0. 0. 0. 1. ]] SLAMing on 0.6042038219999999 meters Centerline goodness : 0.287829 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.03 [[ 0.99997757 -0.00238848 -0.00625812 0.09521203] [ 0.00241277 0.99998957 0.00387711 0.01218977] [ 0.0062488 -0.00389212 0.9999729 -0.0317622 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6642038219999999 meters Centerline goodness : 0.261089 with order 2 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.04 [[ 0.99997416 -0.00118848 -0.00709005 0.10769254] [ 0.00121681 0.99999129 0.00399263 0.01491461] [ 0.00708525 -0.00400115 0.99996689 -0.03773624] [ 0. 0. 0. 1. ]] SLAMing on 0.7242038219999999 meters Centerline goodness : 0.264186 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.04 [[ 0.99997189 -0.0013472 -0.00737588 0.11354342] [ 0.00137356 0.99999269 0.0035697 0.01471922] [ 0.00737102 -0.00357973 0.99996643 -0.04129124] [ 0. 0. 0. 1. ]] SLAMing on 0.7842038219999999 meters Centerline goodness : 0.263217 with order 2 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.04 [[ 0.9999696 0.00283302 -0.00726482 0.11731066] [-0.00277615 0.99996552 0.0078258 0.01601811] [ 0.00728674 -0.0078054 0.99994299 -0.04218521] [ 0. 0. 0. 1. ]] SLAMing on 0.8442038219999999 meters Centerline goodness : 0.247640 with order 2 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 9.99995896e-01 2.69086304e-03 -9.83612165e-04 1.63814838e-01] [-2.68422937e-03 9.99974056e-01 6.68441675e-03 1.66672899e-02] [ 1.00157350e-03 -6.68174908e-03 9.99977175e-01 -4.90672177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9042038219999999 meters Centerline goodness : 0.235904 with order 2 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.05 [[ 0.9999936 0.00320662 -0.0015891 0.175003 ] [-0.00319602 0.99997294 0.0066255 0.0154812 ] [ 0.0016103 -0.00662038 0.99997679 -0.05484596] [ 0. 0. 0. 1. ]] SLAMing on 0.9642038219999999 meters Centerline goodness : 0.142552 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.06 [[ 0.99997137 0.00745127 -0.00131561 0.17897368] [-0.00743702 0.99991691 0.01052952 0.01940717] [ 0.00139396 -0.01051943 0.9999437 -0.05561101] [ 0. 0. 0. 1. ]] SLAMing on 1.0242038219999998 meters Centerline goodness : 0.222496 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.06 [[ 0.99998241 0.00565653 -0.00178373 0.19129781] [-0.0056442 0.99996065 0.00684386 0.0226774 ] [ 0.00182238 -0.00683367 0.99997499 -0.06180092] [ 0. 0. 0. 1. ]] SLAMing on 1.0842038219999999 meters Centerline goodness : 0.145940 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:-0.06 [[ 0.99997284 0.00450407 -0.00583405 0.22360905] [-0.00443244 0.99991534 0.01223391 0.02337878] [ 0.00588865 -0.01220772 0.99990814 -0.06300072] [ 0. 0. 0. 1. ]] SLAMing on 1.144203822 meters Centerline goodness : 0.115313 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.02, Z:-0.06 [[ 9.99983306e-01 4.17398344e-04 -5.76310916e-03 2.28081777e-01] [-3.71849162e-04 9.99968707e-01 7.90238858e-03 2.37181670e-02] [ 5.76622726e-03 -7.90011365e-03 9.99952168e-01 -6.41706880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2042038219999998 meters Centerline goodness : 0.154187 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:-0.07 [[ 9.99979065e-01 -4.25526944e-05 -6.47057679e-03 2.40037195e-01] [ 9.32758856e-05 9.99969271e-01 7.83895281e-03 2.49787767e-02] [ 6.47004438e-03 -7.83939225e-03 9.99948340e-01 -7.05287660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2642038219999998 meters Centerline goodness : 0.157357 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:-0.07 [[ 9.99981081e-01 -1.45680550e-04 -6.14942844e-03 2.43427211e-01] [ 1.91841236e-04 9.99971807e-01 7.50657787e-03 2.76963982e-02] [ 6.14816150e-03 -7.50761557e-03 9.99952917e-01 -7.09468697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3242038219999999 meters Centerline goodness : 0.162435 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.07 [[ 9.99982466e-01 -2.21368389e-04 -5.91772430e-03 2.46359262e-01] [ 2.64940264e-04 9.99972856e-01 7.36317490e-03 2.87495582e-02] [ 5.91593370e-03 -7.36461363e-03 9.99955381e-01 -7.13109897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.384203822 meters Centerline goodness : 0.042413 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.07 [[ 9.99983178e-01 -4.92141599e-04 -5.77944740e-03 2.49823222e-01] [ 5.32502262e-04 9.99975470e-01 6.98402023e-03 3.21275711e-02] [ 5.77586850e-03 -6.98698031e-03 9.99958910e-01 -7.21873473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4442038219999997 meters Centerline goodness : 0.169496 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.10 [[ 0.99999015 -0.00288097 0.00337538 0.26968061] [ 0.00286373 0.99998289 0.00510105 0.03643243] [-0.00339001 -0.00509133 0.99998129 -0.09665176] [ 0. 0. 0. 1. ]] SLAMing on 1.5042038219999998 meters Centerline goodness : 0.115792 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.09 [[ 0.99998822 -0.0032653 -0.00359172 0.32067092] [ 0.00328058 0.99998556 0.00425535 0.04080248] [ 0.00357777 -0.00426708 0.9999845 -0.09364244] [ 0. 0. 0. 1. ]] SLAMing on 1.5642038219999999 meters Centerline goodness : 0.116678 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.09 [[ 0.99998725 -0.00363201 -0.00350874 0.32486637] [ 0.00364489 0.99998662 0.00366978 0.04577406] [ 0.00349536 -0.00368253 0.99998711 -0.0948932 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6242038219999997 meters Centerline goodness : 0.111621 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:-0.10 [[ 0.99998009 -0.00450028 -0.00442337 0.33841684] [ 0.00451493 0.99998434 0.00330713 0.04585476] [ 0.00440842 -0.00332704 0.99998475 -0.10158625] [ 0. 0. 0. 1. ]] SLAMing on 1.6842038219999997 meters Centerline goodness : 0.180825 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.10 [[ 0.99997493 -0.00543592 -0.00453669 0.34352009] [ 0.00545229 0.99997864 0.00360319 0.04177889] [ 0.004517 -0.00362783 0.99998322 -0.10262939] [ 0. 0. 0. 1. ]] SLAMing on 1.7442038219999998 meters Centerline goodness : 0.110798 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.10 [[ 0.99997413 -0.00557059 -0.00455007 0.34786349] [ 0.00558854 0.99997661 0.00394227 0.04061231] [ 0.004528 -0.0039676 0.99998188 -0.10336426] [ 0. 0. 0. 1. ]] SLAMing on 1.8042038219999998 meters Centerline goodness : 0.110437 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.11 [[ 9.99953192e-01 -7.95886658e-03 -5.50178186e-03 3.58518645e-01] [ 7.96342785e-03 9.99967965e-01 8.07643767e-04 3.55872803e-02] [ 5.49517768e-03 -8.51419006e-04 9.99984539e-01 -1.07941417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8642038219999997 meters Centerline goodness : 0.081734 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.11 [[ 0.99997797 -0.00330969 -0.0057531 0.36304811] [ 0.00334202 0.99997863 0.00561791 0.03194319] [ 0.00573439 -0.00563702 0.99996767 -0.10888185] [ 0. 0. 0. 1. ]] SLAMing on 1.9242038219999997 meters Centerline goodness : 0.091115 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.10 [[ 0.99995078 0.00405155 -0.00905635 0.38820123] [-0.00400952 0.99998113 0.0046553 0.03266096] [ 0.00907504 -0.00461876 0.99994815 -0.10477229] [ 0. 0. 0. 1. ]] SLAMing on 1.9842038219999998 meters Centerline goodness : 0.091758 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.11 [[ 0.99993214 0.00562292 -0.01020316 0.4011937 ] [-0.00557199 0.99997191 0.00501373 0.03223045] [ 0.01023107 -0.00495653 0.99993538 -0.11175774] [ 0. 0. 0. 1. ]] SLAMing on 2.0442038219999996 meters Centerline goodness : 0.108498 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.11 [[ 0.99989959 0.01003487 -0.01000589 0.40511005] [-0.00994005 0.99990565 0.00948099 0.03112375] [ 0.01010008 -0.00938058 0.99990499 -0.11153537] [ 0. 0. 0. 1. ]] SLAMing on 2.1042038219999997 meters Centerline goodness : 0.176515 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.11 [[ 0.9999289 0.00610326 -0.01024418 0.40890504] [-0.00604855 0.99996733 0.00536256 0.03037192] [ 0.01027657 -0.00530022 0.99993315 -0.11227253] [ 0. 0. 0. 1. ]] SLAMing on 2.1642038219999997 meters Centerline goodness : 0.109209 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.12 [[ 0.99992804 0.00292726 -0.0116341 0.42268083] [-0.00290959 0.99999459 0.00153474 0.03089154] [ 0.01163853 -0.00150078 0.99993114 -0.11968486] [ 0. 0. 0. 1. ]] SLAMing on 2.2242038219999998 meters Centerline goodness : 0.109407 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.13 [[ 0.99990665 0.00405966 -0.01304654 0.43609094] [-0.00403682 0.99999027 0.0017764 0.03422338] [ 0.01305362 -0.00172357 0.99991331 -0.1265443 ] [ 0. 0. 0. 1. ]] SLAMing on 2.284203822 meters Centerline goodness : 0.108598 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:-0.13 [[ 9.99980123e-01 3.57801638e-03 -5.19153396e-03 4.71318772e-01] [-3.57492461e-03 9.99993427e-01 6.04697833e-04 3.22795130e-02] [ 5.19366346e-03 -5.86126471e-04 9.99986341e-01 -1.28043638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344203822 meters Centerline goodness : 0.082047 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:-0.13 [[ 0.99998049 0.00362554 -0.00508686 0.47412952] [-0.00361996 0.99999284 0.00110588 0.02896176] [ 0.00509083 -0.00108744 0.99998645 -0.12788538] [ 0. 0. 0. 1. ]] SLAMing on 2.4042038219999995 meters Centerline goodness : 0.082109 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:-0.13 [[ 0.99997997 0.00363035 -0.0051847 0.47737485] [-0.00362335 0.99999251 0.00135751 0.02771468] [ 0.00518959 -0.0013387 0.99998564 -0.12770052] [ 0. 0. 0. 1. ]] SLAMing on 2.4642038219999995 meters Centerline goodness : 0.081537 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.13 [[ 0.99998114 0.00361686 -0.00496322 0.48090889] [-0.00360674 0.9999914 0.00204793 0.02136591] [ 0.00497058 -0.00202999 0.99998559 -0.12783593] [ 0. 0. 0. 1. ]] SLAMing on 2.5242038219999996 meters Centerline goodness : 0.081462 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.13 [[ 0.99997848 0.00366042 -0.00544353 0.48465867] [-0.0036493 0.99999124 0.00205063 0.02166275] [ 0.00545099 -0.00203072 0.99998308 -0.12848453] [ 0. 0. 0. 1. ]] SLAMing on 2.5842038219999997 meters Centerline goodness : 0.082828 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.13 [[ 0.99997603 0.00382148 -0.00577364 0.48775266] [-0.00380909 0.99999042 0.00215531 0.02108734] [ 0.00578182 -0.00213326 0.99998101 -0.1286411 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6442038219999997 meters Centerline goodness : 0.081653 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.13 [[ 0.99997436 0.00388668 -0.00601429 0.48910748] [-0.00387335 0.99999002 0.00222656 0.02059531] [ 0.00602289 -0.00220321 0.99997944 -0.12895638] [ 0. 0. 0. 1. ]] SLAMing on 2.7042038219999998 meters Centerline goodness : 0.146393 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.13 [[ 0.99996833 0.00429918 -0.00669703 0.4937614 ] [-0.0042865 0.999989 0.00190616 0.0236477 ] [ 0.00670515 -0.0018774 0.99997576 -0.13051755] [ 0. 0. 0. 1. ]] SLAMing on 2.764203822 meters Centerline goodness : 0.152115 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:-0.13 [[ 0.9999625 0.00466828 -0.00729381 0.49711264] [-0.00465724 0.99998799 0.00152956 0.02762655] [ 0.00730087 -0.00149554 0.99997223 -0.13053399] [ 0. 0. 0. 1. ]] SLAMing on 2.8242038219999994 meters Centerline goodness : 0.129925 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:-0.13 [[ 0.99996462 0.00441722 -0.00715818 0.49936542] [-0.00440586 0.99998901 0.00160273 0.02686076] [ 0.00716519 -0.00157113 0.9999731 -0.13018767] [ 0. 0. 0. 1. ]] SLAMing on 2.8842038219999995 meters Centerline goodness : 0.085141 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.13 [[ 0.9999665 0.00147265 -0.00805176 0.50768924] [-0.00148503 0.99999772 -0.00153212 0.02529797] [ 0.00804949 0.00154403 0.99996641 -0.13484848] [ 0. 0. 0. 1. ]] SLAMing on 2.9442038219999995 meters Centerline goodness : 0.115499 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.14 [[ 0.99996312 0.00133956 -0.00848295 0.51068738] [-0.00135608 0.99999719 -0.00194226 0.02815621] [ 0.00848032 0.0019537 0.99996213 -0.13592581] [ 0. 0. 0. 1. ]] SLAMing on 3.0042038219999996 meters Centerline goodness : 0.156017 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.14 [[ 0.99995902 0.00127759 -0.00896268 0.51365787] [-0.00129277 0.99999774 -0.00168755 0.02624206] [ 0.00896051 0.00169907 0.99995841 -0.13661728] [ 0. 0. 0. 1. ]] SLAMing on 3.0642038219999996 meters Centerline goodness : 0.116600 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.14 [[ 0.99995495 0.00138689 -0.00939054 0.51627234] [-0.00140501 0.99999716 -0.00192255 0.02800683] [ 0.00938785 0.00193566 0.99995406 -0.13654849] [ 0. 0. 0. 1. ]] SLAMing on 3.1242038219999997 meters Centerline goodness : 0.115861 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.14 [[ 0.99994859 0.00155593 -0.0100196 0.51918851] [-0.0015825 0.99999525 -0.00264453 0.03365616] [ 0.01001544 0.00266025 0.99994631 -0.13634163] [ 0. 0. 0. 1. ]] SLAMing on 3.1842038219999997 meters Centerline goodness : 0.110398 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.14 [[ 9.99942236e-01 9.58629919e-04 -1.07053880e-02 5.22336901e-01] [-9.84026713e-04 9.99996714e-01 -2.36732221e-03 2.97481814e-02] [ 1.07030834e-02 2.37771986e-03 9.99939893e-01 -1.36049640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2442038219999993 meters Centerline goodness : 0.106473 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.14 [[ 0.99993503 -0.00350333 -0.0108468 0.52440247] [ 0.00342854 0.99997028 -0.0069055 0.03147828] [ 0.01087067 0.00686786 0.99991733 -0.13609782] [ 0. 0. 0. 1. ]] SLAMing on 3.3042038219999994 meters Centerline goodness : 0.098338 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.14 [[ 0.99992356 -0.00414402 -0.01164867 0.52831027] [ 0.00407171 0.99997234 -0.0062249 0.02437873] [ 0.01167414 0.00617699 0.99991278 -0.13634791] [ 0. 0. 0. 1. ]] SLAMing on 3.3642038219999995 meters Centerline goodness : 0.099199 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.14 [[ 0.99991966 -0.00387288 -0.01206996 0.53067402] [ 0.00380524 0.99997696 -0.00562137 0.02104869] [ 0.01209145 0.00557499 0.99991135 -0.13689632] [ 0. 0. 0. 1. ]] SLAMing on 3.4242038219999995 meters Centerline goodness : 0.101421 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.14 [[ 9.99921746e-01 5.62779651e-04 -1.24974261e-02 5.32648807e-01] [-5.69522906e-04 9.99999694e-01 -5.36019073e-04 1.61201166e-02] [ 1.24971206e-02 5.43094698e-04 9.99921760e-01 -1.36675503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4842038219999996 meters Centerline goodness : 0.100937 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.02, Z:-0.14 [[ 0.99996182 0.00689098 -0.00537416 0.5517927 ] [-0.00691536 0.99996582 -0.0045309 0.01692419] [ 0.00534275 0.00456789 0.99997529 -0.1431912 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5442038219999996 meters Centerline goodness : 0.102705 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:0.01, Z:-0.14 [[ 0.99991427 0.00992565 -0.00854021 0.5728512 ] [-0.00987084 0.99993057 0.00643674 0.01481595] [ 0.0086035 -0.00635188 0.99994282 -0.13651134] [ 0. 0. 0. 1. ]] SLAMing on 3.6042038219999997 meters Centerline goodness : 0.104928 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:-0.14 [[ 0.99990627 0.01321759 -0.00357155 0.52596139] [-0.01317812 0.99985422 0.01085749 0.01220893] [ 0.00371454 -0.01080941 0.99993468 -0.13818615] [ 0. 0. 0. 1. ]] SLAMing on 3.6642038219999993 meters Centerline goodness : 0.102427 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.14 [[ 0.99990116 0.01342118 -0.00418945 0.52867256] [-0.01337733 0.9998572 0.01032566 0.01586744] [ 0.00432743 -0.0102686 0.99993791 -0.13876533] [ 0. 0. 0. 1. ]] SLAMing on 3.7242038219999993 meters Centerline goodness : 0.101975 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.14 [[ 0.99993539 0.01042112 -0.00453978 0.5304591 ] [-0.010395 0.9999295 0.00573943 0.02212421] [ 0.00459927 -0.00569187 0.99997322 -0.13986241] [ 0. 0. 0. 1. ]] SLAMing on 3.7842038219999994 meters Centerline goodness : 0.100646 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.03, Z:-0.14 [[ 9.99970803e-01 5.97270032e-03 -4.76646156e-03 5.31559169e-01] [-5.96967121e-03 9.99981970e-01 6.49480857e-04 2.66319726e-02] [ 4.77025478e-03 -6.21007686e-04 9.99988429e-01 -1.39193709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8442038219999994 meters Centerline goodness : 0.082581 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.03, Z:-0.14 [[ 9.99972600e-01 5.40632386e-03 -5.05671986e-03 5.32981626e-01] [-5.40498681e-03 9.99985354e-01 2.78040101e-04 2.75877562e-02] [ 5.05814897e-03 -2.50700978e-04 9.99987176e-01 -1.39390800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9042038219999995 meters Centerline goodness : 0.197681 with order 3 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:-0.14 [[ 0.9999968 0.00182888 -0.00174956 0.48471162] [-0.00183317 0.9999953 -0.00245596 0.02702161] [ 0.00174506 0.00245916 0.99999545 -0.13858815] [ 0. 0. 0. 1. ]] SLAMing on 3.9642038219999995 meters Centerline goodness : 0.094542 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:-0.14 [[ 9.99993308e-01 -7.41087986e-04 3.58252417e-03 5.00739338e-01] [ 7.17564636e-04 9.99978206e-01 6.56297066e-03 2.59697902e-02] [-3.58730983e-03 -6.56035605e-03 9.99972046e-01 -1.42234885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024203822 meters Centerline goodness : 0.711296 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:-0.14 [[ 9.99993470e-01 -9.41711287e-04 3.48905084e-03 5.01148707e-01] [ 9.20446284e-04 9.99981024e-01 6.09138261e-03 2.82843083e-02] [-3.49472096e-03 -6.08813135e-03 9.99975360e-01 -1.41549428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084203821999999 meters Centerline goodness : 0.206782 with order 3 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.14 [[ 9.99999134e-01 -5.08867870e-04 1.21389219e-03 5.48900966e-01] [ 5.04103653e-04 9.99992183e-01 3.92182724e-03 3.73433293e-02] [-1.21587839e-03 -3.92121192e-03 9.99991573e-01 -1.43543404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144203822 meters Centerline goodness : 0.887546 with order 3 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:-0.14 [[ 0.99999413 -0.00153757 0.00306244 0.50377739] [ 0.00153036 0.99999605 0.00235637 0.04288416] [-0.00306605 -0.00235167 0.99999253 -0.14492965] [ 0. 0. 0. 1. ]] SLAMing on 4.204203821999999 meters Centerline goodness : 0.887218 with order 3 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:-0.14 [[ 0.99999252 -0.00227701 0.00312556 0.50319468] [ 0.00227374 0.99999686 0.00104969 0.04837167] [-0.00312794 -0.00104258 0.99999456 -0.14348867] [ 0. 0. 0. 1. ]] SLAMing on 4.264203822 meters Centerline goodness : 0.958625 with order 1 Centerline is valid? [False, True] Translation: X:0.46, Y:0.06, Z:-0.14 [[ 0.99996498 -0.00710555 0.00442151 0.45795774] [ 0.00713557 0.99995134 -0.00681122 0.06355904] [-0.0043729 0.00684254 0.99996703 -0.14267554] [ 0. 0. 0. 1. ]] SLAMing on 4.324203821999999 meters Centerline goodness : 0.105178 with order 1 Centerline is valid? [True, False] Translation: X:0.41, Y:0.07, Z:-0.14 [[ 0.99994424 -0.00938032 0.00484989 0.41470697] [ 0.00942481 0.99991296 -0.00923325 0.06761881] [-0.00476286 0.00927844 0.99994561 -0.14395969] [ 0. 0. 0. 1. ]] SLAMing on 4.384203821999999 meters Centerline goodness : 0.099966 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.08, Z:-0.15 [[ 0.99992506 -0.01116106 0.00503106 0.37166872] [ 0.01122036 0.99986604 -0.01191628 0.07540218] [-0.00489738 0.01197183 0.99991634 -0.14502645] [ 0. 0. 0. 1. ]] SLAMing on 4.4442038219999995 meters Centerline goodness : 0.099390 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.08, Z:-0.14 [[ 0.99990004 -0.01406701 0.00142125 0.34986895] [ 0.01407243 0.99989347 -0.00387434 0.07523543] [-0.00136659 0.00389395 0.99999148 -0.14037313] [ 0. 0. 0. 1. ]] SLAMing on 4.504203821999999 meters Centerline goodness : 0.992503 with order 1 Centerline is valid? [False, True] Translation: X:0.32, Y:0.09, Z:-0.14 [[ 0.99987249 -0.01534976 0.00440292 0.31627245] [ 0.01543729 0.99966891 -0.0205854 0.08690046] [-0.00408549 0.02065075 0.9997784 -0.1413824 ] [ 0. 0. 0. 1. ]] SLAMing on 4.564203822 meters Centerline goodness : 0.995234 with order 1 Centerline is valid? [True, True] Translation: X:0.38, Y:0.08, Z:-0.16 [[ 9.99870327e-01 -1.56673360e-02 3.72351771e-03 3.76787013e-01] [ 1.56669891e-02 9.99877258e-01 1.22310024e-04 7.89794211e-02] [-3.72497695e-03 -6.39578523e-05 9.99993060e-01 -1.64148740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624203821999999 meters Centerline goodness : 0.996373 with order 1 Centerline is valid? [True, True] Translation: X:0.44, Y:0.09, Z:-0.16 [[ 9.99866735e-01 -1.58949242e-02 3.72351771e-03 4.37822529e-01] [ 1.58945789e-02 9.99873666e-01 1.22310024e-04 8.63707484e-02] [-3.72499141e-03 -6.31099783e-05 9.99993060e-01 -1.62907847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684203822 meters Centerline goodness : 0.997108 with order 1 Centerline is valid? [True, True] Translation: X:0.50, Y:0.09, Z:-0.18 [[ 9.99865112e-01 -1.59966849e-02 3.72352041e-03 4.98780229e-01] [ 1.59963406e-02 9.99872043e-01 1.22227673e-04 8.98430675e-02] [-3.72499920e-03 -6.26484855e-05 9.99993060e-01 -1.75009058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744203821999999 meters Centerline goodness : 0.995965 with order 1 Centerline is valid? [True, True] Translation: X:0.56, Y:0.10, Z:-0.14 [[ 9.99801658e-01 -1.95647769e-02 3.72352108e-03 5.58892168e-01] [ 1.95644575e-02 9.99808590e-01 1.22207423e-04 9.88915804e-02] [-3.72519932e-03 -4.93345142e-05 9.99993060e-01 -1.39335104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804203821999999 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:0.62, Y:0.10, Z:-0.15 [[ 9.99820594e-01 -1.85718706e-02 3.72352170e-03 6.18925057e-01] [ 1.85715443e-02 9.99827527e-01 1.22188418e-04 1.00351159e-01] [-3.72514876e-03 -5.30149480e-05 9.99993060e-01 -1.50286899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8642038219999995 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:0.68, Y:0.10, Z:-0.15 [[ 9.99888906e-01 -1.44329780e-02 3.72352338e-03 6.78739018e-01] [ 1.44326232e-02 9.99895837e-01 1.22137197e-04 1.04904081e-01] [-3.72489833e-03 -6.83834190e-05 9.99993060e-01 -1.50372965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924203821999999 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 9.99971563e-01 -6.55813052e-03 3.72352338e-03 7.40128667e-01] [ 6.55772116e-03 9.99978490e-01 1.22137197e-04 1.13282583e-01] [-3.72424428e-03 -9.77158961e-05 9.99993060e-01 -1.46682409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984203822 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:0.80, Y:0.11, Z:-0.15 [[ 9.99992955e-01 -4.74733252e-04 3.72352624e-03 8.01554754e-01] [ 4.74282080e-04 9.99999880e-01 1.22049881e-04 1.13627291e-01] [-3.72358374e-03 -1.20283020e-04 9.99993060e-01 -1.47860467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044203821999999 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:0.86, Y:0.12, Z:-0.15 [[ 9.99986687e-01 3.57219288e-03 3.72352912e-03 8.62962992e-01] [-3.57267175e-03 9.99993611e-01 1.21962202e-04 1.21130955e-01] [-3.72306965e-03 -1.35263526e-04 9.99993060e-01 -1.47504801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104203822 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:0.93, Y:0.12, Z:-0.14 [[ 9.99983843e-01 4.29527690e-03 3.72353338e-03 9.25086082e-01] [-4.29576029e-03 9.99990766e-01 1.21831876e-04 1.20454962e-01] [-3.72297569e-03 -1.37825315e-04 9.99993060e-01 -1.43675793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164203821999999 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:0.99, Y:0.12, Z:-0.15 [[ 9.99985394e-01 3.91742115e-03 3.72353906e-03 9.87171461e-01] [-3.91790128e-03 9.99992318e-01 1.21657950e-04 1.23253042e-01] [-3.72303387e-03 -1.36244632e-04 9.99993060e-01 -1.46141051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224203821999999 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:0.13, Z:-0.15 [[ 9.99986662e-01 3.57910663e-03 3.72355863e-03 1.04910727e+00] [-3.57958217e-03 9.99993586e-01 1.21055949e-04 1.30249817e-01] [-3.72310148e-03 -1.34383118e-04 9.99993060e-01 -1.45999179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284203821999999 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:0.13, Z:-0.14 [[ 9.99991150e-01 1.95824468e-03 3.72357815e-03 1.11077781e+00] [-1.95870676e-03 9.99998074e-01 1.20452700e-04 1.31952422e-01] [-3.72333510e-03 -1.27745032e-04 9.99993060e-01 -1.44259701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344203821999999 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:0.14, Z:-0.14 [[ 9.99992801e-01 -7.30134676e-04 3.72359604e-03 1.17238973e+00] [ 7.29693281e-04 9.99999727e-01 1.19897026e-04 1.38848154e-01] [-3.72368256e-03 -1.17179080e-04 9.99993060e-01 -1.44031289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4042038219999995 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:0.14, Z:-0.15 [[ 9.99987152e-01 -3.43950709e-03 3.72361527e-03 1.23397316e+00] [ 3.43908669e-03 9.99994079e-01 1.19296955e-04 1.43600728e-01] [-3.72400354e-03 -1.06489586e-04 9.99993060e-01 -1.47537196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464203821999999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:0.15, Z:-0.14 [[ 9.99971563e-01 -6.55806818e-03 3.72363434e-03 1.29466082e+00] [ 6.55767162e-03 9.99978491e-01 1.18698459e-04 1.47991957e-01] [-3.72433268e-03 -9.42767126e-05 9.99993060e-01 -1.44305345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:0.16, Z:-0.14 [[ 9.99982856e-01 -4.51900690e-03 3.72363706e-03 1.35584046e+00] [ 4.51859653e-03 9.99989784e-01 1.18613296e-04 1.57973643e-01] [-3.72413503e-03 -1.01785649e-04 9.99993060e-01 -1.43456163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:0.16, Z:-0.14 [[ 9.99991896e-01 -1.53023194e-03 3.72363976e-03 1.41649905e+00] [ 1.52980118e-03 9.99998823e-01 1.18528507e-04 1.59634768e-01] [-3.72381675e-03 -1.12831118e-04 9.99993060e-01 -1.44431009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644203821999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:0.18, Z:-0.14 [[ 9.99990073e-01 2.44717990e-03 3.72364377e-03 1.47778563e+00] [-2.44763773e-03 9.99996998e-01 1.18402230e-04 1.75093499e-01] [-3.72334284e-03 -1.27515185e-04 9.99993060e-01 -1.42792427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704203821999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1.54, Y:0.19, Z:-0.14 [[ 9.99980229e-01 5.06719793e-03 3.72364640e-03 1.53977564e+00] [-5.06767360e-03 9.99987152e-01 1.18319462e-04 1.86641746e-01] [-3.72299901e-03 -1.37187347e-04 9.99993060e-01 -1.41214370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.60, Y:0.20, Z:-0.14 [[ 9.99991316e-01 1.87147615e-03 3.72365164e-03 1.60136985e+00] [-1.87192908e-03 9.99998241e-01 1.18154378e-04 1.96549221e-01] [-3.72342397e-03 -1.25123764e-04 9.99993060e-01 -1.43261635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:0.21, Z:-0.14 [[ 9.99981703e-01 -4.76732723e-03 3.72366964e-03 1.66175968e+00] [ 4.76692240e-03 9.99988631e-01 1.17584217e-04 2.12577508e-01] [-3.72418787e-03 -9.98316211e-05 9.99993060e-01 -1.41902637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:0.21, Z:-0.15 [[ 9.99910765e-01 -1.28295370e-02 3.72368618e-03 1.72309621e+00] [ 1.28291900e-02 9.99917696e-01 1.17058264e-04 2.13913442e-01] [-3.72488150e-03 -6.92759410e-05 9.99993060e-01 -1.46914346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9442038219999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:0.22, Z:-0.14 [[ 9.99837093e-01 -1.76612932e-02 3.72370245e-03 1.78497545e+00] [ 1.76609816e-02 9.99844026e-01 1.16538153e-04 2.21618461e-01] [-3.72517987e-03 -5.07549273e-05 9.99993060e-01 -1.43802580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:0.23, Z:-0.15 [[ 9.99755740e-01 -2.17851997e-02 3.72370748e-03 1.84645556e+00] [ 2.17849173e-02 9.99762674e-01 1.16377279e-04 2.26895927e-01] [-3.72535905e-03 -3.52281933e-05 9.99993060e-01 -1.45037763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:0.23, Z:-0.15 [[ 9.99656089e-01 -2.59583786e-02 3.72371581e-03 1.90740594e+00] [ 2.59581262e-02 9.99663024e-01 1.16110066e-04 2.31666649e-01] [-3.72547504e-03 -1.94094494e-05 9.99993060e-01 -1.49239192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:0.23, Z:-0.14 [[ 9.99571760e-01 -2.90246575e-02 3.72371826e-03 1.96889891e+00] [ 2.90244266e-02 9.99578696e-01 1.16031436e-04 2.33800793e-01] [-3.72551722e-03 -7.90295874e-06 9.99993060e-01 -1.36675648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:0.23, Z:-0.14 [[ 9.99610973e-01 -2.76412214e-02 3.72372118e-03 2.03147401e+00] [ 2.76409813e-02 9.99617908e-01 1.15937922e-04 2.34439863e-01] [-3.72550304e-03 -1.29655115e-05 9.99993060e-01 -1.36395708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:0.24, Z:-0.15 [[ 9.99771623e-01 -2.10436766e-02 3.72372713e-03 2.09139628e+00] [ 2.10433914e-02 9.99778557e-01 1.15746213e-04 2.38050102e-01] [-3.72533827e-03 -3.73599316e-05 9.99993060e-01 -1.50563881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304203821999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:0.24, Z:-0.15 [[ 9.99875893e-01 -1.53079036e-02 3.72372861e-03 2.15231904e+00] [ 1.53075788e-02 9.99882825e-01 1.15698715e-04 2.43013794e-01] [-3.72506339e-03 -5.86830866e-05 9.99993060e-01 -1.53700279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3642038219999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:0.25, Z:-0.14 [[ 9.99938159e-01 -1.04791205e-02 3.72373105e-03 2.21385559e+00] [ 1.04787625e-02 9.99945090e-01 1.15620254e-04 2.47926386e-01] [-3.72473817e-03 -7.65930110e-05 9.99993060e-01 -1.44756105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:0.25, Z:-0.15 [[ 9.99958318e-01 -8.33642488e-03 3.72373519e-03 2.27614871e+00] [ 8.33605260e-03 9.99965248e-01 1.15486661e-04 2.52267732e-01] [-3.72456853e-03 -8.44405947e-05 9.99993060e-01 -1.45971469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:0.25, Z:-0.14 [[ 9.99950253e-01 -9.25341768e-03 3.72374079e-03 2.33774960e+00] [ 9.25305242e-03 9.99957183e-01 1.15305838e-04 2.52171772e-01] [-3.72464832e-03 -8.08441331e-05 9.99993060e-01 -1.39997729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:0.25, Z:-0.14 [[ 9.99890632e-01 -1.43128680e-02 3.72374804e-03 2.39953937e+00] [ 1.43125387e-02 9.99897564e-01 1.15071277e-04 2.54920853e-01] [-3.72501359e-03 -6.17624039e-05 9.99993060e-01 -1.37277134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:0.26, Z:-0.14 [[ 9.99819163e-01 -1.86487106e-02 3.72376794e-03 2.46079269e+00] [ 1.86484138e-02 9.99826097e-01 1.14423522e-04 2.56509557e-01] [-3.72525422e-03 -4.49604645e-05 9.99993060e-01 -1.38797163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:0.25, Z:-0.14 [[ 9.99822948e-01 -1.84446869e-02 3.72377216e-03 2.52226000e+00] [ 1.84443892e-02 9.99829881e-01 1.14285993e-04 2.50980715e-01] [-3.72524665e-03 -4.55830556e-05 9.99993060e-01 -1.41769773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:0.25, Z:-0.15 [[ 9.99882953e-01 -1.48396190e-02 3.72377490e-03 2.58295275e+00] [ 1.48392966e-02 9.99889885e-01 1.14196696e-04 2.50878506e-01] [-3.72505949e-03 -5.89251294e-05 9.99993060e-01 -1.46898945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:0.25, Z:-0.14 [[ 9.99962069e-01 -7.87361122e-03 3.72377626e-03 2.64434111e+00] [ 7.87324069e-03 9.99968999e-01 1.14152327e-04 2.52566044e-01] [-3.72455961e-03 -8.48298102e-05 9.99993060e-01 -1.44633816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:0.25, Z:-0.14 [[ 9.99988655e-01 -2.97048954e-03 3.72377899e-03 2.70590535e+00] [ 2.97008537e-03 9.99995583e-01 1.14063092e-04 2.49162546e-01] [-3.72410137e-03 -1.03001857e-04 9.99993060e-01 -1.38165367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:0.25, Z:-0.14 [[ 9.99992907e-01 -5.64323655e-04 3.72378181e-03 2.76761235e+00] [ 5.63903158e-04 9.99999835e-01 1.13971158e-04 2.53037503e-01] [-3.72384551e-03 -1.11870497e-04 9.99993060e-01 -1.36853739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:0.25, Z:-0.14 [[ 9.99992258e-01 -1.27140713e-03 3.72378750e-03 2.82893894e+00] [ 1.27099223e-03 9.99999186e-01 1.13784871e-04 2.50425563e-01] [-3.72392914e-03 -1.09051085e-04 9.99993060e-01 -1.44482966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:0.25, Z:-0.15 [[ 9.99992102e-01 -1.38915243e-03 3.72380559e-03 2.89079291e+00] [ 1.38874055e-03 9.99999029e-01 1.13189654e-04 2.52592026e-01] [-3.72395922e-03 -1.08017360e-04 9.99993060e-01 -1.45293667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:0.26, Z:-0.14 [[ 9.99992609e-01 -9.56800226e-04 3.72381094e-03 2.95173825e+00] [ 9.56386011e-04 9.99999536e-01 1.13013417e-04 2.57195793e-01] [-3.72391735e-03 -1.09451181e-04 9.99993060e-01 -1.41707330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:0.26, Z:-0.14 [[ 9.99991183e-01 -1.94096346e-03 3.72381810e-03 3.01355373e+00] [ 1.94055694e-03 9.99998111e-01 1.12776975e-04 2.61485865e-01] [-3.72402996e-03 -1.05549699e-04 9.99993060e-01 -1.39539655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:0.27, Z:-0.14 [[ 9.99969360e-01 -6.88563841e-03 3.72383740e-03 3.07450204e+00] [ 6.88526854e-03 9.99976290e-01 1.12136201e-04 2.66717213e-01] [-3.72452123e-03 -8.64931450e-05 9.99993060e-01 -1.44617981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:0.27, Z:-0.15 [[ 9.99932508e-01 -1.10050948e-02 3.72385508e-03 3.13678057e+00] [ 1.10047557e-02 9.99939440e-01 1.11545881e-04 2.71150385e-01] [-3.72485714e-03 -7.05582375e-05 9.99993060e-01 -1.45143204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3242038219999985 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:0.28, Z:-0.14 [[ 9.99861249e-01 -1.62362171e-02 3.72387397e-03 3.19830275e+00] [ 1.62359166e-02 9.99868183e-01 1.10911555e-04 2.76768103e-01] [-3.72518389e-03 -5.04356587e-05 9.99993060e-01 -1.41773551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:0.28, Z:-0.14 [[ 9.99777295e-01 -2.07723886e-02 3.72388201e-03 3.26033151e+00] [ 2.07721205e-02 9.99784230e-01 1.10641143e-04 2.81092113e-01] [-3.72537679e-03 -3.32635763e-05 9.99993060e-01 -1.42688901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:0.28, Z:-0.15 [[ 9.99735377e-01 -2.27004023e-02 3.72388762e-03 3.32205214e+00] [ 2.27001483e-02 9.99742312e-01 1.10451845e-04 2.80274718e-01] [-3.72543532e-03 -2.58898155e-05 9.99993060e-01 -1.48010831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:0.28, Z:-0.15 [[ 9.99732559e-01 -2.28241968e-02 3.72389315e-03 3.38265657e+00] [ 2.28239444e-02 9.99739494e-01 1.10265086e-04 2.84818309e-01] [-3.72543977e-03 -2.52416659e-05 9.99993060e-01 -1.45488732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:0.29, Z:-0.15 [[ 9.99746774e-01 -2.21927984e-02 3.72390254e-03 3.44444552e+00] [ 2.21925428e-02 9.99753709e-01 1.09947111e-04 2.85345080e-01] [-3.72542541e-03 -2.72764033e-05 9.99993060e-01 -1.45089398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:0.28, Z:-0.14 [[ 9.99789834e-01 -2.01598738e-02 3.72390802e-03 3.50551134e+00] [ 2.01596048e-02 9.99796768e-01 1.09761350e-04 2.81806271e-01] [-3.72536398e-03 -3.46657684e-05 9.99993060e-01 -1.44787647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:0.28, Z:-0.14 [[ 9.99863312e-01 -1.61086599e-02 3.72391208e-03 3.56640998e+00] [ 1.61083633e-02 9.99870246e-01 1.09623207e-04 2.83717444e-01] [-3.72519477e-03 -4.96220940e-05 9.99993060e-01 -1.43882100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7442038219999985 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:0.28, Z:-0.14 [[ 9.99899942e-01 -1.36469371e-02 3.72391481e-03 3.62744801e+00] [ 1.36466238e-02 9.99906874e-01 1.09530516e-04 2.83620938e-01] [-3.72506277e-03 -5.87006922e-05 9.99993060e-01 -1.44495653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:0.28, Z:-0.15 [[ 9.99958116e-01 -8.36057105e-03 3.72391885e-03 3.68899696e+00] [ 8.36022161e-03 9.99965047e-01 1.09392813e-04 2.79909830e-01] [-3.72470328e-03 -7.82554439e-05 9.99993060e-01 -1.46279367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:0.28, Z:-0.15 [[ 9.99974808e-01 -6.04283896e-03 3.72392155e-03 3.74988436e+00] [ 6.04247380e-03 9.99981738e-01 1.09300962e-04 2.84464156e-01] [-3.72451403e-03 -8.67965098e-05 9.99993060e-01 -1.45673650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924203821999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:0.28, Z:-0.15 [[ 9.99979149e-01 -5.27578965e-03 3.72392556e-03 3.81238971e+00] [ 5.27541968e-03 9.99986079e-01 1.09164160e-04 2.82412360e-01] [-3.72444965e-03 -8.95166134e-05 9.99993060e-01 -1.45505897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.87, Y:0.28, Z:-0.15 [[ 9.99961288e-01 -7.97214612e-03 3.72393092e-03 3.87411191e+00] [ 7.97179553e-03 9.99968219e-01 1.08980909e-04 2.80814864e-01] [-3.72468138e-03 -7.92902744e-05 9.99993060e-01 -1.47473422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:0.29, Z:-0.15 [[ 9.99965082e-01 -7.48105217e-03 3.72393753e-03 3.93608219e+00] [ 7.48069901e-03 9.99972013e-01 1.08754599e-04 2.87919936e-01] [-3.72464691e-03 -8.08931459e-05 9.99993060e-01 -1.47716937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:0.29, Z:-0.15 [[ 9.99989949e-01 -2.49669870e-03 3.72394270e-03 3.99788916e+00] [ 2.49631166e-03 9.99996878e-01 1.08577221e-04 2.91097151e-01] [-3.72420216e-03 -9.92800085e-05 9.99993060e-01 -1.49887796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.29, Z:-0.15 [[ 9.99993054e-01 1.53819963e-04 3.72394786e-03 4.05958409e+00] [-1.54224708e-04 9.99999982e-01 1.08400165e-04 2.94946366e-01] [-3.72393112e-03 -1.08973737e-04 9.99993060e-01 -1.53004067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.30, Z:-0.15 [[ 9.99991727e-01 -1.63631841e-03 3.72395168e-03 4.12163801e+00] [ 1.63592656e-03 9.99998656e-01 1.08268846e-04 3.04533387e-01] [-3.72412383e-03 -1.02175839e-04 9.99993060e-01 -1.49565147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:0.31, Z:-0.15 [[ 9.99974616e-01 -6.07443731e-03 3.72396944e-03 4.18360470e+00] [ 6.07407850e-03 9.99981547e-01 1.07654308e-04 3.07171620e-01] [-3.72455466e-03 -8.50318924e-05 9.99993060e-01 -1.50421733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:0.31, Z:-0.15 [[ 9.99953907e-01 -8.84961098e-03 3.72398747e-03 4.24555953e+00] [ 8.84927374e-03 9.99960839e-01 1.07027056e-04 3.08802231e-01] [-3.72478878e-03 -7.40675379e-05 9.99993060e-01 -1.51083610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:0.32, Z:-0.15 [[ 9.99927450e-01 -1.14553982e-02 3.72399260e-03 4.30617822e+00] [ 1.14550797e-02 9.99934383e-01 1.06848224e-04 3.15803360e-01] [-3.72497223e-03 -6.41818401e-05 9.99993060e-01 -1.50465073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:0.32, Z:-0.15 [[ 9.99943340e-01 -9.97242000e-03 3.72399641e-03 4.36811616e+00] [ 9.97209171e-03 9.99950272e-01 1.06715154e-04 3.23299321e-01] [-3.72487543e-03 -6.95730736e-05 9.99993060e-01 -1.47650458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:0.33, Z:-0.15 [[ 9.99962802e-01 -7.77984120e-03 3.72400172e-03 4.42887462e+00] [ 7.77949840e-03 9.99969734e-01 1.06529687e-04 3.26529374e-01] [-3.72471779e-03 -7.75548592e-05 9.99993060e-01 -1.50166082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:0.34, Z:-0.15 [[ 9.99950762e-01 -9.19813980e-03 3.72400565e-03 4.48974866e+00] [ 9.19780734e-03 9.99957694e-01 1.06392020e-04 3.38142635e-01] [-3.72482671e-03 -7.21340954e-05 9.99993060e-01 -1.51266183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:0.34, Z:-0.15 [[ 9.99882798e-01 -1.48500020e-02 3.72401355e-03 4.55168606e+00] [ 1.48497098e-02 9.99889731e-01 1.06114684e-04 3.42375413e-01] [-3.72517871e-03 -5.08017269e-05 9.99993060e-01 -1.49139015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:0.34, Z:-0.14 [[ 9.99782203e-01 -2.05347939e-02 3.72403121e-03 4.61387948e+00] [ 2.05345434e-02 9.99789138e-01 1.05491246e-04 3.43836966e-01] [-3.72541220e-03 -2.89969897e-05 9.99993060e-01 -1.44878074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:0.35, Z:-0.14 [[ 9.99738396e-01 -2.25670429e-02 3.72403626e-03 4.67595363e+00] [ 2.25668072e-02 9.99745332e-01 1.05312626e-04 3.46466441e-01] [-3.72546447e-03 -2.12454676e-05 9.99993060e-01 -1.43801171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:0.35, Z:-0.15 [[ 9.99744838e-01 -2.22797986e-02 3.72404129e-03 4.73820484e+00] [ 2.22795616e-02 9.99751774e-01 1.05134496e-04 3.51034613e-01] [-3.72545927e-03 -2.21376621e-05 9.99993060e-01 -1.45484904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:0.35, Z:-0.15 [[ 9.99760963e-01 -2.15441030e-02 3.72404627e-03 4.79916813e+00] [ 2.15438615e-02 9.99767899e-01 1.04957879e-04 3.50475932e-01] [-3.72544314e-03 -2.47024535e-05 9.99993060e-01 -1.49488227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:0.35, Z:-0.15 [[ 9.99762947e-01 -2.14518307e-02 3.72405445e-03 4.86141032e+00] [ 2.14515896e-02 9.99769883e-01 1.04666910e-04 3.51712584e-01] [-3.72544278e-03 -2.47552111e-05 9.99993060e-01 -1.50838140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:0.35, Z:-0.15 [[ 9.99770124e-01 -2.11147039e-02 3.72405932e-03 4.92297610e+00] [ 2.11144611e-02 9.99777059e-01 1.04493163e-04 3.53943468e-01] [-3.72543542e-03 -2.58376364e-05 9.99993060e-01 -1.54754051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.35, Z:-0.15 [[ 9.99802830e-01 -1.95046746e-02 3.72406413e-03 4.98543991e+00] [ 1.95044213e-02 9.99809765e-01 1.04321764e-04 3.52738784e-01] [-3.72539044e-03 -3.16654796e-05 9.99993060e-01 -1.52353123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.36, Z:-0.15 [[ 9.99806817e-01 -1.92992061e-02 3.72406917e-03 5.04785223e+00] [ 1.92989521e-02 9.99813752e-01 1.04141556e-04 3.55483590e-01] [-3.72538542e-03 -3.22508050e-05 9.99993060e-01 -1.51434519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.35, Z:-0.16 [[ 9.99833821e-01 -1.78455218e-02 3.72407422e-03 5.10886050e+00] [ 1.78452584e-02 9.99840755e-01 1.03960381e-04 3.54093281e-01] [-3.72533641e-03 -3.74860380e-05 9.99993060e-01 -1.55714174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.35, Z:-0.16 [[ 9.99868767e-01 -1.57663967e-02 3.72407797e-03 5.17019269e+00] [ 1.57661194e-02 9.99875702e-01 1.03825877e-04 3.51133782e-01] [-3.72525204e-03 -4.50979935e-05 9.99993060e-01 -1.58348360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.36, Z:-0.16 [[ 9.99873607e-01 -1.54564155e-02 3.72408166e-03 5.23188385e+00] [ 1.54561365e-02 9.99880541e-01 1.03693323e-04 3.55197987e-01] [-3.72523952e-03 -4.61203027e-05 9.99993060e-01 -1.55141703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364203821999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:0.35, Z:-0.16 [[ 9.99889401e-01 -1.43985149e-02 3.72408671e-03 5.29263260e+00] [ 1.43982292e-02 9.99896335e-01 1.03511771e-04 3.52852137e-01] [-3.72519107e-03 -4.98800691e-05 9.99993060e-01 -1.56254178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:0.35, Z:-0.15 [[ 9.99917592e-01 -1.22857917e-02 3.72408922e-03 5.35516101e+00] [ 1.22854918e-02 9.99924525e-01 1.03421419e-04 3.54384123e-01] [-3.72507876e-03 -5.76606288e-05 9.99993060e-01 -1.50763609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.42, Y:0.36, Z:-0.16 [[ 9.99913955e-01 -1.25783305e-02 3.72409426e-03 5.41574324e+00] [ 1.25780333e-02 9.99920888e-01 1.03239410e-04 3.59967304e-01] [-3.72509822e-03 -5.63887456e-05 9.99993060e-01 -1.56304226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.48, Y:0.36, Z:-0.16 [[ 9.99857048e-01 -1.64928865e-02 3.72409802e-03 5.47756916e+00] [ 1.64926168e-02 9.99863982e-01 1.03103657e-04 3.60726863e-01] [-3.72529196e-03 -4.16687964e-05 9.99993060e-01 -1.58855980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.54, Y:0.36, Z:-0.16 [[ 9.99812362e-01 -1.90097933e-02 3.72410296e-03 5.53877938e+00] [ 1.90095418e-02 9.99819297e-01 1.02924971e-04 3.64620883e-01] [-3.72538659e-03 -3.21121676e-05 9.99993060e-01 -1.56864902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.60, Y:0.37, Z:-0.15 [[ 9.99840392e-01 -1.74734803e-02 3.72410661e-03 5.60063882e+00] [ 1.74732186e-02 9.99847326e-01 1.02792657e-04 3.72895301e-01] [-3.72533419e-03 -3.77041212e-05 9.99993060e-01 -1.52591228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.66, Y:0.38, Z:-0.15 [[ 9.99865817e-01 -1.59523995e-02 3.72411142e-03 5.66296631e+00] [ 1.59521280e-02 9.99872751e-01 1.02618129e-04 3.79410650e-01] [-3.72527454e-03 -4.31968574e-05 9.99993060e-01 -1.53310412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.72, Y:0.39, Z:-0.16 [[ 9.99865901e-01 -1.59471525e-02 3.72411638e-03 5.72348786e+00] [ 1.59468815e-02 9.99872835e-01 1.02437854e-04 3.90179288e-01] [-3.72527640e-03 -4.30360742e-05 9.99993060e-01 -1.56547037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.79, Y:0.40, Z:-0.16 [[ 9.99810830e-01 -1.90901666e-02 3.72412006e-03 5.78530927e+00] [ 1.90899179e-02 9.99817766e-01 1.02303841e-04 3.95927710e-01] [-3.72539440e-03 -3.11913422e-05 9.99993060e-01 -1.56289319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.85, Y:0.40, Z:-0.15 [[ 9.99729812e-01 -2.29441661e-02 3.72412478e-03 5.84782878e+00] [ 2.29439448e-02 9.99736748e-01 1.02131742e-04 4.00638498e-01] [-3.72548773e-03 -1.66580337e-05 9.99993060e-01 -1.53322256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.91, Y:0.41, Z:-0.16 [[ 9.99577014e-01 -2.88430780e-02 3.72412963e-03 5.90881671e+00] [ 2.88428983e-02 9.99583952e-01 1.01954801e-04 4.13828579e-01] [-3.72552090e-03 5.50301632e-06 9.99993060e-01 -1.57393475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:0.42, Z:-0.16 [[ 9.99421604e-01 -3.38021954e-02 3.72413320e-03 5.97063585e+00] [ 3.38020506e-02 9.99428542e-01 1.01824096e-04 4.17887998e-01] [-3.72544689e-03 2.41181376e-05 9.99993060e-01 -1.57810224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:0.42, Z:-0.16 [[ 9.99296467e-01 -3.73189188e-02 3.72413767e-03 6.03305490e+00] [ 3.73187990e-02 9.99303406e-01 1.01660272e-04 4.20870994e-01] [-3.72533731e-03 3.73915953e-05 9.99993060e-01 -1.56551362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144203821999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:0.42, Z:-0.15 [[ 9.99179338e-01 -4.03333687e-02 3.72414209e-03 6.09543725e+00] [ 4.03332705e-02 9.99186277e-01 1.01498186e-04 4.21656081e-01] [-3.72520544e-03 4.87919402e-05 9.99993060e-01 -1.52783705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.16, Y:0.42, Z:-0.15 [[ 9.99218329e-01 -3.93555830e-02 3.72414675e-03 6.15717860e+00] [ 3.93554786e-02 9.99225268e-01 1.01326981e-04 4.24711823e-01] [-3.72524931e-03 4.53178016e-05 9.99993060e-01 -1.53328696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.22, Y:0.43, Z:-0.16 [[ 9.99369232e-01 -3.53167071e-02 3.72415151e-03 6.21906459e+00] [ 3.53165753e-02 9.99376170e-01 1.01151678e-04 4.27354948e-01] [-3.72540062e-03 3.04364023e-05 9.99993060e-01 -1.57695452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.28, Y:0.43, Z:-0.16 [[ 9.99588367e-01 -2.84469123e-02 3.72415623e-03 6.28168577e+00] [ 2.84467335e-02 9.99595305e-01 1.00977723e-04 4.27346773e-01] [-3.72552158e-03 5.00392216e-06 9.99993060e-01 -1.56513679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:0.43, Z:-0.16 [[ 9.99725494e-01 -2.31315292e-02 3.72416101e-03 6.34287708e+00] [ 2.31313142e-02 9.99732430e-01 1.00801102e-04 4.29723264e-01] [-3.72549622e-03 -1.46286925e-05 9.99993060e-01 -1.56952966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:0.43, Z:-0.15 [[ 9.99838209e-01 -1.75979274e-02 3.72416878e-03 6.40473841e+00] [ 1.75976751e-02 9.99845144e-01 1.00513020e-04 4.32676306e-01] [-3.72536089e-03 -3.49600457e-05 9.99993060e-01 -1.53057178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.47, Y:0.43, Z:-0.16 [[ 9.99878126e-01 -1.51612635e-02 3.72417369e-03 6.46564942e+00] [ 1.51609949e-02 9.99885060e-01 1.00330654e-04 4.30802810e-01] [-3.72526678e-03 -4.38562477e-05 9.99993060e-01 -1.55473932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:0.43, Z:-0.15 [[ 9.99841926e-01 -1.73854562e-02 3.72418167e-03 6.52757302e+00] [ 1.73852042e-02 9.99848861e-01 1.00033613e-04 4.29236099e-01] [-3.72535793e-03 -3.52721413e-05 9.99993060e-01 -1.51011384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.59, Y:0.43, Z:-0.15 [[ 9.99784993e-01 -2.03985081e-02 3.72418649e-03 6.58920950e+00] [ 2.03982777e-02 9.99791929e-01 9.98540495e-05 4.27171475e-01] [-3.72544846e-03 -2.38655899e-05 9.99993060e-01 -1.50247762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.65, Y:0.42, Z:-0.15 [[ 9.99751412e-01 -2.19828229e-02 3.72419005e-03 6.65098692e+00] [ 2.19826040e-02 9.99758348e-01 9.97211308e-05 4.24177502e-01] [-3.72548224e-03 -1.78289465e-05 9.99993060e-01 -1.51032635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.71, Y:0.42, Z:-0.15 [[ 9.99776006e-01 -2.08343148e-02 3.72419465e-03 6.71334016e+00] [ 2.08340886e-02 9.99782942e-01 9.95489113e-05 4.20939349e-01] [-3.72546032e-03 -2.19364118e-05 9.99993060e-01 -1.50686488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:0.42, Z:-0.15 [[ 9.99809960e-01 -1.91356732e-02 3.72419925e-03 6.77507135e+00] [ 1.91354358e-02 9.99816896e-01 9.93765043e-05 4.20932586e-01] [-3.72541897e-03 -2.80934433e-05 9.99993060e-01 -1.50710288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:0.42, Z:-0.15 [[ 9.99776176e-01 -2.08261360e-02 3.72420382e-03 6.83621088e+00] [ 2.08259109e-02 9.99783112e-01 9.92048907e-05 4.15893498e-01] [-3.72546214e-03 -2.16227492e-05 9.99993060e-01 -1.54154940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:0.42, Z:-0.16 [[ 9.99698909e-01 -2.42532732e-02 3.72420722e-03 6.89710499e+00] [ 2.42530724e-02 9.99705846e-01 9.90773398e-05 4.15052768e-01] [-3.72551468e-03 -8.72404128e-06 9.99993060e-01 -1.56690006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:0.41, Z:-0.16 [[ 9.99716514e-01 -2.35164060e-02 3.72421500e-03 6.95921585e+00] [ 2.35162012e-02 9.99723451e-01 9.87837444e-05 4.13619048e-01] [-3.72550811e-03 -1.11763513e-05 9.99993060e-01 -1.58048113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.02, Y:0.41, Z:-0.16 [[ 9.99792784e-01 -2.00129588e-02 3.72421965e-03 7.02103981e+00] [ 2.00127303e-02 9.99799720e-01 9.86084268e-05 4.10612105e-01] [-3.72544721e-03 -2.40561902e-05 9.99993060e-01 -1.55929788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:0.42, Z:-0.15 [[ 9.99846507e-01 -1.71199529e-02 3.72422313e-03 7.08276624e+00] [ 1.71197049e-02 9.99853442e-01 9.84765489e-05 4.15994141e-01] [-3.72536323e-03 -3.47038326e-05 9.99993060e-01 -1.53732507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.14, Y:0.42, Z:-0.15 [[ 9.99825913e-01 -1.82831682e-02 3.72422775e-03 7.14493584e+00] [ 1.82829288e-02 9.99832848e-01 9.83015457e-05 4.18549876e-01] [-3.72540251e-03 -3.01946417e-05 9.99993060e-01 -1.51481559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:0.41, Z:-0.15 [[ 9.99744234e-01 -2.23068661e-02 3.72423252e-03 7.20721426e+00] [ 2.23066554e-02 9.99751171e-01 9.81206474e-05 4.13839398e-01] [-3.72549458e-03 -1.50203801e-05 9.99993060e-01 -1.51234636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:0.42, Z:-0.15 [[ 9.99631763e-01 -2.68787577e-02 3.72423724e-03 7.26943363e+00] [ 2.68785793e-02 9.99638701e-01 9.79410307e-05 4.17315111e-01] [-3.72552421e-03 2.19724078e-06 9.99993060e-01 -1.54095100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:0.42, Z:-0.16 [[ 9.99585613e-01 -2.85435265e-02 3.72424197e-03 7.33163289e+00] [ 2.85433604e-02 9.99592551e-01 9.77609801e-05 4.16193509e-01] [-3.72551497e-03 8.58191150e-06 9.99993060e-01 -1.57103290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:0.42, Z:-0.16 [[ 9.99598138e-01 -2.81014743e-02 3.72424670e-03 7.39266542e+00] [ 2.81013058e-02 9.99605076e-01 9.75804676e-05 4.16599216e-01] [-3.72551806e-03 7.11494173e-06 9.99993060e-01 -1.56284984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:0.42, Z:-0.16 [[ 9.99681706e-01 -2.49522789e-02 3.72425020e-03 7.45462845e+00] [ 2.49520890e-02 9.99688643e-01 9.74466957e-05 4.17841238e-01] [-3.72552214e-03 -4.48785644e-06 9.99993060e-01 -1.58431781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:0.42, Z:-0.16 [[ 9.99722617e-01 -2.32555106e-02 3.72425490e-03 7.51575733e+00] [ 2.32553096e-02 9.99729554e-01 9.72665292e-05 4.19267619e-01] [-3.72550968e-03 -1.06308483e-05 9.99993060e-01 -1.55991077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:0.42, Z:-0.16 [[ 9.99729062e-01 -2.29767884e-02 3.72425839e-03 7.57640322e+00] [ 2.29765860e-02 9.99735999e-01 9.71328792e-05 4.23855917e-01] [-3.72550698e-03 -1.15358191e-05 9.99993060e-01 -1.57034790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:0.42, Z:-0.16 [[ 9.99732551e-01 -2.28244758e-02 3.72426178e-03 7.63792968e+00] [ 2.28242729e-02 9.99739488e-01 9.70027510e-05 4.24216267e-01] [-3.72550560e-03 -1.19732406e-05 9.99993060e-01 -1.61468469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.70, Y:0.43, Z:-0.16 [[ 9.99774855e-01 -2.08894471e-02 3.72426510e-03 7.70012128e+00] [ 2.08892311e-02 9.99781792e-01 9.68748635e-05 4.31506989e-01] [-3.72547610e-03 -1.90560181e-05 9.99993060e-01 -1.63439607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.76, Y:0.44, Z:-0.16 [[ 9.99803196e-01 -1.94858570e-02 3.72426941e-03 7.76178285e+00] [ 1.94856319e-02 9.99810132e-01 9.67090507e-05 4.39696444e-01] [-3.72544675e-03 -2.41202752e-05 9.99993060e-01 -1.63332309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.82, Y:0.45, Z:-0.16 [[ 9.99758119e-01 -2.16756489e-02 3.72427403e-03 7.82277292e+00] [ 2.16754397e-02 9.99765055e-01 9.65309091e-05 4.46498409e-01] [-3.72549140e-03 -1.57822830e-05 9.99993060e-01 -1.61859669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.88, Y:0.45, Z:-0.16 [[ 9.99649247e-01 -2.62204705e-02 3.72427747e-03 7.88454288e+00] [ 2.62202934e-02 9.99656184e-01 9.63980710e-05 4.52801150e-01] [-3.72552460e-03 1.28738873e-06 9.99993060e-01 -1.56994039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:0.46, Z:-0.15 [[ 9.99494750e-01 -3.15654061e-02 3.72428212e-03 7.94572311e+00] [ 3.15652667e-02 9.99501688e-01 9.62178520e-05 4.55107774e-01] [-3.72546342e-03 2.13887207e-05 9.99993060e-01 -1.53785043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.01, Y:0.46, Z:-0.15 [[ 9.99435141e-01 -3.33995375e-02 3.72428555e-03 8.00643362e+00] [ 3.33994113e-02 9.99442079e-01 9.60850041e-05 4.57994390e-01] [-3.72541689e-03 2.83582152e-05 9.99993060e-01 -1.54654737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.07, Y:0.46, Z:-0.16 [[ 9.99579403e-01 -2.87601578e-02 3.72429291e-03 8.06842146e+00] [ 2.87600004e-02 9.99586341e-01 9.57990433e-05 4.62494631e-01] [-3.72550751e-03 1.13519151e-05 9.99993060e-01 -1.59854030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:0.47, Z:-0.16 [[ 9.99689574e-01 -2.46350374e-02 3.72429746e-03 8.12967470e+00] [ 2.46348522e-02 9.99696511e-01 9.56218098e-05 4.70620770e-01] [-3.72552282e-03 -3.84460909e-06 9.99993060e-01 -1.58595689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:0.47, Z:-0.16 [[ 9.99711428e-01 -2.37316352e-02 3.72430083e-03 8.19145101e+00] [ 2.37314442e-02 9.99718365e-01 9.54900479e-05 4.73795951e-01] [-3.72551808e-03 -7.07945487e-06 9.99993060e-01 -1.57700724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.25, Y:0.48, Z:-0.16 [[ 9.99746943e-01 -2.21851292e-02 3.72430538e-03 8.25353615e+00] [ 2.21849281e-02 9.99753880e-01 9.53124541e-05 4.75428131e-01] [-3.72550327e-03 -1.26648875e-05 9.99993060e-01 -1.59744595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304203821999998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:8.31, Y:0.48, Z:-0.16 [[ 9.99735425e-01 -2.26982345e-02 3.72430998e-03 8.31419259e+00] [ 2.26980376e-02 9.99742362e-01 9.51323362e-05 4.80466681e-01] [-3.72550979e-03 -1.05726387e-05 9.99993060e-01 -1.61053203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364203821999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:0.48, Z:-0.16 [[ 9.99613863e-01 -2.75364326e-02 3.72431340e-03 8.37649232e+00] [ 2.75362698e-02 9.99620801e-01 9.49984018e-05 4.83232938e-01] [-3.72551706e-03 7.59197906e-06 9.99993060e-01 -1.63368086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:0.48, Z:-0.17 [[ 9.99504069e-01 -3.12689072e-02 3.72431808e-03 8.43813685e+00] [ 3.12687710e-02 9.99511008e-01 9.48143069e-05 4.83160084e-01] [-3.72546166e-03 2.16875636e-05 9.99993060e-01 -1.66478759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:0.48, Z:-0.17 [[ 9.99445290e-01 -3.30944500e-02 3.72432582e-03 8.49927318e+00] [ 3.30943276e-02 9.99452228e-01 9.45094466e-05 4.81299632e-01] [-3.72541348e-03 2.87970375e-05 9.99993060e-01 -1.65907322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:0.48, Z:-0.17 [[ 9.99457396e-01 -3.27267771e-02 3.72433310e-03 8.56098611e+00] [ 3.27266532e-02 9.99464335e-01 9.42214977e-05 4.84775979e-01] [-3.72542168e-03 2.77145850e-05 9.99993060e-01 -1.70213879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:0.48, Z:-0.17 [[ 9.99516140e-01 -3.08806722e-02 3.72433754e-03 8.62217352e+00] [ 3.08805361e-02 9.99523078e-01 9.40459682e-05 4.79597233e-01] [-3.72546552e-03 2.10090766e-05 9.99993060e-01 -1.69277810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:0.48, Z:-0.17 [[ 9.99574668e-01 -2.89242471e-02 3.72434081e-03 8.68330673e+00] [ 2.89240979e-02 9.99581606e-01 9.39159974e-05 4.79013260e-01] [-3.72549902e-03 1.38471465e-05 9.99993060e-01 -1.66887858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.75, Y:0.48, Z:-0.17 [[ 9.99630200e-01 -2.69368135e-02 3.72434404e-03 8.74526217e+00] [ 2.69366510e-02 9.99637138e-01 9.37877017e-05 4.83019920e-01] [-3.72551896e-03 6.56833663e-06 9.99993060e-01 -1.67678796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.81, Y:0.48, Z:-0.17 [[ 9.99728789e-01 -2.29886634e-02 3.72434850e-03 8.80734187e+00] [ 2.29884742e-02 9.99735726e-01 9.36105773e-05 4.76270184e-01] [-3.72551623e-03 -7.96809975e-06 9.99993060e-01 -1.74300244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.87, Y:0.48, Z:-0.17 [[ 9.99764091e-01 -2.13984152e-02 3.72435290e-03 8.86872025e+00] [ 2.13982156e-02 9.99771028e-01 9.34350593e-05 4.78481924e-01] [-3.72549949e-03 -1.37185107e-05 9.99993060e-01 -1.71783171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:0.48, Z:-0.17 [[ 9.99696537e-01 -2.43508470e-02 3.72435617e-03 8.93121555e+00] [ 2.43506683e-02 9.99703474e-01 9.33043912e-05 4.78864857e-01] [-3.72552385e-03 -2.58551477e-06 9.99993060e-01 -1.68371478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964203821999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.99, Y:0.48, Z:-0.17 [[ 9.99641947e-01 -2.64972820e-02 3.72436064e-03 8.99332445e+00] [ 2.64971190e-02 9.99648885e-01 9.31258062e-05 4.76003399e-01] [-3.72552054e-03 5.59236458e-06 9.99993060e-01 -1.71137919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.05, Y:0.48, Z:-0.17 [[ 9.99645160e-01 -2.63758115e-02 3.72436516e-03 9.05424321e+00] [ 2.63756482e-02 9.99652098e-01 9.29444615e-05 4.76729349e-01] [-3.72552094e-03 5.32106436e-06 9.99993060e-01 -1.73384663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.12, Y:0.48, Z:-0.17 [[ 9.99652749e-01 -2.60865960e-02 3.72436852e-03 9.11575235e+00] [ 2.60864312e-02 9.99659687e-01 9.28099851e-05 4.79343975e-01] [-3.72552216e-03 4.37772644e-06 9.99993060e-01 -1.72901070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.18, Y:0.48, Z:-0.17 [[ 9.99639622e-01 -2.65848736e-02 3.72437559e-03 9.17775268e+00] [ 2.65847133e-02 9.99646560e-01 9.25250597e-05 4.80347548e-01] [-3.72551902e-03 6.51974190e-06 9.99993060e-01 -1.71606776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:0.48, Z:-0.18 [[ 9.99616851e-01 -2.74277302e-02 3.72437994e-03 9.24018676e+00] [ 2.74275765e-02 9.99623789e-01 9.23496861e-05 4.80964422e-01] [-3.72551173e-03 9.83641352e-06 9.99993060e-01 -1.77058669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:0.48, Z:-0.18 [[ 9.99656848e-01 -2.59290538e-02 3.72438438e-03 9.30105254e+00] [ 2.59288904e-02 9.99663786e-01 9.21703292e-05 4.80304976e-01] [-3.72552208e-03 4.43045369e-06 9.99993060e-01 -1.78150948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:0.48, Z:-0.18 [[ 9.99711195e-01 -2.37414304e-02 3.72438767e-03 9.36339620e+00] [ 2.37412523e-02 9.99718133e-01 9.20371241e-05 4.82954798e-01] [-3.72552298e-03 -3.58891608e-06 9.99993060e-01 -1.80072823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.43, Y:0.48, Z:-0.18 [[ 9.99743539e-01 -2.23379914e-02 3.72439192e-03 9.42531104e+00] [ 2.23378042e-02 9.99750476e-01 9.18650125e-05 4.83944086e-01] [-3.72551467e-03 -8.64671526e-06 9.99993060e-01 -1.83510430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.49, Y:0.49, Z:-0.18 [[ 9.99771127e-01 -2.10671052e-02 3.72439617e-03 9.48740466e+00] [ 2.10669098e-02 9.99778064e-01 9.16923379e-05 4.85482740e-01] [-3.72550128e-03 -1.32098337e-05 9.99993060e-01 -1.82786834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:0.49, Z:-0.18 [[ 9.99815334e-01 -1.88527492e-02 3.72440047e-03 9.54929464e+00] [ 1.88525391e-02 9.99822271e-01 9.15172299e-05 4.92661609e-01] [-3.72546389e-03 -2.12859242e-05 9.99993060e-01 -1.84175543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:0.50, Z:-0.18 [[ 9.99783631e-01 -2.04650732e-02 3.72440474e-03 9.61080828e+00] [ 2.04648749e-02 9.99790568e-01 9.13430600e-05 5.00797237e-01] [-3.72549408e-03 -1.51038189e-05 9.99993060e-01 -1.82230870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:0.51, Z:-0.18 [[ 9.99677130e-01 -2.51349292e-02 3.72440793e-03 9.67260976e+00] [ 2.51347638e-02 9.99684068e-01 9.12131669e-05 5.06167200e-01] [-3.72552390e-03 2.42839652e-06 9.99993060e-01 -1.81221778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:0.51, Z:-0.19 [[ 9.99569236e-01 -2.91113651e-02 3.72441231e-03 9.73336595e+00] [ 2.91112280e-02 9.99576174e-01 9.10338214e-05 5.13064814e-01] [-3.72548393e-03 1.74276085e-05 9.99993060e-01 -1.89062790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.80, Y:0.52, Z:-0.19 [[ 9.99528477e-01 -3.04787222e-02 3.72441448e-03 9.79572804e+00] [ 3.04785949e-02 9.99535416e-01 9.09449893e-05 5.19001325e-01] [-3.72545606e-03 2.26128136e-05 9.99993060e-01 -1.91627379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.86, Y:0.52, Z:-0.19 [[ 9.99571162e-01 -2.90451357e-02 3.72441871e-03 9.85650539e+00] [ 2.90449991e-02 9.99578101e-01 9.07712367e-05 5.23959197e-01] [-3.72548385e-03 1.74434274e-05 9.99993060e-01 -1.88583285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.92, Y:0.53, Z:-0.18 [[ 9.99587430e-01 -2.84797912e-02 3.72442185e-03 9.91812783e+00] [ 2.84796512e-02 9.99594368e-01 9.06422944e-05 5.32277662e-01] [-3.72549258e-03 1.54653371e-05 9.99993060e-01 -1.83924814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:0.54, Z:-0.19 [[ 9.99555851e-01 -2.95673603e-02 3.72442507e-03 9.97877925e+00] [ 2.95672283e-02 9.99562790e-01 9.05099687e-05 5.36706249e-01] [-3.72547285e-03 1.96511573e-05 9.99993060e-01 -1.90646804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:0.54, Z:-0.19 [[ 9.99608889e-01 -2.77163649e-02 3.72442824e-03 1.00405605e+01] [ 2.77162205e-02 9.99615828e-01 9.03791812e-05 5.42065670e-01] [-3.72550240e-03 1.28832415e-05 9.99993060e-01 -1.88911618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:0.55, Z:-0.19 [[ 9.99696467e-01 -2.43536970e-02 3.72443255e-03 1.01016469e+01] [ 2.43535300e-02 9.99703405e-01 9.02010821e-05 5.54584172e-01] [-3.72552463e-03 5.29376855e-07 9.99993060e-01 -1.93763182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:0.56, Z:-0.20 [[ 9.99715080e-01 -2.35772535e-02 3.72443575e-03 1.01636496e+01] [ 2.35770816e-02 9.99722018e-01 9.00689490e-05 5.58255157e-01] [-3.72552400e-03 -2.23196116e-06 9.99993060e-01 -1.96001229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.23, Y:0.56, Z:-0.20 [[ 9.99666692e-01 -2.55466727e-02 3.72444003e-03 1.02254120e+01] [ 2.55465151e-02 9.99673630e-01 8.98913859e-05 5.57782677e-01] [-3.72552092e-03 5.28503927e-06 9.99993060e-01 -1.97957734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.29, Y:0.56, Z:-0.20 [[ 9.99610862e-01 -2.76451325e-02 3.72444439e-03 1.02862014e+01] [ 2.76449901e-02 9.99617800e-01 8.97103611e-05 5.61463391e-01] [-3.72550097e-03 1.32867772e-05 9.99993060e-01 -1.98529032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.35, Y:0.57, Z:-0.20 [[ 9.99620143e-01 -2.73074577e-02 3.72444761e-03 1.03487027e+01] [ 2.73073135e-02 9.99627082e-01 8.95764972e-05 5.65242637e-01] [-3.72550481e-03 1.21621877e-05 9.99993060e-01 -1.95896093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.41, Y:0.56, Z:-0.20 [[ 9.99658079e-01 -2.58815472e-02 3.72445173e-03 1.04106660e+01] [ 2.58813937e-02 9.99665017e-01 8.94051854e-05 5.62644342e-01] [-3.72551804e-03 7.01938557e-06 9.99993060e-01 -1.96812449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.47, Y:0.56, Z:-0.20 [[ 9.99668312e-01 -2.54832246e-02 3.72445580e-03 1.04731890e+01] [ 2.54830690e-02 9.99675250e-01 8.92352059e-05 5.64684537e-01] [-3.72552028e-03 5.70495653e-06 9.99993060e-01 -1.96581646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.53, Y:0.57, Z:-0.21 [[ 9.99705725e-01 -2.39706279e-02 3.72445996e-03 1.05339844e+01] [ 2.39704625e-02 9.99712663e-01 8.90612963e-05 5.67226386e-01] [-3.72552464e-03 2.41939737e-07 9.99993060e-01 -2.07053379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:0.57, Z:-0.21 [[ 9.99809497e-01 -1.91598126e-02 3.72446202e-03 1.05965195e+01] [ 1.91596141e-02 9.99816434e-01 8.89751789e-05 5.68204217e-01] [-3.72548308e-03 -1.75989739e-05 9.99993060e-01 -2.09280910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:0.58, Z:-0.21 [[ 9.99881437e-01 -1.49412260e-02 3.72446599e-03 1.06582194e+01] [ 1.49409989e-02 9.99888373e-01 8.88085398e-05 5.76237229e-01] [-3.72537715e-03 -3.31507683e-05 9.99993060e-01 -2.10388510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:0.58, Z:-0.21 [[ 9.99905510e-01 -1.32325407e-02 3.72446948e-03 1.07195003e+01] [ 1.32323022e-02 9.99912445e-01 8.86619015e-05 5.84781324e-01] [-3.72531661e-03 -3.93702180e-05 9.99993060e-01 -2.12645322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:0.59, Z:-0.21 [[ 9.99918048e-01 -1.22485010e-02 3.72447687e-03 1.07813353e+01] [ 1.22482569e-02 9.99924983e-01 8.83504381e-05 5.93517258e-01] [-3.72527963e-03 -4.27248483e-05 9.99993060e-01 -2.09287390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:0.60, Z:-0.21 [[ 9.99876312e-01 -1.52803733e-02 3.72448122e-03 1.08420811e+01] [ 1.52801509e-02 9.99883248e-01 8.81666821e-05 6.01816599e-01] [-3.72539360e-03 -3.12451420e-05 9.99993060e-01 -2.13871100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:0.61, Z:-0.21 [[ 9.99802581e-01 -1.95173512e-02 3.72448443e-03 1.09034975e+01] [ 1.95171587e-02 9.99809518e-01 8.80307399e-05 6.13283121e-01] [-3.72549311e-03 -1.53220072e-05 9.99993060e-01 -2.11101853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:0.62, Z:-0.21 [[ 9.99740328e-01 -2.24812231e-02 3.72448753e-03 1.09654824e+01] [ 2.24810517e-02 9.99747265e-01 8.78993629e-05 6.20274219e-01] [-3.72552231e-03 -4.14614116e-06 9.99993060e-01 -2.08521318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:0.63, Z:-0.21 [[ 9.99623355e-01 -2.71896180e-02 3.72449164e-03 1.10276955e+01] [ 2.71894798e-02 9.99630294e-01 8.77249853e-05 6.28497553e-01] [-3.72549988e-03 1.35750461e-05 9.99993060e-01 -2.06891846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:0.64, Z:-0.21 [[ 9.99507687e-01 -3.11530321e-02 3.72449579e-03 1.10894465e+01] [ 3.11529221e-02 9.99514626e-01 8.75482368e-05 6.37327468e-01] [-3.72541541e-03 2.85237917e-05 9.99993060e-01 -2.13420162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:0.64, Z:-0.21 [[ 9.99415466e-01 -3.39831625e-02 3.72449888e-03 1.11513374e+01] [ 3.39830726e-02 9.99422405e-01 8.74167719e-05 6.41296275e-01] [-3.72531832e-03 3.92042422e-05 9.99993060e-01 -2.14534033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:0.65, Z:-0.22 [[ 9.99404061e-01 -3.43169222e-02 3.72450309e-03 1.12123000e+01] [ 3.43168353e-02 9.99411000e-01 8.72370787e-05 6.50335096e-01] [-3.72530306e-03 4.06280685e-05 9.99993060e-01 -2.17243627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:0.65, Z:-0.21 [[ 9.99420282e-01 -3.38412119e-02 3.72450961e-03 1.12742828e+01] [ 3.38411228e-02 9.99427221e-01 8.69577445e-05 6.54078058e-01] [-3.72531905e-03 3.91342537e-05 9.99993060e-01 -2.13357167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.34, Y:0.65, Z:-0.22 [[ 9.99459325e-01 -3.26677994e-02 3.72451369e-03 1.13352047e+01] [ 3.26677028e-02 9.99466264e-01 8.67826916e-05 6.54179538e-01] [-3.72536078e-03 3.49355359e-05 9.99993060e-01 -2.17739756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.40, Y:0.65, Z:-0.22 [[ 9.99552456e-01 -2.96818922e-02 3.72451673e-03 1.13973977e+01] [ 2.96817753e-02 9.99559395e-01 8.66520987e-05 6.53140035e-01] [-3.72544769e-03 2.39369505e-05 9.99993060e-01 -2.20991318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.46, Y:0.65, Z:-0.22 [[ 9.99719994e-01 -2.33679753e-02 3.72452062e-03 1.14592519e+01] [ 2.33678153e-02 9.99726932e-01 8.64843656e-05 6.54724615e-01] [-3.72552454e-03 5.73760448e-07 9.99993060e-01 -2.20116867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.52, Y:0.66, Z:-0.22 [[ 9.99891450e-01 -1.42553724e-02 3.72452457e-03 1.15211375e+01] [ 1.42551497e-02 9.99898386e-01 8.63140518e-05 6.57470479e-01] [-3.72537655e-03 -3.32110270e-05 9.99993060e-01 -2.18569017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.58, Y:0.66, Z:-0.22 [[ 9.99980532e-01 -5.00642456e-03 3.72452853e-03 1.15830824e+01] [ 5.00613843e-03 9.99987466e-01 8.61427364e-05 6.62052872e-01] [-3.72491311e-03 -6.74955540e-05 9.99993060e-01 -2.18144955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.64, Y:0.67, Z:-0.22 [[ 9.99987306e-01 -3.39353800e-03 3.72453263e-03 1.16436386e+01] [ 3.39324135e-03 9.99994239e-01 8.59650196e-05 6.65797528e-01] [-3.72480290e-03 -7.33256902e-05 9.99993060e-01 -2.15259396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.71, Y:0.67, Z:-0.21 [[ 9.99977842e-01 -5.51758829e-03 3.72453973e-03 1.17053569e+01] [ 5.51730752e-03 9.99984776e-01 8.56564797e-05 6.66020358e-01] [-3.72495564e-03 -6.51051506e-05 9.99993060e-01 -2.12748529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:0.67, Z:-0.21 [[ 9.99939087e-01 -1.03898617e-02 3.72454745e-03 1.17671918e+01] [ 1.03896159e-02 9.99946023e-01 8.53191920e-05 6.67631668e-01] [-3.72523287e-03 -4.66173773e-05 9.99993060e-01 -2.14819726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.83, Y:0.67, Z:-0.21 [[ 9.99882859e-01 -1.48457460e-02 3.72456144e-03 1.18288898e+01] [ 1.48455335e-02 9.99889795e-01 8.47040939e-05 6.66995816e-01] [-3.72540847e-03 -2.94010700e-05 9.99993060e-01 -2.10976145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:0.66, Z:-0.22 [[ 9.99854495e-01 -1.66468390e-02 3.72456448e-03 1.18898105e+01] [ 1.66466394e-02 9.99861432e-01 8.45701882e-05 6.61112637e-01] [-3.72545620e-03 -2.25564008e-05 9.99993060e-01 -2.15990265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.95, Y:0.66, Z:-0.22 [[ 9.99878765e-01 -1.51189785e-02 3.72456747e-03 1.19509079e+01] [ 1.51187688e-02 9.99885701e-01 8.44382887e-05 6.63991361e-01] [-3.72541838e-03 -2.81171772e-05 9.99993060e-01 -2.18828639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.01, Y:0.66, Z:-0.22 [[ 9.99909866e-01 -1.28990877e-02 3.72456944e-03 1.20129255e+01] [ 1.28988630e-02 9.99916803e-01 8.43515560e-05 6.58956094e-01] [-3.72534762e-03 -3.63012423e-05 9.99993060e-01 -2.24047892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964203821999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:0.66, Z:-0.22 [[ 9.99920601e-01 -1.20382421e-02 3.72457332e-03 1.20754226e+01] [ 1.20380120e-02 9.99927537e-01 8.41798324e-05 6.57879718e-01] [-3.72531680e-03 -3.93366901e-05 9.99993060e-01 -2.23384021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:0.66, Z:-0.23 [[ 9.99911172e-01 -1.27974730e-02 3.72457719e-03 1.21373622e+01] [ 1.27972489e-02 9.99918108e-01 8.40080504e-05 6.55757589e-01] [-3.72534727e-03 -3.63362469e-05 9.99993060e-01 -2.25487791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:0.65, Z:-0.23 [[ 9.99887137e-01 -1.45547841e-02 3.72458105e-03 1.21999025e+01] [ 1.45545728e-02 9.99894073e-01 8.38367210e-05 6.48960641e-01] [-3.72540674e-03 -2.96175729e-05 9.99993060e-01 -2.27448785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:0.65, Z:-0.23 [[ 9.99909075e-01 -1.29602639e-02 3.72458502e-03 1.22624112e+01] [ 1.29600422e-02 9.99916012e-01 8.36598572e-05 6.47184325e-01] [-3.72535645e-03 -3.53814716e-05 9.99993060e-01 -2.25423399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.32, Y:0.65, Z:-0.23 [[ 9.99960764e-01 -8.03723882e-03 3.72458896e-03 1.23234581e+01] [ 8.03698361e-03 9.99967699e-01 8.34840115e-05 6.46344750e-01] [-3.72513964e-03 -5.35462755e-05 9.99993060e-01 -2.28089911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:0.65, Z:-0.23 [[ 9.99990390e-01 -2.31235539e-03 3.72459095e-03 1.23855220e+01] [ 2.31206081e-03 9.99997324e-01 8.33951753e-05 6.49363317e-01] [-3.72477382e-03 -7.47828931e-05 9.99993060e-01 -2.29755559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:0.65, Z:-0.23 [[ 9.99985634e-01 -3.85467805e-03 3.72459498e-03 1.24466029e+01] [ 3.85439483e-03 9.99992568e-01 8.32150436e-05 6.50177125e-01] [-3.72488807e-03 -6.88577885e-05 9.99993060e-01 -2.29972470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:0.65, Z:-0.23 [[ 9.99952330e-01 -9.02575502e-03 3.72460780e-03 1.25087077e+01] [ 9.02550982e-03 9.99959266e-01 8.26370721e-05 6.54182290e-01] [-3.72520194e-03 -4.90166486e-05 9.99993060e-01 -2.27827739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:0.65, Z:-0.24 [[ 9.99881364e-01 -1.49460528e-02 3.72462202e-03 1.25707124e+01] [ 1.49458511e-02 9.99888301e-01 8.19913126e-05 6.51976229e-01] [-3.72543143e-03 -2.63139394e-05 9.99993060e-01 -2.37030152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:0.65, Z:-0.24 [[ 9.99795209e-01 -1.98913887e-02 3.72463693e-03 1.26326137e+01] [ 1.98912238e-02 9.99802147e-01 8.13079661e-05 6.52617089e-01] [-3.72551733e-03 -7.20372825e-06 9.99993060e-01 -2.35947083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:0.65, Z:-0.23 [[ 9.99743365e-01 -2.23457368e-02 3.72464075e-03 1.26945570e+01] [ 2.23455896e-02 9.99750303e-01 8.11327686e-05 6.54856319e-01] [-3.72552369e-03 2.11734651e-06 9.99993060e-01 -2.34520539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:0.66, Z:-0.23 [[ 9.99724019e-01 -2.31950877e-02 3.72464465e-03 1.27562504e+01] [ 2.31949471e-02 9.99730958e-01 8.09532341e-05 6.55948416e-01] [-3.72552028e-03 5.46204298e-06 9.99993060e-01 -2.31451479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:0.66, Z:-0.24 [[ 9.99656140e-01 -2.59562773e-02 3.72464754e-03 1.28171101e+01] [ 2.59561564e-02 9.99663079e-01 8.08200197e-05 6.55416639e-01] [-3.72549042e-03 1.58853051e-05 9.99993060e-01 -2.37828671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:0.66, Z:-0.23 [[ 9.99572587e-01 -2.89960246e-02 3.72465039e-03 1.28779762e+01] [ 2.89959253e-02 9.99579527e-01 8.06885188e-05 6.56217411e-01] [-3.72542392e-03 2.73456528e-05 9.99993060e-01 -2.28496853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:0.65, Z:-0.23 [[ 9.99511739e-01 -3.10227532e-02 3.72465135e-03 1.29407611e+01] [ 3.10226680e-02 9.99518678e-01 8.06442075e-05 6.46260686e-01] [-3.72536040e-03 3.49437902e-05 9.99993060e-01 -2.27309019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:0.65, Z:-0.23 [[ 9.99591007e-01 -2.83539300e-02 3.72465515e-03 1.30018876e+01] [ 2.83538270e-02 9.99597946e-01 8.04683587e-05 6.45631574e-01] [-3.72543923e-03 2.51727800e-05 9.99993060e-01 -2.33675366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:0.65, Z:-0.23 [[ 9.99718560e-01 -2.34292065e-02 3.72465609e-03 1.30624901e+01] [ 2.34290695e-02 9.99725498e-01 8.04248846e-05 6.45082228e-01] [-3.72551796e-03 6.86297640e-06 9.99993060e-01 -2.30691944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:0.64, Z:-0.23 [[ 9.99817107e-01 -1.87584368e-02 3.72465702e-03 1.31247163e+01] [ 1.87582675e-02 9.99824045e-01 8.03816464e-05 6.40513353e-01] [-3.72550948e-03 -1.04988325e-05 9.99993060e-01 -2.26280092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:0.64, Z:-0.22 [[ 9.99893650e-01 -1.41001787e-02 3.72466062e-03 1.31870711e+01] [ 1.40999777e-02 9.99900587e-01 8.02146748e-05 6.41002987e-01] [-3.72542138e-03 -2.76885123e-05 9.99993060e-01 -2.19395240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:0.64, Z:-0.23 [[ 9.99877924e-01 -1.51744366e-02 3.72466454e-03 1.32481559e+01] [ 1.51742438e-02 9.99884861e-01 8.00321796e-05 6.40967374e-01] [-3.72545013e-03 -2.35034420e-05 9.99993060e-01 -2.28213239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:0.64, Z:-0.23 [[ 9.99859268e-01 -1.63576191e-02 3.72467170e-03 1.33100671e+01] [ 1.63574357e-02 9.99866205e-01 7.96974242e-05 6.39498671e-01] [-3.72547702e-03 -1.87601304e-05 9.99993060e-01 -2.30967051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:0.64, Z:-0.23 [[ 9.99920711e-01 -1.20291033e-02 3.72467458e-03 1.33711534e+01] [ 1.20288904e-02 9.99927647e-01 7.95628451e-05 6.43810021e-01] [-3.72536216e-03 -3.47528345e-05 9.99993060e-01 -2.32813056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:0.65, Z:-0.23 [[ 9.99957958e-01 -8.37913812e-03 3.72467742e-03 1.34334128e+01] [ 8.37890038e-03 9.99964893e-01 7.94293770e-05 6.49074700e-01] [-3.72521221e-03 -4.82173365e-05 9.99993060e-01 -2.34321173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:0.66, Z:-0.24 [[ 9.99968233e-01 -7.04691142e-03 3.72468118e-03 1.34946738e+01] [ 7.04666510e-03 9.99975169e-01 7.92527673e-05 6.57662824e-01] [-3.72514718e-03 -5.30036689e-05 9.99993060e-01 -2.39904774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.56, Y:0.67, Z:-0.23 [[ 9.99947346e-01 -9.56205460e-03 3.72468397e-03 1.35560921e+01] [ 9.56182620e-03 9.99954282e-01 7.91212290e-05 6.67859614e-01] [-3.72527025e-03 -4.35022820e-05 9.99993060e-01 -2.34600532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464203821999998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:0.68, Z:-0.23 [[ 9.99870320e-01 -1.56674551e-02 3.72468677e-03 1.36166586e+01] [ 1.56672696e-02 9.99877258e-01 7.89892062e-05 6.75459601e-01] [-3.72546716e-03 -2.06232911e-05 9.99993060e-01 -2.34062469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:0.68, Z:-0.23 [[ 9.99733030e-01 -2.28034268e-02 3.72468862e-03 1.36788656e+01] [ 2.28032911e-02 9.99739968e-01 7.89020153e-05 6.80604867e-01] [-3.72551932e-03 6.05420804e-06 9.99993060e-01 -2.26989444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:0.69, Z:-0.22 [[ 9.99552565e-01 -2.96782005e-02 3.72469237e-03 1.37404893e+01] [ 2.96781132e-02 9.99559505e-01 7.87247135e-05 6.85747716e-01] [-3.72538807e-03 3.18523525e-05 9.99993060e-01 -2.22447834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:0.68, Z:-0.22 [[ 9.99371403e-01 -3.52551505e-02 3.72469530e-03 1.38012394e+01] [ 3.52551024e-02 9.99378343e-01 7.85860167e-05 6.83911267e-01] [-3.72515037e-03 5.27778963e-05 9.99993060e-01 -2.23239988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:0.68, Z:-0.22 [[ 9.99354345e-01 -3.57354006e-02 3.72469722e-03 1.38639779e+01] [ 3.57353562e-02 9.99361285e-01 7.84949154e-05 6.83572848e-01] [-3.72512324e-03 5.46591469e-05 9.99993060e-01 -2.23001728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:0.69, Z:-0.22 [[ 9.99565968e-01 -2.92233081e-02 3.72470178e-03 1.39262193e+01] [ 2.92232193e-02 9.99572907e-01 7.82775183e-05 6.85935434e-01] [-3.72539852e-03 3.06042338e-05 9.99993060e-01 -2.18227363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:0.69, Z:-0.22 [[ 9.99791300e-01 -2.00868941e-02 3.72470558e-03 1.39872815e+01] [ 2.00867426e-02 9.99798238e-01 7.80966101e-05 6.86128614e-01] [-3.72552279e-03 -3.26310912e-06 9.99993060e-01 -2.21852844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:0.69, Z:-0.22 [[ 9.99815644e-01 -1.88362749e-02 3.72470841e-03 1.40480096e+01] [ 1.88361151e-02 9.99822582e-01 7.79614235e-05 6.87094491e-01] [-3.72551608e-03 -7.78801438e-06 9.99993060e-01 -2.24515184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:0.69, Z:-0.23 [[ 9.99823424e-01 -1.84186427e-02 3.72471118e-03 1.41088221e+01] [ 1.84184806e-02 9.99830362e-01 7.78289215e-05 6.90285555e-01] [-3.72551283e-03 -9.21165829e-06 9.99993060e-01 -2.25609482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:0.69, Z:-0.22 [[ 9.99767356e-01 -2.12452378e-02 3.72471392e-03 1.41706287e+01] [ 2.12450958e-02 9.99774294e-01 7.76974183e-05 6.89390984e-01] [-3.72552393e-03 1.45256142e-06 9.99993060e-01 -2.23912716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:0.69, Z:-0.23 [[ 9.99727390e-01 -2.30493515e-02 3.72471771e-03 1.42314414e+01] [ 2.30492227e-02 9.99734328e-01 7.75152092e-05 6.88710842e-01] [-3.72551483e-03 8.35777017e-06 9.99993060e-01 -2.29621367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.29, Y:0.69, Z:-0.22 [[ 9.99679211e-01 -2.50519730e-02 3.72472374e-03 1.42938688e+01] [ 2.50518592e-02 9.99686150e-01 7.72243790e-05 6.90015091e-01] [-3.72548936e-03 1.61116484e-05 9.99993060e-01 -2.24744787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:0.69, Z:-0.22 [[ 9.99624759e-01 -2.71379379e-02 3.72472738e-03 1.43556022e+01] [ 2.71378392e-02 9.99631698e-01 7.70485267e-05 6.91189588e-01] [-3.72544649e-03 2.40614376e-05 9.99993060e-01 -2.22136950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:0.69, Z:-0.22 [[ 9.99627597e-01 -2.70331795e-02 3.72473283e-03 1.44180662e+01] [ 2.70330811e-02 9.99634537e-01 7.67838701e-05 6.88114768e-01] [-3.72544729e-03 2.39357292e-05 9.99993060e-01 -2.23881256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:0.69, Z:-0.23 [[ 9.99627082e-01 -2.70522388e-02 3.72473647e-03 1.44795951e+01] [ 2.70521411e-02 9.99634021e-01 7.66070977e-05 6.85144848e-01] [-3.72544569e-03 2.41835671e-05 9.99993060e-01 -2.26140703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.54, Y:0.68, Z:-0.23 [[ 9.99666491e-01 -2.55545068e-02 3.72473917e-03 1.45408282e+01] [ 2.55543992e-02 9.99673430e-01 7.64757481e-05 6.80049866e-01] [-3.72547708e-03 1.87332288e-05 9.99993060e-01 -2.26442675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.60, Y:0.67, Z:-0.22 [[ 9.99745261e-01 -2.22607100e-02 3.72474181e-03 1.46033764e+01] [ 2.22605801e-02 9.99752200e-01 7.63466459e-05 6.74577544e-01] [-3.72551835e-03 6.58771585e-06 9.99993060e-01 -2.18827506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.66, Y:0.67, Z:-0.22 [[ 9.99862670e-01 -1.61482789e-02 3.72474557e-03 1.46649943e+01] [ 1.61481072e-02 9.99869608e-01 7.61628902e-05 6.69683751e-01] [-3.72548979e-03 -1.60048401e-05 9.99993060e-01 -2.23932409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:0.67, Z:-0.22 [[ 9.99937956e-01 -1.04981252e-02 3.72474836e-03 1.47267465e+01] [ 1.04979148e-02 9.99944892e-01 7.60261859e-05 6.66469476e-01] [-3.72534123e-03 -3.69193781e-05 9.99993060e-01 -2.19511717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:0.66, Z:-0.22 [[ 9.99962167e-01 -7.86067225e-03 3.72475117e-03 1.47887802e+01] [ 7.86044410e-03 9.99969103e-01 7.58880512e-05 6.59260105e-01] [-3.72523262e-03 -4.66069818e-05 9.99993060e-01 -2.20311164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:0.66, Z:-0.22 [[ 9.99966192e-01 -7.33089095e-03 3.72475498e-03 1.48501916e+01] [ 7.33065983e-03 9.99973127e-01 7.57005717e-05 6.58501365e-01] [-3.72520984e-03 -4.83931006e-05 9.99993060e-01 -2.22130136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:0.65, Z:-0.23 [[ 9.99983550e-01 -4.36191039e-03 3.72475782e-03 1.49125489e+01] [ 4.36165919e-03 9.99990485e-01 7.55606786e-05 6.54711233e-01] [-3.72505197e-03 -5.93133114e-05 9.99993060e-01 -2.25022719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.97, Y:0.65, Z:-0.23 [[ 9.99991421e-01 -1.81223638e-03 3.72476145e-03 1.49737146e+01] [ 1.81196817e-03 9.99998356e-01 7.53814683e-05 6.54275904e-01] [-3.72489193e-03 -6.86316725e-05 9.99993060e-01 -2.27045802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:0.66, Z:-0.23 [[ 9.99992856e-01 -6.42936710e-04 3.72476414e-03 1.50357243e+01] [ 6.42660885e-04 9.99999791e-01 7.52480814e-05 6.59896140e-01] [-3.72481174e-03 -7.28537837e-05 9.99993060e-01 -2.27934627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:0.66, Z:-0.23 [[ 9.99987842e-01 -3.23130921e-03 3.72476776e-03 1.50971399e+01] [ 3.23105200e-03 9.99994777e-01 7.50685537e-05 6.58682193e-01] [-3.72499088e-03 -6.30327227e-05 9.99993060e-01 -2.30659992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:0.66, Z:-0.22 [[ 9.99958740e-01 -8.28515086e-03 3.72477929e-03 1.51596262e+01] [ 8.28493085e-03 9.99965677e-01 7.44921326e-05 6.62156603e-01] [-3.72526862e-03 -4.36295202e-05 9.99993060e-01 -2.24494790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024203821999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:0.67, Z:-0.23 [[ 9.99894049e-01 -1.40718433e-02 3.72479193e-03 1.52213097e+01] [ 1.40716658e-02 9.99900986e-01 7.38546871e-05 6.67373081e-01] [-3.72546240e-03 -2.14328350e-05 9.99993060e-01 -2.30063460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.28, Y:0.67, Z:-0.23 [[ 9.99809214e-01 -1.91745142e-02 3.72480428e-03 1.52832138e+01] [ 1.91743744e-02 9.99816152e-01 7.32263772e-05 6.71483674e-01] [-3.72552356e-03 -1.79161466e-06 9.99993060e-01 -2.30718935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.35, Y:0.68, Z:-0.23 [[ 9.99751482e-01 -2.19795313e-02 3.72480775e-03 1.53457508e+01] [ 2.19794117e-02 9.99758421e-01 7.30497247e-05 6.76427415e-01] [-3.72551351e-03 8.83751226e-06 9.99993060e-01 -2.32391879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.41, Y:0.68, Z:-0.23 [[ 9.99692661e-01 -2.45093786e-02 3.72481212e-03 1.54072913e+01] [ 2.45092774e-02 9.99699600e-01 7.28260610e-05 6.84440440e-01] [-3.72547811e-03 1.84887748e-05 9.99993060e-01 -2.33988019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.47, Y:0.69, Z:-0.23 [[ 9.99653270e-01 -2.60665618e-02 3.72481475e-03 1.54675292e+01] [ 2.60664718e-02 9.99660209e-01 7.26914768e-05 6.91482910e-01] [-3.72544390e-03 2.44265062e-05 9.99993060e-01 -2.30367896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.53, Y:0.70, Z:-0.23 [[ 9.99655455e-01 -2.59826167e-02 3.72481561e-03 1.55287177e+01] [ 2.59825264e-02 9.99662395e-01 7.26471606e-05 6.97579159e-01] [-3.72544566e-03 2.41579895e-05 9.99993060e-01 -2.34978585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:0.71, Z:-0.23 [[ 9.99691702e-01 -2.45484624e-02 3.72481733e-03 1.55907144e+01] [ 2.45483625e-02 9.99698641e-01 7.25589309e-05 7.09273170e-01] [-3.72547603e-03 1.89016048e-05 9.99993060e-01 -2.30685902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:0.71, Z:-0.23 [[ 9.99693199e-01 -2.44874371e-02 3.72482077e-03 1.56530012e+01] [ 2.44873373e-02 9.99700138e-01 7.23817964e-05 7.14148798e-01] [-3.72547628e-03 1.88513532e-05 9.99993060e-01 -2.28353655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:0.71, Z:-0.23 [[ 9.99634712e-01 -2.67687965e-02 3.72482427e-03 1.57136317e+01] [ 2.67687133e-02 9.99641651e-01 7.22013202e-05 7.14194466e-01] [-3.72542223e-03 2.75338069e-05 9.99993060e-01 -2.28012043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:0.72, Z:-0.23 [[ 9.99563131e-01 -2.93201809e-02 3.72482599e-03 1.57761078e+01] [ 2.93201157e-02 9.99570070e-01 7.21124822e-05 7.19643340e-01] [-3.72533893e-03 3.71313505e-05 9.99993060e-01 -2.26447720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:0.72, Z:-0.23 [[ 9.99545437e-01 -2.99172981e-02 3.72483038e-03 1.58370618e+01] [ 2.99172380e-02 9.99552377e-01 7.18850615e-05 7.18018642e-01] [-3.72531366e-03 3.95842515e-05 9.99993060e-01 -2.30667303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:0.72, Z:-0.23 [[ 9.99533942e-01 -3.02989234e-02 3.72483298e-03 1.58991713e+01] [ 3.02988664e-02 9.99540881e-01 7.17501963e-05 7.19422616e-01] [-3.72529679e-03 4.11414602e-05 9.99993060e-01 -2.27574334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:0.72, Z:-0.22 [[ 9.99579057e-01 -2.87721233e-02 3.72483629e-03 1.59614853e+01] [ 2.87720563e-02 9.99585996e-01 7.15777949e-05 7.18452347e-01] [-3.72535364e-03 3.56235347e-05 9.99993060e-01 -2.22377114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:0.72, Z:-0.22 [[ 9.99628156e-01 -2.70124870e-02 3.72483967e-03 1.60229054e+01] [ 2.70124084e-02 9.99635096e-01 7.14015094e-05 7.16067474e-01] [-3.72540919e-03 2.92419313e-05 9.99993060e-01 -2.22118041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.08, Y:0.72, Z:-0.22 [[ 9.99687673e-01 -2.47119936e-02 3.72484444e-03 1.60837595e+01] [ 2.47119001e-02 9.99694612e-01 7.11516259e-05 7.22156732e-01] [-3.72546522e-03 2.09185803e-05 9.99993060e-01 -2.20902885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:0.72, Z:-0.22 [[ 9.99742912e-01 -2.23659629e-02 3.72484691e-03 1.61457569e+01] [ 2.23658535e-02 9.99749850e-01 7.10223268e-05 7.24298498e-01] [-3.72550362e-03 1.23053124e-05 9.99993060e-01 -2.20091454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:0.73, Z:-0.22 [[ 9.99779128e-01 -2.06838267e-02 3.72485016e-03 1.62073840e+01] [ 2.06837063e-02 9.99786067e-01 7.08511933e-05 7.25458908e-01] [-3.72551877e-03 6.20816261e-06 9.99993060e-01 -2.24768506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:0.73, Z:-0.22 [[ 9.99766180e-01 -2.13005074e-02 3.72485338e-03 1.62696229e+01] [ 2.13003919e-02 9.99773118e-01 7.06815482e-05 7.30152952e-01] [-3.72551383e-03 8.67581540e-06 9.99993060e-01 -2.20057297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:0.73, Z:-0.22 [[ 9.99763438e-01 -2.14287861e-02 3.72485676e-03 1.63319582e+01] [ 2.14286722e-02 9.99770377e-01 7.05031029e-05 7.26647565e-01] [-3.72551224e-03 9.33230981e-06 9.99993060e-01 -2.23237748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164203821999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:0.73, Z:-0.22 [[ 9.99725961e-01 -2.31112291e-02 3.72486010e-03 1.63943848e+01] [ 2.31111275e-02 9.99732900e-01 7.03263370e-05 7.29936581e-01] [-3.72549051e-03 1.57786516e-05 9.99993060e-01 -2.20087518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:0.73, Z:-0.22 [[ 9.99761232e-01 -2.15314858e-02 3.72486341e-03 1.64570403e+01] [ 2.15313739e-02 9.99768171e-01 7.01501607e-05 7.26585828e-01] [-3.72551032e-03 1.00680158e-05 9.99993060e-01 -2.20516759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:0.73, Z:-0.22 [[ 9.99815345e-01 -1.88520681e-02 3.72486674e-03 1.65175765e+01] [ 1.88519383e-02 9.99822284e-01 6.99731847e-05 7.30199220e-01] [-3.72552391e-03 2.60693975e-07 9.99993060e-01 -2.16514381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:0.73, Z:-0.22 [[ 9.99824177e-01 -1.83776888e-02 3.72487246e-03 1.65795871e+01] [ 1.83775568e-02 9.99831116e-01 6.96671078e-05 7.28636290e-01] [-3.72552371e-03 -1.20080356e-06 9.99993060e-01 -2.21381874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:0.73, Z:-0.22 [[ 9.99840315e-01 -1.74776670e-02 3.72487493e-03 1.66414819e+01] [ 1.74775293e-02 9.99847254e-01 6.95349534e-05 7.28846157e-01] [-3.72552128e-03 -4.42223921e-06 9.99993060e-01 -2.17839691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:0.73, Z:-0.22 [[ 9.99838719e-01 -1.75687833e-02 3.72487819e-03 1.67037089e+01] [ 1.75686468e-02 9.99845657e-01 6.93600283e-05 7.31531024e-01] [-3.72552185e-03 -3.90777260e-06 9.99993060e-01 -2.18225978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:0.72, Z:-0.22 [[ 9.99783631e-01 -2.04650012e-02 3.72488144e-03 1.67656517e+01] [ 2.04648855e-02 9.99790570e-01 6.91849460e-05 7.24932241e-01] [-3.72551721e-03 7.05929547e-06 9.99993060e-01 -2.22831739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:0.72, Z:-0.22 [[ 9.99751860e-01 -2.19623100e-02 3.72488469e-03 1.68278653e+01] [ 2.19622053e-02 9.99758799e-01 6.90092326e-05 7.22364666e-01] [-3.72550185e-03 1.28145737e-05 9.99993060e-01 -2.20632784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:0.72, Z:-0.22 [[ 9.99793342e-01 -1.99849391e-02 3.72488802e-03 1.68887471e+01] [ 1.99848214e-02 9.99800281e-01 6.88295208e-05 7.16868955e-01] [-3.72551964e-03 5.62592491e-06 9.99993060e-01 -2.20564394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.95, Y:0.71, Z:-0.22 [[ 9.99866106e-01 -1.59340950e-02 3.72488967e-03 1.69505751e+01] [ 1.59339495e-02 9.99873044e-01 6.87400291e-05 7.13326331e-01] [-3.72551208e-03 -9.37862138e-06 9.99993060e-01 -2.17697868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.01, Y:0.71, Z:-0.22 [[ 9.99927259e-01 -1.14717966e-02 3.72489444e-03 1.70118364e+01] [ 1.14716211e-02 9.99934196e-01 6.84804468e-05 7.06184781e-01] [-3.72543492e-03 -2.57448879e-05 9.99993060e-01 -2.22457971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824203821999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:17.07, Y:0.71, Z:-0.22 [[ 9.99954335e-01 -8.80069509e-03 3.72489685e-03 1.70740685e+01] [ 8.80050154e-03 9.99961273e-01 6.83492095e-05 7.08151011e-01] [-3.72535411e-03 -3.55651279e-05 9.99993060e-01 -2.21099178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.13, Y:0.70, Z:-0.23 [[ 9.99947662e-01 -9.52881247e-03 3.72490003e-03 1.71341843e+01] [ 9.52862462e-03 9.99954599e-01 6.81753868e-05 7.03844633e-01] [-3.72538055e-03 -3.26786445e-05 9.99993060e-01 -2.28533152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:0.70, Z:-0.22 [[ 9.99919776e-01 -1.21064886e-02 3.72490461e-03 1.71946512e+01] [ 1.21063196e-02 9.99926714e-01 6.79242491e-05 6.97614491e-01] [-3.72545395e-03 -2.28239143e-05 9.99993060e-01 -2.23585805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:0.70, Z:-0.22 [[ 9.99902394e-01 -1.34658151e-02 3.72490538e-03 1.72568622e+01] [ 1.34656557e-02 9.99909332e-01 6.78819573e-05 6.96666209e-01] [-3.72548173e-03 -1.77170384e-05 9.99993060e-01 -2.19305790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:0.70, Z:-0.22 [[ 9.99877191e-01 -1.52226376e-02 3.72490862e-03 1.73194879e+01] [ 1.52224910e-02 9.99884129e-01 6.77036225e-05 6.95058578e-01] [-3.72550764e-03 -1.09929198e-05 9.99993060e-01 -2.22623556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:0.70, Z:-0.22 [[ 9.99910723e-01 -1.28323945e-02 3.72491265e-03 1.73818719e+01] [ 1.28322321e-02 9.99917661e-01 6.74810522e-05 6.96056179e-01] [-3.72547189e-03 -1.96760839e-05 9.99993060e-01 -2.23939149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:0.70, Z:-0.22 [[ 9.99942221e-01 -1.00836681e-02 3.72491584e-03 1.74440680e+01] [ 1.00834874e-02 9.99949158e-01 6.73043946e-05 7.01023660e-01] [-3.72540514e-03 -2.97403639e-05 9.99993060e-01 -2.22897634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:0.70, Z:-0.23 [[ 9.99944903e-01 -9.81410642e-03 3.72491901e-03 1.75061758e+01] [ 9.81392444e-03 9.99951840e-01 6.71287891e-05 7.01441712e-01] [-3.72539843e-03 -3.05690168e-05 9.99993060e-01 -2.26624630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:0.71, Z:-0.23 [[ 9.99930082e-01 -1.12230581e-02 3.72492216e-03 1.75687004e+01] [ 1.12228866e-02 9.99937019e-01 6.69535960e-05 7.06671241e-01] [-3.72543898e-03 -2.51445359e-05 9.99993060e-01 -2.28822656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:0.71, Z:-0.22 [[ 9.99872020e-01 -1.55585489e-02 3.72492610e-03 1.76306713e+01] [ 1.55584083e-02 9.99878958e-01 6.67337578e-05 7.09449377e-01] [-3.72551351e-03 -8.77129621e-06 9.99993060e-01 -2.23314131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:0.71, Z:-0.23 [[ 9.99720765e-01 -2.33348652e-02 3.72492924e-03 1.76916598e+01] [ 2.33347792e-02 9.99727705e-01 6.65577557e-05 7.07648588e-01] [-3.72546808e-03 2.03812310e-05 9.99993060e-01 -2.28874749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:0.70, Z:-0.23 [[ 9.99486194e-01 -3.18350971e-02 3.72493158e-03 1.77535734e+01] [ 3.18350705e-02 9.99493133e-01 6.64267883e-05 7.02876078e-01] [-3.72515824e-03 5.21908017e-05 9.99993060e-01 -2.26918746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:0.70, Z:-0.23 [[ 9.99455729e-01 -3.27775917e-02 3.72493479e-03 1.78150838e+01] [ 3.27775724e-02 9.99462669e-01 6.62458559e-05 6.98669406e-01] [-3.72510465e-03 5.58845199e-05 9.99993060e-01 -2.29551427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:0.70, Z:-0.22 [[ 9.99501423e-01 -3.13533226e-02 3.72493717e-03 1.78773919e+01] [ 3.13532939e-02 9.99508362e-01 6.61119368e-05 6.95306440e-01] [-3.72517868e-03 5.07100749e-05 9.99993060e-01 -2.24725090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:0.69, Z:-0.22 [[ 9.99606940e-01 -2.77865220e-02 3.72494030e-03 1.79397930e+01] [ 2.77864692e-02 9.99613879e-01 6.59350561e-05 6.88997343e-01] [-3.72533413e-03 3.75937992e-05 9.99993060e-01 -2.23201582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:0.69, Z:-0.23 [[ 9.99635481e-01 -2.67400253e-02 3.72494354e-03 1.80006408e+01] [ 2.67399659e-02 9.99642421e-01 6.57518616e-05 6.87371541e-01] [-3.72536978e-03 3.38769693e-05 9.99993060e-01 -2.26592244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:0.68, Z:-0.23 [[ 9.99688102e-01 -2.46946215e-02 3.72494593e-03 1.80628254e+01] [ 2.46945485e-02 9.99695041e-01 6.56159125e-05 6.83999889e-01] [-3.72543034e-03 2.63904109e-05 9.99993060e-01 -2.27307379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844203821999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:0.68, Z:-0.23 [[ 9.99759210e-01 -2.16251632e-02 3.72494899e-03 1.81254706e+01] [ 2.16250695e-02 9.99766149e-01 6.54418726e-05 6.78508581e-01] [-3.72549310e-03 1.51261658e-05 9.99993060e-01 -2.25403405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:0.67, Z:-0.23 [[ 9.99827572e-01 -1.81920414e-02 3.72495213e-03 1.81873446e+01] [ 1.81919245e-02 9.99834511e-01 6.52626153e-05 6.72475703e-01] [-3.72552295e-03 2.51268559e-06 9.99993060e-01 -2.28202712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:0.67, Z:-0.23 [[ 9.99867762e-01 -1.58298385e-02 3.72495524e-03 1.82484819e+01] [ 1.58297059e-02 9.99874700e-01 6.50845038e-05 6.72499731e-01] [-3.72551878e-03 -6.11095131e-06 9.99993060e-01 -2.28936891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:0.67, Z:-0.23 [[ 9.99874019e-01 -1.54295659e-02 3.72495755e-03 1.83098936e+01] [ 1.54294310e-02 9.99880957e-01 6.49519930e-05 6.72550758e-01] [-3.72551630e-03 -7.46983467e-06 9.99993060e-01 -2.29760875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.37, Y:0.67, Z:-0.23 [[ 9.99827433e-01 -1.81996916e-02 3.72495980e-03 1.83722345e+01] [ 1.81995764e-02 9.99834372e-01 6.48227603e-05 6.72102886e-01] [-3.72552260e-03 2.98111653e-06 9.99993060e-01 -2.28111594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.43, Y:0.67, Z:-0.23 [[ 9.99760883e-01 -2.15476778e-02 3.72496289e-03 1.84335097e+01] [ 2.15475865e-02 9.99767822e-01 6.46446358e-05 6.73254391e-01] [-3.72549098e-03 1.56347818e-05 9.99993060e-01 -2.29610246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:0.68, Z:-0.23 [[ 9.99756047e-01 -2.17708811e-02 3.72496518e-03 1.84956362e+01] [ 2.17707919e-02 9.99762986e-01 6.45126032e-05 6.76812937e-01] [-3.72548681e-03 1.65985764e-05 9.99993060e-01 -2.28531671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:0.68, Z:-0.23 [[ 9.99747980e-01 -2.21382423e-02 3.72496815e-03 1.85573780e+01] [ 2.21381562e-02 9.99754919e-01 6.43407683e-05 6.78041925e-01] [-3.72547962e-03 1.81393736e-05 9.99993060e-01 -2.28024813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324203821999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:0.68, Z:-0.22 [[ 9.99741705e-01 -2.24198068e-02 3.72497122e-03 1.86196401e+01] [ 2.24197234e-02 9.99748644e-01 6.41625934e-05 6.80492050e-01] [-3.72547344e-03 1.93668036e-05 9.99993060e-01 -2.23999418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:0.68, Z:-0.23 [[ 9.99696860e-01 -2.43374668e-02 3.72497434e-03 1.86803285e+01] [ 2.43373973e-02 9.99703800e-01 6.39809331e-05 6.84488950e-01] [-3.72542813e-03 2.66946424e-05 9.99993060e-01 -2.27697405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:0.68, Z:-0.23 [[ 9.99688643e-01 -2.46726824e-02 3.72497664e-03 1.87427637e+01] [ 2.46726157e-02 9.99695583e-01 6.38463587e-05 6.82456917e-01] [-3.72541796e-03 2.80784376e-05 9.99993060e-01 -2.27010418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:0.68, Z:-0.22 [[ 9.99668619e-01 -2.54710829e-02 3.72497962e-03 1.88049688e+01] [ 2.54710225e-02 9.99675559e-01 6.36719583e-05 6.80709241e-01] [-3.72539288e-03 3.12281811e-05 9.99993060e-01 -2.24909340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564203821999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:0.68, Z:-0.23 [[ 9.99703116e-01 -2.40791341e-02 3.72498269e-03 1.88660380e+01] [ 2.40790647e-02 9.99710055e-01 6.34920762e-05 6.80880957e-01] [-3.72543148e-03 2.62208726e-05 9.99993060e-01 -2.28458007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:0.68, Z:-0.23 [[ 9.99794488e-01 -1.99275435e-02 3.72498496e-03 1.89275310e+01] [ 1.99274458e-02 9.99801427e-01 6.33587284e-05 6.79326250e-01] [-3.72550786e-03 1.08837284e-05 9.99993060e-01 -2.29508562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:0.68, Z:-0.23 [[ 9.99811593e-01 -1.90500370e-02 3.72498717e-03 1.89894782e+01] [ 1.90499337e-02 9.99818532e-01 6.32285391e-05 6.80057879e-01] [-3.72551571e-03 7.74413214e-06 9.99993060e-01 -2.33926420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744203821999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:0.68, Z:-0.23 [[ 9.99732534e-01 -2.28250896e-02 3.72499015e-03 1.90518817e+01] [ 2.28250131e-02 9.99739473e-01 6.30526117e-05 6.77437422e-01] [-3.72545887e-03 2.19872016e-05 9.99993060e-01 -2.34760957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:0.67, Z:-0.24 [[ 9.99618633e-01 -2.73626068e-02 3.72499312e-03 1.91131905e+01] [ 2.73625625e-02 9.99625573e-01 6.28765759e-05 6.71632752e-01] [-3.72531885e-03 3.90727600e-05 9.99993060e-01 -2.39820317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:0.66, Z:-0.23 [[ 9.99517384e-01 -3.08402955e-02 3.72499532e-03 1.91757631e+01] [ 3.08402758e-02 9.99524324e-01 6.27458854e-05 6.64242319e-01] [-3.72515853e-03 5.21642798e-05 9.99993060e-01 -2.34525186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:0.66, Z:-0.23 [[ 9.99481178e-01 -3.19921873e-02 3.72499823e-03 1.92380969e+01] [ 3.19921762e-02 9.99488117e-01 6.25723555e-05 6.58332408e-01] [-3.72509330e-03 5.66309083e-05 9.99993060e-01 -2.33488369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984203821999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:0.65, Z:-0.23 [[ 9.99549134e-01 -2.97935058e-02 3.72500120e-03 1.93007946e+01] [ 2.97934801e-02 9.99556074e-01 6.23955213e-05 6.49399574e-01] [-3.72520655e-03 4.86133598e-05 9.99993060e-01 -2.34928054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044203821999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:0.64, Z:-0.23 [[ 9.99722500e-01 -2.32604169e-02 3.72500413e-03 1.93628985e+01] [ 2.32603466e-02 9.99729440e-01 6.22201305e-05 6.37084987e-01] [-3.72544355e-03 2.44420225e-05 9.99993060e-01 -2.32269961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:0.64, Z:-0.23 [[ 9.99855411e-01 -1.65915810e-02 3.72500613e-03 1.94233864e+01] [ 1.65914648e-02 9.99862350e-01 6.21001547e-05 6.35253555e-01] [-3.72552372e-03 -2.87867654e-07 9.99993060e-01 -2.30377805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:0.63, Z:-0.24 [[ 9.99924115e-01 -1.17426235e-02 3.72500689e-03 1.94851133e+01] [ 1.17424738e-02 9.99931053e-01 6.20543369e-05 6.26946226e-01] [-3.72547874e-03 -1.83088322e-05 9.99993060e-01 -2.36810897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:0.62, Z:-0.24 [[ 9.99940694e-01 -1.02338676e-02 3.72500840e-03 1.95464533e+01] [ 1.02337077e-02 9.99947632e-01 6.19632432e-05 6.17678967e-01] [-3.72544746e-03 -2.38389211e-05 9.99993060e-01 -2.39759827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:0.62, Z:-0.24 [[ 9.99965244e-01 -7.45893665e-03 3.72501065e-03 1.96075314e+01] [ 7.45875808e-03 9.99972181e-01 6.18276697e-05 6.16405145e-01] [-3.72536820e-03 -3.40415674e-05 9.99993060e-01 -2.35470405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:0.61, Z:-0.23 [[ 9.99981539e-01 -4.80070371e-03 3.72501209e-03 1.96699445e+01] [ 4.80050702e-03 9.99988476e-01 6.17409933e-05 6.14874513e-01] [-3.72526556e-03 -4.38579068e-05 9.99993060e-01 -2.33611234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:0.61, Z:-0.23 [[ 9.99964421e-01 -7.56837508e-03 3.72501515e-03 1.97332827e+01] [ 7.56819829e-03 9.99971359e-01 6.15561256e-05 6.13877872e-01] [-3.72537434e-03 -3.33622823e-05 9.99993060e-01 -2.34427997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:0.61, Z:-0.24 [[ 9.99916487e-01 -1.23750829e-02 3.72502733e-03 1.97943693e+01] [ 1.23749422e-02 9.99923426e-01 6.08094686e-05 6.13727658e-01] [-3.72549462e-03 -1.47073922e-05 9.99993060e-01 -2.38824635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.86, Y:0.61, Z:-0.23 [[ 9.99875891e-01 -1.53077257e-02 3.72503698e-03 1.98561004e+01] [ 1.53076076e-02 9.99882830e-01 6.02128472e-05 6.12176368e-01] [-3.72552224e-03 -3.18396991e-06 9.99993060e-01 -2.33559054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:0.61, Z:-0.23 [[ 9.99829155e-01 -1.81048547e-02 3.72503924e-03 1.99174366e+01] [ 1.81047565e-02 9.99836094e-01 6.00728096e-05 6.10129948e-01] [-3.72551629e-03 7.37838196e-06 9.99993060e-01 -2.32977117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:0.60, Z:-0.24 [[ 9.99711600e-01 -2.37242875e-02 3.72504147e-03 1.99783297e+01] [ 2.37242289e-02 9.99718539e-01 5.99342819e-05 6.03546370e-01] [-3.72541491e-03 2.84567394e-05 9.99993060e-01 -2.40476286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:0.60, Z:-0.24 [[ 9.99697266e-01 -2.43207765e-02 3.72504293e-03 2.00401733e+01] [ 2.43207223e-02 9.99704206e-01 5.98434487e-05 5.98348976e-01] [-3.72539652e-03 3.07704025e-05 9.99993060e-01 -2.40121734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:0.60, Z:-0.24 [[ 9.99852025e-01 -1.67943989e-02 3.72504437e-03 2.01003043e+01] [ 1.67942928e-02 9.99858964e-01 5.97535189e-05 5.99505116e-01] [-3.72552253e-03 2.81480887e-06 9.99993060e-01 -2.41973672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:0.60, Z:-0.25 [[ 9.99929685e-01 -1.12582638e-02 3.72504677e-03 2.01620283e+01] [ 1.12581199e-02 9.99936624e-01 5.96035031e-05 5.99801479e-01] [-3.72548172e-03 -1.76622890e-05 9.99993060e-01 -2.46174679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:0.60, Z:-0.24 [[ 9.99911594e-01 -1.27643262e-02 3.72504858e-03 2.02235985e+01] [ 1.27641931e-02 9.99918533e-01 5.94900363e-05 6.03388010e-01] [-3.72550446e-03 -1.19375375e-05 9.99993060e-01 -2.41316569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:0.60, Z:-0.24 [[ 9.99856697e-01 -1.65139068e-02 3.72505071e-03 2.02845350e+01] [ 1.65138003e-02 9.99863636e-01 5.93561131e-05 6.00509723e-01] [-3.72552295e-03 2.16713618e-06 9.99993060e-01 -2.39879211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004203821999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:0.60, Z:-0.24 [[ 9.99765416e-01 -2.13362721e-02 3.72505494e-03 2.03456952e+01] [ 2.13362000e-02 9.99772356e-01 5.90894647e-05 6.02097543e-01] [-3.72546770e-03 2.04029141e-05 9.99993060e-01 -2.43389312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:0.60, Z:-0.24 [[ 9.99732210e-01 -2.28392491e-02 3.72505633e-03 2.04068104e+01] [ 2.28391878e-02 9.99739150e-01 5.90022010e-05 6.02251706e-01] [-3.72543221e-03 2.60908601e-05 9.99993060e-01 -2.43396745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:0.60, Z:-0.24 [[ 9.99780897e-01 -2.05981072e-02 3.72505775e-03 2.04686499e+01] [ 2.05980307e-02 9.99787836e-01 5.89124110e-05 6.01838109e-01] [-3.72548091e-03 1.78293507e-05 9.99993060e-01 -2.42160417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:0.60, Z:-0.24 [[ 9.99802028e-01 -1.95455795e-02 3.72505919e-03 2.05286960e+01] [ 1.95454960e-02 9.99808967e-01 5.88207910e-05 6.04167955e-01] [-3.72549727e-03 1.39989834e-05 9.99993060e-01 -2.41760276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:0.61, Z:-0.24 [[ 9.99738803e-01 -2.25488448e-02 3.72505991e-03 2.05908062e+01] [ 2.25487823e-02 9.99745742e-01 5.87754022e-05 6.05438650e-01] [-3.72543810e-03 2.52355147e-05 9.99993060e-01 -2.40929619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:0.60, Z:-0.24 [[ 9.99622536e-01 -2.72196510e-02 3.72506271e-03 2.06525577e+01] [ 2.72196216e-02 9.99629476e-01 5.85974855e-05 5.99088402e-01] [-3.72527748e-03 4.28194302e-05 9.99993060e-01 -2.35902923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:0.60, Z:-0.24 [[ 9.99535131e-01 -3.02596390e-02 3.72506410e-03 2.07128230e+01] [ 3.02596311e-02 9.99542071e-01 5.85091345e-05 5.98423613e-01] [-3.72512875e-03 5.42371299e-05 9.99993060e-01 -2.41396210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424203821999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:0.60, Z:-0.24 [[ 9.99603623e-01 -2.79055576e-02 3.72506410e-03 2.07736475e+01] [ 2.79055333e-02 9.99610563e-01 5.85091345e-05 5.96090086e-01] [-3.72524615e-03 4.54639572e-05 9.99993060e-01 -2.41647306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:0.59, Z:-0.25 [[ 9.99690735e-01 -2.45877840e-02 3.72506410e-03 2.08342589e+01] [ 2.45877366e-02 9.99697674e-01 5.85091345e-05 5.93670085e-01] [-3.72537652e-03 3.30998552e-05 9.99993060e-01 -2.47523662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.90, Y:0.60, Z:-0.25 [[ 9.99809490e-01 -1.91600393e-02 3.72506481e-03 2.08952603e+01] [ 1.91599545e-02 9.99816430e-01 5.84637426e-05 5.97443638e-01] [-3.72550116e-03 1.29194675e-05 9.99993060e-01 -2.45826667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.96, Y:0.60, Z:-0.24 [[ 9.99897993e-01 -1.37887044e-02 3.72506618e-03 2.09562456e+01] [ 1.37885827e-02 9.99904931e-01 5.83759483e-05 5.97615103e-01] [-3.72551698e-03 -7.00661058e-06 9.99993060e-01 -2.42864714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664203821999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:0.60, Z:-0.25 [[ 9.99883626e-01 -1.47938687e-02 3.72506763e-03 2.10165973e+01] [ 1.47937543e-02 9.99890565e-01 5.82837280e-05 6.04887726e-01] [-3.72552221e-03 -3.16921022e-06 9.99993060e-01 -2.46404598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.08, Y:0.60, Z:-0.25 [[ 9.99743432e-01 -2.23426521e-02 3.72506834e-03 2.10789860e+01] [ 2.23425902e-02 9.99750371e-01 5.82380118e-05 6.00237166e-01] [-3.72543965e-03 2.50046056e-05 9.99993060e-01 -2.50203494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:0.60, Z:-0.25 [[ 9.99575702e-01 -2.88884031e-02 3.72507188e-03 2.11397000e+01] [ 2.88883875e-02 9.99582642e-01 5.80107242e-05 5.95670697e-01] [-3.72519303e-03 4.96252095e-05 9.99993060e-01 -2.46984017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.20, Y:0.59, Z:-0.24 [[ 9.99576695e-01 -2.88540075e-02 3.72507321e-03 2.12007600e+01] [ 2.88539920e-02 9.99583635e-01 5.79251547e-05 5.90546275e-01] [-3.72519359e-03 4.95825978e-05 9.99993060e-01 -2.44144479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.26, Y:0.59, Z:-0.25 [[ 9.99755974e-01 -2.17742205e-02 3.72507464e-03 2.12610232e+01] [ 2.17741561e-02 9.99762913e-01 5.78331351e-05 5.90454234e-01] [-3.72545075e-03 2.32913345e-05 9.99993060e-01 -2.48760061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.32, Y:0.59, Z:-0.25 [[ 9.99895766e-01 -1.39492463e-02 3.72507464e-03 2.13208503e+01] [ 1.39491276e-02 9.99902705e-01 5.78331351e-05 5.88525848e-01] [-3.72551894e-03 -5.86556529e-06 9.99993060e-01 -2.50497236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.38, Y:0.59, Z:-0.25 [[ 9.99892190e-01 -1.42032561e-02 3.72507464e-03 2.13824526e+01] [ 1.42031392e-02 9.99899129e-01 5.78331351e-05 5.87034494e-01] [-3.72552031e-03 -4.91914639e-06 9.99993060e-01 -2.47035576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.44, Y:0.58, Z:-0.24 [[ 9.99866087e-01 -1.59352292e-02 3.72507599e-03 2.14435050e+01] [ 1.59351247e-02 9.99873026e-01 5.77458124e-05 5.82168003e-01] [-3.72552320e-03 1.62147093e-06 9.99993060e-01 -2.44423640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144203821999998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:21.50, Y:0.58, Z:-0.25 [[ 9.99832903e-01 -1.78966563e-02 3.72507734e-03 2.15049076e+01] [ 1.78965657e-02 9.99839842e-01 5.76587955e-05 5.81382753e-01] [-3.72551264e-03 9.01693036e-06 9.99993060e-01 -2.45034915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:0.58, Z:-0.25 [[ 9.99792437e-01 -2.00301529e-02 3.72507870e-03 2.15664030e+01] [ 2.00300774e-02 9.99799376e-01 5.75706040e-05 5.77291107e-01] [-3.72548451e-03 1.70549602e-05 9.99993060e-01 -2.47816627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:0.57, Z:-0.25 [[ 9.99724667e-01 -2.31670738e-02 3.72508014e-03 2.16278389e+01] [ 2.31670204e-02 9.99731607e-01 5.74778354e-05 5.69028740e-01] [-3.72541194e-03 2.88369976e-05 9.99993060e-01 -2.47218088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:0.57, Z:-0.25 [[ 9.99765060e-01 -2.13529724e-02 3.72508155e-03 2.16895128e+01] [ 2.13529068e-02 9.99771999e-01 5.73859292e-05 5.70201020e-01] [-3.72545759e-03 2.21688721e-05 9.99993060e-01 -2.45778692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:0.57, Z:-0.25 [[ 9.99827612e-01 -1.81898078e-02 3.72508295e-03 2.17504904e+01] [ 1.81897206e-02 9.99834552e-01 5.72947433e-05 5.68976826e-01] [-3.72550883e-03 1.04733517e-05 9.99993060e-01 -2.47048971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:0.58, Z:-0.25 [[ 9.99891785e-01 -1.42317039e-02 3.72508436e-03 2.18111225e+01] [ 1.42315895e-02 9.99898724e-01 5.72031822e-05 5.75106963e-01] [-3.72552120e-03 -4.18312040e-06 9.99993060e-01 -2.54802579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:0.58, Z:-0.25 [[ 9.99920225e-01 -1.20692516e-02 3.72508576e-03 2.18726418e+01] [ 1.20691226e-02 9.99927164e-01 5.71119491e-05 5.79572406e-01] [-3.72550374e-03 -1.21488763e-05 9.99993060e-01 -2.54531671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:0.58, Z:-0.26 [[ 9.99918242e-01 -1.22324728e-02 3.72508715e-03 2.19343723e+01] [ 1.22323453e-02 9.99925180e-01 5.70211812e-05 5.79447682e-01] [-3.72550595e-03 -1.14499671e-05 9.99993060e-01 -2.59412196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.00, Y:0.59, Z:-0.26 [[ 9.99840894e-01 -1.74444997e-02 3.72508925e-03 2.19960494e+01] [ 1.74444088e-02 9.99847833e-01 5.68837564e-05 5.90424832e-01] [-3.72551472e-03 8.10727395e-06 9.99993060e-01 -2.58463974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.06, Y:0.59, Z:-0.26 [[ 9.99790869e-01 -2.01082734e-02 3.72509200e-03 2.20569816e+01] [ 2.01082017e-02 9.99797808e-01 5.67025318e-05 5.93377983e-01] [-3.72547901e-03 1.82142278e-05 9.99993060e-01 -2.59000078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.12, Y:0.59, Z:-0.26 [[ 9.99766573e-01 -2.12819935e-02 3.72509404e-03 2.21179143e+01] [ 2.12819304e-02 9.99773512e-01 5.65683236e-05 5.93988282e-01] [-3.72545424e-03 2.27220732e-05 9.99993060e-01 -2.57203063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.18, Y:0.61, Z:-0.27 [[ 9.99808032e-01 -1.92359967e-02 3.72509541e-03 2.21780084e+01] [ 1.92359198e-02 9.99814971e-01 5.64782583e-05 6.07599838e-01] [-3.72549257e-03 1.51882202e-05 9.99993060e-01 -2.69950011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:0.61, Z:-0.27 [[ 9.99854715e-01 -1.66334535e-02 3.72509541e-03 2.22397622e+01] [ 1.66333585e-02 9.99861655e-01 5.64783072e-05 6.07020644e-01] [-3.72551949e-03 5.49074546e-06 9.99993060e-01 -2.67138096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:0.62, Z:-0.26 [[ 9.99897421e-01 -1.38300965e-02 3.72509740e-03 2.22998390e+01] [ 1.38299825e-02 9.99904360e-01 5.63465394e-05 6.20491690e-01] [-3.72552041e-03 -4.82272749e-06 9.99993060e-01 -2.61448436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:0.63, Z:-0.27 [[ 9.99909690e-01 -1.29126405e-02 3.72509843e-03 2.23600141e+01] [ 1.29125205e-02 9.99916628e-01 5.62783695e-05 6.27481633e-01] [-3.72551457e-03 -8.17287731e-06 9.99993060e-01 -2.68129257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:0.63, Z:-0.27 [[ 9.99866173e-01 -1.59298525e-02 3.72509911e-03 2.24221212e+01] [ 1.59297535e-02 9.99873112e-01 5.62333158e-05 6.31683783e-01] [-3.72552223e-03 3.11412046e-06 9.99993060e-01 -2.67728196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104203821999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:0.65, Z:-0.26 [[ 9.99840982e-01 -1.74394315e-02 3.72510180e-03 2.24832600e+01] [ 1.74393437e-02 9.99847922e-01 5.60545315e-05 6.47038112e-01] [-3.72551285e-03 8.91771275e-06 9.99993060e-01 -2.61664865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:0.65, Z:-0.26 [[ 9.99819282e-01 -1.86420993e-02 3.72510315e-03 2.25445622e+01] [ 1.86420201e-02 9.99826221e-01 5.59648546e-05 6.48154950e-01] [-3.72549911e-03 1.34887072e-05 9.99993060e-01 -2.59038393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:0.65, Z:-0.26 [[ 9.99735650e-01 -2.26881879e-02 3.72510448e-03 2.26054784e+01] [ 2.26881371e-02 9.99742590e-01 5.58760197e-05 6.49092357e-01] [-3.72541333e-03 2.86544324e-05 9.99993060e-01 -2.58307507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:0.66, Z:-0.26 [[ 9.99681470e-01 -2.49616032e-02 3.72510646e-03 2.26671170e+01] [ 2.49615688e-02 9.99688410e-01 5.57439089e-05 6.56055155e-01] [-3.72533721e-03 3.72583482e-05 9.99993060e-01 -2.61138395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:0.65, Z:-0.26 [[ 9.99678505e-01 -2.50800863e-02 3.72510776e-03 2.27286851e+01] [ 2.50800530e-02 9.99685444e-01 5.56570281e-05 6.53715715e-01] [-3.72533189e-03 3.77867653e-05 9.99993060e-01 -2.62517960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404203821999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:0.66, Z:-0.25 [[ 9.99718970e-01 -2.34116289e-02 3.72511225e-03 2.27899425e+01] [ 2.34115851e-02 9.99725910e-01 5.53542848e-05 6.57531983e-01] [-3.72538717e-03 3.18720540e-05 9.99993060e-01 -2.53638933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:0.66, Z:-0.26 [[ 9.99803136e-01 -1.94888114e-02 3.72511356e-03 2.28505571e+01] [ 1.94887408e-02 9.99810075e-01 5.52662517e-05 6.60182870e-01] [-3.72548314e-03 1.73424009e-05 9.99993060e-01 -2.56291857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.91, Y:0.66, Z:-0.26 [[ 9.99782762e-01 -2.05073695e-02 3.72511486e-03 2.29117619e+01] [ 2.05073062e-02 9.99789702e-01 5.51787619e-05 6.56268858e-01] [-3.72546304e-03 2.12252961e-05 9.99993060e-01 -2.57766720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.97, Y:0.66, Z:-0.25 [[ 9.99725766e-01 -2.31195912e-02 3.72511613e-03 2.29726287e+01] [ 2.31195464e-02 9.99732706e-01 5.50926426e-05 6.56897549e-01] [-3.72539415e-03 3.10454609e-05 9.99993060e-01 -2.50092680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644203821999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.03, Y:0.65, Z:-0.25 [[ 9.99710469e-01 -2.37718545e-02 3.72511749e-03 2.30330723e+01] [ 2.37718145e-02 9.99717409e-01 5.50005513e-05 6.51525685e-01] [-3.72537227e-03 3.35681752e-05 9.99993060e-01 -2.50703927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:0.65, Z:-0.25 [[ 9.99819487e-01 -1.86310711e-02 3.72511814e-03 2.30945561e+01] [ 1.86309957e-02 9.99826426e-01 5.49565117e-05 6.52375543e-01] [-3.72549546e-03 1.44560686e-05 9.99993060e-01 -2.52634950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764203821999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:23.16, Y:0.66, Z:-0.25 [[ 9.99914473e-01 -1.25367864e-02 3.72511948e-03 2.31558437e+01] [ 1.25366690e-02 9.99921411e-01 5.48653369e-05 6.55569070e-01] [-3.72551457e-03 -8.16005452e-06 9.99993060e-01 -2.52128203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824203821999998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:0.66, Z:-0.26 [[ 9.99916090e-01 -1.24070975e-02 3.72512082e-03 2.32173564e+01] [ 1.24069796e-02 9.99923029e-01 5.47743203e-05 6.55344148e-01] [-3.72551368e-03 -8.55222633e-06 9.99993060e-01 -2.56038805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:0.66, Z:-0.26 [[ 9.99895352e-01 -1.39788754e-02 3.72512281e-03 2.32794948e+01] [ 1.39787688e-02 9.99902291e-01 5.46385684e-05 6.60108242e-01] [-3.72552262e-03 -2.56021986e-06 9.99993060e-01 -2.55068364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:0.66, Z:-0.26 [[ 9.99891131e-01 -1.42776023e-02 3.72512547e-03 2.33403346e+01] [ 1.42774985e-02 9.99898070e-01 5.44565616e-05 6.64279816e-01] [-3.72552328e-03 -1.26515980e-06 9.99993060e-01 -2.61089568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:0.67, Z:-0.26 [[ 9.99897880e-01 -1.37968416e-02 3.72512679e-03 2.34019125e+01] [ 1.37967348e-02 9.99904819e-01 5.43663660e-05 6.74609594e-01] [-3.72552231e-03 -2.96622784e-06 9.99993060e-01 -2.63895757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:0.68, Z:-0.26 [[ 9.99896717e-01 -1.38809063e-02 3.72512879e-03 2.34630580e+01] [ 1.38808006e-02 9.99903656e-01 5.42288206e-05 6.83203912e-01] [-3.72552264e-03 -2.51544968e-06 9.99993060e-01 -2.64604957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:0.69, Z:-0.26 [[ 9.99847624e-01 -1.70544077e-02 3.72513011e-03 2.35246186e+01] [ 1.70543244e-02 9.99854563e-01 5.41381101e-05 6.90519158e-01] [-3.72551163e-03 9.39971662e-06 9.99993060e-01 -2.62992507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:0.69, Z:-0.26 [[ 9.99716718e-01 -2.35076062e-02 3.72513208e-03 2.35852946e+01] [ 2.35075682e-02 9.99723657e-01 5.40018520e-05 6.89942420e-01] [-3.72537213e-03 3.35822424e-05 9.99993060e-01 -2.60154437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244203821999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:0.69, Z:-0.26 [[ 9.99571429e-01 -2.90358536e-02 3.72513275e-03 2.36464274e+01] [ 2.90358542e-02 9.99578369e-01 5.39561350e-05 6.90316852e-01] [-3.72512878e-03 5.42294002e-05 9.99993060e-01 -2.63580346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:0.69, Z:-0.26 [[ 9.99543164e-01 -2.99931193e-02 3.72513471e-03 2.37083545e+01] [ 2.99931270e-02 9.99550104e-01 5.38204312e-05 6.91119102e-01] [-3.72507303e-03 5.79325943e-05 9.99993060e-01 -2.61724457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:0.69, Z:-0.26 [[ 9.99636189e-01 -2.67135342e-02 3.72513733e-03 2.37694023e+01] [ 2.67135198e-02 9.99643129e-01 5.36386457e-05 6.90161567e-01] [-3.72524081e-03 4.58923983e-05 9.99993060e-01 -2.61446394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.83, Y:0.69, Z:-0.26 [[ 9.99643379e-01 -2.64431094e-02 3.72513926e-03 2.38304545e+01] [ 2.64430936e-02 9.99650319e-01 5.35038173e-05 6.92126510e-01] [-3.72525146e-03 4.50194693e-05 9.99993060e-01 -2.61304250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.89, Y:0.69, Z:-0.26 [[ 9.99636742e-01 -2.66928170e-02 3.72514056e-03 2.38913064e+01] [ 2.66928033e-02 9.99643682e-01 5.34129636e-05 6.89208779e-01] [-3.72523897e-03 4.60408835e-05 9.99993060e-01 -2.63124341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.95, Y:0.69, Z:-0.26 [[ 9.99621608e-01 -2.72537056e-02 3.72514251e-03 2.39536277e+01] [ 2.72536963e-02 9.99628548e-01 5.32771335e-05 6.89795472e-01] [-3.72521079e-03 4.82669286e-05 9.99993060e-01 -2.55983764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604203821999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:0.69, Z:-0.26 [[ 9.99562532e-01 -2.93405613e-02 3.72514509e-03 2.40150149e+01] [ 2.93405671e-02 9.99569471e-01 5.30958027e-05 6.87536741e-01] [-3.72509917e-03 5.62252945e-05 9.99993060e-01 -2.59916055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664203821999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:0.68, Z:-0.26 [[ 9.99497725e-01 -3.14709692e-02 3.72514918e-03 2.40767412e+01] [ 3.14709909e-02 9.99504664e-01 5.28071847e-05 6.84770425e-01] [-3.72496588e-03 6.44534751e-05 9.99993060e-01 -2.60999294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.14, Y:0.69, Z:-0.26 [[ 9.99542659e-01 -3.00099187e-02 3.72515041e-03 2.41392023e+01] [ 3.00099306e-02 9.99549599e-01 5.27201662e-05 6.85967620e-01] [-3.72505473e-03 5.90954503e-05 9.99993060e-01 -2.60781655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784203821999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:24.20, Y:0.68, Z:-0.26 [[ 9.99622387e-01 -2.72251061e-02 3.72515293e-03 2.42010830e+01] [ 2.72250993e-02 9.99629327e-01 5.25418824e-05 6.81735734e-01] [-3.72520257e-03 4.88956166e-05 9.99993060e-01 -2.59634979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.26, Y:0.68, Z:-0.27 [[ 9.99661875e-01 -2.57343922e-02 3.72515484e-03 2.42614535e+01] [ 2.57343755e-02 9.99668815e-01 5.24063834e-05 6.84512134e-01] [-3.72526977e-03 4.34758699e-05 9.99993060e-01 -2.69514660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904203821999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:24.32, Y:0.68, Z:-0.26 [[ 9.99574970e-01 -2.89137159e-02 3.72515764e-03 2.43227109e+01] [ 2.89137220e-02 9.99581910e-01 5.22065529e-05 6.84269782e-01] [-3.72510967e-03 5.55238089e-05 9.99993060e-01 -2.56804993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.38, Y:0.68, Z:-0.27 [[ 9.99525303e-01 -3.05825563e-02 3.72515898e-03 2.43833066e+01] [ 3.05825744e-02 9.99532242e-01 5.21106325e-05 6.80284869e-01] [-3.72501018e-03 6.18390560e-05 9.99993060e-01 -2.66370789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:0.69, Z:-0.26 [[ 9.99606327e-01 -2.78085210e-02 3.72515964e-03 2.44451780e+01] [ 2.78085200e-02 9.99613267e-01 5.20633323e-05 6.85982753e-01] [-3.72516680e-03 5.15483400e-05 9.99993060e-01 -2.61774152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:0.69, Z:-0.26 [[ 9.99754933e-01 -2.18219582e-02 3.72516223e-03 2.45057660e+01] [ 2.18219164e-02 9.99761872e-01 5.18772770e-05 6.90482832e-01] [-3.72540723e-03 2.94256152e-05 9.99993060e-01 -2.60675177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:0.69, Z:-0.26 [[ 9.99929669e-01 -1.12596681e-02 3.72516287e-03 2.45661689e+01] [ 1.12595532e-02 9.99936608e-01 5.18314604e-05 6.94658409e-01] [-3.72551033e-03 -9.88414575e-06 9.99993060e-01 -2.60019939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204203821999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:0.70, Z:-0.26 [[ 9.99967065e-01 -7.21055508e-03 3.72516350e-03 2.46278015e+01] [ 7.21041220e-03 9.99974003e-01 5.17863225e-05 7.04016172e-01] [-3.72544006e-03 -2.49246526e-05 9.99993060e-01 -2.58199226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:0.71, Z:-0.26 [[ 9.99973693e-01 -6.22381544e-03 3.72516602e-03 2.46895469e+01] [ 6.22366638e-03 9.99980631e-01 5.16040259e-05 7.05495681e-01] [-3.72541504e-03 -2.84184778e-05 9.99993060e-01 -2.58037572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:0.72, Z:-0.26 [[ 9.99977315e-01 -5.61190711e-03 3.72516854e-03 2.47509122e+01] [ 5.61175449e-03 9.99984253e-01 5.14212166e-05 7.16002258e-01] [-3.72539845e-03 -3.05153188e-05 9.99993060e-01 -2.61849210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:0.72, Z:-0.25 [[ 9.99960599e-01 -8.05749539e-03 3.72517314e-03 2.48133163e+01] [ 8.05736099e-03 9.99967538e-01 5.10861302e-05 7.24728557e-01] [-3.72546384e-03 -2.10690526e-05 9.99993060e-01 -2.53856398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.87, Y:0.73, Z:-0.25 [[ 9.99953744e-01 -8.86754362e-03 3.72517563e-03 2.48746908e+01] [ 8.86741551e-03 9.99960682e-01 5.09040556e-05 7.29242548e-01] [-3.72548056e-03 -1.78690209e-05 9.99993060e-01 -2.50279810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504203821999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:24.94, Y:0.75, Z:-0.25 [[ 9.99906000e-01 -1.31952607e-02 3.72517876e-03 2.49362917e+01] [ 1.31951635e-02 9.99912939e-01 5.06740538e-05 7.45756421e-01] [-3.72552309e-03 -1.51494772e-06 9.99993060e-01 -2.50307657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.00, Y:0.75, Z:-0.26 [[ 9.99844935e-01 -1.72113182e-02 3.72518125e-03 2.49975423e+01] [ 1.72112495e-02 9.99851874e-01 5.04900899e-05 7.50975679e-01] [-3.72549845e-03 1.36327634e-05 9.99993060e-01 -2.58141896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624203821999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.06, Y:0.76, Z:-0.26 [[ 9.99772717e-01 -2.09913451e-02 3.72518309e-03 2.50599065e+01] [ 2.09913032e-02 9.99779657e-01 5.03536638e-05 7.60747249e-01] [-3.72541927e-03 2.78542284e-05 9.99993060e-01 -2.55953199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.12, Y:0.77, Z:-0.26 [[ 9.99612487e-01 -2.75862029e-02 3.72518551e-03 2.51217093e+01] [ 2.75862075e-02 9.99619427e-01 5.01739377e-05 7.71393224e-01] [-3.72515192e-03 5.26092458e-05 9.99993060e-01 -2.61567479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744203821999996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:25.18, Y:0.77, Z:-0.26 [[ 9.99524543e-01 -3.06073537e-02 3.72518735e-03 2.51837737e+01] [ 3.06073797e-02 9.99531483e-01 5.00370339e-05 7.74238985e-01] [-3.72497354e-03 6.40049804e-05 9.99993060e-01 -2.58645527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804203821999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:0.78, Z:-0.26 [[ 9.99541065e-01 -3.00629700e-02 3.72518979e-03 2.52448988e+01] [ 3.00629929e-02 9.99548005e-01 4.98553110e-05 7.79232680e-01] [-3.72500482e-03 6.21579234e-05 9.99993060e-01 -2.57030273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.31, Y:0.79, Z:-0.26 [[ 9.99635481e-01 -2.67400138e-02 3.72519158e-03 2.53070806e+01] [ 2.67400141e-02 9.99642421e-01 4.97210518e-05 7.85309559e-01] [-3.72518907e-03 4.99087478e-05 9.99993060e-01 -2.57390574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.37, Y:0.79, Z:-0.26 [[ 9.99685170e-01 -2.48129800e-02 3.72519397e-03 2.53680499e+01] [ 2.48129676e-02 9.99692110e-01 4.95413380e-05 7.89774433e-01] [-3.72527628e-03 4.29073764e-05 9.99993060e-01 -2.62151735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:0.79, Z:-0.26 [[ 9.99663246e-01 -2.56810798e-02 3.72519844e-03 2.54297639e+01] [ 2.56810747e-02 9.99670186e-01 4.92027324e-05 7.92249922e-01] [-3.72523339e-03 4.64809363e-05 9.99993060e-01 -2.57921416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044203821999997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:0.79, Z:-0.26 [[ 9.99635861e-01 -2.67258042e-02 3.72520019e-03 2.54910909e+01] [ 2.67258069e-02 9.99642801e-01 4.90696100e-05 7.88905938e-01] [-3.72518098e-03 5.05072391e-05 9.99993060e-01 -2.61152355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104203821999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:0.79, Z:-0.26 [[ 9.99687368e-01 -2.47242731e-02 3.72520192e-03 2.55534144e+01] [ 2.47242624e-02 9.99694308e-01 4.89379713e-05 7.89059711e-01] [-3.72527311e-03 4.31801981e-05 9.99993060e-01 -2.60390635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164203821999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.62, Y:0.79, Z:-0.26 [[ 9.99825913e-01 -1.82829347e-02 3.72520428e-03 2.56158024e+01] [ 1.82828800e-02 9.99832853e-01 4.87578613e-05 7.93350609e-01] [-3.72547306e-03 1.93580894e-05 9.99993060e-01 -2.56025510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.68, Y:0.79, Z:-0.26 [[ 9.99869475e-01 -1.57212190e-02 3.72520664e-03 2.56773560e+01] [ 1.57211472e-02 9.99876414e-01 4.85767994e-05 7.93888861e-01] [-3.72550994e-03 9.99406292e-06 9.99993060e-01 -2.60717337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.74, Y:0.80, Z:-0.26 [[ 9.99882574e-01 -1.48647656e-02 3.72520840e-03 2.57397530e+01] [ 1.48646883e-02 9.99889513e-01 4.84418441e-05 7.99024046e-01] [-3.72551689e-03 6.93790594e-06 9.99993060e-01 -2.59290677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:0.80, Z:-0.26 [[ 9.99894353e-01 -1.40501282e-02 3.72521066e-03 2.58016185e+01] [ 1.40500459e-02 9.99901292e-01 4.82670120e-05 8.03895270e-01] [-3.72552111e-03 4.07746802e-06 9.99993060e-01 -2.61760889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:0.81, Z:-0.26 [[ 9.99895694e-01 -1.39543537e-02 3.72521292e-03 2.58638316e+01] [ 1.39542713e-02 9.99902633e-01 4.80920229e-05 8.06382387e-01] [-3.72552130e-03 3.89562530e-06 9.99993060e-01 -2.62381184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:0.82, Z:-0.26 [[ 9.99894056e-01 -1.40712421e-02 3.72521525e-03 2.59249393e+01] [ 1.40711612e-02 9.99900995e-01 4.79109218e-05 8.17665602e-01] [-3.72552060e-03 4.51225849e-06 9.99993060e-01 -2.64321789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:0.83, Z:-0.27 [[ 9.99837610e-01 -1.76316689e-02 3.72521697e-03 2.59868424e+01] [ 1.76316133e-02 9.99844550e-01 4.77765383e-05 8.26108547e-01] [-3.72548027e-03 1.79128052e-05 9.99993060e-01 -2.65445574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584203821999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:0.84, Z:-0.26 [[ 9.99631646e-01 -2.68829781e-02 3.72521924e-03 2.60490682e+01] [ 2.68829873e-02 9.99638586e-01 4.75991122e-05 8.37169646e-01] [-3.72515250e-03 5.25634428e-05 9.99993060e-01 -2.63963640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:0.84, Z:-0.27 [[ 9.99466911e-01 -3.24347949e-02 3.72522700e-03 2.61096313e+01] [ 3.24348450e-02 9.99473851e-01 4.69840880e-05 8.41229400e-01] [-3.72479089e-03 7.38681187e-05 9.99993060e-01 -2.73757690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:0.85, Z:-0.27 [[ 9.99287177e-01 -3.75667474e-02 3.72522809e-03 2.61713036e+01] [ 3.75668334e-02 9.99294116e-01 4.68973163e-05 8.45582201e-01] [-3.72436029e-03 9.30811362e-05 9.99993060e-01 -2.71383177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:0.85, Z:-0.27 [[ 9.98923135e-01 -4.62460047e-02 3.72522966e-03 2.62337592e+01] [ 4.62461515e-02 9.98930073e-01 4.67720582e-05 8.45914322e-01] [-3.72340696e-03 1.25555844e-04 9.99993060e-01 -2.68868841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:0.84, Z:-0.27 [[ 9.98784105e-01 -4.91572347e-02 3.72523177e-03 2.62965203e+01] [ 4.91574023e-02 9.98791043e-01 4.66032319e-05 8.44190514e-01] [-3.72301901e-03 1.36576150e-04 9.99993060e-01 -2.66248061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:0.85, Z:-0.27 [[ 9.99048646e-01 -4.34502645e-02 3.72523450e-03 2.63578804e+01] [ 4.34503934e-02 9.99055585e-01 4.63841657e-05 8.45450671e-01] [-3.72373174e-03 1.15522866e-04 9.99993060e-01 -2.65779918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:0.85, Z:-0.27 [[ 9.99418016e-01 -3.39080053e-02 3.72523612e-03 2.64205985e+01] [ 3.39080683e-02 9.99424955e-01 4.62540034e-05 8.47950846e-01] [-3.72466232e-03 8.00884764e-05 9.99993060e-01 -2.65451953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:0.85, Z:-0.27 [[ 9.99726943e-01 -2.30686287e-02 3.72523881e-03 2.64822849e+01] [ 2.30686173e-02 9.99733883e-01 4.60360517e-05 8.54263206e-01] [-3.72530945e-03 3.99126273e-05 9.99993060e-01 -2.67082774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064203821999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:0.86, Z:-0.26 [[ 9.99829304e-01 -1.80965786e-02 3.72524095e-03 2.65418487e+01] [ 1.80965334e-02 9.99836243e-01 4.58620580e-05 8.60104909e-01] [-3.72546087e-03 2.15597177e-05 9.99993060e-01 -2.62024277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124203821999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:0.86, Z:-0.26 [[ 9.99746954e-01 -2.21844533e-02 3.72524095e-03 2.66042476e+01] [ 2.21844364e-02 9.99753894e-01 4.58620580e-05 8.61813994e-01] [-3.72534157e-03 3.67919182e-05 9.99993060e-01 -2.60117706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184203821999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:0.86, Z:-0.27 [[ 9.99625162e-01 -2.71230291e-02 3.72524314e-03 2.66648768e+01] [ 2.71230471e-02 9.99632101e-01 4.56836570e-05 8.58948523e-01] [-3.72511171e-03 5.53734123e-05 9.99993060e-01 -2.66744499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:0.86, Z:-0.26 [[ 9.99625967e-01 -2.70933402e-02 3.72524635e-03 2.67271297e+01] [ 2.70933590e-02 9.99632907e-01 4.54206122e-05 8.58497755e-01] [-3.72510943e-03 5.55258134e-05 9.99993060e-01 -2.59647563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.79, Y:0.85, Z:-0.26 [[ 9.99701791e-01 -2.41340144e-02 3.72524849e-03 2.67893696e+01] [ 2.41340133e-02 9.99708731e-01 4.52441658e-05 8.53342133e-01] [-3.72525537e-03 4.46745231e-05 9.99993060e-01 -2.58108423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:0.85, Z:-0.26 [[ 9.99764102e-01 -2.13977347e-02 3.72525060e-03 2.68518646e+01] [ 2.13977153e-02 9.99771042e-01 4.50695846e-05 8.52901966e-01] [-3.72536206e-03 3.46528992e-05 9.99993060e-01 -2.57944479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424203821999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:26.91, Y:0.86, Z:-0.26 [[ 9.99871247e-01 -1.56080632e-02 3.72525272e-03 2.69125803e+01] [ 1.56080043e-02 9.99878187e-01 4.48935977e-05 8.55805820e-01] [-3.72549964e-03 1.32559431e-05 9.99993060e-01 -2.64541161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484203821999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.97, Y:0.86, Z:-0.25 [[ 9.99948361e-01 -9.45499680e-03 3.72525377e-03 2.69746294e+01] [ 9.45489549e-03 9.99955300e-01 4.48062512e-05 8.56646377e-01] [-3.72551090e-03 -9.58205239e-06 9.99993060e-01 -2.54399366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.04, Y:0.86, Z:-0.26 [[ 9.99971258e-01 -6.60338198e-03 3.72525598e-03 2.70353801e+01] [ 6.60326157e-03 9.99978197e-01 4.46218823e-05 8.64013978e-01] [-3.72546942e-03 -2.00217602e-05 9.99993060e-01 -2.58852584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.10, Y:0.86, Z:-0.26 [[ 9.99922626e-01 -1.18686480e-02 3.72525762e-03 2.70975222e+01] [ 1.18685646e-02 9.99929565e-01 4.44845174e-05 8.61826000e-01] [-3.72552321e-03 -2.67614614e-07 9.99993060e-01 -2.59773489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.16, Y:0.86, Z:-0.26 [[ 9.99846015e-01 -1.71484185e-02 3.72526502e-03 2.71585226e+01] [ 1.71483741e-02 9.99852955e-01 4.38564727e-05 8.64014416e-01] [-3.72546930e-03 2.00325186e-05 9.99993060e-01 -2.58803748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724203821999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:0.86, Z:-0.25 [[ 9.99811106e-01 -1.90754788e-02 3.72526658e-03 2.72208947e+01] [ 1.90754482e-02 9.99818046e-01 4.37231052e-05 8.64361115e-01] [-3.72542279e-03 2.73462837e-05 9.99993060e-01 -2.54243240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:0.86, Z:-0.25 [[ 9.99829843e-01 -1.80667220e-02 3.72526869e-03 2.72818095e+01] [ 1.80666851e-02 9.99836783e-01 4.35432222e-05 8.64236425e-01] [-3.72544734e-03 2.37674433e-05 9.99993060e-01 -2.54686655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.34, Y:0.86, Z:-0.25 [[ 9.99898401e-01 -1.37590194e-02 3.72527024e-03 2.73442872e+01] [ 1.37589532e-02 9.99905340e-01 4.34096205e-05 8.62546122e-01] [-3.72551488e-03 7.85060877e-06 9.99993060e-01 -2.53705265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:0.86, Z:-0.26 [[ 9.99968844e-01 -6.95944248e-03 3.72527229e-03 2.74051707e+01] [ 6.95932971e-03 9.99975783e-01 4.32328843e-05 8.62400314e-01] [-3.72548295e-03 -1.73061392e-05 9.99993060e-01 -2.58181668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:0.86, Z:-0.26 [[ 9.99972861e-01 -6.35608059e-03 3.72527600e-03 2.74670879e+01] [ 6.35596483e-03 9.99979800e-01 4.29107759e-05 8.62546382e-01] [-3.72547350e-03 -1.92318880e-05 9.99993060e-01 -2.57384458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:0.86, Z:-0.26 [[ 9.99959000e-01 -8.25350378e-03 3.72527806e-03 2.75284751e+01] [ 8.25340186e-03 9.99965939e-01 4.27312744e-05 8.60784136e-01] [-3.72550386e-03 -1.19833055e-05 9.99993060e-01 -2.56938124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:0.86, Z:-0.26 [[ 9.99926611e-01 -1.15279985e-02 3.72528085e-03 2.75906469e+01] [ 1.15279203e-02 9.99933550e-01 4.24867898e-05 8.55855970e-01] [-3.72552309e-03 4.61068822e-07 9.99993060e-01 -2.56676649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:0.86, Z:-0.25 [[ 9.99903171e-01 -1.34078719e-02 3.72528281e-03 2.76527467e+01] [ 1.34078073e-02 9.99910110e-01 4.23142739e-05 8.55042743e-01] [-3.72551529e-03 7.63769733e-06 9.99993060e-01 -2.52315746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:0.86, Z:-0.25 [[ 9.99895146e-01 -1.39935470e-02 3.72528488e-03 2.77134324e+01] [ 1.39934872e-02 9.99902085e-01 4.21311288e-05 8.56138194e-01] [-3.72550969e-03 1.00030149e-05 9.99993060e-01 -2.54012870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:0.85, Z:-0.26 [[ 9.99913763e-01 -1.25931967e-02 3.72528843e-03 2.77761627e+01] [ 1.25931284e-02 9.99920703e-01 4.18150978e-05 8.51086738e-01] [-3.72551961e-03 5.10154355e-06 9.99993060e-01 -2.57169466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324203821999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.84, Y:0.85, Z:-0.26 [[ 9.99968918e-01 -6.94877712e-03 3.72529085e-03 2.78385895e+01] [ 6.94867037e-03 9.99975857e-01 4.15983059e-05 8.49470307e-01] [-3.72548997e-03 -1.57111948e-05 9.99993060e-01 -2.59219153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:0.85, Z:-0.26 [[ 9.99992801e-01 7.20874069e-04 3.72529282e-03 2.78985536e+01] [-7.21033376e-04 9.99999739e-01 4.14207147e-05 8.52670435e-01] [-3.72526199e-03 -4.41064770e-05 9.99993060e-01 -2.63382395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:0.86, Z:-0.26 [[ 9.99977938e-01 5.49966702e-03 3.72529331e-03 2.79593215e+01] [-5.49985931e-03 9.99984875e-01 4.13767676e-05 8.59031432e-01] [-3.72500941e-03 -6.18644438e-05 9.99993060e-01 -2.58075908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:0.86, Z:-0.25 [[ 9.99970277e-01 6.75034921e-03 3.72529380e-03 2.80204066e+01] [-6.75055002e-03 9.99977214e-01 4.13327656e-05 8.60565918e-01] [-3.72492991e-03 -6.64793192e-05 9.99993060e-01 -2.53969016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:0.86, Z:-0.25 [[ 9.99981348e-01 4.84002122e-03 3.72529479e-03 2.80815220e+01] [-4.84020844e-03 9.99988285e-01 4.12434945e-05 8.64928967e-01] [-3.72505153e-03 -5.92739285e-05 9.99993060e-01 -2.52414352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.14, Y:0.87, Z:-0.25 [[ 9.99992956e-01 -4.57608471e-04 3.72530107e-03 2.81431988e+01] [ 4.57460145e-04 9.99999895e-01 4.06679585e-05 8.69533317e-01] [-3.72531929e-03 -3.89634953e-05 9.99993060e-01 -2.53147940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.20, Y:0.87, Z:-0.26 [[ 9.99972759e-01 -6.37211879e-03 3.72530205e-03 2.82040998e+01] [ 6.37201183e-03 9.99979698e-01 4.05784607e-05 8.68928313e-01] [-3.72548499e-03 -1.68396865e-05 9.99993060e-01 -2.55517837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:0.87, Z:-0.26 [[ 9.99944211e-01 -9.88422234e-03 3.72530575e-03 2.82662236e+01] [ 9.88414103e-03 9.99951150e-01 4.02356150e-05 8.69687080e-01] [-3.72552147e-03 -3.41192290e-06 9.99993060e-01 -2.56821279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:0.87, Z:-0.25 [[ 9.99876456e-01 -1.52707205e-02 3.72531230e-03 2.83279900e+01] [ 1.52706789e-02 9.99883396e-01 3.96198380e-05 8.70535022e-01] [-3.72548293e-03 1.72731047e-05 9.99993060e-01 -2.53365928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864203821999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:0.87, Z:-0.26 [[ 9.99793617e-01 -1.99711041e-02 3.72531829e-03 2.83898690e+01] [ 1.99710972e-02 9.99800557e-01 3.90479341e-05 8.66582681e-01] [-3.72535513e-03 3.53588184e-05 9.99993060e-01 -2.59154458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924203821999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:0.86, Z:-0.26 [[ 9.99805812e-01 -1.93509525e-02 3.72531967e-03 2.84521695e+01] [ 1.93509419e-02 9.99812752e-01 3.89158466e-05 8.59938652e-01] [-3.72537517e-03 3.31801548e-05 9.99993060e-01 -2.56910495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984203821999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:0.86, Z:-0.26 [[ 9.99827425e-01 -1.82000484e-02 3.72532154e-03 2.85135790e+01] [ 1.82000304e-02 9.99834365e-01 3.87359099e-05 8.56204984e-01] [-3.72540950e-03 2.90717403e-05 9.99993060e-01 -2.57472316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04420382199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:0.84, Z:-0.26 [[ 9.99862736e-01 -1.61440537e-02 3.72532293e-03 2.85750972e+01] [ 1.61440219e-02 9.99869676e-01 3.86020523e-05 8.43346028e-01] [-3.72546063e-03 2.15449414e-05 9.99993060e-01 -2.58415855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.64, Y:0.84, Z:-0.26 [[ 9.99893586e-01 -1.41045353e-02 3.72532567e-03 2.86376683e+01] [ 1.41044904e-02 9.99900526e-01 3.83362024e-05 8.36461950e-01] [-3.72549581e-03 1.42116971e-05 9.99993060e-01 -2.62857297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164203822 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:0.83, Z:-0.27 [[ 9.99965604e-01 -7.41030916e-03 3.72532739e-03 2.86996695e+01] [ 7.41021839e-03 9.99972543e-01 3.81677979e-05 8.26957143e-01] [-3.72550794e-03 -1.05609955e-05 9.99993060e-01 -2.66118459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22420382199999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:0.82, Z:-0.26 [[ 9.99991797e-01 -1.58987871e-03 3.72532859e-03 2.87621186e+01] [ 1.58974799e-03 9.99998736e-01 3.80504286e-05 8.23026414e-01] [-3.72538438e-03 -3.21277828e-05 9.99993060e-01 -2.58428810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:0.81, Z:-0.27 [[ 9.99993059e-01 -6.65795934e-05 3.72533047e-03 2.88231054e+01] [ 6.64389933e-05 9.99999997e-01 3.78653698e-05 8.13470994e-01] [-3.72533298e-03 -3.76175998e-05 9.99993060e-01 -2.65576972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344203822 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:28.89, Y:0.82, Z:-0.26 [[ 9.99986647e-01 3.58170262e-03 3.72533187e-03 2.88855519e+01] [-3.58186802e-03 9.99993584e-01 3.77272638e-05 8.15297111e-01] [-3.72517284e-03 -5.10704072e-05 9.99993060e-01 -2.61579845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.95, Y:0.81, Z:-0.26 [[ 9.99956306e-01 8.57366581e-03 3.72533366e-03 2.89474256e+01] [-8.57386518e-03 9.99963243e-01 3.75500926e-05 8.13263457e-01] [-3.72487478e-03 -6.94889604e-05 9.99993060e-01 -2.57027488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.01, Y:0.81, Z:-0.26 [[ 9.99975915e-01 5.85590762e-03 3.72533502e-03 2.90092244e+01] [-5.85608763e-03 9.99982852e-01 3.74147483e-05 8.09223871e-01] [-3.72505204e-03 -5.92297354e-05 9.99993060e-01 -2.57597957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.07, Y:0.81, Z:-0.25 [[ 9.99992286e-01 -1.24461345e-03 3.72533591e-03 2.90713104e+01] [ 1.24448303e-03 9.99999225e-01 3.73251481e-05 8.05832080e-01] [-3.72537948e-03 -3.26887429e-05 9.99993060e-01 -2.53503311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.13, Y:0.80, Z:-0.26 [[ 9.99984352e-01 -4.17355602e-03 3.72534205e-03 2.91325703e+01] [ 4.17344826e-03 9.99991290e-01 3.67017737e-05 8.03084559e-01] [-3.72546279e-03 -2.11536771e-05 9.99993060e-01 -2.57618149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.19, Y:0.80, Z:-0.26 [[ 9.99991950e-01 1.49057988e-03 3.72534294e-03 2.91940315e+01] [-1.49072661e-03 9.99998888e-01 3.66116629e-05 8.01401289e-01] [-3.72528423e-03 -4.21648360e-05 9.99993060e-01 -2.61742409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.26, Y:0.80, Z:-0.27 [[ 9.99938070e-01 1.04870374e-02 3.72534425e-03 2.92555330e+01] [-1.04872461e-02 9.99945007e-01 3.64781804e-05 8.03353207e-01] [-3.72475683e-03 -7.55445232e-05 9.99993060e-01 -2.67157107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.32, Y:0.81, Z:-0.27 [[ 9.99873387e-01 1.54703243e-02 3.72534511e-03 2.93167504e+01] [-1.54705672e-02 9.99880323e-01 3.63900564e-05 8.10255113e-01] [-3.72433630e-03 -9.40186510e-05 9.99993060e-01 -2.69427235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.38, Y:0.81, Z:-0.27 [[ 9.99904756e-01 1.32891341e-02 3.72534598e-03 2.93767629e+01] [-1.32893615e-02 9.99911692e-01 3.63008849e-05 8.13953162e-01] [-3.72453459e-03 -8.58048968e-05 9.99993060e-01 -2.68313346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:0.82, Z:-0.27 [[ 9.99933642e-01 1.09011036e-02 3.72534598e-03 2.94381833e+01] [-1.09013145e-02 9.99940578e-01 3.63008849e-05 8.16299368e-01] [-3.72472889e-03 -7.69096441e-05 9.99993060e-01 -2.69162546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:0.82, Z:-0.27 [[ 9.99958230e-01 8.34622930e-03 3.72534686e-03 2.94987134e+01] [-8.34642210e-03 9.99965167e-01 3.62101951e-05 8.21512152e-01] [-3.72491488e-03 -6.73020000e-05 9.99993060e-01 -2.66109929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004203821999994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:29.56, Y:0.83, Z:-0.27 [[ 9.99973168e-01 6.30749458e-03 3.72534989e-03 2.95598699e+01] [-6.30767207e-03 9.99980106e-01 3.58956152e-05 8.28127941e-01] [-3.72504937e-03 -5.93929376e-05 9.99993060e-01 -2.65507213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.62, Y:0.83, Z:-0.27 [[ 9.99993057e-01 -8.37002057e-05 3.72535075e-03 2.96210937e+01] [ 8.35673968e-05 9.99999996e-01 3.58056842e-05 8.29679621e-01] [-3.72535374e-03 -3.54941178e-05 9.99993060e-01 -2.72154567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:0.83, Z:-0.27 [[ 9.99990204e-01 -2.39050137e-03 3.72535414e-03 2.96835923e+01] [ 2.39038590e-03 9.99997142e-01 3.54497001e-05 8.28950483e-01] [-3.72542824e-03 -2.65443188e-05 9.99993060e-01 -2.67475829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:0.83, Z:-0.26 [[ 9.99962164e-01 -7.86077323e-03 3.72536006e-03 2.97459510e+01] [ 7.86069808e-03 9.99969104e-01 3.48162006e-05 8.32901335e-01] [-3.72551864e-03 -5.53095259e-06 9.99993060e-01 -2.60064634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244203821999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:29.81, Y:0.83, Z:-0.26 [[ 9.99943569e-01 -9.94891116e-03 3.72536178e-03 2.98074487e+01] [ 9.94885118e-03 9.99950508e-01 3.46315445e-05 8.32389432e-01] [-3.72552195e-03 2.43347973e-06 9.99993060e-01 -2.62473343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.87, Y:0.83, Z:-0.26 [[ 9.99940746e-01 -1.02286873e-02 3.72536304e-03 2.98688824e+01] [ 1.02286297e-02 9.99947686e-01 3.44948076e-05 8.34001194e-01] [-3.72552099e-03 3.61259554e-06 9.99993060e-01 -2.63396657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:0.83, Z:-0.26 [[ 9.99953896e-01 -8.85027054e-03 3.72536428e-03 2.99308189e+01] [ 8.85020394e-03 9.99960836e-01 3.43609957e-05 8.34993357e-01] [-3.72552248e-03 -1.38917784e-06 9.99993060e-01 -2.63182097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424203821999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:0.83, Z:-0.26 [[ 9.99949645e-01 -9.31826055e-03 3.72536594e-03 2.99918927e+01] [ 9.31819788e-03 9.99956584e-01 3.41795892e-05 8.32179964e-01] [-3.72552270e-03 5.35828953e-07 9.99993060e-01 -2.63876383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:0.83, Z:-0.26 [[ 9.99953169e-01 -8.93199384e-03 3.72536718e-03 3.00542087e+01] [ 8.93192899e-03 9.99960109e-01 3.40447907e-05 8.33340709e-01] [-3.72552265e-03 -7.68481313e-07 9.99993060e-01 -2.63719264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:0.83, Z:-0.26 [[ 9.99977333e-01 -5.60852154e-03 3.72536883e-03 3.01145563e+01] [ 5.60843431e-03 9.99984272e-01 3.38624974e-05 8.33401292e-01] [-3.72550016e-03 -1.29682434e-05 9.99993060e-01 -2.60636641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:0.83, Z:-0.27 [[ 9.99991667e-01 -1.66954778e-03 3.72536924e-03 3.01765523e+01] [ 1.66943338e-03 9.99998606e-01 3.38174789e-05 8.28742248e-01] [-3.72542051e-03 -2.75979414e-05 9.99993060e-01 -2.67290591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:0.83, Z:-0.27 [[ 9.99978560e-01 5.38534156e-03 3.72537042e-03 3.02378152e+01] [-5.38550443e-03 9.99985497e-01 3.36873064e-05 8.34372068e-01] [-3.72513497e-03 -5.37495830e-05 9.99993060e-01 -2.66229576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:0.84, Z:-0.26 [[ 9.99926411e-01 1.15452892e-02 3.72537122e-03 3.02976066e+01] [-1.15454944e-02 9.99933348e-01 3.35986765e-05 8.38792771e-01] [-3.72473501e-03 -7.66074566e-05 9.99993060e-01 -2.61967858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:0.84, Z:-0.26 [[ 9.99904684e-01 1.32945588e-02 3.72537284e-03 3.03593209e+01] [-1.32947755e-02 9.99911620e-01 3.34174386e-05 8.37219390e-01] [-3.72459932e-03 -8.29422491e-05 9.99993060e-01 -2.61059842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:0.84, Z:-0.26 [[ 9.99886550e-01 1.45948274e-02 3.72537362e-03 3.04202494e+01] [-1.45950528e-02 9.99893486e-01 3.33301330e-05 8.37916713e-01] [-3.72449037e-03 -8.76983766e-05 9.99993060e-01 -2.63339818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.48, Y:0.84, Z:-0.26 [[ 9.99895426e-01 1.39735042e-02 3.72537362e-03 3.04807398e+01] [-1.39737253e-02 9.99902362e-01 3.33301330e-05 8.42378668e-01] [-3.72454415e-03 -8.53839952e-05 9.99993060e-01 -2.62462725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964203821999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:0.84, Z:-0.26 [[ 9.99943783e-01 9.92733067e-03 3.72537362e-03 3.05409061e+01] [-9.92752372e-03 9.99950720e-01 3.33301330e-05 8.42144671e-01] [-3.72485916e-03 -7.03119943e-05 9.99993060e-01 -2.61191027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:0.84, Z:-0.26 [[ 9.99992515e-01 1.04493455e-03 3.72537362e-03 3.06019917e+01] [-1.04506597e-03 9.99999453e-01 3.33301330e-05 8.40171322e-01] [-3.72533676e-03 -3.72231447e-05 9.99993060e-01 -2.60782968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:0.84, Z:-0.26 [[ 9.99987623e-01 -3.29791066e-03 3.72537441e-03 3.06638493e+01] [ 3.29780970e-03 9.99994562e-01 3.32421731e-05 8.38258780e-01] [-3.72546378e-03 -2.09561858e-05 9.99993060e-01 -2.62436075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.73, Y:0.83, Z:-0.27 [[ 9.99986073e-01 -3.73839032e-03 3.72537978e-03 3.07257010e+01] [ 3.73829470e-03 9.99993012e-01 3.26288731e-05 8.34155523e-01] [-3.72547573e-03 -1.87018512e-05 9.99993060e-01 -2.66853095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.79, Y:0.83, Z:-0.27 [[ 9.99992110e-01 -1.37863510e-03 3.72538094e-03 3.07877691e+01] [ 1.37852361e-03 9.99999049e-01 3.24965445e-05 8.33485932e-01] [-3.72542219e-03 -2.73607625e-05 9.99993060e-01 -2.68016027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264203822 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:30.85, Y:0.83, Z:-0.27 [[ 9.99987459e-01 3.34727687e-03 3.72538248e-03 3.08499395e+01] [-3.34742049e-03 9.99994397e-01 3.23183499e-05 8.32168464e-01] [-3.72525343e-03 -4.47883662e-05 9.99993060e-01 -2.66882475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:0.83, Z:-0.27 [[ 9.99976444e-01 5.76480669e-03 3.72538403e-03 3.09124273e+01] [-5.76496642e-03 9.99983382e-01 3.21391731e-05 8.30333246e-01] [-3.72513684e-03 -5.36151298e-05 9.99993060e-01 -2.67827434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:0.83, Z:-0.27 [[ 9.99954682e-01 8.76098075e-03 3.72538557e-03 3.09733116e+01] [-8.76116060e-03 9.99961620e-01 3.19594501e-05 8.30720722e-01] [-3.72496259e-03 -6.45967030e-05 9.99993060e-01 -2.71036992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.03, Y:0.83, Z:-0.26 [[ 9.99951688e-01 9.09632520e-03 3.72539044e-03 3.10348102e+01] [-9.09650523e-03 9.99958625e-01 3.13813572e-05 8.29089070e-01] [-3.72495085e-03 -6.52678747e-05 9.99993060e-01 -2.64376802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:0.83, Z:-0.27 [[ 9.99963698e-01 7.66312743e-03 3.72539120e-03 3.10963776e+01] [-7.66329717e-03 9.99970636e-01 3.12905235e-05 8.28274028e-01] [-3.72504203e-03 -5.98381674e-05 9.99993060e-01 -2.66520947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:0.82, Z:-0.26 [[ 9.99989223e-01 2.77027252e-03 3.72539599e-03 3.11587021e+01] [-2.77040614e-03 9.99996162e-01 3.07090840e-05 8.21236826e-01] [-3.72529662e-03 -4.10296130e-05 9.99993060e-01 -2.64553952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:0.82, Z:-0.26 [[ 9.99989069e-01 -2.82564253e-03 3.72540107e-03 3.12198431e+01] [ 2.82555007e-03 9.99996008e-01 3.00803420e-05 8.15464973e-01] [-3.72547119e-03 -1.95537059e-05 9.99993060e-01 -2.63935739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:0.81, Z:-0.26 [[ 9.99974457e-01 -6.09975017e-03 3.72540567e-03 3.12823453e+01] [ 6.09968260e-03 9.99981396e-01 2.94996810e-05 8.13545277e-01] [-3.72551630e-03 -6.77513538e-06 9.99993060e-01 -2.60817142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:0.81, Z:-0.26 [[ 9.99953147e-01 -8.93448917e-03 3.72541052e-03 3.13446917e+01] [ 8.93444360e-03 9.99960087e-01 2.88740098e-05 8.05485941e-01] [-3.72551980e-03 4.41181318e-06 9.99993060e-01 -2.60701471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:0.80, Z:-0.26 [[ 9.99968983e-01 -6.93926520e-03 3.72541192e-03 3.14063409e+01] [ 6.93920646e-03 9.99975923e-01 2.86915438e-05 7.97190348e-01] [-3.72552132e-03 -2.83925143e-06 9.99993060e-01 -2.61092827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:0.80, Z:-0.26 [[ 9.99990094e-01 -2.43594803e-03 3.72541296e-03 3.14680731e+01] [ 2.43585855e-03 9.99997033e-01 2.85563700e-05 7.95605102e-01] [-3.72547147e-03 -1.94815081e-05 9.99993060e-01 -2.57817044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:0.79, Z:-0.26 [[ 9.99966425e-01 7.29858248e-03 3.72541519e-03 3.15283238e+01] [-7.29873841e-03 9.99973363e-01 2.82625830e-05 7.90784276e-01] [-3.72510968e-03 -5.54524650e-05 9.99993060e-01 -2.63673501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:0.79, Z:-0.26 [[ 9.99902141e-01 1.34844060e-02 3.72541553e-03 3.15909961e+01] [-1.34846047e-02 9.99909078e-01 2.82176055e-05 7.91238899e-01] [-3.72469631e-03 -7.84505999e-05 9.99993060e-01 -2.63085309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:0.79, Z:-0.27 [[ 9.99839345e-01 1.75329726e-02 3.72541690e-03 3.16518149e+01] [-1.75331987e-02 9.99846281e-01 2.80359757e-05 7.92888341e-01] [-3.72435268e-03 -9.33499464e-05 9.99993060e-01 -2.66568022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:0.79, Z:-0.26 [[ 9.99809410e-01 1.91641471e-02 3.72541757e-03 3.17130643e+01] [-1.91643842e-02 9.99816346e-01 2.79461259e-05 7.93507109e-01] [-3.72419782e-03 -9.93361332e-05 9.99993060e-01 -2.64256319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:0.79, Z:-0.26 [[ 9.99838106e-01 1.76035040e-02 3.72541826e-03 3.17734579e+01] [-1.76037299e-02 9.99845042e-01 2.78542979e-05 7.93675000e-01] [-3.72435064e-03 -9.34310452e-05 9.99993060e-01 -2.64879734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.83, Y:0.80, Z:-0.27 [[ 9.99878784e-01 1.51174858e-02 3.72541976e-03 3.18338758e+01] [-1.51176937e-02 9.99885721e-01 2.76514193e-05 7.95104574e-01] [-3.72457600e-03 -8.39678224e-05 9.99993060e-01 -2.66096280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:0.80, Z:-0.27 [[ 9.99934389e-01 1.08323025e-02 3.72542148e-03 3.18957156e+01] [-1.08324798e-02 9.99941327e-01 2.74173771e-05 7.96904209e-01] [-3.72490591e-03 -6.77711312e-05 9.99993060e-01 -2.67918225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:0.80, Z:-0.27 [[ 9.99976052e-01 5.83240739e-03 3.72542249e-03 3.19570313e+01] [-5.83254949e-03 9.99982990e-01 2.72805826e-05 7.98221233e-01] [-3.72520001e-03 -4.90086403e-05 9.99993060e-01 -2.67939752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:0.80, Z:-0.27 [[ 9.99990164e-01 2.40708883e-03 3.72542668e-03 3.20187684e+01] [-2.40720499e-03 9.99997102e-01 2.66955482e-05 7.98437269e-01] [-3.72535162e-03 -3.56631513e-05 9.99993060e-01 -2.65439254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:0.80, Z:-0.27 [[ 9.99992361e-01 -1.18284876e-03 3.72543108e-03 3.20798435e+01] [ 1.18275986e-03 9.99999300e-01 2.60664139e-05 8.00898694e-01] [-3.72545931e-03 -2.16599245e-05 9.99993060e-01 -2.69541965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:0.80, Z:-0.27 [[ 9.99991175e-01 -1.94174826e-03 3.72543354e-03 3.21423599e+01] [ 1.94166595e-03 9.99998115e-01 2.57107468e-05 7.97987363e-01] [-3.72547644e-03 -1.84769724e-05 9.99993060e-01 -2.73164596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:0.80, Z:-0.27 [[ 9.99993019e-01 2.87526304e-04 3.72543504e-03 3.22041479e+01] [-2.87623265e-04 9.99999958e-01 2.54910157e-05 8.00182330e-01] [-3.72542755e-03 -2.65623595e-05 9.99993060e-01 -2.69658912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:0.80, Z:-0.27 [[ 9.99988479e-01 3.02695704e-03 3.72543593e-03 3.22656235e+01] [-3.02707252e-03 9.99995418e-01 2.53597594e-05 8.02248054e-01] [-3.72534210e-03 -3.66366319e-05 9.99993060e-01 -2.68403727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:0.81, Z:-0.27 [[ 9.99987541e-01 3.32237469e-03 3.72543681e-03 3.23282747e+01] [-3.32249173e-03 9.99994480e-01 2.52300960e-05 8.05366945e-01] [-3.72533242e-03 -3.76075147e-05 9.99993060e-01 -2.66642469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:0.80, Z:-0.27 [[ 9.99992455e-01 1.10031898e-03 3.72544089e-03 3.23900552e+01] [-1.10041832e-03 9.99999394e-01 2.46132772e-05 7.99989905e-01] [-3.72541155e-03 -2.87126349e-05 9.99993060e-01 -2.66876619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824203821999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:0.80, Z:-0.27 [[ 9.99992588e-01 -9.72518498e-04 3.72544502e-03 3.24514903e+01] [ 9.72435947e-04 9.99999527e-01 2.39701148e-05 7.98747235e-01] [-3.72546657e-03 -2.03471805e-05 9.99993060e-01 -2.65573620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:0.80, Z:-0.26 [[ 9.99985905e-01 -3.78285245e-03 3.72544873e-03 3.25135208e+01] [ 3.78279160e-03 9.99992845e-01 2.33802620e-05 8.00170801e-01] [-3.72551051e-03 -9.28733628e-06 9.99993060e-01 -2.64445238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.58, Y:0.80, Z:-0.27 [[ 9.99987645e-01 -3.29105539e-03 3.72545255e-03 3.25762417e+01] [ 3.29099346e-03 9.99994584e-01 2.27536283e-05 7.99593363e-01] [-3.72550726e-03 -1.04929072e-05 9.99993060e-01 -2.65033781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004203821999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:32.64, Y:0.80, Z:-0.27 [[ 9.99989687e-01 -2.59755660e-03 3.72545392e-03 3.26373254e+01] [ 2.59749070e-03 9.99996626e-01 2.25267394e-05 7.96553237e-01] [-3.72549987e-03 -1.28496752e-05 9.99993060e-01 -2.66529093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.70, Y:0.80, Z:-0.27 [[ 9.99989011e-01 -2.84582655e-03 3.72545556e-03 3.26999335e+01] [ 2.84576340e-03 9.99995951e-01 2.22521279e-05 7.96300773e-01] [-3.72550380e-03 -1.16501183e-05 9.99993060e-01 -2.68139911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.76, Y:0.80, Z:-0.27 [[ 9.99992768e-01 7.65280063e-04 3.72545690e-03 3.27618220e+01] [-7.65367429e-04 9.99999707e-01 2.20256603e-05 7.98253449e-01] [-3.72543896e-03 -2.48768443e-05 9.99993060e-01 -2.67905500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:0.80, Z:-0.27 [[ 9.99974329e-01 6.12062679e-03 3.72545799e-03 3.28227695e+01] [-6.12075063e-03 9.99981268e-01 2.18408783e-05 7.95941063e-01] [-3.72525452e-03 -4.46429169e-05 9.99993060e-01 -2.72609712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.88, Y:0.80, Z:-0.27 [[ 9.99903368e-01 1.33931156e-02 3.72545878e-03 3.28834091e+01] [-1.33932894e-02 9.99910306e-01 2.17040200e-05 8.00888845e-01] [-3.72483395e-03 -7.15980702e-05 9.99993060e-01 -2.69628055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.94, Y:0.81, Z:-0.27 [[ 9.99863021e-01 1.61263786e-02 3.72545930e-03 3.29443344e+01] [-1.61265710e-02 9.99869958e-01 2.16149550e-05 8.06080782e-01] [-3.72462626e-03 -8.16908782e-05 9.99993060e-01 -2.67465365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:0.81, Z:-0.26 [[ 9.99869069e-01 1.57469312e-02 3.72545983e-03 3.30053413e+01] [-1.57471206e-02 9.99876006e-01 2.15234440e-05 8.12904114e-01] [-3.72465897e-03 -8.01858913e-05 9.99993060e-01 -2.64650891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:0.81, Z:-0.26 [[ 9.99947542e-01 9.54114278e-03 3.72546035e-03 3.30654700e+01] [-9.54128884e-03 9.99954481e-01 2.14330296e-05 8.10829971e-01] [-3.72508627e-03 -5.69775986e-05 9.99993060e-01 -2.62105002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:0.81, Z:-0.26 [[ 9.99983708e-01 4.32500330e-03 3.72546061e-03 3.31265160e+01] [-4.32511299e-03 9.99990646e-01 2.13881757e-05 8.12620000e-01] [-3.72533326e-03 -3.75008653e-05 9.99993060e-01 -2.60138943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54420382199999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:0.81, Z:-0.26 [[ 9.99978000e-01 -5.48822780e-03 3.72546112e-03 3.31890201e+01] [ 5.48818653e-03 9.99984940e-01 2.12992514e-05 8.13827934e-01] [-3.72552190e-03 -8.52757245e-07 9.99993060e-01 -2.59735801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604203821999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:0.81, Z:-0.26 [[ 9.99918930e-01 -1.21759496e-02 3.72546454e-03 3.32502376e+01] [ 1.21759570e-02 9.99925870e-01 2.06822437e-05 8.06688056e-01] [-3.72544020e-03 2.46805292e-05 9.99993060e-01 -2.61721373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664203822 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:0.80, Z:-0.26 [[ 9.99919875e-01 -1.20981004e-02 3.72546759e-03 3.33116973e+01] [ 1.20981094e-02 9.99926815e-01 2.01180313e-05 8.01569477e-01] [-3.72543833e-03 2.49546952e-05 9.99993060e-01 -2.63710720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72420382199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:0.80, Z:-0.27 [[ 9.99975994e-01 -5.84226933e-03 3.72546806e-03 3.33728193e+01] [ 5.84223524e-03 9.99982934e-01 2.00312195e-05 7.98661518e-01] [-3.72552150e-03 1.73432214e-06 9.99993060e-01 -2.67430021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784203821999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:0.80, Z:-0.27 [[ 9.99982958e-01 4.49490798e-03 3.72546852e-03 3.34337714e+01] [-4.49501347e-03 9.99989897e-01 1.99439599e-05 7.95998594e-01] [-3.72534124e-03 -3.66896512e-05 9.99993060e-01 -2.66506055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:0.79, Z:-0.27 [[ 9.99943903e-01 9.91522773e-03 3.72546901e-03 3.34946950e+01] [-9.91537049e-03 9.99950841e-01 1.98520773e-05 7.91534249e-01] [-3.72508903e-03 -5.67903691e-05 9.99993060e-01 -2.68596747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.56, Y:0.79, Z:-0.27 [[ 9.99872982e-01 1.54964521e-02 3.72546974e-03 3.35564130e+01] [-1.54966331e-02 9.99879920e-01 1.97146151e-05 7.92791394e-01] [-3.72471688e-03 -7.74443487e-05 9.99993060e-01 -2.71052356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:0.79, Z:-0.27 [[ 9.99846155e-01 1.71402314e-02 3.72547047e-03 3.36171562e+01] [-1.71404233e-02 9.99853092e-01 1.95759638e-05 7.94716113e-01] [-3.72458763e-03 -8.34290929e-05 9.99993060e-01 -2.73427734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:0.79, Z:-0.27 [[ 9.99797862e-01 1.97574367e-02 3.72547071e-03 3.36784706e+01] [-1.97576465e-02 9.99804798e-01 1.95302427e-05 7.92595968e-01] [-3.72435762e-03 -9.31328283e-05 9.99993060e-01 -2.72198441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:0.79, Z:-0.27 [[ 9.99810646e-01 1.90995672e-02 3.72547119e-03 3.37384165e+01] [-1.90997722e-02 9.99817583e-01 1.94386986e-05 7.93192851e-01] [-3.72442032e-03 -9.05906687e-05 9.99993060e-01 -2.74722620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:0.79, Z:-0.27 [[ 9.99894986e-01 1.40049187e-02 3.72547142e-03 3.37999016e+01] [-1.40050882e-02 9.99901924e-01 1.93934862e-05 7.90650980e-01] [-3.72483444e-03 -7.15670053e-05 9.99993060e-01 -2.67959051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:33.86, Y:0.79, Z:-0.26 [[ 9.99973995e-01 6.17499707e-03 3.72547189e-03 3.38615179e+01] [-6.17511183e-03 9.99980934e-01 1.93024809e-05 7.90031573e-01] [-3.72528167e-03 -4.23071845e-05 9.99993060e-01 -2.64748119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.92, Y:0.79, Z:-0.26 [[ 9.99993022e-01 -2.77642429e-04 3.72547236e-03 3.39230609e+01] [ 2.77572785e-04 9.99999961e-01 1.92111675e-05 7.88088185e-01] [-3.72547755e-03 -1.81769437e-05 9.99993060e-01 -2.64809651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:0.78, Z:-0.26 [[ 9.99963805e-01 -7.64914830e-03 3.72547529e-03 3.39854869e+01] [ 7.64913199e-03 9.99970745e-01 1.86261255e-05 7.77899283e-01] [-3.72550877e-03 9.87120087e-06 9.99993060e-01 -2.63672731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:0.78, Z:-0.26 [[ 9.99941962e-01 -1.01090548e-02 3.72547834e-03 3.40479379e+01] [ 1.01090579e-02 9.99948902e-01 1.79948520e-05 7.75831078e-01] [-3.72546988e-03 1.96672687e-05 9.99993060e-01 -2.64705227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:0.77, Z:-0.26 [[ 9.99943931e-01 -9.91239070e-03 3.72547921e-03 3.41098660e+01] [ 9.91239313e-03 9.99950871e-01 1.78114588e-05 7.72698009e-01] [-3.72547274e-03 1.91179544e-05 9.99993060e-01 -2.64348418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:0.77, Z:-0.27 [[ 9.99976987e-01 -5.66971804e-03 3.72548007e-03 3.41712737e+01] [ 5.66969170e-03 9.99983927e-01 1.76301636e-05 7.67205445e-01] [-3.72552015e-03 3.49256560e-06 9.99993060e-01 -2.70161004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.23, Y:0.77, Z:-0.27 [[ 9.99993013e-01 -3.08363458e-04 3.72548050e-03 3.42337650e+01] [ 3.08300251e-04 9.99999952e-01 1.75402156e-05 7.67007741e-01] [-3.72548573e-03 -1.63915265e-05 9.99993060e-01 -2.69727006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:0.77, Z:-0.27 [[ 9.99960091e-01 8.12013671e-03 3.72548133e-03 3.42953187e+01] [-8.12025773e-03 9.99967030e-01 1.73609201e-05 7.69312087e-01] [-3.72521753e-03 -4.76120958e-05 9.99993060e-01 -2.69741670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.36, Y:0.77, Z:-0.27 [[ 9.99868836e-01 1.57617240e-02 3.72548176e-03 3.43569518e+01] [-1.57618977e-02 9.99875773e-01 1.72692961e-05 7.71306951e-01] [-3.72474676e-03 -7.59876932e-05 9.99993060e-01 -2.73450242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.42, Y:0.77, Z:-0.27 [[ 9.99823669e-01 1.84052041e-02 3.72548259e-03 3.44185560e+01] [-1.84053955e-02 9.99830606e-01 1.70866951e-05 7.74865486e-01] [-3.72453704e-03 -8.56526627e-05 9.99993060e-01 -2.70704718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:0.78, Z:-0.27 [[ 9.99808537e-01 1.92096352e-02 3.72548300e-03 3.44788532e+01] [-1.92098318e-02 9.99815474e-01 1.69965310e-05 7.82598127e-01] [-3.72446906e-03 -8.85591788e-05 9.99993060e-01 -2.72278302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.54, Y:0.79, Z:-0.27 [[ 9.99832342e-01 1.79278926e-02 3.72548321e-03 3.45402719e+01] [-1.79280802e-02 9.99839279e-01 1.69520326e-05 7.85586275e-01] [-3.72458053e-03 -8.37399520e-05 9.99993060e-01 -2.66657936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.60, Y:0.79, Z:-0.27 [[ 9.99894763e-01 1.40208254e-02 3.72548362e-03 3.46012607e+01] [-1.40209855e-02 9.99901701e-01 1.68603426e-05 7.88327800e-01] [-3.72488101e-03 -6.90935200e-05 9.99993060e-01 -2.70558278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.66, Y:0.79, Z:-0.27 [[ 9.99958547e-01 8.30807812e-03 3.72548619e-03 3.46622200e+01] [-8.30819640e-03 9.99965486e-01 1.62719567e-05 7.93228793e-01] [-3.72522242e-03 -4.72233531e-05 9.99993060e-01 -2.72539716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.72, Y:0.79, Z:-0.27 [[ 9.99971315e-01 6.59475183e-03 3.72548861e-03 3.47240930e+01] [-6.59485607e-03 9.99978254e-01 1.56986351e-05 7.94679772e-01] [-3.72530406e-03 -4.02672459e-05 9.99993060e-01 -2.73190358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.79, Y:0.80, Z:-0.27 [[ 9.99967731e-01 7.11735477e-03 3.72549113e-03 3.47859193e+01] [-7.11746032e-03 9.99974670e-01 1.50740951e-05 7.97523525e-01] [-3.72528948e-03 -4.15896440e-05 9.99993060e-01 -2.73781281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:0.80, Z:-0.27 [[ 9.99961732e-01 7.91552338e-03 3.72549168e-03 3.48479015e+01] [-7.91563396e-03 9.99968671e-01 1.49373169e-05 8.02310374e-01] [-3.72525673e-03 -4.44263738e-05 9.99993060e-01 -2.72582936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22420382199999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:34.91, Y:0.81, Z:-0.27 [[ 9.99942835e-01 1.00223323e-02 3.72549415e-03 3.49092837e+01] [-1.00224551e-02 9.99949774e-01 1.42933351e-05 8.08688427e-01] [-3.72516378e-03 -5.16311159e-05 9.99993060e-01 -2.72196555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:0.81, Z:-0.28 [[ 9.99931948e-01 1.10552969e-02 3.72549633e-03 3.49704360e+01] [-1.10554247e-02 9.99938887e-01 1.37010998e-05 8.08829407e-01] [-3.72511719e-03 -5.48871114e-05 9.99993060e-01 -2.75106698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:0.82, Z:-0.27 [[ 9.99923199e-01 1.18202121e-02 3.72549838e-03 3.50320847e+01] [-1.18203430e-02 9.99930137e-01 1.31193586e-05 8.17281309e-01] [-3.72508303e-03 -5.71550197e-05 9.99993060e-01 -2.72573766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.09, Y:0.82, Z:-0.28 [[ 9.99912754e-01 1.26730184e-02 3.72549870e-03 3.50934902e+01] [-1.26731549e-02 9.99919692e-01 1.30285807e-05 8.20650982e-01] [-3.72503440e-03 -6.02412661e-05 9.99993060e-01 -2.75133512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464203821999995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:0.83, Z:-0.28 [[ 9.99895356e-01 1.39785010e-02 3.72549901e-03 3.51549342e+01] [-1.39786462e-02 9.99902294e-01 1.29389706e-05 8.25744053e-01] [-3.72495414e-03 -6.50150492e-05 9.99993060e-01 -2.76207435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.22, Y:0.83, Z:-0.28 [[ 9.99900853e-01 1.35795983e-02 3.72549932e-03 3.52160558e+01] [-1.35797404e-02 9.99907791e-01 1.28480558e-05 8.27610865e-01] [-3.72498133e-03 -6.34380955e-05 9.99993060e-01 -2.76595661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.28, Y:0.83, Z:-0.28 [[ 9.99921422e-01 1.19696026e-02 3.72549963e-03 3.52766663e+01] [-1.19697332e-02 9.99928360e-01 1.27578397e-05 8.33131838e-01] [-3.72508003e-03 -5.73500738e-05 9.99993060e-01 -2.78063291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644203821999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.34, Y:0.84, Z:-0.28 [[ 9.99946413e-01 9.65876057e-03 3.72549978e-03 3.53378104e+01] [-9.65887496e-03 9.99953352e-01 1.27131937e-05 8.36394769e-01] [-3.72520320e-03 -4.86966490e-05 9.99993060e-01 -2.77868745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.40, Y:0.84, Z:-0.28 [[ 9.99975620e-01 5.90595134e-03 3.72550008e-03 3.53992914e+01] [-5.90603936e-03 9.99982559e-01 1.26251456e-05 8.38626509e-01] [-3.72536054e-03 -3.46277879e-05 9.99993060e-01 -2.78522885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76420382199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.46, Y:0.84, Z:-0.27 [[ 9.99991490e-01 1.77193226e-03 3.72550037e-03 3.54616149e+01] [-1.77199127e-03 9.99998430e-01 1.25384046e-05 8.36885845e-01] [-3.72547231e-03 -1.91398520e-05 9.99993060e-01 -2.72785130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824203821999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:35.52, Y:0.84, Z:-0.27 [[ 9.99993059e-01 5.72853775e-05 3.72550232e-03 3.55237816e+01] [-5.73302283e-05 9.99999998e-01 1.19320781e-05 8.37881451e-01] [-3.72550163e-03 -1.21455791e-05 9.99993060e-01 -2.71044175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884203821999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:0.84, Z:-0.27 [[ 9.99985791e-01 -3.81284654e-03 3.72550426e-03 3.55856909e+01] [ 3.81283093e-03 9.99992731e-01 1.12919209e-05 8.37505443e-01] [-3.72552023e-03 2.91295740e-06 9.99993060e-01 -2.72867475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94420382199999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:0.84, Z:-0.27 [[ 9.99982712e-01 -4.54942326e-03 3.72550619e-03 3.56473708e+01] [ 4.54941530e-03 9.99989651e-01 1.06121152e-05 8.35480836e-01] [-3.72551592e-03 6.33694314e-06 9.99993060e-01 -2.67535759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004203821999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:0.83, Z:-0.27 [[ 9.99986263e-01 -3.68694501e-03 3.72550658e-03 3.57084352e+01] [ 3.68693157e-03 9.99993203e-01 1.04751664e-05 8.34812818e-01] [-3.72551988e-03 3.26066530e-06 9.99993060e-01 -2.72061500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064203821999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:0.83, Z:-0.28 [[ 9.99990764e-01 -2.14286797e-03 3.72550695e-03 3.57694681e+01] [ 2.14284432e-03 9.99997704e-01 1.03396520e-05 8.32594390e-01] [-3.72552056e-03 -2.35637506e-06 9.99993060e-01 -2.76575358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124203822 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:0.83, Z:-0.28 [[ 9.99991512e-01 -1.75973675e-03 3.72550731e-03 3.58316535e+01] [ 1.75971093e-03 9.99998452e-01 1.02092481e-05 8.28754901e-01] [-3.72551951e-03 -3.65334553e-06 9.99993060e-01 -2.76613550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:0.83, Z:-0.27 [[ 9.99991016e-01 -2.02207102e-03 3.72550780e-03 3.58937864e+01] [ 2.02204769e-03 9.99997956e-01 1.00291363e-05 8.30351082e-01] [-3.72552046e-03 -2.49589177e-06 9.99993060e-01 -2.74058030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244203821999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:0.83, Z:-0.28 [[ 9.99989333e-01 -2.73045741e-03 3.72550828e-03 3.59560825e+01] [ 2.73043968e-03 9.99996272e-01 9.84619157e-06 8.25476913e-01] [-3.72552128e-03 3.26189083e-07 9.99993060e-01 -2.77066508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304203822 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:0.82, Z:-0.27 [[ 9.99989008e-01 -2.84694998e-03 3.72550876e-03 3.60174998e+01] [ 2.84693374e-03 9.99995947e-01 9.66269088e-06 8.18866863e-01] [-3.72552117e-03 9.43691919e-07 9.99993060e-01 -2.74784794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:0.82, Z:-0.28 [[ 9.99990673e-01 -2.18525793e-03 3.72550910e-03 3.60791104e+01] [ 2.18523760e-03 9.99997612e-01 9.52663354e-06 8.16755780e-01] [-3.72552103e-03 -1.38542211e-06 9.99993060e-01 -2.75500274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424203821999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:0.81, Z:-0.27 [[ 9.99991988e-01 1.46440266e-03 3.72550944e-03 3.61416650e+01] [-1.46444782e-03 9.99998928e-01 9.39248595e-06 8.11358798e-01] [-3.72549169e-03 -1.48482249e-05 9.99993060e-01 -2.70292402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484203822 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:0.81, Z:-0.28 [[ 9.99956659e-01 8.53234356e-03 3.72550989e-03 3.62024823e+01] [-8.53243708e-03 9.99963598e-01 9.20921063e-06 8.06492498e-01] [-3.72529570e-03 -4.09964902e-05 9.99993060e-01 -2.75176813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:0.81, Z:-0.28 [[ 9.99884693e-01 1.47214509e-02 3.72551012e-03 3.62633547e+01] [-1.47215870e-02 9.99891632e-01 9.11862712e-06 8.05636454e-01] [-3.72497215e-03 -6.39629970e-05 9.99993060e-01 -2.75343725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604203821999995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:0.80, Z:-0.28 [[ 9.99698694e-01 2.42619222e-02 3.72551080e-03 3.63241806e+01] [-2.42621235e-02 9.99705631e-01 8.83178524e-06 8.04027494e-01] [-3.72419985e-03 -9.92179273e-05 9.99993060e-01 -2.79582176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:0.80, Z:-0.28 [[ 9.99529869e-01 3.04328872e-02 3.72551100e-03 3.63849372e+01] [-3.04331310e-02 9.99536805e-01 8.74483586e-06 8.03851993e-01] [-3.72351923e-03 -1.22119689e-04 9.99993060e-01 -2.75561907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:0.81, Z:-0.28 [[ 9.99500512e-01 3.13822664e-02 3.72551100e-03 3.64441287e+01] [-3.13825167e-02 9.99507447e-01 8.74483586e-06 8.06015899e-01] [-3.72340156e-03 -1.25656379e-04 9.99993060e-01 -2.76152105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784203821999995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:0.80, Z:-0.28 [[ 9.99614179e-01 2.75247820e-02 3.72551107e-03 3.65043505e+01] [-2.75250055e-02 9.99621115e-01 8.71362074e-06 8.04909757e-01] [-3.72385969e-03 -1.11254971e-04 9.99993060e-01 -2.78199044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844203822 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:0.80, Z:-0.28 [[ 9.99726749e-01 2.30770041e-02 3.72551107e-03 3.65657813e+01] [-2.30771967e-02 9.99733686e-01 8.71362074e-06 8.01812589e-01] [-3.72431783e-03 -9.46855917e-05 9.99993060e-01 -2.75497157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90420382199999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:0.80, Z:-0.28 [[ 9.99872948e-01 1.54986806e-02 3.72551128e-03 3.66272099e+01] [-1.54988202e-02 9.99879886e-01 8.62444526e-06 7.99320479e-01] [-3.72493013e-03 -6.63643791e-05 9.99993060e-01 -2.78156190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964203821999995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:0.79, Z:-0.28 [[ 9.99958292e-01 8.33870191e-03 3.72551149e-03 3.66880285e+01] [-8.33879157e-03 9.99965232e-01 8.53256154e-06 7.94558225e-01] [-3.72531081e-03 -3.95984695e-05 9.99993060e-01 -2.78130040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024203822 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:0.79, Z:-0.28 [[ 9.99976516e-01 5.75220911e-03 3.72551275e-03 3.67504300e+01] [-5.75227862e-03 9.99983455e-01 7.94379425e-06 7.90118590e-01] [-3.72540541e-03 -2.93737950e-05 9.99993060e-01 -2.77778377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08420382199999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:0.79, Z:-0.28 [[ 9.99974774e-01 6.04741143e-03 3.72551400e-03 3.68127453e+01] [-6.04748060e-03 9.99981714e-01 7.30142585e-06 7.89527476e-01] [-3.72540172e-03 -2.98312153e-05 9.99993060e-01 -2.78392622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144203821999994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:0.79, Z:-0.28 [[ 9.99954916e-01 8.73425841e-03 3.72551515e-03 3.68737118e+01] [-8.73434385e-03 9.99961855e-01 6.66326056e-06 7.89212166e-01] [-3.72531484e-03 -3.92028905e-05 9.99993060e-01 -2.81988120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.94, Y:0.79, Z:-0.28 [[ 9.99929069e-01 1.13127164e-02 3.72551610e-03 3.69362929e+01] [-1.13128175e-02 9.99936008e-01 6.07667195e-06 7.85004064e-01] [-3.72520896e-03 -4.82223248e-05 9.99993060e-01 -2.82844128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26420382199999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:0.79, Z:-0.28 [[ 9.99917693e-01 1.22770963e-02 3.72551703e-03 3.69979880e+01] [-1.22772018e-02 9.99924632e-01 5.44334073e-06 7.87252971e-01] [-3.72516942e-03 -5.11818170e-05 9.99993060e-01 -2.80499854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324203821999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:0.79, Z:-0.28 [[ 9.99924636e-01 1.16980101e-02 3.72551780e-03 3.70595524e+01] [-1.16981094e-02 9.99931575e-01 4.84952359e-06 7.88676645e-01] [-3.72520615e-03 -4.84306728e-05 9.99993060e-01 -2.82497523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384203821999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:0.79, Z:-0.28 [[ 9.99935417e-01 1.07369846e-02 3.72551847e-03 3.71214378e+01] [-1.07370750e-02 9.99942356e-01 4.26501427e-06 7.85654291e-01] [-3.72525792e-03 -4.42659102e-05 9.99993060e-01 -2.76077453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44420382199999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:0.79, Z:-0.29 [[ 9.99932409e-01 1.10134976e-02 3.72551867e-03 3.71814403e+01] [-1.10135893e-02 9.99939349e-01 4.08287065e-06 7.85207358e-01] [-3.72524775e-03 -4.51139271e-05 9.99993060e-01 -2.85489551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504203821999994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:0.78, Z:-0.28 [[ 9.99910129e-01 1.28784356e-02 3.72551872e-03 3.72432493e+01] [-1.28785400e-02 9.99917068e-01 4.03794920e-06 7.83852941e-01] [-3.72515775e-03 -5.20168280e-05 9.99993060e-01 -2.84241828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564203821999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:0.78, Z:-0.29 [[ 9.99880120e-01 1.50288408e-02 3.72551929e-03 3.73044473e+01] [-1.50289578e-02 9.99887059e-01 3.41822487e-06 7.76418532e-01] [-3.72504715e-03 -5.94084874e-05 9.99993060e-01 -2.86836654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62420382199999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:0.78, Z:-0.29 [[ 9.99781205e-01 2.05830769e-02 3.72551937e-03 3.73653842e+01] [-2.05832321e-02 9.99788143e-01 3.32656697e-06 7.80379222e-01] [-3.72466162e-03 -8.00090690e-05 9.99993060e-01 -2.89068044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68420382199999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:0.78, Z:-0.29 [[ 9.99670185e-01 2.54094832e-02 3.72551980e-03 3.74254307e+01] [-2.54096697e-02 9.99677122e-01 2.73496619e-06 7.80988272e-01] [-3.72424742e-03 -9.73982919e-05 9.99993060e-01 -2.90358935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744203821999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.49, Y:0.78, Z:-0.28 [[ 9.99539037e-01 3.01302968e-02 3.72551983e-03 3.74864027e+01] [-3.01305159e-02 9.99545973e-01 2.69170334e-06 7.83964832e-01] [-3.72374725e-03 -1.14942297e-04 9.99993060e-01 -2.82733557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.55, Y:0.79, Z:-0.28 [[ 9.99398478e-01 3.44790137e-02 3.72551983e-03 3.75459104e+01] [-3.44792630e-02 9.99405413e-01 2.69170334e-06 7.85135621e-01] [-3.72321188e-03 -1.31143262e-04 9.99993060e-01 -2.83710143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86420382199999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:37.61, Y:0.79, Z:-0.29 [[ 9.99303626e-01 3.71266013e-02 3.72551985e-03 3.76067010e+01] [-3.71268689e-02 9.99310560e-01 2.66870775e-06 7.88940109e-01] [-3.72285225e-03 -1.40983736e-04 9.99993060e-01 -2.87083127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924203821999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:37.67, Y:0.79, Z:-0.29 [[ 9.99393662e-01 3.46183365e-02 3.72551985e-03 3.76659415e+01] [-3.46185867e-02 9.99400597e-01 2.66870775e-06 7.91584115e-01] [-3.72319438e-03 -1.31639322e-04 9.99993060e-01 -2.90443438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.73, Y:0.80, Z:-0.28 [[ 9.99613632e-01 2.75446298e-02 3.72551987e-03 3.77262875e+01] [-2.75448308e-02 9.99620569e-01 2.64020751e-06 8.00790279e-01] [-3.72403357e-03 -1.05258002e-04 9.99993060e-01 -2.80663853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04420382199999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:37.79, Y:0.80, Z:-0.29 [[ 9.99774872e-01 2.08884065e-02 3.72551987e-03 3.77868515e+01] [-2.08885612e-02 9.99781810e-01 2.64020751e-06 8.00184789e-01] [-3.72465185e-03 -8.04603632e-05 9.99993060e-01 -2.85967769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104203821999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:0.80, Z:-0.28 [[ 9.99829349e-01 1.80940248e-02 3.72551990e-03 3.78474827e+01] [-1.80941600e-02 9.99836287e-01 2.59491049e-06 8.04545644e-01] [-3.72486304e-03 -7.00046209e-05 9.99993060e-01 -2.84946386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.91, Y:0.82, Z:-0.29 [[ 9.99892509e-01 1.41806424e-02 3.72551990e-03 3.79083647e+01] [-1.41807505e-02 9.99899448e-01 2.59491049e-06 8.15885108e-01] [-3.72510850e-03 -5.54252998e-05 9.99993060e-01 -2.85991532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22420382199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:0.82, Z:-0.29 [[ 9.99938143e-01 1.04800265e-02 3.72551996e-03 3.79697075e+01] [-1.04801086e-02 9.99945082e-01 2.50668390e-06 8.15743478e-01] [-3.72528909e-03 -4.15503825e-05 9.99993060e-01 -2.91731175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284203821999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:38.03, Y:0.82, Z:-0.29 [[ 9.99976013e-01 5.83905851e-03 3.72552002e-03 3.80312064e+01] [-5.83910804e-03 9.99982952e-01 2.41741884e-06 8.16886829e-01] [-3.72544239e-03 -2.41710747e-05 9.99993060e-01 -2.86312466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.09, Y:0.82, Z:-0.28 [[ 9.99980179e-01 5.07554440e-03 3.72552008e-03 3.80929506e+01] [-5.07558830e-03 9.99987119e-01 2.32851810e-06 8.16444211e-01] [-3.72546027e-03 -2.12376781e-05 9.99993060e-01 -2.81556421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:0.82, Z:-0.28 [[ 9.99977270e-01 5.61968105e-03 3.72552035e-03 3.81548257e+01] [-5.61972659e-03 9.99984209e-01 1.75777254e-06 8.15183195e-01] [-3.72545164e-03 -2.26941384e-05 9.99993060e-01 -2.78185661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464203821999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:0.81, Z:-0.28 [[ 9.99963132e-01 7.73657090e-03 3.72552054e-03 3.82167080e+01] [-7.73662882e-03 9.99970072e-01 1.13512817e-06 8.13811869e-01] [-3.72540026e-03 -2.99580559e-05 9.99993060e-01 -2.82324762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:0.81, Z:-0.28 [[ 9.99947569e-01 9.53835749e-03 3.72552057e-03 3.82788306e+01] [-9.53842742e-03 9.99954508e-01 1.00247144e-06 8.09518140e-01] [-3.72534153e-03 -3.65380264e-05 9.99993060e-01 -2.80734548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58420382199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:38.34, Y:0.81, Z:-0.28 [[ 9.99927420e-01 1.14575588e-02 3.72552063e-03 3.83402108e+01] [-1.14576397e-02 9.99934359e-01 3.71967180e-07 8.07460772e-01] [-3.72527183e-03 -4.30576133e-05 9.99993060e-01 -2.83524255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644203821999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.40, Y:0.81, Z:-0.28 [[ 9.99912957e-01 1.26570100e-02 3.72552064e-03 3.84009320e+01] [-1.26570989e-02 9.99919896e-01 2.79370933e-07 8.07570248e-01] [-3.72521867e-03 -4.74336297e-05 9.99993060e-01 -2.81192429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.46, Y:0.80, Z:-0.28 [[ 9.99870300e-01 1.56685565e-02 3.72552064e-03 3.84619340e+01] [-1.56686651e-02 9.99877239e-01 -3.93355666e-08 8.03290408e-01] [-3.72506390e-03 -5.83346046e-05 9.99993060e-01 -2.83500685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76420382199999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:38.52, Y:0.80, Z:-0.29 [[ 9.99818880e-01 1.86635148e-02 3.72552063e-03 3.85224399e+01] [-1.86636438e-02 9.99825819e-01 -1.29105138e-07 8.01865320e-01] [-3.72487413e-03 -6.94027085e-05 9.99993060e-01 -2.87566230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.58, Y:0.80, Z:-0.28 [[ 9.99809747e-01 1.91465580e-02 3.72552063e-03 3.85832053e+01] [-1.91466902e-02 9.99816685e-01 -1.73588503e-07 7.99501098e-01] [-3.72484101e-03 -7.11578339e-05 9.99993060e-01 -2.84454171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884203821999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.64, Y:0.80, Z:-0.28 [[ 9.99847722e-01 1.70485317e-02 3.72552063e-03 3.86445110e+01] [-1.70486492e-02 9.99854661e-01 -2.18237798e-07 7.96917875e-01] [-3.72498289e-03 -6.32968898e-05 9.99993060e-01 -2.77167908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:0.80, Z:-0.28 [[ 9.99857453e-01 1.64679672e-02 3.72552062e-03 3.87044426e+01] [-1.64680804e-02 9.99864392e-01 -3.10469322e-07 7.96310283e-01] [-3.72502052e-03 -6.10417479e-05 9.99993060e-01 -2.83411632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.77, Y:0.79, Z:-0.28 [[ 9.99835390e-01 1.77570573e-02 3.72552062e-03 3.87656662e+01] [-1.77571792e-02 9.99842329e-01 -3.55990830e-07 7.89634067e-01] [-3.72493953e-03 -6.57988049e-05 9.99993060e-01 -2.83805827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:0.79, Z:-0.28 [[ 9.99811099e-01 1.90758423e-02 3.72552061e-03 3.88266236e+01] [-1.90759731e-02 9.99818037e-01 -4.44866574e-07 7.85266320e-01] [-3.72485119e-03 -7.06231482e-05 9.99993060e-01 -2.83186452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:0.78, Z:-0.29 [[ 9.99745334e-01 2.22572830e-02 3.72552060e-03 3.88866179e+01] [-2.22574356e-02 9.99752273e-01 -4.90029862e-07 7.80953534e-01] [-3.72460859e-03 -8.24306298e-05 9.99993060e-01 -2.86623831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:0.78, Z:-0.29 [[ 9.99670595e-01 2.53933514e-02 3.72552059e-03 3.89478420e+01] [-2.53935256e-02 9.99677532e-01 -5.34717049e-07 7.79269528e-01] [-3.72433281e-03 -9.40695616e-05 9.99993060e-01 -2.86469670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:0.77, Z:-0.28 [[ 9.99495679e-01 3.15358124e-02 3.72552058e-03 3.90084013e+01] [-3.15360289e-02 9.99502616e-01 -6.23294836e-07 7.74078143e-01] [-3.72368722e-03 -1.16865144e-04 9.99993060e-01 -2.84216514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:0.78, Z:-0.28 [[ 9.99339605e-01 3.61451966e-02 3.72552058e-03 3.90683497e+01] [-3.61454451e-02 9.99346540e-01 -6.23294836e-07 7.76391019e-01] [-3.72310863e-03 -1.34037716e-04 9.99993060e-01 -2.82499221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:0.78, Z:-0.28 [[ 9.99277702e-01 3.78179222e-02 3.72552058e-03 3.91285911e+01] [-3.78181823e-02 9.99284637e-01 -6.23294836e-07 7.75852170e-01] [-3.72287905e-03 -1.40269572e-04 9.99993060e-01 -2.76696283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:0.78, Z:-0.28 [[ 9.99249100e-01 3.85662721e-02 3.72552058e-03 3.91891118e+01] [-3.85665374e-02 9.99256034e-01 -6.23294836e-07 7.76784607e-01] [-3.72277296e-03 -1.43057602e-04 9.99993060e-01 -2.76736297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:0.77, Z:-0.28 [[ 9.99279401e-01 3.77729945e-02 3.72552058e-03 3.92497507e+01] [-3.77732544e-02 9.99286336e-01 -6.23294836e-07 7.74743779e-01] [-3.72288535e-03 -1.40102191e-04 9.99993060e-01 -2.80371506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:0.78, Z:-0.28 [[ 9.99413527e-01 3.40400164e-02 3.72552057e-03 3.93099549e+01] [-3.40402501e-02 9.99420463e-01 -6.67604044e-07 7.76800429e-01] [-3.72338422e-03 -1.26150440e-04 9.99993060e-01 -2.81260492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:0.78, Z:-0.28 [[ 9.99593988e-01 2.82485361e-02 3.72552057e-03 3.93716219e+01] [-2.82487296e-02 9.99600925e-01 -6.67604044e-07 7.75514013e-01] [-3.72405267e-03 -1.04573890e-04 9.99993060e-01 -2.81919367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:0.77, Z:-0.28 [[ 9.99629969e-01 2.69452302e-02 3.72552055e-03 3.94318999e+01] [-2.69454143e-02 9.99636906e-01 -7.57904118e-07 7.74347007e-01] [-3.72418826e-03 -9.96280713e-05 9.99993060e-01 -2.82115251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:0.77, Z:-0.28 [[ 9.99668961e-01 2.54575872e-02 3.72552054e-03 3.94934817e+01] [-2.54577609e-02 9.99675899e-01 -8.02591304e-07 7.70910283e-01] [-3.72433353e-03 -9.40410854e-05 9.99993060e-01 -2.76022588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.55, Y:0.77, Z:-0.27 [[ 9.99692334e-01 2.45226064e-02 3.72552052e-03 3.95547048e+01] [-2.45227733e-02 9.99699272e-01 -8.90744052e-07 7.72811200e-01] [-3.72442200e-03 -9.04696251e-05 9.99993060e-01 -2.71889084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:0.77, Z:-0.27 [[ 9.99740221e-01 2.24858072e-02 3.72552050e-03 3.96152444e+01] [-2.24859596e-02 9.99747159e-01 -9.82801456e-07 7.72741918e-01] [-3.72460063e-03 -8.27893574e-05 9.99993060e-01 -2.74201638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.68, Y:0.77, Z:-0.27 [[ 9.99784664e-01 2.04143703e-02 3.72552049e-03 3.96762893e+01] [-2.04145081e-02 9.99791602e-01 -1.02841126e-06 7.67100241e-01] [-3.72476509e-03 -7.50264785e-05 9.99993060e-01 -2.72828640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.74, Y:0.76, Z:-0.27 [[ 9.99833232e-01 1.78781467e-02 3.72552046e-03 3.97373221e+01] [-1.78782667e-02 9.99840171e-01 -1.11685319e-06 7.62892580e-01] [-3.72494498e-03 -6.54891813e-05 9.99993060e-01 -2.70509674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.80, Y:0.76, Z:-0.27 [[ 9.99822070e-01 1.84918757e-02 3.72552043e-03 3.97989528e+01] [-1.84919995e-02 9.99829008e-01 -1.20970587e-06 7.61304081e-01] [-3.72490577e-03 -6.76828314e-05 9.99993060e-01 -2.74475224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.86, Y:0.76, Z:-0.27 [[ 9.99804863e-01 1.93999141e-02 3.72552014e-03 3.98601135e+01] [-1.94000419e-02 9.99811801e-01 -1.80857214e-06 7.57831475e-01] [-3.72485409e-03 -7.04670277e-05 9.99993060e-01 -2.74929245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.92, Y:0.75, Z:-0.27 [[ 9.99831284e-01 1.79867923e-02 3.72552009e-03 3.99212944e+01] [-1.79869101e-02 9.99838222e-01 -1.89695865e-06 7.52229676e-01] [-3.72495151e-03 -6.51139563e-05 9.99993060e-01 -2.72408927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.98, Y:0.75, Z:-0.27 [[ 9.99849012e-01 1.69727579e-02 3.72552005e-03 3.99838221e+01] [-1.69728683e-02 9.99855950e-01 -1.98615351e-06 7.48378623e-01] [-3.72501710e-03 -6.12469074e-05 9.99993060e-01 -2.70264978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.04, Y:0.74, Z:-0.27 [[ 9.99868585e-01 1.57776100e-02 3.72551960e-03 4.00448369e+01] [-1.57777097e-02 9.99875524e-01 -2.62085813e-06 7.44847588e-01] [-3.72509721e-03 -5.61596532e-05 9.99993060e-01 -2.70139633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:0.73, Z:-0.27 [[ 9.99898702e-01 1.37370710e-02 3.72551933e-03 4.01071501e+01] [-1.37371553e-02 9.99905641e-01 -2.96286194e-06 7.32882101e-01] [-3.72520849e-03 -4.82154757e-05 9.99993060e-01 -2.67944239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:0.72, Z:-0.27 [[ 9.99889157e-01 1.44150919e-02 3.72551871e-03 4.01693057e+01] [-1.44151785e-02 9.99896096e-01 -3.60292202e-06 7.24992257e-01] [-3.72518355e-03 -5.01014944e-05 9.99993060e-01 -2.70819623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.23, Y:0.72, Z:-0.28 [[ 9.99841823e-01 1.73910494e-02 3.72551798e-03 4.02308543e+01] [-1.73911543e-02 9.99848762e-01 -4.24188323e-06 7.20630214e-01] [-3.72502831e-03 -6.05498457e-05 9.99993060e-01 -2.75457548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.29, Y:0.72, Z:-0.28 [[ 9.99751772e-01 2.19662425e-02 3.72551722e-03 4.02922091e+01] [-2.19663770e-02 9.99758710e-01 -4.83090543e-06 7.15368981e-01] [-3.72472440e-03 -7.70064093e-05 9.99993060e-01 -2.78591217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.35, Y:0.71, Z:-0.28 [[ 9.99671525e-01 2.53567267e-02 3.72551640e-03 4.03539373e+01] [-2.53568826e-02 9.99678463e-01 -5.39520307e-06 7.12999402e-01] [-3.72445531e-03 -8.90740511e-05 9.99993060e-01 -2.77351597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.42, Y:0.71, Z:-0.28 [[ 9.99542600e-01 3.00118569e-02 3.72551540e-03 4.04160361e+01] [-3.00120428e-02 9.99549537e-01 -6.01380367e-06 7.08999580e-01] [-3.72401768e-03 -1.05799275e-04 9.99993060e-01 -2.81603543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.48, Y:0.71, Z:-0.28 [[ 9.99442456e-01 3.31797694e-02 3.72551429e-03 4.04769294e+01] [-3.31799750e-02 9.99449393e-01 -6.63872681e-06 7.09832810e-01] [-3.72368326e-03 -1.16977445e-04 9.99993060e-01 -2.78792127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.54, Y:0.71, Z:-0.28 [[ 9.99413367e-01 3.40447222e-02 3.72551369e-03 4.05386948e+01] [-3.40449325e-02 9.99420303e-01 -6.95649890e-06 7.11512382e-01] [-3.72359086e-03 -1.19882444e-04 9.99993060e-01 -2.78110965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:0.71, Z:-0.28 [[ 9.99486582e-01 3.18228474e-02 3.72551240e-03 4.06012179e+01] [-3.18230400e-02 9.99493519e-01 -7.58992680e-06 7.10373805e-01] [-3.72386703e-03 -1.10971100e-04 9.99993060e-01 -2.79443900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:0.71, Z:-0.28 [[ 9.99553148e-01 2.96584751e-02 3.72551101e-03 4.06626841e+01] [-2.96586503e-02 9.99560085e-01 -8.22159620e-06 7.10903852e-01] [-3.72411594e-03 -1.02275706e-04 9.99993060e-01 -2.84096322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.72, Y:0.71, Z:-0.28 [[ 9.99662364e-01 2.57153472e-02 3.72550964e-03 4.07245842e+01] [-2.57154929e-02 9.99669302e-01 -8.80190645e-06 7.13054987e-01] [-3.72450396e-03 -8.70043819e-05 9.99993060e-01 -2.80881913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:0.71, Z:-0.28 [[ 9.99732993e-01 2.28048860e-02 3.72550809e-03 4.07870809e+01] [-2.28050092e-02 9.99739932e-01 -9.41660689e-06 7.14661418e-01] [-3.72475394e-03 -7.55461534e-05 9.99993060e-01 -2.80113662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:0.71, Z:-0.28 [[ 9.99809004e-01 1.91853245e-02 3.72550644e-03 4.08497148e+01] [-1.91854203e-02 9.99815943e-01 -1.00283701e-05 7.09084611e-01] [-3.72501313e-03 -6.14489520e-05 9.99993060e-01 -2.84847542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:0.71, Z:-0.28 [[ 9.99846498e-01 1.71201728e-02 3.72550584e-03 4.09104330e+01] [-1.71202534e-02 9.99853438e-01 -1.02474372e-05 7.12427253e-01] [-3.72513525e-03 -5.35357397e-05 9.99993060e-01 -2.83083768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:0.71, Z:-0.28 [[ 9.99827484e-01 1.81967710e-02 3.72550559e-03 4.09726626e+01] [-1.81968588e-02 9.99834423e-01 -1.03345455e-05 7.12598976e-01] [-3.72507679e-03 -5.74597367e-05 9.99993060e-01 -2.79778372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.04, Y:0.71, Z:-0.28 [[ 9.99788473e-01 2.02269491e-02 3.72550381e-03 4.10351776e+01] [-2.02270487e-02 9.99795412e-01 -1.09406045e-05 7.09088394e-01] [-3.72496292e-03 -6.44176567e-05 9.99993060e-01 -2.75964422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.10, Y:0.71, Z:-0.28 [[ 9.99749169e-01 2.20843914e-02 3.72550190e-03 4.10967810e+01] [-2.20845016e-02 9.99756108e-01 -1.15583646e-05 7.10272438e-01] [-3.72484854e-03 -7.07203873e-05 9.99993060e-01 -2.78720739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.16, Y:0.71, Z:-0.28 [[ 9.99683980e-01 2.48608356e-02 3.72550006e-03 4.11586602e+01] [-2.48609629e-02 9.99690918e-01 -1.21236661e-05 7.13102253e-01] [-3.72464998e-03 -8.04996841e-05 9.99993060e-01 -2.83108269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:0.71, Z:-0.28 [[ 9.99621854e-01 2.72446082e-02 3.72549798e-03 4.12204258e+01] [-2.72447499e-02 9.99628793e-01 -1.27315247e-05 7.12615336e-01] [-3.72446191e-03 -8.87735504e-05 9.99993060e-01 -2.81942751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.28, Y:0.71, Z:-0.29 [[ 9.99591254e-01 2.83451163e-02 3.72549571e-03 4.12819281e+01] [-2.83452632e-02 9.99598192e-01 -1.33657334e-05 7.13115978e-01] [-3.72437763e-03 -9.22398863e-05 9.99993060e-01 -2.87628991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.34, Y:0.71, Z:-0.28 [[ 9.99572343e-01 2.90043287e-02 3.72549441e-03 4.13434894e+01] [-2.90044789e-02 9.99579282e-01 -1.37180426e-05 7.10582013e-01] [-3.72432491e-03 -9.43438480e-05 9.99993060e-01 -2.81359742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.41, Y:0.71, Z:-0.28 [[ 9.99577018e-01 2.88427823e-02 3.72549324e-03 4.14061306e+01] [-2.88429303e-02 9.99583956e-01 -1.40280967e-05 7.09564957e-01] [-3.72434788e-03 -9.34319786e-05 9.99993060e-01 -2.79843483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.47, Y:0.71, Z:-0.28 [[ 9.99623167e-01 2.71964215e-02 3.72549081e-03 4.14673927e+01] [-2.71965557e-02 9.99630105e-01 -1.46475365e-05 7.11298369e-01] [-3.72451113e-03 -8.66785013e-05 9.99993060e-01 -2.81881254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.53, Y:0.71, Z:-0.28 [[ 9.99718838e-01 2.34172298e-02 3.72548849e-03 4.15292181e+01] [-2.34173357e-02 9.99725776e-01 -1.52144312e-05 7.06890353e-01] [-3.72482315e-03 -7.20308610e-05 9.99993060e-01 -2.80980249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.59, Y:0.70, Z:-0.28 [[ 9.99815153e-01 1.88621728e-02 3.72548588e-03 4.15917554e+01] [-1.88622447e-02 9.99822092e-01 -1.58294981e-05 7.02391788e-01] [-3.72512166e-03 -5.44444542e-05 9.99993060e-01 -2.83566531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.65, Y:0.70, Z:-0.28 [[ 9.99865164e-01 1.59929600e-02 3.72548319e-03 4.16532299e+01] [-1.59930098e-02 9.99872104e-01 -1.64387992e-05 6.98317057e-01] [-3.72526962e-03 -4.31451063e-05 9.99993060e-01 -2.84041251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884203821999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.72, Y:0.70, Z:-0.28 [[ 9.99841665e-01 1.74001388e-02 3.72548063e-03 4.17150287e+01] [-1.74001962e-02 9.99848605e-01 -1.69999397e-05 6.95060699e-01] [-3.72521241e-03 -4.78268459e-05 9.99993060e-01 -2.79735394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.78, Y:0.69, Z:-0.28 [[ 9.99761554e-01 2.15164021e-02 3.72547776e-03 4.17772098e+01] [-2.15164859e-02 9.99768493e-01 -1.76070724e-05 6.92523768e-01] [-3.72499413e-03 -6.25563155e-05 9.99993060e-01 -2.83150646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.84, Y:0.69, Z:-0.28 [[ 9.99592835e-01 2.82892945e-02 3.72547477e-03 4.18389043e+01] [-2.82894230e-02 9.99599774e-01 -1.82181920e-05 6.94608730e-01] [-3.72449912e-03 -8.71807573e-05 9.99993060e-01 -2.84409455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.90, Y:0.69, Z:-0.29 [[ 9.99490882e-01 3.16875056e-02 3.72547169e-03 4.19007051e+01] [-3.16876554e-02 9.99497820e-01 -1.88279452e-05 6.94658065e-01] [-3.72419744e-03 -9.92331034e-05 9.99993060e-01 -2.86020585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12420382199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:0.70, Z:-0.29 [[ 9.99445791e-01 3.30791749e-02 3.72546851e-03 4.19625721e+01] [-3.30793321e-02 9.99452729e-01 -1.94369734e-05 6.96169240e-01] [-3.72407263e-03 -1.03809809e-04 9.99993060e-01 -2.89783294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:0.70, Z:-0.29 [[ 9.99452308e-01 3.28816716e-02 3.72546782e-03 4.20244768e+01] [-3.28818269e-02 9.99459246e-01 -1.95677671e-05 6.98204455e-01] [-3.72409668e-03 -1.02943138e-04 9.99993060e-01 -2.86264746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.09, Y:0.70, Z:-0.29 [[ 9.99452422e-01 3.28782221e-02 3.72546451e-03 4.20863872e+01] [-3.28783751e-02 9.99459360e-01 -2.01800721e-05 6.98252632e-01] [-3.72411386e-03 -1.02318198e-04 9.99993060e-01 -2.89406770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.15, Y:0.70, Z:-0.29 [[ 9.99493095e-01 3.16176135e-02 3.72546378e-03 4.21475132e+01] [-3.16177573e-02 9.99500034e-01 -2.03134899e-05 7.02381585e-01] [-3.72424344e-03 -9.74876168e-05 9.99993060e-01 -2.87127857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.21, Y:0.70, Z:-0.29 [[ 9.99559871e-01 2.94310278e-02 3.72546059e-03 4.22093371e+01] [-2.94311542e-02 9.99566810e-01 -2.08829265e-05 7.04022975e-01] [-3.72446136e-03 -8.87708698e-05 9.99993060e-01 -2.86715168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.27, Y:0.70, Z:-0.29 [[ 9.99700622e-01 2.41823823e-02 3.72545707e-03 4.22717006e+01] [-2.41824700e-02 9.99707561e-01 -2.14926773e-05 7.03234814e-01] [-3.72488735e-03 -6.86045111e-05 9.99993060e-01 -2.89565636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.33, Y:0.70, Z:-0.29 [[ 9.99790465e-01 2.01282818e-02 3.72545322e-03 4.23334567e+01] [-2.01283390e-02 9.99797404e-01 -2.21405603e-05 7.02330873e-01] [-3.72514411e-03 -5.28512642e-05 9.99993060e-01 -2.85577201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:0.70, Z:-0.29 [[ 9.99823827e-01 1.83966039e-02 3.72545125e-03 4.23954752e+01] [-1.83966478e-02 9.99830767e-01 -2.24663056e-05 7.00806951e-01] [-3.72523409e-03 -4.60734671e-05 9.99993060e-01 -2.88710621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:0.70, Z:-0.29 [[ 9.99837010e-01 1.76656111e-02 3.72544746e-03 4.24580438e+01] [-1.76656477e-02 9.99843950e-01 -2.30794314e-05 6.97356133e-01] [-3.72527381e-03 -4.27367725e-05 9.99993060e-01 -2.91930158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:0.70, Z:-0.30 [[ 9.99818467e-01 1.86856534e-02 3.72544607e-03 4.25194915e+01] [-1.86856963e-02 9.99825407e-01 -2.33005581e-05 6.96416791e-01] [-3.72523102e-03 -4.63162254e-05 9.99993060e-01 -2.95346019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:0.69, Z:-0.30 [[ 9.99752556e-01 2.19305142e-02 3.72544241e-03 4.25812522e+01] [-2.19305775e-02 9.99759496e-01 -2.38718858e-05 6.93703463e-01] [-3.72506995e-03 -5.78351246e-05 9.99993060e-01 -2.95113390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.64, Y:0.69, Z:-0.29 [[ 9.99664214e-01 2.56433450e-02 3.72543839e-03 4.26434736e+01] [-2.56434318e-02 9.99671153e-01 -2.44844599e-05 6.91136970e-01] [-3.72484115e-03 -7.10567868e-05 9.99993060e-01 -2.91121988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:0.70, Z:-0.29 [[ 9.99382439e-01 3.49408268e-02 3.72543406e-03 4.27052227e+01] [-3.49409757e-02 9.99389377e-01 -2.51264109e-05 6.95780273e-01] [-3.72403716e-03 -1.05059407e-04 9.99993060e-01 -2.89103909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:0.70, Z:-0.29 [[ 9.99158165e-01 4.08543997e-02 3.72542996e-03 4.27667410e+01] [-4.08545875e-02 9.99165102e-01 -2.57198304e-05 6.97866030e-01] [-3.72337038e-03 -1.26502726e-04 9.99993060e-01 -2.88664343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:0.71, Z:-0.29 [[ 9.98920190e-01 4.63095541e-02 3.72542582e-03 4.28285549e+01] [-4.63097776e-02 9.98927126e-01 -2.63054888e-05 7.06389056e-01] [-3.72264711e-03 -1.46246557e-04 9.99993060e-01 -2.88346952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:0.71, Z:-0.29 [[ 9.99046195e-01 4.35065687e-02 3.72542519e-03 4.28898235e+01] [-4.35067723e-02 9.99053132e-01 -2.63945497e-05 7.12198792e-01] [-3.72304604e-03 -1.35711851e-04 9.99993060e-01 -2.93320407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:0.72, Z:-0.29 [[ 9.99204700e-01 3.96999899e-02 3.72542266e-03 4.29515388e+01] [-3.97001658e-02 9.99211637e-01 -2.67476404e-05 7.16293989e-01] [-3.72354756e-03 -1.21173529e-04 9.99993060e-01 -2.92002012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:0.72, Z:-0.29 [[ 9.99376016e-01 3.51240555e-02 3.72542023e-03 4.30135345e+01] [-3.51241984e-02 9.99382955e-01 -2.70817696e-05 7.24393792e-01] [-3.72407270e-03 -1.03787528e-04 9.99993060e-01 -2.89746932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:0.73, Z:-0.29 [[ 9.99463680e-01 3.25341995e-02 3.72541552e-03 4.30743027e+01] [-3.25343221e-02 9.99470618e-01 -2.77149861e-05 7.30306277e-01] [-3.72434504e-03 -9.35037464e-05 9.99993060e-01 -2.88798937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.14, Y:0.74, Z:-0.29 [[ 9.99600447e-01 2.80190575e-02 3.72541518e-03 4.31360778e+01] [-2.80191486e-02 9.99607386e-01 -2.77598650e-05 7.39252737e-01] [-3.72473034e-03 -7.66341882e-05 9.99993060e-01 -2.91154824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.20, Y:0.74, Z:-0.29 [[ 9.99664455e-01 2.56339335e-02 3.72541454e-03 4.31969848e+01] [-2.56340077e-02 9.99671394e-01 -2.78464206e-05 7.43611976e-01] [-3.72490416e-03 -6.76602281e-05 9.99993060e-01 -2.91081252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:0.75, Z:-0.29 [[ 9.99683096e-01 2.48963592e-02 3.72541389e-03 4.32583705e+01] [-2.48964280e-02 9.99690036e-01 -2.79330587e-05 7.52436860e-01] [-3.72495457e-03 -6.48252919e-05 9.99993060e-01 -2.86036637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:0.75, Z:-0.29 [[ 9.99689336e-01 2.46445304e-02 3.72541321e-03 4.33188525e+01] [-2.46445971e-02 9.99696275e-01 -2.80236596e-05 7.54113039e-01] [-3.72497234e-03 -6.37963538e-05 9.99993060e-01 -2.87653803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:0.76, Z:-0.29 [[ 9.99708665e-01 2.38475840e-02 3.72541287e-03 4.33793342e+01] [-2.38476449e-02 9.99715604e-01 -2.80683329e-05 7.62482019e-01] [-3.72502274e-03 -6.07821676e-05 9.99993060e-01 -2.86116192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:0.77, Z:-0.28 [[ 9.99718764e-01 2.34203676e-02 3.72541287e-03 4.34400714e+01] [-2.34204256e-02 9.99725704e-01 -2.80683329e-05 7.66221643e-01] [-3.72504837e-03 -5.91903159e-05 9.99993060e-01 -2.83546111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:0.77, Z:-0.28 [[ 9.99736953e-01 2.26306344e-02 3.72541287e-03 4.35008091e+01] [-2.26306869e-02 9.99743893e-01 -2.80683329e-05 7.67704543e-01] [-3.72509397e-03 -5.62477027e-05 9.99993060e-01 -2.83583200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:0.77, Z:-0.28 [[ 9.99757357e-01 2.17105468e-02 3.72541287e-03 4.35616371e+01] [-2.17105929e-02 9.99764297e-01 -2.80683329e-05 7.68939297e-01] [-3.72514416e-03 -5.28193999e-05 9.99993060e-01 -2.83503285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:0.77, Z:-0.29 [[ 9.99783216e-01 2.04851667e-02 3.72541287e-03 4.36215985e+01] [-2.04852043e-02 9.99790156e-01 -2.80683329e-05 7.74717134e-01] [-3.72520610e-03 -4.82535955e-05 9.99993060e-01 -2.89224559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:0.77, Z:-0.29 [[ 9.99768887e-01 2.11729368e-02 3.72541287e-03 4.36824348e+01] [-2.11729792e-02 9.99775827e-01 -2.80683329e-05 7.73533938e-01] [-3.72517202e-03 -5.08162433e-05 9.99993060e-01 -2.89367657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:0.78, Z:-0.29 [[ 9.99754397e-01 2.18464474e-02 3.72541287e-03 4.37432159e+01] [-2.18464944e-02 9.99761336e-01 -2.80683329e-05 7.75648493e-01] [-3.72513694e-03 -5.33257722e-05 9.99993060e-01 -2.88172413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:0.78, Z:-0.29 [[ 9.99738110e-01 2.25794953e-02 3.72541253e-03 4.38039539e+01] [-2.25795472e-02 9.99745049e-01 -2.81130598e-05 7.77632613e-01] [-3.72509751e-03 -5.60124310e-05 9.99993060e-01 -2.90770349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:0.78, Z:-0.29 [[ 9.99706996e-01 2.39174288e-02 3.72541220e-03 4.38644312e+01] [-2.39174899e-02 9.99713936e-01 -2.81567448e-05 7.77376554e-01] [-3.72501993e-03 -6.09540139e-05 9.99993060e-01 -2.89716934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:0.78, Z:-0.29 [[ 9.99640264e-01 2.65605592e-02 3.72541220e-03 4.39237916e+01] [-2.65606386e-02 9.99647204e-01 -2.81567448e-05 7.81767446e-01] [-3.72484575e-03 -7.08027113e-05 9.99993060e-01 -2.89697103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:0.79, Z:-0.29 [[ 9.99595962e-01 2.81786258e-02 3.72541253e-03 4.39842179e+01] [-2.81787166e-02 9.99602901e-01 -2.81130909e-05 7.85152866e-01] [-3.72472536e-03 -7.68756120e-05 9.99993060e-01 -2.89225970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:0.79, Z:-0.30 [[ 9.99527712e-01 3.05036755e-02 3.72541253e-03 4.40433678e+01] [-3.05037825e-02 9.99534651e-01 -2.81130909e-05 7.92273425e-01] [-3.72453647e-03 -8.55393603e-05 9.99993060e-01 -2.97047994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.10, Y:0.80, Z:-0.30 [[ 9.99604652e-01 2.78686246e-02 3.72541287e-03 4.41035188e+01] [-2.78687135e-02 9.99611592e-01 -2.80684249e-05 7.96549024e-01] [-3.72474811e-03 -7.57651356e-05 9.99993060e-01 -2.95332298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.16, Y:0.80, Z:-0.29 [[ 9.99730364e-01 2.29198799e-02 3.72541287e-03 4.41638849e+01] [-2.29199345e-02 9.99737303e-01 -2.80684249e-05 8.01918276e-01] [-3.72507754e-03 -5.73253621e-05 9.99993060e-01 -2.92761704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.22, Y:0.80, Z:-0.29 [[ 9.99900980e-01 1.35702212e-02 3.72541287e-03 4.42245695e+01] [-1.35702108e-02 9.99907920e-01 -2.80684249e-05 8.04849571e-01] [-3.72545073e-03 -2.24889924e-05 9.99993060e-01 -2.86187382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40420382199999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:44.28, Y:0.81, Z:-0.29 [[ 9.99951394e-01 9.12855976e-03 3.72541253e-03 4.42849412e+01] [-9.12851837e-03 9.99958334e-01 -2.81136946e-05 8.05006341e-01] [-3.72551394e-03 -5.89516853e-06 9.99993060e-01 -2.87884977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464203821999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:0.80, Z:-0.29 [[ 9.99967195e-01 7.19237365e-03 3.72541219e-03 4.43459112e+01] [-7.19231866e-03 9.99974135e-01 -2.81576432e-05 8.01874883e-01] [-3.72551836e-03 1.36236779e-06 9.99993060e-01 -2.86072184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:0.80, Z:-0.29 [[ 9.99926157e-01 1.15673103e-02 3.72541151e-03 4.44071889e+01] [-1.15672853e-02 9.99933096e-01 -2.82478313e-05 8.02645334e-01] [-3.72548902e-03 -1.48471525e-05 9.99993060e-01 -2.85856042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:0.80, Z:-0.29 [[ 9.99863256e-01 1.61118443e-02 3.72541049e-03 4.44681780e+01] [-1.61118503e-02 9.99870195e-01 -2.83817298e-05 8.03206845e-01] [-3.72538420e-03 -3.16454076e-05 9.99993060e-01 -2.86802980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.53, Y:0.80, Z:-0.29 [[ 9.99773333e-01 2.09619801e-02 3.72541016e-03 4.45285050e+01] [-2.09620197e-02 9.99780272e-01 -2.84253144e-05 8.03687449e-01] [-3.72518743e-03 -4.96732498e-05 9.99993060e-01 -2.86931048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.59, Y:0.80, Z:-0.29 [[ 9.99735101e-01 2.27123246e-02 3.72541016e-03 4.45876875e+01] [-2.27123764e-02 9.99742040e-01 -2.84253144e-05 8.03213651e-01] [-3.72509476e-03 -5.61951330e-05 9.99993060e-01 -2.90083899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.65, Y:0.80, Z:-0.29 [[ 9.99705105e-01 2.39963363e-02 3.72541049e-03 4.46483721e+01] [-2.39963971e-02 9.99712045e-01 -2.83817774e-05 8.01161680e-01] [-3.72501880e-03 -6.10230217e-05 9.99993060e-01 -2.90827973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.71, Y:0.80, Z:-0.29 [[ 9.99703736e-01 2.40532970e-02 3.72541049e-03 4.47078343e+01] [-2.40533582e-02 9.99710676e-01 -2.83817774e-05 8.01347499e-01] [-3.72501531e-03 -6.12352641e-05 9.99993060e-01 -2.91330711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:0.80, Z:-0.29 [[ 9.99742815e-01 2.23701830e-02 3.72541081e-03 4.47680875e+01] [-2.23702327e-02 9.99749755e-01 -2.83390417e-05 8.01295062e-01] [-3.72511250e-03 -5.50065533e-05 9.99993060e-01 -2.90047930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:0.80, Z:-0.29 [[ 9.99789115e-01 2.01951952e-02 3.72541081e-03 4.48276506e+01] [-2.01952298e-02 9.99796055e-01 -2.83390417e-05 8.00912027e-01] [-3.72522335e-03 -4.69024619e-05 9.99993060e-01 -2.92605154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:0.80, Z:-0.30 [[ 9.99837524e-01 1.76365207e-02 3.72541114e-03 4.48885193e+01] [-1.76365377e-02 9.99844464e-01 -2.82967140e-05 7.96773363e-01] [-3.72533076e-03 -3.74112375e-05 9.99993060e-01 -2.95171525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:0.79, Z:-0.29 [[ 9.99841062e-01 1.74347680e-02 3.72541114e-03 4.49486587e+01] [-1.74347836e-02 9.99848002e-01 -2.82967140e-05 7.94906539e-01] [-3.72533823e-03 -3.66595202e-05 9.99993060e-01 -2.93070537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.01, Y:0.80, Z:-0.29 [[ 9.99768233e-01 2.12038287e-02 3.72541114e-03 4.50093519e+01] [-2.12038704e-02 9.99775172e-01 -2.82967140e-05 8.02857498e-01] [-3.72517356e-03 -5.07029792e-05 9.99993060e-01 -2.87720647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.07, Y:0.81, Z:-0.28 [[ 9.99717411e-01 2.34780846e-02 3.72541114e-03 4.50687877e+01] [-2.34781421e-02 9.99724350e-01 -2.82967140e-05 8.05153906e-01] [-3.72504858e-03 -5.91770143e-05 9.99993060e-01 -2.83615715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.13, Y:0.80, Z:-0.29 [[ 9.99739662e-01 2.25106368e-02 3.72541180e-03 4.51294735e+01] [-2.25106879e-02 9.99746602e-01 -2.82092604e-05 8.04885025e-01] [-3.72510279e-03 -5.56596659e-05 9.99993060e-01 -2.88172779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.19, Y:0.81, Z:-0.29 [[ 9.99780072e-01 2.06380324e-02 3.72541180e-03 4.51898827e+01] [-2.06380705e-02 9.99787012e-01 -2.82092604e-05 8.08153680e-01] [-3.72520051e-03 -4.86822549e-05 9.99993060e-01 -2.90514290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:0.81, Z:-0.29 [[ 9.99843011e-01 1.73226907e-02 3.72541180e-03 4.52493716e+01] [-1.73227058e-02 9.99849950e-01 -2.82092604e-05 8.09982722e-01] [-3.72534146e-03 -3.63293808e-05 9.99993060e-01 -2.90811205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:0.81, Z:-0.29 [[ 9.99916997e-01 1.23337295e-02 3.72541214e-03 4.53103120e+01] [-1.23337101e-02 9.99923937e-01 -2.81643890e-05 8.09366986e-01] [-3.72547614e-03 -1.77861022e-05 9.99993060e-01 -2.87991428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:0.81, Z:-0.29 [[ 9.99961360e-01 7.96239555e-03 3.72541214e-03 4.53709649e+01] [-7.96234588e-03 9.99968300e-01 -2.81643890e-05 8.08555960e-01] [-3.72551830e-03 -1.49971930e-06 9.99993060e-01 -2.89068599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:0.81, Z:-0.29 [[ 9.99983411e-01 4.39305812e-03 3.72541045e-03 4.54327347e+01] [-4.39298285e-03 9.99990350e-01 -2.83854658e-05 8.08211216e-01] [-3.72549920e-03 1.20193307e-05 9.99993060e-01 -2.89032151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.49, Y:0.81, Z:-0.29 [[ 9.99985370e-01 3.92184650e-03 3.72540977e-03 4.54939023e+01] [-3.92176763e-03 9.99992309e-01 -2.84747962e-05 8.08333965e-01] [-3.72549279e-03 1.38641881e-05 9.99993060e-01 -2.91701455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:0.81, Z:-0.29 [[ 9.99991469e-01 1.78397408e-03 3.72540531e-03 4.55564077e+01] [-1.78387825e-03 9.99998408e-01 -2.90472299e-05 8.07018395e-01] [-3.72545120e-03 2.24013126e-05 9.99993060e-01 -2.92465831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:0.80, Z:-0.29 [[ 9.99992792e-01 -7.32816458e-04 3.72540048e-03 4.56180889e+01] [ 7.32932015e-04 9.99999731e-01 -2.96535425e-05 8.02897888e-01] [-3.72537775e-03 3.23837941e-05 9.99993060e-01 -2.94012996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:0.79, Z:-0.29 [[ 9.99985152e-01 -3.97719114e-03 3.72539560e-03 4.56798008e+01] [ 3.97733144e-03 9.99992090e-01 -3.02546924e-05 7.92233412e-01] [-3.72524580e-03 4.50713762e-05 9.99993060e-01 -2.90606435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:0.78, Z:-0.29 [[ 9.99989281e-01 -2.74948712e-03 3.72539047e-03 4.57424134e+01] [ 2.74962121e-03 9.99996219e-01 -3.08741155e-05 7.83226713e-01] [-3.72529149e-03 4.11171972e-05 9.99993060e-01 -2.92532481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:0.78, Z:-0.29 [[ 9.99992978e-01 4.07551784e-04 3.72538863e-03 4.58037202e+01] [-4.07438774e-04 9.99999917e-01 -3.10941031e-05 7.75090662e-01] [-3.72540099e-03 2.95760170e-05 9.99993060e-01 -2.93391310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:0.76, Z:-0.29 [[ 9.99977899e-01 5.50663808e-03 3.72538628e-03 4.58655082e+01] [-5.50655941e-03 9.99984838e-01 -3.13731280e-05 7.62926850e-01] [-3.72550256e-03 1.08583738e-05 9.99993060e-01 -2.93456239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:0.76, Z:-0.30 [[ 9.99949186e-01 9.36729612e-03 3.72538514e-03 4.59267618e+01] [-9.36724374e-03 9.99956126e-01 -3.15082984e-05 7.58155652e-01] [-3.72551684e-03 -3.38989326e-06 9.99993060e-01 -2.96303481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.99, Y:0.75, Z:-0.29 [[ 9.99904127e-01 1.33363494e-02 3.72538400e-03 4.59879929e+01] [-1.33363240e-02 9.99911067e-01 -3.16423186e-05 7.48422526e-01] [-3.72547468e-03 -1.80436432e-05 9.99993060e-01 -2.86443360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:0.74, Z:-0.29 [[ 9.99895176e-01 1.39913740e-02 3.72538324e-03 4.60495473e+01] [-1.39913529e-02 9.99902116e-01 -3.17315666e-05 7.41540276e-01] [-3.72546255e-03 -2.03949113e-05 9.99993060e-01 -2.90545190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:0.73, Z:-0.29 [[ 9.99883097e-01 1.48295062e-02 3.72537824e-03 4.61106783e+01] [-1.48294887e-02 9.99890037e-01 -3.23077187e-05 7.30871202e-01] [-3.72544769e-03 -2.29415128e-05 9.99993060e-01 -2.91971654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:0.72, Z:-0.29 [[ 9.99878679e-01 1.51244212e-02 3.72537748e-03 4.61724521e+01] [-1.51244055e-02 9.99885619e-01 -3.23952896e-05 7.24624867e-01] [-3.72544133e-03 -2.39527602e-05 9.99993060e-01 -2.92021978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:0.71, Z:-0.29 [[ 9.99875062e-01 1.53616780e-02 3.72537584e-03 4.62336058e+01] [-1.53616632e-02 9.99882002e-01 -3.25825204e-05 7.14220649e-01] [-3.72543678e-03 -2.46495194e-05 9.99993060e-01 -2.93353207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:0.71, Z:-0.30 [[ 9.99866071e-01 1.59361599e-02 3.72537065e-03 4.62944091e+01] [-1.59361470e-02 9.99873011e-01 -3.31659307e-05 7.05082850e-01] [-3.72542610e-03 -2.62065654e-05 9.99993060e-01 -2.95651973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:0.70, Z:-0.30 [[ 9.99804799e-01 1.94032255e-02 3.72536551e-03 4.63565806e+01] [-1.94032345e-02 9.99811739e-01 -3.37331568e-05 6.96709623e-01] [-3.72531870e-03 -3.85575686e-05 9.99993060e-01 -2.98377022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:0.69, Z:-0.30 [[ 9.99739959e-01 2.24974612e-02 3.72535987e-03 4.64172831e+01] [-2.24974894e-02 9.99746899e-01 -3.43446207e-05 6.91500925e-01] [-3.72518965e-03 -4.94755547e-05 9.99993060e-01 -3.00217925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.48, Y:0.69, Z:-0.30 [[ 9.99693883e-01 2.44594112e-02 3.72535461e-03 4.64787055e+01] [-2.44594510e-02 9.99700822e-01 -3.49067373e-05 6.87286498e-01] [-3.72509386e-03 -5.62240766e-05 9.99993060e-01 -2.98367581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:0.68, Z:-0.29 [[ 9.99638177e-01 2.66390017e-02 3.72535379e-03 4.65403446e+01] [-2.66390563e-02 9.99645117e-01 -3.49939104e-05 6.82919107e-01] [-3.72496393e-03 -6.42586604e-05 9.99993060e-01 -2.94517379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:0.68, Z:-0.29 [[ 9.99641154e-01 2.65270534e-02 3.72535296e-03 4.66021614e+01] [-2.65271068e-02 9.99648094e-01 -3.50814749e-05 6.79374190e-01] [-3.72497260e-03 -6.37539498e-05 9.99993060e-01 -2.89995588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:0.68, Z:-0.29 [[ 9.99678797e-01 2.50684177e-02 3.72534682e-03 4.66631460e+01] [-2.50684586e-02 9.99685736e-01 -3.57226079e-05 6.75495830e-01] [-3.72507158e-03 -5.76775687e-05 9.99993060e-01 -2.92814482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:0.67, Z:-0.30 [[ 9.99688697e-01 2.46704269e-02 3.72534333e-03 4.67253419e+01] [-2.46704637e-02 9.99695637e-01 -3.60821352e-05 6.69218173e-01] [-3.72509964e-03 -5.58350448e-05 9.99993060e-01 -2.98274137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:0.67, Z:-0.30 [[ 9.99677729e-01 2.51109684e-02 3.72533726e-03 4.67869463e+01] [-2.51110060e-02 9.99684668e-01 -3.66985647e-05 6.67625544e-01] [-3.72508408e-03 -5.68602285e-05 9.99993060e-01 -3.01644724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:0.67, Z:-0.30 [[ 9.99646402e-01 2.63285514e-02 3.72533117e-03 4.68488139e+01] [-2.63285952e-02 9.99653342e-01 -3.73067553e-05 6.65472569e-01] [-3.72502199e-03 -6.07891726e-05 9.99993060e-01 -3.01785957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:0.66, Z:-0.30 [[ 9.99555651e-01 2.95740341e-02 3.72532498e-03 4.69112424e+01] [-2.95740981e-02 9.99562590e-01 -3.79151273e-05 6.61241459e-01] [-3.72481679e-03 -7.22748467e-05 9.99993060e-01 -3.00270093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:0.66, Z:-0.30 [[ 9.99517006e-01 3.08525146e-02 3.72531864e-03 4.69729655e+01] [-3.08525852e-02 9.99523945e-01 -3.85280493e-05 6.59743917e-01] [-3.72473387e-03 -7.64262701e-05 9.99993060e-01 -2.96422822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:0.66, Z:-0.30 [[ 9.99512747e-01 3.09901662e-02 3.72531264e-03 4.70355752e+01] [-3.09902356e-02 9.99519687e-01 -3.90998725e-05 6.58883649e-01] [-3.72473503e-03 -7.63674955e-05 9.99993060e-01 -2.97364534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16420382199999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:0.66, Z:-0.30 [[ 9.99569862e-01 2.90897536e-02 3.72530607e-03 4.70974785e+01] [-2.90898075e-02 9.99576801e-01 -3.97161121e-05 6.55418098e-01] [-3.72488486e-03 -6.86694077e-05 9.99993060e-01 -2.99809000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:0.65, Z:-0.30 [[ 9.99582782e-01 2.86423489e-02 3.72529944e-03 4.71596387e+01] [-2.86423975e-02 9.99589722e-01 -4.03285723e-05 6.52826954e-01] [-3.72492613e-03 -6.63897607e-05 9.99993060e-01 -2.99529938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:0.65, Z:-0.30 [[ 9.99577944e-01 2.88106847e-02 3.72529246e-03 4.72218813e+01] [-2.88107321e-02 9.99584884e-01 -4.09632382e-05 6.49593020e-01] [-3.72492621e-03 -6.63824536e-05 9.99993060e-01 -2.99980706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:0.65, Z:-0.30 [[ 9.99569495e-01 2.91023426e-02 3.72528491e-03 4.72838591e+01] [-2.91023894e-02 9.99576435e-01 -4.16390152e-05 6.46413278e-01] [-3.72491880e-03 -6.67936027e-05 9.99993060e-01 -3.00183453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:0.64, Z:-0.30 [[ 9.99562571e-01 2.93392146e-02 3.72527802e-03 4.73464899e+01] [-2.93392609e-02 9.99569510e-01 -4.22463868e-05 6.44338859e-01] [-3.72491380e-03 -6.70689966e-05 9.99993060e-01 -3.01599447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.41, Y:0.64, Z:-0.30 [[ 9.99499245e-01 3.14226135e-02 3.72527550e-03 4.74085177e+01] [-3.14226734e-02 9.99506185e-01 -4.24676270e-05 6.43756845e-01] [-3.72477034e-03 -7.46117542e-05 9.99993060e-01 -3.00523429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:0.64, Z:-0.30 [[ 9.99403519e-01 3.43326311e-02 3.72526821e-03 4.74704060e+01] [-3.43327089e-02 9.99410458e-01 -4.30973140e-05 6.40994976e-01] [-3.72455165e-03 -8.48269417e-05 9.99993060e-01 -2.99130065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.53, Y:0.64, Z:-0.30 [[ 9.99366810e-01 3.53850586e-02 3.72526072e-03 4.75315492e+01] [-3.53851412e-02 9.99373749e-01 -4.37352379e-05 6.41177792e-01] [-3.72447535e-03 -8.81113316e-05 9.99993060e-01 -3.02417562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:0.64, Z:-0.31 [[ 9.99352929e-01 3.57749241e-02 3.72525374e-03 4.75932282e+01] [-3.57750073e-02 9.99359869e-01 -4.43217852e-05 6.42984954e-01] [-3.72445470e-03 -8.89778741e-05 9.99993060e-01 -3.05771241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:0.64, Z:-0.30 [[ 9.99314541e-01 3.68316614e-02 3.72524643e-03 4.76555712e+01] [-3.68317497e-02 9.99321480e-01 -4.49279835e-05 6.41526765e-01] [-3.72437355e-03 -9.23101570e-05 9.99993060e-01 -3.03881763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.72, Y:0.64, Z:-0.31 [[ 9.99341536e-01 3.60917765e-02 3.72523891e-03 4.77164357e+01] [-3.60918574e-02 9.99348476e-01 -4.55431015e-05 6.39572271e-01] [-3.72445556e-03 -8.89376784e-05 9.99993060e-01 -3.06333846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:0.64, Z:-0.30 [[ 9.99350958e-01 3.58299546e-02 3.72523461e-03 4.77782021e+01] [-3.58300323e-02 9.99357897e-01 -4.58926938e-05 6.38837959e-01] [-3.72448696e-03 -8.76123687e-05 9.99993060e-01 -3.04842033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:0.64, Z:-0.30 [[ 9.99351024e-01 3.58281040e-02 3.72522690e-03 4.78405972e+01] [-3.58281794e-02 9.99357964e-01 -4.65094772e-05 6.35815710e-01] [-3.72450152e-03 -8.69888042e-05 9.99993060e-01 -3.04111704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.90, Y:0.63, Z:-0.30 [[ 9.99289772e-01 3.74976556e-02 3.72521919e-03 4.79024541e+01] [-3.74977403e-02 9.99296711e-01 -4.71195532e-05 6.31747963e-01] [-3.72436616e-03 -9.26012142e-05 9.99993060e-01 -3.02652697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:0.63, Z:-0.31 [[ 9.99044831e-01 4.35378933e-02 3.72521130e-03 4.79645935e+01] [-4.35380177e-02 9.99051770e-01 -4.77351293e-05 6.34218620e-01] [-3.72375723e-03 -1.14498781e-04 9.99993060e-01 -3.06545507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.03, Y:0.64, Z:-0.31 [[ 9.98897304e-01 4.68006217e-02 3.72520337e-03 4.80258111e+01] [-4.68007664e-02 9.98904243e-01 -4.83458390e-05 6.35892707e-01] [-3.72338407e-03 -1.26049845e-04 9.99993060e-01 -3.08096536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.09, Y:0.63, Z:-0.31 [[ 9.98746111e-01 4.99232248e-02 3.72520224e-03 4.80867877e+01] [-4.99233910e-02 9.98753049e-01 -4.84328291e-05 6.33586822e-01] [-3.72297502e-03 -1.37602628e-04 9.99993060e-01 -3.09370736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.15, Y:0.64, Z:-0.31 [[ 9.98674551e-01 5.13348223e-02 3.72520112e-03 4.81485517e+01] [-5.13349979e-02 9.98681489e-01 -4.85191263e-05 6.36990715e-01] [-3.72278012e-03 -1.42778375e-04 9.99993060e-01 -3.07133485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.21, Y:0.64, Z:-0.31 [[ 9.98692219e-01 5.09899457e-02 3.72519278e-03 4.82100965e+01] [-5.09901166e-02 9.98699157e-01 -4.91508387e-05 6.38850156e-01] [-3.72285309e-03 -1.40861454e-04 9.99993060e-01 -3.08279786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.27, Y:0.64, Z:-0.31 [[ 9.98889493e-01 4.69670442e-02 3.72518825e-03 4.82712724e+01] [-4.69671859e-02 9.98896432e-01 -4.94923253e-05 6.40060018e-01] [-3.72340176e-03 -1.25524245e-04 9.99993060e-01 -3.12782889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.33, Y:0.64, Z:-0.31 [[ 9.99040888e-01 4.36282925e-02 3.72518363e-03 4.83330904e+01] [-4.36284097e-02 9.99047826e-01 -4.98372757e-05 6.39588469e-01] [-3.72381093e-03 -1.12734362e-04 9.99993060e-01 -3.11780285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.40, Y:0.64, Z:-0.31 [[ 9.99259703e-01 3.82905783e-02 3.72517542e-03 4.83953642e+01] [-3.82906562e-02 9.99266643e-01 -5.04437303e-05 6.43330578e-01] [-3.72437506e-03 -9.22330242e-05 9.99993060e-01 -3.09661325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.46, Y:0.64, Z:-0.31 [[ 9.99539580e-01 3.01122972e-02 3.72516715e-03 4.84575419e+01] [-3.01123160e-02 9.99546520e-01 -5.10472361e-05 6.39480916e-01] [-3.72501501e-03 -6.11496776e-05 9.99993060e-01 -3.10543680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:0.64, Z:-0.31 [[ 9.99703771e-01 2.40519096e-02 3.72515859e-03 4.85199762e+01] [-2.40518840e-02 9.99710710e-01 -5.16644733e-05 6.36963616e-01] [-3.72532357e-03 -3.79479137e-05 9.99993060e-01 -3.11567150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:0.64, Z:-0.31 [[ 9.99813596e-01 1.89445838e-02 3.72514990e-03 4.85825587e+01] [-1.89445205e-02 9.99820535e-01 -5.22833880e-05 6.35025553e-01] [-3.72547186e-03 -1.82975367e-05 9.99993060e-01 -3.10884400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:0.63, Z:-0.31 [[ 9.99773431e-01 2.09573302e-02 3.72514119e-03 4.86443713e+01] [-2.09572786e-02 9.99780371e-01 -5.28969230e-05 6.33943375e-01] [-3.72543162e-03 -2.51838835e-05 9.99993060e-01 -3.10581670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:0.63, Z:-0.31 [[ 9.99565678e-01 2.92331817e-02 3.72513232e-03 4.87060975e+01] [-2.92331853e-02 9.99572618e-01 -5.35143411e-05 6.32767660e-01] [-3.72510466e-03 -5.54063846e-05 9.99993060e-01 -3.12659731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:0.64, Z:-0.31 [[ 9.99156764e-01 4.08886723e-02 3.72513039e-03 4.87677068e+01] [-4.08887563e-02 9.99163704e-01 -5.36484906e-05 6.35608122e-01] [-3.72420869e-03 -9.87126964e-05 9.99993060e-01 -3.11511458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:0.64, Z:-0.31 [[ 9.98935526e-01 4.59775866e-02 3.72512206e-03 4.88292248e+01] [-4.59777038e-02 9.98942465e-01 -5.42208808e-05 6.38382152e-01] [-3.72367556e-03 -1.17109394e-04 9.99993060e-01 -3.10297077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:0.64, Z:-0.31 [[ 9.98877509e-01 4.72212344e-02 3.72512079e-03 4.88908779e+01] [-4.72213599e-02 9.98884448e-01 -5.43075359e-05 6.39987872e-01] [-3.72352970e-03 -1.21658694e-04 9.99993060e-01 -3.09336701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.95, Y:0.64, Z:-0.31 [[ 9.98959323e-01 4.54576107e-02 3.72511954e-03 4.89526082e+01] [-4.54577236e-02 9.98966262e-01 -5.43935793e-05 6.39043194e-01] [-3.72374134e-03 -1.14998481e-04 9.99993060e-01 -3.07101332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.01, Y:0.64, Z:-0.31 [[ 9.99149169e-01 4.10738606e-02 3.72511026e-03 4.90137862e+01] [-4.10739408e-02 9.99156108e-01 -5.50218855e-05 6.35211299e-01] [-3.72422663e-03 -9.80298870e-05 9.99993060e-01 -3.08345336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:0.63, Z:-0.31 [[ 9.99257427e-01 3.83499534e-02 3.72510164e-03 4.90763899e+01] [-3.83500125e-02 9.99264366e-01 -5.55995700e-05 6.32397675e-01] [-3.72449357e-03 -8.72994111e-05 9.99993060e-01 -3.08147602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:0.63, Z:-0.31 [[ 9.99316018e-01 3.67915745e-02 3.72509203e-03 4.91378941e+01] [-3.67916203e-02 9.99322958e-01 -5.62360752e-05 6.26514877e-01] [-3.72463899e-03 -8.08545608e-05 9.99993060e-01 -3.11839542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.20, Y:0.62, Z:-0.31 [[ 9.99300315e-01 3.72156491e-02 3.72508310e-03 4.92003923e+01] [-3.72156957e-02 9.99307254e-01 -5.68215122e-05 6.24429161e-01] [-3.72461721e-03 -8.18498040e-05 9.99993060e-01 -3.10959333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.26, Y:0.62, Z:-0.31 [[ 9.99245385e-01 3.86624370e-02 3.72507356e-03 4.92622020e+01] [-3.86624914e-02 9.99252325e-01 -5.74400394e-05 6.17263075e-01] [-3.72450919e-03 -8.66239302e-05 9.99993060e-01 -3.09174380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.32, Y:0.61, Z:-0.31 [[ 9.99221415e-01 3.92770695e-02 3.72506361e-03 4.93238426e+01] [-3.92771258e-02 9.99228354e-01 -5.80779296e-05 6.13334591e-01] [-3.72447031e-03 -8.82770812e-05 9.99993060e-01 -3.13261855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:0.61, Z:-0.31 [[ 9.99171775e-01 4.05202291e-02 3.72505370e-03 4.93844919e+01] [-4.05202916e-02 9.99178714e-01 -5.87070001e-05 6.08614129e-01] [-3.72437319e-03 -9.22818847e-05 9.99993060e-01 -3.12517910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.45, Y:0.60, Z:-0.31 [[ 9.99020340e-01 4.40963029e-02 3.72504893e-03 4.94464688e+01] [-4.40963892e-02 9.99027279e-01 -5.90082288e-05 6.02787186e-01] [-3.72402754e-03 -1.05310786e-04 9.99993060e-01 -3.09659813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.51, Y:0.60, Z:-0.31 [[ 9.98673590e-01 5.13535190e-02 3.72503922e-03 4.95078058e+01] [-5.13536534e-02 9.98680529e-01 -5.96147507e-05 6.04255544e-01] [-3.72318557e-03 -1.31758696e-04 9.99993060e-01 -3.11213431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.57, Y:0.61, Z:-0.32 [[ 9.98421698e-01 5.60378106e-02 3.72503783e-03 4.95691965e+01] [-5.60379772e-02 9.98428636e-01 -5.97014571e-05 6.05210864e-01] [-3.72252998e-03 -1.49136355e-04 9.99993060e-01 -3.19050814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.63, Y:0.61, Z:-0.31 [[ 9.98223029e-01 5.94719156e-02 3.72502888e-03 4.96313019e+01] [-5.94721040e-02 9.98229966e-01 -6.02549517e-05 6.08271256e-01] [-3.72201893e-03 -1.61387425e-04 9.99993060e-01 -3.14637153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.69, Y:0.61, Z:-0.31 [[ 9.98281457e-01 5.84829696e-02 3.72501900e-03 4.96930491e+01] [-5.84831489e-02 9.98288394e-01 -6.08593222e-05 6.08969187e-01] [-3.72220247e-03 -1.57096108e-04 9.99993060e-01 -3.12998740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.75, Y:0.62, Z:-0.31 [[ 9.98559333e-01 5.35292628e-02 3.72500895e-03 4.97544358e+01] [-5.35294055e-02 9.98566272e-01 -6.14687288e-05 6.17273406e-01] [-3.72295867e-03 -1.38017341e-04 9.99993060e-01 -3.06968063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.82, Y:0.62, Z:-0.30 [[ 9.98772757e-01 4.93872947e-02 3.72500394e-03 4.98164715e+01] [-4.93874074e-02 9.98779696e-01 -6.17706317e-05 6.18426188e-01] [-3.72350899e-03 -1.22273463e-04 9.99993060e-01 -3.04909406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.88, Y:0.62, Z:-0.30 [[ 9.98984287e-01 4.49056550e-02 3.72499385e-03 4.98790881e+01] [-4.49057343e-02 9.98991227e-01 -6.23733088e-05 6.21494296e-01] [-3.72403709e-03 -1.04963629e-04 9.99993060e-01 -3.00986963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.94, Y:0.62, Z:-0.31 [[ 9.99152877e-01 4.09835584e-02 3.72498342e-03 4.99405841e+01] [-4.09836082e-02 9.99159817e-01 -6.29901443e-05 6.24777073e-01] [-3.72443531e-03 -8.97264770e-05 9.99993060e-01 -3.07522458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.00, Y:0.62, Z:-0.31 [[ 9.99243427e-01 3.87130314e-02 3.72497372e-03 5.00014919e+01] [-3.87130634e-02 9.99250366e-01 -6.35584854e-05 6.20577694e-01] [-3.72464190e-03 -8.06947449e-05 9.99993060e-01 -3.09055600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.06, Y:0.62, Z:-0.31 [[ 9.99282760e-01 3.76840752e-02 3.72496404e-03 5.00627023e+01] [-3.76840979e-02 9.99289700e-01 -6.41210420e-05 6.23528352e-01] [-3.72473454e-03 -7.62968577e-05 9.99993060e-01 -3.13305890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:0.63, Z:-0.32 [[ 9.99319475e-01 3.66975561e-02 3.72496252e-03 5.01226558e+01] [-3.66975716e-02 9.99326415e-01 -6.42092996e-05 6.28957523e-01] [-3.72480976e-03 -7.25314751e-05 9.99993060e-01 -3.15283112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:0.63, Z:-0.31 [[ 9.99374200e-01 3.51757375e-02 3.72496177e-03 5.01839766e+01] [-3.51757423e-02 9.99381140e-01 -6.42527875e-05 6.26731516e-01] [-3.72491668e-03 -6.68157170e-05 9.99993060e-01 -3.09254279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.25, Y:0.63, Z:-0.31 [[ 9.99405029e-01 3.42886799e-02 3.72496018e-03 5.02451544e+01] [-3.42886782e-02 9.99411968e-01 -6.43448042e-05 6.27645172e-01] [-3.72497608e-03 -6.34174399e-05 9.99993060e-01 -3.05591233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.31, Y:0.63, Z:-0.30 [[ 9.99383561e-01 3.49087654e-02 3.72494980e-03 5.03064731e+01] [-3.49087658e-02 9.99390501e-01 -6.49398182e-05 6.30817858e-01] [-3.72494642e-03 -6.51336134e-05 9.99993060e-01 -3.04305252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.37, Y:0.63, Z:-0.31 [[ 9.99332086e-01 3.63525458e-02 3.72494821e-03 5.03671451e+01] [-3.63525558e-02 9.99339025e-01 -6.50310924e-05 6.31514660e-01] [-3.72485016e-03 -7.04237305e-05 9.99993060e-01 -3.08225902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.43, Y:0.63, Z:-0.31 [[ 9.99405232e-01 3.42827508e-02 3.72494742e-03 5.04289631e+01] [-3.42827463e-02 9.99412172e-01 -6.50763275e-05 6.33541653e-01] [-3.72498879e-03 -6.26638053e-05 9.99993060e-01 -3.10694855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.49, Y:0.63, Z:-0.32 [[ 9.99543701e-01 2.99752210e-02 3.72494510e-03 5.04905702e+01] [-2.99751861e-02 9.99550641e-01 -6.52085954e-05 6.30677021e-01] [-3.72522591e-03 -4.64770820e-05 9.99993060e-01 -3.15409215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:0.62, Z:-0.31 [[ 9.99754354e-01 2.18484849e-02 3.72494355e-03 5.05527816e+01] [-2.18483933e-02 9.99761293e-01 -6.52970295e-05 6.24169525e-01] [-3.72548103e-03 -1.61030420e-05 9.99993060e-01 -3.12205624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:0.62, Z:-0.31 [[ 9.99853439e-01 1.67100282e-02 3.72493273e-03 5.06145430e+01] [-1.67098987e-02 9.99860378e-01 -6.59087895e-05 6.18775047e-01] [-3.72551398e-03 3.65588145e-06 9.99993060e-01 -3.13341405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.68, Y:0.61, Z:-0.31 [[ 9.99834767e-01 1.77922118e-02 3.72492171e-03 5.06764080e+01] [-1.77920874e-02 9.99841706e-01 -6.65255223e-05 6.09705727e-01] [-3.72551572e-03 2.40397314e-07 9.99993060e-01 -3.14708201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.74, Y:0.60, Z:-0.31 [[ 9.99753706e-01 2.18781331e-02 3.72491046e-03 5.07389259e+01] [-2.18780348e-02 9.99760645e-01 -6.71499649e-05 6.02371896e-01] [-3.72548800e-03 -1.43602942e-05 9.99993060e-01 -3.12390418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:0.60, Z:-0.31 [[ 9.99538367e-01 3.01525708e-02 3.72489909e-03 5.07999811e+01] [-3.01525276e-02 9.99545307e-01 -6.77749774e-05 5.98142807e-01] [-3.72524899e-03 -4.45714323e-05 9.99993060e-01 -3.11466471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.86, Y:0.59, Z:-0.31 [[ 9.99241520e-01 3.87622278e-02 3.72488851e-03 5.08615242e+01] [-3.87622422e-02 9.99248460e-01 -6.83515779e-05 5.93726093e-01] [-3.72473856e-03 -7.60852959e-05 9.99993060e-01 -3.11116929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.92, Y:0.58, Z:-0.31 [[ 9.98964336e-01 4.53473238e-02 3.72488689e-03 5.09229670e+01] [-4.53473836e-02 9.98971276e-01 -6.84395566e-05 5.83816686e-01] [-3.72415856e-03 -1.00545199e-04 9.99993060e-01 -3.14595482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:0.58, Z:-0.32 [[ 9.98786362e-01 4.91113946e-02 3.72488529e-03 5.09839436e+01] [-4.91114802e-02 9.98793301e-01 -6.85266707e-05 5.82141617e-01] [-3.72375591e-03 -1.14491126e-04 9.99993060e-01 -3.18918549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.05, Y:0.58, Z:-0.32 [[ 9.98419751e-01 5.60725059e-02 3.72488367e-03 5.10457358e+01] [-5.60726396e-02 9.98426690e-01 -6.86146631e-05 5.83377223e-01] [-3.72287066e-03 -1.40357824e-04 9.99993060e-01 -3.20093161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.11, Y:0.58, Z:-0.32 [[ 9.98274392e-01 5.86034510e-02 3.72488203e-03 5.11070016e+01] [-5.86036020e-02 9.98281330e-01 -6.87034986e-05 5.80975413e-01] [-3.72250644e-03 -1.49706560e-04 9.99993060e-01 -3.21075254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.17, Y:0.58, Z:-0.32 [[ 9.98031040e-01 6.26112481e-02 3.72487572e-03 5.11686681e+01] [-6.26114256e-02 9.98037978e-01 -6.90439131e-05 5.78399667e-01] [-3.72189035e-03 -1.64311810e-04 9.99993060e-01 -3.17732320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:0.58, Z:-0.32 [[ 9.97978484e-01 6.34434421e-02 3.72487409e-03 5.12288637e+01] [-6.34436251e-02 9.97985422e-01 -6.91318122e-05 5.83041290e-01] [-3.72175599e-03 -1.67327454e-04 9.99993060e-01 -3.16652882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:0.59, Z:-0.32 [[ 9.98089306e-01 6.16754678e-02 3.72487328e-03 5.12900262e+01] [-6.16756384e-02 9.98096243e-01 -6.91751563e-05 5.86934067e-01] [-3.72204844e-03 -1.60690954e-04 9.99993060e-01 -3.18766586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:0.59, Z:-0.33 [[ 9.98375152e-01 5.68610607e-02 3.72487168e-03 5.13500718e+01] [-5.68611975e-02 9.98382091e-01 -6.92612644e-05 5.85742555e-01] [-3.72278344e-03 -1.42651939e-04 9.99993060e-01 -3.28358398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:0.59, Z:-0.33 [[ 9.98607860e-01 5.26162350e-02 3.72487088e-03 5.14113022e+01] [-5.26163421e-02 9.98614798e-01 -6.93044395e-05 5.88113019e-01] [-3.72335772e-03 -1.26781122e-04 9.99993060e-01 -3.28366401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:0.60, Z:-0.32 [[ 9.98929441e-01 4.61096270e-02 3.72486926e-03 5.14729459e+01] [-4.61096886e-02 9.98936380e-01 -6.93912374e-05 5.98615882e-01] [-3.72410702e-03 -1.02435612e-04 9.99993060e-01 -3.24833996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.53, Y:0.60, Z:-0.32 [[ 9.99152738e-01 4.09869646e-02 3.72486764e-03 5.15341737e+01] [-4.09869902e-02 9.99159678e-01 -6.94778040e-05 5.99144797e-01] [-3.72458524e-03 -8.32521756e-05 9.99993060e-01 -3.21900295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.60, Y:0.60, Z:-0.32 [[ 9.99288786e-01 3.75239531e-02 3.72485706e-03 5.15961870e+01] [-3.75239526e-02 9.99295726e-01 -7.00405765e-05 5.99784950e-01] [-3.72486194e-03 -6.97805973e-05 9.99993060e-01 -3.18007366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.66, Y:0.61, Z:-0.32 [[ 9.99531886e-01 3.03666779e-02 3.72484549e-03 5.16586756e+01] [-3.03666254e-02 9.99538825e-01 -7.06506817e-05 6.06074534e-01] [-3.72527311e-03 -4.24933786e-05 9.99993060e-01 -3.17055541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.72, Y:0.61, Z:-0.32 [[ 9.99651217e-01 2.61451612e-02 3.72483351e-03 5.17200176e+01] [-2.61450771e-02 9.99658157e-01 -7.12769251e-05 6.07092905e-01] [-3.72542374e-03 -2.61339943e-05 9.99993060e-01 -3.17315976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.78, Y:0.60, Z:-0.32 [[ 9.99719703e-01 2.33803716e-02 3.72483175e-03 5.17808602e+01] [-2.33802680e-02 9.99726642e-01 -7.13686193e-05 6.03740423e-01] [-3.72548216e-03 -1.57389496e-05 9.99993060e-01 -3.24944942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.84, Y:0.61, Z:-0.32 [[ 9.99642172e-01 2.64887267e-02 3.72483000e-03 5.18418405e+01] [-2.64886443e-02 9.99649112e-01 -7.14597870e-05 6.05796999e-01] [-3.72541588e-03 -2.72314802e-05 9.99993060e-01 -3.22521815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.90, Y:0.60, Z:-0.32 [[ 9.99551521e-01 2.97133399e-02 3.72482831e-03 5.19026451e+01] [-2.97132795e-02 9.99558460e-01 -7.15480031e-05 6.04470085e-01] [-3.72530958e-03 -3.91609494e-05 9.99993060e-01 -3.19165318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:0.61, Z:-0.31 [[ 9.99454042e-01 3.28290064e-02 3.72482661e-03 5.19639788e+01] [-3.28289674e-02 9.99460982e-01 -7.16359840e-05 6.06221415e-01] [-3.72517060e-03 -5.06853378e-05 9.99993060e-01 -3.10416916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:0.60, Z:-0.31 [[ 9.99380284e-01 3.50024669e-02 3.72482483e-03 5.20243765e+01] [-3.50024426e-02 9.99387224e-01 -7.17287310e-05 6.04191780e-01] [-3.72505303e-03 -5.86936878e-05 9.99993060e-01 -3.13896116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:0.61, Z:-0.32 [[ 9.99238902e-01 3.88296540e-02 3.72482394e-03 5.20846008e+01] [-3.88296561e-02 9.99245842e-01 -7.17746729e-05 6.06225766e-01] [-3.72480182e-03 -7.29135874e-05 9.99993060e-01 -3.16997947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.15, Y:0.60, Z:-0.32 [[ 9.99171049e-01 4.05381260e-02 3.72482310e-03 5.21457752e+01] [-4.05381398e-02 9.99177989e-01 -7.18182488e-05 6.03775680e-01] [-3.72467263e-03 -7.92386846e-05 9.99993060e-01 -3.17104091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.21, Y:0.60, Z:-0.32 [[ 9.99205813e-01 3.96720267e-02 3.72482140e-03 5.22070084e+01] [-3.96720342e-02 9.99212752e-01 -7.19062201e-05 6.03918243e-01] [-3.72474171e-03 -7.59221290e-05 9.99993060e-01 -3.15461397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.27, Y:0.60, Z:-0.31 [[ 9.99271170e-01 3.79901937e-02 3.72481970e-03 5.22681468e+01] [-3.79901892e-02 9.99278110e-01 -7.19941728e-05 5.99683592e-01] [-3.72486587e-03 -6.95649041e-05 9.99993060e-01 -3.11890213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.33, Y:0.60, Z:-0.31 [[ 9.99408815e-01 3.41781600e-02 3.72481800e-03 5.23290887e+01] [-3.41781287e-02 9.99415754e-01 -7.20823640e-05 5.97461371e-01] [-3.72510543e-03 -5.52675590e-05 9.99993060e-01 -3.07638493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.39, Y:0.59, Z:-0.31 [[ 9.99540762e-01 3.00730807e-02 3.72481626e-03 5.23898963e+01] [-3.00730205e-02 9.99547702e-01 -7.21720086e-05 5.88838451e-01] [-3.72530197e-03 -3.98776114e-05 9.99993060e-01 -3.12725247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:0.58, Z:-0.31 [[ 9.99556828e-01 2.95342699e-02 3.72481448e-03 5.24508361e+01] [-2.95342056e-02 9.99563768e-01 -7.22636821e-05 5.84049347e-01] [-3.72532385e-03 -3.77777800e-05 9.99993060e-01 -3.13165947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:0.58, Z:-0.32 [[ 9.99524217e-01 3.06180695e-02 3.72481271e-03 5.25117340e+01] [-3.06180125e-02 9.99531156e-01 -7.23548677e-05 5.79087475e-01] [-3.72528172e-03 -4.17259197e-05 9.99993060e-01 -3.16034130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:0.57, Z:-0.32 [[ 9.99386709e-01 3.48185491e-02 3.72480565e-03 5.25729453e+01] [-3.48185199e-02 9.99393649e-01 -7.27165473e-05 5.73792147e-01] [-3.72507899e-03 -5.70202686e-05 9.99993060e-01 -3.17577868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:0.57, Z:-0.32 [[ 9.99205239e-01 3.96864663e-02 3.72480387e-03 5.26335715e+01] [-3.96864706e-02 9.99212179e-01 -7.28074713e-05 5.65666900e-01] [-3.72475887e-03 -7.50747124e-05 9.99993060e-01 -3.21716971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:0.56, Z:-0.32 [[ 9.99051126e-01 4.33932502e-02 3.72479236e-03 5.26945852e+01] [-4.33932780e-02 9.99058065e-01 -7.33918667e-05 5.60121504e-01] [-3.72446856e-03 -8.83087233e-05 9.99993060e-01 -3.22579391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:0.56, Z:-0.33 [[ 9.98932194e-01 4.60499378e-02 3.72479055e-03 5.27547601e+01] [-4.60499837e-02 9.98939134e-01 -7.34834737e-05 5.59378376e-01] [-3.72422296e-03 -9.81215367e-05 9.99993060e-01 -3.26503606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:0.56, Z:-0.32 [[ 9.98728382e-01 5.02766937e-02 3.72478966e-03 5.28159699e+01] [-5.02767688e-02 9.98735321e-01 -7.35288592e-05 5.60386680e-01] [-3.72377578e-03 -1.13835030e-04 9.99993060e-01 -3.22187520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:0.56, Z:-0.32 [[ 9.98670191e-01 5.14196119e-02 3.72478794e-03 5.28784480e+01] [-5.14196946e-02 9.98677130e-01 -7.36157143e-05 5.58766996e-01] [-3.72364582e-03 -1.18009639e-04 9.99993060e-01 -3.19752527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:0.56, Z:-0.32 [[ 9.98742769e-01 4.99900702e-02 3.72477521e-03 5.29397368e+01] [-4.99901406e-02 9.98749709e-01 -7.42543498e-05 5.61532182e-01] [-3.72383013e-03 -1.12041041e-04 9.99993060e-01 -3.22521530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:0.56, Z:-0.32 [[ 9.98964647e-01 4.53405021e-02 3.72476340e-03 5.30015943e+01] [-4.53405381e-02 9.98971586e-01 -7.48419073e-05 5.64154112e-01] [-3.72432617e-03 -9.41183573e-05 9.99993060e-01 -3.23020618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:0.56, Z:-0.32 [[ 9.99050492e-01 4.34078318e-02 3.72476165e-03 5.30634119e+01] [-4.34078540e-02 9.99057432e-01 -7.49289887e-05 5.63109283e-01] [-3.72450331e-03 -8.68260667e-05 9.99993060e-01 -3.23556565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:0.56, Z:-0.33 [[ 9.99187527e-01 4.01299408e-02 3.72474902e-03 5.31244314e+01] [-4.01299379e-02 9.99194467e-01 -7.55515041e-05 5.63146727e-01] [-3.72478049e-03 -7.39838264e-05 9.99993060e-01 -3.26672800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:0.56, Z:-0.33 [[ 9.99256039e-01 3.83861409e-02 3.72473728e-03 5.31868461e+01] [-3.83861237e-02 9.99262978e-01 -7.61259100e-05 5.61993243e-01] [-3.72491425e-03 -6.69089508e-05 9.99993060e-01 -3.30004681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:0.56, Z:-0.33 [[ 9.99329684e-01 3.64185387e-02 3.72472456e-03 5.32483397e+01] [-3.64185056e-02 9.99336623e-01 -7.67433531e-05 5.64218782e-01] [-3.72504855e-03 -5.89569915e-05 9.99993060e-01 -3.29090688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:0.57, Z:-0.33 [[ 9.99322911e-01 3.66039174e-02 3.72472267e-03 5.33088929e+01] [-3.66038852e-02 9.99329850e-01 -7.68348789e-05 5.65059898e-01] [-3.72503901e-03 -5.95564663e-05 9.99993060e-01 -3.29389283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:0.57, Z:-0.33 [[ 9.99303282e-01 3.71359382e-02 3.72472174e-03 5.33698470e+01] [-3.71359095e-02 9.99310221e-01 -7.68801662e-05 5.65223144e-01] [-3.72500752e-03 -6.14943272e-05 9.99993060e-01 -3.26564219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.43, Y:0.57, Z:-0.33 [[ 9.99297400e-01 3.72938763e-02 3.72471989e-03 5.34302367e+01] [-3.72938484e-02 9.99304340e-01 -7.69695053e-05 5.68526720e-01] [-3.72499924e-03 -6.19937127e-05 9.99993060e-01 -3.28637268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.49, Y:0.57, Z:-0.33 [[ 9.99307153e-01 3.70316260e-02 3.72471898e-03 5.34919209e+01] [-3.70315961e-02 9.99314092e-01 -7.70138050e-05 5.68943487e-01] [-3.72501611e-03 -6.09718427e-05 9.99993060e-01 -3.26793035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.55, Y:0.57, Z:-0.33 [[ 9.99348189e-01 3.59071453e-02 3.72471707e-03 5.35521195e+01] [-3.59071072e-02 9.99355129e-01 -7.71059026e-05 5.69769444e-01] [-3.72508376e-03 -5.66881711e-05 9.99993060e-01 -3.25394189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.61, Y:0.57, Z:-0.33 [[ 9.99495225e-01 3.15502993e-02 3.72471612e-03 5.36133301e+01] [-3.15502308e-02 9.99502165e-01 -7.71515289e-05 5.71454132e-01] [-3.72529598e-03 -4.04030687e-05 9.99993060e-01 -3.25555901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.67, Y:0.57, Z:-0.32 [[ 9.99629862e-01 2.69492994e-02 3.72470933e-03 5.36749014e+01] [-2.69491978e-02 9.99636801e-01 -7.74784128e-05 5.71309712e-01] [-3.72544450e-03 -2.29281933e-05 9.99993060e-01 -3.22968711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:0.57, Z:-0.32 [[ 9.99840521e-01 1.74659256e-02 3.72470750e-03 5.37369930e+01] [-1.74657578e-02 9.99847459e-01 -7.75659864e-05 5.67523526e-01] [-3.72549409e-03 1.24987770e-05 9.99993060e-01 -3.22870055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:0.56, Z:-0.32 [[ 9.99923333e-01 1.18091357e-02 3.72469451e-03 5.37987499e+01] [-1.18089264e-02 9.99930269e-01 -7.81851047e-05 5.63470705e-01] [-3.72535808e-03 3.41944672e-05 9.99993060e-01 -3.22593123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:0.56, Z:-0.32 [[ 9.99927297e-01 1.14685293e-02 3.72468129e-03 5.38606332e+01] [-1.14683153e-02 9.99934234e-01 -7.88097933e-05 5.58098114e-01] [-3.72534016e-03 3.60882443e-05 9.99993060e-01 -3.21698942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:0.55, Z:-0.33 [[ 9.99905788e-01 1.32114358e-02 3.72466772e-03 5.39228672e+01] [-1.32112315e-02 9.99912725e-01 -7.94458325e-05 5.54436052e-01] [-3.72539224e-03 3.02309001e-05 9.99993060e-01 -3.25346817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.98, Y:0.55, Z:-0.33 [[ 9.99825299e-01 1.83166111e-02 3.72465403e-03 5.39835464e+01] [-1.83164399e-02 9.99832237e-01 -8.00825612e-05 5.48082905e-01] [-3.72549601e-03 1.18461690e-05 9.99993060e-01 -3.26863169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.04, Y:0.54, Z:-0.33 [[ 9.99743352e-01 2.23462933e-02 3.72464135e-03 5.40445147e+01] [-2.23461478e-02 9.99750290e-01 -8.06680125e-05 5.41796183e-01] [-3.72551390e-03 -2.58407702e-06 9.99993060e-01 -3.30181057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.11, Y:0.54, Z:-0.33 [[ 9.99580386e-01 2.87259216e-02 3.72462907e-03 5.41067915e+01] [-2.87258183e-02 9.99587325e-01 -8.12311731e-05 5.35187798e-01] [-3.72542545e-03 -2.57959304e-05 9.99993060e-01 -3.25616122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.17, Y:0.53, Z:-0.33 [[ 9.99360903e-01 3.55515472e-02 3.72461569e-03 5.41676101e+01] [-3.55514890e-02 9.99367843e-01 -8.18399719e-05 5.31594360e-01] [-3.72517069e-03 -5.06279657e-05 9.99993060e-01 -3.25544687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:0.52, Z:-0.33 [[ 9.99151503e-01 4.10170973e-02 3.72460326e-03 5.42286527e+01] [-4.10170750e-02 9.99158442e-01 -8.24017085e-05 5.24852072e-01] [-3.72484868e-03 -7.04405407e-05 9.99993060e-01 -3.25152293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:0.52, Z:-0.32 [[ 9.99043127e-01 4.35770352e-02 3.72460133e-03 5.42896742e+01] [-4.35770304e-02 9.99050067e-01 -8.24889960e-05 5.21688697e-01] [-3.72465783e-03 -7.98970008e-05 9.99993060e-01 -3.24883923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.35, Y:0.52, Z:-0.33 [[ 9.99011570e-01 4.42945953e-02 3.72459940e-03 5.43509918e+01] [-4.42945952e-02 9.99018509e-01 -8.25761274e-05 5.20246587e-01] [-3.72460142e-03 -8.24851159e-05 9.99993060e-01 -3.27449806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.41, Y:0.52, Z:-0.33 [[ 9.99081227e-01 4.26945997e-02 3.72459747e-03 5.44118965e+01] [-4.26945881e-02 9.99088167e-01 -8.26629485e-05 5.16825631e-01] [-3.72473052e-03 -7.64331548e-05 9.99993060e-01 -3.28263773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.47, Y:0.51, Z:-0.32 [[ 9.99177407e-01 4.03811515e-02 3.72458499e-03 5.44738857e+01] [-4.03811218e-02 9.99184346e-01 -8.32217108e-05 5.10512554e-01] [-3.72490761e-03 -6.72496667e-05 9.99993060e-01 -3.21955577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424203821999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:0.51, Z:-0.32 [[ 9.99209150e-01 3.95879030e-02 3.72457080e-03 5.45353977e+01] [-3.95878653e-02 9.99216090e-01 -8.38519578e-05 5.07682655e-01] [-3.72497059e-03 -6.36621638e-05 9.99993060e-01 -3.21669713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:0.50, Z:-0.33 [[ 9.99208627e-01 3.96010970e-02 3.72455761e-03 5.45968973e+01] [-3.96010573e-02 9.99215567e-01 -8.44337174e-05 5.04206068e-01] [-3.72497961e-03 -6.31295207e-05 9.99993060e-01 -3.25352865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:0.49, Z:-0.32 [[ 9.99102276e-01 4.21991718e-02 3.72454481e-03 5.46589810e+01] [-4.21991480e-02 9.99109216e-01 -8.49947169e-05 4.94675690e-01] [-3.72481375e-03 -7.22542026e-05 9.99993060e-01 -3.24293477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.72, Y:0.49, Z:-0.33 [[ 9.98816292e-01 4.84988964e-02 3.72453061e-03 5.47208044e+01] [-4.84989141e-02 9.98823232e-01 -8.56125941e-05 4.90296962e-01] [-3.72429981e-03 -9.51244363e-05 9.99993060e-01 -3.28536839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:0.49, Z:-0.33 [[ 9.98555861e-01 5.35940254e-02 3.72451604e-03 5.47816758e+01] [-5.35940762e-02 9.98562801e-01 -8.62418624e-05 4.89539025e-01] [-3.72378521e-03 -1.13494679e-04 9.99993060e-01 -3.28973935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.84, Y:0.49, Z:-0.33 [[ 9.98276622e-01 5.85654735e-02 3.72450778e-03 5.48438714e+01] [-5.85655575e-02 9.98283561e-01 -8.65969281e-05 4.87522159e-01] [-3.72318648e-03 -1.31680186e-04 9.99993060e-01 -3.28005338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:0.49, Z:-0.33 [[ 9.98176075e-01 6.02548813e-02 3.72449342e-03 5.49059883e+01] [-6.02549748e-02 9.98183014e-01 -8.72100822e-05 4.87479424e-01] [-3.72298091e-03 -1.37368240e-04 9.99993060e-01 -3.29045855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:0.49, Z:-0.33 [[ 9.98144239e-01 6.07799825e-02 3.72447817e-03 5.49670546e+01] [-6.07800773e-02 9.98151178e-01 -8.78565502e-05 4.90065611e-01] [-3.72293220e-03 -1.38680562e-04 9.99993060e-01 -3.33391224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:0.49, Z:-0.33 [[ 9.98146665e-01 6.07401252e-02 3.72446508e-03 5.50288793e+01] [-6.07402176e-02 9.98153604e-01 -8.84083331e-05 4.89435150e-01] [-3.72295817e-03 -1.37980336e-04 9.99993060e-01 -3.30736417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:0.49, Z:-0.34 [[ 9.98221350e-01 5.95001219e-02 3.72444996e-03 5.50903651e+01] [-5.95002033e-02 9.98228289e-01 -8.90405046e-05 4.90152090e-01] [-3.72314924e-03 -1.32723397e-04 9.99993060e-01 -3.36576767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:0.49, Z:-0.33 [[ 9.98489460e-01 5.48172147e-02 3.72443595e-03 5.51528133e+01] [-5.48172613e-02 9.98496400e-01 -8.96226968e-05 4.90054238e-01] [-3.72374876e-03 -1.14676061e-04 9.99993060e-01 -3.33520260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:0.50, Z:-0.33 [[ 9.98722176e-01 5.03998368e-02 3.72442123e-03 5.52154791e+01] [-5.03998505e-02 9.98729116e-01 -9.02304694e-05 4.95398303e-01] [-3.72423552e-03 -9.75951023e-05 9.99993060e-01 -3.33780744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:0.49, Z:-0.34 [[ 9.99032824e-01 4.38126191e-02 3.72440643e-03 5.52779574e+01] [-4.38125848e-02 9.99039764e-01 -9.08371591e-05 4.91685881e-01] [-3.72480993e-03 -7.24265689e-05 9.99993060e-01 -3.35162928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:0.49, Z:-0.33 [[ 9.99235645e-01 3.89134130e-02 3.72439146e-03 5.53404768e+01] [-3.89133424e-02 9.99242585e-01 -9.14467355e-05 4.89579503e-01] [-3.72512906e-03 -5.35516824e-05 9.99993060e-01 -3.33441214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:0.49, Z:-0.33 [[ 9.99322476e-01 3.66158073e-02 3.72437411e-03 5.54022880e+01] [-3.66157181e-02 9.99329416e-01 -9.21482898e-05 4.93444990e-01] [-3.72525068e-03 -4.42847752e-05 9.99993060e-01 -3.30946452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.46, Y:0.49, Z:-0.33 [[ 9.99318032e-01 3.67368911e-02 3.72435999e-03 5.54640868e+01] [-3.67368007e-02 9.99324972e-01 -9.27154414e-05 4.89035309e-01] [-3.72525202e-03 -4.41688580e-05 9.99993060e-01 -3.31251201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.53, Y:0.48, Z:-0.32 [[ 9.99257024e-01 3.83605085e-02 3.72434466e-03 5.55256016e+01] [-3.83604271e-02 9.99263964e-01 -9.33271958e-05 4.83371215e-01] [-3.72518348e-03 -4.96095956e-05 9.99993060e-01 -3.24611642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.59, Y:0.48, Z:-0.33 [[ 9.99209301e-01 3.95841110e-02 3.72433023e-03 5.55873818e+01] [-3.95840359e-02 9.99216241e-01 -9.38993843e-05 4.82118115e-01] [-3.72512818e-03 -5.35988835e-05 9.99993060e-01 -3.27385548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:0.48, Z:-0.33 [[ 9.99184382e-01 4.02082057e-02 3.72432691e-03 5.56497038e+01] [-4.02081344e-02 9.99191322e-01 -9.40309531e-05 4.76512386e-01] [-3.72509594e-03 -5.57939773e-05 9.99993060e-01 -3.30854935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:0.47, Z:-0.33 [[ 9.99099614e-01 4.22621711e-02 3.72431137e-03 5.57118707e+01] [-4.22621119e-02 9.99106553e-01 -9.46425201e-05 4.68102586e-01] [-3.72498369e-03 -6.28399584e-05 9.99993060e-01 -3.29730317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:0.47, Z:-0.33 [[ 9.99004134e-01 4.44619973e-02 3.72429558e-03 5.57727172e+01] [-4.44619511e-02 9.99011074e-01 -9.52596143e-05 4.66403701e-01] [-3.72484796e-03 -7.04246994e-05 9.99993060e-01 -3.30607536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.83, Y:0.46, Z:-0.33 [[ 9.98838438e-01 4.80406539e-02 3.72428106e-03 5.58342645e+01] [-4.80406304e-02 9.98845378e-01 -9.58241495e-05 4.58878082e-01] [-3.72458438e-03 -8.32039660e-05 9.99993060e-01 -3.28428189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74420382199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.90, Y:0.45, Z:-0.33 [[ 9.98670916e-01 5.14055584e-02 3.72426621e-03 5.58965233e+01] [-5.14055561e-02 9.98677856e-01 -9.63978823e-05 4.51506584e-01] [-3.72429758e-03 -9.51782143e-05 9.99993060e-01 -3.27813203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.96, Y:0.44, Z:-0.33 [[ 9.98625815e-01 5.22743813e-02 3.72425024e-03 5.59581922e+01] [-5.22743827e-02 9.98632755e-01 -9.70110877e-05 4.44515947e-01] [-3.72422947e-03 -9.78051057e-05 9.99993060e-01 -3.28952632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:0.44, Z:-0.33 [[ 9.98693469e-01 5.09655243e-02 3.72423441e-03 5.60214998e+01] [-5.09655145e-02 9.98700409e-01 -9.76150649e-05 4.37905723e-01] [-3.72436943e-03 -9.23199947e-05 9.99993060e-01 -3.28520963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.08, Y:0.43, Z:-0.33 [[ 9.98885432e-01 4.70534098e-02 3.72421605e-03 5.60830897e+01] [-4.70533702e-02 9.98892372e-01 -9.83103209e-05 4.27512584e-01] [-3.72471684e-03 -7.70361693e-05 9.99993060e-01 -3.27620626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.14, Y:0.42, Z:-0.33 [[ 9.98937458e-01 4.59356545e-02 3.72419908e-03 5.61448051e+01] [-4.59356047e-02 9.98944398e-01 -9.89492571e-05 4.21166210e-01] [-3.72481310e-03 -7.22292172e-05 9.99993060e-01 -3.28970242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:0.41, Z:-0.33 [[ 9.98858472e-01 4.76222933e-02 3.72418093e-03 5.62058875e+01] [-4.76222527e-02 9.98865412e-01 -9.96275602e-05 4.12414445e-01] [-3.72470001e-03 -7.78400529e-05 9.99993060e-01 -3.33257607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:0.41, Z:-0.33 [[ 9.98647270e-01 5.18628940e-02 3.72417162e-03 5.62680572e+01] [-5.18628816e-02 9.98654210e-01 -9.99745649e-05 4.12073254e-01] [-3.72434463e-03 -9.33069450e-05 9.99993060e-01 -3.33043195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:0.41, Z:-0.33 [[ 9.98400318e-01 5.64175041e-02 3.72415512e-03 5.63312669e+01] [-5.64175211e-02 9.98407258e-01 -1.00585284e-04 4.08248941e-01] [-3.72389827e-03 -1.09683220e-04 9.99993060e-01 -3.32244239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:0.40, Z:-0.33 [[ 9.98271713e-01 5.86491132e-02 3.72413606e-03 5.63918375e+01] [-5.86491430e-02 9.98278652e-01 -1.01286148e-04 4.04132019e-01] [-3.72366587e-03 -1.17306292e-04 9.99993060e-01 -3.31714098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.45, Y:0.40, Z:-0.33 [[ 9.98229733e-01 5.93593459e-02 3.72412301e-03 5.64526217e+01] [-5.93593789e-02 9.98236672e-01 -1.01763791e-04 4.01944240e-01] [-3.72359679e-03 -1.19477987e-04 9.99993060e-01 -3.30397966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.51, Y:0.40, Z:-0.33 [[ 9.98421361e-01 5.60438895e-02 3.72410780e-03 5.65148218e+01] [-5.60438974e-02 9.98428300e-01 -1.02317449e-04 3.98595430e-01] [-3.72398888e-03 -1.06557589e-04 9.99993060e-01 -3.25750721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:0.39, Z:-0.33 [[ 9.98585565e-01 5.30377304e-02 3.72409116e-03 5.65780910e+01] [-5.30377152e-02 9.98592505e-01 -1.02919536e-04 3.94813935e-01] [-3.72430813e-03 -9.47433227e-05 9.99993060e-01 -3.25717181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:0.39, Z:-0.33 [[ 9.98808520e-01 4.86587356e-02 3.72407192e-03 5.66407269e+01] [-4.86586874e-02 9.98815459e-01 -1.03610954e-04 3.93483441e-01] [-3.72470218e-03 -7.77209472e-05 9.99993060e-01 -3.27978071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.70, Y:0.38, Z:-0.33 [[ 9.98955926e-01 4.55322813e-02 3.72406590e-03 5.67031503e+01] [-4.55322106e-02 9.98962866e-01 -1.03827025e-04 3.83667731e-01] [-3.72493102e-03 -6.58463308e-05 9.99993060e-01 -3.29645599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:0.38, Z:-0.33 [[ 9.98996422e-01 4.46349602e-02 3.72405973e-03 5.67642809e+01] [-4.46348824e-02 9.99003362e-01 -1.04047869e-04 3.76617927e-01] [-3.72499236e-03 -6.22795191e-05 9.99993060e-01 -3.34413762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.83, Y:0.37, Z:-0.33 [[ 9.99041424e-01 4.36161159e-02 3.72404376e-03 5.68267729e+01] [-4.36160289e-02 9.99048363e-01 -1.04616341e-04 3.71454819e-01] [-3.72506278e-03 -5.79119416e-05 9.99993060e-01 -3.33022923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.89, Y:0.36, Z:-0.33 [[ 9.99092898e-01 4.24206611e-02 3.72402424e-03 5.68883320e+01] [-4.24205632e-02 9.99099837e-01 -1.05306639e-04 3.62551014e-01] [-3.72513918e-03 -5.27640906e-05 9.99993060e-01 -3.32043604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.95, Y:0.35, Z:-0.33 [[ 9.99197570e-01 3.98791755e-02 3.72400680e-03 5.69497650e+01] [-3.98790577e-02 9.99204508e-01 -1.05919804e-04 3.48496011e-01] [-3.72526837e-03 -4.26750713e-05 9.99993060e-01 -3.29335485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.01, Y:0.34, Z:-0.33 [[ 9.99201938e-01 3.97695638e-02 3.72398919e-03 5.70118003e+01] [-3.97694429e-02 9.99208877e-01 -1.06535178e-04 3.43489427e-01] [-3.72527992e-03 -4.16508190e-05 9.99993060e-01 -3.30500208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.07, Y:0.33, Z:-0.34 [[ 9.99132433e-01 4.14790609e-02 3.72397142e-03 5.70723071e+01] [-4.14789496e-02 9.99139372e-01 -1.07152777e-04 3.30829655e-01] [-3.72521106e-03 -4.74066079e-05 9.99993060e-01 -3.35339517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.13, Y:0.32, Z:-0.33 [[ 9.98963677e-01 4.53619182e-02 3.72396130e-03 5.71346211e+01] [-4.53618326e-02 9.98970616e-01 -1.07503192e-04 3.22174291e-01] [-3.72500447e-03 -6.15339251e-05 9.99993060e-01 -3.32715879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:0.31, Z:-0.33 [[ 9.98715570e-01 5.05306132e-02 3.72394380e-03 5.71961769e+01] [-5.05305612e-02 9.98722509e-01 -1.08106320e-04 3.11723063e-01] [-3.72464917e-03 -8.02055047e-05 9.99993060e-01 -3.30632091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:0.31, Z:-0.33 [[ 9.98442531e-01 5.56654708e-02 3.72392541e-03 5.72578065e+01] [-5.56654522e-02 9.98449471e-01 -1.08735973e-04 3.08110608e-01] [-3.72420419e-03 -9.87273718e-05 9.99993060e-01 -3.31963498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.32, Y:0.30, Z:-0.33 [[ 9.98084830e-01 6.17479123e-02 3.72390575e-03 5.73196833e+01] [-6.17479335e-02 9.98091770e-01 -1.09405208e-04 3.03164560e-01] [-3.72355522e-03 -1.20747806e-04 9.99993060e-01 -3.34081568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.38, Y:0.30, Z:-0.33 [[ 9.98042792e-01 6.24236929e-02 3.72388660e-03 5.73820656e+01] [-6.24237163e-02 9.98049732e-01 -1.10053046e-04 3.00243178e-01] [-3.72349394e-03 -1.22621191e-04 9.99993060e-01 -3.34948067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.44, Y:0.29, Z:-0.34 [[ 9.98174761e-01 6.02766852e-02 3.72386863e-03 5.74443774e+01] [-6.02766914e-02 9.98181701e-01 -1.10657946e-04 2.94370179e-01] [-3.72376762e-03 -1.14006512e-04 9.99993060e-01 -3.36714509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.51, Y:0.29, Z:-0.33 [[ 9.98360971e-01 5.71095880e-02 3.72385054e-03 5.75051815e+01] [-5.71095700e-02 9.98367910e-01 -1.11263379e-04 2.92973982e-01] [-3.72412709e-03 -1.01586487e-04 9.99993060e-01 -3.34051880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.57, Y:0.29, Z:-0.33 [[ 9.98483441e-01 5.49267745e-02 3.72383378e-03 5.75670387e+01] [-5.49267392e-02 9.98490381e-01 -1.11821537e-04 2.90900665e-01] [-3.72435420e-03 -9.28860938e-05 9.99993060e-01 -3.27524799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:0.28, Z:-0.33 [[ 9.98539657e-01 5.38951519e-02 3.72381535e-03 5.76289613e+01] [-5.38951071e-02 9.98546596e-01 -1.12431929e-04 2.84525435e-01] [-3.72446268e-03 -8.84276879e-05 9.99993060e-01 -3.25946756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:0.28, Z:-0.33 [[ 9.98721549e-01 5.04123136e-02 3.72379704e-03 5.76914007e+01] [-5.04122424e-02 9.98728488e-01 -1.13034944e-04 2.78483897e-01] [-3.72476055e-03 -7.48345245e-05 9.99993060e-01 -3.28713611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:0.27, Z:-0.33 [[ 9.98940430e-01 4.58710270e-02 3.72377867e-03 5.77530162e+01] [-4.58709220e-02 9.98947369e-01 -1.13636982e-04 2.71490084e-01] [-3.72507155e-03 -5.72965857e-05 9.99993060e-01 -3.32615248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:0.26, Z:-0.34 [[ 9.98928094e-01 4.61388832e-02 3.72375972e-03 5.78144295e+01] [-4.61387778e-02 9.98935033e-01 -1.14254824e-04 2.58785684e-01] [-3.72506562e-03 -5.76773688e-05 9.99993060e-01 -3.37118462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.88, Y:0.25, Z:-0.34 [[ 9.98722019e-01 5.04030031e-02 3.72375558e-03 5.78754181e+01] [-5.04029268e-02 9.98728958e-01 -1.14389408e-04 2.50778809e-01] [-3.72478810e-03 -7.34449598e-05 9.99993060e-01 -3.40293983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:0.25, Z:-0.34 [[ 9.98228402e-01 5.93817424e-02 3.72373777e-03 5.79370477e+01] [-5.93817263e-02 9.98235342e-01 -1.14966274e-04 2.49360757e-01] [-3.72399354e-03 -1.06359378e-04 9.99993060e-01 -3.37095761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:0.25, Z:-0.34 [[ 9.97858543e-01 6.53028445e-02 3.72371999e-03 5.79993292e+01] [-6.53028675e-02 9.97865483e-01 -1.15539323e-04 2.45450037e-01] [-3.72331669e-03 -1.27877693e-04 9.99993060e-01 -3.35257981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.06, Y:0.24, Z:-0.34 [[ 9.97784050e-01 6.64313418e-02 3.72370102e-03 5.80608105e+01] [-6.64313704e-02 9.97790990e-01 -1.16147610e-04 2.43674606e-01] [-3.72319117e-03 -1.31480329e-04 9.99993060e-01 -3.36803885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.12, Y:0.24, Z:-0.34 [[ 9.97734561e-01 6.71705267e-02 3.72368092e-03 5.81241266e+01] [-6.71705581e-02 9.97741501e-01 -1.16788374e-04 2.43115118e-01] [-3.72311573e-03 -1.33597929e-04 9.99993060e-01 -3.38698141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.19, Y:0.24, Z:-0.34 [[ 9.97773878e-01 6.65839481e-02 3.72365963e-03 5.81860627e+01] [-6.65839728e-02 9.97780818e-01 -1.17463184e-04 2.41955729e-01] [-3.72321732e-03 -1.30734355e-04 9.99993060e-01 -3.41733181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.25, Y:0.24, Z:-0.34 [[ 9.97851657e-01 6.54079893e-02 3.72364114e-03 5.82484496e+01] [-6.54080037e-02 9.97858597e-01 -1.18046501e-04 2.42563018e-01] [-3.72338851e-03 -1.25763037e-04 9.99993060e-01 -3.41338744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:0.24, Z:-0.35 [[ 9.97847753e-01 6.54675283e-02 3.72362144e-03 5.83094197e+01] [-6.54675408e-02 9.97854692e-01 -1.18664601e-04 2.42069875e-01] [-3.72340181e-03 -1.25367133e-04 9.99993060e-01 -3.45335575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:0.24, Z:-0.34 [[ 9.97991897e-01 6.32321787e-02 3.72360317e-03 5.83717532e+01] [-6.32321735e-02 9.97998837e-01 -1.19235212e-04 2.40466835e-01] [-3.72369114e-03 -1.16455746e-04 9.99993060e-01 -3.38564171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.43, Y:0.24, Z:-0.34 [[ 9.98195214e-01 5.99370409e-02 3.72359762e-03 5.84337958e+01] [-5.99370122e-02 9.98202154e-01 -1.19408215e-04 2.44389834e-01] [-3.72406014e-03 -1.03988607e-04 9.99993060e-01 -3.36888358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:0.24, Z:-0.34 [[ 9.98691875e-01 5.09968085e-02 3.72357789e-03 5.84962736e+01] [-5.09967154e-02 9.98698814e-01 -1.20020483e-04 2.44112707e-01] [-3.72485348e-03 -7.00267601e-05 9.99993060e-01 -3.35161675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:0.24, Z:-0.34 [[ 9.99134364e-01 4.14325750e-02 3.72355813e-03 5.85569155e+01] [-4.14324131e-02 9.99141302e-01 -1.20630378e-04 2.39888960e-01] [-3.72535874e-03 -3.37500428e-05 9.99993060e-01 -3.38881108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:0.24, Z:-0.33 [[ 9.99331586e-01 3.63664201e-02 3.72353985e-03 5.86187937e+01] [-3.63662210e-02 9.99338523e-01 -1.21191877e-04 2.37275810e-01] [-3.72548413e-03 -1.43002027e-05 9.99993060e-01 -3.34058298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:0.24, Z:-0.33 [[ 9.99306166e-01 3.70583545e-02 3.72351943e-03 5.86812126e+01] [-3.70581579e-02 9.99313103e-01 -1.21816181e-04 2.36395301e-01] [-3.72547606e-03 -1.62551100e-05 9.99993060e-01 -3.32386971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:0.23, Z:-0.33 [[ 9.99128547e-01 4.15726168e-02 3.72349882e-03 5.87419184e+01] [-4.15724492e-02 9.99135485e-01 -1.22443062e-04 2.34510846e-01] [-3.72537007e-03 -3.24586071e-05 9.99993060e-01 -3.33773472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:0.24, Z:-0.33 [[ 9.98822959e-01 4.83614789e-02 3.72347981e-03 5.88037782e+01] [-4.83613563e-02 9.98829897e-01 -1.23018397e-04 2.39002079e-01] [-3.72507231e-03 -5.71989341e-05 9.99993060e-01 -3.28587080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:0.24, Z:-0.33 [[ 9.98428457e-01 5.59173695e-02 3.72346828e-03 5.88649493e+01] [-5.59172981e-02 9.98435396e-01 -1.23366190e-04 2.43115643e-01] [-3.72454085e-03 -8.50339712e-05 9.99993060e-01 -3.33582877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:0.24, Z:-0.33 [[ 9.98295036e-01 5.82508089e-02 3.72344849e-03 5.89275194e+01] [-5.82507514e-02 9.98301976e-01 -1.23960878e-04 2.41894964e-01] [-3.72434680e-03 -9.31441434e-05 9.99993060e-01 -3.31410423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:0.24, Z:-0.33 [[ 9.98113619e-01 6.12808339e-02 3.72342449e-03 5.89889016e+01] [-6.12807948e-02 9.98120558e-01 -1.24677647e-04 2.44267984e-01] [-3.72406688e-03 -1.03731955e-04 9.99993060e-01 -3.31181085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:0.25, Z:-0.34 [[ 9.98181019e-01 6.01730044e-02 3.72340510e-03 5.90503123e+01] [-6.01729555e-02 9.98187958e-01 -1.25253936e-04 2.47926793e-01] [-3.72419504e-03 -9.90221877e-05 9.99993060e-01 -3.35934203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:0.25, Z:-0.34 [[ 9.98369145e-01 5.69665324e-02 3.72338601e-03 5.91110749e+01] [-5.69664591e-02 9.98376085e-01 -1.25818995e-04 2.50722778e-01] [-3.72450701e-03 -8.64943139e-05 9.99993060e-01 -3.36544879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:0.25, Z:-0.33 [[ 9.98635831e-01 5.20827629e-02 3.72337011e-03 5.91726416e+01] [-5.20826540e-02 9.98642770e-01 -1.26287754e-04 2.48966214e-01] [-3.72489405e-03 -6.78075212e-05 9.99993060e-01 -3.30821330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:0.25, Z:-0.33 [[ 9.98848434e-01 4.78324464e-02 3.72335114e-03 5.92342551e+01] [-4.78323058e-02 9.98855372e-01 -1.26844368e-04 2.49047793e-01] [-3.72515657e-03 -5.13981725e-05 9.99993060e-01 -3.31026459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:0.24, Z:-0.33 [[ 9.99239536e-01 3.88134721e-02 3.72334002e-03 5.92965559e+01] [-3.88132677e-02 9.99246473e-01 -1.27170133e-04 2.42995748e-01] [-3.72547030e-03 -1.74415684e-05 9.99993060e-01 -3.32200604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.36, Y:0.24, Z:-0.33 [[ 9.99475476e-01 3.21699999e-02 3.72331890e-03 5.93585796e+01] [-3.21697471e-02 9.99482412e-01 -1.27785304e-04 2.37457384e-01] [-3.72550261e-03 7.94005035e-06 9.99993060e-01 -3.29651285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.42, Y:0.23, Z:-0.33 [[ 9.99511139e-01 3.10422262e-02 3.72329772e-03 5.94199692e+01] [-3.10419633e-02 9.99518074e-01 -1.28399548e-04 2.32860457e-01] [-3.72548918e-03 1.27583074e-05 9.99993060e-01 -3.31294212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.48, Y:0.23, Z:-0.33 [[ 9.99297710e-01 3.72856965e-02 3.72327502e-03 5.94822833e+01] [-3.72854745e-02 9.99304647e-01 -1.29054595e-04 2.28914710e-01] [-3.72549792e-03 -9.86011415e-06 9.99993060e-01 -3.28766268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.54, Y:0.22, Z:-0.33 [[ 9.98785662e-01 4.91257352e-02 3.72325319e-03 5.95441384e+01] [-4.91255930e-02 9.98792601e-01 -1.29681148e-04 2.24957045e-01] [-3.72512842e-03 -5.33833501e-05 9.99993060e-01 -3.33492032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.61, Y:0.23, Z:-0.34 [[ 9.98342012e-01 5.74400901e-02 3.72323149e-03 5.96063829e+01] [-5.74400034e-02 9.98348952e-01 -1.30301337e-04 2.28459742e-01] [-3.72456877e-03 -8.37771300e-05 9.99993060e-01 -3.37191732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.67, Y:0.24, Z:-0.34 [[ 9.97794358e-01 6.62763722e-02 3.72320939e-03 5.96687490e+01] [-6.62763446e-02 9.97801297e-01 -1.30929709e-04 2.35513040e-01] [-3.72370071e-03 -1.16119784e-04 9.99993060e-01 -3.39041651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.73, Y:0.24, Z:-0.34 [[ 9.97623381e-01 6.88020888e-02 3.72319373e-03 5.97295971e+01] [-6.88020771e-02 9.97630321e-01 -1.31373557e-04 2.38310181e-01] [-3.72340973e-03 -1.25102130e-04 9.99993060e-01 -3.39231520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.79, Y:0.24, Z:-0.34 [[ 9.97879209e-01 6.49863186e-02 3.72318211e-03 5.97928395e+01] [-6.49862791e-02 9.97886149e-01 -1.31702225e-04 2.44708097e-01] [-3.72387070e-03 -1.10532840e-04 9.99993060e-01 -3.36622183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:0.25, Z:-0.34 [[ 9.98589848e-01 5.29570988e-02 3.72315618e-03 5.98545088e+01] [-5.29569730e-02 9.98596786e-01 -1.32431192e-04 2.48574218e-01] [-3.72494496e-03 -6.49226371e-05 9.99993060e-01 -3.42617503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:0.24, Z:-0.34 [[ 9.99252703e-01 3.84730289e-02 3.72313196e-03 5.99160281e+01] [-3.84728000e-02 9.99259639e-01 -1.33108566e-04 2.43189583e-01] [-3.72549659e-03 -1.02302169e-05 9.99993060e-01 -3.36093130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:0.25, Z:-0.33 [[ 9.99600494e-01 2.80176890e-02 3.72311104e-03 5.99785697e+01] [-2.80173854e-02 9.99607427e-01 -1.33691086e-04 2.49103856e-01] [-3.72539516e-03 2.93258389e-05 9.99993060e-01 -3.32910675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.04, Y:0.25, Z:-0.33 [[ 9.99653628e-01 2.60530920e-02 3.72308805e-03 6.00403354e+01] [-2.60527724e-02 9.99660560e-01 -1.34328437e-04 2.46562683e-01] [-3.72532395e-03 3.72851444e-05 9.99993060e-01 -3.32550918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.10, Y:0.24, Z:-0.33 [[ 9.99572464e-01 2.90004969e-02 3.72306498e-03 6.01019696e+01] [-2.90001954e-02 9.99579397e-01 -1.34964796e-04 2.42936681e-01] [-3.72541309e-03 2.69374819e-05 9.99993060e-01 -3.34452317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.16, Y:0.25, Z:-0.34 [[ 9.99291426e-01 3.74537764e-02 3.72304186e-03 6.01634299e+01] [-3.74535311e-02 9.99298361e-01 -1.35599375e-04 2.49219459e-01] [-3.72550834e-03 -3.93777157e-06 9.99993060e-01 -3.39826514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.22, Y:0.25, Z:-0.34 [[ 9.99028679e-01 4.39071389e-02 3.72302868e-03 6.02244766e+01] [-4.39069371e-02 9.99035616e-01 -1.35960408e-04 2.53021204e-01] [-3.72540788e-03 -2.76384389e-05 9.99993060e-01 -3.41704205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004203821999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.29, Y:0.25, Z:-0.34 [[ 9.98700579e-01 5.08261111e-02 3.72300764e-03 6.02876983e+01] [-5.08259552e-02 9.98707517e-01 -1.36534108e-04 2.50098045e-01] [-3.72513521e-03 -5.28687269e-05 9.99993060e-01 -3.38051734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:0.26, Z:-0.34 [[ 9.98544105e-01 5.38127381e-02 3.72298086e-03 6.03490780e+01] [-5.38126003e-02 9.98551043e-01 -1.37260449e-04 2.55869367e-01] [-3.72497278e-03 -6.32826683e-05 9.99993060e-01 -3.36525299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:0.26, Z:-0.34 [[ 9.98580564e-01 5.31318803e-02 3.72296841e-03 6.04103573e+01] [-5.31317365e-02 9.98587502e-01 -1.37597296e-04 2.56667760e-01] [-3.72502053e-03 -6.04057912e-05 9.99993060e-01 -3.43148568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:0.26, Z:-0.34 [[ 9.98640629e-01 5.19907127e-02 3.72294733e-03 6.04729405e+01] [-5.19905588e-02 9.98647567e-01 -1.38165328e-04 2.56642515e-01] [-3.72509561e-03 -5.55806021e-05 9.99993060e-01 -3.43261048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:0.26, Z:-0.34 [[ 9.98795621e-01 4.89228651e-02 3.72292381e-03 6.05342659e+01] [-4.89226876e-02 9.98802559e-01 -1.38796169e-04 2.57236396e-01] [-3.72525614e-03 -4.35064331e-05 9.99993060e-01 -3.39714669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.60, Y:0.26, Z:-0.34 [[ 9.98986537e-01 4.48557577e-02 3.72290212e-03 6.05968691e+01] [-4.48555498e-02 9.98993474e-01 -1.39375624e-04 2.55596864e-01] [-3.72540672e-03 -2.77584490e-05 9.99993060e-01 -3.39345620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36420382199999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:0.25, Z:-0.34 [[ 9.99062525e-01 4.31301568e-02 3.72289358e-03 6.06578145e+01] [-4.31299360e-02 9.99069462e-01 -1.39603483e-04 2.54669908e-01] [-3.72545040e-03 -2.10955535e-05 9.99993060e-01 -3.40020657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:0.25, Z:-0.34 [[ 9.99088771e-01 4.25178540e-02 3.72287151e-03 6.07197517e+01] [-4.25176268e-02 9.99095707e-01 -1.40189365e-04 2.53590517e-01] [-3.72546550e-03 -1.82260413e-05 9.99993060e-01 -3.35492389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:0.25, Z:-0.34 [[ 9.99105008e-01 4.21345888e-02 3.72284807e-03 6.07819340e+01] [-4.21343566e-02 9.99111944e-01 -1.40809114e-04 2.47842121e-01] [-3.72547491e-03 -1.61767172e-05 9.99993060e-01 -3.35932795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:0.25, Z:-0.34 [[ 9.99040164e-01 4.36450573e-02 3.72282386e-03 6.08438433e+01] [-4.36448333e-02 9.99047100e-01 -1.41446322e-04 2.45282352e-01] [-3.72544982e-03 -2.11714704e-05 9.99993060e-01 -3.37360794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:0.25, Z:-0.34 [[ 9.98875984e-01 4.72536663e-02 3.72279903e-03 6.09048198e+01] [-4.72534649e-02 9.98882921e-01 -1.42096893e-04 2.45422835e-01] [-3.72535497e-03 -3.39779791e-05 9.99993060e-01 -3.39779684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:0.24, Z:-0.34 [[ 9.98605969e-01 5.26522588e-02 3.72278502e-03 6.09658355e+01] [-5.26520935e-02 9.98612906e-01 -1.42463128e-04 2.43789904e-01] [-3.72512217e-03 -5.37478946e-05 9.99993060e-01 -3.40666099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.03, Y:0.24, Z:-0.34 [[ 9.98488766e-01 5.48299639e-02 3.72276249e-03 6.10279446e+01] [-5.48298115e-02 9.98495704e-01 -1.43049283e-04 2.39714665e-01] [-3.72500574e-03 -6.12852635e-05 9.99993060e-01 -3.40022696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.09, Y:0.24, Z:-0.34 [[ 9.98509984e-01 5.44422081e-02 3.72273769e-03 6.10885271e+01] [-5.44420506e-02 9.98516921e-01 -1.43691777e-04 2.36338955e-01] [-3.72503948e-03 -5.91957997e-05 9.99993060e-01 -3.38649872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.15, Y:0.23, Z:-0.34 [[ 9.98729428e-01 5.02560572e-02 3.72272541e-03 6.11501042e+01] [-5.02558695e-02 9.98736365e-01 -1.44009404e-04 2.31206498e-01] [-3.72525858e-03 -4.32623721e-05 9.99993060e-01 -3.35064735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.21, Y:0.22, Z:-0.33 [[ 9.98829530e-01 4.82256278e-02 3.72270376e-03 6.12131768e+01] [-4.82254239e-02 9.98836467e-01 -1.44566901e-04 2.24829118e-01] [-3.72534410e-03 -3.51312765e-05 9.99993060e-01 -3.33981037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964203821999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.27, Y:0.21, Z:-0.34 [[ 9.98845182e-01 4.79003575e-02 3.72267528e-03 6.12736167e+01] [-4.79001486e-02 9.98852119e-01 -1.45296457e-04 2.14736665e-01] [-3.72536184e-03 -3.31880335e-05 9.99993060e-01 -3.38805553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:0.21, Z:-0.34 [[ 9.98494355e-01 5.47280933e-02 3.72266114e-03 6.13359765e+01] [-5.47279306e-02 9.98501293e-01 -1.45657928e-04 2.12070955e-01] [-3.72505354e-03 -5.82949212e-05 9.99993060e-01 -3.42153471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:0.21, Z:-0.34 [[ 9.98083117e-01 6.17756635e-02 3.72263664e-03 6.13981768e+01] [-6.17755473e-02 9.98090056e-01 -1.46281419e-04 2.06858920e-01] [-3.72456324e-03 -8.39669009e-05 9.99993060e-01 -3.43879885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:0.20, Z:-0.34 [[ 9.97330868e-01 7.29196960e-02 3.72261141e-03 6.14597485e+01] [-7.29196550e-02 9.97337808e-01 -1.46920681e-04 2.04111062e-01] [-3.72341451e-03 -1.24923009e-04 9.99993060e-01 -3.44672134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:0.20, Z:-0.34 [[ 9.96902517e-01 7.85589774e-02 3.72259778e-03 6.15221279e+01] [-7.85589744e-02 9.96909457e-01 -1.47265270e-04 2.04999170e-01] [-3.72266194e-03 -1.45634345e-04 9.99993060e-01 -3.42827769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:0.20, Z:-0.34 [[ 9.96457148e-01 8.40196069e-02 3.72257362e-03 6.15835251e+01] [-8.40196396e-02 9.96464088e-01 -1.47873462e-04 2.03617881e-01] [-3.72183519e-03 -1.65419725e-04 9.99993060e-01 -3.41603565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:0.20, Z:-0.34 [[ 9.96493215e-01 8.35907544e-02 3.72255995e-03 6.16461311e+01] [-8.35907828e-02 9.96500155e-01 -1.48216778e-04 2.03896052e-01] [-3.72192112e-03 -1.63474687e-04 9.99993060e-01 -3.41767884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.71, Y:0.21, Z:-0.34 [[ 9.96918065e-01 7.83614385e-02 3.72253515e-03 6.17073569e+01] [-7.83614282e-02 9.96925004e-01 -1.48836851e-04 2.05898012e-01] [-3.72275145e-03 -1.43325025e-04 9.99993060e-01 -3.41041951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:0.21, Z:-0.34 [[ 9.97251620e-01 7.39956012e-02 3.72252191e-03 6.17693808e+01] [-7.39955593e-02 9.97258560e-01 -1.49167398e-04 2.05195623e-01] [-3.72335457e-03 -1.26692662e-04 9.99993060e-01 -3.42530250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:0.21, Z:-0.34 [[ 9.97596926e-01 6.91846485e-02 3.72249755e-03 6.18318069e+01] [-6.91845708e-02 9.97603866e-01 -1.49772878e-04 2.05070550e-01] [-3.72393993e-03 -1.08126432e-04 9.99993060e-01 -3.44686576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.89, Y:0.21, Z:-0.35 [[ 9.97780886e-01 6.64789143e-02 3.72247318e-03 6.18945132e+01] [-6.64788156e-02 9.97787825e-01 -1.50376125e-04 2.08925597e-01] [-3.72423526e-03 -9.74231849e-05 9.99993060e-01 -3.45335398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:0.22, Z:-0.35 [[ 9.97885457e-01 6.48903495e-02 3.72244831e-03 6.19575792e+01] [-6.48902375e-02 9.97892396e-01 -1.50989308e-04 2.16451489e-01] [-3.72440061e-03 -9.08805203e-05 9.99993060e-01 -3.51242899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:0.22, Z:-0.35 [[ 9.97957474e-01 6.37732256e-02 3.72243471e-03 6.20202845e+01] [-6.37731045e-02 9.97964412e-01 -1.51323846e-04 2.19281413e-01] [-3.72450777e-03 -8.63764550e-05 9.99993060e-01 -3.51812446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:0.23, Z:-0.35 [[ 9.98122185e-01 6.11412098e-02 3.72240647e-03 6.20832543e+01] [-6.11410679e-02 9.98129123e-01 -1.52015404e-04 2.28368702e-01] [-3.72473671e-03 -7.58619591e-05 9.99993060e-01 -3.49779639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.15, Y:0.24, Z:-0.35 [[ 9.98284611e-01 5.84292690e-02 3.72238152e-03 6.21460895e+01] [-5.84291060e-02 9.98291549e-01 -1.52623838e-04 2.35109826e-01] [-3.72493971e-03 -6.51333956e-05 9.99993060e-01 -3.50073848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:0.25, Z:-0.35 [[ 9.98486808e-01 5.48656408e-02 3.72235634e-03 6.22085512e+01] [-5.48654507e-02 9.98493745e-01 -1.53235357e-04 2.48537357e-01] [-3.72515688e-03 -5.12252766e-05 9.99993060e-01 -3.47413051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:0.26, Z:-0.35 [[ 9.98668390e-01 5.14547482e-02 3.72235059e-03 6.22704911e+01] [-5.14545339e-02 9.98675326e-01 -1.53375023e-04 2.57458137e-01] [-3.72531156e-03 -3.83610274e-05 9.99993060e-01 -3.48763698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:0.27, Z:-0.34 [[ 9.98903999e-01 4.66577385e-02 3.72232569e-03 6.23325209e+01] [-4.66574887e-02 9.98910934e-01 -1.53976875e-04 2.72182993e-01] [-3.72545605e-03 -1.98662527e-05 9.99993060e-01 -3.39005114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:0.28, Z:-0.34 [[ 9.99085018e-01 4.26060054e-02 3.72232195e-03 6.23929063e+01] [-4.26057271e-02 9.99091952e-01 -1.54067407e-04 2.78307973e-01] [-3.72550610e-03 -4.66579498e-06 9.99993060e-01 -3.38141353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:0.28, Z:-0.34 [[ 9.99460292e-01 3.26384623e-02 3.72232010e-03 6.24542571e+01] [-3.26381146e-02 9.99467223e-01 -1.54112097e-04 2.83677094e-01] [-3.72536691e-03 3.25394112e-05 9.99993060e-01 -3.38469733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.52, Y:0.28, Z:-0.34 [[ 9.99745284e-01 2.22600925e-02 3.72231632e-03 6.25159200e+01] [-2.22596726e-02 9.99752211e-01 -1.54203248e-04 2.80786829e-01] [-3.72482655e-03 7.13064270e-05 9.99993060e-01 -3.44176680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.58, Y:0.28, Z:-0.35 [[ 9.99830379e-01 1.80376851e-02 3.72231064e-03 6.25772775e+01] [-1.80372355e-02 9.99837304e-01 -1.54340263e-04 2.79747101e-01] [-3.72448898e-03 8.71738899e-05 9.99993060e-01 -3.49113574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.64, Y:0.28, Z:-0.35 [[ 9.99799854e-01 1.96569876e-02 3.72228633e-03 6.26385070e+01] [-1.96565470e-02 9.99806779e-01 -1.54924265e-04 2.77856302e-01] [-3.72461245e-03 8.17259612e-05 9.99993060e-01 -3.50614230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:0.28, Z:-0.35 [[ 9.99598549e-01 2.80870937e-02 3.72228270e-03 6.26988371e+01] [-2.80867112e-02 9.99605478e-01 -1.55011600e-04 2.76075948e-01] [-3.72516800e-03 5.04026918e-05 9.99993060e-01 -3.47908362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:0.27, Z:-0.34 [[ 9.99386801e-01 3.48161968e-02 3.72228090e-03 6.27592085e+01] [-3.48158607e-02 9.99393732e-01 -1.55054826e-04 2.73288652e-01] [-3.72542262e-03 2.53653329e-05 9.99993060e-01 -3.44776558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.82, Y:0.27, Z:-0.34 [[ 9.99039447e-01 4.36615211e-02 3.72228090e-03 6.28198175e+01] [-4.36612464e-02 9.99046381e-01 -1.55054826e-04 2.73844143e-01] [-3.72550119e-03 -7.61353608e-06 9.99993060e-01 -3.42700275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:0.27, Z:-0.34 [[ 9.98864379e-01 4.74983851e-02 3.72228090e-03 6.28789511e+01] [-4.74981371e-02 9.98871315e-01 -1.55054826e-04 2.69924807e-01] [-3.72544446e-03 -2.19226661e-05 9.99993060e-01 -3.43327552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:0.26, Z:-0.34 [[ 9.98802341e-01 4.87855312e-02 3.72227966e-03 6.29390447e+01] [-4.87852920e-02 9.98809277e-01 -1.55084466e-04 2.64878439e-01] [-3.72541333e-03 -2.66937727e-05 9.99993060e-01 -3.42382334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64420382199998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:0.26, Z:-0.34 [[ 9.98844833e-01 4.79076602e-02 3.72227966e-03 6.29995353e+01] [-4.79074150e-02 9.98851769e-01 -1.55084466e-04 2.57209515e-01] [-3.72543536e-03 -2.34194791e-05 9.99993060e-01 -3.42099385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:0.25, Z:-0.34 [[ 9.98947068e-01 4.57263668e-02 3.72227966e-03 6.30596802e+01] [-4.57261064e-02 9.98954003e-01 -1.55084466e-04 2.49177624e-01] [-3.72547761e-03 -1.52841835e-05 9.99993060e-01 -3.43321717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:0.24, Z:-0.34 [[ 9.99077220e-01 4.27884704e-02 3.72227966e-03 6.31194057e+01] [-4.27881896e-02 9.99084154e-01 -1.55084466e-04 2.40240477e-01] [-3.72550645e-03 -4.32825112e-06 9.99993060e-01 -3.44687412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.18, Y:0.23, Z:-0.35 [[ 9.99216524e-01 3.94015587e-02 3.72227779e-03 6.31807128e+01] [-3.94012542e-02 9.99223457e-01 -1.55129364e-04 2.25931187e-01] [-3.72549962e-03 8.34541013e-06 9.99993060e-01 -3.45915006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.24, Y:0.21, Z:-0.35 [[ 9.99081765e-01 4.26822094e-02 3.72227216e-03 6.32407570e+01] [-4.26819271e-02 9.99088699e-01 -1.55264210e-04 2.14861811e-01] [-3.72550707e-03 -3.75210776e-06 9.99993060e-01 -3.52444102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:0.21, Z:-0.35 [[ 9.98849638e-01 4.78073780e-02 3.72227032e-03 6.33023336e+01] [-4.78071311e-02 9.98856573e-01 -1.55308388e-04 2.09564364e-01] [-3.72543906e-03 -2.28213379e-05 9.99993060e-01 -3.50446869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:0.20, Z:-0.35 [[ 9.98318424e-01 5.78486725e-02 3.72226671e-03 6.33629309e+01] [-5.78484951e-02 9.98325362e-01 -1.55394847e-04 2.03000060e-01] [-3.72502265e-03 -6.01939888e-05 9.99993060e-01 -3.46914031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:0.20, Z:-0.35 [[ 9.97895528e-01 6.47353045e-02 3.72226671e-03 6.34233424e+01] [-6.47351750e-02 9.97902467e-01 -1.55394847e-04 1.95877229e-01] [-3.72451867e-03 -8.58937640e-05 9.99993060e-01 -3.45514146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:0.19, Z:-0.35 [[ 9.97786154e-01 6.63998154e-02 3.72224659e-03 6.34842880e+01] [-6.63996956e-02 9.97793093e-01 -1.55875365e-04 1.90496913e-01] [-3.72438203e-03 -9.16257598e-05 9.99993060e-01 -3.47413924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:0.18, Z:-0.35 [[ 9.97900899e-01 6.46524547e-02 3.72224301e-03 6.35457991e+01] [-6.46523225e-02 9.97907838e-01 -1.55960860e-04 1.84437720e-01] [-3.72453872e-03 -8.50181725e-05 9.99993060e-01 -3.49599965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:0.17, Z:-0.35 [[ 9.98262463e-01 5.88064627e-02 3.72223937e-03 6.36077335e+01] [-5.88062895e-02 9.98269400e-01 -1.56047650e-04 1.73207879e-01] [-3.72497427e-03 -6.31145742e-05 9.99993060e-01 -3.53463907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:0.17, Z:-0.35 [[ 9.98534996e-01 5.39815444e-02 3.72221352e-03 6.36705801e+01] [-5.39813354e-02 9.98541932e-01 -1.56661715e-04 1.67643506e-01] [-3.72524313e-03 -4.44978514e-05 9.99993060e-01 -3.52802061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.73, Y:0.16, Z:-0.36 [[ 9.98860601e-01 4.75777778e-02 3.72218340e-03 6.37316300e+01] [-4.75775217e-02 9.98867536e-01 -1.57374087e-04 1.59975742e-01] [-3.72545568e-03 -1.98974866e-05 9.99993060e-01 -3.56088660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.79, Y:0.15, Z:-0.36 [[ 9.98958468e-01 4.54766414e-02 3.72215912e-03 6.37941136e+01] [-4.54763686e-02 9.98965402e-01 -1.57946459e-04 1.51568437e-01] [-3.72549105e-03 -1.14883278e-05 9.99993060e-01 -3.56815813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.86, Y:0.15, Z:-0.35 [[ 9.98841572e-01 4.79756270e-02 3.72212979e-03 6.38565497e+01] [-4.79753689e-02 9.98848506e-01 -1.58634578e-04 1.49457614e-01] [-3.72545437e-03 -2.01197389e-05 9.99993060e-01 -3.53876950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.92, Y:0.15, Z:-0.36 [[ 9.98663981e-01 5.15402744e-02 3.72210288e-03 6.39174406e+01] [-5.15400388e-02 9.98670916e-01 -1.59263438e-04 1.46563406e-01] [-3.72536438e-03 -3.27866677e-05 9.99993060e-01 -3.56059521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.98, Y:0.14, Z:-0.36 [[ 9.98702175e-01 5.07947963e-02 3.72207801e-03 6.39791169e+01] [-5.07945533e-02 9.98709111e-01 -1.59842602e-04 1.43934327e-01] [-3.72539239e-03 -2.94261359e-05 9.99993060e-01 -3.57483758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:0.14, Z:-0.36 [[ 9.98929574e-01 4.61069713e-02 3.72205139e-03 6.40411212e+01] [-4.61066934e-02 9.98936508e-01 -1.60460068e-04 1.37320815e-01] [-3.72549135e-03 -1.13231754e-05 9.99993060e-01 -3.60671734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:0.13, Z:-0.36 [[ 9.99228147e-01 3.91057252e-02 3.72202376e-03 6.41020264e+01] [-3.91053964e-02 9.99235078e-01 -1.61098330e-04 1.28623108e-01] [-3.72547658e-03 1.54227713e-05 9.99993060e-01 -3.58796085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:0.12, Z:-0.36 [[ 9.99365197e-01 3.54309041e-02 3.72199831e-03 6.41644209e+01] [-3.54305477e-02 9.99372128e-01 -1.61684365e-04 1.21858958e-01] [-3.72538999e-03 2.97092890e-05 9.99993060e-01 -3.56330608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:0.11, Z:-0.36 [[ 9.99389119e-01 3.47496138e-02 3.72196638e-03 6.42253707e+01] [-3.47492499e-02 9.99396049e-01 -1.62416087e-04 1.13866731e-01] [-3.72536239e-03 3.29813302e-05 9.99993060e-01 -3.59490361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:0.11, Z:-0.36 [[ 9.99280819e-01 3.77358136e-02 3.72194076e-03 6.42883067e+01] [-3.77354682e-02 9.99287750e-01 -1.63001114e-04 1.05836364e-01] [-3.72544078e-03 2.24347095e-05 9.99993060e-01 -3.57821743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.35, Y:0.10, Z:-0.36 [[ 9.98859527e-01 4.76003508e-02 3.72190957e-03 6.43497587e+01] [-4.76000712e-02 9.98866461e-01 -1.63710193e-04 9.90318507e-02] [-3.72548330e-03 -1.36396748e-05 9.99993060e-01 -3.59497808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.41, Y:0.09, Z:-0.36 [[ 9.98428749e-01 5.59122548e-02 3.72188248e-03 6.44129698e+01] [-5.59120306e-02 9.98435685e-01 -1.64323743e-04 9.49347468e-02] [-3.72524799e-03 -4.40324584e-05 9.99993060e-01 -3.60215330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:0.09, Z:-0.36 [[ 9.97852132e-01 6.54008387e-02 3.72185152e-03 6.44740484e+01] [-6.54006779e-02 9.97859070e-01 -1.65022012e-04 9.30440028e-02] [-3.72467587e-03 -7.87440458e-05 9.99993060e-01 -3.58832507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:0.09, Z:-0.36 [[ 9.97652077e-01 6.83848031e-02 3.72182660e-03 6.45362853e+01] [-6.83846610e-02 9.97659015e-01 -1.65582183e-04 9.14314024e-02] [-3.72443716e-03 -8.93224414e-05 9.99993060e-01 -3.58014405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.60, Y:0.09, Z:-0.36 [[ 9.97777643e-01 6.65276170e-02 3.72179908e-03 6.45969403e+01] [-6.65274597e-02 9.97784581e-01 -1.66198306e-04 8.76987673e-02] [-3.72461051e-03 -8.17728841e-05 9.99993060e-01 -3.58869325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.66, Y:0.08, Z:-0.36 [[ 9.98066511e-01 6.20434312e-02 3.72177366e-03 6.46597971e+01] [-6.20432406e-02 9.98073448e-01 -1.66765650e-04 8.36687730e-02] [-3.72495019e-03 -6.44676876e-05 9.99993060e-01 -3.56810124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.72, Y:0.08, Z:-0.35 [[ 9.98254935e-01 5.89341410e-02 3.72174222e-03 6.47218256e+01] [-5.89339261e-02 9.98261872e-01 -1.67464296e-04 8.19730771e-02] [-3.72514272e-03 -5.21648217e-05 9.99993060e-01 -3.54868574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.78, Y:0.08, Z:-0.35 [[ 9.98669918e-01 5.14251288e-02 3.72171470e-03 6.47842354e+01] [-5.14248596e-02 9.98676852e-01 -1.68073798e-04 8.22502473e-02] [-3.72543354e-03 -2.35384100e-05 9.99993060e-01 -3.52999320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.85, Y:0.08, Z:-0.35 [[ 9.98840764e-01 4.79924680e-02 3.72168715e-03 6.48476169e+01] [-4.79921726e-02 9.98847698e-01 -1.68681665e-04 7.84714883e-02] [-3.72549409e-03 -1.01257284e-05 9.99993060e-01 -3.51748349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.91, Y:0.07, Z:-0.35 [[ 9.99226843e-01 3.91390529e-02 3.72165419e-03 6.49100906e+01] [-3.91386934e-02 9.99233773e-01 -1.69405724e-04 7.31039884e-02] [-3.72543294e-03 2.36140649e-05 9.99993060e-01 -3.52637634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.97, Y:0.07, Z:-0.36 [[ 9.99192895e-01 3.99963415e-02 3.72163769e-03 6.49716670e+01] [-3.99959866e-02 9.99199826e-01 -1.69767522e-04 7.05969169e-02] [-3.72544981e-03 2.07799313e-05 9.99993060e-01 -3.56227311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.03, Y:0.07, Z:-0.36 [[ 9.99066468e-01 4.30388336e-02 3.72160863e-03 6.50328206e+01] [-4.30384974e-02 9.99073400e-01 -1.70402151e-04 6.88696054e-02] [-3.72549410e-03 1.00706317e-05 9.99993060e-01 -3.57733543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.09, Y:0.07, Z:-0.36 [[ 9.98828684e-01 4.82432280e-02 3.72158229e-03 6.50948539e+01] [-4.82429258e-02 9.98835618e-01 -1.70975550e-04 7.18274857e-02] [-3.72549735e-03 -8.76473400e-06 9.99993060e-01 -3.58082445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:0.07, Z:-0.36 [[ 9.98574531e-01 5.32452385e-02 3.72155371e-03 6.51568674e+01] [-5.32449687e-02 9.98581466e-01 -1.71595178e-04 7.13297950e-02] [-3.72541119e-03 -2.68034372e-05 9.99993060e-01 -3.57362536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.22, Y:0.08, Z:-0.35 [[ 9.98201672e-01 5.98295255e-02 3.72152328e-03 6.52189936e+01] [-5.98292990e-02 9.98208608e-01 -1.72252817e-04 7.53847512e-02] [-3.72516237e-03 -5.07130794e-05 9.99993060e-01 -3.49162006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.28, Y:0.08, Z:-0.35 [[ 9.98149654e-01 6.06911693e-02 3.72149355e-03 6.52813444e+01] [-6.06909464e-02 9.98156590e-01 -1.72892686e-04 8.14890507e-02] [-3.72512637e-03 -5.32881912e-05 9.99993060e-01 -3.50600469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:0.08, Z:-0.35 [[ 9.98398812e-01 5.64443335e-02 3.72146200e-03 6.53438690e+01] [-5.64440786e-02 9.98405747e-01 -1.73569129e-04 8.16142977e-02] [-3.72532604e-03 -3.67632817e-05 9.99993060e-01 -3.52516457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:0.08, Z:-0.35 [[ 9.98920345e-01 4.63065254e-02 3.72143332e-03 6.54070290e+01] [-4.63061978e-02 9.98927277e-01 -1.74181962e-04 8.37467811e-02] [-3.72550701e-03 1.66847799e-06 9.99993060e-01 -3.51449964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:0.08, Z:-0.35 [[ 9.99221858e-01 3.92661282e-02 3.72139995e-03 6.54701321e+01] [-3.92657491e-02 9.99228788e-01 -1.74891880e-04 8.28576907e-02] [-3.72539729e-03 2.86322321e-05 9.99993060e-01 -3.52567115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:0.07, Z:-0.35 [[ 9.99534038e-01 3.02961759e-02 3.72136656e-03 6.55331947e+01] [-3.02957320e-02 9.99540964e-01 -1.75599568e-04 7.44113577e-02] [-3.72497831e-03 6.27762210e-05 9.99993060e-01 -3.51638481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.59, Y:0.07, Z:-0.36 [[ 9.99632436e-01 2.68541262e-02 3.72133185e-03 6.55940679e+01] [-2.68536558e-02 9.99639360e-01 -1.76332035e-04 6.98178380e-02] [-3.72472503e-03 7.63358576e-05 9.99993060e-01 -3.55939951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22420382199998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:65.66, Y:0.07, Z:-0.36 [[ 9.99551578e-01 2.97118474e-02 3.72130401e-03 6.56568063e+01] [-2.97113946e-02 9.99558503e-01 -1.76917587e-04 6.95353325e-02] [-3.72491762e-03 6.62731213e-05 9.99993060e-01 -3.57536497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.72, Y:0.07, Z:-0.36 [[ 9.99323404e-01 3.65907887e-02 3.72129325e-03 6.57182124e+01] [-3.65903827e-02 9.99330332e-01 -1.77143591e-04 7.00347246e-02] [-3.72528305e-03 4.08601926e-05 9.99993060e-01 -3.61120482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.78, Y:0.07, Z:-0.36 [[ 9.98783590e-01 4.91680004e-02 3.72126552e-03 6.57805838e+01] [-4.91676795e-02 9.98790522e-01 -1.77724221e-04 6.75740418e-02] [-3.72550308e-03 -5.45795484e-06 9.99993060e-01 -3.57065897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:0.07, Z:-0.35 [[ 9.98406934e-01 5.63004984e-02 3.72123558e-03 6.58420895e+01] [-5.63002247e-02 9.98413869e-01 -1.78348999e-04 7.11236133e-02] [-3.72537435e-03 -3.14415224e-05 9.99993060e-01 -3.54581158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:0.07, Z:-0.35 [[ 9.98431049e-01 5.58712212e-02 3.72123121e-03 6.59034839e+01] [-5.58709441e-02 9.98437983e-01 -1.78440123e-04 7.20320217e-02] [-3.72538825e-03 -2.97485421e-05 9.99993060e-01 -3.53884677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:0.07, Z:-0.35 [[ 9.98818345e-01 4.84568454e-02 3.72120312e-03 6.59663739e+01] [-4.84565147e-02 9.98825277e-01 -1.79024039e-04 6.64050940e-02] [-3.72550668e-03 -1.50403962e-06 9.99993060e-01 -3.52119862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.03, Y:0.06, Z:-0.36 [[ 9.99090514e-01 4.24770330e-02 3.72116779e-03 6.60271499e+01] [-4.24766582e-02 9.99097443e-01 -1.79755351e-04 6.11368354e-02] [-3.72544470e-03 2.15290942e-05 9.99993060e-01 -3.56233750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:0.06, Z:-0.36 [[ 9.99305734e-01 3.70702590e-02 3.72113942e-03 6.60889072e+01] [-3.70698445e-02 9.99312661e-01 -1.80340793e-04 5.59669789e-02] [-3.72526701e-03 4.22735290e-05 9.99993060e-01 -3.60058278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:0.05, Z:-0.36 [[ 9.99319356e-01 3.67012032e-02 3.72110973e-03 6.61509659e+01] [-3.67007838e-02 9.99326283e-01 -1.80951378e-04 4.91479098e-02] [-3.72524389e-03 4.42605709e-05 9.99993060e-01 -3.63560211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:0.04, Z:-0.36 [[ 9.99226218e-01 3.91550638e-02 3.72108038e-03 6.62127158e+01] [-3.91546592e-02 9.99233146e-01 -1.81552803e-04 4.34360042e-02] [-3.72533557e-03 3.57146863e-05 9.99993060e-01 -3.60952472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:0.04, Z:-0.36 [[ 9.98983383e-01 4.49260914e-02 3.72105028e-03 6.62744443e+01] [-4.49257245e-02 9.98990313e-01 -1.82167783e-04 4.19600263e-02] [-3.72547727e-03 1.48117089e-05 9.99993060e-01 -3.63721069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:0.04, Z:-0.36 [[ 9.98742996e-01 4.99858106e-02 3.72101918e-03 6.63364258e+01] [-4.99854764e-02 9.98749928e-01 -1.82800840e-04 3.87748440e-02] [-3.72550508e-03 -3.42585777e-06 9.99993060e-01 -3.64103894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:0.03, Z:-0.37 [[ 9.98606967e-01 5.26334505e-02 3.72098763e-03 6.63978237e+01] [-5.26331324e-02 9.98613899e-01 -1.83440821e-04 3.32392324e-02] [-3.72548509e-03 -1.26619524e-05 9.99993060e-01 -3.67647504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:0.03, Z:-0.36 [[ 9.98415507e-01 5.61482766e-02 3.72095845e-03 6.64603636e+01] [-5.61479807e-02 9.98422441e-01 -1.84030767e-04 3.21597979e-02] [-3.72542143e-03 -2.51851316e-05 9.99993060e-01 -3.62840195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.52, Y:0.03, Z:-0.36 [[ 9.98285810e-01 5.84088661e-02 3.72092687e-03 6.65226907e+01] [-5.84085835e-02 9.98292744e-01 -1.84667055e-04 3.41766807e-02] [-3.72536049e-03 -3.29835668e-05 9.99993060e-01 -3.59060580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.58, Y:0.03, Z:-0.36 [[ 9.98248512e-01 5.90428929e-02 3.72089504e-03 6.65848703e+01] [-5.90426123e-02 9.98255446e-01 -1.85306122e-04 2.92426900e-02] [-3.72534475e-03 -3.47098027e-05 9.99993060e-01 -3.60280230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.65, Y:0.02, Z:-0.36 [[ 9.98271462e-01 5.86535906e-02 3.72086118e-03 6.66467497e+01] [-5.86533048e-02 9.98278396e-01 -1.85983711e-04 2.13588766e-02] [-3.72536394e-03 -3.25785737e-05 9.99993060e-01 -3.63113585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.71, Y:0.02, Z:-0.37 [[ 9.98318708e-01 5.78438699e-02 3.72083000e-03 6.67085959e+01] [-5.78435762e-02 9.98325641e-01 -1.86605289e-04 1.71744083e-02] [-3.72539397e-03 -2.89345627e-05 9.99993060e-01 -3.66909278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.77, Y:0.01, Z:-0.37 [[ 9.98311048e-01 5.79759158e-02 3.72079887e-03 6.67707692e+01] [-5.79756207e-02 9.98317982e-01 -1.87223949e-04 1.41841278e-02] [-3.72539490e-03 -2.88078877e-05 9.99993060e-01 -3.69477190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.83, Y:0.00, Z:-0.37 [[ 9.98357809e-01 5.71650415e-02 3.72076777e-03 6.68328660e+01] [-5.71647384e-02 9.98364742e-01 -1.87840086e-04 3.00143101e-03] [-3.72542124e-03 -2.51650993e-05 9.99993060e-01 -3.71701226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.89, Y:-0.01, Z:-0.38 [[ 9.98351133e-01 5.72815101e-02 3.72073660e-03 6.68937646e+01] [-5.72812056e-02 9.98358066e-01 -1.88455386e-04 -8.78209633e-03] [-3.72542241e-03 -2.49836305e-05 9.99993060e-01 -3.75700041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.96, Y:-0.02, Z:-0.37 [[ 9.98264982e-01 5.87637755e-02 3.72070792e-03 6.69556715e+01] [-5.87634791e-02 9.98271916e-01 -1.89020038e-04 -1.50128836e-02] [-3.72538575e-03 -2.99496571e-05 9.99993060e-01 -3.72333685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.02, Y:-0.03, Z:-0.37 [[ 9.98122716e-01 6.11326505e-02 3.72067699e-03 6.70177367e+01] [-6.11323684e-02 9.98129650e-01 -1.89626839e-04 -2.61289841e-02] [-3.72531041e-03 -3.81829413e-05 9.99993060e-01 -3.65874624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.08, Y:-0.04, Z:-0.36 [[ 9.98023042e-01 6.27388605e-02 3.72066797e-03 6.70790716e+01] [-6.27385888e-02 9.98029976e-01 -1.89803677e-04 -3.70136812e-02] [-3.72524623e-03 -4.40010150e-05 9.99993060e-01 -3.62848943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:-0.04, Z:-0.36 [[ 9.97863855e-01 6.52218014e-02 3.72063572e-03 6.71409098e+01] [-6.52215447e-02 9.97870790e-01 -1.90433743e-04 -4.30512197e-02] [-3.72513414e-03 -5.26386598e-05 9.99993060e-01 -3.61727216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.20, Y:-0.05, Z:-0.36 [[ 9.97554927e-01 6.97877056e-02 3.72060351e-03 6.72022574e+01] [-6.97874782e-02 9.97561863e-01 -1.91060906e-04 -5.08993954e-02] [-3.72486588e-03 -6.90577882e-05 9.99993060e-01 -3.63267930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.26, Y:-0.06, Z:-0.36 [[ 9.97376998e-01 7.22861037e-02 3.72057162e-03 6.72641424e+01] [-7.22858914e-02 9.97383935e-01 -1.91680090e-04 -5.78335841e-02] [-3.72469416e-03 -7.77675231e-05 9.99993060e-01 -3.63672313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:-0.06, Z:-0.37 [[ 9.97428738e-01 7.15686428e-02 3.72053857e-03 6.73250819e+01] [-7.15684231e-02 9.97435674e-01 -1.92319394e-04 -6.25779328e-02] [-3.72476193e-03 -7.44481882e-05 9.99993060e-01 -3.70898660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:-0.07, Z:-0.37 [[ 9.97439116e-01 7.14238553e-02 3.72050813e-03 6.73870248e+01] [-7.14236324e-02 9.97446052e-01 -1.92906533e-04 -6.71040289e-02] [-3.72478427e-03 -7.33196830e-05 9.99993060e-01 -3.65631955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.45, Y:-0.07, Z:-0.37 [[ 9.97336849e-01 7.28379601e-02 3.72047465e-03 6.74483692e+01] [-7.28377446e-02 9.97343785e-01 -1.93549949e-04 -7.47779827e-02] [-3.72469006e-03 -7.79564864e-05 9.99993060e-01 -3.66382981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:-0.08, Z:-0.37 [[ 9.96960662e-01 7.78177174e-02 3.72045087e-03 6.75098177e+01] [-7.78175349e-02 9.96967599e-01 -1.94006047e-04 -7.78822892e-02] [-3.72426608e-03 -9.60999180e-05 9.99993060e-01 -3.67959062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:-0.08, Z:-0.37 [[ 9.96778087e-01 8.01224350e-02 3.72043321e-03 6.75718907e+01] [-8.01222673e-02 9.96785024e-01 -1.94344093e-04 -7.96260992e-02] [-3.72404343e-03 -1.04371611e-04 9.99993060e-01 -3.66354046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.08, Z:-0.37 [[ 9.96960659e-01 7.78177490e-02 3.72040097e-03 6.76339574e+01] [-7.78175630e-02 9.96967597e-01 -1.94959337e-04 -7.90958501e-02] [-3.72429051e-03 -9.51457473e-05 9.99993060e-01 -3.68367561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.70, Y:-0.08, Z:-0.37 [[ 9.97527102e-01 7.01843269e-02 3.72036675e-03 6.76963812e+01] [-7.01840853e-02 9.97534037e-01 -1.95610169e-04 -8.31694648e-02] [-3.72492123e-03 -6.59840922e-05 9.99993060e-01 -3.67831827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.76, Y:-0.08, Z:-0.37 [[ 9.97823461e-01 6.58369159e-02 3.72032850e-03 6.77576025e+01] [-6.58366414e-02 9.97830395e-01 -1.96334947e-04 -8.46523888e-02] [-3.72518295e-03 -4.90263175e-05 9.99993060e-01 -3.66256544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.82, Y:-0.08, Z:-0.36 [[ 9.98041655e-01 6.24420891e-02 3.72029766e-03 6.78209548e+01] [-6.24417888e-02 9.98048588e-01 -1.96917645e-04 -8.39382777e-02] [-3.72533378e-03 -3.57700280e-05 9.99993060e-01 -3.64188131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.88, Y:-0.08, Z:-0.37 [[ 9.98018415e-01 6.28124372e-02 3.72026020e-03 6.78817538e+01] [-6.28121369e-02 9.98025349e-01 -1.97622733e-04 -8.38937298e-02] [-3.72532715e-03 -3.64463670e-05 9.99993060e-01 -3.65886084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.94, Y:-0.08, Z:-0.37 [[ 9.98054029e-01 6.22439973e-02 3.72024185e-03 6.79439628e+01] [-6.22436917e-02 9.98060962e-01 -1.97967607e-04 -8.31275573e-02] [-3.72535046e-03 -3.39792196e-05 9.99993060e-01 -3.67848448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:-0.08, Z:-0.36 [[ 9.98267475e-01 5.87214461e-02 3.72020941e-03 6.80061034e+01] [-5.87211138e-02 9.98274407e-01 -1.98575413e-04 -7.95988820e-02] [-3.72545048e-03 -2.02234643e-05 9.99993060e-01 -3.63330717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:-0.08, Z:-0.36 [[ 9.98373437e-01 5.68914816e-02 3.72017541e-03 6.80682335e+01] [-5.68911343e-02 9.98380368e-01 -1.99210388e-04 -7.86673439e-02] [-3.72548347e-03 -1.27586393e-05 9.99993060e-01 -3.64519359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.13, Y:-0.08, Z:-0.37 [[ 9.98235095e-01 5.92693404e-02 3.72013908e-03 6.81310826e+01] [-5.92690071e-02 9.98242027e-01 -1.99886481e-04 -7.64200699e-02] [-3.72544632e-03 -2.09552495e-05 9.99993060e-01 -3.66047489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.19, Y:-0.07, Z:-0.37 [[ 9.97953403e-01 6.38370220e-02 3.72012043e-03 6.81923637e+01] [-6.38367191e-02 9.97960336e-01 -2.00232930e-04 -7.29440434e-02] [-3.72531491e-03 -3.76571494e-05 9.99993060e-01 -3.66143392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.25, Y:-0.07, Z:-0.36 [[ 9.97936925e-01 6.40941005e-02 3.72008895e-03 6.82544349e+01] [-6.40937972e-02 9.97943859e-01 -2.00816133e-04 -6.87244935e-02] [-3.72531105e-03 -3.80327927e-05 9.99993060e-01 -3.62729731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:-0.06, Z:-0.36 [[ 9.98081292e-01 6.18053051e-02 3.72005601e-03 6.83172589e+01] [-6.18049836e-02 9.98088224e-01 -2.01424456e-04 -6.24497524e-02] [-3.72539320e-03 -2.88800195e-05 9.99993060e-01 -3.62300092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:-0.06, Z:-0.36 [[ 9.98210275e-01 5.96859128e-02 3.72002330e-03 6.83800249e+01] [-5.96855744e-02 9.98217207e-01 -2.02026861e-04 -5.95004514e-02] [-3.72544942e-03 -2.03664387e-05 9.99993060e-01 -3.61346649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:-0.05, Z:-0.36 [[ 9.98484018e-01 5.49165511e-02 3.71998956e-03 6.84415839e+01] [-5.49161773e-02 9.98490948e-01 -2.02646228e-04 -5.25319032e-02] [-3.72550453e-03 -1.94858641e-06 9.99993060e-01 -3.61489412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:-0.05, Z:-0.36 [[ 9.98802436e-01 4.87837620e-02 3.71995851e-03 6.85030213e+01] [-4.87833435e-02 9.98809363e-01 -2.03214665e-04 -4.84341671e-02] [-3.72544296e-03 2.14992890e-05 9.99993060e-01 -3.57538561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:-0.05, Z:-0.36 [[ 9.99157120e-01 4.08804640e-02 3.71995358e-03 6.85649981e+01] [-4.08799903e-02 9.99164043e-01 -2.03304747e-04 -4.80277735e-02] [-3.72515505e-03 5.10617188e-05 9.99993060e-01 -3.62664752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.63, Y:-0.05, Z:-0.36 [[ 9.99333404e-01 3.63167846e-02 3.71994615e-03 6.86266610e+01] [-3.63162789e-02 9.99340326e-01 -2.03440725e-04 -4.87401664e-02] [-3.72488051e-03 6.82105107e-05 9.99993060e-01 -3.64712301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.69, Y:-0.05, Z:-0.37 [[ 9.99419483e-01 3.38653046e-02 3.71991424e-03 6.86883357e+01] [-3.38647797e-02 9.99426403e-01 -2.04022376e-04 -4.99597529e-02] [-3.72468979e-03 7.79298611e-05 9.99993060e-01 -3.65958361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.75, Y:-0.05, Z:-0.37 [[ 9.99415330e-01 3.39876389e-02 3.71990938e-03 6.87499400e+01] [-3.39871145e-02 9.99422250e-01 -2.04110981e-04 -5.25580497e-02] [-3.72469746e-03 7.75626578e-05 9.99993060e-01 -3.66265290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.81, Y:-0.05, Z:-0.37 [[ 9.99346440e-01 3.59562829e-02 3.71989008e-03 6.88111305e+01] [-3.59557709e-02 9.99353361e-01 -2.04462091e-04 -5.47737156e-02] [-3.72483636e-03 7.05769469e-05 9.99993060e-01 -3.66656689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.87, Y:-0.06, Z:-0.37 [[ 9.99237890e-01 3.88561671e-02 3.71988532e-03 6.88716616e+01] [-3.88556748e-02 9.99244812e-01 -2.04548648e-04 -5.73158417e-02] [-3.72502409e-03 5.98541048e-05 9.99993060e-01 -3.66065725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:-0.06, Z:-0.37 [[ 9.98945857e-01 4.57529931e-02 3.71987470e-03 6.89319954e+01] [-4.57525479e-02 9.98952783e-01 -2.04741641e-04 -5.96830082e-02] [-3.72534673e-03 3.43320686e-05 9.99993060e-01 -3.69897072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:-0.06, Z:-0.37 [[ 9.98506083e-01 5.45138909e-02 3.71987470e-03 6.89923382e+01] [-5.45135065e-02 9.98513012e-01 -2.04741641e-04 -6.19400378e-02] [-3.72550456e-03 1.65236014e-06 9.99993060e-01 -3.67406686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:-0.06, Z:-0.36 [[ 9.98250572e-01 5.90081234e-02 3.71987470e-03 6.90522712e+01] [-5.90077701e-02 9.98257502e-01 -2.04741641e-04 -6.27816332e-02] [-3.72547425e-03 -1.51180513e-05 9.99993060e-01 -3.64971554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:-0.07, Z:-0.37 [[ 9.98374562e-01 5.68717567e-02 3.71987714e-03 6.91123041e+01] [-5.68713888e-02 9.98381492e-01 -2.04697272e-04 -6.86647836e-02] [-3.72549799e-03 -7.19002948e-06 9.99993060e-01 -3.65868207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:-0.08, Z:-0.37 [[ 9.98606785e-01 5.26369834e-02 3.71987714e-03 6.91734341e+01] [-5.26365861e-02 9.98613713e-01 -2.04697272e-04 -7.89714536e-02] [-3.72549497e-03 8.61045171e-06 9.99993060e-01 -3.71106667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:-0.09, Z:-0.37 [[ 9.98616185e-01 5.24583410e-02 3.71987231e-03 6.92341525e+01] [-5.24579421e-02 9.98623113e-01 -2.04785078e-04 -8.98535464e-02] [-3.72549315e-03 9.36484702e-06 9.99993060e-01 -3.72362665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:-0.10, Z:-0.37 [[ 9.98379181e-01 5.67906131e-02 3.71986749e-03 6.92947715e+01] [-5.67902439e-02 9.98386111e-01 -2.04872646e-04 -1.00374251e-01] [-3.72549888e-03 -6.71159693e-06 9.99993060e-01 -3.72441408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.36, Y:-0.11, Z:-0.37 [[ 9.98273835e-01 5.86132554e-02 3.71986264e-03 6.93557445e+01] [-5.86128985e-02 9.98280765e-01 -2.04960665e-04 -1.08152581e-01] [-3.72548073e-03 -1.34250620e-05 9.99993060e-01 -3.73227385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.42, Y:-0.12, Z:-0.37 [[ 9.98362492e-01 5.70832490e-02 3.71983121e-03 6.94172092e+01] [-5.70828795e-02 9.98369422e-01 -2.05529515e-04 -1.22124751e-01] [-3.72549802e-03 -7.14571762e-06 9.99993060e-01 -3.74207374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.48, Y:-0.14, Z:-0.38 [[ 9.98443157e-01 5.56545211e-02 3.71979592e-03 6.94777586e+01] [-5.56541393e-02 9.98450086e-01 -2.06166204e-04 -1.37972310e-01] [-3.72550464e-03 -1.17680433e-06 9.99993060e-01 -3.77507861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:-0.15, Z:-0.38 [[ 9.98340701e-01 5.74631049e-02 3.71976336e-03 6.95393675e+01] [-5.74627334e-02 9.98347631e-01 -2.06751971e-04 -1.47145136e-01] [-3.72549755e-03 -7.33886261e-06 9.99993060e-01 -3.77706930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:-0.16, Z:-0.38 [[ 9.97992261e-01 6.32266627e-02 3.71972840e-03 6.96006211e+01] [-6.32263289e-02 9.97999193e-01 -2.07379082e-04 -1.55620530e-01] [-3.72539783e-03 -2.82220521e-05 9.99993060e-01 -3.78031829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:-0.16, Z:-0.38 [[ 9.97647687e-01 6.84489349e-02 3.71969616e-03 6.96637146e+01] [-6.84486352e-02 9.97654620e-01 -2.07955766e-04 -1.61511708e-01] [-3.72520641e-03 -4.71415369e-05 9.99993060e-01 -3.79137403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:-0.16, Z:-0.38 [[ 9.97078176e-01 7.62972764e-02 3.71965691e-03 6.97255062e+01] [-7.62970287e-02 9.97085112e-01 -2.08655388e-04 -1.64787708e-01] [-3.72473437e-03 -7.57530361e-05 9.99993060e-01 -3.82990497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.79, Y:-0.17, Z:-0.38 [[ 9.96815475e-01 7.96559644e-02 3.71962270e-03 6.97878429e+01] [-7.96557378e-02 9.96822411e-01 -2.09263551e-04 -1.69013113e-01] [-3.72447236e-03 -8.76921443e-05 9.99993060e-01 -3.83313182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:-0.17, Z:-0.38 [[ 9.96943038e-01 7.80432117e-02 3.71958801e-03 6.98497817e+01] [-7.80429716e-02 9.96949974e-01 -2.09878382e-04 -1.69494528e-01] [-3.72462275e-03 -8.10509094e-05 9.99993060e-01 -3.83147554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:-0.17, Z:-0.38 [[ 9.97207698e-01 7.45853320e-02 3.71955128e-03 6.99124570e+01] [-7.45850654e-02 9.97214633e-01 -2.10527236e-04 -1.66206108e-01] [-3.72489321e-03 -6.74835957e-05 9.99993060e-01 -3.82763829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:-0.17, Z:-0.39 [[ 9.97300933e-01 7.33281272e-02 3.71951634e-03 6.99742780e+01] [-7.33278496e-02 9.97307867e-01 -2.11142702e-04 -1.68000176e-01] [-3.72498561e-03 -6.21713215e-05 9.99993060e-01 -3.86561593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.04, Y:-0.17, Z:-0.39 [[ 9.97350124e-01 7.26560077e-02 3.71950873e-03 7.00357473e+01] [-7.26557249e-02 9.97357058e-01 -2.11276707e-04 -1.70199309e-01] [-3.72502881e-03 -5.95267537e-05 9.99993060e-01 -3.89108114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.17, Z:-0.39 [[ 9.97634510e-01 6.86407364e-02 3.71947586e-03 7.00982950e+01] [-6.86404235e-02 9.97641442e-01 -2.11853882e-04 -1.67426053e-01] [-3.72524506e-03 -4.39536547e-05 9.99993060e-01 -3.89685175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.16, Y:-0.17, Z:-0.39 [[ 9.97874839e-01 6.50536109e-02 3.71944150e-03 7.01602936e+01] [-6.50532708e-02 9.97881770e-01 -2.12455396e-04 -1.70081698e-01] [-3.72538386e-03 -2.99579409e-05 9.99993060e-01 -3.91662976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.22, Y:-0.17, Z:-0.39 [[ 9.98147188e-01 6.07318417e-02 3.71940658e-03 7.02222065e+01] [-6.07314693e-02 9.98154118e-01 -2.13064975e-04 -1.73599455e-01] [-3.72548082e-03 -1.32148212e-05 9.99993060e-01 -3.91304989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.28, Y:-0.18, Z:-0.40 [[ 9.98221916e-01 5.94909480e-02 3.71937116e-03 7.02838321e+01] [-5.94905648e-02 9.98228845e-01 -2.13681438e-04 -1.77479445e-01] [-3.72549569e-03 -7.96599661e-06 9.99993060e-01 -3.96592226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:-0.18, Z:-0.40 [[ 9.98122165e-01 6.11417173e-02 3.71933581e-03 7.03458689e+01] [-6.11413433e-02 9.98129095e-01 -2.14295028e-04 -1.81655370e-01] [-3.72547965e-03 -1.35125699e-05 9.99993060e-01 -4.00925539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:-0.19, Z:-0.40 [[ 9.97864359e-01 6.52141659e-02 3.71930032e-03 7.04072382e+01] [-6.52138178e-02 9.97871290e-01 -2.14909257e-04 -1.86571081e-01] [-3.72539813e-03 -2.80994849e-05 9.99993060e-01 -3.99728032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.19, Z:-0.40 [[ 9.97783289e-01 6.64430222e-02 3.71928136e-03 7.04688687e+01] [-6.64426815e-02 9.97790220e-01 -2.15236861e-04 -1.90925942e-01] [-3.72536355e-03 -3.23592837e-05 9.99993060e-01 -3.95743343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.20, Z:-0.39 [[ 9.98020698e-01 6.27762122e-02 3.71924823e-03 7.05306657e+01] [-6.27758439e-02 9.98027628e-01 -2.15807753e-04 -1.98334157e-01] [-3.72546009e-03 -1.80983419e-05 9.99993060e-01 -3.89692100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.59, Y:-0.21, Z:-0.39 [[ 9.98318138e-01 5.78537970e-02 3.71921254e-03 7.05923710e+01] [-5.78533922e-02 9.98325066e-01 -2.16421140e-04 -2.05623538e-01] [-3.72550389e-03 8.88087958e-07 9.99993060e-01 -3.93902275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:-0.22, Z:-0.40 [[ 9.98589070e-01 5.29720338e-02 3.71917526e-03 7.06525121e+01] [-5.29715928e-02 9.98595996e-01 -2.17059912e-04 -2.20376529e-01] [-3.72545163e-03 1.97430181e-05 9.99993060e-01 -4.02582037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.23, Z:-0.40 [[ 9.98727138e-01 5.03018097e-02 3.71914086e-03 7.07143513e+01] [-5.03013479e-02 9.98734062e-01 -2.17647672e-04 -2.32582659e-01] [-3.72538073e-03 3.02928380e-05 9.99993060e-01 -4.03434848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.78, Y:-0.24, Z:-0.41 [[ 9.98614844e-01 5.24839106e-02 3.71910294e-03 7.07755400e+01] [-5.24834615e-02 9.98621770e-01 -2.18293799e-04 -2.39016255e-01] [-3.72543407e-03 2.28000317e-05 9.99993060e-01 -4.10220292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.84, Y:-0.25, Z:-0.41 [[ 9.98133269e-01 6.09601944e-02 3.71908142e-03 7.08373826e+01] [-6.09598028e-02 9.98140198e-01 -2.18659873e-04 -2.53568900e-01] [-3.72549421e-03 -8.46277543e-06 9.99993060e-01 -4.05574329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.90, Y:-0.26, Z:-0.41 [[ 9.97700766e-01 6.76708965e-02 3.71903748e-03 7.08980984e+01] [-6.76705487e-02 9.97707697e-01 -2.19404617e-04 -2.64029587e-01] [-3.72535963e-03 -3.27691525e-05 9.99993060e-01 -4.11556440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.27, Z:-0.41 [[ 9.97461208e-01 7.11147529e-02 3.71901564e-03 7.09601636e+01] [-7.11144277e-02 9.97468140e-01 -2.19774159e-04 -2.72018670e-01] [-3.72522880e-03 -4.52594709e-05 9.99993060e-01 -4.13210809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.02, Y:-0.28, Z:-0.42 [[ 9.97026769e-01 7.69661635e-02 3.71897915e-03 7.10210333e+01] [-7.69658767e-02 9.97033703e-01 -2.20389908e-04 -2.79370155e-01] [-3.72491012e-03 -6.64998532e-05 9.99993060e-01 -4.16655450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.08, Y:-0.28, Z:-0.41 [[ 9.96731372e-01 8.07015538e-02 3.71894562e-03 7.10827238e+01] [-8.07012909e-02 9.96738307e-01 -2.20954293e-04 -2.83068065e-01] [-3.72464692e-03 -7.98916369e-05 9.99993060e-01 -4.14361983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.14, Y:-0.29, Z:-0.42 [[ 9.96730734e-01 8.07094375e-02 3.71890933e-03 7.11447183e+01] [-8.07091724e-02 9.96737669e-01 -2.21563335e-04 -2.87081481e-01] [-3.72465927e-03 -7.93111086e-05 9.99993060e-01 -4.18123671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:-0.29, Z:-0.41 [[ 9.96893753e-01 7.86702959e-02 3.71887324e-03 7.12069125e+01] [-7.86700143e-02 9.96900687e-01 -2.22167601e-04 -2.88634283e-01] [-3.72482527e-03 -7.10863167e-05 9.99993060e-01 -4.12867318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68420382199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.27, Y:-0.29, Z:-0.42 [[ 9.97257969e-01 7.39101657e-02 3.71883558e-03 7.12675841e+01] [-7.39098487e-02 9.97264902e-01 -2.22796201e-04 -2.88497928e-01] [-3.72513110e-03 -5.26732874e-05 9.99993060e-01 -4.23209945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74420382199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.29, Z:-0.42 [[ 9.97578569e-01 6.94490405e-02 3.71883024e-03 7.13284641e+01] [-6.94486921e-02 9.97585500e-01 -2.22885312e-04 -2.92379332e-01] [-3.72533029e-03 -3.59222849e-05 9.99993060e-01 -4.24170667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:-0.29, Z:-0.42 [[ 9.97960335e-01 6.37286533e-02 3.71879651e-03 7.13904057e+01] [-6.37282631e-02 9.97967263e-01 -2.23446671e-04 -2.94122978e-01] [-3.72547713e-03 -1.40015276e-05 9.99993060e-01 -4.19327630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:-0.30, Z:-0.42 [[ 9.98093048e-01 6.16152373e-02 3.71875927e-03 7.14526326e+01] [-6.16148302e-02 9.98099976e-01 -2.24064617e-04 -3.00051890e-01] [-3.72549934e-03 -5.49338468e-06 9.99993060e-01 -4.21571023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.51, Y:-0.31, Z:-0.42 [[ 9.98343071e-01 5.74219748e-02 3.71871952e-03 7.15140628e+01] [-5.74215361e-02 9.98349997e-01 -2.24722399e-04 -3.07193638e-01] [-3.72548763e-03 1.08154624e-05 9.99993060e-01 -4.22534940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.32, Z:-0.42 [[ 9.98679252e-01 5.12437663e-02 3.71870821e-03 7.15761704e+01] [-5.12432840e-02 9.98686175e-01 -2.24909376e-04 -3.16990590e-01] [-3.72534768e-03 3.40535063e-05 9.99993060e-01 -4.20896879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:-0.33, Z:-0.42 [[ 9.98851726e-01 4.77640214e-02 3.71866865e-03 7.16381585e+01] [-4.77635126e-02 9.98858647e-01 -2.25561611e-04 -3.29269614e-01] [-3.72519807e-03 4.76859275e-05 9.99993060e-01 -4.19996910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:-0.35, Z:-0.42 [[ 9.98928519e-01 4.61300969e-02 3.71862946e-03 7.16983164e+01] [-4.61295744e-02 9.98935439e-01 -2.26205924e-04 -3.45541091e-01] [-3.72510565e-03 5.44247548e-05 9.99993060e-01 -4.23826920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.76, Y:-0.36, Z:-0.43 [[ 9.98828323e-01 4.82509448e-02 3.71859338e-03 7.17586403e+01] [-4.82504348e-02 9.98835244e-01 -2.26797529e-04 -3.56867619e-01] [-3.72520532e-03 4.71080486e-05 9.99993060e-01 -4.30681826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.82, Y:-0.36, Z:-0.43 [[ 9.98651976e-01 5.17726004e-02 3.71859063e-03 7.18204110e+01] [-5.17721146e-02 9.98658899e-01 -2.26842593e-04 -3.63961145e-01] [-3.72534785e-03 3.40175035e-05 9.99993060e-01 -4.32676767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28420382199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:71.88, Y:-0.37, Z:-0.44 [[ 9.98210437e-01 5.96832993e-02 3.71855174e-03 7.18811615e+01] [-5.96828660e-02 9.98217363e-01 -2.27478278e-04 -3.72440928e-01] [-3.72549957e-03 5.13736610e-06 9.99993060e-01 -4.36263975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.94, Y:-0.37, Z:-0.43 [[ 9.97549521e-01 6.98650545e-02 3.71851583e-03 7.19409856e+01] [-6.98646897e-02 9.97556451e-01 -2.28063849e-04 -3.74887137e-01] [-3.72536314e-03 -3.22879715e-05 9.99993060e-01 -4.32067560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.00, Y:-0.38, Z:-0.43 [[ 9.96932168e-01 7.81819975e-02 3.71851583e-03 7.20025482e+01] [-7.81816905e-02 9.96939101e-01 -2.28063849e-04 -3.79885015e-01] [-3.72496431e-03 -6.33556666e-05 9.99993060e-01 -4.27492489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.06, Y:-0.38, Z:-0.43 [[ 9.96379997e-01 8.49298253e-02 3.71847718e-03 7.20648125e+01] [-8.49295630e-02 9.96386931e-01 -2.28692193e-04 -3.77589785e-01] [-3.72446486e-03 -8.79443158e-05 9.99993060e-01 -4.25743093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.38, Z:-0.43 [[ 9.96707910e-01 8.09908300e-02 3.71843809e-03 7.21253416e+01] [-8.09905379e-02 9.96714844e-01 -2.29325987e-04 -3.76721543e-01] [-3.72479575e-03 -7.25872761e-05 9.99993060e-01 -4.26488430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.38, Z:-0.42 [[ 9.97227728e-01 7.43171092e-02 3.71843533e-03 7.21881329e+01] [-7.43167705e-02 9.97234659e-01 -2.29370769e-04 -3.82077538e-01] [-3.72519876e-03 -4.76072145e-05 9.99993060e-01 -4.23494898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.25, Y:-0.39, Z:-0.43 [[ 9.97938159e-01 6.40749951e-02 3.71839145e-03 7.22487022e+01] [-6.40745826e-02 9.97945086e-01 -2.30079995e-04 -3.91357030e-01] [-3.72549285e-03 -8.64877372e-06 9.99993060e-01 -4.27501662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.31, Y:-0.40, Z:-0.43 [[ 9.98267587e-01 5.87196639e-02 3.71838578e-03 7.23104074e+01] [-5.87192139e-02 9.98274512e-01 -2.30171544e-04 -3.97487826e-01] [-3.72548535e-03 1.14321023e-05 9.99993060e-01 -4.27130025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.37, Y:-0.41, Z:-0.43 [[ 9.98406635e-01 5.63060011e-02 3.71834580e-03 7.23711988e+01] [-5.63055320e-02 9.98413559e-01 -2.30815606e-04 -4.11388696e-01] [-3.72544317e-03 2.10843945e-05 9.99993060e-01 -4.33597501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.43, Y:-0.42, Z:-0.43 [[ 9.98475707e-01 5.50675617e-02 3.71830615e-03 7.24330297e+01] [-5.50670816e-02 9.98482630e-01 -2.31452595e-04 -4.16465941e-01] [-3.72540963e-03 2.63435250e-05 9.99993060e-01 -4.27555851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.49, Y:-0.42, Z:-0.43 [[ 9.98350365e-01 5.72950495e-02 3.71829481e-03 7.24940271e+01] [-5.72945842e-02 9.98357289e-01 -2.31634555e-04 -4.24846592e-01] [-3.72545824e-03 1.82142873e-05 9.99993060e-01 -4.30725183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:-0.44, Z:-0.43 [[ 9.98343547e-01 5.74137286e-02 3.71827240e-03 7.25559229e+01] [-5.74132628e-02 9.98350471e-01 -2.31993796e-04 -4.35292298e-01] [-3.72545863e-03 1.81313593e-05 9.99993060e-01 -4.32312900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:-0.44, Z:-0.43 [[ 9.98372452e-01 5.69088820e-02 3.71823360e-03 7.26177367e+01] [-5.69084103e-02 9.98379376e-01 -2.32613998e-04 -4.43990871e-01] [-3.72544554e-03 2.06366439e-05 9.99993060e-01 -4.32717683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:-0.45, Z:-0.44 [[ 9.98380915e-01 5.67602319e-02 3.71819414e-03 7.26790373e+01] [-5.67597569e-02 9.98387838e-01 -2.33243069e-04 -4.49016578e-01] [-3.72543874e-03 2.18216337e-05 9.99993060e-01 -4.36609360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:-0.46, Z:-0.44 [[ 9.98438721e-01 5.57341506e-02 3.71815789e-03 7.27405027e+01] [-5.57336663e-02 9.98445644e-01 -2.33819514e-04 -4.55864908e-01] [-3.72541028e-03 2.62278856e-05 9.99993060e-01 -4.35396333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:-0.46, Z:-0.43 [[ 9.98516935e-01 5.43148713e-02 3.71811854e-03 7.28022397e+01] [-5.43143748e-02 9.98523857e-01 -2.34443579e-04 -4.62989744e-01] [-3.72536384e-03 3.21485998e-05 9.99993060e-01 -4.31649888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.47, Z:-0.43 [[ 9.98629472e-01 5.22049256e-02 3.71810718e-03 7.28642370e+01] [-5.22044138e-02 9.98636392e-01 -2.34623499e-04 -4.69878696e-01] [-3.72528565e-03 4.02003345e-05 9.99993060e-01 -4.27851123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.48, Z:-0.42 [[ 9.98824996e-01 4.83198032e-02 3.71806613e-03 7.29246975e+01] [-4.83192621e-02 9.98831915e-01 -2.35272317e-04 -4.79219381e-01] [-3.72509142e-03 5.53416593e-05 9.99993060e-01 -4.24283067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.49, Z:-0.43 [[ 9.98916615e-01 4.63872006e-02 3.71802835e-03 7.29853239e+01] [-4.63866439e-02 9.98923532e-01 -2.35867863e-04 -4.86164470e-01] [-3.72496726e-03 6.31454703e-05 9.99993060e-01 -4.30330124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.50, Z:-0.43 [[ 9.98878176e-01 4.72076872e-02 3.71802260e-03 7.30476839e+01] [-4.72071358e-02 9.98885094e-01 -2.35958473e-04 -4.97007729e-01] [-3.72501640e-03 6.01765717e-05 9.99993060e-01 -4.26347270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.50, Z:-0.44 [[ 9.98648775e-01 5.18343549e-02 3.71797550e-03 7.31073945e+01] [-5.18338328e-02 9.98655695e-01 -2.36698312e-04 -5.04071759e-01] [-3.72524651e-03 4.36615587e-05 9.99993060e-01 -4.37671850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.17, Y:-0.51, Z:-0.44 [[ 9.98356385e-01 5.71900824e-02 3.71797256e-03 7.31684830e+01] [-5.71895974e-02 9.98363308e-01 -2.36744486e-04 -5.11671586e-01] [-3.72542682e-03 2.37260154e-05 9.99993060e-01 -4.40140492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.23, Y:-0.52, Z:-0.44 [[ 9.98179931e-01 6.01913713e-02 3.71796702e-03 7.32303206e+01] [-6.01909067e-02 9.98186856e-01 -2.36831475e-04 -5.20142415e-01] [-3.72548102e-03 1.26126199e-05 9.99993060e-01 -4.40258979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.29, Y:-0.53, Z:-0.44 [[ 9.97962847e-01 6.36893554e-02 3.71792689e-03 7.32918037e+01] [-6.36889128e-02 9.97969772e-01 -2.37459706e-04 -5.26387973e-01] [-3.72550231e-03 1.85242918e-07 9.99993060e-01 -4.43420720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.54, Z:-0.45 [[ 9.97920857e-01 6.43439257e-02 3.71791797e-03 7.33528532e+01] [-6.43434870e-02 9.97927783e-01 -2.37599267e-04 -5.35630569e-01] [-3.72550171e-03 -2.11854297e-06 9.99993060e-01 -4.47881362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.54, Z:-0.45 [[ 9.97975609e-01 6.34890607e-02 3.71789466e-03 7.34146246e+01] [-6.34886148e-02 9.97982535e-01 -2.37963562e-04 -5.42265827e-01] [-3.72550201e-03 1.43784964e-06 9.99993060e-01 -4.47104398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-0.55, Z:-0.45 [[ 9.98022605e-01 6.27459689e-02 3.71785387e-03 7.34748603e+01] [-6.27455154e-02 9.98029530e-01 -2.38599129e-04 -5.54993928e-01] [-3.72549908e-03 4.84866692e-06 9.99993060e-01 -4.45800255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.54, Y:-0.56, Z:-0.45 [[ 9.97810857e-01 6.60278080e-02 3.71781630e-03 7.35366723e+01] [-6.60273752e-02 9.97817783e-01 -2.39183135e-04 -5.59263281e-01] [-3.72549595e-03 -6.81812252e-06 9.99993060e-01 -4.49098667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96420382199999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:-0.56, Z:-0.45 [[ 9.97497386e-01 7.06055494e-02 3.71780760e-03 7.35985606e+01] [-7.06051478e-02 9.97504314e-01 -2.39318250e-04 -5.64366195e-01] [-3.72542631e-03 -2.37770262e-05 9.99993060e-01 -4.49403583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-0.57, Z:-0.45 [[ 9.97369731e-01 7.23864458e-02 3.71776666e-03 7.36584024e+01] [-7.23860542e-02 9.97376660e-01 -2.39952520e-04 -5.66129994e-01] [-3.72538300e-03 -2.97930790e-05 9.99993060e-01 -4.47022924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-0.57, Z:-0.44 [[ 9.97342512e-01 7.27605167e-02 3.71776666e-03 7.37196856e+01] [-7.27601277e-02 9.97349440e-01 -2.39952520e-04 -5.69361329e-01] [-3.72537157e-03 -3.11903285e-05 9.99993060e-01 -4.40437998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.58, Z:-0.44 [[ 9.97535726e-01 7.00617813e-02 3.71776099e-03 7.37815549e+01] [-7.00613732e-02 9.97542654e-01 -2.40040306e-04 -5.76562085e-01] [-3.72544282e-03 -2.10226598e-05 9.99993060e-01 -4.35680907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.58, Z:-0.44 [[ 9.97501112e-01 7.05528936e-02 3.71772021e-03 7.38433660e+01] [-7.05524867e-02 9.97508039e-01 -2.40670265e-04 -5.81042379e-01] [-3.72543578e-03 -2.22255491e-05 9.99993060e-01 -4.38864850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.91, Y:-0.58, Z:-0.44 [[ 9.97001747e-01 7.72896875e-02 3.71767975e-03 7.39063562e+01] [-7.72893250e-02 9.97008677e-01 -2.41293684e-04 -5.83398910e-01] [-3.72520848e-03 -4.67667338e-05 9.99993060e-01 -4.36931890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.97, Y:-0.59, Z:-0.44 [[ 9.96579016e-01 8.25617572e-02 3.71763174e-03 7.39679168e+01] [-8.25614286e-02 9.96585948e-01 -2.42031095e-04 -5.86338282e-01] [-3.72492207e-03 -6.57298768e-05 9.99993060e-01 -4.42641872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.03, Y:-0.59, Z:-0.45 [[ 9.96152748e-01 8.75550188e-02 3.71759030e-03 7.40295748e+01] [-8.75547226e-02 9.96159682e-01 -2.42665926e-04 -5.85854451e-01] [-3.72456019e-03 -8.37602584e-05 9.99993060e-01 -4.48449505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.09, Y:-0.59, Z:-0.44 [[ 9.96162867e-01 8.74398221e-02 3.71755091e-03 7.40916039e+01] [-8.74395228e-02 9.96169800e-01 -2.43267930e-04 -5.90753783e-01] [-3.72458325e-03 -8.27263985e-05 9.99993060e-01 -4.41886233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.15, Y:-0.59, Z:-0.44 [[ 9.96141572e-01 8.76820863e-02 3.71753961e-03 7.41541225e+01] [-8.76817880e-02 9.96148505e-01 -2.43440487e-04 -5.89786205e-01] [-3.72456690e-03 -8.34593307e-05 9.99993060e-01 -4.36016271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.59, Z:-0.44 [[ 9.95965319e-01 8.96619376e-02 3.71749925e-03 7.42162579e+01] [-8.96616509e-02 9.95972253e-01 -2.44055297e-04 -5.92867488e-01] [-3.72440857e-03 -9.02465082e-05 9.99993060e-01 -4.35114045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.59, Z:-0.43 [[ 9.95763205e-01 9.18793772e-02 3.71745859e-03 7.42789662e+01] [-9.18791036e-02 9.95770139e-01 -2.44673026e-04 -5.88103161e-01] [-3.72421466e-03 -9.79203658e-05 9.99993060e-01 -4.33378718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.59, Z:-0.44 [[ 9.95852321e-01 9.09083910e-02 3.71744711e-03 7.43405590e+01] [-9.09081099e-02 9.95859255e-01 -2.44847386e-04 -5.85293889e-01] [-3.72431279e-03 -9.41142526e-05 9.99993060e-01 -4.37575118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:74.40, Y:-0.59, Z:-0.43 [[ 9.96223147e-01 8.67503436e-02 3.71740990e-03 7.44039482e+01] [-8.67500315e-02 9.96230080e-01 -2.45410957e-04 -5.88438588e-01] [-3.72468505e-03 -7.80013498e-05 9.99993060e-01 -4.27331841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.47, Y:-0.58, Z:-0.43 [[ 9.96945744e-01 7.80087521e-02 3.71736134e-03 7.44667222e+01] [-7.80083765e-02 9.96952673e-01 -2.46144275e-04 -5.84964460e-01] [-3.72523474e-03 -4.45928360e-05 9.99993060e-01 -4.31327777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.58, Z:-0.44 [[ 9.97580022e-01 6.94282523e-02 3.71731602e-03 7.45284197e+01] [-6.94278146e-02 9.97586947e-01 -2.46826916e-04 -5.82091164e-01] [-3.72548270e-03 -1.18555270e-05 9.99993060e-01 -4.37139901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:-0.59, Z:-0.43 [[ 9.97785799e-01 6.64054328e-02 3.71727775e-03 7.45911401e+01] [-6.64049719e-02 9.97792723e-01 -2.47401815e-04 -5.86449361e-01] [-3.72550152e-03 8.29310520e-09 9.99993060e-01 -4.32318487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:-0.59, Z:-0.44 [[ 9.98223570e-01 5.94633241e-02 3.71722989e-03 7.46520622e+01] [-5.94628124e-02 9.98230491e-01 -2.48118896e-04 -5.88963398e-01] [-3.72540619e-03 2.66411864e-05 9.99993060e-01 -4.40236485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:-0.59, Z:-0.44 [[ 9.98295643e-01 5.82408129e-02 3.71722396e-03 7.47130261e+01] [-5.82402924e-02 9.98302563e-01 -2.48207743e-04 -5.88461168e-01] [-3.72537002e-03 3.12924982e-05 9.99993060e-01 -4.37665431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.59, Z:-0.43 [[ 9.98138398e-01 6.08762726e-02 3.71721814e-03 7.47752047e+01] [-6.08757701e-02 9.98145320e-01 -2.48294813e-04 -5.87361978e-01] [-3.72543915e-03 2.15440702e-05 9.99993060e-01 -4.33880941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:-0.59, Z:-0.43 [[ 9.97901440e-01 6.46443969e-02 3.71717603e-03 7.48373458e+01] [-6.46439182e-02 9.97908363e-01 -2.48923713e-04 -5.87122819e-01] [-3.72549257e-03 8.10850848e-06 9.99993060e-01 -4.34323640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.90, Y:-0.59, Z:-0.44 [[ 9.97869553e-01 6.51347756e-02 3.71713394e-03 7.48986100e+01] [-6.51342979e-02 9.97876476e-01 -2.49550674e-04 -5.86516937e-01] [-3.72549494e-03 6.90610995e-06 9.99993060e-01 -4.35549877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.96, Y:-0.59, Z:-0.44 [[ 9.98054983e-01 6.22288844e-02 3.71711187e-03 7.49602458e+01] [-6.22283854e-02 9.98061905e-01 -2.49878993e-04 -5.89685052e-01] [-3.72545744e-03 1.80831042e-05 9.99993060e-01 -4.35570907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:-0.60, Z:-0.43 [[ 9.98302757e-01 5.81187507e-02 3.71707390e-03 7.50221048e+01] [-5.81182211e-02 9.98309676e-01 -2.50442513e-04 -5.97782076e-01] [-3.72534625e-03 3.39877289e-05 9.99993060e-01 -4.28168988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.08, Y:-0.60, Z:-0.43 [[ 9.98433933e-01 5.58199296e-02 3.71703074e-03 7.50841483e+01] [-5.58193816e-02 9.98440851e-01 -2.51081416e-04 -6.04534120e-01] [-3.72525068e-03 4.32058484e-05 9.99993060e-01 -4.29471391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.61, Z:-0.43 [[ 9.98516618e-01 5.43207805e-02 3.71698778e-03 7.51450264e+01] [-5.43202197e-02 9.98523535e-01 -2.51715749e-04 -6.14617618e-01] [-3.72517318e-03 4.94347650e-05 9.99993060e-01 -4.28232094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.21, Y:-0.62, Z:-0.42 [[ 9.98489282e-01 5.48209687e-02 3.71694819e-03 7.52067440e+01] [-5.48204093e-02 9.98496199e-01 -2.52298997e-04 -6.23164360e-01] [-3.72518992e-03 4.81532227e-05 9.99993060e-01 -4.20937732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.27, Y:-0.63, Z:-0.43 [[ 9.98298114e-01 5.81984550e-02 3.71690426e-03 7.52672078e+01] [-5.81979166e-02 9.98305033e-01 -2.52944640e-04 -6.29875484e-01] [-3.72532521e-03 3.61980730e-05 9.99993060e-01 -4.27354187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.33, Y:-0.64, Z:-0.42 [[ 9.97814589e-01 6.59714344e-02 3.71686380e-03 7.53296213e+01] [-6.59709476e-02 9.97821512e-01 -2.53537719e-04 -6.35965562e-01] [-3.72549290e-03 7.77860809e-06 9.99993060e-01 -4.23250725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.39, Y:-0.64, Z:-0.42 [[ 9.97428394e-01 7.15736295e-02 3.71681263e-03 7.53906259e+01] [-7.15731788e-02 9.97435319e-01 -2.54285593e-04 -6.42353563e-01] [-3.72548034e-03 -1.23924250e-05 9.99993060e-01 -4.24752362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.45, Y:-0.64, Z:-0.43 [[ 9.96842679e-01 7.93149369e-02 3.71678828e-03 7.54531571e+01] [-7.93145387e-02 9.96849607e-01 -2.54641078e-04 -6.42310372e-01] [-3.72527578e-03 -4.09582535e-05 9.99993060e-01 -4.28776739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:-0.64, Z:-0.43 [[ 9.96163059e-01 8.74376626e-02 3.71674557e-03 7.55154585e+01] [-8.74373186e-02 9.96169991e-01 -2.55263014e-04 -6.41470977e-01] [-3.72483000e-03 -7.06986810e-05 9.99993060e-01 -4.25068010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.58, Y:-0.64, Z:-0.43 [[ 9.95691456e-01 9.26537090e-02 3.71670243e-03 7.55763458e+01] [-9.26533990e-02 9.95698389e-01 -2.55889520e-04 -6.42539193e-01] [-3.72442374e-03 -8.95781048e-05 9.99993060e-01 -4.25324164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.64, Y:-0.64, Z:-0.43 [[ 9.94984634e-01 9.99588158e-02 3.71667897e-03 7.56368698e+01] [-9.99585553e-02 9.94991569e-01 -2.56229778e-04 -6.36573135e-01] [-3.72367667e-03 -1.16569169e-04 9.99993060e-01 -4.32881435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:-0.63, Z:-0.43 [[ 9.94788823e-01 1.01889077e-01 3.71666138e-03 7.56990639e+01] [-1.01888829e-01 9.94795758e-01 -2.56484716e-04 -6.31542407e-01] [-3.72345197e-03 -1.23538146e-04 9.99993060e-01 -4.32787470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:-0.63, Z:-0.43 [[ 9.95005681e-01 9.97490955e-02 3.71662062e-03 7.57614524e+01] [-9.97488304e-02 9.95012615e-01 -2.57074070e-04 -6.29275398e-01] [-3.72372731e-03 -1.14938400e-04 9.99993060e-01 -4.26896021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.82, Y:-0.62, Z:-0.43 [[ 9.95418547e-01 9.55411083e-02 3.71657907e-03 7.58243939e+01] [-9.55408117e-02 9.95425480e-01 -2.57673269e-04 -6.23733244e-01] [-3.72419590e-03 -9.85922300e-05 9.99993060e-01 -4.27431750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.89, Y:-0.62, Z:-0.43 [[ 9.95792306e-01 9.15634778e-02 3.71653719e-03 7.58866151e+01] [-9.15631513e-02 9.95799238e-01 -2.58275998e-04 -6.20227344e-01] [-3.72457355e-03 -8.31086048e-05 9.99993060e-01 -4.30935465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.95, Y:-0.61, Z:-0.43 [[ 9.96397397e-01 8.47255316e-02 3.71649445e-03 7.59486156e+01] [-8.47251552e-02 9.96404326e-01 -2.58889545e-04 -6.10632555e-01] [-3.72506570e-03 -5.69236998e-05 9.99993060e-01 -4.31420595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.01, Y:-0.61, Z:-0.43 [[ 9.96852305e-01 7.91938794e-02 3.71647205e-03 7.60121032e+01] [-7.91934633e-02 9.96859232e-01 -2.59210620e-04 -6.08717913e-01] [-3.72532737e-03 -3.59255897e-05 9.99993060e-01 -4.29502017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.07, Y:-0.60, Z:-0.43 [[ 9.97638313e-01 6.85856065e-02 3.71642354e-03 7.60745632e+01] [-6.85851141e-02 9.97645235e-01 -2.59904308e-04 -6.02862431e-01] [-3.72549793e-03 4.39916207e-06 9.99993060e-01 -4.29524532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.14, Y:-0.60, Z:-0.43 [[ 9.98433502e-01 5.58276773e-02 3.71641396e-03 7.61363365e+01] [-5.58270960e-02 9.98440418e-01 -2.60041284e-04 -5.99882787e-01] [-3.72513540e-03 5.21573309e-05 9.99993060e-01 -4.34431175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.20, Y:-0.60, Z:-0.43 [[ 9.98857515e-01 4.76429879e-02 3.71637277e-03 7.61983496e+01] [-4.76423478e-02 9.98864425e-01 -2.60628607e-04 -5.98381226e-01] [-3.72456967e-03 8.32741182e-05 9.99993060e-01 -4.27677799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:-0.60, Z:-0.42 [[ 9.99225715e-01 3.91683340e-02 3.71633090e-03 7.62604973e+01] [-3.91676331e-02 9.99232620e-01 -2.61224307e-04 -6.02380363e-01] [-3.72371078e-03 1.15462160e-04 9.99993060e-01 -4.23937608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60420382199999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:76.32, Y:-0.61, Z:-0.42 [[ 9.99287365e-01 3.75626335e-02 3.71628609e-03 7.63224836e+01] [-3.75619191e-02 9.99294268e-01 -2.61860199e-04 -6.05522452e-01] [-3.72349955e-03 1.22082750e-04 9.99993060e-01 -4.24099877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.61, Z:-0.43 [[ 9.99079121e-01 4.27445771e-02 3.71624125e-03 7.63849481e+01] [-4.27438962e-02 9.99086028e-01 -2.62494995e-04 -6.07138413e-01] [-3.72406495e-03 1.03406639e-04 9.99993060e-01 -4.26678368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72420382199998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:76.44, Y:-0.62, Z:-0.43 [[ 9.98692986e-01 5.09755687e-02 3.71619675e-03 7.64446013e+01] [-5.09749423e-02 9.98699898e-01 -2.63123534e-04 -6.16941159e-01] [-3.72477818e-03 7.33467127e-05 9.99993060e-01 -4.25810292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:-0.62, Z:-0.42 [[ 9.98351680e-01 5.72722747e-02 3.71619358e-03 7.65060521e+01] [-5.72716918e-02 9.98358595e-01 -2.63168219e-04 -6.24244985e-01] [-3.72516605e-03 4.99017401e-05 9.99993060e-01 -4.18948617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.57, Y:-0.63, Z:-0.42 [[ 9.97980073e-01 6.34189586e-02 3.71615242e-03 7.65670918e+01] [-6.34184162e-02 9.97986991e-01 -2.63748216e-04 -6.29962519e-01] [-3.72539841e-03 2.75429632e-05 9.99993060e-01 -4.19755967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.63, Y:-0.64, Z:-0.42 [[ 9.97229314e-01 7.42959353e-02 3.71611140e-03 7.66284444e+01] [-7.42954662e-02 9.97236238e-01 -2.64324869e-04 -6.39700094e-01] [-3.72547922e-03 -1.24977212e-05 9.99993060e-01 -4.22720794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.69, Y:-0.65, Z:-0.42 [[ 9.96625745e-01 8.19958286e-02 3.71606789e-03 7.66897495e+01] [-8.19954107e-02 9.96632672e-01 -2.64935173e-04 -6.47407317e-01] [-3.72527825e-03 -4.06592985e-05 9.99993060e-01 -4.18905149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.75, Y:-0.65, Z:-0.41 [[ 9.95983484e-01 8.94599912e-02 3.71602725e-03 7.67518649e+01] [-8.94596231e-02 9.95990414e-01 -2.65504031e-04 -6.54179147e-01] [-3.72487950e-03 -6.79967664e-05 9.99993060e-01 -4.14541220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.81, Y:-0.66, Z:-0.43 [[ 9.95214362e-01 9.76451006e-02 3.71601465e-03 7.68123081e+01] [-9.76447888e-02 9.95221294e-01 -2.65680267e-04 -6.60228274e-01] [-3.72419928e-03 -9.84406481e-05 9.99993060e-01 -4.28868674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.87, Y:-0.67, Z:-0.42 [[ 9.95113046e-01 9.86722672e-02 3.71601460e-03 7.68736129e+01] [-9.86719625e-02 9.95119979e-01 -2.65680929e-04 -6.69051035e-01] [-3.72409571e-03 -1.02283894e-04 9.99993060e-01 -4.24357730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.93, Y:-0.67, Z:-0.43 [[ 9.95227724e-01 9.75088181e-02 3.71596885e-03 7.69348902e+01] [-9.75085030e-02 9.95234656e-01 -2.66319249e-04 -6.74821154e-01] [-3.72422946e-03 -9.72902596e-05 9.99993060e-01 -4.27737620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:-0.68, Z:-0.43 [[ 9.95347963e-01 9.62736939e-02 3.71592366e-03 7.69970804e+01] [-9.62733678e-02 9.95354895e-01 -2.66948322e-04 -6.75476799e-01] [-3.72436291e-03 -9.20380164e-05 9.99993060e-01 -4.33100022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-0.68, Z:-0.42 [[ 9.95566297e-01 9.39890461e-02 3.71587609e-03 7.70584896e+01] [-9.39887016e-02 9.95573228e-01 -2.67608860e-04 -6.80068430e-01] [-3.72457905e-03 -8.28280074e-05 9.99993060e-01 -4.21593525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:-0.69, Z:-0.42 [[ 9.95700991e-01 9.25512240e-02 3.71586964e-03 7.71203813e+01] [-9.25508692e-02 9.95707922e-01 -2.67698314e-04 -6.86184679e-01] [-3.72469665e-03 -7.73594883e-05 9.99993060e-01 -4.23007220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:-0.68, Z:-0.42 [[ 9.95989302e-01 8.93952052e-02 3.71583761e-03 7.71832121e+01] [-8.93948268e-02 9.95996231e-01 -2.68142206e-04 -6.81662206e-01] [-3.72493089e-03 -6.51098906e-05 9.99993060e-01 -4.22846959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:-0.68, Z:-0.42 [[ 9.96250577e-01 8.64348325e-02 3.71579156e-03 7.72440271e+01] [-8.64344311e-02 9.96257505e-01 -2.68778903e-04 -6.81468907e-01] [-3.72511709e-03 -5.34011917e-05 9.99993060e-01 -4.22739046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:-0.69, Z:-0.42 [[ 9.96773656e-01 8.01777561e-02 3.71578498e-03 7.73049499e+01] [-8.01773109e-02 9.96780581e-01 -2.68869761e-04 -6.85781058e-01] [-3.72537969e-03 -2.99193535e-05 9.99993060e-01 -4.23933249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.69, Z:-0.42 [[ 9.97027461e-01 7.69573641e-02 3.71577827e-03 7.73658610e+01] [-7.69568962e-02 9.97034384e-01 -2.68962467e-04 -6.88356785e-01] [-3.72545735e-03 -1.77917973e-05 9.99993060e-01 -4.24480986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.69, Z:-0.43 [[ 9.97066010e-01 7.64562996e-02 3.71575433e-03 7.74282035e+01] [-7.64558269e-02 9.97072933e-01 -2.69292850e-04 -6.88508275e-01] [-3.72546720e-03 -1.55883221e-05 9.99993060e-01 -4.25440406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.69, Z:-0.42 [[ 9.97299642e-01 7.33458801e-02 3.71570930e-03 7.74901049e+01] [-7.33453835e-02 9.97306564e-01 -2.69912724e-04 -6.90471838e-01] [-3.72549826e-03 -3.34626051e-06 9.99993060e-01 -4.21985211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.55, Y:-0.70, Z:-0.42 [[ 9.97643700e-01 6.85072326e-02 3.71566233e-03 7.75520628e+01] [-6.85067001e-02 9.97650620e-01 -2.70557743e-04 -6.99174859e-01] [-3.72546799e-03 1.53724631e-05 9.99993060e-01 -4.21482997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.61, Y:-0.70, Z:-0.43 [[ 9.97732680e-01 6.71989165e-02 3.71561529e-03 7.76127582e+01] [-6.71983725e-02 9.97739598e-01 -2.71202245e-04 -7.04634487e-01] [-3.72544100e-03 2.09040416e-05 9.99993060e-01 -4.28183176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.67, Y:-0.71, Z:-0.42 [[ 9.97708252e-01 6.75606325e-02 3.71557200e-03 7.76749983e+01] [-6.75600888e-02 9.97715170e-01 -2.71794008e-04 -7.07126432e-01] [-3.72544513e-03 2.01467501e-05 9.99993060e-01 -4.21557468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:-0.72, Z:-0.42 [[ 9.97581252e-01 6.94106692e-02 3.71552408e-03 7.77374627e+01] [-6.94101359e-02 9.97588171e-01 -2.72447568e-04 -7.15605585e-01] [-3.72547364e-03 1.38935545e-05 9.99993060e-01 -4.21333389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04420382199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:-0.72, Z:-0.42 [[ 9.97312160e-01 7.31754839e-02 3.71546963e-03 7.77990159e+01] [-7.31749739e-02 9.97319081e-01 -2.73188057e-04 -7.16754779e-01] [-3.72549943e-03 5.74377247e-07 9.99993060e-01 -4.23132442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:-0.72, Z:-0.42 [[ 9.96459137e-01 8.39963375e-02 3.71544297e-03 7.78584926e+01] [-8.39959014e-02 9.96466063e-01 -2.73550207e-04 -7.20978184e-01] [-3.72529004e-03 -3.95003783e-05 9.99993060e-01 -4.16750744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:-0.72, Z:-0.42 [[ 9.95411845e-01 9.56109513e-02 3.71544297e-03 7.79197827e+01] [-9.56105959e-02 9.95418776e-01 -2.73550207e-04 -7.22327638e-01] [-3.72457609e-03 -8.29406003e-05 9.99993060e-01 -4.21192568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:-0.72, Z:-0.42 [[ 9.95025462e-01 9.95516215e-02 3.71543653e-03 7.79814494e+01] [-9.95512933e-02 9.95032394e-01 -2.73637636e-04 -7.22128454e-01] [-3.72422078e-03 -9.76000961e-05 9.99993060e-01 -4.21767414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:-0.72, Z:-0.43 [[ 9.94921759e-01 1.00582746e-01 3.71543012e-03 7.80423457e+01] [-1.00582424e-01 9.94928691e-01 -2.73724631e-04 -7.15708295e-01] [-3.72412000e-03 -1.01372378e-04 9.99993060e-01 -4.25779377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:-0.72, Z:-0.42 [[ 9.95102073e-01 9.87828959e-02 3.71543012e-03 7.81033795e+01] [-9.87825620e-02 9.95109004e-01 -2.73724631e-04 -7.18596732e-01] [-3.72429728e-03 -9.46357586e-05 9.99993060e-01 -4.22328870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:-0.72, Z:-0.41 [[ 9.95900807e-01 9.03757568e-02 3.71542370e-03 7.81633844e+01] [-9.03753640e-02 9.95907736e-01 -2.73811782e-04 -7.16807175e-01] [-3.72496515e-03 -6.30933949e-05 9.99993060e-01 -4.14081522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:-0.72, Z:-0.42 [[ 9.97136444e-01 7.55321626e-02 3.71542370e-03 7.82248887e+01] [-7.55316667e-02 9.97143366e-01 -2.73811782e-04 -7.23181317e-01] [-3.72549169e-03 -7.60443839e-06 9.99993060e-01 -4.18144570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:-0.73, Z:-0.42 [[ 9.97748495e-01 6.69636974e-02 3.71537715e-03 7.82863543e+01] [-6.69631397e-02 9.97755412e-01 -2.74441926e-04 -7.28579496e-01] [-3.72541531e-03 2.50306994e-05 9.99993060e-01 -4.22840139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:-0.74, Z:-0.43 [[ 9.98234058e-01 5.92871082e-02 3.71533069e-03 7.83475895e+01] [-5.92864949e-02 9.98240971e-01 -2.75069451e-04 -7.40434546e-01] [-3.72510339e-03 5.43147597e-05 9.99993060e-01 -4.27396473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:-0.75, Z:-0.43 [[ 9.98222274e-01 5.94851845e-02 3.71532099e-03 7.84086373e+01] [-5.94845722e-02 9.98229187e-01 -2.75200483e-04 -7.46268068e-01] [-3.72511220e-03 5.37069726e-05 9.99993060e-01 -4.26479517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:-0.75, Z:-0.43 [[ 9.97774368e-01 6.65770756e-02 3.71531420e-03 7.84697650e+01] [-6.65765121e-02 9.97781285e-01 -2.75292129e-04 -7.53363107e-01] [-3.72539912e-03 2.73267700e-05 9.99993060e-01 -4.32018429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:-0.76, Z:-0.43 [[ 9.97512228e-01 7.03956791e-02 3.71527060e-03 7.85314618e+01] [-7.03951398e-02 9.97519147e-01 -2.75879278e-04 -7.59877791e-01] [-3.72547427e-03 1.36559601e-05 9.99993060e-01 -4.25515281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:-0.77, Z:-0.43 [[ 9.96429549e-01 8.43466091e-02 3.71522243e-03 7.85923267e+01] [-8.43461643e-02 9.96436475e-01 -2.76526368e-04 -7.65674368e-01] [-3.72530721e-03 -3.78257179e-05 9.99993060e-01 -4.28474043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:-0.76, Z:-0.42 [[ 9.94974164e-01 1.00063028e-01 3.71517813e-03 7.86534301e+01] [-1.00062690e-01 9.94981096e-01 -2.77120292e-04 -7.63946028e-01] [-3.72426151e-03 -9.60231864e-05 9.99993060e-01 -4.20615856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:-0.77, Z:-0.42 [[ 9.94094163e-01 1.08457327e-01 3.71517813e-03 7.87138330e+01] [-1.08457048e-01 9.94101097e-01 -2.77120292e-04 -7.65647526e-01] [-3.72331839e-03 -1.27453589e-04 9.99993060e-01 -4.21074659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:-0.77, Z:-0.42 [[ 9.92991292e-01 1.18129134e-01 3.71517813e-03 7.87723753e+01] [-1.18128922e-01 9.92998228e-01 -2.77120292e-04 -7.69479499e-01] [-3.72190128e-03 -1.63691952e-04 9.99993060e-01 -4.22637550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.83, Y:-0.77, Z:-0.42 [[ 9.92460241e-01 1.22510683e-01 3.71518778e-03 7.88323290e+01] [-1.22510502e-01 9.92467178e-01 -2.76990849e-04 -7.66978355e-01] [-3.72113627e-03 -1.80247117e-04 9.99993060e-01 -4.16349642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.89, Y:-0.76, Z:-0.42 [[ 9.92259907e-01 1.24122821e-01 3.71519418e-03 7.88922015e+01] [-1.24122652e-01 9.92266844e-01 -2.76904991e-04 -7.56375558e-01] [-3.72083424e-03 -1.86378033e-04 9.99993060e-01 -4.15593457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:-0.75, Z:-0.42 [[ 9.93672597e-01 1.12254032e-01 3.71520708e-03 7.89529550e+01] [-1.12253780e-01 9.93679532e-01 -2.76731896e-04 -7.51115466e-01] [-3.72278950e-03 -1.42065137e-04 9.99993060e-01 -4.19996867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:-0.75, Z:-0.42 [[ 9.95223088e-01 9.75561460e-02 3.71521037e-03 7.90127644e+01] [-9.75557925e-02 9.95230019e-01 -2.76687634e-04 -7.54975273e-01] [-3.72448147e-03 -8.70743703e-05 9.99993060e-01 -4.16632450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:-0.75, Z:-0.42 [[ 9.97121303e-01 7.57317882e-02 3.71521372e-03 7.90748683e+01] [-7.57312831e-02 9.97128225e-01 -2.76642653e-04 -7.53445035e-01] [-3.72549511e-03 -5.51161952e-06 9.99993060e-01 -4.16765606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.14, Y:-0.76, Z:-0.42 [[ 9.98290527e-01 5.83285524e-02 3.71520356e-03 7.91358619e+01] [-5.83279262e-02 9.98297439e-01 -2.76779053e-04 -7.64223074e-01] [-3.72502232e-03 5.96057883e-05 9.99993060e-01 -4.24279197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.20, Y:-0.78, Z:-0.43 [[ 9.98719088e-01 5.04616767e-02 3.71515654e-03 7.91974362e+01] [-5.04609937e-02 9.98725994e-01 -2.77408774e-04 -7.75140788e-01] [-3.72442192e-03 8.95829468e-05 9.99993060e-01 -4.27475024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.26, Y:-0.78, Z:-0.43 [[ 9.98913301e-01 4.64587554e-02 3.71511125e-03 7.92593220e+01] [-4.64580424e-02 9.98920204e-01 -2.78013949e-04 -7.77619427e-01] [-3.72401587e-03 1.05115036e-04 9.99993060e-01 -4.26819531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.32, Y:-0.79, Z:-0.43 [[ 9.98815102e-01 4.85241244e-02 3.71506368e-03 7.93199048e+01] [-4.85234234e-02 9.98822006e-01 -2.78648150e-04 -7.87389421e-01] [-3.72420852e-03 9.80503722e-05 9.99993060e-01 -4.30213311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.38, Y:-0.80, Z:-0.43 [[ 9.98449747e-01 5.55364809e-02 3.71505689e-03 7.93801074e+01] [-5.55358281e-02 9.98456656e-01 -2.78738667e-04 -7.99058697e-01] [-3.72480345e-03 7.19877908e-05 9.99993060e-01 -4.30039304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:-0.81, Z:-0.43 [[ 9.97780760e-01 6.64812227e-02 3.71501303e-03 7.94413961e+01] [-6.64806435e-02 9.97787676e-01 -2.79321983e-04 -8.05685880e-01] [-3.72536389e-03 3.17256432e-05 9.99993060e-01 -4.28837760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:-0.82, Z:-0.43 [[ 9.97148789e-01 7.53690283e-02 3.71500639e-03 7.95013119e+01] [-7.53685103e-02 9.97155710e-01 -2.79410261e-04 -8.17751151e-01] [-3.72549872e-03 -1.38089446e-06 9.99993060e-01 -4.25323873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:-0.83, Z:-0.42 [[ 9.96749345e-01 8.04794457e-02 3.71500310e-03 7.95618330e+01] [-8.04789631e-02 9.96756268e-01 -2.79454062e-04 -8.27871304e-01] [-3.72544293e-03 -2.04339438e-05 9.99993060e-01 -4.21777352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:-0.83, Z:-0.43 [[ 9.95845067e-01 9.09879179e-02 3.71499643e-03 7.96214656e+01] [-9.09875081e-02 9.95851995e-01 -2.79542737e-04 -8.30126247e-01] [-3.72502161e-03 -5.96370118e-05 9.99993060e-01 -4.25509116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:-0.83, Z:-0.42 [[ 9.94942579e-01 1.00376611e-01 3.71499099e-03 7.96816608e+01] [-1.00376266e-01 9.94949510e-01 -2.79614927e-04 -8.34121688e-01] [-3.72429527e-03 -9.46961277e-05 9.99993060e-01 -4.22520894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.74, Y:-0.84, Z:-0.43 [[ 9.94664557e-01 1.03095189e-01 3.71499099e-03 7.97409788e+01] [-1.03094864e-01 9.94671489e-01 -2.79614927e-04 -8.38605651e-01] [-3.72402258e-03 -1.04873433e-04 9.99993060e-01 -4.28127595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.80, Y:-0.84, Z:-0.42 [[ 9.94798984e-01 1.01789887e-01 3.71498434e-03 7.98024277e+01] [-1.01789552e-01 9.94805915e-01 -2.79703362e-04 -8.42892654e-01] [-3.72415937e-03 -9.98979699e-05 9.99993060e-01 -4.23579652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.86, Y:-0.84, Z:-0.42 [[ 9.95098424e-01 9.88196656e-02 3.71497769e-03 7.98640430e+01] [-9.88193093e-02 9.95105354e-01 -2.79791554e-04 -8.42565168e-01] [-3.72444310e-03 -8.86913958e-05 9.99993060e-01 -4.21298766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.92, Y:-0.84, Z:-0.42 [[ 9.95605015e-01 9.35780629e-02 3.71497080e-03 7.99242642e+01] [-9.35776698e-02 9.95611943e-01 -2.79883091e-04 -8.43631771e-01] [-3.72486021e-03 -6.89853014e-05 9.99993060e-01 -4.24998010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.99, Y:-0.85, Z:-0.43 [[ 9.96095621e-01 8.82026790e-02 3.71496738e-03 7.99856294e+01] [-8.82022483e-02 9.96102547e-01 -2.79928402e-04 -8.46696584e-01] [-3.72517891e-03 -4.88330199e-05 9.99993060e-01 -4.26419050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:-0.85, Z:-0.43 [[ 9.96458256e-01 8.40068034e-02 3.71496053e-03 8.00471079e+01] [-8.40063432e-02 9.96465180e-01 -2.80019262e-04 -8.49984134e-01] [-3.72535234e-03 -3.30527444e-05 9.99993060e-01 -4.25319815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32420382199999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:80.11, Y:-0.86, Z:-0.42 [[ 9.97091921e-01 7.61176781e-02 3.71495371e-03 8.01083572e+01] [-7.61171628e-02 9.97098841e-01 -2.80109750e-04 -8.55635756e-01] [-3.72549734e-03 -3.47656746e-06 9.99993060e-01 -4.23664727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.17, Y:-0.86, Z:-0.42 [[ 9.97601213e-01 6.91232243e-02 3.71490979e-03 8.01699581e+01] [-6.91226583e-02 9.97608129e-01 -2.80691070e-04 -8.63702662e-01] [-3.72542648e-03 2.32333124e-05 9.99993060e-01 -4.24236859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.23, Y:-0.87, Z:-0.42 [[ 9.97786533e-01 6.63945326e-02 3.71486284e-03 8.02313603e+01] [-6.63939454e-02 9.97793448e-01 -2.81311087e-04 -8.69418449e-01] [-3.72534332e-03 3.40440136e-05 9.99993060e-01 -4.22418061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.29, Y:-0.88, Z:-0.43 [[ 9.98024745e-01 6.27121061e-02 3.71481960e-03 8.02911796e+01] [-6.27114912e-02 9.98031658e-01 -2.81880944e-04 -8.83523045e-01] [-3.72518491e-03 4.83622813e-05 9.99993060e-01 -4.32372432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.35, Y:-0.89, Z:-0.43 [[ 9.98070267e-01 6.19833974e-02 3.71481311e-03 8.03512667e+01] [-6.19827772e-02 9.98077179e-01 -2.81966416e-04 -8.93022779e-01] [-3.72514743e-03 5.11678634e-05 9.99993060e-01 -4.29251129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.41, Y:-0.90, Z:-0.43 [[ 9.97659152e-01 6.82818873e-02 3.71480660e-03 8.04119194e+01] [-6.82813103e-02 9.97666068e-01 -2.82052202e-04 -9.00257107e-01] [-3.72539555e-03 2.77400984e-05 9.99993060e-01 -4.32989037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.47, Y:-0.90, Z:-0.43 [[ 9.97438292e-01 7.14356598e-02 3.71476490e-03 8.04734076e+01] [-7.14351027e-02 9.97445210e-01 -2.82600309e-04 -9.04909841e-01] [-3.72546219e-03 1.65117579e-05 9.99993060e-01 -4.33900729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.53, Y:-0.91, Z:-0.43 [[ 9.97037332e-01 7.68294189e-02 3.71472323e-03 8.05346516e+01] [-7.68288972e-02 9.97044252e-01 -2.83146989e-04 -9.10827483e-01] [-3.72549746e-03 -3.08997110e-06 9.99993060e-01 -4.30158358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.59, Y:-0.92, Z:-0.43 [[ 9.96580330e-01 8.25460330e-02 3.71471683e-03 8.05949743e+01] [-8.25455507e-02 9.96587252e-01 -2.83230940e-04 -9.16701973e-01] [-3.72541903e-03 -2.43709629e-05 9.99993060e-01 -4.29500388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.66, Y:-0.92, Z:-0.44 [[ 9.96429447e-01 8.43478394e-02 3.71471365e-03 8.06566656e+01] [-8.43473695e-02 9.96436371e-01 -2.83272632e-04 -9.21635470e-01] [-3.72536922e-03 -3.10651325e-05 9.99993060e-01 -4.37141368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.72, Y:-0.92, Z:-0.44 [[ 9.96463201e-01 8.39481439e-02 3.71470427e-03 8.07175515e+01] [-8.39476707e-02 9.96470124e-01 -2.83395581e-04 -9.23488666e-01] [-3.72538236e-03 -2.94475026e-05 9.99993060e-01 -4.36056416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.78, Y:-0.93, Z:-0.44 [[ 9.96661660e-01 8.15581852e-02 3.71468096e-03 8.07797065e+01] [-8.15576943e-02 9.96668582e-01 -2.83700769e-04 -9.31121369e-01] [-3.72544392e-03 -2.02071344e-05 9.99993060e-01 -4.38023622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.84, Y:-0.94, Z:-0.43 [[ 9.96726808e-01 8.07581039e-02 3.71463803e-03 8.08402558e+01] [-8.07576053e-02 9.96733730e-01 -2.84261735e-04 -9.36378601e-01] [-3.72546146e-03 -1.66539804e-05 9.99993060e-01 -4.34555927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:-0.94, Z:-0.43 [[ 9.96768695e-01 8.02394578e-02 3.71463192e-03 8.09033550e+01] [-8.02389553e-02 9.96775616e-01 -2.84341573e-04 -9.44490354e-01] [-3.72546994e-03 -1.46354059e-05 9.99993060e-01 -4.25266646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:-0.95, Z:-0.43 [[ 9.96855944e-01 7.91481511e-02 3.71457548e-03 8.09647960e+01] [-7.91476383e-02 9.96862864e-01 -2.85076985e-04 -9.49106900e-01] [-3.72548567e-03 -9.81918974e-06 9.99993060e-01 -4.32735420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:-0.95, Z:-0.43 [[ 9.96856964e-01 7.91352992e-02 3.71456018e-03 8.10263444e+01] [-7.91347856e-02 9.96863885e-01 -2.85276282e-04 -9.53513902e-01] [-3.72548631e-03 -9.57127443e-06 9.99993060e-01 -4.30961734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.09, Y:-0.96, Z:-0.43 [[ 9.96872921e-01 7.89340356e-02 3.71451440e-03 8.10883825e+01] [-7.89335184e-02 9.96879841e-01 -2.85871045e-04 -9.63081743e-01] [-3.72548948e-03 -8.22258753e-06 9.99993060e-01 -4.31729000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.15, Y:-0.97, Z:-0.44 [[ 9.96999661e-01 7.73167405e-02 3.71449692e-03 8.11492683e+01] [-7.73162112e-02 9.97006581e-01 -2.86098030e-04 -9.68137176e-01] [-3.72549804e-03 -1.95118931e-06 9.99993060e-01 -4.36177393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.21, Y:-0.98, Z:-0.43 [[ 9.97047744e-01 7.66941852e-02 3.71448982e-03 8.12104132e+01] [-7.66936512e-02 9.97054663e-01 -2.86190158e-04 -9.78379533e-01] [-3.72549852e-03 4.67464296e-07 9.99993060e-01 -4.29046783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:-0.99, Z:-0.43 [[ 9.96813851e-01 7.96765288e-02 3.71444306e-03 8.12705734e+01] [-7.96760133e-02 9.96820772e-01 -2.86795807e-04 -9.86745885e-01] [-3.72548489e-03 -1.00699817e-05 9.99993060e-01 -4.29932664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:-0.99, Z:-0.43 [[ 9.96504351e-01 8.34582625e-02 3.71443591e-03 8.13329959e+01] [-8.34577729e-02 9.96511273e-01 -2.86888387e-04 -9.91948399e-01] [-3.72542046e-03 -2.41130226e-05 9.99993060e-01 -4.28254627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.39, Y:-1.00, Z:-0.44 [[ 9.95966524e-01 8.96486791e-02 3.71441844e-03 8.13943820e+01] [-8.96482317e-02 9.95973450e-01 -2.87114394e-04 -9.96069444e-01] [-3.72520157e-03 -4.70347201e-05 9.99993060e-01 -4.35203666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:81.46, Y:-1.00, Z:-0.44 [[ 9.95651718e-01 9.30798613e-02 3.71437355e-03 8.14559458e+01] [-9.30794355e-02 9.95658644e-01 -2.87693948e-04 -9.97983169e-01] [-3.72502665e-03 -5.92888197e-05 9.99993060e-01 -4.38705990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.52, Y:-1.00, Z:-0.44 [[ 9.95495879e-01 9.47320373e-02 3.71436674e-03 8.15171171e+01] [-9.47316228e-02 9.95502806e-01 -2.87781796e-04 -1.00364942e+00] [-3.72492467e-03 -6.53823975e-05 9.99993060e-01 -4.40739119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76420382199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:81.58, Y:-1.01, Z:-0.43 [[ 9.95453266e-01 9.51787728e-02 3.71432311e-03 8.15789683e+01] [-9.51783593e-02 9.95460193e-01 -2.88343898e-04 -1.00937529e+00] [-3.72490502e-03 -6.64903045e-05 9.99993060e-01 -4.33806483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.64, Y:-1.01, Z:-0.43 [[ 9.95513704e-01 9.45445380e-02 3.71427532e-03 8.16410377e+01] [-9.45441178e-02 9.95520631e-01 -2.88958129e-04 -1.01045895e+00] [-3.72495712e-03 -6.35011066e-05 9.99993060e-01 -4.32958602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.70, Y:-1.01, Z:-0.44 [[ 9.95966096e-01 8.96534484e-02 3.71422732e-03 8.17024438e+01] [-8.96529919e-02 9.95973020e-01 -2.89573832e-04 -1.01193866e+00] [-3.72523149e-03 -4.45858732e-05 9.99993060e-01 -4.37367516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.76, Y:-1.02, Z:-0.43 [[ 9.96497056e-01 8.35453246e-02 3.71418311e-03 8.17638659e+01] [-8.35448235e-02 9.96503978e-01 -2.90139783e-04 -1.01805982e+00] [-3.72543807e-03 -2.11773326e-05 9.99993060e-01 -4.32202441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.83, Y:-1.02, Z:-0.43 [[ 9.96699229e-01 8.10977929e-02 3.71415926e-03 8.18268590e+01] [-8.10972736e-02 9.96706149e-01 -2.90444806e-04 -1.01877075e+00] [-3.72547980e-03 -1.17220748e-05 9.99993060e-01 -4.29006564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.89, Y:-1.02, Z:-0.43 [[ 9.96821402e-01 7.95820170e-02 3.71410163e-03 8.18876660e+01] [-7.95814845e-02 9.96828322e-01 -2.91179812e-04 -1.02204048e+00] [-3.72549437e-03 -5.31945318e-06 9.99993060e-01 -4.27255455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:-1.03, Z:-0.43 [[ 9.97059899e-01 7.65360292e-02 3.71405508e-03 8.19487436e+01] [-7.65354733e-02 9.97066816e-01 -2.91772357e-04 -1.02902919e+00] [-3.72549218e-03 6.65755283e-06 9.99993060e-01 -4.30832286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.01, Y:-1.03, Z:-0.43 [[ 9.97301496e-01 7.33207528e-02 3.71404785e-03 8.20111670e+01] [-7.33201743e-02 9.97308411e-01 -2.91864413e-04 -1.03226834e+00] [-3.72545088e-03 1.87621797e-05 9.99993060e-01 -4.31685405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.07, Y:-1.04, Z:-0.44 [[ 9.97429558e-01 7.15575515e-02 3.71399716e-03 8.20725466e+01] [-7.15569584e-02 9.97436472e-01 -2.92508024e-04 -1.03794275e+00] [-3.72540738e-03 2.59938091e-05 9.99993060e-01 -4.37163302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:-1.04, Z:-0.43 [[ 9.97344892e-01 7.27280738e-02 3.71394699e-03 8.21359065e+01] [-7.27274864e-02 9.97351807e-01 -2.93143614e-04 -1.04000009e+00] [-3.72543151e-03 2.22592567e-05 9.99993060e-01 -4.33843240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.20, Y:-1.04, Z:-0.44 [[ 9.96924204e-01 7.82836994e-02 3.71388919e-03 8.21970041e+01] [-7.82831478e-02 9.96931122e-01 -2.93874149e-04 -1.04342308e+00] [-3.72549727e-03 2.23531568e-06 9.99993060e-01 -4.40941439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.26, Y:-1.05, Z:-0.44 [[ 9.96648431e-01 8.17197203e-02 3.71384251e-03 8.22590831e+01] [-8.17191904e-02 9.96655350e-01 -2.94462796e-04 -1.04531001e+00] [-3.72548443e-03 -1.00163197e-05 9.99993060e-01 -4.37536322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:-1.04, Z:-0.44 [[ 9.96478100e-01 8.37711382e-02 3.71379261e-03 8.23194283e+01] [-8.37706202e-02 9.96485021e-01 -2.95090832e-04 -1.04483817e+00] [-3.72545880e-03 -1.70551587e-05 9.99993060e-01 -4.36556775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.38, Y:-1.05, Z:-0.43 [[ 9.96472333e-01 8.38397078e-02 3.71378908e-03 8.23808326e+01] [-8.38391901e-02 9.96479254e-01 -2.95135313e-04 -1.04742832e+00] [-3.72545783e-03 -1.72668947e-05 9.99993060e-01 -4.33905605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:-1.05, Z:-0.43 [[ 9.96623675e-01 8.20210812e-02 3.71378217e-03 8.24421431e+01] [-8.20205505e-02 9.96630595e-01 -2.95222215e-04 -1.04549492e+00] [-3.72548338e-03 -1.03810091e-05 9.99993060e-01 -4.34784585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.50, Y:-1.05, Z:-0.44 [[ 9.97021398e-01 7.70359618e-02 3.71377505e-03 8.25039030e+01] [-7.70353962e-02 9.97028315e-01 -2.95311708e-04 -1.04838501e+00] [-3.72548850e-03 8.33995896e-06 9.99993060e-01 -4.36420551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.56, Y:-1.05, Z:-0.44 [[ 9.97280221e-01 7.36095767e-02 3.71372552e-03 8.25637591e+01] [-7.36089851e-02 9.97287135e-01 -2.95933232e-04 -1.05249921e+00] [-3.72543421e-03 2.17647923e-05 9.99993060e-01 -4.35202632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.63, Y:-1.05, Z:-0.43 [[ 9.97515309e-01 7.03520870e-02 3.71372204e-03 8.26256689e+01] [-7.03514726e-02 9.97522222e-01 -2.95977003e-04 -1.05218173e+00] [-3.72534286e-03 3.39757778e-05 9.99993060e-01 -4.32604756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.69, Y:-1.05, Z:-0.43 [[ 9.97537497e-01 7.00367741e-02 3.71371477e-03 8.26867041e+01] [-7.00361572e-02 9.97544410e-01 -2.96068199e-04 -1.05427072e+00] [-3.72533107e-03 3.52448195e-05 9.99993060e-01 -4.32251340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:82.75, Y:-1.06, Z:-0.44 [[ 9.97641469e-01 6.85398206e-02 3.71370748e-03 8.27477842e+01] [-6.85391930e-02 9.97648381e-01 -2.96159540e-04 -1.06116841e+00] [-3.72527298e-03 4.09265251e-05 9.99993060e-01 -4.35479377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.81, Y:-1.07, Z:-0.43 [[ 9.97967364e-01 6.36187707e-02 3.71367886e-03 8.28086258e+01] [-6.36181077e-02 9.97974272e-01 -2.96517968e-04 -1.06865113e+00] [-3.72502007e-03 5.96580337e-05 9.99993060e-01 -4.33367872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.87, Y:-1.07, Z:-0.44 [[ 9.98142587e-01 6.08077651e-02 3.71365297e-03 8.28697287e+01] [-6.08070814e-02 9.98149493e-01 -2.96841851e-04 -1.07432377e+00] [-3.72483112e-03 7.04740941e-05 9.99993060e-01 -4.39302444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08420382199998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:82.93, Y:-1.09, Z:-0.44 [[ 9.98026692e-01 6.26811781e-02 3.71364599e-03 8.29310920e+01] [-6.26805070e-02 9.98033600e-01 -2.96929160e-04 -1.08569874e+00] [-3.72495535e-03 6.35700135e-05 9.99993060e-01 -4.37404248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:-1.10, Z:-0.44 [[ 9.97479019e-01 7.08647716e-02 3.71359674e-03 8.29921446e+01] [-7.08641549e-02 9.97485931e-01 -2.97543833e-04 -1.09537598e+00] [-3.72534588e-03 3.36328360e-05 9.99993060e-01 -4.37215942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-1.09, Z:-0.44 [[ 9.96662217e-01 8.15514178e-02 3.71358977e-03 8.30535551e+01] [-8.15508749e-02 9.96669136e-01 -2.97630809e-04 -1.09253536e+00] [-3.72549252e-03 -6.20911326e-06 9.99993060e-01 -4.39464544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:-1.10, Z:-0.44 [[ 9.96087755e-01 8.82915251e-02 3.71359044e-03 8.31138217e+01] [-8.82910291e-02 9.96094677e-01 -2.97622507e-04 -1.09912415e+00] [-3.72536521e-03 -3.14185867e-05 9.99993060e-01 -4.40254056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:-1.11, Z:-0.44 [[ 9.95546560e-01 9.41979637e-02 3.71359044e-03 8.31735779e+01] [-9.41975088e-02 9.95553485e-01 -2.97622507e-04 -1.10579657e+00] [-3.72511334e-03 -5.35139051e-05 9.99993060e-01 -4.38352032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:-1.10, Z:-0.44 [[ 9.95678278e-01 9.27953402e-02 3.71359044e-03 8.32344990e+01] [-9.27948755e-02 9.95685203e-01 -2.97622507e-04 -1.10092846e+00] [-3.72518503e-03 -4.82658971e-05 9.99993060e-01 -4.35626295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:-1.11, Z:-0.44 [[ 9.96329761e-01 8.55173487e-02 3.71359044e-03 8.32944000e+01] [-8.55168333e-02 9.96336681e-01 -2.97622507e-04 -1.10782666e+00] [-3.72543826e-03 -2.10443336e-05 9.99993060e-01 -4.39606001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-1.12, Z:-0.44 [[ 9.96780030e-01 8.00985648e-02 3.71358680e-03 8.33560471e+01] [-8.00980117e-02 9.96786948e-01 -2.97667899e-04 -1.11816700e+00] [-3.72549762e-03 -7.41501597e-07 9.99993060e-01 -4.37991246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:-1.12, Z:-0.44 [[ 9.97161679e-01 7.51983758e-02 3.71353567e-03 8.34173561e+01] [-7.51977863e-02 9.97168594e-01 -2.98304410e-04 -1.12263706e+00] [-3.72545315e-03 1.82080642e-05 9.99993060e-01 -4.35389188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62420382199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:-1.13, Z:-0.43 [[ 9.97171912e-01 7.50625544e-02 3.71352833e-03 8.34780714e+01] [-7.50619637e-02 9.97178827e-01 -2.98395746e-04 -1.12991652e+00] [-3.72545017e-03 1.88071281e-05 9.99993060e-01 -4.34960509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.54, Y:-1.14, Z:-0.43 [[ 9.96930215e-01 7.82071316e-02 3.71352105e-03 8.35381886e+01] [-7.82065623e-02 9.96937132e-01 -2.98486342e-04 -1.13766796e+00] [-3.72549078e-03 7.14833843e-06 9.99993060e-01 -4.32858770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:-1.14, Z:-0.43 [[ 9.96714139e-01 8.09143649e-02 3.71350698e-03 8.35996215e+01] [-8.09138138e-02 9.96721057e-01 -2.98661322e-04 -1.14245068e+00] [-3.72549659e-03 -2.79404905e-06 9.99993060e-01 -4.34865810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:-1.15, Z:-0.44 [[ 9.96705006e-01 8.10267957e-02 3.71349958e-03 8.36603532e+01] [-8.10262450e-02 9.96711923e-01 -2.98753256e-04 -1.15238550e+00] [-3.72549633e-03 -3.12206091e-06 9.99993060e-01 -4.38404399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.72, Y:-1.16, Z:-0.44 [[ 9.96604150e-01 8.22580034e-02 3.71345177e-03 8.37210872e+01] [-8.22574590e-02 9.96611068e-01 -2.99346347e-04 -1.16321231e+00] [-3.72549077e-03 -7.12929480e-06 9.99993060e-01 -4.35501668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.78, Y:-1.17, Z:-0.44 [[ 9.96534481e-01 8.30977714e-02 3.71342519e-03 8.37825172e+01] [-8.30972316e-02 9.96541399e-01 -2.99675747e-04 -1.17200771e+00] [-3.72548432e-03 -9.93813756e-06 9.99993060e-01 -4.36614842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:-1.18, Z:-0.44 [[ 9.96394794e-01 8.47562737e-02 3.71337520e-03 8.38443026e+01] [-8.47557431e-02 9.96401713e-01 -3.00293920e-04 -1.17886258e+00] [-3.72546520e-03 -1.55185762e-05 9.99993060e-01 -4.36326054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:-1.19, Z:-0.43 [[ 9.95988522e-01 8.94040048e-02 3.71332495e-03 8.39054375e+01] [-8.94035042e-02 9.95995443e-01 -3.00913960e-04 -1.18604184e+00] [-3.72535764e-03 -3.22774123e-05 9.99993060e-01 -4.32553358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:-1.19, Z:-0.44 [[ 9.95584788e-01 9.37930725e-02 3.71331758e-03 8.39658529e+01] [-9.37926021e-02 9.95591712e-01 -3.01004858e-04 -1.18600795e+00] [-3.72518038e-03 -4.86058605e-05 9.99993060e-01 -4.35779968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.03, Y:-1.19, Z:-0.44 [[ 9.95524736e-01 9.44283346e-02 3.71331393e-03 8.40274192e+01] [-9.44278685e-02 9.95531660e-01 -3.01049910e-04 -1.18989696e+00] [-3.72514922e-03 -5.09376869e-05 9.99993060e-01 -4.38875560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.09, Y:-1.20, Z:-0.43 [[ 9.95742982e-01 9.20984514e-02 3.71330681e-03 8.40889601e+01] [-9.20979688e-02 9.95749905e-01 -3.01137719e-04 -1.19505702e+00] [-3.72525922e-03 -4.21322441e-05 9.99993060e-01 -4.32879001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.15, Y:-1.20, Z:-0.44 [[ 9.96140980e-01 8.76889937e-02 3.71326088e-03 8.41499123e+01] [-8.76884783e-02 9.96147901e-01 -3.01702968e-04 -1.19681527e+00] [-3.72541306e-03 -2.50715061e-05 9.99993060e-01 -4.35734629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:-1.20, Z:-0.43 [[ 9.96359596e-01 8.51690568e-02 3.71321515e-03 8.42107368e+01] [-8.51685217e-02 9.96366515e-01 -3.02264825e-04 -1.20155271e+00] [-3.72546684e-03 -1.50845863e-05 9.99993060e-01 -4.30624287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:-1.21, Z:-0.42 [[ 9.96677728e-01 8.13616543e-02 3.71320763e-03 8.42712336e+01] [-8.13610925e-02 9.96684645e-01 -3.02357080e-04 -1.20680758e+00] [-3.72549730e-03 -7.58062321e-07 9.99993060e-01 -4.23865422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.33, Y:-1.21, Z:-0.43 [[ 9.96721690e-01 8.08213156e-02 3.71320018e-03 8.43329403e+01] [-8.08207497e-02 9.96728606e-01 -3.02448646e-04 -1.21041519e+00] [-3.72549713e-03 1.35350356e-06 9.99993060e-01 -4.25012390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.39, Y:-1.21, Z:-0.43 [[ 9.96766942e-01 8.02612926e-02 3.71318902e-03 8.43941674e+01] [-8.02607223e-02 9.96773858e-01 -3.02585524e-04 -1.21327392e+00] [-3.72549565e-03 3.58401461e-06 9.99993060e-01 -4.26903945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.46, Y:-1.22, Z:-0.43 [[ 9.96843439e-01 7.93055457e-02 3.71318158e-03 8.44552378e+01] [-7.93049684e-02 9.96850355e-01 -3.02676760e-04 -1.21849148e+00] [-3.72549033e-03 7.24759401e-06 9.99993060e-01 -4.30379327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:-1.22, Z:-0.43 [[ 9.96970082e-01 7.76972826e-02 3.71313370e-03 8.45172027e+01] [-7.76966920e-02 9.96976997e-01 -3.03263110e-04 -1.22300440e+00] [-3.72547160e-03 1.38460430e-05 9.99993060e-01 -4.27343273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:-1.23, Z:-0.43 [[ 9.97105620e-01 7.59381064e-02 3.71308136e-03 8.45788336e+01] [-7.59375012e-02 9.97112533e-01 -3.03902534e-04 -1.22800910e+00] [-3.72543774e-03 2.10608042e-05 9.99993060e-01 -4.31655008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.64, Y:-1.23, Z:-0.43 [[ 9.97056664e-01 7.65782137e-02 3.71302874e-03 8.46396650e+01] [-7.65776105e-02 9.97063577e-01 -3.04544057e-04 -1.23272274e+00] [-3.72544716e-03 1.93128125e-05 9.99993060e-01 -4.27583161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.70, Y:-1.24, Z:-0.43 [[ 9.96984676e-01 7.75098066e-02 3.71298029e-03 8.46999414e+01] [-7.75092077e-02 9.96991590e-01 -3.05133667e-04 -1.24309713e+00] [-3.72546097e-03 1.64234293e-05 9.99993060e-01 -4.27315982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.76, Y:-1.25, Z:-0.43 [[ 9.96803390e-01 7.98073654e-02 3.71295168e-03 8.47607001e+01] [-7.98067812e-02 9.96810305e-01 -3.05481383e-04 -1.25003545e+00] [-3.72548816e-03 8.18615598e-06 9.99993060e-01 -4.31566605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.82, Y:-1.26, Z:-0.43 [[ 9.96749905e-01 8.04726053e-02 3.71294449e-03 8.48220480e+01] [-8.04720254e-02 9.96756821e-01 -3.05568759e-04 -1.25682211e+00] [-3.72549266e-03 5.78746811e-06 9.99993060e-01 -4.29925440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.88, Y:-1.27, Z:-0.42 [[ 9.96714173e-01 8.09139741e-02 3.71289771e-03 8.48836909e+01] [-8.09133952e-02 9.96721089e-01 -3.06136117e-04 -1.26946261e+00] [-3.72549414e-03 4.70704734e-06 9.99993060e-01 -4.23300933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.94, Y:-1.28, Z:-0.43 [[ 9.96569068e-01 8.26819707e-02 3.71284471e-03 8.49445101e+01] [-8.26814016e-02 9.96575984e-01 -3.06777608e-04 -1.28334490e+00] [-3.72549684e-03 -1.25812919e-06 9.99993060e-01 -4.31420525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.01, Y:-1.30, Z:-0.43 [[ 9.96130065e-01 8.78129208e-02 3.71279201e-03 8.50060215e+01] [-8.78123850e-02 9.96136984e-01 -3.07413992e-04 -1.29656070e+00] [-3.72544436e-03 -1.98048022e-05 9.99993060e-01 -4.27631913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.07, Y:-1.30, Z:-0.43 [[ 9.95825010e-01 9.12072606e-02 3.71273997e-03 8.50674886e+01] [-9.12067460e-02 9.95831931e-01 -3.08041270e-04 -1.30471358e+00] [-3.72536061e-03 -3.18717300e-05 9.99993060e-01 -4.28198465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.13, Y:-1.31, Z:-0.43 [[ 9.95311519e-01 9.66498601e-02 3.71268468e-03 8.51300227e+01] [-9.66493809e-02 9.95318442e-01 -3.08706268e-04 -1.31420558e+00] [-3.72513995e-03 -5.15697710e-05 9.99993060e-01 -4.28220714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.19, Y:-1.32, Z:-0.43 [[ 9.94983039e-01 9.99748416e-02 3.71262639e-03 8.51914809e+01] [-9.99743829e-02 9.94989963e-01 -3.09405709e-04 -1.32335878e+00] [-3.72495878e-03 -6.33140989e-05 9.99993060e-01 -4.30577349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.25, Y:-1.33, Z:-0.43 [[ 9.94792717e-01 1.01851198e-01 3.71257501e-03 8.52538311e+01] [-1.01850750e-01 9.94799642e-01 -3.10020954e-04 -1.32934379e+00] [-3.72484430e-03 -6.97219626e-05 9.99993060e-01 -4.30548735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.31, Y:-1.34, Z:-0.43 [[ 9.95073194e-01 9.90734877e-02 3.71252347e-03 8.53145349e+01] [-9.90730181e-02 9.95080118e-01 -3.10636932e-04 -1.34220144e+00] [-3.72503417e-03 -5.87044210e-05 9.99993060e-01 -4.34130541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.38, Y:-1.35, Z:-0.44 [[ 9.95583396e-01 9.38078860e-02 3.71247599e-03 8.53754015e+01] [-9.38073777e-02 9.95590317e-01 -3.11203287e-04 -1.35103161e+00] [-3.72529847e-03 -3.84288121e-05 9.99993060e-01 -4.38207866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.44, Y:-1.36, Z:-0.43 [[ 9.95958827e-01 8.97342299e-02 3.71242903e-03 8.54374105e+01] [-8.97336912e-02 9.95965746e-01 -3.11762462e-04 -1.35774595e+00] [-3.72542792e-03 -2.26273847e-05 9.99993060e-01 -4.32840778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.50, Y:-1.37, Z:-0.43 [[ 9.96332981e-01 8.54798803e-02 3.71237562e-03 8.54976497e+01] [-8.54793097e-02 9.96339897e-01 -3.12397190e-04 -1.37115802e+00] [-3.72549162e-03 -6.07968230e-06 9.99993060e-01 -4.34756192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.56, Y:-1.38, Z:-0.43 [[ 9.96558769e-01 8.28060331e-02 3.71232624e-03 8.55594082e+01] [-8.28054417e-02 9.96565683e-01 -3.12982869e-04 -1.37822497e+00] [-3.72549381e-03 4.50500838e-06 9.99993060e-01 -4.30841065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.62, Y:-1.39, Z:-0.43 [[ 9.96549857e-01 8.29132218e-02 3.71227306e-03 8.56203557e+01] [-8.29126289e-02 9.96556771e-01 -3.13612391e-04 -1.38569585e+00] [-3.72549347e-03 4.73606446e-06 9.99993060e-01 -4.31222179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.68, Y:-1.40, Z:-0.43 [[ 9.96099370e-01 8.81604458e-02 3.71222411e-03 8.56821233e+01] [-8.81598871e-02 9.96106287e-01 -3.14190714e-04 -1.39573732e+00] [-3.72546897e-03 -1.43040870e-05 9.99993060e-01 -4.29588884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.74, Y:-1.40, Z:-0.43 [[ 9.95292320e-01 9.68473885e-02 3.71217024e-03 8.57433379e+01] [-9.68468878e-02 9.95299242e-01 -3.14825901e-04 -1.40250530e+00] [-3.72521030e-03 -4.61683339e-05 9.99993060e-01 -4.30184259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.80, Y:-1.41, Z:-0.43 [[ 9.94680979e-01 1.02936728e-01 3.71212067e-03 8.58047908e+01] [-1.02936267e-01 9.94687903e-01 -3.15409384e-04 -1.40509247e+00] [-3.72486873e-03 -6.83801309e-05 9.99993060e-01 -4.32384531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:-1.41, Z:-0.43 [[ 9.94188310e-01 1.07591006e-01 3.71207200e-03 8.58655309e+01] [-1.07590576e-01 9.94195236e-01 -3.15981158e-04 -1.41433707e+00] [-3.72452103e-03 -8.52391914e-05 9.99993060e-01 -4.30323731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:-1.42, Z:-0.43 [[ 9.94000729e-01 1.09310433e-01 3.71205741e-03 8.59265746e+01] [-1.09310014e-01 9.94007656e-01 -3.16152409e-04 -1.41606796e+00] [-3.72437224e-03 -9.15093212e-05 9.99993060e-01 -4.32149706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:-1.41, Z:-0.43 [[ 9.93652036e-01 1.12435991e-01 3.71202859e-03 8.59895128e+01] [-1.12435592e-01 9.93658964e-01 -3.16490461e-04 -1.41455143e+00] [-3.72407540e-03 -1.02882742e-04 9.99993060e-01 -4.31647724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14420382199998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.05, Y:-1.41, Z:-0.43 [[ 9.93530269e-01 1.13506939e-01 3.71200916e-03 8.60512498e+01] [-1.13506547e-01 9.93537198e-01 -3.16718227e-04 -1.41499865e+00] [-3.72396889e-03 -1.06668197e-04 9.99993060e-01 -4.33418621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-1.41, Z:-0.43 [[ 9.94607956e-01 1.03639933e-01 3.71197832e-03 8.61124115e+01] [-1.03639471e-01 9.94614880e-01 -3.17079192e-04 -1.41322651e+00] [-3.72485094e-03 -6.93379818e-05 9.99993060e-01 -4.34275533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.17, Y:-1.42, Z:-0.43 [[ 9.95876601e-01 9.06422511e-02 3.71192883e-03 8.61748980e+01] [-9.06416967e-02 9.95883518e-01 -3.17657468e-04 -1.41648341e+00] [-3.72544193e-03 -2.01078877e-05 9.99993060e-01 -4.29115859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.24, Y:-1.43, Z:-0.43 [[ 9.97542804e-01 6.99612469e-02 3.71191352e-03 8.62354945e+01] [-6.99605484e-02 9.97549708e-01 -3.17836263e-04 -1.42687672e+00] [-3.72505448e-03 5.73677707e-05 9.99993060e-01 -4.27384266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:-1.43, Z:-0.43 [[ 9.97901339e-01 6.46462724e-02 3.71186401e-03 8.62973351e+01] [-6.46455350e-02 9.97908239e-01 -3.18413472e-04 -1.43305089e+00] [-3.72468392e-03 7.77897955e-05 9.99993060e-01 -4.28604455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.36, Y:-1.45, Z:-0.43 [[ 9.98479624e-01 5.49969310e-02 3.71181046e-03 8.63589486e+01] [-5.49961246e-02 9.98486517e-01 -3.19036478e-04 -1.44636642e+00] [-3.72373873e-03 1.14416232e-04 9.99993060e-01 -4.31308982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.42, Y:-1.46, Z:-0.43 [[ 9.98496570e-01 5.46884128e-02 3.71175679e-03 8.64206005e+01] [-5.46876020e-02 9.98503462e-01 -3.19659664e-04 -1.45605464e+00] [-3.72368369e-03 1.16192000e-04 9.99993060e-01 -4.30072467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.48, Y:-1.46, Z:-0.44 [[ 9.98159683e-01 6.05266019e-02 3.71170232e-03 8.64803380e+01] [-6.05258291e-02 9.98166580e-01 -3.20290938e-04 -1.46451733e+00] [-3.72428333e-03 9.50476413e-05 9.99993060e-01 -4.37349468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.54, Y:-1.48, Z:-0.43 [[ 9.97337753e-01 7.28260274e-02 3.71169847e-03 8.65417942e+01] [-7.28253395e-02 9.97344658e-01 -3.20335557e-04 -1.47554268e+00] [-3.72517141e-03 4.91770435e-05 9.99993060e-01 -4.33210328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.60, Y:-1.49, Z:-0.43 [[ 9.96217432e-01 8.68161976e-02 3.71164366e-03 8.66033003e+01] [-8.68156043e-02 9.96224346e-01 -3.20969372e-04 -1.48745583e+00] [-3.72549512e-03 -2.47330345e-06 9.99993060e-01 -4.32825668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.66, Y:-1.50, Z:-0.43 [[ 9.95702047e-01 9.25400366e-02 3.71158799e-03 8.66645980e+01] [-9.25394807e-02 9.95708964e-01 -3.21611757e-04 -1.49678536e+00] [-3.72542340e-03 -2.32389409e-05 9.99993060e-01 -4.33068593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.73, Y:-1.50, Z:-0.43 [[ 9.95183165e-01 9.79627079e-02 3.71152929e-03 8.67264362e+01] [-9.79621871e-02 9.95190085e-01 -3.22287756e-04 -1.50243157e+00] [-3.72524934e-03 -4.28541783e-05 9.99993060e-01 -4.34098565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:-1.51, Z:-0.44 [[ 9.94930916e-01 1.00492275e-01 3.71147141e-03 8.67885147e+01] [-1.00491769e-01 9.94937837e-01 -3.22952930e-04 -1.51308522e+00] [-3.72513762e-03 -5.16564733e-05 9.99993060e-01 -4.36153150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:-1.52, Z:-0.44 [[ 9.94888064e-01 1.00915639e-01 3.71140990e-03 8.68503540e+01] [-1.00915134e-01 9.94894985e-01 -3.23658372e-04 -1.52082102e+00] [-3.72512528e-03 -5.25335753e-05 9.99993060e-01 -4.36139539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:-1.53, Z:-0.44 [[ 9.94741126e-01 1.02353887e-01 3.71135650e-03 8.69113239e+01] [-1.02353390e-01 9.94748048e-01 -3.24269455e-04 -1.53323221e+00] [-3.72505488e-03 -5.73057558e-05 9.99993060e-01 -4.37631833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:-1.54, Z:-0.44 [[ 9.94389154e-01 1.05718665e-01 3.71130232e-03 8.69731448e+01] [-1.05718188e-01 9.94396078e-01 -3.24888406e-04 -1.53716513e+00] [-3.72485124e-03 -6.92866491e-05 9.99993060e-01 -4.40767946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:-1.54, Z:-0.44 [[ 9.94126564e-01 1.08160074e-01 3.71124824e-03 8.70342767e+01] [-1.08159613e-01 9.94133488e-01 -3.25505011e-04 -1.53923010e+00] [-3.72468280e-03 -7.78139933e-05 9.99993060e-01 -4.40656109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:-1.54, Z:-0.44 [[ 9.94120749e-01 1.08213509e-01 3.71119859e-03 8.70966960e+01] [-1.08213046e-01 9.94127673e-01 -3.26070159e-04 -1.54359806e+00] [-3.72469041e-03 -7.74469926e-05 9.99993060e-01 -4.36882107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:-1.55, Z:-0.43 [[ 9.94617283e-01 1.03550415e-01 3.71114425e-03 8.71576810e+01] [-1.03549917e-01 9.94624204e-01 -3.26687399e-04 -1.55002524e+00] [-3.72502251e-03 -5.93597455e-05 9.99993060e-01 -4.34821931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:-1.55, Z:-0.44 [[ 9.95431360e-01 9.54077345e-02 3.71111630e-03 8.72194814e+01] [-9.54071783e-02 9.95438277e-01 -3.27004631e-04 -1.55340327e+00] [-3.72538598e-03 -2.85564700e-05 9.99993060e-01 -4.38523895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.28, Y:-1.56, Z:-0.44 [[ 9.96003315e-01 8.92391462e-02 3.71106223e-03 8.72817202e+01] [-8.92385450e-02 9.96010228e-01 -3.27617039e-04 -1.55973412e+00] [-3.72549221e-03 -4.86213679e-06 9.99993060e-01 -4.37810911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.34, Y:-1.56, Z:-0.44 [[ 9.96620056e-01 8.20651700e-02 3.71100790e-03 8.73448847e+01] [-8.20645167e-02 9.96626965e-01 -3.28231284e-04 -1.56311886e+00] [-3.72542690e-03 2.25798110e-05 9.99993060e-01 -4.37282609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.41, Y:-1.57, Z:-0.44 [[ 9.96995862e-01 7.73658878e-02 3.71094569e-03 8.74063700e+01] [-7.73651993e-02 9.97002767e-01 -3.28933167e-04 -1.57115948e+00] [-3.72527133e-03 4.08469528e-05 9.99993060e-01 -4.40503406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.47, Y:-1.58, Z:-0.44 [[ 9.97081055e-01 7.62600791e-02 3.71088931e-03 8.74677452e+01] [-7.62593806e-02 9.97087959e-01 -3.29568036e-04 -1.57849468e+00] [-3.72521593e-03 4.56159250e-05 9.99993060e-01 -4.39048322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:-1.58, Z:-0.44 [[ 9.97076340e-01 7.63217060e-02 3.71083276e-03 8.75290858e+01] [-7.63210056e-02 9.97083244e-01 -3.30203489e-04 -1.58328823e+00] [-3.72521086e-03 4.60235985e-05 9.99993060e-01 -4.38962514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:-1.59, Z:-0.44 [[ 9.96899757e-01 7.85945628e-02 3.71080493e-03 8.75903916e+01] [-7.85938769e-02 9.96906662e-01 -3.30516003e-04 -1.59105160e+00] [-3.72530292e-03 3.78447777e-05 9.99993060e-01 -4.43375521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.65, Y:-1.60, Z:-0.44 [[ 9.96609447e-01 8.21939150e-02 3.71078793e-03 8.76527408e+01] [-8.21932533e-02 9.96616355e-01 -3.30706744e-04 -1.59794156e+00] [-3.72541402e-03 2.45837327e-05 9.99993060e-01 -4.44755436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.72, Y:-1.61, Z:-0.44 [[ 9.95994989e-01 8.93320302e-02 3.71072558e-03 8.77156430e+01] [-8.93314155e-02 9.96001902e-01 -3.31404802e-04 -1.60501688e+00] [-3.72549480e-03 -1.40684730e-06 9.99993060e-01 -4.42335705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.78, Y:-1.61, Z:-0.44 [[ 9.95727735e-01 9.22632535e-02 3.71066214e-03 8.77778093e+01] [-9.22626565e-02 9.95734649e-01 -3.32113672e-04 -1.60945026e+00] [-3.72547675e-03 -1.16607513e-05 9.99993060e-01 -4.41382072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.84, Y:-1.62, Z:-0.44 [[ 9.96109015e-01 8.80514715e-02 3.71060697e-03 8.78379581e+01] [-8.80508429e-02 9.96115926e-01 -3.32728963e-04 -1.62071251e+00] [-3.72549197e-03 4.71224798e-06 9.99993060e-01 -4.42174170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.90, Y:-1.64, Z:-0.44 [[ 9.96882996e-01 7.88068753e-02 3.71055627e-03 8.78992527e+01] [-7.88061805e-02 9.96889901e-01 -3.33293351e-04 -1.63750975e+00] [-3.72528188e-03 3.98397065e-05 9.99993060e-01 -4.38964566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:-1.65, Z:-0.44 [[ 9.97016186e-01 7.71035519e-02 3.71054090e-03 8.79600755e+01] [-7.71028447e-02 9.97023089e-01 -3.33464427e-04 -1.65268053e+00] [-3.72520624e-03 4.63761726e-05 9.99993060e-01 -4.35270893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.02, Y:-1.67, Z:-0.44 [[ 9.96814108e-01 7.96734932e-02 3.71048587e-03 8.80216850e+01] [-7.96728015e-02 9.96821014e-01 -3.34075640e-04 -1.66711715e+00] [-3.72530725e-03 3.73865068e-05 9.99993060e-01 -4.35927132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:-1.68, Z:-0.44 [[ 9.96197767e-01 8.70416068e-02 3.71046503e-03 8.80818823e+01] [-8.70409654e-02 9.96204677e-01 -3.34306930e-04 -1.68373204e+00] [-3.72548123e-03 1.00733594e-05 9.99993060e-01 -4.43416719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:-1.69, Z:-0.44 [[ 9.95182956e-01 9.79648722e-02 3.71041155e-03 8.81436547e+01] [-9.79643044e-02 9.95189873e-01 -3.34899363e-04 -1.69415093e+00] [-3.72537238e-03 -3.02017484e-05 9.99993060e-01 -4.43657281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:-1.70, Z:-0.44 [[ 9.94506852e-01 1.04605706e-01 3.71035520e-03 8.82045191e+01] [-1.04605182e-01 9.94513772e-01 -3.35522601e-04 -1.70408395e+00] [-3.72509692e-03 -5.44428550e-05 9.99993060e-01 -4.41218197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.27, Y:-1.71, Z:-0.44 [[ 9.93977215e-01 1.09524109e-01 3.71030360e-03 8.82665630e+01] [-1.09523618e-01 9.93984137e-01 -3.36092200e-04 -1.71231289e+00] [-3.72479312e-03 -7.22978836e-05 9.99993060e-01 -4.38013286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:-1.72, Z:-0.44 [[ 9.93606402e-01 1.12838606e-01 3.71024814e-03 8.83288285e+01] [-1.12838135e-01 9.93613326e-01 -3.36703282e-04 -1.72034364e+00] [-3.72454513e-03 -8.41069440e-05 9.99993060e-01 -4.36897637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-1.73, Z:-0.44 [[ 9.93784435e-01 1.11259747e-01 3.71018376e-03 8.83900536e+01] [-1.11259263e-01 9.93791358e-01 -3.37411297e-04 -1.72695568e+00] [-3.72468885e-03 -7.74782136e-05 9.99993060e-01 -4.41572084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:-1.74, Z:-0.43 [[ 9.94494850e-01 1.04719758e-01 3.71013196e-03 8.84505172e+01] [-1.04719226e-01 9.94501769e-01 -3.37979844e-04 -1.74230607e+00] [-3.72512597e-03 -5.24029340e-05 9.99993060e-01 -4.34861474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.51, Y:-1.75, Z:-0.44 [[ 9.95087848e-01 9.89262905e-02 3.71007868e-03 8.85119065e+01] [-9.89257158e-02 9.95094763e-01 -3.38563712e-04 -1.74680793e+00] [-3.72537272e-03 -3.01215533e-05 9.99993060e-01 -4.37014099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.57, Y:-1.76, Z:-0.44 [[ 9.95351982e-01 9.62323681e-02 3.71001765e-03 8.85739411e+01] [-9.62317721e-02 9.95358896e-01 -3.39231170e-04 -1.75523749e+00] [-3.72544409e-03 -1.93671561e-05 9.99993060e-01 -4.38590397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:-1.77, Z:-0.44 [[ 9.95363516e-01 9.61129901e-02 3.70995334e-03 8.86350588e+01] [-9.61123907e-02 9.95370430e-01 -3.39933033e-04 -1.76847581e+00] [-3.72544983e-03 -1.82155461e-05 9.99993060e-01 -4.35677032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:-1.78, Z:-0.44 [[ 9.95367116e-01 9.60757088e-02 3.70989634e-03 8.86964020e+01] [-9.60751069e-02 9.95374029e-01 -3.40554011e-04 -1.77677989e+00] [-3.72545343e-03 -1.74524235e-05 9.99993060e-01 -4.35716322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:-1.78, Z:-0.44 [[ 9.95586645e-01 9.37734968e-02 3.70983563e-03 8.87584217e+01] [-9.37728763e-02 9.95593557e-01 -3.41214072e-04 -1.78126902e+00] [-3.72548529e-03 -8.17378445e-06 9.99993060e-01 -4.38795274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.82, Y:-1.79, Z:-0.44 [[ 9.95942096e-01 8.99198505e-02 3.70977866e-03 8.88202359e+01] [-8.99192011e-02 9.95949005e-01 -3.41832394e-04 -1.79147694e+00] [-3.72548788e-03 6.86493761e-06 9.99993060e-01 -4.38571776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.88, Y:-1.81, Z:-0.44 [[ 9.96133924e-01 8.77692591e-02 3.70972106e-03 8.88814183e+01] [-8.77685923e-02 9.96140832e-01 -3.42456286e-04 -1.80711873e+00] [-3.72546176e-03 1.55353286e-05 9.99993060e-01 -4.37789541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:-1.82, Z:-0.44 [[ 9.96103852e-01 8.81098983e-02 3.70968010e-03 8.89424846e+01] [-8.81092323e-02 9.96110760e-01 -3.42899442e-04 -1.81662904e+00] [-3.72546510e-03 1.47063897e-05 9.99993060e-01 -4.36071645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.00, Y:-1.83, Z:-0.44 [[ 9.95755232e-01 9.19660600e-02 3.70962752e-03 8.90033090e+01] [-9.19654186e-02 9.95762142e-01 -3.43467321e-04 -1.82588912e+00] [-3.72549398e-03 8.51934426e-07 9.99993060e-01 -4.38746441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.06, Y:-1.84, Z:-0.44 [[ 9.95435795e-01 9.53615014e-02 3.70959551e-03 8.90648527e+01] [-9.53608823e-02 9.95442708e-01 -3.43812712e-04 -1.84096267e+00] [-3.72547629e-03 -1.15068208e-05 9.99993060e-01 -4.42253995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.13, Y:-1.85, Z:-0.44 [[ 9.95051661e-01 9.92896334e-02 3.70957487e-03 8.91269805e+01] [-9.92890408e-02 9.95058575e-01 -3.44035241e-04 -1.84790757e+00] [-3.72540342e-03 -2.59872932e-05 9.99993060e-01 -4.42659712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.19, Y:-1.86, Z:-0.44 [[ 9.94778539e-01 1.01989697e-01 3.70951763e-03 8.91888612e+01] [-1.01989121e-01 9.94785454e-01 -3.44651277e-04 -1.85522823e+00] [-3.72532507e-03 -3.54787487e-05 9.99993060e-01 -4.40590021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:-1.86, Z:-0.44 [[ 9.94508554e-01 1.04589564e-01 3.70945918e-03 8.92507897e+01] [-1.04589004e-01 9.94515471e-01 -3.45279256e-04 -1.86171729e+00] [-3.72522715e-03 -4.45854664e-05 9.99993060e-01 -4.42333198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:-1.87, Z:-0.44 [[ 9.94767696e-01 1.02095403e-01 3.70939965e-03 8.93108209e+01] [-1.02094822e-01 9.94774611e-01 -3.45917644e-04 -1.87262716e+00] [-3.72533320e-03 -3.46028007e-05 9.99993060e-01 -4.40475078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:-1.88, Z:-0.44 [[ 9.95096236e-01 9.88419039e-02 3.70939121e-03 8.93730671e+01] [-9.88413008e-02 9.95103149e-01 -3.46008176e-04 -1.87768470e+00] [-3.72542698e-03 -2.23296182e-05 9.99993060e-01 -4.36067929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.43, Y:-1.89, Z:-0.44 [[ 9.95802638e-01 9.14513343e-02 3.70933442e-03 8.94345808e+01] [-9.14506776e-02 9.95809547e-01 -3.46615831e-04 -1.88540032e+00] [-3.72548911e-03 5.93981246e-06 9.99993060e-01 -4.40641006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50420382199998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-1.90, Z:-0.44 [[ 9.96248612e-01 8.64577640e-02 3.70927676e-03 8.94951231e+01] [-8.64570704e-02 9.96255517e-01 -3.47231828e-04 -1.90073447e+00] [-3.72540832e-03 2.52360244e-05 9.99993060e-01 -4.37779556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-1.92, Z:-0.44 [[ 9.96474566e-01 8.38133651e-02 3.70921670e-03 8.95557043e+01] [-8.38126507e-02 9.96481469e-01 -3.47872188e-04 -1.92019011e+00] [-3.72532205e-03 3.57665042e-05 9.99993060e-01 -4.40075181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-1.93, Z:-0.45 [[ 9.96063939e-01 8.85599887e-02 3.70915626e-03 8.96168326e+01] [-8.85593048e-02 9.96070845e-01 -3.48515469e-04 -1.92792012e+00] [-3.72544693e-03 1.86633905e-05 9.99993060e-01 -4.48733668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.68, Y:-1.94, Z:-0.45 [[ 9.95161298e-01 9.81846959e-02 3.70909640e-03 8.96775996e+01] [-9.81840765e-02 9.95168210e-01 -3.49151317e-04 -1.94463484e+00] [-3.72545614e-03 -1.67123275e-05 9.99993060e-01 -4.47465673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:-1.96, Z:-0.45 [[ 9.93754200e-01 1.11529513e-01 3.70903907e-03 8.97385667e+01] [-1.11528984e-01 9.93761120e-01 -3.49759287e-04 -1.95615812e+00] [-3.72490731e-03 -6.60906002e-05 9.99993060e-01 -4.45785385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:-1.96, Z:-0.45 [[ 9.92573143e-01 1.21592764e-01 3.70897974e-03 8.98003247e+01] [-1.21592302e-01 9.92580067e-01 -3.50387379e-04 -1.96018373e+00] [-3.72406393e-03 -1.03198284e-04 9.99993060e-01 -4.46219719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:-1.96, Z:-0.45 [[ 9.90857767e-01 1.34859665e-01 3.70892132e-03 8.98617964e+01] [-1.34859294e-01 9.90864697e-01 -3.51004624e-04 -1.95694295e+00] [-3.72237557e-03 -1.52386852e-04 9.99993060e-01 -4.45305770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.92, Y:-1.96, Z:-0.44 [[ 9.90119452e-01 1.40177442e-01 3.70886774e-03 8.99241070e+01] [-1.40177106e-01 9.90126384e-01 -3.51569844e-04 -1.95960924e+00] [-3.72152997e-03 -1.71802206e-04 9.99993060e-01 -4.40501141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:-1.96, Z:-0.44 [[ 9.89918001e-01 1.41593065e-01 3.70881067e-03 8.99866549e+01] [-1.41592737e-01 9.89924933e-01 -3.52170876e-04 -1.95512262e+00] [-3.72130911e-03 -1.76520364e-04 9.99993060e-01 -4.44070672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.05, Y:-1.95, Z:-0.44 [[ 9.90639886e-01 1.36450948e-01 3.70875323e-03 9.00502842e+01] [-1.36450582e-01 9.90646816e-01 -3.52774746e-04 -1.94929923e+00] [-3.72220103e-03 -1.56588804e-04 9.99993060e-01 -4.44453573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.11, Y:-1.94, Z:-0.45 [[ 9.91888179e-01 1.27059381e-01 3.70868735e-03 9.01132344e+01] [-1.27058947e-01 9.91895105e-01 -3.53465984e-04 -1.94043206e+00] [-3.72354000e-03 -1.20623177e-04 9.99993060e-01 -4.47127555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.18, Y:-1.94, Z:-0.45 [[ 9.92414315e-01 1.22882357e-01 3.70862961e-03 9.01754672e+01] [-1.22881891e-01 9.92421239e-01 -3.54070820e-04 -1.94193460e+00] [-3.72403185e-03 -1.04338470e-04 9.99993060e-01 -4.48489943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:-1.94, Z:-0.45 [[ 9.93537831e-01 1.13440844e-01 3.70857087e-03 9.02367223e+01] [-1.13440310e-01 9.93544750e-01 -3.54685029e-04 -1.94116194e+00] [-3.72486688e-03 -6.83084357e-05 9.99993060e-01 -4.53871217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:-1.93, Z:-0.45 [[ 9.95299407e-01 9.67746715e-02 3.70851664e-03 9.02985593e+01] [-9.67740196e-02 9.95306316e-01 -3.55251131e-04 -1.93409044e+00] [-3.72548934e-03 -5.30682150e-06 9.99993060e-01 -4.52219532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:-1.93, Z:-0.45 [[ 9.96995935e-01 7.73650624e-02 3.70845993e-03 9.03612878e+01] [-7.73642738e-02 9.97002830e-01 -3.55842090e-04 -1.93354942e+00] [-3.72487479e-03 6.78708078e-05 9.99993060e-01 -4.47013405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:-1.93, Z:-0.44 [[ 9.98181170e-01 6.01714115e-02 3.70840292e-03 9.04250040e+01] [-6.01705020e-02 9.98188050e-01 -3.56435275e-04 -1.93291133e+00] [-3.72313069e-03 1.32650514e-04 9.99993060e-01 -4.44412938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.49, Y:-1.94, Z:-0.45 [[ 9.98704946e-01 5.07412928e-02 3.70833321e-03 9.04854698e+01] [-5.07403157e-02 9.98711817e-01 -3.57159078e-04 -1.94010970e+00] [-3.72167891e-03 1.68534540e-04 9.99993060e-01 -4.49233149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.55, Y:-1.95, Z:-0.45 [[ 9.98918118e-01 4.63556068e-02 3.70827714e-03 9.05476629e+01] [-4.63545974e-02 9.98924984e-01 -3.57740263e-04 -1.94690866e+00] [-3.72087395e-03 1.85457537e-04 9.99993060e-01 -4.49545671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.61, Y:-1.95, Z:-0.45 [[ 9.98752862e-01 4.97892518e-02 3.70821701e-03 9.06094989e+01] [-4.97882637e-02 9.98759731e-01 -3.58362477e-04 -1.95266364e+00] [-3.72146042e-03 1.73289863e-04 9.99993060e-01 -4.46647741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.67, Y:-1.96, Z:-0.45 [[ 9.98179547e-01 6.01983575e-02 3.70815342e-03 9.06705575e+01] [-6.01974386e-02 9.98186425e-01 -3.59019258e-04 -1.95631040e+00] [-3.72304078e-03 1.35144342e-04 9.99993060e-01 -4.53725866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.73, Y:-1.96, Z:-0.45 [[ 9.97317215e-01 7.31069230e-02 3.70811726e-03 9.07329053e+01] [-7.31060918e-02 9.97324105e-01 -3.59392319e-04 -1.96054112e+00] [-3.72446880e-03 8.73421855e-05 9.99993060e-01 -4.51598603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.79, Y:-1.97, Z:-0.46 [[ 9.96856934e-01 7.91359804e-02 3.70805419e-03 9.07935547e+01] [-7.91351884e-02 9.96863828e-01 -3.60041864e-04 -1.97097715e+00] [-3.72491736e-03 6.54726615e-05 9.99993060e-01 -4.58252112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.85, Y:-1.98, Z:-0.46 [[ 9.96353633e-01 8.52390057e-02 3.70799615e-03 9.08548417e+01] [-8.52382538e-02 9.96360532e-01 -3.60638652e-04 -1.98004564e+00] [-3.72524150e-03 4.32605144e-05 9.99993060e-01 -4.62962447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.92, Y:-1.99, Z:-0.46 [[ 9.95960493e-01 8.97159258e-02 3.70798320e-03 9.09165278e+01] [-8.97152044e-02 9.95967395e-01 -3.60771770e-04 -1.98886770e+00] [-3.72539734e-03 2.66519601e-05 9.99993060e-01 -4.56607480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:-2.00, Z:-0.46 [[ 9.95263401e-01 9.71442972e-02 3.70792057e-03 9.09765098e+01] [-9.71436249e-02 9.95270308e-01 -3.61414329e-04 -1.99994186e+00] [-3.72549258e-03 -4.98390723e-07 9.99993060e-01 -4.55402337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:-2.01, Z:-0.45 [[ 9.94462761e-01 1.05024139e-01 3.70786308e-03 9.10366333e+01] [-1.05023519e-01 9.94469672e-01 -3.62003126e-04 -2.01026875e+00] [-3.72537645e-03 -2.94142007e-05 9.99993060e-01 -4.47566687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:-2.02, Z:-0.45 [[ 9.94016507e-01 1.09167004e-01 3.70785035e-03 9.10973526e+01] [-1.09166413e-01 9.94023422e-01 -3.62133523e-04 -2.01788773e+00] [-3.72522312e-03 -4.48060210e-05 9.99993060e-01 -4.46940652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:-2.03, Z:-0.45 [[ 9.93903984e-01 1.10186766e-01 3.70779497e-03 9.11592111e+01] [-1.10186180e-01 9.93910899e-01 -3.62699593e-04 -2.02682782e+00] [-3.72518253e-03 -4.80591936e-05 9.99993060e-01 -4.47348197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:-2.03, Z:-0.45 [[ 9.93936949e-01 1.09889009e-01 3.70773417e-03 9.12209166e+01] [-1.09888418e-01 9.93943863e-01 -3.63320115e-04 -2.03171403e+00] [-3.72520451e-03 -4.63197542e-05 9.99993060e-01 -4.54027288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:-2.04, Z:-0.45 [[ 9.93990632e-01 1.09402366e-01 3.70767343e-03 9.12810843e+01] [-1.09401769e-01 9.93997546e-01 -3.63938916e-04 -2.04037429e+00] [-3.72523406e-03 -4.38741595e-05 9.99993060e-01 -4.54770606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:-2.05, Z:-0.45 [[ 9.94184404e-01 1.07627245e-01 3.70766480e-03 9.13425560e+01] [-1.07626636e-01 9.94191317e-01 -3.64026784e-04 -2.04683047e+00] [-3.72530735e-03 -3.71337387e-05 9.99993060e-01 -4.47655148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.40, Y:-2.05, Z:-0.46 [[ 9.94776385e-01 1.02010768e-01 3.70760414e-03 9.14040320e+01] [-1.02010118e-01 9.94783294e-01 -3.64643528e-04 -2.05152473e+00] [-3.72546023e-03 -1.54743641e-05 9.99993060e-01 -4.55578842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.47, Y:-2.06, Z:-0.45 [[ 9.95584174e-01 9.37998214e-02 3.70754384e-03 9.14656471e+01] [-9.37991116e-02 9.95591077e-01 -3.65255633e-04 -2.05857906e+00] [-3.72545848e-03 1.58784091e-05 9.99993060e-01 -4.53887793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.53, Y:-2.07, Z:-0.45 [[ 9.96060236e-01 8.86016948e-02 3.70748185e-03 9.15255172e+01] [-8.86009466e-02 9.96067135e-01 -3.65883761e-04 -2.06935524e+00] [-3.72531875e-03 3.59558634e-05 9.99993060e-01 -4.54120154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:-2.08, Z:-0.46 [[ 9.96455282e-01 8.40424109e-02 3.70743321e-03 9.15866634e+01] [-8.40416293e-02 9.96462177e-01 -3.66375942e-04 -2.07860135e+00] [-3.72510809e-03 5.34985149e-05 9.99993060e-01 -4.59622146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:-2.09, Z:-0.46 [[ 9.96479839e-01 8.37507389e-02 3.70742010e-03 9.16479640e+01] [-8.37499548e-02 9.96486734e-01 -3.66508556e-04 -2.08710296e+00] [-3.72509031e-03 5.47221203e-05 9.99993060e-01 -4.61551687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.71, Y:-2.09, Z:-0.46 [[ 9.95910304e-01 9.02713778e-02 3.70735760e-03 9.17084302e+01] [-9.02706365e-02 9.95917204e-01 -3.67139677e-04 -2.09318652e+00] [-3.72536342e-03 3.09726563e-05 9.99993060e-01 -4.61014824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.77, Y:-2.10, Z:-0.46 [[ 9.94670199e-01 1.03041014e-01 3.70734878e-03 9.17711975e+01] [-1.03040361e-01 9.94677108e-01 -3.67228772e-04 -2.09930290e+00] [-3.72545459e-03 -1.67350405e-05 9.99993060e-01 -4.55470942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:-2.10, Z:-0.45 [[ 9.93699250e-01 1.12018108e-01 3.70727787e-03 9.18334345e+01] [-1.12017515e-01 9.93706164e-01 -3.67943275e-04 -2.10281814e+00] [-3.72516118e-03 -4.96550981e-05 9.99993060e-01 -4.51822792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.89, Y:-2.10, Z:-0.45 [[ 9.92952187e-01 1.18457631e-01 3.70721389e-03 9.18948413e+01] [-1.18457080e-01 9.92959105e-01 -3.68586726e-04 -2.10108799e+00] [-3.72477370e-03 -7.31567358e-05 9.99993060e-01 -4.53982945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:-2.11, Z:-0.45 [[ 9.93133614e-01 1.16926820e-01 3.70715541e-03 9.19552521e+01] [-1.16926256e-01 9.93140531e-01 -3.69173936e-04 -2.10613455e+00] [-3.72489263e-03 -6.68247587e-05 9.99993060e-01 -4.54802214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.02, Y:-2.11, Z:-0.45 [[ 9.93756733e-01 1.11507011e-01 3.70710786e-03 9.20159366e+01] [-1.11506408e-01 9.93763646e-01 -3.69650823e-04 -2.11449063e+00] [-3.72520768e-03 -4.60232866e-05 9.99993060e-01 -4.53033810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.08, Y:-2.12, Z:-0.46 [[ 9.94695629e-01 1.02795251e-01 3.70705330e-03 9.20773893e+01] [-1.02794585e-01 9.94702537e-01 -3.70197173e-04 -2.11863834e+00] [-3.72546983e-03 -1.28314969e-05 9.99993060e-01 -4.55945001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08420382199998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:92.14, Y:-2.12, Z:-0.46 [[ 9.94966547e-01 1.00139045e-01 3.70704446e-03 9.21396173e+01] [-1.00138360e-01 9.94973453e-01 -3.70285696e-04 -2.12360321e+00] [-3.72549088e-03 -2.79547299e-06 9.99993060e-01 -4.59637685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:-2.13, Z:-0.45 [[ 9.95589150e-01 9.37470097e-02 3.70698231e-03 9.22004760e+01] [-9.37462785e-02 9.95596051e-01 -3.70906847e-04 -2.13402409e+00] [-3.72542836e-03 2.17550374e-05 9.99993060e-01 -4.52653931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.26, Y:-2.14, Z:-0.45 [[ 9.95843964e-01 9.10003179e-02 3.70692124e-03 9.22612936e+01] [-9.09995654e-02 9.95850863e-01 -3.71516141e-04 -2.14153902e+00] [-3.72534881e-03 3.26438843e-05 9.99993060e-01 -4.53879973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:-2.15, Z:-0.46 [[ 9.96150078e-01 8.75858499e-02 3.70686052e-03 9.23228799e+01] [-8.75850715e-02 9.96156974e-01 -3.72121063e-04 -2.14788135e+00] [-3.72520750e-03 4.60227821e-05 9.99993060e-01 -4.55150226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:-2.16, Z:-0.45 [[ 9.96298365e-01 8.58826355e-02 3.70679503e-03 9.23846094e+01] [-8.58818429e-02 9.96305260e-01 -3.72772255e-04 -2.15917565e+00] [-3.72511405e-03 5.30459996e-05 9.99993060e-01 -4.50383842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:-2.17, Z:-0.46 [[ 9.96235272e-01 8.66114481e-02 3.70672911e-03 9.24445272e+01] [-8.66106581e-02 9.96242167e-01 -3.73426572e-04 -2.16576976e+00] [-3.72514286e-03 5.09784743e-05 9.99993060e-01 -4.60836041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.51, Y:-2.17, Z:-0.46 [[ 9.95976744e-01 8.95353878e-02 3.70672442e-03 9.25056259e+01] [-8.95346179e-02 9.95983641e-01 -3.73473185e-04 -2.17131589e+00] [-3.72527595e-03 4.00904524e-05 9.99993060e-01 -4.60822683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.57, Y:-2.18, Z:-0.46 [[ 9.95637759e-01 9.32293616e-02 3.70666598e-03 9.25669341e+01] [-9.32286151e-02 9.95644658e-01 -3.74052232e-04 -2.18393572e+00] [-3.72539484e-03 2.68531900e-05 9.99993060e-01 -4.56296735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.63, Y:-2.20, Z:-0.45 [[ 9.95694209e-01 9.26245329e-02 3.70660261e-03 9.26291579e+01] [-9.26237799e-02 9.95701107e-01 -3.74679148e-04 -2.19533466e+00] [-3.72537281e-03 2.97463133e-05 9.99993060e-01 -4.54590296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:-2.20, Z:-0.46 [[ 9.95882250e-01 9.05803828e-02 3.70652798e-03 9.26903324e+01] [-9.05796129e-02 9.95889147e-01 -3.75416008e-04 -2.20209906e+00] [-3.72529631e-03 3.81342695e-05 9.99993060e-01 -4.60246813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:-2.22, Z:-0.46 [[ 9.95861915e-01 9.08036816e-02 3.70646332e-03 9.27497172e+01] [-9.08029109e-02 9.95868812e-01 -3.76053293e-04 -2.22026793e+00] [-3.72529825e-03 3.79394939e-05 9.99993060e-01 -4.57761316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:-2.23, Z:-0.45 [[ 9.95172021e-01 9.80760526e-02 3.70640472e-03 9.28112978e+01] [-9.80753301e-02 9.95178922e-01 -3.76630018e-04 -2.23155704e+00] [-3.72547424e-03 1.13047894e-05 9.99993060e-01 -4.51125342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.87, Y:-2.24, Z:-0.45 [[ 9.94511638e-01 1.04560342e-01 3.70633818e-03 9.28722173e+01] [-1.04559662e-01 9.94518544e-01 -3.77283636e-04 -2.23711393e+00] [-3.72547096e-03 -1.23205000e-05 9.99993060e-01 -4.53873740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.93, Y:-2.25, Z:-0.46 [[ 9.93903765e-01 1.10188790e-01 3.70630467e-03 9.29327810e+01] [-1.10188148e-01 9.93910675e-01 -3.77612548e-04 -2.24911053e+00] [-3.72534445e-03 -3.30803147e-05 9.99993060e-01 -4.56196916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.99, Y:-2.26, Z:-0.45 [[ 9.93850591e-01 1.10667371e-01 3.70624909e-03 9.29945370e+01] [-1.10666731e-01 9.93857501e-01 -3.78157290e-04 -2.26107246e+00] [-3.72533313e-03 -3.43266239e-05 9.99993060e-01 -4.54421624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:-2.27, Z:-0.45 [[ 9.93977678e-01 1.09520045e-01 3.70622607e-03 9.30557894e+01] [-1.09519395e-01 9.93984587e-01 -3.78382798e-04 -2.26998166e+00] [-3.72537209e-03 -2.97995832e-05 9.99993060e-01 -4.53355617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:-2.28, Z:-0.46 [[ 9.94222625e-01 1.07273654e-01 3.70616206e-03 9.31163049e+01] [-1.07272987e-01 9.94229532e-01 -3.79008678e-04 -2.27595573e+00] [-3.72543342e-03 -2.07520710e-05 9.99993060e-01 -4.59283809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-2.29, Z:-0.45 [[ 9.94454710e-01 1.05100407e-01 3.70610330e-03 9.31771690e+01] [-1.05099722e-01 9.94461615e-01 -3.79582371e-04 -2.29085855e+00] [-3.72547174e-03 -1.20329505e-05 9.99993060e-01 -4.51494553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:-2.30, Z:-0.45 [[ 9.94494810e-01 1.04720287e-01 3.70604011e-03 9.32388034e+01] [-1.04719598e-01 9.94501715e-01 -3.80198388e-04 -2.29881123e+00] [-3.72547773e-03 -9.98970453e-06 9.99993060e-01 -4.49497278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:-2.30, Z:-0.45 [[ 9.94232303e-01 1.07183922e-01 3.70597524e-03 9.32993915e+01] [-1.07183247e-01 9.94239210e-01 -3.80829666e-04 -2.30271257e+00] [-3.72544471e-03 -1.85853043e-05 9.99993060e-01 -4.50347648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.36, Y:-2.31, Z:-0.45 [[ 9.93790150e-01 1.11208833e-01 3.70592458e-03 9.33609718e+01] [-1.11208184e-01 9.93797059e-01 -3.81321995e-04 -2.30776267e+00] [-3.72534332e-03 -3.31750998e-05 9.99993060e-01 -4.52205472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:-2.31, Z:-0.46 [[ 9.93467621e-01 1.14054168e-01 3.70586187e-03 9.34220678e+01] [-1.14053536e-01 9.93474532e-01 -3.81930442e-04 -2.31433870e+00] [-3.72524014e-03 -4.32311247e-05 9.99993060e-01 -4.57423924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.48, Y:-2.32, Z:-0.45 [[ 9.93847529e-01 1.10694875e-01 3.70585276e-03 9.34839496e+01] [-1.10694220e-01 9.93854438e-01 -3.82018831e-04 -2.31856747e+00] [-3.72536574e-03 -3.05480095e-05 9.99993060e-01 -4.53246435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.54, Y:-2.33, Z:-0.46 [[ 9.94460229e-01 1.05048174e-01 3.70583399e-03 9.35446966e+01] [-1.05047479e-01 9.94467134e-01 -3.82200849e-04 -2.32919765e+00] [-3.72547961e-03 -9.20497572e-06 9.99993060e-01 -4.57946606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:-2.34, Z:-0.45 [[ 9.94949499e-01 1.00308334e-01 3.70577349e-03 9.36046024e+01] [-1.00307604e-01 9.94956400e-01 -3.82786497e-04 -2.33938727e+00] [-3.72547973e-03 9.13597111e-06 9.99993060e-01 -4.54575985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58420382199998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:93.67, Y:-2.35, Z:-0.46 [[ 9.95667142e-01 9.29150660e-02 3.70574181e-03 9.36661369e+01] [-9.29142836e-02 9.95674038e-01 -3.83092925e-04 -2.35166665e+00] [-3.72530602e-03 3.71166920e-05 9.99993060e-01 -4.56593608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.73, Y:-2.37, Z:-0.46 [[ 9.96015745e-01 8.91005226e-02 3.70567887e-03 9.37278025e+01] [-8.90997116e-02 9.96022637e-01 -3.83700797e-04 -2.36617557e+00] [-3.72512799e-03 5.19971171e-05 9.99993060e-01 -4.58047796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.79, Y:-2.38, Z:-0.45 [[ 9.96081923e-01 8.83576359e-02 3.70560608e-03 9.37881266e+01] [-8.83568172e-02 9.96088814e-01 -3.84402472e-04 -2.38240283e+00] [-3.72507766e-03 5.54807943e-05 9.99993060e-01 -4.54895212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.85, Y:-2.40, Z:-0.45 [[ 9.95654586e-01 9.30495269e-02 3.70557085e-03 9.38487071e+01] [-9.30487393e-02 9.95661481e-01 -3.84741782e-04 -2.39986531e+00] [-3.72529420e-03 3.82712236e-05 9.99993060e-01 -4.51023115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.91, Y:-2.41, Z:-0.45 [[ 9.95195217e-01 9.78404279e-02 3.70550507e-03 9.39099837e+01] [-9.78396712e-02 9.95202115e-01 -3.85374351e-04 -2.41392745e+00] [-3.72543167e-03 2.09773137e-05 9.99993060e-01 -4.52721834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.97, Y:-2.43, Z:-0.46 [[ 9.94527684e-01 1.04407637e-01 3.70543542e-03 9.39708255e+01] [-1.04406924e-01 9.94534587e-01 -3.86042822e-04 -2.43207228e+00] [-3.72548951e-03 -2.94283934e-06 9.99993060e-01 -4.57743617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:-2.45, Z:-0.46 [[ 9.94077909e-01 1.08606547e-01 3.70537145e-03 9.40314845e+01] [-1.08605860e-01 9.94084814e-01 -3.86655856e-04 -2.45346566e+00] [-3.72544685e-03 -1.80590089e-05 9.99993060e-01 -4.60901162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.09, Y:-2.46, Z:-0.46 [[ 9.93897464e-01 1.10245641e-01 3.70534858e-03 9.40935299e+01] [-1.10244965e-01 9.93904371e-01 -3.86874933e-04 -2.46316252e+00] [-3.72541342e-03 -2.39820090e-05 9.99993060e-01 -4.58767553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.15, Y:-2.47, Z:-0.46 [[ 9.92979865e-01 1.18225458e-01 3.70527346e-03 9.41538761e+01] [-1.18224835e-01 9.92986776e-01 -3.87593015e-04 -2.47483732e+00] [-3.72511091e-03 -5.31832830e-05 9.99993060e-01 -4.62293338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:-2.49, Z:-0.46 [[ 9.92344031e-01 1.23448754e-01 3.70521328e-03 9.42144943e+01] [-1.23448164e-01 9.92350946e-01 -3.88167534e-04 -2.48812718e+00] [-3.72479070e-03 -7.22060421e-05 9.99993060e-01 -4.57942980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.28, Y:-2.50, Z:-0.45 [[ 9.91772505e-01 1.27959253e-01 3.70515348e-03 9.42756729e+01] [-1.27958693e-01 9.91779422e-01 -3.88737450e-04 -2.49857063e+00] [-3.72443753e-03 -8.85674817e-05 9.99993060e-01 -4.54587829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.34, Y:-2.50, Z:-0.46 [[ 9.91685992e-01 1.28628012e-01 3.70508908e-03 9.43372312e+01] [-1.28627454e-01 9.91692909e-01 -3.89350346e-04 -2.50304072e+00] [-3.72439193e-03 -9.04628926e-05 9.99993060e-01 -4.58128664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.40, Y:-2.51, Z:-0.46 [[ 9.92353735e-01 1.23370731e-01 3.70502079e-03 9.43989568e+01] [-1.23370134e-01 9.92360649e-01 -3.89999071e-04 -2.51194251e+00] [-3.72483131e-03 -7.00718766e-05 9.99993060e-01 -4.57619646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.46, Y:-2.52, Z:-0.46 [[ 9.93403305e-01 1.14613027e-01 3.70495540e-03 9.44596970e+01] [-1.14612368e-01 9.93410214e-01 -3.90619316e-04 -2.52132944e+00] [-3.72531059e-03 -3.65911901e-05 9.99993060e-01 -4.62624392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.52, Y:-2.54, Z:-0.46 [[ 9.94603974e-01 1.03678391e-01 3.70489529e-03 9.45207831e+01] [-1.03677653e-01 9.94610874e-01 -3.91188598e-04 -2.53540507e+00] [-3.72548694e-03 4.96288755e-06 9.99993060e-01 -4.59623402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:-2.54, Z:-0.46 [[ 9.95117773e-01 9.86250098e-02 3.70482825e-03 9.45824410e+01] [-9.86242345e-02 9.95124669e-01 -3.91822431e-04 -2.54321839e+00] [-3.72540948e-03 2.45236141e-05 9.99993060e-01 -4.63089228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:-2.55, Z:-0.47 [[ 9.95261436e-01 9.71645447e-02 3.70475684e-03 9.46445370e+01] [-9.71637568e-02 9.95268331e-01 -3.92496461e-04 -2.54763225e+00] [-3.72536390e-03 3.06684986e-05 9.99993060e-01 -4.70322065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:-2.56, Z:-0.46 [[ 9.95000853e-01 9.97976856e-02 3.70469354e-03 9.47052763e+01] [-9.97969137e-02 9.95007749e-01 -3.93093046e-04 -2.55905647e+00] [-3.72542856e-03 2.14109337e-05 9.99993060e-01 -4.62999570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:-2.56, Z:-0.46 [[ 9.94406202e-01 1.05558420e-01 3.70466313e-03 9.47671979e+01] [-1.05557687e-01 9.94413103e-01 -3.93379416e-04 -2.56225166e+00] [-3.72549007e-03 1.23261228e-07 9.99993060e-01 -4.56078150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.83, Y:-2.56, Z:-0.46 [[ 9.93817953e-01 1.10960142e-01 3.70459650e-03 9.48284095e+01] [-1.10959444e-01 9.93824857e-01 -3.94005897e-04 -2.56302274e+00] [-3.72543904e-03 -1.94898349e-05 9.99993060e-01 -4.62775092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.89, Y:-2.57, Z:-0.46 [[ 9.93063495e-01 1.17520943e-01 3.70453555e-03 9.48902238e+01] [-1.17520288e-01 9.93070403e-01 -3.94578144e-04 -2.56817537e+00] [-3.72523581e-03 -4.35169360e-05 9.99993060e-01 -4.55318836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:-2.57, Z:-0.46 [[ 9.92557707e-01 1.21718833e-01 3.70446884e-03 9.49509222e+01] [-1.21718206e-01 9.92564619e-01 -3.95203449e-04 -2.56733244e+00] [-3.72502841e-03 -5.86390721e-05 9.99993060e-01 -4.62081300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.01, Y:-2.57, Z:-0.46 [[ 9.92394950e-01 1.23038776e-01 3.70446408e-03 9.50121559e+01] [-1.23038157e-01 9.92401862e-01 -3.95248100e-04 -2.56681551e+00] [-3.72494789e-03 -6.35482161e-05 9.99993060e-01 -4.63925627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.08, Y:-2.57, Z:-0.47 [[ 9.92812395e-01 1.19623687e-01 3.70440377e-03 9.50752752e+01] [-1.19623042e-01 9.92819304e-01 -3.95812561e-04 -2.56617599e+00] [-3.72515213e-03 -5.01644326e-05 9.99993060e-01 -4.66058329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.14, Y:-2.57, Z:-0.46 [[ 9.93873242e-01 1.10463820e-01 3.70438099e-03 9.51372145e+01] [-1.10463112e-01 9.93880146e-01 -3.96025615e-04 -2.56793463e+00] [-3.72545722e-03 -1.55981884e-05 9.99993060e-01 -4.64941853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.20, Y:-2.57, Z:-0.47 [[ 9.94483605e-01 1.04826701e-01 3.70431462e-03 9.51993138e+01] [-1.04825951e-01 9.94490504e-01 -3.96645471e-04 -2.56644094e+00] [-3.72548475e-03 6.14911501e-06 9.99993060e-01 -4.67718502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:-2.57, Z:-0.47 [[ 9.95165532e-01 9.81419537e-02 3.70425365e-03 9.52604518e+01] [-9.81411550e-02 9.95172425e-01 -3.97214061e-04 -2.56679883e+00] [-3.72535445e-03 3.17540111e-05 9.99993060e-01 -4.65701559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.32, Y:-2.57, Z:-0.46 [[ 9.95611581e-01 9.35086008e-02 3.70421884e-03 9.53226441e+01] [-9.35077688e-02 9.95618471e-01 -3.97538422e-04 -2.56910766e+00] [-3.72516195e-03 4.94206187e-05 9.99993060e-01 -4.59092428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.39, Y:-2.57, Z:-0.46 [[ 9.95872480e-01 9.06878317e-02 3.70415125e-03 9.53851922e+01] [-9.06869779e-02 9.95879367e-01 -3.98167148e-04 -2.56662876e+00] [-3.72499672e-03 6.06054228e-05 9.99993060e-01 -4.62662612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.45, Y:-2.57, Z:-0.46 [[ 9.95959833e-01 8.97234154e-02 3.70408414e-03 9.54478256e+01] [-8.97225526e-02 9.95966719e-01 -3.98790475e-04 -2.57165778e+00] [-3.72492537e-03 6.48394105e-05 9.99993060e-01 -4.63397367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.51, Y:-2.58, Z:-0.46 [[ 9.95927870e-01 9.00775156e-02 3.70400792e-03 9.55105004e+01] [-9.00766526e-02 9.95934755e-01 -3.99497193e-04 -2.57885574e+00] [-3.72493594e-03 6.42257543e-05 9.99993060e-01 -4.61956953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:-2.58, Z:-0.46 [[ 9.95714908e-01 9.24018531e-02 3.70393156e-03 9.55743393e+01] [-9.24010036e-02 9.95721796e-01 -4.00203897e-04 -2.57839480e+00] [-3.72506497e-03 5.62419934e-05 9.99993060e-01 -4.63464082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:-2.58, Z:-0.46 [[ 9.95267132e-01 9.71062180e-02 3.70385515e-03 9.56365233e+01] [-9.71053983e-02 9.95274023e-01 -4.00909826e-04 -2.57630978e+00] [-3.72528165e-03 3.93480423e-05 9.99993060e-01 -4.62835809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.70, Y:-2.58, Z:-0.46 [[ 9.94889409e-01 1.00902654e-01 3.70379260e-03 9.56982689e+01] [-1.00901858e-01 9.94896303e-01 -4.01486835e-04 -2.58263871e+00] [-3.72540066e-03 2.57154431e-05 9.99993060e-01 -4.62486447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.76, Y:-2.58, Z:-0.47 [[ 9.94637200e-01 1.03359192e-01 3.70372549e-03 9.57599511e+01] [-1.03358411e-01 9.94644096e-01 -4.02104992e-04 -2.58070955e+00] [-3.72544994e-03 1.71374010e-05 9.99993060e-01 -4.70731827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:-2.59, Z:-0.47 [[ 9.94507866e-01 1.04596308e-01 3.70366372e-03 9.58222570e+01] [-1.04595534e-01 9.94514762e-01 -4.02673139e-04 -2.58579813e+00] [-3.72546637e-03 1.30749185e-05 9.99993060e-01 -4.70413470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:-2.59, Z:-0.47 [[ 9.94440278e-01 1.05236960e-01 3.70359450e-03 9.58831099e+01] [-1.05236188e-01 9.94447174e-01 -4.03308836e-04 -2.59214259e+00] [-3.72547208e-03 1.13143831e-05 9.99993060e-01 -4.70252601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:-2.59, Z:-0.47 [[ 9.94546989e-01 1.04223660e-01 3.70353076e-03 9.59452220e+01] [-1.04222878e-01 9.94553884e-01 -4.03893296e-04 -2.59453179e+00] [-3.72545614e-03 1.56982262e-05 9.99993060e-01 -4.70542625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:-2.60, Z:-0.46 [[ 9.94782799e-01 1.01948355e-01 3.70346662e-03 9.60067109e+01] [-1.01947556e-01 9.94789692e-01 -4.04480564e-04 -2.59998080e+00] [-3.72540655e-03 2.48109373e-05 9.99993060e-01 -4.63879303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.07, Y:-2.61, Z:-0.47 [[ 9.95132311e-01 9.84782663e-02 3.70339617e-03 9.60671174e+01] [-9.84774405e-02 9.95139201e-01 -4.05124573e-04 -2.60641740e+00] [-3.72529067e-03 3.84515765e-05 9.99993060e-01 -4.66728852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:-2.62, Z:-0.46 [[ 9.95571882e-01 9.39303636e-02 3.70335676e-03 9.61283310e+01] [-9.39295050e-02 9.95578768e-01 -4.05484481e-04 -2.61626766e+00] [-3.72507067e-03 5.58344808e-05 9.99993060e-01 -4.62942478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:-2.62, Z:-0.47 [[ 9.95969932e-01 8.96112748e-02 3.70328856e-03 9.61892346e+01] [-8.96103840e-02 9.95976814e-01 -4.06106437e-04 -2.62453367e+00] [-3.72478125e-03 7.26166909e-05 9.99993060e-01 -4.67899442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.25, Y:-2.63, Z:-0.47 [[ 9.95895594e-01 9.04336884e-02 3.70325005e-03 9.62510166e+01] [-9.04328020e-02 9.95902477e-01 -4.06457238e-04 -2.63344511e+00] [-3.72483333e-03 6.98936933e-05 9.99993060e-01 -4.65682171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.31, Y:-2.64, Z:-0.47 [[ 9.95505796e-01 9.46282064e-02 3.70318184e-03 9.63118739e+01] [-9.46273467e-02 9.95512682e-01 -4.07077753e-04 -2.64479361e+00] [-3.72508553e-03 5.48259897e-05 9.99993060e-01 -4.65364614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.37, Y:-2.65, Z:-0.47 [[ 9.95072914e-01 9.90766528e-02 3.70311322e-03 9.63722854e+01] [-9.90758216e-02 9.95079804e-01 -4.07701011e-04 -2.65478358e+00] [-3.72528683e-03 3.88032479e-05 9.99993060e-01 -4.72786192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:-2.66, Z:-0.48 [[ 9.93873687e-01 1.10459866e-01 3.70310341e-03 9.64328335e+01] [-1.10459113e-01 9.93880585e-01 -4.07790153e-04 -2.66050018e+00] [-3.72548703e-03 -3.74961575e-06 9.99993060e-01 -4.75001486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:-2.66, Z:-0.47 [[ 9.92898067e-01 1.18910539e-01 3.70304034e-03 9.64952956e+01] [-1.18909843e-01 9.92904972e-01 -4.08362089e-04 -2.66474941e+00] [-3.72532572e-03 -3.48660151e-05 9.99993060e-01 -4.74236936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.56, Y:-2.67, Z:-0.47 [[ 9.91686656e-01 1.28622957e-01 3.70297334e-03 9.65561496e+01] [-1.28622327e-01 9.91693566e-01 -4.08968702e-04 -2.67087935e+00] [-3.72481760e-03 -7.07162421e-05 9.99993060e-01 -4.72363332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.62, Y:-2.68, Z:-0.48 [[ 9.91354560e-01 1.31158015e-01 3.70291170e-03 9.66169407e+01] [-1.31157400e-01 9.91361472e-01 -4.09526026e-04 -2.67787307e+00] [-3.72463662e-03 -7.96787769e-05 9.99993060e-01 -4.75609847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:-2.68, Z:-0.47 [[ 9.91783443e-01 1.27874511e-01 3.70287434e-03 9.66790844e+01] [-1.27873872e-01 9.91790353e-01 -4.09863538e-04 -2.68265041e+00] [-3.72488615e-03 -6.70050074e-05 9.99993060e-01 -4.68588472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.74, Y:-2.69, Z:-0.47 [[ 9.92213601e-01 1.24492807e-01 3.70285506e-03 9.67408797e+01] [-1.24492143e-01 9.92220509e-01 -4.10037694e-04 -2.69155319e+00] [-3.72509547e-03 -5.41313867e-05 9.99993060e-01 -4.70916210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.80, Y:-2.70, Z:-0.47 [[ 9.92517050e-01 1.22049970e-01 3.70278805e-03 9.68017483e+01] [-1.22049288e-01 9.92523956e-01 -4.10641936e-04 -2.70118216e+00] [-3.72522468e-03 -4.43535207e-05 9.99993060e-01 -4.68091963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.86, Y:-2.71, Z:-0.46 [[ 9.92627893e-01 1.21145183e-01 3.70272544e-03 9.68634036e+01] [-1.21144492e-01 9.92634798e-01 -4.11205715e-04 -2.70704737e+00] [-3.72526971e-03 -4.03905304e-05 9.99993060e-01 -4.63643702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-2.71, Z:-0.47 [[ 9.92812402e-01 1.19623680e-01 3.70265698e-03 9.69260035e+01] [-1.19622976e-01 9.92819306e-01 -4.11821170e-04 -2.71031920e+00] [-3.72533290e-03 -3.40616811e-05 9.99993060e-01 -4.67329604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-2.72, Z:-0.47 [[ 9.92801394e-01 1.19715008e-01 3.70263253e-03 9.69870538e+01] [-1.19714304e-01 9.92808298e-01 -4.12040943e-04 -2.72237985e+00] [-3.72533178e-03 -3.41832527e-05 9.99993060e-01 -4.67758694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:-2.73, Z:-0.47 [[ 9.92742010e-01 1.20206460e-01 3.70256378e-03 9.70493264e+01] [-1.20205757e-01 9.92748914e-01 -4.12657783e-04 -2.72886639e+00] [-3.72532030e-03 -3.54067655e-05 9.99993060e-01 -4.70437880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:-2.73, Z:-0.47 [[ 9.92845026e-01 1.19352607e-01 3.70253910e-03 9.71113711e+01] [-1.19351897e-01 9.92851930e-01 -4.12879094e-04 -2.73454405e+00] [-3.72535129e-03 -3.19801122e-05 9.99993060e-01 -4.71422651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:-2.74, Z:-0.47 [[ 9.93239935e-01 1.16020359e-01 3.70246900e-03 9.71712930e+01] [-1.16019624e-01 9.93246835e-01 -4.13506760e-04 -2.74468145e+00] [-3.72544082e-03 -1.88476321e-05 9.99993060e-01 -4.73209552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:-2.75, Z:-0.47 [[ 9.93621082e-01 1.12709524e-01 3.70241437e-03 9.72322592e+01] [-1.12708764e-01 9.93627980e-01 -4.13995345e-04 -2.75393885e+00] [-3.72548373e-03 -5.94004544e-06 9.99993060e-01 -4.72948980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12420382199998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:97.29, Y:-2.76, Z:-0.47 [[ 9.93614588e-01 1.12766767e-01 3.70235026e-03 9.72949086e+01] [-1.12766005e-01 9.93621485e-01 -4.14567855e-04 -2.75773838e+00] [-3.72548424e-03 -5.57857863e-06 9.99993060e-01 -4.72959034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.36, Y:-2.77, Z:-0.48 [[ 9.93411972e-01 1.14537968e-01 3.70231136e-03 9.73564230e+01] [-1.14537217e-01 9.93418871e-01 -4.14915002e-04 -2.76592480e+00] [-3.72546949e-03 -1.18709078e-05 9.99993060e-01 -4.76711300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:-2.77, Z:-0.48 [[ 9.93189827e-01 1.16448535e-01 3.70223434e-03 9.74178493e+01] [-1.16447795e-01 9.93196727e-01 -4.15601066e-04 -2.77254600e+00] [-3.72544317e-03 -1.83462736e-05 9.99993060e-01 -4.77126142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:-2.78, Z:-0.47 [[ 9.93238734e-01 1.16030649e-01 3.70218706e-03 9.74800520e+01] [-1.16029905e-01 9.93245633e-01 -4.16021823e-04 -2.77845955e+00] [-3.72545241e-03 -1.63554229e-05 9.99993060e-01 -4.72801494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:-2.78, Z:-0.47 [[ 9.93792807e-01 1.11185211e-01 3.70211838e-03 9.75418964e+01] [-1.11184430e-01 9.93799703e-01 -4.16632115e-04 -2.78133354e+00] [-3.72548747e-03 2.42807537e-06 9.99993060e-01 -4.71295681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:-2.79, Z:-0.47 [[ 9.94514931e-01 1.04529166e-01 3.70208274e-03 9.76032782e+01] [-1.04528338e-01 9.94521821e-01 -4.16948558e-04 -2.79394814e+00] [-3.72538535e-03 2.76890124e-05 9.99993060e-01 -4.73398712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.67, Y:-2.80, Z:-0.47 [[ 9.94824550e-01 1.01540185e-01 3.70201220e-03 9.76658428e+01] [-1.01539334e-01 9.94831438e-01 -4.17573929e-04 -2.80406898e+00] [-3.72527865e-03 3.95129442e-05 9.99993060e-01 -4.74511625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:-2.81, Z:-0.47 [[ 9.94804878e-01 1.01732740e-01 3.70193189e-03 9.77274723e+01] [-1.01731887e-01 9.94811765e-01 -4.18284665e-04 -2.81179151e+00] [-3.72527865e-03 3.95071072e-05 9.99993060e-01 -4.71952264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.79, Y:-2.82, Z:-0.47 [[ 9.94249586e-01 1.07023626e-01 3.70185946e-03 9.77889182e+01] [-1.07022808e-01 9.94256477e-01 -4.18924762e-04 -2.82011767e+00] [-3.72543259e-03 2.03323769e-05 9.99993060e-01 -4.72396252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:-2.82, Z:-0.47 [[ 9.93105530e-01 1.17165280e-01 3.70178235e-03 9.78511857e+01] [-1.17164529e-01 9.93112429e-01 -4.19604964e-04 -2.82353606e+00] [-3.72544920e-03 -1.70055772e-05 9.99993060e-01 -4.74657309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:-2.83, Z:-0.47 [[ 9.92149887e-01 1.24999600e-01 3.70171176e-03 9.79130321e+01] [-1.24998902e-01 9.92156791e-01 -4.20226844e-04 -2.82695251e+00] [-3.72520664e-03 -4.57818883e-05 9.99993060e-01 -4.72015173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:-2.83, Z:-0.47 [[ 9.91987951e-01 1.26278279e-01 3.70164124e-03 9.79751629e+01] [-1.26277587e-01 9.91994856e-01 -4.20847101e-04 -2.83209658e+00] [-3.72515291e-03 -4.99590715e-05 9.99993060e-01 -4.71540172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:-2.84, Z:-0.47 [[ 9.92099860e-01 1.25396038e-01 3.70157087e-03 9.80372633e+01] [-1.25395338e-01 9.92106764e-01 -4.21465085e-04 -2.83679779e+00] [-3.72520355e-03 -4.60242777e-05 9.99993060e-01 -4.72785110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90420382199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-2.84, Z:-0.47 [[ 9.92952472e-01 1.18455422e-01 3.70149616e-03 9.80993013e+01] [-1.18454671e-01 9.92959371e-01 -4.22120204e-04 -2.84138855e+00] [-3.72543773e-03 -1.93142097e-05 9.99993060e-01 -4.69911218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-2.85, Z:-0.47 [[ 9.93830823e-01 1.10844909e-01 3.70142306e-03 9.81595201e+01] [-1.10844103e-01 9.93837716e-01 -4.22760226e-04 -2.84911795e+00] [-3.72547466e-03 9.87122352e-06 9.99993060e-01 -4.73374724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-2.85, Z:-0.48 [[ 9.94306145e-01 1.06496899e-01 3.70138152e-03 9.82207225e+01] [-1.06496062e-01 9.94313034e-01 -4.23123675e-04 -2.85478035e+00] [-3.72539324e-03 2.65319144e-05 9.99993060e-01 -4.76779839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-2.86, Z:-0.47 [[ 9.94376012e-01 1.05842557e-01 3.70131661e-03 9.82829552e+01] [-1.05841713e-01 9.94382900e-01 -4.23690713e-04 -2.86181808e+00] [-3.72537045e-03 2.95541912e-05 9.99993060e-01 -4.74779448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-2.87, Z:-0.48 [[ 9.94354673e-01 1.06042839e-01 3.70129021e-03 9.83437043e+01] [-1.06041996e-01 9.94361562e-01 -4.23921212e-04 -2.86772295e+00] [-3.72537452e-03 2.90358365e-05 9.99993060e-01 -4.78102528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20420382199998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-2.87, Z:-0.48 [[ 9.94314344e-01 1.06420329e-01 3.70122202e-03 9.84048375e+01] [-1.06419486e-01 9.94321232e-01 -4.24515698e-04 -2.87441067e+00] [-3.72538074e-03 2.82199020e-05 9.99993060e-01 -4.76660762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26420382199998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:98.47, Y:-2.88, Z:-0.47 [[ 9.94279833e-01 1.06742285e-01 3.70115600e-03 9.84670501e+01] [-1.06741442e-01 9.94286721e-01 -4.25090554e-04 -2.87923815e+00] [-3.72538540e-03 2.75922352e-05 9.99993060e-01 -4.72882790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.53, Y:-2.89, Z:-0.48 [[ 9.94234674e-01 1.07162096e-01 3.70108156e-03 9.85284120e+01] [-1.07161254e-01 9.94241562e-01 -4.25737641e-04 -2.88527023e+00] [-3.72539205e-03 2.66705850e-05 9.99993060e-01 -4.77908535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.59, Y:-2.90, Z:-0.47 [[ 9.94238914e-01 1.07122754e-01 3.70100260e-03 9.85898048e+01] [-1.07121909e-01 9.94245802e-01 -4.26422943e-04 -2.89568660e+00] [-3.72538590e-03 2.75078186e-05 9.99993060e-01 -4.74385955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.65, Y:-2.90, Z:-0.47 [[ 9.94041199e-01 1.08942179e-01 3.70093173e-03 9.86525643e+01] [-1.08941345e-01 9.94048088e-01 -4.27037184e-04 -2.90165923e+00] [-3.72542647e-03 2.13080760e-05 9.99993060e-01 -4.71806772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.71, Y:-2.91, Z:-0.47 [[ 9.93353726e-01 1.15042072e-01 3.70084780e-03 9.87138268e+01] [-1.15041277e-01 9.93360620e-01 -4.27763266e-04 -2.90584270e+00] [-3.72548724e-03 -8.30023412e-07 9.99993060e-01 -4.73365192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:-2.91, Z:-0.47 [[ 9.92809893e-01 1.19644562e-01 3.70078039e-03 9.87750934e+01] [-1.19643797e-01 9.92816790e-01 -4.28345672e-04 -2.91356073e+00] [-3.72544614e-03 -1.75095969e-05 9.99993060e-01 -4.69970895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.84, Y:-2.92, Z:-0.47 [[ 9.92731517e-01 1.20293139e-01 3.70070693e-03 9.88359767e+01] [-1.20292376e-01 9.92738415e-01 -4.28979391e-04 -2.92223554e+00] [-3.72543721e-03 -1.93054680e-05 9.99993060e-01 -4.73521080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.90, Y:-2.93, Z:-0.48 [[ 9.92770566e-01 1.19970449e-01 3.70066541e-03 9.88979679e+01] [-1.19969683e-01 9.92777463e-01 -4.29337261e-04 -2.92580835e+00] [-3.72544501e-03 -1.77342592e-05 9.99993060e-01 -4.79238546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.96, Y:-2.93, Z:-0.48 [[ 9.92692026e-01 1.20618602e-01 3.70059412e-03 9.89603394e+01] [-1.20617837e-01 9.92698923e-01 -4.29950891e-04 -2.93264132e+00] [-3.72543587e-03 -1.95488379e-05 9.99993060e-01 -4.77384916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.02, Y:-2.94, Z:-0.48 [[ 9.92385211e-01 1.23117424e-01 3.70051083e-03 9.90217117e+01] [-1.23116674e-01 9.92392110e-01 -4.30666604e-04 -2.93920849e+00] [-3.72538031e-03 -2.82074160e-05 9.99993060e-01 -4.77519907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.08, Y:-2.94, Z:-0.47 [[ 9.92355004e-01 1.23360661e-01 3.70043779e-03 9.90814133e+01] [-1.23359910e-01 9.92361903e-01 -4.31293250e-04 -2.94239442e+00] [-3.72537811e-03 -2.84896587e-05 9.99993060e-01 -4.73242755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.14, Y:-2.95, Z:-0.47 [[ 9.92751658e-01 1.20126818e-01 3.70043779e-03 9.91440596e+01] [-1.20126045e-01 9.92758554e-01 -4.31293250e-04 -2.94832069e+00] [-3.72545116e-03 -1.63518681e-05 9.99993060e-01 -4.71399864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.21, Y:-2.95, Z:-0.47 [[ 9.93602940e-01 1.12869414e-01 3.70035642e-03 9.92064130e+01] [-1.12868587e-01 9.93609831e-01 -4.31990265e-04 -2.95484940e+00] [-3.72546900e-03 1.15727951e-05 9.99993060e-01 -4.74874445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.27, Y:-2.96, Z:-0.48 [[ 9.94335204e-01 1.06225277e-01 3.70033049e-03 9.92666964e+01] [-1.06224404e-01 9.94342089e-01 -4.32212255e-04 -2.96273620e+00] [-3.72530621e-03 3.66984603e-05 9.99993060e-01 -4.75853839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.33, Y:-2.97, Z:-0.48 [[ 9.94923076e-01 1.00570279e-01 3.70026339e-03 9.93286259e+01] [-1.00569365e-01 9.94929955e-01 -4.32785925e-04 -2.96986311e+00] [-3.72502829e-03 5.84555654e-05 9.99993060e-01 -4.76381074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.39, Y:-2.98, Z:-0.47 [[ 9.95251658e-01 9.72648212e-02 3.70019386e-03 9.93900472e+01] [-9.72638819e-02 9.95258534e-01 -4.33379611e-04 -2.97768051e+00] [-3.72480210e-03 7.14265586e-05 9.99993060e-01 -4.73351813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.45, Y:-2.98, Z:-0.48 [[ 9.95870388e-01 9.07109694e-02 3.70012165e-03 9.94529765e+01] [-9.07099826e-02 9.95877257e-01 -4.33995204e-04 -2.98376366e+00] [-3.72423513e-03 9.65650011e-05 9.99993060e-01 -4.75294048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:-3.00, Z:-0.47 [[ 9.96292249e-01 8.59538477e-02 3.70003765e-03 9.95129953e+01] [-8.59528255e-02 9.96299113e-01 -4.34710164e-04 -2.99553080e+00] [-3.72370924e-03 1.15069677e-04 9.99993060e-01 -4.74217844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:-3.01, Z:-0.48 [[ 9.96506746e-01 8.34302972e-02 3.69996996e-03 9.95742611e+01] [-8.34292554e-02 9.96513607e-01 -4.35285524e-04 -3.00669841e+00] [-3.72338642e-03 1.25079222e-04 9.99993060e-01 -4.75463068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40420382199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:-3.02, Z:-0.48 [[ 9.96058167e-01 8.86252705e-02 3.69989573e-03 9.96356185e+01] [-8.86242622e-02 9.96065033e-01 -4.35915572e-04 -3.01883952e+00] [-3.72396990e-03 1.06296736e-04 9.99993060e-01 -4.76153597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.70, Y:-3.02, Z:-0.48 [[ 9.95542550e-01 9.42408776e-02 3.69984308e-03 9.96974907e+01] [-9.42399063e-02 9.95549421e-01 -4.36362036e-04 -3.02389082e+00] [-3.72449977e-03 8.57441084e-05 9.99993060e-01 -4.75868313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.76, Y:-3.03, Z:-0.48 [[ 9.95036590e-01 9.94409174e-02 3.69976882e-03 9.97588378e+01] [-9.94399798e-02 9.95043466e-01 -4.36990697e-04 -3.03345875e+00] [-3.72488555e-03 6.69167956e-05 9.99993060e-01 -4.77613515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.82, Y:-3.05, Z:-0.48 [[ 9.94783511e-01 1.01941542e-01 3.69969024e-03 9.98201998e+01] [-1.01940619e-01 9.94790389e-01 -4.37654972e-04 -3.04739744e+00] [-3.72503152e-03 5.82232373e-05 9.99993060e-01 -4.77456304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.88, Y:-3.06, Z:-0.48 [[ 9.94560119e-01 1.04098427e-01 3.69961623e-03 9.98830879e+01] [-1.04097517e-01 9.94566999e-01 -4.38279747e-04 -3.05543906e+00] [-3.72514044e-03 5.07746945e-05 9.99993060e-01 -4.79295962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:-3.06, Z:-0.48 [[ 9.94417902e-01 1.05448330e-01 3.69953200e-03 9.99450545e+01] [-1.05447426e-01 9.94424782e-01 -4.38989610e-04 -3.06271432e+00] [-3.72519702e-03 4.64329990e-05 9.99993060e-01 -4.80360154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76420382199998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:100.01, Y:-3.07, Z:-0.48 [[ 9.93923749e-01 1.10008611e-01 3.69945363e-03 1.00005825e+02] [-1.10007736e-01 9.93930634e-01 -4.39649019e-04 -3.07465685e+00] [-3.72536547e-03 3.00090817e-05 9.99993060e-01 -4.81580182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.07, Y:-3.08, Z:-0.48 [[ 9.93003963e-01 1.18023063e-01 3.69937831e-03 1.00066642e+02] [-1.18022241e-01 9.93010854e-01 -4.40281919e-04 -3.08325167e+00] [-3.72548623e-03 5.92771769e-07 9.99993060e-01 -4.78204459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.13, Y:-3.09, Z:-0.48 [[ 9.92153580e-01 1.24970349e-01 3.69933979e-03 1.00129540e+02] [-1.24969575e-01 9.92160477e-01 -4.40605340e-04 -3.08971138e+00] [-3.72540133e-03 -2.51567555e-05 9.99993060e-01 -4.77977082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.19, Y:-3.09, Z:-0.48 [[ 9.90744046e-01 1.35692853e-01 3.69925559e-03 1.00192129e+02] [-1.35692151e-01 9.90750950e-01 -4.41311104e-04 -3.09404910e+00] [-3.72492375e-03 -6.47335999e-05 9.99993060e-01 -4.77410999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:-3.10, Z:-0.48 [[ 9.90178156e-01 1.39762428e-01 3.69916987e-03 1.00252904e+02] [-1.39761751e-01 9.90185062e-01 -4.42028423e-04 -3.09723993e+00] [-3.72464172e-03 -7.93155709e-05 9.99993060e-01 -4.82098829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:-3.10, Z:-0.48 [[ 9.91206974e-01 1.32268861e-01 3.69912771e-03 1.00314917e+02] [-1.32268131e-01 9.91213875e-01 -4.42380990e-04 -3.09934861e+00] [-3.72513994e-03 -5.07855862e-05 9.99993060e-01 -4.82792092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:-3.11, Z:-0.49 [[ 9.92197478e-01 1.24621356e-01 3.69905191e-03 1.00375876e+02] [-1.24620570e-01 9.92204373e-01 -4.43013932e-04 -3.10676498e+00] [-3.72542447e-03 -2.14206516e-05 9.99993060e-01 -4.87325344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.44, Y:-3.11, Z:-0.48 [[ 9.93416822e-01 1.14496006e-01 3.69901056e-03 1.00438162e+02] [-1.14495149e-01 9.93423708e-01 -4.43358881e-04 -3.11389782e+00] [-3.72544761e-03 1.69214074e-05 9.99993060e-01 -4.84730295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.50, Y:-3.11, Z:-0.48 [[ 9.93988557e-01 1.09421510e-01 3.69892688e-03 1.00500957e+02] [-1.09420615e-01 9.93995438e-01 -4.44055972e-04 -3.11349394e+00] [-3.72530572e-03 3.66476996e-05 9.99993060e-01 -4.84070571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.56, Y:-3.12, Z:-0.48 [[ 9.94295972e-01 1.06591927e-01 3.69885353e-03 1.00562934e+02] [-1.06591010e-01 9.94302851e-01 -4.44666092e-04 -3.12199424e+00] [-3.72517842e-03 4.78651701e-05 9.99993060e-01 -4.81134652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36420382199998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:-3.13, Z:-0.48 [[ 9.94738867e-01 1.02376295e-01 3.69876451e-03 1.00623605e+02] [-1.02375346e-01 9.94745741e-01 -4.45405363e-04 -3.12603524e+00] [-3.72492919e-03 6.43997295e-05 9.99993060e-01 -4.81320624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.69, Y:-3.13, Z:-0.48 [[ 9.95422891e-01 9.54965350e-02 3.69869289e-03 1.00685372e+02] [-9.54955367e-02 9.95429758e-01 -4.45999268e-04 -3.13074238e+00] [-3.72438036e-03 9.07492184e-05 9.99993060e-01 -4.84099606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48420382199998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:100.75, Y:-3.14, Z:-0.49 [[ 9.95825869e-01 9.11984568e-02 3.69861079e-03 1.00747165e+02] [-9.11974263e-02 9.95832732e-01 -4.46679111e-04 -3.14014548e+00] [-3.72393413e-03 1.07510829e-04 9.99993060e-01 -4.86584526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.81, Y:-3.16, Z:-0.49 [[ 9.96224981e-01 8.67300832e-02 3.69853205e-03 1.00807211e+02] [-8.67290195e-02 9.96231839e-01 -4.47330099e-04 -3.15601588e+00] [-3.72339236e-03 1.24871361e-04 9.99993060e-01 -4.88822340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:-3.16, Z:-0.48 [[ 9.95983163e-01 8.94642938e-02 3.69845950e-03 1.00868393e+02] [-8.94632467e-02 9.95990023e-01 -4.47929143e-04 -3.16315238e+00] [-3.72370243e-03 1.15253690e-04 9.99993060e-01 -4.84616115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:-3.18, Z:-0.48 [[ 9.95246748e-01 9.73151168e-02 3.69838765e-03 1.00930054e+02] [-9.73141217e-02 9.95253616e-01 -4.48521582e-04 -3.17795738e+00] [-3.72448161e-03 8.64843005e-05 9.99993060e-01 -4.81954948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.99, Y:-3.19, Z:-0.48 [[ 9.94533873e-01 1.04348927e-01 3.69829680e-03 1.00991748e+02] [-1.04347978e-01 9.94540747e-01 -4.49269455e-04 -3.18759450e+00] [-3.72498765e-03 6.09038984e-05 9.99993060e-01 -4.83560454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78420382199998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:101.05, Y:-3.20, Z:-0.48 [[ 9.93610040e-01 1.12806970e-01 3.69821284e-03 1.01053497e+02] [-1.12806077e-01 9.93616921e-01 -4.49959561e-04 -3.19556551e+00] [-3.72536543e-03 2.99034554e-05 9.99993060e-01 -4.84332826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.11, Y:-3.20, Z:-0.49 [[ 9.92738699e-01 1.20233939e-01 3.69813319e-03 1.01114492e+02] [-1.20233094e-01 9.92745587e-01 -4.50613199e-04 -3.20485386e+00] [-3.72548440e-03 2.70316422e-06 9.99993060e-01 -4.88840655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.17, Y:-3.22, Z:-0.49 [[ 9.92064290e-01 1.25677239e-01 3.69804889e-03 1.01174950e+02] [-1.25676430e-01 9.92071183e-01 -4.51303931e-04 -3.21761833e+00] [-3.72544637e-03 -1.70350686e-05 9.99993060e-01 -4.88273476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:-3.23, Z:-0.49 [[ 9.91883624e-01 1.27095243e-01 3.69796954e-03 1.01236849e+02] [-1.27094441e-01 9.91890518e-01 -4.51953260e-04 -3.22750611e+00] [-3.72542203e-03 -2.17063326e-05 9.99993060e-01 -4.85327249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:-3.24, Z:-0.49 [[ 9.91697690e-01 1.28537999e-01 3.69788287e-03 1.01296943e+02] [-1.28537205e-01 9.91704584e-01 -4.52661272e-04 -3.23770103e+00] [-3.72539156e-03 -2.64123888e-05 9.99993060e-01 -4.91427505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.36, Y:-3.25, Z:-0.48 [[ 9.91157117e-01 1.32641985e-01 3.69781303e-03 1.01357894e+02] [-1.32641217e-01 9.91164014e-01 -4.53231089e-04 -3.24993893e+00] [-3.72525667e-03 -4.12592003e-05 9.99993060e-01 -4.83441312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.42, Y:-3.26, Z:-0.48 [[ 9.90380018e-01 1.38324783e-01 3.69779135e-03 1.01418444e+02] [-1.38324054e-01 9.90386920e-01 -4.53407865e-04 -3.25605717e+00] [-3.72496173e-03 -6.24474014e-05 9.99993060e-01 -4.79513079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.48, Y:-3.26, Z:-0.48 [[ 9.89247244e-01 1.46206076e-01 3.69772186e-03 1.01479896e+02] [-1.46205400e-01 9.89254151e-01 -4.53973921e-04 -3.25837378e+00] [-3.72436044e-03 -9.15344515e-05 9.99993060e-01 -4.83098755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:-3.26, Z:-0.48 [[ 9.88807412e-01 1.49151697e-01 3.69767960e-03 1.01542403e+02] [-1.49151040e-01 9.88814321e-01 -4.54317845e-04 -3.26059713e+00] [-3.72408082e-03 -1.02279907e-04 9.99993060e-01 -4.80464685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:-3.26, Z:-0.49 [[ 9.89083581e-01 1.47309190e-01 3.69760210e-03 1.01603098e+02] [-1.47308518e-01 9.89090488e-01 -4.54947696e-04 -3.26496100e+00] [-3.72428105e-03 -9.47069874e-05 9.99993060e-01 -4.85585642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.67, Y:-3.27, Z:-0.49 [[ 9.90042926e-01 1.40717210e-01 3.69753071e-03 1.01666869e+02] [-1.40716490e-01 9.90049828e-01 -4.55527197e-04 -3.26567614e+00] [-3.72484016e-03 -6.93120637e-05 9.99993060e-01 -4.86396187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.73, Y:-3.27, Z:-0.49 [[ 9.91515623e-01 1.29934973e-01 3.69744856e-03 1.01728802e+02] [-1.29934175e-01 9.91522517e-01 -4.56193013e-04 -3.27180180e+00] [-3.72537893e-03 -2.81024299e-05 9.99993060e-01 -4.90428345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:-3.28, Z:-0.49 [[ 9.93299797e-01 1.15506893e-01 3.69737705e-03 1.01789849e+02] [-1.15505993e-01 9.93306678e-01 -4.56771885e-04 -3.28175244e+00] [-3.72538961e-03 2.66422149e-05 9.99993060e-01 -4.85264628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:-3.29, Z:-0.49 [[ 9.94254627e-01 1.06976946e-01 3.69730015e-03 1.01852435e+02] [-1.06975985e-01 9.94261500e-01 -4.57393500e-04 -3.29156866e+00] [-3.72501375e-03 5.92432783e-05 9.99993060e-01 -4.85552726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62420382199998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:101.91, Y:-3.30, Z:-0.49 [[ 9.94619567e-01 1.03528974e-01 3.69721197e-03 1.01914334e+02] [-1.03527986e-01 9.94626436e-01 -4.58105167e-04 -3.30018505e+00] [-3.72477192e-03 7.28754530e-05 9.99993060e-01 -4.85791456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.97, Y:-3.31, Z:-0.49 [[ 9.95186148e-01 9.79329506e-02 3.69712185e-03 1.01974084e+02] [-9.79319214e-02 9.95193011e-01 -4.58831323e-04 -3.31491721e+00] [-3.72428453e-03 9.45563305e-05 9.99993060e-01 -4.87527652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74420382199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:-3.32, Z:-0.49 [[ 9.94694882e-01 1.02802836e-01 3.69704929e-03 1.02036202e+02] [-1.02801838e-01 9.94701750e-01 -4.59415218e-04 -3.32192103e+00] [-3.72469059e-03 7.69145027e-05 9.99993060e-01 -4.88090018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:-3.33, Z:-0.49 [[ 9.93331157e-01 1.15236904e-01 3.69697112e-03 1.02098337e+02] [-1.15235990e-01 9.93338037e-01 -4.60043404e-04 -3.32779479e+00] [-3.72535601e-03 3.09513209e-05 9.99993060e-01 -4.87054701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:-3.34, Z:-0.49 [[ 9.92390844e-01 1.23072119e-01 3.69689215e-03 1.02158517e+02] [-1.23071257e-01 9.92397729e-01 -4.60677160e-04 -3.33558746e+00] [-3.72548389e-03 2.19063179e-06 9.99993060e-01 -4.86776078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:-3.34, Z:-0.49 [[ 9.91492486e-01 1.30111426e-01 3.69684915e-03 1.02221186e+02] [-1.30110612e-01 9.91499378e-01 -4.61021931e-04 -3.33760508e+00] [-3.72540785e-03 -2.38995246e-05 9.99993060e-01 -4.85046512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:-3.34, Z:-0.48 [[ 9.91580854e-01 1.29436252e-01 3.69677314e-03 1.02283040e+02] [-1.29435431e-01 9.91587745e-01 -4.61630612e-04 -3.33967184e+00] [-3.72542668e-03 -2.07493469e-05 9.99993060e-01 -4.84984979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:-3.35, Z:-0.48 [[ 9.92353006e-01 1.23376845e-01 3.69670166e-03 1.02345388e+02] [-1.23375979e-01 9.92359891e-01 -4.62202329e-04 -3.34857828e+00] [-3.72548352e-03 2.58368249e-06 9.99993060e-01 -4.83676986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:-3.36, Z:-0.49 [[ 9.93010514e-01 1.17968018e-01 3.69661063e-03 1.02406112e+02] [-1.17967112e-01 9.93017395e-01 -4.62929248e-04 -3.35744487e+00] [-3.72540950e-03 2.36151318e-05 9.99993060e-01 -4.86994075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:-3.36, Z:-0.49 [[ 9.93739705e-01 1.11659012e-01 3.69656537e-03 1.02466731e+02] [-1.11658061e-01 9.93746579e-01 -4.63290390e-04 -3.36407217e+00] [-3.72517973e-03 4.76387331e-05 9.99993060e-01 -4.93504305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:-3.38, Z:-0.49 [[ 9.94040927e-01 1.08944809e-01 3.69649531e-03 1.02527829e+02] [-1.08943837e-01 9.94047798e-01 -4.63848648e-04 -3.37831643e+00] [-3.72502693e-03 5.83741555e-05 9.99993060e-01 -4.86267685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28420382199998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:-3.39, Z:-0.48 [[ 9.94064765e-01 1.08727088e-01 3.69647348e-03 1.02589947e+02] [-1.08726114e-01 9.94071636e-01 -4.64022599e-04 -3.38967039e+00] [-3.72501126e-03 5.93653194e-05 9.99993060e-01 -4.84444264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:-3.40, Z:-0.49 [[ 9.93897872e-01 1.10242268e-01 3.69638407e-03 1.02651635e+02] [-1.10241302e-01 9.93904744e-01 -4.64733693e-04 -3.39948663e+00] [-3.72508696e-03 5.44036352e-05 9.99993060e-01 -4.86382077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.71, Y:-3.42, Z:-0.49 [[ 9.93595706e-01 1.12933209e-01 3.69630523e-03 1.02712513e+02] [-1.12932259e-01 9.93602581e-01 -4.65359927e-04 -3.41720336e+00] [-3.72521301e-03 4.49475262e-05 9.99993060e-01 -4.91313327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.77, Y:-3.43, Z:-0.49 [[ 9.92894533e-01 1.18940254e-01 3.69627729e-03 1.02773002e+02] [-1.18939345e-01 9.92901413e-01 -4.65581764e-04 -3.43463804e+00] [-3.72541536e-03 2.26407877e-05 9.99993060e-01 -4.89243715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.83, Y:-3.44, Z:-0.49 [[ 9.92065042e-01 1.25671362e-01 3.69619956e-03 1.02834432e+02] [-1.25670497e-01 9.92071927e-01 -4.66198011e-04 -3.44382728e+00] [-3.72548356e-03 -2.00448810e-06 9.99993060e-01 -4.88892767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.89, Y:-3.45, Z:-0.49 [[ 9.90756227e-01 1.35603969e-01 3.69611947e-03 1.02894231e+02] [-1.35603171e-01 9.90763121e-01 -4.66832130e-04 -3.45499239e+00] [-3.72528315e-03 -3.86886815e-05 9.99993060e-01 -4.92840756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.96, Y:-3.47, Z:-0.49 [[ 9.89528280e-01 1.44291798e-01 3.69604615e-03 1.02955170e+02] [-1.44291058e-01 9.89535180e-01 -4.67411932e-04 -3.46536188e+00] [-3.72481140e-03 -7.07890843e-05 9.99993060e-01 -4.91957275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.02, Y:-3.47, Z:-0.49 [[ 9.88818877e-01 1.49075716e-01 3.69596872e-03 1.03017112e+02] [-1.49075008e-01 9.88825780e-01 -4.68023410e-04 -3.47411740e+00] [-3.72444007e-03 -8.81861820e-05 9.99993060e-01 -4.87206186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.08, Y:-3.48, Z:-0.49 [[ 9.87995526e-01 1.54438276e-01 3.69588989e-03 1.03077863e+02] [-1.54437602e-01 9.88002433e-01 -4.68645072e-04 -3.48207239e+00] [-3.72392494e-03 -1.07765138e-04 9.99993060e-01 -4.89634309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.14, Y:-3.49, Z:-0.49 [[ 9.87794606e-01 1.55718198e-01 3.69581760e-03 1.03139980e+02] [-1.55717531e-01 9.87801514e-01 -4.69214502e-04 -3.48741391e+00] [-3.72379945e-03 -1.12016037e-04 9.99993060e-01 -4.90981854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:-3.49, Z:-0.49 [[ 9.88195008e-01 1.53156680e-01 3.69574131e-03 1.03202479e+02] [-1.53155993e-01 9.88201913e-01 -4.69814565e-04 -3.49440579e+00] [-3.72409387e-03 -1.01756524e-04 9.99993060e-01 -4.89521631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:-3.51, Z:-0.49 [[ 9.89323580e-01 1.45688697e-01 3.69565045e-03 1.03263040e+02] [-1.45687956e-01 9.89330480e-01 -4.70528261e-04 -3.50504548e+00] [-3.72477028e-03 -7.29070555e-05 9.99993060e-01 -4.90531841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:-3.52, Z:-0.49 [[ 9.89939891e-01 1.41440290e-01 3.69557720e-03 1.03324779e+02] [-1.41439517e-01 9.89946787e-01 -4.71102857e-04 -3.51505289e+00] [-3.72505770e-03 -5.63371439e-05 9.99993060e-01 -4.86959139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.39, Y:-3.52, Z:-0.49 [[ 9.90398781e-01 1.38190442e-01 3.69549602e-03 1.03385258e+02] [-1.38189643e-01 9.90405674e-01 -4.71738753e-04 -3.52152049e+00] [-3.72523002e-03 -4.34697912e-05 9.99993060e-01 -4.93787219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:-3.53, Z:-0.49 [[ 9.90270530e-01 1.39106508e-01 3.69542137e-03 1.03446965e+02] [-1.39105714e-01 9.90277424e-01 -4.72322849e-04 -3.52761900e+00] [-3.72519554e-03 -4.63268290e-05 9.99993060e-01 -4.93236531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:-3.53, Z:-0.49 [[ 9.89770732e-01 1.42619225e-01 3.69534318e-03 1.03508872e+02] [-1.42618453e-01 9.89777628e-01 -4.72933764e-04 -3.53290652e+00] [-3.72501746e-03 -5.89281324e-05 9.99993060e-01 -4.91244014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:-3.53, Z:-0.50 [[ 9.88880277e-01 1.48667892e-01 3.69526411e-03 1.03569918e+02] [-1.48667160e-01 9.88887178e-01 -4.73550789e-04 -3.53363652e+00] [-3.72460110e-03 -8.10793866e-05 9.99993060e-01 -4.99533302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.63, Y:-3.54, Z:-0.49 [[ 9.88814461e-01 1.49105018e-01 3.69525290e-03 1.03631909e+02] [-1.49104288e-01 9.88821362e-01 -4.73638288e-04 -3.53661151e+00] [-3.72456685e-03 -8.26376646e-05 9.99993060e-01 -4.94950366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.69, Y:-3.54, Z:-0.50 [[ 9.90529948e-01 1.37247103e-01 3.69517494e-03 1.03693091e+02] [-1.37246289e-01 9.90536840e-01 -4.74245705e-04 -3.53938045e+00] [-3.72529576e-03 -3.73944744e-05 9.99993060e-01 -4.96156890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.76, Y:-3.55, Z:-0.50 [[ 9.92084040e-01 1.25521327e-01 3.69510289e-03 1.03755246e+02] [-1.25520429e-01 9.92090921e-01 -4.74806394e-04 -3.54685090e+00] [-3.72547636e-03 7.23694398e-06 9.99993060e-01 -4.97986115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.82, Y:-3.56, Z:-0.49 [[ 9.93893239e-01 1.10284068e-01 3.69507473e-03 1.03816140e+02] [-1.10283064e-01 9.93900106e-01 -4.75025443e-04 -3.55769010e+00] [-3.72492291e-03 6.46204123e-05 9.99993060e-01 -4.94925601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.88, Y:-3.57, Z:-0.50 [[ 9.94257800e-01 1.06947532e-01 3.69499341e-03 1.03876439e+02] [-1.06946502e-01 9.94264663e-01 -4.75657199e-04 -3.56657610e+00] [-3.72467174e-03 7.77592600e-05 9.99993060e-01 -4.97942341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.94, Y:-3.57, Z:-0.49 [[ 9.94326799e-01 1.06304116e-01 3.69491793e-03 1.03939032e+02] [-1.06303080e-01 9.94333661e-01 -4.76242762e-04 -3.57481756e+00] [-3.72460784e-03 8.07597862e-05 9.99993060e-01 -4.94026754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.00, Y:-3.58, Z:-0.49 [[ 9.93362603e-01 1.14965588e-01 3.69482264e-03 1.04000300e+02] [-1.14964609e-01 9.93369474e-01 -4.76980928e-04 -3.58419041e+00] [-3.72516041e-03 4.90411747e-05 9.99993060e-01 -4.91440416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.06, Y:-3.59, Z:-0.49 [[ 9.92566359e-01 1.21648558e-01 3.69473889e-03 1.04061287e+02] [-1.21647622e-01 9.92573236e-01 -4.77628760e-04 -3.59063566e+00] [-3.72540179e-03 2.46220377e-05 9.99993060e-01 -4.91314719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.12, Y:-3.60, Z:-0.49 [[ 9.91492217e-01 1.30113537e-01 3.69466221e-03 1.04122514e+02] [-1.30112658e-01 9.91499101e-01 -4.78221160e-04 -3.59840727e+00] [-3.72547731e-03 -6.56976427e-06 9.99993060e-01 -4.92006333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:-3.61, Z:-0.49 [[ 9.91094809e-01 1.33106837e-01 3.69458226e-03 1.04184519e+02] [-1.33105977e-01 9.91101695e-01 -4.78838071e-04 -3.60631244e+00] [-3.72544336e-03 -1.71970544e-05 9.99993060e-01 -4.89255766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:-3.61, Z:-0.49 [[ 9.90691126e-01 1.36078815e-01 3.69448755e-03 1.04245114e+02] [-1.36077973e-01 9.90698014e-01 -4.79567690e-04 -3.61311897e+00] [-3.72538048e-03 -2.76349212e-05 9.99993060e-01 -4.92275879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:-3.62, Z:-0.49 [[ 9.90126410e-01 1.40128668e-01 3.69441145e-03 1.04307703e+02] [-1.40127852e-01 9.90133301e-01 -4.80153258e-04 -3.61667126e+00] [-3.72524304e-03 -4.22775180e-05 9.99993060e-01 -4.90930702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.37, Y:-3.62, Z:-0.49 [[ 9.90177575e-01 1.39766671e-01 3.69433037e-03 1.04368144e+02] [-1.39765850e-01 9.90184466e-01 -4.80776277e-04 -3.62387088e+00] [-3.72526504e-03 -4.02873351e-05 9.99993060e-01 -4.92751767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.43, Y:-3.63, Z:-0.50 [[ 9.90725103e-01 1.35831229e-01 3.69425589e-03 1.04430811e+02] [-1.35830378e-01 9.90731990e-01 -4.81347894e-04 -3.62659099e+00] [-3.72539956e-03 -2.49087322e-05 9.99993060e-01 -4.98370371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.49, Y:-3.63, Z:-0.50 [[ 9.91610159e-01 1.29211635e-01 3.69417623e-03 1.04491368e+02] [-1.29210736e-01 9.91617040e-01 -4.81958433e-04 -3.63375703e+00] [-3.72548274e-03 5.87649526e-07 9.99993060e-01 -4.97791060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.55, Y:-3.64, Z:-0.49 [[ 9.92102746e-01 1.25373422e-01 3.69410282e-03 1.04553097e+02] [-1.25372495e-01 9.92109623e-01 -4.82520474e-04 -3.64233135e+00] [-3.72545020e-03 1.55710019e-05 9.99993060e-01 -4.85859849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.61, Y:-3.65, Z:-0.49 [[ 9.92295346e-01 1.23839820e-01 3.69407895e-03 1.04614530e+02] [-1.23838881e-01 9.92302221e-01 -4.82703132e-04 -3.65102220e+00] [-3.72542062e-03 2.15134666e-05 9.99993060e-01 -4.86529258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:-3.65, Z:-0.49 [[ 9.92506808e-01 1.22133491e-01 3.69399012e-03 1.04677026e+02] [-1.22132538e-01 9.92513682e-01 -4.83382014e-04 -3.65329289e+00] [-3.72537287e-03 2.86035511e-05 9.99993060e-01 -4.90233807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.74, Y:-3.66, Z:-0.49 [[ 9.92516066e-01 1.22058242e-01 3.69390506e-03 1.04738893e+02] [-1.22057285e-01 9.92522939e-01 -4.84031148e-04 -3.66279143e+00] [-3.72536550e-03 2.95406668e-05 9.99993060e-01 -4.91906679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.80, Y:-3.67, Z:-0.50 [[ 9.92600625e-01 1.21368677e-01 3.69382030e-03 1.04799075e+02] [-1.21367713e-01 9.92607497e-01 -4.84677067e-04 -3.67156223e+00] [-3.72533834e-03 3.27802355e-05 9.99993060e-01 -4.95057912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:-3.68, Z:-0.50 [[ 9.92920283e-01 1.18725179e-01 3.69374250e-03 1.04859663e+02] [-1.18724196e-01 9.92927152e-01 -4.85269320e-04 -3.68265818e+00] [-3.72523091e-03 4.32971444e-05 9.99993060e-01 -5.00286508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:-3.69, Z:-0.50 [[ 9.93188008e-01 1.16464313e-01 3.69373087e-03 1.04921181e+02] [-1.16463313e-01 9.93194876e-01 -4.85357799e-04 -3.69027155e+00] [-3.72512143e-03 5.18674114e-05 9.99993060e-01 -5.00344307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.98, Y:-3.70, Z:-0.50 [[ 9.93495736e-01 1.13809398e-01 3.69364894e-03 1.04981207e+02] [-1.13808377e-01 9.93502600e-01 -4.85980513e-04 -3.69977570e+00] [-3.72495897e-03 6.24513763e-05 9.99993060e-01 -5.00918315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.04, Y:-3.71, Z:-0.49 [[ 9.93054628e-01 1.17596189e-01 3.69357322e-03 1.05041501e+02] [-1.17595193e-01 9.93061496e-01 -4.86555323e-04 -3.71400562e+00] [-3.72516240e-03 4.88295610e-05 9.99993060e-01 -4.90674040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.10, Y:-3.72, Z:-0.49 [[ 9.92155679e-01 1.24953859e-01 3.69349592e-03 1.05103181e+02] [-1.24952911e-01 9.92162554e-01 -4.87141376e-04 -3.72119462e+00] [-3.72541854e-03 2.18070139e-05 9.99993060e-01 -4.90839684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.16, Y:-3.72, Z:-0.50 [[ 9.90560258e-01 1.37028223e-01 3.69341094e-03 1.05164389e+02] [-1.37027357e-01 9.90567143e-01 -4.87784869e-04 -3.72236725e+00] [-3.72541182e-03 -2.29180336e-05 9.99993060e-01 -4.98096054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.23, Y:-3.73, Z:-0.49 [[ 9.89740306e-01 1.42830272e-01 3.69333295e-03 1.05226228e+02] [-1.42829444e-01 9.89747196e-01 -4.88374661e-04 -3.72888933e+00] [-3.72522061e-03 -4.41526041e-05 9.99993060e-01 -4.93329699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.29, Y:-3.73, Z:-0.50 [[ 9.89646790e-01 1.43476799e-01 3.69325081e-03 1.05287469e+02] [-1.43475973e-01 9.89653680e-01 -4.88995026e-04 -3.73384444e+00] [-3.72519870e-03 -4.59603965e-05 9.99993060e-01 -4.98272829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.35, Y:-3.74, Z:-0.50 [[ 9.90075991e-01 1.40484494e-01 3.69317530e-03 1.05348739e+02] [-1.40483645e-01 9.90082878e-01 -4.89564644e-04 -3.74262407e+00] [-3.72532587e-03 -3.41245289e-05 9.99993060e-01 -4.99301497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.41, Y:-3.75, Z:-0.50 [[ 9.90837091e-01 1.35011924e-01 3.69309456e-03 1.05409959e+02] [-1.35011035e-01 9.90843974e-01 -4.90172992e-04 -3.75124704e+00] [-3.72545969e-03 -1.29269380e-05 9.99993060e-01 -5.00766318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.47, Y:-3.76, Z:-0.50 [[ 9.91194925e-01 1.32359291e-01 3.69301331e-03 1.05471368e+02] [-1.32358381e-01 9.91201805e-01 -4.90784350e-04 -3.75742523e+00] [-3.72548133e-03 -2.33830737e-06 9.99993060e-01 -5.02394509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.53, Y:-3.77, Z:-0.50 [[ 9.91260641e-01 1.31866234e-01 3.69293131e-03 1.05531729e+02] [-1.31865318e-01 9.91267520e-01 -4.91400613e-04 -3.76777933e+00] [-3.72548201e-03 1.36524871e-07 9.99993060e-01 -5.01989883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.59, Y:-3.77, Z:-0.50 [[ 9.91270953e-01 1.31788697e-01 3.69285573e-03 1.05593105e+02] [-1.31787779e-01 9.91277832e-01 -4.91967966e-04 -3.77349421e+00] [-3.72548183e-03 1.00029968e-06 9.99993060e-01 -5.02270425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.66, Y:-3.78, Z:-0.50 [[ 9.91295942e-01 1.31600601e-01 3.69281383e-03 1.05655669e+02] [-1.31599680e-01 9.91302820e-01 -4.92282221e-04 -3.77941791e+00] [-3.72548140e-03 2.02424945e-06 9.99993060e-01 -4.99621464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.72, Y:-3.78, Z:-0.50 [[ 9.91247918e-01 1.31961847e-01 3.69272093e-03 1.05717832e+02] [-1.31960926e-01 9.91254796e-01 -4.92978143e-04 -3.78267399e+00] [-3.72548164e-03 1.36868489e-06 9.99993060e-01 -5.01642531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.78, Y:-3.79, Z:-0.50 [[ 9.91281731e-01 1.31707607e-01 3.69263977e-03 1.05779686e+02] [-1.31706682e-01 9.91288609e-01 -4.93585324e-04 -3.79066500e+00] [-3.72548068e-03 2.93678179e-06 9.99993060e-01 -5.00204676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.84, Y:-3.80, Z:-0.50 [[ 9.91897847e-01 1.26984350e-01 3.69255643e-03 1.05840292e+02] [-1.26983390e-01 9.91904720e-01 -4.94207949e-04 -3.79532861e+00] [-3.72542083e-03 2.13104659e-05 9.99993060e-01 -4.97117949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.90, Y:-3.80, Z:-0.50 [[ 9.92571990e-01 1.21602675e-01 3.69254460e-03 1.05903238e+02] [-1.21601677e-01 9.92578857e-01 -4.94296364e-04 -3.80108914e+00] [-3.72524946e-03 4.16051088e-05 9.99993060e-01 -4.96892956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.96, Y:-3.81, Z:-0.50 [[ 9.93393593e-01 1.14697582e-01 3.69244971e-03 1.05964973e+02] [-1.14696534e-01 9.93400453e-01 -4.95004220e-04 -3.81169295e+00] [-3.72485700e-03 6.82228384e-05 9.99993060e-01 -5.01672427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:-3.82, Z:-0.51 [[ 9.93766234e-01 1.11422793e-01 3.69240447e-03 1.06025481e+02] [-1.11421721e-01 9.93773090e-01 -4.95341400e-04 -3.82102516e+00] [-3.72460452e-03 8.08394969e-05 9.99993060e-01 -5.05019762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.09, Y:-3.83, Z:-0.51 [[ 9.93838548e-01 1.10775930e-01 3.69235680e-03 1.06086957e+02] [-1.10774853e-01 9.93845404e-01 -4.95696499e-04 -3.82923468e+00] [-3.72454308e-03 8.36220083e-05 9.99993060e-01 -5.05083809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.15, Y:-3.84, Z:-0.51 [[ 9.93577146e-01 1.13096519e-01 3.69226878e-03 1.06148611e+02] [-1.13095455e-01 9.93584003e-01 -4.96351269e-04 -3.84120871e+00] [-3.72471480e-03 7.55844610e-05 9.99993060e-01 -5.07039379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.21, Y:-3.85, Z:-0.50 [[ 9.93248487e-01 1.15947448e-01 3.69223874e-03 1.06210255e+02] [-1.15946403e-01 9.93255347e-01 -4.96574616e-04 -3.85013500e+00] [-3.72491243e-03 6.51201852e-05 9.99993060e-01 -5.04633375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.27, Y:-3.85, Z:-0.50 [[ 9.92488213e-01 1.22284567e-01 3.69214994e-03 1.06271398e+02] [-1.22283563e-01 9.92495080e-01 -4.97233982e-04 -3.85239950e+00] [-3.72524469e-03 4.20096156e-05 9.99993060e-01 -5.03897892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.33, Y:-3.86, Z:-0.50 [[ 9.91920401e-01 1.26808072e-01 3.69206847e-03 1.06332145e+02] [-1.26807097e-01 9.91927272e-01 -4.97838228e-04 -3.86063644e+00] [-3.72539331e-03 2.56354104e-05 9.99993060e-01 -5.04124524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:-3.87, Z:-0.50 [[ 9.91518066e-01 1.29916492e-01 3.69198848e-03 1.06393924e+02] [-1.29915536e-01 9.91524939e-01 -4.98430672e-04 -3.86633520e+00] [-3.72545302e-03 1.45563510e-05 9.99993060e-01 -5.01331196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:-3.87, Z:-0.50 [[ 9.90618564e-01 1.36606112e-01 3.69190396e-03 1.06455763e+02] [-1.36605201e-01 9.90625444e-01 -4.99055968e-04 -3.87155387e+00] [-3.72546809e-03 -9.95917572e-06 9.99993060e-01 -4.99262405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.52, Y:-3.87, Z:-0.51 [[ 9.90004621e-01 1.40986600e-01 3.69181992e-03 1.06516785e+02] [-1.40985717e-01 9.90011504e-01 -4.99676850e-04 -3.87378401e+00] [-3.72539194e-03 -2.58114871e-05 9.99993060e-01 -5.07600523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:-3.88, Z:-0.51 [[ 9.90087544e-01 1.40403082e-01 3.69174306e-03 1.06579542e+02] [-1.40402193e-01 9.90094427e-01 -5.00244111e-04 -3.87732662e+00] [-3.72541004e-03 -2.30433561e-05 9.99993060e-01 -5.11501787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:-3.89, Z:-0.51 [[ 9.90482263e-01 1.37590906e-01 3.69171482e-03 1.06640964e+02] [-1.37589996e-01 9.90489143e-01 -5.00452410e-04 -3.88554298e+00] [-3.72546115e-03 -1.22537932e-05 9.99993060e-01 -5.09844064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.70, Y:-3.89, Z:-0.51 [[ 9.90908902e-01 1.34483898e-01 3.69163105e-03 1.06702724e+02] [-1.34482965e-01 9.90915779e-01 -5.01069580e-04 -3.89479412e+00] [-3.72548125e-03 5.28182209e-08 9.99993060e-01 -5.07348799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.77, Y:-3.90, Z:-0.51 [[ 9.90987640e-01 1.33902461e-01 3.69154752e-03 1.06765167e+02] [-1.33901521e-01 9.90994516e-01 -5.01684211e-04 -3.90063152e+00] [-3.72548010e-03 2.85902456e-06 9.99993060e-01 -5.08483578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.83, Y:-3.91, Z:-0.51 [[ 9.90965889e-01 1.34063344e-01 3.69150266e-03 1.06826706e+02] [-1.34062404e-01 9.90972764e-01 -5.02014137e-04 -3.90517288e+00] [-3.72548029e-03 2.58716439e-06 9.99993060e-01 -5.06372431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.89, Y:-3.91, Z:-0.50 [[ 9.91136511e-01 1.32796049e-01 3.69142516e-03 1.06888384e+02] [-1.32795098e-01 9.91143385e-01 -5.02583326e-04 -3.90908012e+00] [-3.72547271e-03 7.92551770e-06 9.99993060e-01 -5.04844156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.95, Y:-3.92, Z:-0.51 [[ 9.91491032e-01 1.30122664e-01 3.69134645e-03 1.06949613e+02] [-1.30121692e-01 9.91497903e-01 -5.03160794e-04 -3.91790565e+00] [-3.72543489e-03 1.85551677e-05 9.99993060e-01 -5.07755414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:-3.93, Z:-0.51 [[ 9.92106748e-01 1.25341832e-01 3.69126111e-03 1.07009856e+02] [-1.25340825e-01 9.92113614e-01 -5.03786078e-04 -3.92554069e+00] [-3.72529587e-03 3.71438555e-05 9.99993060e-01 -5.08589567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:-3.94, Z:-0.51 [[ 9.92832164e-01 1.19459904e-01 3.69118199e-03 1.07071591e+02] [-1.19458854e-01 9.92839024e-01 -5.04365117e-04 -3.93916478e+00] [-3.72500093e-03 5.98055416e-05 9.99993060e-01 -5.06225593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:-3.95, Z:-0.51 [[ 9.93385491e-01 1.14767778e-01 3.69108504e-03 1.07132292e+02] [-1.14766694e-01 9.93392345e-01 -5.05073652e-04 -3.94972360e+00] [-3.72466180e-03 7.81192124e-05 9.99993060e-01 -5.09124130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.19, Y:-3.96, Z:-0.51 [[ 9.93451170e-01 1.14197849e-01 3.69099506e-03 1.07193916e+02] [-1.14196758e-01 9.93458024e-01 -5.05730361e-04 -3.95915171e+00] [-3.72460197e-03 8.09187509e-05 9.99993060e-01 -5.09522625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:-3.97, Z:-0.51 [[ 9.93210344e-01 1.16273773e-01 3.69090593e-03 1.07256056e+02] [-1.16272693e-01 9.93217199e-01 -5.06379989e-04 -3.97122646e+00] [-3.72474996e-03 7.37902699e-05 9.99993060e-01 -5.08385167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:-3.99, Z:-0.50 [[ 9.92732473e-01 1.20285559e-01 3.69080729e-03 1.07317009e+02] [-1.20284505e-01 9.92739332e-01 -5.07097925e-04 -3.98724636e+00] [-3.72500612e-03 5.94656479e-05 9.99993060e-01 -5.02945778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:-4.00, Z:-0.51 [[ 9.92198041e-01 1.24617120e-01 3.69072162e-03 1.07377651e+02] [-1.24616094e-01 9.92204904e-01 -5.07720623e-04 -3.99597815e+00] [-3.72522278e-03 4.38360958e-05 9.99993060e-01 -5.06735061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.44, Y:-4.01, Z:-0.51 [[ 9.91805393e-01 1.27704510e-01 3.69064304e-03 1.07438794e+02] [-1.27703503e-01 9.91812259e-01 -5.08291243e-04 -4.00919700e+00] [-3.72533609e-03 3.28179533e-05 9.99993060e-01 -5.07823088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.50, Y:-4.03, Z:-0.51 [[ 9.90994600e-01 1.33850971e-01 3.69055358e-03 1.07499485e+02] [-1.33850004e-01 9.91001472e-01 -5.08939952e-04 -4.02599699e+00] [-3.72546613e-03 1.03761320e-05 9.99993060e-01 -5.10742945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.56, Y:-4.04, Z:-0.51 [[ 9.89846523e-01 1.42092366e-01 3.69047110e-03 1.07560670e+02] [-1.42091454e-01 9.89853403e-01 -5.09537308e-04 -4.03790499e+00] [-3.72542674e-03 -2.00206719e-05 9.99993060e-01 -5.07348080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.62, Y:-4.05, Z:-0.51 [[ 9.88977690e-01 1.48018610e-01 3.69038160e-03 1.07621001e+02] [-1.48017737e-01 9.88984575e-01 -5.10184685e-04 -4.05030280e+00] [-3.72524731e-03 -4.16806620e-05 9.99993060e-01 -5.12147755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:-4.06, Z:-0.51 [[ 9.87496233e-01 1.57599403e-01 3.69033306e-03 1.07681896e+02] [-1.57598595e-01 9.87503125e-01 -5.10535610e-04 -4.06495510e+00] [-3.72467553e-03 -7.74393144e-05 9.99993060e-01 -5.12493283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.74, Y:-4.07, Z:-0.51 [[ 9.86333234e-01 1.64721383e-01 3.69025290e-03 1.07743936e+02] [-1.64720623e-01 9.86340132e-01 -5.11114356e-04 -4.07265360e+00] [-3.72403599e-03 -1.03731681e-04 9.99993060e-01 -5.11082588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.81, Y:-4.08, Z:-0.52 [[ 9.85326835e-01 1.70638248e-01 3.69016975e-03 1.07805011e+02] [-1.70637527e-01 9.85333737e-01 -5.11713958e-04 -4.07770301e+00] [-3.72336672e-03 -1.25475945e-04 9.99993060e-01 -5.18216874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.87, Y:-4.09, Z:-0.52 [[ 9.84706591e-01 1.74181838e-01 3.69009365e-03 1.07865022e+02] [-1.74181140e-01 9.84713495e-01 -5.12262154e-04 -4.08635631e+00] [-3.72291178e-03 -1.38316798e-04 9.99993060e-01 -5.15342395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.93, Y:-4.09, Z:-0.51 [[ 9.85780361e-01 1.67998402e-01 3.69008257e-03 1.07926930e+02] [-1.67997660e-01 9.85787261e-01 -5.12341949e-04 -4.09201923e+00] [-3.72370902e-03 -1.14868605e-04 9.99993060e-01 -5.09265008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.99, Y:-4.10, Z:-0.51 [[ 9.87164554e-01 1.59663796e-01 3.68999857e-03 1.07988898e+02] [-1.59662993e-01 9.87171447e-01 -5.12946257e-04 -4.09836980e+00] [-3.72456017e-03 -8.27938523e-05 9.99993060e-01 -5.11702203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.05, Y:-4.11, Z:-0.52 [[ 9.89280309e-01 1.45982381e-01 3.68991067e-03 1.08049713e+02] [-1.45981480e-01 9.89287190e-01 -5.13577733e-04 -4.10849011e+00] [-3.72535466e-03 -3.05862843e-05 9.99993060e-01 -5.18371249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.11, Y:-4.12, Z:-0.52 [[ 9.90861023e-01 1.34836261e-01 3.68982352e-03 1.08111655e+02] [-1.34835281e-01 9.90867894e-01 -5.14203160e-04 -4.11626620e+00] [-3.72546089e-03 1.19854769e-05 9.99993060e-01 -5.18892733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.17, Y:-4.13, Z:-0.52 [[ 9.91500101e-01 1.30053585e-01 3.68977617e-03 1.08171811e+02] [-1.30052571e-01 9.91506966e-01 -5.14542647e-04 -4.12672295e+00] [-3.72535690e-03 3.03042091e-05 9.99993060e-01 -5.21394098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.23, Y:-4.14, Z:-0.51 [[ 9.92209085e-01 1.24529186e-01 3.68972794e-03 1.08233593e+02] [-1.24528132e-01 9.92215944e-01 -5.14888267e-04 -4.13574773e+00] [-3.72512551e-03 5.14018867e-05 9.99993060e-01 -5.12838041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:-4.15, Z:-0.52 [[ 9.92366269e-01 1.23270327e-01 3.68970256e-03 1.08294150e+02] [-1.23269263e-01 9.92373127e-01 -5.15070122e-04 -4.14518222e+00] [-3.72505453e-03 5.63112993e-05 9.99993060e-01 -5.15644641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:-4.16, Z:-0.51 [[ 9.92058451e-01 1.25723572e-01 3.68962089e-03 1.08355562e+02] [-1.25722524e-01 9.92065311e-01 -5.15654471e-04 -4.15573237e+00] [-3.72517482e-03 4.76909254e-05 9.99993060e-01 -5.13574852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:-4.16, Z:-0.51 [[ 9.90860590e-01 1.34839456e-01 3.68953353e-03 1.08417414e+02] [-1.34838468e-01 9.90867459e-01 -5.16278789e-04 -4.15636270e+00] [-3.72545346e-03 1.40692550e-05 9.99993060e-01 -5.11775827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:-4.16, Z:-0.51 [[ 9.89732052e-01 1.42887556e-01 3.68945333e-03 1.08478252e+02] [-1.42886622e-01 9.89738928e-01 -5.16851305e-04 -4.16146261e+00] [-3.72544720e-03 -1.56292198e-05 9.99993060e-01 -5.09724299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:-4.17, Z:-0.51 [[ 9.89279753e-01 1.45986159e-01 3.68937461e-03 1.08541026e+02] [-1.45985245e-01 9.89286632e-01 -5.17412549e-04 -4.16671838e+00] [-3.72538406e-03 -2.67284964e-05 9.99993060e-01 -5.08801721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.60, Y:-4.17, Z:-0.52 [[ 9.88988559e-01 1.47946005e-01 3.68927671e-03 1.08601986e+02] [-1.47945101e-01 9.88995439e-01 -5.18109703e-04 -4.17333899e+00] [-3.72533010e-03 -3.34058481e-05 9.99993060e-01 -5.16084172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:-4.18, Z:-0.51 [[ 9.88854814e-01 1.48837316e-01 3.68919807e-03 1.08664270e+02] [-1.48836417e-01 9.88861695e-01 -5.18669075e-04 -4.18373520e+00] [-3.72530397e-03 -3.61986082e-05 9.99993060e-01 -5.11511034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:-4.19, Z:-0.52 [[ 9.88765940e-01 1.49426595e-01 3.68909377e-03 1.08726075e+02] [-1.49425697e-01 9.88772821e-01 -5.19409817e-04 -4.19101481e+00] [-3.72528930e-03 -3.76706730e-05 9.99993060e-01 -5.17702807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.79, Y:-4.20, Z:-0.52 [[ 9.89329261e-01 1.45650279e-01 3.68899716e-03 1.08787712e+02] [-1.45649352e-01 9.89336139e-01 -5.20095061e-04 -4.20293334e+00] [-3.72541020e-03 -2.27547831e-05 9.99993060e-01 -5.17585427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.85, Y:-4.22, Z:-0.52 [[ 9.89900112e-01 1.41718593e-01 3.68890314e-03 1.08849132e+02] [-1.41717636e-01 9.89906986e-01 -5.20761056e-04 -4.21528196e+00] [-3.72547252e-03 -7.28120644e-06 9.99993060e-01 -5.16943924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.91, Y:-4.23, Z:-0.52 [[ 9.90436994e-01 1.37916475e-01 3.68880831e-03 1.08910779e+02] [-1.37915489e-01 9.90443863e-01 -5.21431980e-04 -4.22903188e+00] [-3.72547161e-03 7.70171910e-06 9.99993060e-01 -5.15066857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:-4.24, Z:-0.52 [[ 9.90223074e-01 1.39444100e-01 3.68870861e-03 1.08971286e+02] [-1.39443122e-01 9.90229945e-01 -5.22136303e-04 -4.24382754e+00] [-3.72547855e-03 2.66637008e-06 9.99993060e-01 -5.15560324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.03, Y:-4.26, Z:-0.51 [[ 9.89298425e-01 1.45859594e-01 3.68862096e-03 1.09032506e+02] [-1.45858659e-01 9.89305301e-01 -5.22754756e-04 -4.25676909e+00] [-3.72542107e-03 -2.08568510e-05 9.99993060e-01 -5.11696292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.09, Y:-4.27, Z:-0.51 [[ 9.88499818e-01 1.51177063e-01 3.68853369e-03 1.09094269e+02] [-1.51176163e-01 9.88506699e-01 -5.23369818e-04 -4.26698468e+00] [-3.72526177e-03 -4.02674003e-05 9.99993060e-01 -5.10678257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.16, Y:-4.27, Z:-0.51 [[ 9.87195902e-01 1.59469894e-01 3.68843432e-03 1.09155499e+02] [-1.59469049e-01 9.87202790e-01 -5.24069221e-04 -4.27311975e+00] [-3.72480591e-03 -7.08321251e-05 9.99993060e-01 -5.12686252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.22, Y:-4.28, Z:-0.51 [[ 9.86313323e-01 1.64840605e-01 3.68838852e-03 1.09216410e+02] [-1.64839796e-01 9.86320215e-01 -5.24391307e-04 -4.28321759e+00] [-3.72437314e-03 -9.07790777e-05 9.99993060e-01 -5.12463081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:-4.29, Z:-0.52 [[ 9.85661658e-01 1.68693489e-01 3.68830225e-03 1.09277742e+02] [-1.68692705e-01 9.85668553e-01 -5.24997414e-04 -4.28928540e+00] [-3.72400719e-03 -1.04719860e-04 9.99993060e-01 -5.15290765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:-4.29, Z:-0.51 [[ 9.85544938e-01 1.69374063e-01 3.68822313e-03 1.09339919e+02] [-1.69373281e-01 9.85551833e-01 -5.25552680e-04 -4.29413273e+00] [-3.72395006e-03 -1.06730669e-04 9.99993060e-01 -5.09459933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:-4.30, Z:-0.51 [[ 9.86480550e-01 1.63836879e-01 3.68813879e-03 1.09401843e+02] [-1.63836056e-01 9.86487440e-01 -5.26143872e-04 -4.29964815e+00] [-3.72450436e-03 -8.52194180e-05 9.99993060e-01 -5.10799812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:-4.31, Z:-0.51 [[ 9.87535319e-01 1.57354351e-01 3.68805186e-03 1.09463718e+02] [-1.57353481e-01 9.87542204e-01 -5.26752484e-04 -4.30630026e+00] [-3.72499366e-03 -6.01411159e-05 9.99993060e-01 -5.09062472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:-4.32, Z:-0.51 [[ 9.89088854e-01 1.47274023e-01 3.68796144e-03 1.09524532e+02] [-1.47273080e-01 9.89095729e-01 -5.27384807e-04 -4.31579902e+00] [-3.72541699e-03 -2.15070064e-05 9.99993060e-01 -5.10491226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.59, Y:-4.33, Z:-0.51 [[ 9.90257810e-01 1.39197232e-01 3.68786486e-03 1.09585873e+02] [-1.39196231e-01 9.90264677e-01 -5.28059296e-04 -4.32693890e+00] [-3.72546670e-03 9.57795445e-06 9.99993060e-01 -5.08734117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.65, Y:-4.34, Z:-0.51 [[ 9.90932874e-01 1.34307255e-01 3.68777664e-03 1.09647628e+02] [-1.34306217e-01 9.90939736e-01 -5.28674698e-04 -4.33689674e+00] [-3.72536925e-03 2.85898085e-05 9.99993060e-01 -5.10064461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.71, Y:-4.35, Z:-0.51 [[ 9.91052928e-01 1.33418494e-01 3.68767489e-03 1.09708748e+02] [-1.33417448e-01 9.91059788e-01 -5.29383466e-04 -4.34771602e+00] [-3.72533584e-03 3.26468618e-05 9.99993060e-01 -5.11574942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.77, Y:-4.36, Z:-0.52 [[ 9.90878010e-01 1.34711436e-01 3.68758014e-03 1.09769055e+02] [-1.34710396e-01 9.90884871e-01 -5.30042659e-04 -4.36125063e+00] [-3.72537018e-03 2.84522326e-05 9.99993060e-01 -5.15256852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.83, Y:-4.37, Z:-0.52 [[ 9.89895778e-01 1.41748901e-01 3.68749275e-03 1.09828820e+02] [-1.41747908e-01 9.89902646e-01 -5.30649902e-04 -4.37466344e+00] [-3.72547788e-03 2.59371393e-06 9.99993060e-01 -5.19267794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.89, Y:-4.38, Z:-0.52 [[ 9.88273810e-01 1.52647567e-01 3.68744376e-03 1.09890404e+02] [-1.52646648e-01 9.88280688e-01 -5.30990155e-04 -4.38461637e+00] [-3.72528381e-03 -3.81122653e-05 9.99993060e-01 -5.15905776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:-4.39, Z:-0.51 [[ 9.86821885e-01 1.61768263e-01 3.68735555e-03 1.09950265e+02] [-1.61767405e-01 9.86828771e-01 -5.31601957e-04 -4.39455941e+00] [-3.72478488e-03 -7.18974947e-05 9.99993060e-01 -5.14398678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.01, Y:-4.40, Z:-0.51 [[ 9.84669443e-01 1.74391778e-01 3.68728698e-03 1.10012869e+02] [-1.74391007e-01 9.84676340e-01 -5.32077186e-04 -4.40236172e+00] [-3.72357413e-03 -1.19109543e-04 9.99993060e-01 -5.13402840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.07, Y:-4.41, Z:-0.51 [[ 9.84307191e-01 1.76424937e-01 3.68718759e-03 1.10074891e+02] [-1.76424178e-01 9.84314089e-01 -5.32765028e-04 -4.40740960e+00] [-3.72334373e-03 -1.26104590e-04 9.99993060e-01 -5.10934025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:-4.41, Z:-0.51 [[ 9.84756890e-01 1.73897307e-01 3.68710015e-03 1.10135754e+02] [-1.73896527e-01 9.84763786e-01 -5.33369492e-04 -4.41471857e+00] [-3.72367422e-03 -1.15934630e-04 9.99993060e-01 -5.14709285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:-4.42, Z:-0.51 [[ 9.86150469e-01 1.65812120e-01 3.68701978e-03 1.10196386e+02] [-1.65811282e-01 9.86157357e-01 -5.33924500e-04 -4.42438683e+00] [-3.72451284e-03 -8.48195814e-05 9.99993060e-01 -5.14203230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.26, Y:-4.43, Z:-0.52 [[ 9.87338262e-01 1.58586137e-01 3.68694095e-03 1.10259253e+02] [-1.58585247e-01 9.87345144e-01 -5.34468283e-04 -4.43231470e+00] [-3.72504251e-03 -5.69934546e-05 9.99993060e-01 -5.15563370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.32, Y:-4.44, Z:-0.51 [[ 9.87974983e-01 1.54569854e-01 3.68684492e-03 1.10321124e+02] [-1.54568933e-01 9.87981861e-01 -5.35129914e-04 -4.44480513e+00] [-3.72525086e-03 -4.11767193e-05 9.99993060e-01 -5.13173198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.38, Y:-4.46, Z:-0.52 [[ 9.88729448e-01 1.49667921e-01 3.68674305e-03 1.10382578e+02] [-1.49666963e-01 9.88736321e-01 -5.35830784e-04 -4.45557266e+00] [-3.72541344e-03 -2.19919622e-05 9.99993060e-01 -5.16315457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.44, Y:-4.47, Z:-0.52 [[ 9.89083198e-01 1.47312039e-01 3.68665418e-03 1.10442969e+02] [-1.47311063e-01 9.89090068e-01 -5.36441550e-04 -4.46633964e+00] [-3.72545734e-03 -1.24996236e-05 9.99993060e-01 -5.16749022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.50, Y:-4.48, Z:-0.51 [[ 9.89026713e-01 1.47690795e-01 3.68657225e-03 1.10503869e+02] [-1.47689819e-01 9.89033583e-01 -5.37004032e-04 -4.48109579e+00] [-3.72545431e-03 -1.33578574e-05 9.99993060e-01 -5.13940437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.56, Y:-4.49, Z:-0.52 [[ 9.88837765e-01 1.48950614e-01 3.68647911e-03 1.10564552e+02] [-1.48949644e-01 9.88844636e-01 -5.37642674e-04 -4.48971119e+00] [-3.72543730e-03 -1.74583725e-05 9.99993060e-01 -5.18210960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.63, Y:-4.50, Z:-0.52 [[ 9.88164399e-01 1.53354263e-01 3.68642723e-03 1.10625354e+02] [-1.53353323e-01 9.88171275e-01 -5.37998170e-04 -4.49877284e+00] [-3.72532581e-03 -3.36952266e-05 9.99993060e-01 -5.21242874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:110.69, Y:-4.51, Z:-0.52 [[ 9.87209660e-01 1.59384747e-01 3.68633248e-03 1.10686998e+02] [-1.59383846e-01 9.87216541e-01 -5.38646615e-04 -4.51155802e+00] [-3.72506045e-03 -5.57847058e-05 9.99993060e-01 -5.16867131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:-4.52, Z:-0.52 [[ 9.86056588e-01 1.66369518e-01 3.68622974e-03 1.10749809e+02] [-1.66368663e-01 9.86063475e-01 -5.39348780e-04 -4.51771667e+00] [-3.72458770e-03 -8.14446972e-05 9.99993060e-01 -5.16355448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.81, Y:-4.52, Z:-0.52 [[ 9.85587121e-01 1.69128469e-01 3.68612765e-03 1.10811437e+02] [-1.69127631e-01 9.85594010e-01 -5.40045622e-04 -4.52342898e+00] [-3.72436242e-03 -9.11640273e-05 9.99993060e-01 -5.19117206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:-4.53, Z:-0.52 [[ 9.85903133e-01 1.67276493e-01 3.68603613e-03 1.10872013e+02] [-1.67275640e-01 9.85910020e-01 -5.40669539e-04 -4.53277852e+00] [-3.72454126e-03 -8.35362598e-05 9.99993060e-01 -5.17535029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:-4.54, Z:-0.51 [[ 9.87136770e-01 1.59835574e-01 3.68595222e-03 1.10932916e+02] [-1.59834667e-01 9.87143650e-01 -5.41240991e-04 -4.54327027e+00] [-3.72507389e-03 -5.48640619e-05 9.99993060e-01 -5.14689075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:-4.55, Z:-0.52 [[ 9.88376688e-01 1.51980053e-01 3.68586284e-03 1.10993360e+02] [-1.51979090e-01 9.88383561e-01 -5.41848968e-04 -4.55151633e+00] [-3.72539647e-03 -2.46231898e-05 9.99993060e-01 -5.23155436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:-4.56, Z:-0.52 [[ 9.88948466e-01 1.48213850e-01 3.68585004e-03 1.11054288e+02] [-1.48212860e-01 9.88955335e-01 -5.41936008e-04 -4.56408320e+00] [-3.72546349e-03 -1.03435916e-05 9.99993060e-01 -5.22862566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:-4.58, Z:-0.52 [[ 9.89238077e-01 1.46268391e-01 3.68576078e-03 1.11115366e+02] [-1.46267385e-01 9.89244943e-01 -5.42542422e-04 -4.57808295e+00] [-3.72547702e-03 -2.40296955e-06 9.99993060e-01 -5.21633998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:-4.59, Z:-0.52 [[ 9.89036422e-01 1.47625782e-01 3.68566668e-03 1.11175612e+02] [-1.47624782e-01 9.89043290e-01 -5.43180924e-04 -4.59007450e+00] [-3.72547141e-03 -6.87002437e-06 9.99993060e-01 -5.21848910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:-4.60, Z:-0.52 [[ 9.88695232e-01 1.49893810e-01 3.68558017e-03 1.11236551e+02] [-1.49892824e-01 9.88702101e-01 -5.43767277e-04 -4.60137018e+00] [-3.72544821e-03 -1.48219075e-05 9.99993060e-01 -5.20064583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.30, Y:-4.61, Z:-0.52 [[ 9.88074343e-01 1.53933460e-01 3.68549358e-03 1.11298097e+02] [-1.53932501e-01 9.88081216e-01 -5.44353556e-04 -4.61491525e+00] [-3.72536120e-03 -2.94554598e-05 9.99993060e-01 -5.18279279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.36, Y:-4.63, Z:-0.52 [[ 9.87064008e-01 1.60284314e-01 3.68539259e-03 1.11359435e+02] [-1.60283396e-01 9.87070887e-01 -5.45036421e-04 -4.62869390e+00] [-3.72510452e-03 -5.27214058e-05 9.99993060e-01 -5.20198121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.42, Y:-4.64, Z:-0.52 [[ 9.85970542e-01 1.66878726e-01 3.68536066e-03 1.11420882e+02] [-1.66877853e-01 9.85977426e-01 -5.45252173e-04 -4.63653360e+00] [-3.72467341e-03 -7.74024965e-05 9.99993060e-01 -5.21661544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:-4.65, Z:-0.52 [[ 9.85472767e-01 1.69793536e-01 3.68526932e-03 1.11480888e+02] [-1.69792681e-01 9.85479653e-01 -5.45868842e-04 -4.64585498e+00] [-3.72444294e-03 -8.77928824e-05 9.99993060e-01 -5.23105303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.54, Y:-4.66, Z:-0.53 [[ 9.85289430e-01 1.70854200e-01 3.68518553e-03 1.11540897e+02] [-1.70853351e-01 9.85296318e-01 -5.46433917e-04 -4.65588719e+00] [-3.72436027e-03 -9.12307336e-05 9.99993060e-01 -5.26619197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.60, Y:-4.66, Z:-0.52 [[ 9.85087857e-01 1.72012596e-01 3.68510355e-03 1.11602730e+02] [-1.72011752e-01 9.85094746e-01 -5.46986269e-04 -4.66377365e+00] [-3.72426467e-03 -9.50515863e-05 9.99993060e-01 -5.23599808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:-4.67, Z:-0.53 [[ 9.84945524e-01 1.72825740e-01 3.68501187e-03 1.11663437e+02] [-1.72824900e-01 9.84952412e-01 -5.47603175e-04 -4.67139950e+00] [-3.72420126e-03 -9.75025109e-05 9.99993060e-01 -5.26077721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:-4.68, Z:-0.53 [[ 9.84790937e-01 1.73704436e-01 3.68492743e-03 1.11724257e+02] [-1.73703600e-01 9.84797826e-01 -5.48170848e-04 -4.67577737e+00] [-3.72412823e-03 -1.00251478e-04 9.99993060e-01 -5.28125661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.79, Y:-4.68, Z:-0.53 [[ 9.85444817e-01 1.69955685e-01 3.68487875e-03 1.11786194e+02] [-1.69954822e-01 9.85451702e-01 -5.48497885e-04 -4.68029398e+00] [-3.72449037e-03 -8.57485126e-05 9.99993060e-01 -5.25737138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.85, Y:-4.68, Z:-0.53 [[ 9.86601072e-01 1.63109615e-01 3.68478720e-03 1.11847473e+02] [-1.63108701e-01 9.86607952e-01 -5.49112229e-04 -4.68218447e+00] [-3.72500583e-03 -5.92661396e-05 9.99993060e-01 -5.31640347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.91, Y:-4.69, Z:-0.53 [[ 9.87203280e-01 1.59424296e-01 3.68477417e-03 1.11909050e+02] [-1.59423356e-01 9.87210156e-01 -5.49199614e-04 -4.68868293e+00] [-3.72520225e-03 -4.52674053e-05 9.99993060e-01 -5.26043834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:-4.69, Z:-0.52 [[ 9.88085140e-01 1.53864160e-01 3.68468075e-03 1.11970503e+02] [-1.53863179e-01 9.88092010e-01 -5.49825711e-04 -4.68907572e+00] [-3.72540207e-03 -2.36620790e-05 9.99993060e-01 -5.23537904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.03, Y:-4.69, Z:-0.52 [[ 9.89138526e-01 1.46940127e-01 3.68459468e-03 1.12032812e+02] [-1.46939097e-01 9.89145388e-01 -5.50401839e-04 -4.68870650e+00] [-3.72547596e-03 3.01264928e-06 9.99993060e-01 -5.24067983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:-4.69, Z:-0.52 [[ 9.90255807e-01 1.39211568e-01 3.68451041e-03 1.12095445e+02] [-1.39210481e-01 9.90262661e-01 -5.50965444e-04 -4.69136116e+00] [-3.72533384e-03 3.26742648e-05 9.99993060e-01 -5.22610186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:-4.70, Z:-0.52 [[ 9.90956838e-01 1.34130422e-01 3.68441968e-03 1.12156220e+02] [-1.34129298e-01 9.90963686e-01 -5.51571457e-04 -4.70170052e+00] [-3.72510862e-03 5.23948812e-05 9.99993060e-01 -5.19341715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.22, Y:-4.71, Z:-0.52 [[ 9.91640049e-01 1.28982319e-01 3.68436995e-03 1.12218424e+02] [-1.28981158e-01 9.91646891e-01 -5.51903476e-04 -4.70774089e+00] [-3.72477979e-03 7.20752864e-05 9.99993060e-01 -5.23439856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.28, Y:-4.72, Z:-0.53 [[ 9.91479955e-01 1.30207238e-01 3.68427695e-03 1.12280143e+02] [-1.30206084e-01 9.91486798e-01 -5.52523564e-04 -4.71552610e+00] [-3.72485453e-03 6.81007636e-05 9.99993060e-01 -5.28634700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.34, Y:-4.72, Z:-0.53 [[ 9.90917894e-01 1.34417837e-01 3.68418314e-03 1.12342153e+02] [-1.34416709e-01 9.90924741e-01 -5.53148418e-04 -4.72435026e+00] [-3.72510124e-03 5.29088911e-05 9.99993060e-01 -5.31965247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:-4.73, Z:-0.53 [[ 9.89750170e-01 1.42762139e-01 3.68414993e-03 1.12403513e+02] [-1.42761069e-01 9.89757026e-01 -5.53369499e-04 -4.73312123e+00] [-3.72541349e-03 2.17443748e-05 9.99993060e-01 -5.33063732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.47, Y:-4.74, Z:-0.53 [[ 9.88459058e-01 1.51443448e-01 3.68405601e-03 1.12465619e+02] [-1.51442435e-01 9.88465923e-01 -5.53994044e-04 -4.73717084e+00] [-3.72546260e-03 -1.03219834e-05 9.99993060e-01 -5.28559052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:-4.74, Z:-0.53 [[ 9.87605701e-01 1.56912098e-01 3.68402956e-03 1.12527488e+02] [-1.56911123e-01 9.87612572e-01 -5.54169939e-04 -4.74289690e+00] [-3.72534987e-03 -3.07638224e-05 9.99993060e-01 -5.26692363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.59, Y:-4.75, Z:-0.52 [[ 9.86537545e-01 1.63493426e-01 3.68393763e-03 1.12589404e+02] [-1.63492494e-01 9.86544422e-01 -5.54780347e-04 -4.74708039e+00] [-3.72507106e-03 -5.49845089e-05 9.99993060e-01 -5.23714271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:-4.75, Z:-0.52 [[ 9.85866931e-01 1.67489770e-01 3.68384408e-03 1.12651373e+02] [-1.67488863e-01 9.85873812e-01 -5.55400837e-04 -4.75044041e+00] [-3.72482936e-03 -6.94515384e-05 9.99993060e-01 -5.24393888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.71, Y:-4.75, Z:-0.52 [[ 9.85960823e-01 1.66936171e-01 3.68377810e-03 1.12713568e+02] [-1.66935259e-01 9.85967702e-01 -5.55838106e-04 -4.75323735e+00] [-3.72487572e-03 -6.69178574e-05 9.99993060e-01 -5.21865116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.77, Y:-4.76, Z:-0.52 [[ 9.86457737e-01 1.63974278e-01 3.68368557e-03 1.12774595e+02] [-1.63973343e-01 9.86464613e-01 -5.56450687e-04 -4.75946908e+00] [-3.72506906e-03 -5.51111529e-05 9.99993060e-01 -5.23608247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.84, Y:-4.77, Z:-0.53 [[ 9.87228660e-01 1.59267083e-01 3.68360058e-03 1.12835141e+02] [-1.59266114e-01 9.87235532e-01 -5.57012715e-04 -4.76718528e+00] [-3.72529517e-03 -3.67738325e-05 9.99993060e-01 -5.28012385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:-4.77, Z:-0.53 [[ 9.87599315e-01 1.56952298e-01 3.68351643e-03 1.12897284e+02] [-1.56951310e-01 9.87606184e-01 -5.57568672e-04 -4.77081925e+00] [-3.72537529e-03 -2.74782899e-05 9.99993060e-01 -5.27080871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:-4.78, Z:-0.53 [[ 9.87814126e-01 1.55594618e-01 3.68342317e-03 1.12958972e+02] [-1.55593618e-01 9.87820993e-01 -5.58184094e-04 -4.77888186e+00] [-3.72541317e-03 -2.17350055e-05 9.99993060e-01 -5.29924713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.02, Y:-4.78, Z:-0.53 [[ 9.87434790e-01 1.57984075e-01 3.68332868e-03 1.13021497e+02] [-1.57983090e-01 9.87441660e-01 -5.58806883e-04 -4.78243198e+00] [-3.72535478e-03 -3.01182884e-05 9.99993060e-01 -5.32156522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.08, Y:-4.79, Z:-0.53 [[ 9.86689036e-01 1.62576691e-01 3.68322805e-03 1.13083458e+02] [-1.62575735e-01 9.86695909e-01 -5.59469414e-04 -4.78511520e+00] [-3.72518273e-03 -4.67811697e-05 9.99993060e-01 -5.28630108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:-4.79, Z:-0.52 [[ 9.85696308e-01 1.68491018e-01 3.68314240e-03 1.13145800e+02] [-1.68490101e-01 9.85703187e-01 -5.60032653e-04 -4.78722800e+00] [-3.72484568e-03 -6.85509166e-05 9.99993060e-01 -5.23782654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:-4.79, Z:-0.52 [[ 9.85775277e-01 1.68028383e-01 3.68304959e-03 1.13208650e+02] [-1.68027461e-01 9.85782156e-01 -5.60642362e-04 -4.78720763e+00] [-3.72488840e-03 -6.61860904e-05 9.99993060e-01 -5.16866190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:-4.79, Z:-0.52 [[ 9.86540274e-01 1.63476982e-01 3.68302187e-03 1.13270500e+02] [-1.63476028e-01 9.86547147e-01 -5.60824416e-04 -4.79017010e+00] [-3.72515660e-03 -4.88099127e-05 9.99993060e-01 -5.20433463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:-4.80, Z:-0.52 [[ 9.87092700e-01 1.60107583e-01 3.68293228e-03 1.13332059e+02] [-1.60106603e-01 9.87099570e-01 -5.61412166e-04 -4.79941574e+00] [-3.72530721e-03 -3.54959241e-05 9.99993060e-01 -5.19726298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:-4.80, Z:-0.52 [[ 9.87558391e-01 1.57209612e-01 3.68283879e-03 1.13393414e+02] [-1.57208609e-01 9.87565257e-01 -5.62024791e-04 -4.80196099e+00] [-3.72539933e-03 -2.39416644e-05 9.99993060e-01 -5.22187682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.46, Y:-4.81, Z:-0.52 [[ 9.87569523e-01 1.57139665e-01 3.68275265e-03 1.13455654e+02] [-1.57138659e-01 9.87576390e-01 -5.62588634e-04 -4.80624305e+00] [-3.72540456e-03 -2.31074252e-05 9.99993060e-01 -5.22013327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:-4.82, Z:-0.52 [[ 9.87722063e-01 1.56177986e-01 3.68265652e-03 1.13516979e+02] [-1.56176972e-01 9.87728929e-01 -5.63217205e-04 -4.81782644e+00] [-3.72542851e-03 -1.88440837e-05 9.99993060e-01 -5.23028449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:-4.82, Z:-0.52 [[ 9.87748493e-01 1.56010749e-01 3.68256073e-03 1.13578475e+02] [-1.56009731e-01 9.87755357e-01 -5.63842846e-04 -4.82458032e+00] [-3.72543463e-03 -1.75803875e-05 9.99993060e-01 -5.21960865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.64, Y:-4.83, Z:-0.53 [[ 9.87507917e-01 1.57526358e-01 3.68246364e-03 1.13640182e+02] [-1.57525348e-01 9.87514783e-01 -5.64476201e-04 -4.82795940e+00] [-3.72540716e-03 -2.26566485e-05 9.99993060e-01 -5.26030549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:-4.84, Z:-0.53 [[ 9.87343228e-01 1.58555321e-01 3.68237431e-03 1.13702218e+02] [-1.58554316e-01 9.87350095e-01 -5.65058318e-04 -4.83670258e+00] [-3.72538563e-03 -2.59498373e-05 9.99993060e-01 -5.27897925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:-4.84, Z:-0.53 [[ 9.86817305e-01 1.61796312e-01 3.68234002e-03 1.13763705e+02] [-1.61795329e-01 9.86824175e-01 -5.65281750e-04 -4.84211110e+00] [-3.72528265e-03 -3.79555996e-05 9.99993060e-01 -5.29934242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.83, Y:-4.84, Z:-0.53 [[ 9.86264449e-01 1.65132906e-01 3.68224529e-03 1.13827172e+02] [-1.65131944e-01 9.86271322e-01 -5.65898099e-04 -4.84480517e+00] [-3.72514133e-03 -4.99311470e-05 9.99993060e-01 -5.28963411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.89, Y:-4.85, Z:-0.53 [[ 9.86723390e-01 1.62368083e-01 3.68213712e-03 1.13889375e+02] [-1.62367099e-01 9.86730259e-01 -5.66601050e-04 -4.84963632e+00] [-3.72527404e-03 -3.87794145e-05 9.99993060e-01 -5.26455345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:-4.86, Z:-0.52 [[ 9.87403348e-01 1.58180501e-01 3.68204233e-03 1.13951105e+02] [-1.58179485e-01 9.87410213e-01 -5.67216428e-04 -4.85832843e+00] [-3.72540878e-03 -2.23521592e-05 9.99993060e-01 -5.23358975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.01, Y:-4.87, Z:-0.52 [[ 9.88543799e-01 1.50889367e-01 3.68194576e-03 1.14011179e+02] [-1.50888298e-01 9.88550656e-01 -5.67842545e-04 -4.86964180e+00] [-3.72547130e-03 5.77469603e-06 9.99993060e-01 -5.22711323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:-4.88, Z:-0.52 [[ 9.89291253e-01 1.45908401e-01 3.68185676e-03 1.14071856e+02] [-1.45907296e-01 9.89298104e-01 -5.68419059e-04 -4.88127522e+00] [-3.72539103e-03 2.51222382e-05 9.99993060e-01 -5.23781855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.13, Y:-4.89, Z:-0.53 [[ 9.89577287e-01 1.43955682e-01 3.68176119e-03 1.14133071e+02] [-1.43954561e-01 9.89584135e-01 -5.69037399e-04 -4.89380095e+00] [-3.72532863e-03 3.31001702e-05 9.99993060e-01 -5.26418001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:-4.91, Z:-0.53 [[ 9.89567388e-01 1.44023715e-01 3.68166314e-03 1.14193287e+02] [-1.44022592e-01 9.89574236e-01 -5.69671113e-04 -4.90713263e+00] [-3.72532513e-03 3.34852868e-05 9.99993060e-01 -5.27696314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.25, Y:-4.92, Z:-0.53 [[ 9.89151861e-01 1.46850406e-01 3.68155889e-03 1.14253482e+02] [-1.46849300e-01 9.89158712e-01 -5.70344041e-04 -4.92383102e+00] [-3.72540130e-03 2.35225249e-05 9.99993060e-01 -5.28055183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:-4.93, Z:-0.53 [[ 9.87875526e-01 1.55204355e-01 3.68146169e-03 1.14314528e+02] [-1.55203305e-01 9.87882386e-01 -5.70970753e-04 -4.93149123e+00] [-3.72546830e-03 -7.32698781e-06 9.99993060e-01 -5.29713124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:-4.94, Z:-0.53 [[ 9.86695535e-01 1.62537287e-01 3.68137244e-03 1.14375779e+02] [-1.62536286e-01 9.86702402e-01 -5.71545604e-04 -4.94186280e+00] [-3.72531650e-03 -3.44151072e-05 9.99993060e-01 -5.29681011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:-4.95, Z:-0.53 [[ 9.85006186e-01 1.72479745e-01 3.68127498e-03 1.14436285e+02] [-1.72478811e-01 9.85013062e-01 -5.72172674e-04 -4.94818599e+00] [-3.72479213e-03 -7.13483062e-05 9.99993060e-01 -5.29946326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.50, Y:-4.95, Z:-0.53 [[ 9.83761404e-01 1.79443440e-01 3.68126111e-03 1.14498394e+02] [-1.79442554e-01 9.83768287e-01 -5.72261855e-04 -4.95361622e+00] [-3.72419657e-03 -9.76057712e-05 9.99993060e-01 -5.25843066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.56, Y:-4.96, Z:-0.52 [[ 9.83395936e-01 1.81435612e-01 3.68116543e-03 1.14560381e+02] [-1.81434737e-01 9.83402821e-01 -5.72876714e-04 -4.96052942e+00] [-3.72400870e-03 -1.04526650e-04 9.99993060e-01 -5.24739741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.62, Y:-4.97, Z:-0.52 [[ 9.84318032e-01 1.76364571e-01 3.68107056e-03 1.14620696e+02] [-1.76363659e-01 9.84324911e-01 -5.73485636e-04 -4.96781726e+00] [-3.72451200e-03 -8.47148201e-05 9.99993060e-01 -5.24704555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:-4.98, Z:-0.53 [[ 9.85881255e-01 1.67405498e-01 3.68105708e-03 1.14681652e+02] [-1.67404523e-01 9.85888126e-01 -5.73572139e-04 -4.97852028e+00] [-3.72512960e-03 -5.07515835e-05 9.99993060e-01 -5.25303130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:-4.99, Z:-0.53 [[ 9.87238493e-01 1.59206185e-01 3.68096186e-03 1.14742040e+02] [-1.59205151e-01 9.87245355e-01 -5.74182605e-04 -4.99437729e+00] [-3.72542592e-03 -1.91729190e-05 9.99993060e-01 -5.26349276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:-5.01, Z:-0.53 [[ 9.87808238e-01 1.55632052e-01 3.68086544e-03 1.14803296e+02] [-1.55630990e-01 9.87815096e-01 -5.74800038e-04 -5.00686763e+00] [-3.72547176e-03 -5.06451948e-06 9.99993060e-01 -5.25869006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.86, Y:-5.01, Z:-0.53 [[ 9.87825475e-01 1.55522610e-01 3.68079691e-03 1.14864628e+02] [-1.55521546e-01 9.87832333e-01 -5.75238544e-04 -5.01491077e+00] [-3.72547280e-03 -4.20793750e-06 9.99993060e-01 -5.28571751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.93, Y:-5.03, Z:-0.53 [[ 9.87325265e-01 1.58667180e-01 3.68069984e-03 1.14925386e+02] [-1.58666136e-01 9.87332125e-01 -5.75858980e-04 -5.02944046e+00] [-3.72544311e-03 -1.54422996e-05 9.99993060e-01 -5.30536203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.99, Y:-5.04, Z:-0.53 [[ 9.86738902e-01 1.62273821e-01 3.68060373e-03 1.14987942e+02] [-1.62272800e-01 9.86745766e-01 -5.76472627e-04 -5.04024791e+00] [-3.72536656e-03 -2.84339054e-05 9.99993060e-01 -5.31256202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:-5.05, Z:-0.53 [[ 9.86373491e-01 1.64480361e-01 3.68049400e-03 1.15049342e+02] [-1.64479353e-01 9.86380357e-01 -5.77172309e-04 -5.04794346e+00] [-3.72530050e-03 -3.60578049e-05 9.99993060e-01 -5.31172422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.11, Y:-5.06, Z:-0.53 [[ 9.86290173e-01 1.64979236e-01 3.68039478e-03 1.15109097e+02] [-1.64978229e-01 9.86297040e-01 -5.77804322e-04 -5.06203458e+00] [-3.72528819e-03 -3.73022869e-05 9.99993060e-01 -5.33254193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.17, Y:-5.08, Z:-0.53 [[ 9.86578247e-01 1.63247718e-01 3.68030360e-03 1.15170220e+02] [-1.63246697e-01 9.86585111e-01 -5.78384495e-04 -5.07569298e+00] [-3.72535269e-03 -3.01758439e-05 9.99993060e-01 -5.30492699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.23, Y:-5.09, Z:-0.53 [[ 9.86824429e-01 1.61752904e-01 3.68020558e-03 1.15229576e+02] [-1.61751869e-01 9.86831291e-01 -5.79007521e-04 -5.08866612e+00] [-3.72539817e-03 -2.39013645e-05 9.99993060e-01 -5.29778015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.29, Y:-5.10, Z:-0.53 [[ 9.86619409e-01 1.62998766e-01 3.68019166e-03 1.15290137e+02] [-1.62997740e-01 9.86626272e-01 -5.79095964e-04 -5.10166065e+00] [-3.72536571e-03 -2.85156048e-05 9.99993060e-01 -5.28722923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.35, Y:-5.11, Z:-0.53 [[ 9.85939641e-01 1.67061308e-01 3.68009345e-03 1.15349566e+02] [-1.67060308e-01 9.85946508e-01 -5.79719452e-04 -5.11446020e+00] [-3.72522397e-03 -4.32291569e-05 9.99993060e-01 -5.28202701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.41, Y:-5.12, Z:-0.52 [[ 9.84549410e-01 1.75068318e-01 3.68004482e-03 1.15411569e+02] [-1.75067373e-01 9.84556285e-01 -5.80027978e-04 -5.12091663e+00] [-3.72475578e-03 -7.31895738e-05 9.99993060e-01 -5.24992265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.47, Y:-5.13, Z:-0.52 [[ 9.83567159e-01 1.80505132e-01 3.67994936e-03 1.15472594e+02] [-1.80504222e-01 9.83574038e-01 -5.80632982e-04 -5.13019834e+00] [-3.72430989e-03 -9.31548630e-05 9.99993060e-01 -5.19460401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.53, Y:-5.14, Z:-0.52 [[ 9.82832072e-01 1.84465650e-01 3.67985849e-03 1.15534685e+02] [-1.84464766e-01 9.82838955e-01 -5.81208288e-04 -5.13769484e+00] [-3.72392124e-03 -1.07574089e-04 9.99993060e-01 -5.19055255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:-5.14, Z:-0.53 [[ 9.82889650e-01 1.84158617e-01 3.67974557e-03 1.15595732e+02] [-1.84157728e-01 9.82896532e-01 -5.81922326e-04 -5.14256787e+00] [-3.72397517e-03 -1.05688154e-04 9.99993060e-01 -5.26945620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:-5.15, Z:-0.53 [[ 9.83804710e-01 1.79205893e-01 3.67965478e-03 1.15657801e+02] [-1.79204967e-01 9.83811588e-01 -5.82495856e-04 -5.15057583e+00] [-3.72447371e-03 -8.63502486e-05 9.99993060e-01 -5.27618893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.72, Y:-5.16, Z:-0.53 [[ 9.85884707e-01 1.67385199e-01 3.67955879e-03 1.15718072e+02] [-1.67384188e-01 9.85891573e-01 -5.83101612e-04 -5.16266834e+00] [-3.72524858e-03 -4.10289979e-05 9.99993060e-01 -5.27240503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.78, Y:-5.17, Z:-0.53 [[ 9.87809009e-01 1.55627191e-01 3.67947032e-03 1.15778367e+02] [-1.55626096e-01 9.87815862e-01 -5.83659355e-04 -5.17173908e+00] [-3.72547241e-03 3.92236795e-06 9.99993060e-01 -5.30266020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.84, Y:-5.19, Z:-0.53 [[ 9.89014193e-01 1.47774790e-01 3.67938224e-03 1.15838451e+02] [-1.47773639e-01 9.89021036e-01 -5.84214043e-04 -5.18633882e+00] [-3.72531855e-03 3.40802752e-05 9.99993060e-01 -5.25366263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.90, Y:-5.20, Z:-0.53 [[ 9.89376179e-01 1.45331478e-01 3.67929213e-03 1.15899910e+02] [-1.45330308e-01 9.89383020e-01 -5.84781006e-04 -5.19899101e+00] [-3.72521625e-03 4.38557401e-05 9.99993060e-01 -5.25969674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.96, Y:-5.21, Z:-0.53 [[ 9.89260929e-01 1.46113920e-01 3.67918052e-03 1.15959711e+02] [-1.46112752e-01 9.89267770e-01 -5.85482349e-04 -5.20987478e+00] [-3.72524183e-03 4.16196192e-05 9.99993060e-01 -5.26384850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.02, Y:-5.22, Z:-0.52 [[ 9.88390197e-01 1.51892338e-01 3.67909049e-03 1.16021032e+02] [-1.51891209e-01 9.88397044e-01 -5.86047587e-04 -5.21942820e+00] [-3.72541830e-03 2.04221872e-05 9.99993060e-01 -5.22221671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.08, Y:-5.23, Z:-0.52 [[ 9.87062154e-01 1.60295878e-01 3.67899209e-03 1.16081485e+02] [-1.60294804e-01 9.87069011e-01 -5.86664613e-04 -5.23169307e+00] [-3.72545900e-03 -1.06488812e-05 9.99993060e-01 -5.24727566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.14, Y:-5.24, Z:-0.52 [[ 9.86042341e-01 1.66454101e-01 3.67889493e-03 1.16143849e+02] [-1.66453068e-01 9.86049203e-01 -5.87273266e-04 -5.23847239e+00] [-3.72532546e-03 -3.32870424e-05 9.99993060e-01 -5.23856673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-5.25, Z:-0.53 [[ 9.84892494e-01 1.73127817e-01 3.67878287e-03 1.16206055e+02] [-1.73126828e-01 9.84899363e-01 -5.87974416e-04 -5.24647964e+00] [-3.72502563e-03 -5.78044218e-05 9.99993060e-01 -5.26587084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-5.25, Z:-0.53 [[ 9.84284836e-01 1.76549789e-01 3.67874819e-03 1.16267169e+02] [-1.76548824e-01 9.84291708e-01 -5.88191333e-04 -5.25306121e+00] [-3.72480639e-03 -7.05308554e-05 9.99993060e-01 -5.28073107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:-5.25, Z:-0.53 [[ 9.83488630e-01 1.80932532e-01 3.67869425e-03 1.16330241e+02] [-1.80931596e-01 9.83495506e-01 -5.88528476e-04 -5.25466872e+00] [-3.72446321e-03 -8.67809573e-05 9.99993060e-01 -5.30493703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:-5.26, Z:-0.53 [[ 9.83416164e-01 1.81325997e-01 3.67859881e-03 1.16392548e+02] [-1.81325061e-01 9.83423040e-01 -5.89124437e-04 -5.25743854e+00] [-3.72444240e-03 -8.76676585e-05 9.99993060e-01 -5.27292622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.45, Y:-5.26, Z:-0.53 [[ 9.83809384e-01 1.79180259e-01 3.67849737e-03 1.16453468e+02] [-1.79179306e-01 9.83816258e-01 -5.89757110e-04 -5.26289851e+00] [-3.72463835e-03 -7.89020261e-05 9.99993060e-01 -5.27019406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:-5.27, Z:-0.52 [[ 9.84132923e-01 1.77394639e-01 3.67844314e-03 1.16516042e+02] [-1.77393673e-01 9.84139795e-01 -5.90095178e-04 -5.26655503e+00] [-3.72478200e-03 -7.18004453e-05 9.99993060e-01 -5.21299680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:-5.27, Z:-0.52 [[ 9.84965490e-01 1.72712056e-01 3.67834723e-03 1.16579390e+02] [-1.72711054e-01 9.84972356e-01 -5.90692417e-04 -5.26569591e+00] [-3.72509004e-03 -5.34795812e-05 9.99993060e-01 -5.21679989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:-5.27, Z:-0.53 [[ 9.86353109e-01 1.64602594e-01 3.67824621e-03 1.16641175e+02] [-1.64601534e-01 9.86359968e-01 -5.91320821e-04 -5.27032177e+00] [-3.72540775e-03 -2.21938364e-05 9.99993060e-01 -5.26252113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:-5.27, Z:-0.53 [[ 9.87658157e-01 1.56581722e-01 3.67814512e-03 1.16703262e+02] [-1.56580604e-01 9.87665006e-01 -5.91948915e-04 -5.27228855e+00] [-3.72546361e-03 8.71699134e-06 9.99993060e-01 -5.31732289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:-5.28, Z:-0.53 [[ 9.88428699e-01 1.51641615e-01 3.67804478e-03 1.16765037e+02] [-1.51640460e-01 9.88435542e-01 -5.92571769e-04 -5.27733096e+00] [-3.72536872e-03 2.79745413e-05 9.99993060e-01 -5.29324550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:-5.28, Z:-0.53 [[ 9.88920238e-01 1.48402276e-01 3.67794093e-03 1.16828160e+02] [-1.48401096e-01 9.88927077e-01 -5.93215628e-04 -5.28409811e+00] [-3.72524992e-03 4.08324759e-05 9.99993060e-01 -5.28575402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.89, Y:-5.29, Z:-0.53 [[ 9.89422255e-01 1.45017498e-01 3.67782098e-03 1.16890614e+02] [-1.45016292e-01 9.89429089e-01 -5.93958380e-04 -5.28903306e+00] [-3.72507742e-03 5.43316787e-05 9.99993060e-01 -5.31037836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.95, Y:-5.29, Z:-0.53 [[ 9.88794376e-01 1.49238589e-01 3.67770973e-03 1.16952173e+02] [-1.49237409e-01 9.88801215e-01 -5.94646393e-04 -5.29102286e+00] [-3.72526804e-03 3.91311366e-05 9.99993060e-01 -5.34543195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.01, Y:-5.29, Z:-0.53 [[ 9.87684520e-01 1.56415360e-01 3.67761794e-03 1.17012681e+02] [-1.56414228e-01 9.87691366e-01 -5.95213532e-04 -5.29421049e+00] [-3.72545203e-03 1.26514218e-05 9.99993060e-01 -5.30833606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.07, Y:-5.30, Z:-0.53 [[ 9.87295733e-01 1.58850906e-01 3.67761794e-03 1.17073346e+02] [-1.58849791e-01 9.87302583e-01 -5.95213532e-04 -5.29722560e+00] [-3.72547190e-03 3.46293793e-06 9.99993060e-01 -5.31267497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.13, Y:-5.30, Z:-0.53 [[ 9.87694828e-01 1.56350253e-01 3.67761794e-03 1.17133793e+02] [-1.56349121e-01 9.87701675e-01 -5.95213532e-04 -5.29854507e+00] [-3.72545119e-03 1.28969953e-05 9.99993060e-01 -5.28618979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.19, Y:-5.31, Z:-0.53 [[ 9.88545094e-01 1.50880989e-01 3.67762501e-03 1.17194282e+02] [-1.50879819e-01 9.88551934e-01 -5.95169867e-04 -5.30711205e+00] [-3.72532313e-03 3.34728567e-05 9.99993060e-01 -5.28591354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:-5.32, Z:-0.52 [[ 9.89718299e-01 1.42983087e-01 3.67761060e-03 1.17255755e+02] [-1.42981862e-01 9.89725130e-01 -5.95258898e-04 -5.31772195e+00] [-3.72493558e-03 6.33070126e-05 9.99993060e-01 -5.24576614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.32, Y:-5.33, Z:-0.52 [[ 9.90140544e-01 1.40029210e-01 3.67750641e-03 1.17317843e+02] [-1.40027963e-01 9.90147370e-01 -5.95901863e-04 -5.32616958e+00] [-3.72471697e-03 7.50728643e-05 9.99993060e-01 -5.24320863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:-5.34, Z:-0.53 [[ 9.90048061e-01 1.40681602e-01 3.67740355e-03 1.17378326e+02] [-1.40680357e-01 9.90054888e-01 -5.96535936e-04 -5.33590381e+00] [-3.72475299e-03 7.32608024e-05 9.99993060e-01 -5.26116270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:-5.35, Z:-0.53 [[ 9.89735480e-01 1.42864117e-01 3.67738878e-03 1.17438086e+02] [-1.42862886e-01 9.89742310e-01 -5.96626982e-04 -5.34636534e+00] [-3.72490385e-03 6.51405186e-05 9.99993060e-01 -5.31050951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:-5.35, Z:-0.53 [[ 9.89205619e-01 1.46487956e-01 3.67738148e-03 1.17497639e+02] [-1.46486749e-01 9.89212453e-01 -5.96671973e-04 -5.35475175e+00] [-3.72511681e-03 5.15436086e-05 9.99993060e-01 -5.30294847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.56, Y:-5.36, Z:-0.53 [[ 9.88564905e-01 1.50751140e-01 3.67738148e-03 1.17557881e+02] [-1.50749963e-01 9.88571744e-01 -5.96671973e-04 -5.36196140e+00] [-3.72530440e-03 3.54838485e-05 9.99993060e-01 -5.31265894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:-5.37, Z:-0.53 [[ 9.87705698e-01 1.56281575e-01 3.67738148e-03 1.17617808e+02] [-1.56280437e-01 9.87712544e-01 -5.96671973e-04 -5.36677779e+00] [-3.72544465e-03 1.46335227e-05 9.99993060e-01 -5.33158903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:-5.37, Z:-0.53 [[ 9.87389043e-01 1.58269876e-01 3.67739605e-03 1.17676054e+02] [-1.58268752e-01 9.87395891e-01 -5.96582153e-04 -5.37424586e+00] [-3.72546674e-03 7.04179682e-06 9.99993060e-01 -5.33725896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:-5.38, Z:-0.53 [[ 9.87648922e-01 1.56639981e-01 3.67741771e-03 1.17735179e+02] [-1.56638846e-01 9.87655768e-01 -5.96448620e-04 -5.38110612e+00] [-3.72545051e-03 1.30553707e-05 9.99993060e-01 -5.30239734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.79, Y:-5.39, Z:-0.53 [[ 9.88654879e-01 1.50159936e-01 3.67743247e-03 1.17793539e+02] [-1.50158757e-01 9.88661718e-01 -5.96357643e-04 -5.39339517e+00] [-3.72528572e-03 3.73932064e-05 9.99993060e-01 -5.29694355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.85, Y:-5.41, Z:-0.53 [[ 9.89824141e-01 1.42248538e-01 3.67742895e-03 1.17853743e+02] [-1.42247304e-01 9.89830970e-01 -5.96379341e-04 -5.40781815e+00] [-3.72486715e-03 6.72063150e-05 9.99993060e-01 -5.27693630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:-5.43, Z:-0.53 [[ 9.90594309e-01 1.36782277e-01 3.67741426e-03 1.17914474e+02] [-1.36781004e-01 9.90601131e-01 -5.96469900e-04 -5.42590204e+00] [-3.72443723e-03 8.78592734e-05 9.99993060e-01 -5.27638996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:-5.44, Z:-0.53 [[ 9.90516000e-01 1.37348214e-01 3.67729751e-03 1.17974672e+02] [-1.37346943e-01 9.90522822e-01 -5.97188791e-04 -5.43952834e+00] [-3.72446992e-03 8.64594803e-05 9.99993060e-01 -5.29865151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:-5.45, Z:-0.53 [[ 9.89678303e-01 1.43259674e-01 3.67720364e-03 1.18035004e+02] [-1.43258442e-01 9.89685133e-01 -5.97766253e-04 -5.44845608e+00] [-3.72490957e-03 6.48058275e-05 9.99993060e-01 -5.33211652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.09, Y:-5.46, Z:-0.54 [[ 9.88744491e-01 1.49568749e-01 3.67718911e-03 1.18093808e+02] [-1.49567560e-01 9.88751328e-01 -5.97855598e-04 -5.46225586e+00] [-3.72524613e-03 4.11382268e-05 9.99993060e-01 -5.35475054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.15, Y:-5.47, Z:-0.54 [[ 9.87561926e-01 1.57187531e-01 3.67718187e-03 1.18153624e+02] [-1.57186395e-01 9.87568772e-01 -5.97900113e-04 -5.47413622e+00] [-3.72545243e-03 1.24604262e-05 9.99993060e-01 -5.38478290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:-5.48, Z:-0.54 [[ 9.86891686e-01 1.61342119e-01 3.67717483e-03 1.18214100e+02] [-1.61341011e-01 9.86898536e-01 -5.97943446e-04 -5.48198865e+00] [-3.72547192e-03 -3.17368901e-06 9.99993060e-01 -5.38550663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:-5.50, Z:-0.53 [[ 9.87009381e-01 1.60620549e-01 3.67717483e-03 1.18272593e+02] [-1.60619436e-01 9.87016231e-01 -5.97943446e-04 -5.49633233e+00] [-3.72547324e-03 -4.49955939e-07 9.99993060e-01 -5.32997209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.33, Y:-5.51, Z:-0.53 [[ 9.87559881e-01 1.57200379e-01 3.67713882e-03 1.18332627e+02] [-1.57199242e-01 9.87566727e-01 -5.98164769e-04 -5.50768319e+00] [-3.72545168e-03 1.26800936e-05 9.99993060e-01 -5.31082876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.39, Y:-5.52, Z:-0.53 [[ 9.88390729e-01 1.51888922e-01 3.67712452e-03 1.18393176e+02] [-1.51887747e-01 9.88397569e-01 -5.98252706e-04 -5.51956650e+00] [-3.72532889e-03 3.27972689e-05 9.99993060e-01 -5.31957078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:-5.54, Z:-0.53 [[ 9.88571961e-01 1.50704872e-01 3.67702262e-03 1.18454255e+02] [-1.50703687e-01 9.88578798e-01 -5.98878374e-04 -5.53703416e+00] [-3.72528049e-03 3.78935045e-05 9.99993060e-01 -5.32402936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.52, Y:-5.54, Z:-0.54 [[ 9.88097452e-01 1.53785258e-01 3.67690520e-03 1.18515155e+02] [-1.53784091e-01 9.88104293e-01 -5.99598409e-04 -5.54447228e+00] [-3.72537521e-03 2.70121349e-05 9.99993060e-01 -5.35659034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.58, Y:-5.55, Z:-0.54 [[ 9.87479506e-01 1.57704487e-01 3.67684686e-03 1.18575792e+02] [-1.57703346e-01 9.87486352e-01 -5.99955957e-04 -5.55350161e+00] [-3.72545183e-03 1.25931592e-05 9.99993060e-01 -5.36351391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.64, Y:-5.56, Z:-0.54 [[ 9.86521473e-01 1.63590541e-01 3.67683228e-03 1.18636862e+02] [-1.63589441e-01 9.86528324e-01 -6.00045274e-04 -5.56247292e+00] [-3.72546092e-03 -9.53338930e-06 9.99993060e-01 -5.38349817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.70, Y:-5.57, Z:-0.54 [[ 9.86461855e-01 1.63949655e-01 3.67681762e-03 1.18697830e+02] [-1.63948557e-01 9.86468707e-01 -6.00135111e-04 -5.57050924e+00] [-3.72545747e-03 -1.07985486e-05 9.99993060e-01 -5.37813883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.76, Y:-5.58, Z:-0.53 [[ 9.87696866e-01 1.56337397e-01 3.67680295e-03 1.18758720e+02] [-1.56336246e-01 9.87703710e-01 -6.00224953e-04 -5.57566016e+00] [-3.72542952e-03 1.80227345e-05 9.99993060e-01 -5.34917504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.82, Y:-5.59, Z:-0.54 [[ 9.90070966e-01 1.40520330e-01 3.67670841e-03 1.18818949e+02] [-1.40519068e-01 9.90077790e-01 -6.00803487e-04 -5.59270091e+00] [-3.72465245e-03 7.81904504e-05 9.99993060e-01 -5.38057805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.88, Y:-5.61, Z:-0.54 [[ 9.91982123e-01 1.26324781e-01 3.67660236e-03 1.18878156e+02] [-1.26323418e-01 9.91988927e-01 -6.01451760e-04 -5.61323666e+00] [-3.72312710e-03 1.32188416e-04 9.99993060e-01 -5.35526702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.94, Y:-5.63, Z:-0.54 [[ 9.92373281e-01 1.23214265e-01 3.67650045e-03 1.18938266e+02] [-1.23212879e-01 9.92380080e-01 -6.02074064e-04 -5.62993650e+00] [-3.72266993e-03 1.44490010e-04 9.99993060e-01 -5.38267856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.00, Y:-5.65, Z:-0.54 [[ 9.91404452e-01 1.30781100e-01 3.67639551e-03 1.18997688e+02] [-1.30779764e-01 9.91411262e-01 -6.02714186e-04 -5.64646513e+00] [-3.72364354e-03 1.16735392e-04 9.99993060e-01 -5.42836845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.06, Y:-5.66, Z:-0.54 [[ 9.88944396e-01 1.48241242e-01 3.67629936e-03 1.19058445e+02] [-1.48240024e-01 9.88951228e-01 -6.03300073e-04 -5.66239452e+00] [-3.72511472e-03 5.16555219e-05 9.99993060e-01 -5.43593173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.12, Y:-5.67, Z:-0.54 [[ 9.85674706e-01 1.68617492e-01 3.67619725e-03 1.19118410e+02] [-1.68616412e-01 9.85681562e-01 -6.03921656e-04 -5.67452052e+00] [-3.72539160e-03 -2.45968905e-05 9.99993060e-01 -5.40901099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:-5.68, Z:-0.54 [[ 9.83486150e-01 1.80946068e-01 3.67610247e-03 1.19180008e+02] [-1.80945072e-01 9.83493018e-01 -6.04498045e-04 -5.68029702e+00] [-3.72480265e-03 -7.06571705e-05 9.99993060e-01 -5.40934622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:-5.68, Z:-0.55 [[ 9.81181279e-01 1.93053836e-01 3.67608798e-03 1.19239678e+02] [-1.93052924e-01 9.81188159e-01 -6.04586143e-04 -5.68476987e+00] [-3.72365167e-03 -1.16470929e-04 9.99993060e-01 -5.45266750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.30, Y:-5.69, Z:-0.55 [[ 9.80705244e-01 1.95457695e-01 3.67609511e-03 1.19300901e+02] [-1.95456801e-01 9.80712126e-01 -6.04542810e-04 -5.69279736e+00] [-3.72335359e-03 -1.25639485e-04 9.99993060e-01 -5.45962737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.36, Y:-5.70, Z:-0.55 [[ 9.81936367e-01 1.89175733e-01 3.67608062e-03 1.19362630e+02] [-1.89174794e-01 9.81943243e-01 -6.04630883e-04 -5.69733604e+00] [-3.72408401e-03 -1.01712741e-04 9.99993060e-01 -5.50118389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.42, Y:-5.71, Z:-0.55 [[ 9.83596811e-01 1.80343564e-01 3.67597986e-03 1.19423331e+02] [-1.80342561e-01 9.83603678e-01 -6.05242830e-04 -5.70584519e+00] [-3.72485896e-03 -6.76207049e-05 9.99993060e-01 -5.51277807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.49, Y:-5.72, Z:-0.55 [[ 9.85214861e-01 1.71283874e-01 3.67588778e-03 1.19485065e+02] [-1.71282805e-01 9.85221718e-01 -6.05801600e-04 -5.71513551e+00] [-3.72532851e-03 -3.27716311e-05 9.99993060e-01 -5.51969541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:-5.72, Z:-0.55 [[ 9.86996235e-01 1.60701343e-01 3.67578820e-03 1.19547693e+02] [-1.60700199e-01 9.87003079e-01 -6.06405199e-04 -5.71967762e+00] [-3.72546440e-03 7.81975414e-06 9.99993060e-01 -5.50076181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.61, Y:-5.73, Z:-0.55 [[ 9.87832275e-01 1.55479534e-01 3.67566673e-03 1.19608790e+02] [-1.55478351e-01 9.87839113e-01 -6.07140555e-04 -5.72745902e+00] [-3.72536530e-03 2.82664312e-05 9.99993060e-01 -5.51007048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:-5.74, Z:-0.55 [[ 9.88177465e-01 1.53270311e-01 3.67556822e-03 1.19669613e+02] [-1.53269111e-01 9.88184300e-01 -6.07736370e-04 -5.73561422e+00] [-3.72528675e-03 3.72003133e-05 9.99993060e-01 -5.51112225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.73, Y:-5.74, Z:-0.55 [[ 9.88493702e-01 1.51217366e-01 3.67547382e-03 1.19731414e+02] [-1.51216149e-01 9.88500534e-01 -6.08306717e-04 -5.74323400e+00] [-3.72519438e-03 4.55163600e-05 9.99993060e-01 -5.51180380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.79, Y:-5.75, Z:-0.55 [[ 9.88770374e-01 1.49397588e-01 3.67537346e-03 1.19792110e+02] [-1.49396356e-01 9.88777203e-01 -6.08912509e-04 -5.75215316e+00] [-3.72509555e-03 5.29872460e-05 9.99993060e-01 -5.52927699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.85, Y:-5.76, Z:-0.55 [[ 9.88556912e-01 1.50803589e-01 3.67535924e-03 1.19852848e+02] [-1.50802367e-01 9.88563744e-01 -6.08998336e-04 -5.76120608e+00] [-3.72516602e-03 4.77766402e-05 9.99993060e-01 -5.52499261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:-5.77, Z:-0.55 [[ 9.88056467e-01 1.54048402e-01 3.67534488e-03 1.19913668e+02] [-1.54047202e-01 9.88063302e-01 -6.09084982e-04 -5.76877097e+00] [-3.72530197e-03 3.56337600e-05 9.99993060e-01 -5.52718565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:-5.77, Z:-0.55 [[ 9.87062445e-01 1.60294171e-01 3.67533051e-03 1.19974492e+02] [-1.60293014e-01 9.87069288e-01 -6.09171658e-04 -5.77210397e+00] [-3.72545254e-03 1.21606612e-05 9.99993060e-01 -5.51267618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.03, Y:-5.78, Z:-0.55 [[ 9.86599128e-01 1.63121589e-01 3.67533051e-03 1.20033723e+02] [-1.63120451e-01 9.86605974e-01 -6.09171658e-04 -5.77820889e+00] [-3.72547209e-03 1.48665434e-06 9.99993060e-01 -5.54063498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.09, Y:-5.79, Z:-0.55 [[ 9.86621683e-01 1.62985109e-01 3.67534507e-03 1.20093520e+02] [-1.62983970e-01 9.86628529e-01 -6.09083798e-04 -5.78554454e+00] [-3.72547189e-03 1.91294909e-06 9.99993060e-01 -5.53725127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.15, Y:-5.79, Z:-0.55 [[ 9.86591885e-01 1.63165387e-01 3.67534507e-03 1.20153350e+02] [-1.63164250e-01 9.86598731e-01 -6.09083798e-04 -5.79304313e+00] [-3.72547218e-03 1.23221051e-06 9.99993060e-01 -5.50629904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.21, Y:-5.80, Z:-0.55 [[ 9.86511386e-01 1.63651388e-01 3.67534507e-03 1.20212594e+02] [-1.63650254e-01 9.86518233e-01 -6.09083798e-04 -5.79518187e+00] [-3.72547234e-03 -6.03054778e-07 9.99993060e-01 -5.51064732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:-5.80, Z:-0.55 [[ 9.86737644e-01 1.62281588e-01 3.67536719e-03 1.20271476e+02] [-1.62280445e-01 9.86744489e-01 -6.08950293e-04 -5.80378750e+00] [-3.72546974e-03 4.43395272e-06 9.99993060e-01 -5.54025829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:-5.81, Z:-0.55 [[ 9.86954547e-01 1.60957178e-01 3.67538197e-03 1.20330900e+02] [-1.60956027e-01 9.86961391e-01 -6.08861072e-04 -5.80951076e+00] [-3.72546066e-03 9.34332483e-06 9.99993060e-01 -5.52929583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:-5.81, Z:-0.55 [[ 9.86914877e-01 1.61200237e-01 3.67539677e-03 1.20389115e+02] [-1.61199088e-01 9.86921721e-01 -6.08771749e-04 -5.81193468e+00] [-3.72546306e-03 8.33528915e-06 9.99993060e-01 -5.52815101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:-5.81, Z:-0.56 [[ 9.86868367e-01 1.61484731e-01 3.67543334e-03 1.20448734e+02] [-1.61483584e-01 9.86875211e-01 -6.08550867e-04 -5.81494037e+00] [-3.72546573e-03 7.03745036e-06 9.99993060e-01 -5.55472594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:-5.82, Z:-0.55 [[ 9.87158138e-01 1.59703796e-01 3.67547529e-03 1.20507116e+02] [-1.59702638e-01 9.87164980e-01 -6.08297422e-04 -5.81942031e+00] [-3.72544789e-03 1.35026520e-05 9.99993060e-01 -5.51369888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.57, Y:-5.82, Z:-0.55 [[ 9.88307694e-01 1.52428323e-01 3.67551174e-03 1.20565702e+02] [-1.52427115e-01 9.88314527e-01 -6.08077079e-04 -5.82187367e+00] [-3.72524982e-03 4.07196043e-05 9.99993060e-01 -5.49896880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.62, Y:-5.83, Z:-0.55 [[ 9.89776324e-01 1.42580921e-01 3.67554053e-03 1.20624847e+02] [-1.42579646e-01 9.89783145e-01 -6.07902986e-04 -5.83153359e+00] [-3.72466344e-03 7.76307134e-05 9.99993060e-01 -5.47362299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:-5.84, Z:-0.55 [[ 9.90976856e-01 1.33982692e-01 3.67555524e-03 1.20683864e+02] [-1.33981358e-01 9.90983666e-01 -6.07814071e-04 -5.84101495e+00] [-3.72385177e-03 1.09873796e-04 9.99993060e-01 -5.48289805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:-5.85, Z:-0.55 [[ 9.91314464e-01 1.31461494e-01 3.67556974e-03 1.20741978e+02] [-1.31460143e-01 9.91321271e-01 -6.07726366e-04 -5.85143110e+00] [-3.72356308e-03 1.19257013e-04 9.99993060e-01 -5.50273628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.80, Y:-5.87, Z:-0.56 [[ 9.91084612e-01 1.33183262e-01 3.67559117e-03 1.20799831e+02] [-1.33181924e-01 9.91091422e-01 -6.07596700e-04 -5.86748942e+00] [-3.72376859e-03 1.12657437e-04 9.99993060e-01 -5.55276638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.86, Y:-5.88, Z:-0.55 [[ 9.90273911e-01 1.39082961e-01 3.67560538e-03 1.20857931e+02] [-1.39081664e-01 9.90280729e-01 -6.07510743e-04 -5.88073856e+00] [-3.72437557e-03 9.03927267e-05 9.99993060e-01 -5.53145882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.92, Y:-5.90, Z:-0.55 [[ 9.88757000e-01 1.49486071e-01 3.67561963e-03 1.20915997e+02] [-1.49484845e-01 9.88763830e-01 -6.07424535e-04 -5.89555775e+00] [-3.72512125e-03 5.11458290e-05 9.99993060e-01 -5.48867229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.97, Y:-5.91, Z:-0.55 [[ 9.87568854e-01 1.57144038e-01 3.67563436e-03 1.20972864e+02] [-1.57142866e-01 9.87575694e-01 -6.07335391e-04 -5.91189427e+00] [-3.72540629e-03 2.21857999e-05 9.99993060e-01 -5.45373152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.03, Y:-5.92, Z:-0.55 [[ 9.85533783e-01 1.69439229e-01 3.67565633e-03 1.21030237e+02] [-1.69438143e-01 9.85540637e-01 -6.07202377e-04 -5.92330748e+00] [-3.72539258e-03 -2.43779263e-05 9.99993060e-01 -5.45014318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.09, Y:-5.94, Z:-0.55 [[ 9.83791677e-01 1.79277510e-01 3.67568477e-03 1.21087151e+02] [-1.79276493e-01 9.83798542e-01 -6.07030145e-04 -5.93798391e+00] [-3.72496017e-03 -6.17726710e-05 9.99993060e-01 -5.50768190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.14, Y:-5.95, Z:-0.55 [[ 9.82872788e-01 1.84248671e-01 3.67571444e-03 1.21143824e+02] [-1.84247689e-01 9.82879657e-01 -6.06850464e-04 -5.95101774e+00] [-3.72459634e-03 -8.07850831e-05 9.99993060e-01 -5.54994597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:-5.96, Z:-0.55 [[ 9.82499728e-01 1.86227746e-01 3.67575089e-03 1.21200656e+02] [-1.86226779e-01 9.82506600e-01 -6.06629563e-04 -5.96121590e+00] [-3.72442077e-03 -8.85098703e-05 9.99993060e-01 -5.53439642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.26, Y:-5.97, Z:-0.55 [[ 9.82082169e-01 1.88417363e-01 3.67578993e-03 1.21258883e+02] [-1.88416412e-01 9.82089043e-01 -6.06392923e-04 -5.97049429e+00] [-3.72420797e-03 -9.70514734e-05 9.99993060e-01 -5.49023130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.32, Y:-5.98, Z:-0.55 [[ 9.82088338e-01 1.88385201e-01 3.67581940e-03 1.21316751e+02] [-1.88384251e-01 9.82095213e-01 -6.06214251e-04 -5.97846031e+00] [-3.72420643e-03 -9.71105388e-05 9.99993060e-01 -5.48855449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.37, Y:-5.99, Z:-0.55 [[ 9.82742056e-01 1.84944694e-01 3.67584914e-03 1.21374550e+02] [-1.84943721e-01 9.82748927e-01 -6.06033890e-04 -5.98540780e+00] [-3.72451955e-03 -8.42502244e-05 9.99993060e-01 -5.48794456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.43, Y:-6.00, Z:-0.55 [[ 9.84402350e-01 1.75893436e-01 3.67584397e-03 1.21433854e+02] [-1.75892399e-01 9.84409212e-01 -6.06065200e-04 -5.99509468e+00] [-3.72513756e-03 -4.99410075e-05 9.99993060e-01 -5.47598676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.49, Y:-6.00, Z:-0.55 [[ 9.85767825e-01 1.68072254e-01 3.67585845e-03 1.21492191e+02] [-1.68071162e-01 9.85774679e-01 -6.05977408e-04 -6.00417607e+00] [-3.72541617e-03 -2.04527701e-05 9.99993060e-01 -5.50560870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:-6.01, Z:-0.55 [[ 9.86336677e-01 1.64701085e-01 3.67588004e-03 1.21551466e+02] [-1.64699971e-01 9.86343527e-01 -6.05846392e-04 -6.01186796e+00] [-3.72546404e-03 -7.84881924e-06 9.99993060e-01 -5.47482566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.61, Y:-6.02, Z:-0.55 [[ 9.86573577e-01 1.63276039e-01 3.67589476e-03 1.21609953e+02] [-1.63274916e-01 9.86580425e-01 -6.05757082e-04 -6.02016753e+00] [-3.72547143e-03 -2.55747573e-06 9.99993060e-01 -5.51749639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.67, Y:-6.03, Z:-0.56 [[ 9.87042034e-01 1.60419795e-01 3.67591665e-03 1.21668169e+02] [-1.60418652e-01 9.87048879e-01 -6.05624181e-04 -6.03123797e+00] [-3.72546352e-03 8.09093011e-06 9.99993060e-01 -5.55228742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.73, Y:-6.04, Z:-0.55 [[ 9.87681541e-01 1.56434210e-01 3.67593107e-03 1.21727212e+02] [-1.56433040e-01 9.87688381e-01 -6.05536682e-04 -6.04097054e+00] [-3.72540106e-03 2.30403328e-05 9.99993060e-01 -5.53018824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.79, Y:-6.05, Z:-0.55 [[ 9.88227584e-01 1.52946817e-01 3.67594538e-03 1.21786560e+02] [-1.52945622e-01 9.88234421e-01 -6.05449760e-04 -6.05177198e+00] [-3.72529737e-03 3.61023992e-05 9.99993060e-01 -5.52222871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.85, Y:-6.07, Z:-0.55 [[ 9.89114361e-01 1.47102918e-01 3.67594538e-03 1.21845112e+02] [-1.47101684e-01 9.89121190e-01 -6.05449760e-04 -6.06604215e+00] [-3.72501890e-03 5.81212964e-05 9.99993060e-01 -5.50678002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.90, Y:-6.08, Z:-0.55 [[ 9.89348411e-01 1.45520475e-01 3.67594538e-03 1.21904758e+02] [-1.45519229e-01 9.89355238e-01 -6.05449760e-04 -6.08353625e+00] [-3.72492116e-03 6.40800185e-05 9.99993060e-01 -5.49380472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.96, Y:-6.10, Z:-0.55 [[ 9.88399439e-01 1.51832267e-01 3.67593073e-03 1.21963210e+02] [-1.51831065e-01 9.88406273e-01 -6.05538719e-04 -6.09662256e+00] [-3.72525331e-03 4.03936529e-05 9.99993060e-01 -5.51706458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.02, Y:-6.11, Z:-0.56 [[ 9.87317812e-01 1.58713656e-01 3.67593796e-03 1.22023149e+02] [-1.58712502e-01 9.87324655e-01 -6.05494822e-04 -6.10649832e+00] [-3.72544448e-03 1.43985123e-05 9.99993060e-01 -5.55623485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:-6.12, Z:-0.56 [[ 9.85663911e-01 1.68680592e-01 3.67593796e-03 1.22080855e+02] [-1.68679507e-01 9.85670765e-01 -6.05494822e-04 -6.11613888e+00] [-3.72539981e-03 -2.32410073e-05 9.99993060e-01 -5.59430493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:-6.12, Z:-0.56 [[ 9.84429636e-01 1.75740660e-01 3.67595311e-03 1.22138468e+02] [-1.75739624e-01 9.84436498e-01 -6.05402818e-04 -6.12335979e+00] [-3.72513630e-03 -5.00341433e-05 9.99993060e-01 -5.55410950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:-6.13, Z:-0.55 [[ 9.83957935e-01 1.78362746e-01 3.67598696e-03 1.22197596e+02] [-1.78361730e-01 9.83964800e-01 -6.05197210e-04 -6.13181602e+00] [-3.72498641e-03 -6.01667962e-05 9.99993060e-01 -5.54591215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:-6.14, Z:-0.56 [[ 9.84319689e-01 1.76355427e-01 3.67600099e-03 1.22256049e+02] [-1.76354396e-01 9.84326552e-01 -6.05112004e-04 -6.14374166e+00] [-3.72510016e-03 -5.26552760e-05 9.99993060e-01 -5.56939641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72420382199998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:122.31, Y:-6.15, Z:-0.56 [[ 9.85616897e-01 1.68955079e-01 3.67601528e-03 1.22314870e+02] [-1.68953997e-01 9.85623752e-01 -6.05025189e-04 -6.15323469e+00] [-3.72539005e-03 -2.47544250e-05 9.99993060e-01 -5.62638405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.37, Y:-6.17, Z:-0.56 [[ 9.86871181e-01 1.61467516e-01 3.67602233e-03 1.22373997e+02] [-1.61466383e-01 9.86878028e-01 -6.04982332e-04 -6.16890034e+00] [-3.72547066e-03 3.48560067e-06 9.99993060e-01 -5.61560398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:-6.18, Z:-0.56 [[ 9.87433829e-01 1.57990251e-01 3.67600790e-03 1.22433985e+02] [-1.57989093e-01 9.87440672e-01 -6.05070002e-04 -6.17902222e+00] [-3.72543487e-03 1.66974339e-05 9.99993060e-01 -5.55325926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.49, Y:-6.19, Z:-0.55 [[ 9.87364521e-01 1.58422819e-01 3.67600065e-03 1.22493484e+02] [-1.58421664e-01 9.87371364e-01 -6.05114017e-04 -6.18838721e+00] [-3.72544165e-03 1.51099728e-05 9.99993060e-01 -5.53303651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.55, Y:-6.20, Z:-0.56 [[ 9.87017913e-01 1.60568135e-01 3.67600065e-03 1.22553188e+02] [-1.60566995e-01 9.87024759e-01 -6.05114017e-04 -6.20163953e+00] [-3.72546569e-03 7.01399595e-06 9.99993060e-01 -5.55077465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.61, Y:-6.21, Z:-0.56 [[ 9.86549317e-01 1.63422556e-01 3.67598549e-03 1.22612475e+02] [-1.63421435e-01 9.86556166e-01 -6.05206155e-04 -6.21114493e+00] [-3.72547048e-03 -3.66910374e-06 9.99993060e-01 -5.60476614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.67, Y:-6.22, Z:-0.56 [[ 9.86245771e-01 1.65244563e-01 3.67597798e-03 1.22672982e+02] [-1.65243455e-01 9.86252622e-01 -6.05251712e-04 -6.21649410e+00] [-3.72545748e-03 -1.05043617e-05 9.99993060e-01 -5.62506607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.73, Y:-6.22, Z:-0.56 [[ 9.86053825e-01 1.66386122e-01 3.67597798e-03 1.22733102e+02] [-1.66385022e-01 9.86060677e-01 -6.05251712e-04 -6.22497888e+00] [-3.72544282e-03 -1.48169104e-05 9.99993060e-01 -5.61528079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.79, Y:-6.24, Z:-0.56 [[ 9.86146587e-01 1.65835450e-01 3.67597798e-03 1.22790928e+02] [-1.65834346e-01 9.86153438e-01 -6.05251712e-04 -6.23663159e+00] [-3.72545052e-03 -1.27364950e-05 9.99993060e-01 -5.60438022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:-6.25, Z:-0.56 [[ 9.86894774e-01 1.61323253e-01 3.67599258e-03 1.22850282e+02] [-1.61322118e-01 9.86901620e-01 -6.05163079e-04 -6.24565812e+00] [-3.72546991e-03 4.21337045e-06 9.99993060e-01 -5.58414488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.91, Y:-6.26, Z:-0.56 [[ 9.87522425e-01 1.57435531e-01 3.67599965e-03 1.22909131e+02] [-1.57434369e-01 9.87529267e-01 -6.05120119e-04 -6.25690325e+00] [-3.72542464e-03 1.88410018e-05 9.99993060e-01 -5.60753104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:-6.27, Z:-0.56 [[ 9.88725906e-01 1.49691579e-01 3.67600668e-03 1.22969863e+02] [-1.49690364e-01 9.88732739e-01 -6.05077403e-04 -6.27321549e+00] [-3.72516314e-03 4.79929257e-05 9.99993060e-01 -5.62331305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.03, Y:-6.28, Z:-0.56 [[ 9.88869190e-01 1.48742104e-01 3.67590522e-03 1.23029594e+02] [-1.48740880e-01 9.88876020e-01 -6.05693160e-04 -6.28438022e+00] [-3.72510660e-03 5.21939270e-05 9.99993060e-01 -5.63595494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.09, Y:-6.30, Z:-0.56 [[ 9.88632048e-01 1.50310219e-01 3.67584945e-03 1.23089537e+02] [-1.50309004e-01 9.88638880e-01 -6.06031421e-04 -6.29836111e+00] [-3.72518040e-03 4.66288138e-05 9.99993060e-01 -5.64078410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:-6.31, Z:-0.56 [[ 9.88458839e-01 1.51445076e-01 3.67583532e-03 1.23150387e+02] [-1.51443869e-01 9.88465673e-01 -6.06117129e-04 -6.31012809e+00] [-3.72523049e-03 4.24391122e-05 9.99993060e-01 -5.64063478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.21, Y:-6.32, Z:-0.57 [[ 9.87838472e-01 1.55440154e-01 3.67573564e-03 1.23211220e+02] [-1.55438972e-01 9.87845311e-01 -6.06720989e-04 -6.31880522e+00] [-3.72536702e-03 2.79897640e-05 9.99993060e-01 -5.68619999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.27, Y:-6.33, Z:-0.57 [[ 9.87383026e-01 1.58307450e-01 3.67572109e-03 1.23271586e+02] [-1.58306288e-01 9.87389868e-01 -6.06809134e-04 -6.33316084e+00] [-3.72543217e-03 1.72632782e-05 9.99993060e-01 -5.67267012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.33, Y:-6.35, Z:-0.57 [[ 9.86999789e-01 1.60679515e-01 3.67561644e-03 1.23331490e+02] [-1.60678367e-01 9.87006633e-01 -6.07442402e-04 -6.34692112e+00] [-3.72546135e-03 8.95347705e-06 9.99993060e-01 -5.70348361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.39, Y:-6.36, Z:-0.57 [[ 9.86479817e-01 1.63841576e-01 3.67552026e-03 1.23391821e+02] [-1.63840448e-01 9.86486664e-01 -6.08023808e-04 -6.35804241e+00] [-3.72547129e-03 -2.39567121e-06 9.99993060e-01 -5.70985759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.45, Y:-6.37, Z:-0.57 [[ 9.85954413e-01 1.66974209e-01 3.67550601e-03 1.23451576e+02] [-1.66973103e-01 9.85961264e-01 -6.08109945e-04 -6.37031318e+00] [-3.72544522e-03 -1.41419572e-05 9.99993060e-01 -5.73968232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.51, Y:-6.38, Z:-0.57 [[ 9.85450028e-01 1.69925672e-01 3.67549161e-03 1.23511360e+02] [-1.69924585e-01 9.85456882e-01 -6.08196963e-04 -6.38286348e+00] [-3.72538677e-03 -2.52086735e-05 9.99993060e-01 -5.72568131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:-6.39, Z:-0.57 [[ 9.85184065e-01 1.71460927e-01 3.67539893e-03 1.23571924e+02] [-1.71459849e-01 9.85190920e-01 -6.08756503e-04 -6.39170874e+00] [-3.72534761e-03 -3.04461400e-05 9.99993060e-01 -5.70970405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:-6.40, Z:-0.57 [[ 9.84920348e-01 1.72969362e-01 3.67538476e-03 1.23632789e+02] [-1.72968294e-01 9.84927205e-01 -6.08842048e-04 -6.40277487e+00] [-3.72529746e-03 -3.60641105e-05 9.99993060e-01 -5.73569766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:-6.41, Z:-0.57 [[ 9.84887400e-01 1.73156870e-01 3.67528479e-03 1.23694271e+02] [-1.73155801e-01 9.84894257e-01 -6.09444935e-04 -6.41265681e+00] [-3.72529646e-03 -3.61622448e-05 9.99993060e-01 -5.71551690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-6.42, Z:-0.57 [[ 9.84998681e-01 1.72522725e-01 3.67518258e-03 1.23754759e+02] [-1.72521650e-01 9.85005537e-01 -6.10060665e-04 -6.41863904e+00] [-3.72532452e-03 -3.31396111e-05 9.99993060e-01 -5.71421320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.82, Y:-6.43, Z:-0.58 [[ 9.85542806e-01 1.69386751e-01 3.67510261e-03 1.23815882e+02] [-1.69385652e-01 9.85549658e-01 -6.10542033e-04 -6.42691636e+00] [-3.72541385e-03 -2.07943424e-05 9.99993060e-01 -5.75426823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.88, Y:-6.44, Z:-0.57 [[ 9.86061315e-01 1.66341748e-01 3.67508871e-03 1.23877239e+02] [-1.66340628e-01 9.86068163e-01 -6.10625661e-04 -6.43652467e+00] [-3.72546052e-03 -9.20222254e-06 9.99993060e-01 -5.73385905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.94, Y:-6.44, Z:-0.58 [[ 9.86481279e-01 1.63832780e-01 3.67498487e-03 1.23938464e+02] [-1.63831640e-01 9.86488125e-01 -6.11250014e-04 -6.44214823e+00] [-3.72547172e-03 9.07900110e-07 9.99993060e-01 -5.80605881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:-6.45, Z:-0.59 [[ 9.86958427e-01 1.60933396e-01 3.67488920e-03 1.23998680e+02] [-1.60932233e-01 9.86965269e-01 -6.11824625e-04 -6.45169855e+00] [-3.72545102e-03 1.24373446e-05 9.99993060e-01 -5.87817077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.06, Y:-6.46, Z:-0.58 [[ 9.86943571e-01 1.61024480e-01 3.67479503e-03 1.24060189e+02] [-1.61023316e-01 9.86950412e-01 -6.12389714e-04 -6.45771520e+00] [-3.72545021e-03 1.26664082e-05 9.99993060e-01 -5.82843573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-6.46, Z:-0.58 [[ 9.86863779e-01 1.61512779e-01 3.67478067e-03 1.24121113e+02] [-1.61511618e-01 9.86870621e-01 -6.12475911e-04 -6.46446402e+00] [-3.72545576e-03 1.09105197e-05 9.99993060e-01 -5.83903756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-6.47, Z:-0.59 [[ 9.87224915e-01 1.59290502e-01 3.67476594e-03 1.24181147e+02] [-1.59289325e-01 9.87231754e-01 -6.12564219e-04 -6.46805616e+00] [-3.72542129e-03 1.93876727e-05 9.99993060e-01 -5.86488079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:-6.48, Z:-0.59 [[ 9.88138234e-01 1.53523046e-01 3.67477326e-03 1.24241187e+02] [-1.53521830e-01 9.88145067e-01 -6.12520349e-04 -6.47840704e+00] [-3.72524505e-03 4.10968614e-05 9.99993060e-01 -5.88781553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:-6.49, Z:-0.59 [[ 9.88732092e-01 1.49650749e-01 3.67475886e-03 1.24301345e+02] [-1.49649505e-01 9.88738919e-01 -6.12606700e-04 -6.48665821e+00] [-3.72505416e-03 5.57780596e-05 9.99993060e-01 -5.91668898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:-6.49, Z:-0.59 [[ 9.89075333e-01 1.47365134e-01 3.67475175e-03 1.24362083e+02] [-1.47363874e-01 9.89082157e-01 -6.12649333e-04 -6.49419429e+00] [-3.72491454e-03 6.44306867e-05 9.99993060e-01 -5.91132217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:-6.50, Z:-0.60 [[ 9.89016763e-01 1.47757703e-01 3.67473683e-03 1.24423107e+02] [-1.47756446e-01 9.89023588e-01 -6.12738842e-04 -6.49846143e+00] [-3.72493829e-03 6.30429328e-05 9.99993060e-01 -5.95701822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:-6.51, Z:-0.59 [[ 9.89088458e-01 1.47277016e-01 3.67472213e-03 1.24483265e+02] [-1.47275756e-01 9.89095282e-01 -6.12826988e-04 -6.50756167e+00] [-3.72490565e-03 6.49426217e-05 9.99993060e-01 -5.90002673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:-6.51, Z:-0.59 [[ 9.88893575e-01 1.48579924e-01 3.67471467e-03 1.24543360e+02] [-1.48578672e-01 9.88900401e-01 -6.12871738e-04 -6.51200058e+00] [-3.72498724e-03 6.00806978e-05 9.99993060e-01 -5.87555550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:-6.52, Z:-0.59 [[ 9.88574190e-01 1.50690303e-01 3.67472215e-03 1.24602637e+02] [-1.50689066e-01 9.88581018e-01 -6.12826831e-04 -6.52163083e+00] [-3.72510763e-03 5.20843390e-05 9.99993060e-01 -5.87525252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:-6.53, Z:-0.59 [[ 9.88069795e-01 1.53962908e-01 3.67472215e-03 1.24663196e+02] [-1.53961693e-01 9.88076627e-01 -6.12826831e-04 -6.52657476e+00] [-3.72525967e-03 3.97492358e-05 9.99993060e-01 -5.86593760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.72, Y:-6.53, Z:-0.59 [[ 9.87849511e-01 1.55370007e-01 3.67472215e-03 1.24722640e+02] [-1.55368802e-01 9.87856346e-01 -6.12826831e-04 -6.53268003e+00] [-3.72531251e-03 3.44435054e-05 9.99993060e-01 -5.94654544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.78, Y:-6.54, Z:-0.59 [[ 9.87993115e-01 1.54454201e-01 3.67472990e-03 1.24781715e+02] [-1.54452990e-01 9.87999949e-01 -6.12780363e-04 -6.54101312e+00] [-3.72527946e-03 3.78497594e-05 9.99993060e-01 -5.93323362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.84, Y:-6.55, Z:-0.59 [[ 9.88193537e-01 1.53166676e-01 3.67474469e-03 1.24840113e+02] [-1.53165456e-01 9.88200368e-01 -6.12691652e-04 -6.55239342e+00] [-3.72522800e-03 4.26139815e-05 9.99993060e-01 -5.93515000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.90, Y:-6.56, Z:-0.60 [[ 9.87666420e-01 1.56529676e-01 3.67475957e-03 1.24897691e+02] [-1.56528480e-01 9.87673255e-01 -6.12602395e-04 -6.56267028e+00] [-3.72535221e-03 2.98422820e-05 9.99993060e-01 -6.00761380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:-6.57, Z:-0.60 [[ 9.87123503e-01 1.59917750e-01 3.67478162e-03 1.24955636e+02] [-1.59916578e-01 9.87130342e-01 -6.12470135e-04 -6.56842219e+00] [-3.72543328e-03 1.69251647e-05 9.99993060e-01 -6.04551945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:-6.58, Z:-0.61 [[ 9.86427306e-01 1.64157440e-01 3.67481665e-03 1.25014337e+02] [-1.64156298e-01 9.86434151e-01 -6.12259850e-04 -6.57681183e+00] [-3.72547166e-03 7.05537953e-07 9.99993060e-01 -6.06446715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:-6.58, Z:-0.61 [[ 9.85856286e-01 1.67552618e-01 3.67483836e-03 1.25073019e+02] [-1.67551500e-01 9.85863135e-01 -6.12129514e-04 -6.58070809e+00] [-3.72545157e-03 -1.22529503e-05 9.99993060e-01 -6.08055246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.13, Y:-6.59, Z:-0.61 [[ 9.85576228e-01 1.69192182e-01 3.67486765e-03 1.25131641e+02] [-1.69191076e-01 9.85583079e-01 -6.11953652e-04 -6.58796105e+00] [-3.72542514e-03 -1.86278391e-05 9.99993060e-01 -6.06882083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.19, Y:-6.59, Z:-0.61 [[ 9.85466463e-01 1.69830342e-01 3.67489720e-03 1.25190722e+02] [-1.69829241e-01 9.85473315e-01 -6.11776166e-04 -6.58616211e+00] [-3.72541128e-03 -2.12201080e-05 9.99993060e-01 -6.09198030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.25, Y:-6.59, Z:-0.61 [[ 9.86192470e-01 1.65562395e-01 3.67493379e-03 1.25250259e+02] [-1.65561266e-01 9.86199317e-01 -6.11556261e-04 -6.58828522e+00] [-3.72546791e-03 -5.31451038e-06 9.99993060e-01 -6.09082988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.31, Y:-6.59, Z:-0.61 [[ 9.86922768e-01 1.61151928e-01 3.67496248e-03 1.25308967e+02] [-1.61150769e-01 9.86929610e-01 -6.11383813e-04 -6.59362471e+00] [-3.72545497e-03 1.11655762e-05 9.99993060e-01 -6.09565952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:-6.60, Z:-0.61 [[ 9.87728225e-01 1.56139193e-01 3.67499145e-03 1.25368086e+02] [-1.56138000e-01 9.87735061e-01 -6.11209646e-04 -6.59858093e+00] [-3.72535168e-03 2.99032060e-05 9.99993060e-01 -6.09557054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:-6.60, Z:-0.61 [[ 9.87878154e-01 1.55187783e-01 3.67502048e-03 1.25427544e+02] [-1.55186584e-01 9.87884989e-01 -6.11035004e-04 -6.59941834e+00] [-3.72532274e-03 3.33142585e-05 9.99993060e-01 -6.10406735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90420382199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:-6.60, Z:-0.61 [[ 9.88067239e-01 1.53979304e-01 3.67504959e-03 1.25485648e+02] [-1.53978097e-01 9.88074072e-01 -6.10859884e-04 -6.60410703e+00] [-3.72528100e-03 3.76934980e-05 9.99993060e-01 -6.14462956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.54, Y:-6.61, Z:-0.61 [[ 9.88697369e-01 1.49879973e-01 3.67508647e-03 1.25543595e+02] [-1.49878739e-01 9.88704198e-01 -6.10637961e-04 -6.61464252e+00] [-3.72509582e-03 5.29188215e-05 9.99993060e-01 -6.11144730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.60, Y:-6.63, Z:-0.61 [[ 9.89737919e-01 1.42847281e-01 3.67511568e-03 1.25601026e+02] [-1.42845998e-01 9.89744739e-01 -6.10462087e-04 -6.62937817e+00] [-3.72462926e-03 7.92219079e-05 9.99993060e-01 -6.07417967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:-6.65, Z:-0.61 [[ 9.89812766e-01 1.42327726e-01 3.67514559e-03 1.25657451e+02] [-1.42326441e-01 9.89819585e-01 -6.10281982e-04 -6.64579101e+00] [-3.72459113e-03 8.09945051e-05 9.99993060e-01 -6.07553229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.71, Y:-6.66, Z:-0.61 [[ 9.88851848e-01 1.48857370e-01 3.67518298e-03 1.25714971e+02] [-1.48856131e-01 9.88858676e-01 -6.10056706e-04 -6.66090768e+00] [-3.72504801e-03 5.61821821e-05 9.99993060e-01 -6.10041523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.77, Y:-6.67, Z:-0.61 [[ 9.87840792e-01 1.55425427e-01 3.67521270e-03 1.25771574e+02] [-1.55424233e-01 9.87847628e-01 -6.09877604e-04 -6.67245641e+00] [-3.72534064e-03 3.12448581e-05 9.99993060e-01 -6.14655120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.83, Y:-6.68, Z:-0.62 [[ 9.86172838e-01 1.65679286e-01 3.67524959e-03 1.25829160e+02] [-1.65678165e-01 9.86179686e-01 -6.09655239e-04 -6.68206920e+00] [-3.72546373e-03 -7.68316983e-06 9.99993060e-01 -6.19441995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.89, Y:-6.69, Z:-0.62 [[ 9.85175448e-01 1.71510435e-01 3.67527860e-03 1.25887151e+02] [-1.71509355e-01 9.85182303e-01 -6.09480317e-04 -6.69168636e+00] [-3.72535167e-03 -2.98996162e-05 9.99993060e-01 -6.21708655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.95, Y:-6.70, Z:-0.62 [[ 9.84144094e-01 1.77332721e-01 3.67530748e-03 1.25945258e+02] [-1.77331681e-01 9.84150956e-01 -6.09306075e-04 -6.69853616e+00] [-3.72510728e-03 -5.21034806e-05 9.99993060e-01 -6.19688142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.00, Y:-6.70, Z:-0.62 [[ 9.84058670e-01 1.77806145e-01 3.67535368e-03 1.26003519e+02] [-1.77805110e-01 9.84065532e-01 -6.09027294e-04 -6.70492462e+00] [-3.72507767e-03 -5.41780770e-05 9.99993060e-01 -6.18066997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50420382199998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.06, Y:-6.72, Z:-0.62 [[ 9.85023407e-01 1.72381494e-01 3.67538229e-03 1.26061565e+02] [-1.72380422e-01 9.85030263e-01 -6.08854564e-04 -6.71566772e+00] [-3.72531805e-03 -3.38279531e-05 9.99993060e-01 -6.19977952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.12, Y:-6.72, Z:-0.63 [[ 9.85926758e-01 1.67137423e-01 3.67541215e-03 1.26118913e+02] [-1.67136316e-01 9.85933609e-01 -6.08674278e-04 -6.72495983e+00] [-3.72544462e-03 -1.41865879e-05 9.99993060e-01 -6.25229475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:-6.73, Z:-0.63 [[ 9.86376825e-01 1.64460481e-01 3.67544922e-03 1.26177905e+02] [-1.64459356e-01 9.86383673e-01 -6.08450324e-04 -6.72756479e+00] [-3.72546914e-03 -4.30071302e-06 9.99993060e-01 -6.26655837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:-6.74, Z:-0.63 [[ 9.85883409e-01 1.67392938e-01 3.67547860e-03 1.26235593e+02] [-1.67391833e-01 9.85890260e-01 -6.08272810e-04 -6.74024532e+00] [-3.72543913e-03 -1.55590303e-05 9.99993060e-01 -6.27541288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.29, Y:-6.75, Z:-0.63 [[ 9.85095278e-01 1.71970297e-01 3.67550795e-03 1.26294625e+02] [-1.71969225e-01 9.85102135e-01 -6.08095408e-04 -6.74663947e+00] [-3.72532508e-03 -3.30423400e-05 9.99993060e-01 -6.26199583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.36, Y:-6.74, Z:-0.64 [[ 9.83448337e-01 1.81151478e-01 3.67553040e-03 1.26355331e+02] [-1.81150471e-01 9.83455204e-01 -6.07959692e-04 -6.74184762e+00] [-3.72485229e-03 -6.79271143e-05 9.99993060e-01 -6.39574862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:-6.75, Z:-0.64 [[ 9.83711777e-01 1.79715417e-01 3.67554522e-03 1.26411390e+02] [-1.79714400e-01 9.83718641e-01 -6.07870058e-04 -6.75381480e+00] [-3.72494597e-03 -6.25794698e-05 9.99993060e-01 -6.40744120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.47, Y:-6.76, Z:-0.63 [[ 9.84701190e-01 1.74212677e-01 3.67560204e-03 1.26469126e+02] [-1.74211622e-01 9.84708049e-01 -6.07526285e-04 -6.76377401e+00] [-3.72523370e-03 -4.21007399e-05 9.99993060e-01 -6.33498672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:126.53, Y:-6.77, Z:-0.63 [[ 9.85125522e-01 1.71796963e-01 3.67563143e-03 1.26528057e+02] [-1.71795893e-01 9.85132378e-01 -6.07348435e-04 -6.76719559e+00] [-3.72532415e-03 -3.31439393e-05 9.99993060e-01 -6.33241919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.58, Y:-6.78, Z:-0.63 [[ 9.85480681e-01 1.69747806e-01 3.67566068e-03 1.26584596e+02] [-1.69746722e-01 9.85487535e-01 -6.07171402e-04 -6.77751009e+00] [-3.72538379e-03 -2.55756649e-05 9.99993060e-01 -6.34026775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.64, Y:-6.79, Z:-0.63 [[ 9.85520103e-01 1.69518776e-01 3.67570427e-03 1.26642970e+02] [-1.69517691e-01 9.85526958e-01 -6.06907377e-04 -6.78760372e+00] [-3.72538784e-03 -2.49774805e-05 9.99993060e-01 -6.30680164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.70, Y:-6.80, Z:-0.63 [[ 9.85025266e-01 1.72370862e-01 3.67575667e-03 1.26700569e+02] [-1.72369799e-01 9.85032124e-01 -6.06589824e-04 -6.79877840e+00] [-3.72529681e-03 -3.60831361e-05 9.99993060e-01 -6.26492258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:-6.81, Z:-0.64 [[ 9.84407594e-01 1.75864091e-01 3.67578688e-03 1.26757717e+02] [-1.75863052e-01 9.84414455e-01 -6.06406721e-04 -6.80677216e+00] [-3.72514291e-03 -4.94837188e-05 9.99993060e-01 -6.35664322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:-6.81, Z:-0.62 [[ 9.83464011e-01 1.81066363e-01 3.67582433e-03 1.26817139e+02] [-1.81065361e-01 9.83470878e-01 -6.06179639e-04 -6.81470649e+00] [-3.72482492e-03 -6.94086020e-05 9.99993060e-01 -6.24298712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.88, Y:-6.82, Z:-0.63 [[ 9.82525019e-01 1.86094267e-01 3.67583153e-03 1.26875857e+02] [-1.86093300e-01 9.82531891e-01 -6.06135982e-04 -6.81992694e+00] [-3.72442013e-03 -8.85038536e-05 9.99993060e-01 -6.25475399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.93, Y:-6.83, Z:-0.63 [[ 9.82260818e-01 1.87483794e-01 3.67586054e-03 1.26934856e+02] [-1.87482838e-01 9.82267692e-01 -6.05959973e-04 -6.82635155e+00] [-3.72428672e-03 -9.39500278e-05 9.99993060e-01 -6.26907998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.99, Y:-6.83, Z:-0.62 [[ 9.81858623e-01 1.89578828e-01 3.67588950e-03 1.26994103e+02] [-1.89577888e-01 9.81865499e-01 -6.05784234e-04 -6.83009297e+00] [-3.72407295e-03 -1.02072893e-04 9.99993060e-01 -6.24079113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:-6.84, Z:-0.63 [[ 9.81759455e-01 1.90091717e-01 3.67591921e-03 1.27051951e+02] [-1.90090781e-01 9.81766331e-01 -6.05603923e-04 -6.83724289e+00] [-3.72401400e-03 -1.04200978e-04 9.99993060e-01 -6.30730077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:-6.84, Z:-0.62 [[ 9.82068702e-01 1.88487538e-01 3.67597443e-03 1.27111881e+02] [-1.88486592e-01 9.82075577e-01 -6.05268543e-04 -6.83554769e+00] [-3.72417029e-03 -9.84566024e-05 9.99993060e-01 -6.21964504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:-6.84, Z:-0.63 [[ 9.83689622e-01 1.79836632e-01 3.67600414e-03 1.27169666e+02] [-1.79835626e-01 9.83696488e-01 -6.05088058e-04 -6.84035226e+00] [-3.72488936e-03 -6.58576631e-05 9.99993060e-01 -6.26989450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:-6.85, Z:-0.63 [[ 9.85869958e-01 1.67472126e-01 3.67604091e-03 1.27227940e+02] [-1.67471035e-01 9.85876811e-01 -6.04864613e-04 -6.84895341e+00] [-3.72542145e-03 -1.93125235e-05 9.99993060e-01 -6.25249995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:-6.86, Z:-0.62 [[ 9.87022878e-01 1.60537613e-01 3.67606204e-03 1.27286207e+02] [-1.60536474e-01 9.87029723e-01 -6.04736120e-04 -6.86054418e+00] [-3.72546540e-03 6.74634571e-06 9.99993060e-01 -6.23966998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.34, Y:-6.88, Z:-0.63 [[ 9.88154023e-01 1.53421355e-01 3.67611470e-03 1.27342947e+02] [-1.53420168e-01 9.88160861e-01 -6.04415868e-04 -6.87541503e+00] [-3.72532297e-03 3.32658355e-05 9.99993060e-01 -6.28698133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:-6.89, Z:-0.63 [[ 9.88392841e-01 1.51875202e-01 3.67614366e-03 1.27400829e+02] [-1.51874005e-01 9.88399677e-01 -6.04239672e-04 -6.88937866e+00] [-3.72526823e-03 3.89155066e-05 9.99993060e-01 -6.26649920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:-6.91, Z:-0.62 [[ 9.87464858e-01 1.57796195e-01 3.67616534e-03 1.27457257e+02] [-1.57795039e-01 9.87471701e-01 -6.04107740e-04 -6.90503017e+00] [-3.72543515e-03 1.64545094e-05 9.99993060e-01 -6.23038140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:-6.92, Z:-0.62 [[ 9.86274620e-01 1.65072283e-01 3.67619104e-03 1.27515130e+02] [-1.65071179e-01 9.86281472e-01 -6.03951319e-04 -6.91825456e+00] [-3.72545473e-03 -1.11713299e-05 9.99993060e-01 -6.20611199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.57, Y:-6.93, Z:-0.62 [[ 9.84109793e-01 1.77522957e-01 3.67621977e-03 1.27571262e+02] [-1.77521940e-01 9.84116658e-01 -6.03776364e-04 -6.93064163e+00] [-3.72501328e-03 -5.84274337e-05 9.99993060e-01 -6.21575211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.63, Y:-6.95, Z:-0.62 [[ 9.81904996e-01 1.89338489e-01 3.67625541e-03 1.27628571e+02] [-1.89337555e-01 9.81911873e-01 -6.03559295e-04 -6.94560171e+00] [-3.72403584e-03 -1.03415323e-04 9.99993060e-01 -6.24407707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.69, Y:-6.96, Z:-0.62 [[ 9.79540290e-01 2.01214576e-01 3.67628349e-03 1.27686775e+02] [-2.01213726e-01 9.79547177e-01 -6.03388207e-04 -6.95605682e+00] [-3.72250362e-03 -1.48675639e-04 9.99993060e-01 -6.15810064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.74, Y:-6.96, Z:-0.61 [[ 9.78068448e-01 2.08251282e-01 3.67630520e-03 1.27744772e+02] [-2.08250482e-01 9.78075341e-01 -6.03255938e-04 -6.96473594e+00] [-3.72133228e-03 -1.75566729e-04 9.99993060e-01 -6.12493159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30420382199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.80, Y:-6.97, Z:-0.61 [[ 9.76613764e-01 2.14969861e-01 3.67633445e-03 1.27802626e+02] [-2.14969109e-01 9.76620662e-01 -6.03077623e-04 -6.97030941e+00] [-3.72002770e-03 -2.01324434e-04 9.99993060e-01 -6.10263879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:-6.98, Z:-0.61 [[ 9.76352442e-01 2.16153633e-01 3.67637035e-03 1.27861671e+02] [-2.16152891e-01 9.76359342e-01 -6.02858695e-04 -6.97584744e+00] [-3.71976863e-03 -2.06055520e-04 9.99993060e-01 -6.06966095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.92, Y:-6.98, Z:-0.61 [[ 9.76705071e-01 2.14554626e-01 3.67647019e-03 1.27920290e+02] [-2.14553874e-01 9.76711970e-01 -6.02249212e-04 -6.97771821e+00] [-3.72006780e-03 -2.00581063e-04 9.99993060e-01 -6.10229963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.98, Y:-6.98, Z:-0.61 [[ 9.78163263e-01 2.07805473e-01 3.67650537e-03 1.27979386e+02] [-2.07804675e-01 9.78170156e-01 -6.02034381e-04 -6.98062583e+00] [-3.72135387e-03 -1.75107090e-04 9.99993060e-01 -6.12823001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.04, Y:-6.99, Z:-0.62 [[ 9.79337883e-01 2.02197413e-01 3.67653263e-03 1.28036503e+02] [-2.02196576e-01 9.79344772e-01 -6.01867830e-04 -6.98803918e+00] [-3.72228913e-03 -1.53950343e-04 9.99993060e-01 -6.16606226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.10, Y:-6.99, Z:-0.61 [[ 9.80742291e-01 1.95271711e-01 3.67658308e-03 1.28095843e+02] [-1.95270826e-01 9.80749174e-01 -6.01559523e-04 -6.98998258e+00] [-3.72327337e-03 -1.27954549e-04 9.99993060e-01 -6.14831676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.15, Y:-6.99, Z:-0.61 [[ 9.82042178e-01 1.88625671e-01 3.67661159e-03 1.28154640e+02] [-1.88624740e-01 9.82049055e-01 -6.01385182e-04 -6.99344607e+00] [-3.72404962e-03 -1.02914292e-04 9.99993060e-01 -6.14069790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.21, Y:-7.00, Z:-0.62 [[ 9.82967746e-01 1.83741372e-01 3.67664075e-03 1.28212152e+02] [-1.83740408e-01 9.82974619e-01 -6.01206903e-04 -6.99901171e+00] [-3.72451112e-03 -8.45804755e-05 9.99993060e-01 -6.17194799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.27, Y:-7.00, Z:-0.62 [[ 9.84245454e-01 1.76769249e-01 3.67669410e-03 1.28271177e+02] [-1.76768237e-01 9.84252320e-01 -6.00880451e-04 -7.00106246e+00] [-3.72501188e-03 -5.85088835e-05 9.99993060e-01 -6.17208815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.33, Y:-7.00, Z:-0.62 [[ 9.85158303e-01 1.71608856e-01 3.67672299e-03 1.28330502e+02] [-1.71607809e-01 9.85165163e-01 -6.00703591e-04 -7.00463209e+00] [-3.72526547e-03 -3.91662470e-05 9.99993060e-01 -6.21183250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:-7.01, Z:-0.62 [[ 9.85562908e-01 1.69269715e-01 3.67675179e-03 1.28389111e+02] [-1.69268653e-01 9.85569765e-01 -6.00527267e-04 -7.00798270e+00] [-3.72534648e-03 -3.05014244e-05 9.99993060e-01 -6.15248061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.45, Y:-7.01, Z:-0.62 [[ 9.85930511e-01 1.67115256e-01 3.67678960e-03 1.28446934e+02] [-1.67114179e-01 9.85937367e-01 -6.00295685e-04 -7.01487102e+00] [-3.72540283e-03 -2.25938458e-05 9.99993060e-01 -6.17897146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.51, Y:-7.02, Z:-0.62 [[ 9.86668975e-01 1.62698540e-01 3.67682683e-03 1.28505821e+02] [-1.62697434e-01 9.86675826e-01 -6.00067598e-04 -7.01720501e+00] [-3.72546627e-03 -6.14220834e-06 9.99993060e-01 -6.19344944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.56, Y:-7.03, Z:-0.62 [[ 9.87306894e-01 1.58781541e-01 3.67685629e-03 1.28563045e+02] [-1.58780408e-01 9.87313740e-01 -5.99887031e-04 -7.02579451e+00] [-3.72546172e-03 8.45985836e-06 9.99993060e-01 -6.21317666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.62, Y:-7.04, Z:-0.61 [[ 9.87620670e-01 1.56818022e-01 3.67689261e-03 1.28621677e+02] [-1.56816876e-01 9.87627515e-01 -5.99664298e-04 -7.03530200e+00] [-3.72543848e-03 1.56420417e-05 9.99993060e-01 -6.14099898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.68, Y:-7.04, Z:-0.62 [[ 9.86916702e-01 1.61189032e-01 3.67690741e-03 1.28679710e+02] [-1.61187917e-01 9.86923551e-01 -5.99573532e-04 -7.03875646e+00] [-3.72547120e-03 -9.43915788e-07 9.99993060e-01 -6.17623945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.74, Y:-7.05, Z:-0.62 [[ 9.86546503e-01 1.63439524e-01 3.67696134e-03 1.28737233e+02] [-1.63438426e-01 9.86553355e-01 -5.99242660e-04 -7.04592028e+00] [-3.72545848e-03 -9.77602274e-06 9.99993060e-01 -6.16698764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.80, Y:-7.05, Z:-0.63 [[ 9.85473933e-01 1.69786945e-01 3.67700584e-03 1.28795083e+02] [-1.69785892e-01 9.85480792e-01 -5.98969466e-04 -7.05171307e+00] [-3.72531582e-03 -3.40349191e-05 9.99993060e-01 -6.27636041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:-7.06, Z:-0.62 [[ 9.84873610e-01 1.73235250e-01 3.67704245e-03 1.28853501e+02] [-1.73234221e-01 9.84880473e-01 -5.98744643e-04 -7.05621450e+00] [-3.72517098e-03 -4.73017869e-05 9.99993060e-01 -6.23462413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.91, Y:-7.06, Z:-0.62 [[ 9.85088918e-01 1.72006694e-01 3.67707758e-03 1.28912399e+02] [-1.72005658e-01 9.85095780e-01 -5.98528814e-04 -7.06199512e+00] [-3.72522457e-03 -4.28740445e-05 9.99993060e-01 -6.20928328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:-7.07, Z:-0.62 [[ 9.85472080e-01 1.69797696e-01 3.67717491e-03 1.28971315e+02] [-1.69796647e-01 9.85478940e-01 -5.97930225e-04 -7.06861940e+00] [-3.72530561e-03 -3.51284281e-05 9.99993060e-01 -6.18890755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:-7.08, Z:-0.62 [[ 9.86302629e-01 1.64904825e-01 3.67727336e-03 1.29028390e+02] [-1.64903744e-01 9.86309484e-01 -5.97324172e-04 -7.08450309e+00] [-3.72543123e-03 -1.72537435e-05 9.99993060e-01 -6.23223527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.09, Y:-7.09, Z:-0.63 [[ 9.86605538e-01 1.63082770e-01 3.67737251e-03 1.29086794e+02] [-1.63081679e-01 9.86612391e-01 -5.96713157e-04 -7.09225558e+00] [-3.72545491e-03 -1.09915783e-05 9.99993060e-01 -6.25325294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.15, Y:-7.10, Z:-0.63 [[ 9.86314340e-01 1.64834761e-01 3.67747068e-03 1.29145105e+02] [-1.64833684e-01 9.86321196e-01 -5.96107525e-04 -7.10296493e+00] [-3.72542652e-03 -1.82216387e-05 9.99993060e-01 -6.26315338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.20, Y:-7.11, Z:-0.62 [[ 9.85779468e-01 1.68003916e-01 3.67756356e-03 1.29203085e+02] [-1.68002864e-01 9.85786327e-01 -5.95533925e-04 -7.10935161e+00] [-3.72534391e-03 -3.07760942e-05 9.99993060e-01 -6.20266558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:-7.12, Z:-0.62 [[ 9.85145248e-01 1.71683766e-01 3.67760091e-03 1.29260475e+02] [-1.71682740e-01 9.85152111e-01 -5.95303181e-04 -7.11643963e+00] [-3.72520020e-03 -4.49205004e-05 9.99993060e-01 -6.19866232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:-7.12, Z:-0.62 [[ 9.85347996e-01 1.70516280e-01 3.67763796e-03 1.29318276e+02] [-1.70515247e-01 9.85354858e-01 -5.95074258e-04 -7.12096734e+00] [-3.72524828e-03 -4.07381165e-05 9.99993060e-01 -6.23443564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.38, Y:-7.13, Z:-0.62 [[ 9.85659840e-01 1.68704339e-01 3.67767395e-03 1.29376950e+02] [-1.68703294e-01 9.85666701e-01 -5.94851747e-04 -7.12646537e+00] [-3.72531482e-03 -3.41142294e-05 9.99993060e-01 -6.24423883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.44, Y:-7.14, Z:-0.62 [[ 9.86105932e-01 1.66076987e-01 3.67777262e-03 1.29435386e+02] [-1.66075925e-01 9.86112790e-01 -5.94241035e-04 -7.13603004e+00] [-3.72538838e-03 -2.48048818e-05 9.99993060e-01 -6.23007447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.49, Y:-7.14, Z:-0.63 [[ 9.86309867e-01 1.64861519e-01 3.67787236e-03 1.29494259e+02] [-1.64860452e-01 9.86316724e-01 -5.93623121e-04 -7.14385477e+00] [-3.72541262e-03 -2.08393568e-05 9.99993060e-01 -6.25167163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.55, Y:-7.15, Z:-0.62 [[ 9.86242427e-01 1.65264480e-01 3.67788706e-03 1.29552189e+02] [-1.65263415e-01 9.86249285e-01 -5.93532039e-04 -7.14987353e+00] [-3.72540324e-03 -2.24536976e-05 9.99993060e-01 -6.22972429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:-7.16, Z:-0.62 [[ 9.86720843e-01 1.62383651e-01 3.67791621e-03 1.29610341e+02] [-1.62382567e-01 9.86727698e-01 -5.93351345e-04 -7.16229655e+00] [-3.72545235e-03 -1.17573357e-05 9.99993060e-01 -6.18807037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.67, Y:-7.17, Z:-0.61 [[ 9.87470690e-01 1.57759658e-01 3.67793758e-03 1.29668581e+02] [-1.57758543e-01 9.87477539e-01 -5.93218859e-04 -7.17471423e+00] [-3.72546675e-03 5.56016252e-06 9.99993060e-01 -6.10385285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:-7.19, Z:-0.61 [[ 9.88232878e-01 1.52912559e-01 3.67795900e-03 1.29725021e+02] [-1.52911410e-01 9.88239722e-01 -5.93086023e-04 -7.18707279e+00] [-3.72539548e-03 2.37052106e-05 9.99993060e-01 -6.09527815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:-7.20, Z:-0.61 [[ 9.88924098e-01 1.48376552e-01 3.67799416e-03 1.29782357e+02] [-1.48375373e-01 9.88930937e-01 -5.92867868e-04 -7.20314334e+00] [-3.72524990e-03 4.05775672e-05 9.99993060e-01 -6.08190105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:-7.23, Z:-0.61 [[ 9.89852357e-01 1.42052047e-01 3.67802188e-03 1.29838292e+02] [-1.42050825e-01 9.89859188e-01 -5.92695846e-04 -7.22570758e+00] [-3.72491741e-03 6.42153361e-05 9.99993060e-01 -6.06289156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.89, Y:-7.25, Z:-0.60 [[ 9.89838374e-01 1.42149450e-01 3.67804968e-03 1.29894912e+02] [-1.42148230e-01 9.89845205e-01 -5.92523312e-04 -7.24525166e+00] [-3.72492670e-03 6.36740613e-05 9.99993060e-01 -6.03730959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.95, Y:-7.26, Z:-0.61 [[ 9.88668926e-01 1.50067408e-01 3.67807726e-03 1.29952700e+02] [-1.50066242e-01 9.88675767e-01 -5.92352041e-04 -7.26307914e+00] [-3.72531859e-03 3.36848222e-05 9.99993060e-01 -6.09671851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:-7.28, Z:-0.61 [[ 9.87512951e-01 1.57494900e-01 3.67808430e-03 1.30010182e+02] [-1.57493787e-01 9.87519800e-01 -5.92308301e-04 -7.27654912e+00] [-3.72546661e-03 5.63669342e-06 9.99993060e-01 -6.10173555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.07, Y:-7.29, Z:-0.61 [[ 9.86079604e-01 1.66233228e-01 3.67811349e-03 1.30067154e+02] [-1.66232176e-01 9.86086463e-01 -5.92126980e-04 -7.29351913e+00] [-3.72536911e-03 -2.75364708e-05 9.99993060e-01 -6.08894782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-7.30, Z:-0.61 [[ 9.85027746e-01 1.72356636e-01 3.67814387e-03 1.30123805e+02] [-1.72355627e-01 9.85034612e-01 -5.91938205e-04 -7.30406715e+00] [-3.72512350e-03 -5.08732369e-05 9.99993060e-01 -6.10550867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:-7.32, Z:-0.61 [[ 9.84601507e-01 1.74775124e-01 3.67820070e-03 1.30179310e+02] [-1.74774133e-01 9.84608375e-01 -5.91584888e-04 -7.31578957e+00] [-3.72498154e-03 -6.03789665e-05 9.99993060e-01 -6.13071119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:-7.33, Z:-0.61 [[ 9.84060802e-01 1.77794286e-01 3.67825063e-03 1.30235678e+02] [-1.77793318e-01 9.84067674e-01 -5.91274266e-04 -7.33067096e+00] [-3.72477273e-03 -7.21185548e-05 9.99993060e-01 -6.14801287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.29, Y:-7.34, Z:-0.61 [[ 9.83972733e-01 1.78281042e-01 3.67829211e-03 1.30292887e+02] [-1.78280078e-01 9.83979606e-01 -5.91016135e-04 -7.34243815e+00] [-3.72473139e-03 -7.42224410e-05 9.99993060e-01 -6.12912705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:-7.35, Z:-0.62 [[ 9.84018836e-01 1.78026405e-01 3.67832121e-03 1.30349366e+02] [-1.78025440e-01 9.84025708e-01 -5.90834974e-04 -7.35244573e+00] [-3.72474686e-03 -7.34420064e-05 9.99993060e-01 -6.15691609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-7.37, Z:-0.62 [[ 9.84370001e-01 1.76074332e-01 3.67835725e-03 1.30406672e+02] [-1.76073354e-01 9.84376872e-01 -5.90610490e-04 -7.36547283e+00] [-3.72488115e-03 -6.62814486e-05 9.99993060e-01 -6.17653441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.46, Y:-7.38, Z:-0.62 [[ 9.84343150e-01 1.76224379e-01 3.67838530e-03 1.30463927e+02] [-1.76223403e-01 9.84350021e-01 -5.90435737e-04 -7.37971846e+00] [-3.72486782e-03 -6.70262004e-05 9.99993060e-01 -6.19888455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.52, Y:-7.39, Z:-0.62 [[ 9.84143094e-01 1.77338208e-01 3.67841428e-03 1.30522045e+02] [-1.77337240e-01 9.84149966e-01 -5.90255147e-04 -7.39059204e+00] [-3.72478608e-03 -7.14243114e-05 9.99993060e-01 -6.21944340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:-7.40, Z:-0.62 [[ 9.83888198e-01 1.78746980e-01 3.67844323e-03 1.30580664e+02] [-1.78746023e-01 9.83895071e-01 -5.90074671e-04 -7.39958375e+00] [-3.72467623e-03 -7.69395916e-05 9.99993060e-01 -6.22584250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.64, Y:-7.41, Z:-0.62 [[ 9.83632849e-01 1.80146847e-01 3.67846486e-03 1.30638311e+02] [-1.80145900e-01 9.83639724e-01 -5.89939783e-04 -7.41127099e+00] [-3.72455995e-03 -8.23762115e-05 9.99993060e-01 -6.21800440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.70, Y:-7.42, Z:-0.62 [[ 9.83976168e-01 1.78262080e-01 3.67848619e-03 1.30696237e+02] [-1.78261120e-01 9.83983041e-01 -5.89806742e-04 -7.42409021e+00] [-3.72470821e-03 -7.53752914e-05 9.99993060e-01 -6.23368741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.75, Y:-7.43, Z:-0.62 [[ 9.84484480e-01 1.75433112e-01 3.67851372e-03 1.30754233e+02] [-1.75432133e-01 9.84491350e-01 -5.89635051e-04 -7.43476869e+00] [-3.72490645e-03 -6.48429513e-05 9.99993060e-01 -6.18672717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:-7.45, Z:-0.61 [[ 9.84488119e-01 1.75412692e-01 3.67854124e-03 1.30812275e+02] [-1.75411713e-01 9.84494989e-01 -5.89463261e-04 -7.44695261e+00] [-3.72490476e-03 -6.49396453e-05 9.99993060e-01 -6.12527655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.87, Y:-7.46, Z:-0.61 [[ 9.84229158e-01 1.76859922e-01 3.67857018e-03 1.30870193e+02] [-1.76858954e-01 9.84236030e-01 -5.89282650e-04 -7.45789030e+00] [-3.72480179e-03 -7.05989087e-05 9.99993060e-01 -6.13652298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:-7.47, Z:-0.62 [[ 9.84115165e-01 1.77493129e-01 3.67859972e-03 1.30926155e+02] [-1.77492167e-01 9.84122037e-01 -5.89098191e-04 -7.46782223e+00] [-3.72475193e-03 -7.31821698e-05 9.99993060e-01 -6.18520603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.98, Y:-7.47, Z:-0.62 [[ 9.83981851e-01 1.78230704e-01 3.67865085e-03 1.30984300e+02] [-1.78229748e-01 9.83988725e-01 -5.88778702e-04 -7.47351517e+00] [-3.72468940e-03 -7.62974559e-05 9.99993060e-01 -6.16552666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:-7.48, Z:-0.61 [[ 9.84215054e-01 1.76938395e-01 3.67868558e-03 1.31040673e+02] [-1.76937430e-01 9.84221926e-01 -5.88561611e-04 -7.48427071e+00] [-3.72478216e-03 -7.16259772e-05 9.99993060e-01 -6.14933158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.10, Y:-7.49, Z:-0.61 [[ 9.84493410e-01 1.75382987e-01 3.67872671e-03 1.31099290e+02] [-1.75382013e-01 9.84500281e-01 -5.88304425e-04 -7.49157846e+00] [-3.72488607e-03 -6.60006653e-05 9.99993060e-01 -6.11921245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:-7.50, Z:-0.61 [[ 9.84819638e-01 1.73541775e-01 3.67875578e-03 1.31156937e+02] [-1.73540789e-01 9.84826507e-01 -5.88122624e-04 -7.49816445e+00] [-3.72500005e-03 -5.92194699e-05 9.99993060e-01 -6.13537025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.21, Y:-7.51, Z:-0.62 [[ 9.85930360e-01 1.67116101e-01 3.67880806e-03 1.31214925e+02] [-1.67115071e-01 9.85937223e-01 -5.87795390e-04 -7.50850356e+00] [-3.72530388e-03 -3.52589509e-05 9.99993060e-01 -6.16078634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:-7.52, Z:-0.62 [[ 9.86743193e-01 1.62247763e-01 3.67883681e-03 1.31271657e+02] [-1.62246700e-01 9.86750051e-01 -5.87615389e-04 -7.51782659e+00] [-3.72543170e-03 -1.70536468e-05 9.99993060e-01 -6.17333021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:-7.53, Z:-0.62 [[ 9.87588752e-01 1.57018858e-01 3.67887250e-03 1.31329392e+02] [-1.57017760e-01 9.87595605e-01 -5.87391915e-04 -7.52680593e+00] [-3.72546991e-03 2.45333121e-06 9.99993060e-01 -6.23140561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:-7.54, Z:-0.62 [[ 9.87763110e-01 1.55918264e-01 3.67890036e-03 1.31388052e+02] [-1.55917159e-01 9.87769960e-01 -5.87217345e-04 -7.53527803e+00] [-3.72546517e-03 6.42793935e-06 9.99993060e-01 -6.20455482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-7.54, Z:-0.62 [[ 9.87694338e-01 1.56353316e-01 3.67892832e-03 1.31446592e+02] [-1.56352214e-01 9.87701190e-01 -5.87042101e-04 -7.54414227e+00] [-3.72546786e-03 4.60957228e-06 9.99993060e-01 -6.15303775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:-7.55, Z:-0.62 [[ 9.87772012e-01 1.55861856e-01 3.67895792e-03 1.31503589e+02] [-1.55860752e-01 9.87778863e-01 -5.86856558e-04 -7.55182353e+00] [-3.72546542e-03 6.27533667e-06 9.99993060e-01 -6.16155128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:-7.56, Z:-0.62 [[ 9.87760686e-01 1.55933617e-01 3.67899448e-03 1.31560383e+02] [-1.55932514e-01 9.87767537e-01 -5.86627249e-04 -7.56309400e+00] [-3.72546623e-03 5.77247633e-06 9.99993060e-01 -6.16864201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.62, Y:-7.57, Z:-0.61 [[ 9.87205740e-01 1.59409197e-01 3.67903050e-03 1.31619035e+02] [-1.59408118e-01 9.87212595e-01 -5.86401315e-04 -7.57041310e+00] [-3.72546301e-03 -7.56858497e-06 9.99993060e-01 -6.12728702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.68, Y:-7.58, Z:-0.61 [[ 9.85942894e-01 1.67042132e-01 3.67905926e-03 1.31676902e+02] [-1.67041107e-01 9.85949758e-01 -5.86220809e-04 -7.57602889e+00] [-3.72529116e-03 -3.65738906e-05 9.99993060e-01 -6.09885950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.74, Y:-7.58, Z:-0.61 [[ 9.85071830e-01 1.72104488e-01 3.67909489e-03 1.31735151e+02] [-1.72103499e-01 9.85078698e-01 -5.85997115e-04 -7.58016235e+00] [-3.72505074e-03 -5.59358544e-05 9.99993060e-01 -6.11523706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.79, Y:-7.59, Z:-0.61 [[ 9.84819954e-01 1.73539971e-01 3.67913025e-03 1.31792937e+02] [-1.73538993e-01 9.84826825e-01 -5.85775005e-04 -7.58709643e+00] [-3.72496154e-03 -6.15896451e-05 9.99993060e-01 -6.14901428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.85, Y:-7.59, Z:-0.62 [[ 9.85850142e-01 1.67588667e-01 3.67916497e-03 1.31851847e+02] [-1.67587649e-01 9.85857006e-01 -5.85556841e-04 -7.59037778e+00] [-3.72526326e-03 -3.93113133e-05 9.99993060e-01 -6.16394014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.91, Y:-7.60, Z:-0.61 [[ 9.87215138e-01 1.59350978e-01 3.67919279e-03 1.31910504e+02] [-1.59349903e-01 9.87221994e-01 -5.85382001e-04 -7.59909946e+00] [-3.72546124e-03 -8.38104157e-06 9.99993060e-01 -6.08503182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.97, Y:-7.61, Z:-0.61 [[ 9.87921324e-01 1.54912624e-01 3.67921393e-03 1.31967784e+02] [-1.54911518e-01 9.87928175e-01 -5.85249103e-04 -7.60907206e+00] [-3.72546158e-03 8.22745244e-06 9.99993060e-01 -6.11530720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-7.62, Z:-0.61 [[ 9.88417501e-01 1.51714558e-01 3.67924852e-03 1.32025561e+02] [-1.51713431e-01 9.88424348e-01 -5.85031586e-04 -7.61894079e+00] [-3.72541663e-03 2.00640425e-05 9.99993060e-01 -6.13645732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.08, Y:-7.63, Z:-0.61 [[ 9.88456897e-01 1.51457671e-01 3.67927608e-03 1.32083366e+02] [-1.51456543e-01 9.88463744e-01 -5.84858218e-04 -7.62901982e+00] [-3.72541227e-03 2.08567042e-05 9.99993060e-01 -6.13071397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:-7.64, Z:-0.61 [[ 9.88203984e-01 1.53099148e-01 3.67930341e-03 1.32141906e+02] [-1.53098032e-01 9.88210833e-01 -5.84686242e-04 -7.63758269e+00] [-3.72544245e-03 1.44951637e-05 9.99993060e-01 -6.08532484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.20, Y:-7.65, Z:-0.61 [[ 9.87485473e-01 1.57667066e-01 3.67933206e-03 1.32199331e+02] [-1.57665983e-01 9.87492327e-01 -5.84505880e-04 -7.64643374e+00] [-3.72546950e-03 -2.91443927e-06 9.99993060e-01 -6.13520694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.26, Y:-7.65, Z:-0.62 [[ 9.86486260e-01 1.63802687e-01 3.67936758e-03 1.32258343e+02] [-1.63801647e-01 9.86493122e-01 -5.84282169e-04 -7.65213502e+00] [-3.72537780e-03 -2.63001399e-05 9.99993060e-01 -6.17684208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:-7.66, Z:-0.62 [[ 9.86039452e-01 1.66471201e-01 3.67939523e-03 1.32316830e+02] [-1.66470180e-01 9.86046316e-01 -5.84108012e-04 -7.65775828e+00] [-3.72529128e-03 -3.65560442e-05 9.99993060e-01 -6.15086578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:-7.67, Z:-0.62 [[ 9.85690855e-01 1.68522995e-01 3.67942422e-03 1.32373979e+02] [-1.68521989e-01 9.85697722e-01 -5.83925369e-04 -7.66733622e+00] [-3.72520492e-03 -4.44939904e-05 9.99993060e-01 -6.16509986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:-7.67, Z:-0.61 [[ 9.85592063e-01 1.69099811e-01 3.67946013e-03 1.32432734e+02] [-1.69098810e-01 9.85598930e-01 -5.83698983e-04 -7.67494669e+00] [-3.72517536e-03 -4.69032459e-05 9.99993060e-01 -6.14653078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:-7.68, Z:-0.61 [[ 9.85695579e-01 1.68495364e-01 3.67948754e-03 1.32491310e+02] [-1.68494359e-01 9.85702445e-01 -5.83526120e-04 -7.68096278e+00] [-3.72520132e-03 -4.47937792e-05 9.99993060e-01 -6.12235898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:-7.69, Z:-0.61 [[ 9.85735263e-01 1.68263046e-01 3.67951574e-03 1.32550386e+02] [-1.68262041e-01 9.85742129e-01 -5.83348297e-04 -7.68606324e+00] [-3.72520964e-03 -4.40958408e-05 9.99993060e-01 -6.13636202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.61, Y:-7.70, Z:-0.62 [[ 9.85777415e-01 1.68015920e-01 3.67954416e-03 1.32608298e+02] [-1.68014913e-01 9.85784281e-01 -5.83168984e-04 -7.69643563e+00] [-3.72521846e-03 -4.33434796e-05 9.99993060e-01 -6.16196450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:-7.70, Z:-0.62 [[ 9.85703581e-01 1.68448544e-01 3.67957324e-03 1.32666472e+02] [-1.68447541e-01 9.85710447e-01 -5.82985410e-04 -7.70100370e+00] [-3.72519683e-03 -4.51642577e-05 9.99993060e-01 -6.19232189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:-7.70, Z:-0.62 [[ 9.85586099e-01 1.69134565e-01 3.67960925e-03 1.32725872e+02] [-1.69133568e-01 9.85592967e-01 -5.82758012e-04 -7.70350488e+00] [-3.72516153e-03 -4.79872454e-05 9.99993060e-01 -6.17869329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-7.71, Z:-0.62 [[ 9.85691970e-01 1.68516470e-01 3.67963770e-03 1.32783997e+02] [-1.68515470e-01 9.85698837e-01 -5.82578371e-04 -7.71238542e+00] [-3.72518865e-03 -4.58330523e-05 9.99993060e-01 -6.19583827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52420382199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:-7.72, Z:-0.62 [[ 9.85840093e-01 1.67647757e-01 3.67966593e-03 1.32842671e+02] [-1.67646751e-01 9.85846960e-01 -5.82400009e-04 -7.72028900e+00] [-3.72522552e-03 -4.27307569e-05 9.99993060e-01 -6.17392305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:-7.72, Z:-0.62 [[ 9.86060950e-01 1.66343807e-01 3.67969493e-03 1.32900535e+02] [-1.66342793e-01 9.86067815e-01 -5.82216724e-04 -7.72219923e+00] [-3.72527688e-03 -3.79895550e-05 9.99993060e-01 -6.18521558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:-7.73, Z:-0.62 [[ 9.86228225e-01 1.65349170e-01 3.67973069e-03 1.32959300e+02] [-1.65348149e-01 9.86235089e-01 -5.81990600e-04 -7.72755025e+00] [-3.72531119e-03 -3.44611032e-05 9.99993060e-01 -6.15314830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.02, Y:-7.74, Z:-0.61 [[ 9.86512722e-01 1.63643236e-01 3.67975110e-03 1.33017705e+02] [-1.63642204e-01 9.86519585e-01 -5.81861519e-04 -7.73696998e+00] [-3.72536423e-03 -2.81487888e-05 9.99993060e-01 -6.08802580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:-7.74, Z:-0.61 [[ 9.87070485e-01 1.60244554e-01 3.67978094e-03 1.33075427e+02] [-1.60243499e-01 9.87077344e-01 -5.81672774e-04 -7.74453773e+00] [-3.72543829e-03 -1.55089443e-05 9.99993060e-01 -6.12013450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824203822 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:133.13, Y:-7.75, Z:-0.61 [[ 9.87726328e-01 1.56151079e-01 3.67981770e-03 1.33133503e+02] [-1.56149997e-01 9.87733183e-01 -5.81440090e-04 -7.75205348e+00] [-3.72547055e-03 -2.99836932e-07 9.99993060e-01 -6.13400779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.19, Y:-7.76, Z:-0.62 [[ 9.88412023e-01 1.51750225e-01 3.67984617e-03 1.33190779e+02] [-1.51749113e-01 9.88418873e-01 -5.81259871e-04 -7.76391790e+00] [-3.72543572e-03 1.61108526e-05 9.99993060e-01 -6.19922994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:-7.78, Z:-0.62 [[ 9.88466927e-01 1.51392185e-01 3.67987434e-03 1.33247911e+02] [-1.51391071e-01 9.88473776e-01 -5.81081486e-04 -7.77645946e+00] [-3.72543048e-03 1.72797148e-05 9.99993060e-01 -6.15953437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:-7.79, Z:-0.61 [[ 9.88064081e-01 1.53999448e-01 3.67990298e-03 1.33305889e+02] [-1.53998353e-01 9.88070934e-01 -5.80900024e-04 -7.78650715e+00] [-3.72546346e-03 7.26744962e-06 9.99993060e-01 -6.14689161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.36, Y:-7.80, Z:-0.62 [[ 9.87226413e-01 1.59281094e-01 3.67993150e-03 1.33363146e+02] [-1.59280036e-01 9.87233272e-01 -5.80719294e-04 -7.79551978e+00] [-3.72544842e-03 -1.28381962e-05 9.99993060e-01 -6.16668820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:-7.81, Z:-0.62 [[ 9.86768898e-01 1.62091331e-01 3.67996686e-03 1.33421327e+02] [-1.62090294e-01 9.86775760e-01 -5.80495130e-04 -7.80501900e+00] [-3.72539533e-03 -2.36723707e-05 9.99993060e-01 -6.16534888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.48, Y:-7.81, Z:-0.62 [[ 9.86453694e-01 1.63998680e-01 3.67999418e-03 1.33479228e+02] [-1.63997656e-01 9.86460558e-01 -5.80321920e-04 -7.81428275e+00] [-3.72534114e-03 -3.10497191e-05 9.99993060e-01 -6.15335592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.54, Y:-7.83, Z:-0.61 [[ 9.86591057e-01 1.63170292e-01 3.68002131e-03 1.33536833e+02] [-1.63169263e-01 9.86597920e-01 -5.80149805e-04 -7.82836992e+00] [-3.72536458e-03 -2.80957561e-05 9.99993060e-01 -6.11732257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:-7.84, Z:-0.61 [[ 9.86754101e-01 1.62181383e-01 3.68005022e-03 1.33593244e+02] [-1.62180348e-01 9.86760963e-01 -5.79966381e-04 -7.83870744e+00] [-3.72538965e-03 -2.45476185e-05 9.99993060e-01 -6.09477603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:-7.85, Z:-0.61 [[ 9.86895026e-01 1.61321619e-01 3.68011267e-03 1.33650841e+02] [-1.61320579e-01 9.86901887e-01 -5.79569827e-04 -7.85072512e+00] [-3.72540728e-03 -2.17033279e-05 9.99993060e-01 -6.09606904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:-7.86, Z:-0.61 [[ 9.86894463e-01 1.61325064e-01 3.68014065e-03 1.33707303e+02] [-1.61324025e-01 9.86901324e-01 -5.79392100e-04 -7.86083519e+00] [-3.72540615e-03 -2.18962463e-05 9.99993060e-01 -6.10585604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.76, Y:-7.88, Z:-0.61 [[ 9.86592193e-01 1.63163421e-01 3.68017523e-03 1.33764644e+02] [-1.63162396e-01 9.86599056e-01 -5.79172421e-04 -7.87594132e+00] [-3.72535716e-03 -2.90592173e-05 9.99993060e-01 -6.13144459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.82, Y:-7.89, Z:-0.61 [[ 9.85878506e-01 1.67421704e-01 3.68020234e-03 1.33823357e+02] [-1.67420709e-01 9.85885374e-01 -5.79000095e-04 -7.88894766e+00] [-3.72519484e-03 -4.53183335e-05 9.99993060e-01 -6.09991785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.88, Y:-7.90, Z:-0.61 [[ 9.84857300e-01 1.73327884e-01 3.68021580e-03 1.33881911e+02] [-1.73326931e-01 9.84864173e-01 -5.78914518e-04 -7.89881508e+00] [-3.72485472e-03 -6.77323199e-05 9.99993060e-01 -6.12217626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.94, Y:-7.91, Z:-0.61 [[ 9.84132855e-01 1.77394980e-01 3.68030819e-03 1.33939395e+02] [-1.77394057e-01 9.84139733e-01 -5.78326560e-04 -7.90873161e+00] [-3.72452975e-03 -8.37146315e-05 9.99993060e-01 -6.12973122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72420382199996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:134.00, Y:-7.92, Z:-0.61 [[ 9.84019793e-01 1.78021073e-01 3.68034354e-03 1.33997719e+02] [-1.78020155e-01 9.84026672e-01 -5.78101535e-04 -7.91934306e+00] [-3.72447046e-03 -8.63119738e-05 9.99993060e-01 -6.13226273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.06, Y:-7.93, Z:-0.61 [[ 9.84112296e-01 1.77508995e-01 3.68043723e-03 1.34055385e+02] [-1.77508076e-01 9.84119174e-01 -5.77504413e-04 -7.92766564e+00] [-3.72450108e-03 -8.49781362e-05 9.99993060e-01 -6.14207297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.11, Y:-7.94, Z:-0.62 [[ 9.84230906e-01 1.76850156e-01 3.68047274e-03 1.34112571e+02] [-1.76849233e-01 9.84237784e-01 -5.77278046e-04 -7.93700935e+00] [-3.72455204e-03 -8.27138850e-05 9.99993060e-01 -6.15051210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.17, Y:-7.95, Z:-0.61 [[ 9.84514927e-01 1.75262123e-01 3.68050720e-03 1.34170962e+02] [-1.75261190e-01 9.84521804e-01 -5.77058272e-04 -7.94721956e+00] [-3.72467604e-03 -7.69275903e-05 9.99993060e-01 -6.09095988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.23, Y:-7.96, Z:-0.61 [[ 9.85215309e-01 1.71281198e-01 3.68053591e-03 1.34228158e+02] [-1.71280237e-01 9.85222182e-01 -5.76875106e-04 -7.95539883e+00] [-3.72495347e-03 -6.20568772e-05 9.99993060e-01 -6.08502074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.29, Y:-7.96, Z:-0.61 [[ 9.85549042e-01 1.69350344e-01 3.68057151e-03 1.34285613e+02] [-1.69349371e-01 9.85555913e-01 -5.76647879e-04 -7.96412927e+00] [-3.72506453e-03 -5.49877041e-05 9.99993060e-01 -6.09745953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.34, Y:-7.98, Z:-0.61 [[ 9.86590207e-01 1.63175416e-01 3.68060609e-03 1.34343270e+02] [-1.63174401e-01 9.86597072e-01 -5.76427028e-04 -7.97917841e+00] [-3.72533392e-03 -3.18834336e-05 9.99993060e-01 -6.09929363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.40, Y:-7.99, Z:-0.61 [[ 9.87112885e-01 1.59983143e-01 3.68063351e-03 1.34399747e+02] [-1.59982106e-01 9.87119746e-01 -5.76251900e-04 -7.99022385e+00] [-3.72541661e-03 -2.00098272e-05 9.99993060e-01 -6.10948793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.46, Y:-8.00, Z:-0.61 [[ 9.87216364e-01 1.59343353e-01 3.68066736e-03 1.34457485e+02] [-1.59342313e-01 9.87223225e-01 -5.76035607e-04 -8.00040241e+00] [-3.72542775e-03 -1.78142723e-05 9.99993060e-01 -6.09197353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.51, Y:-8.01, Z:-0.61 [[ 9.86931232e-01 1.61099958e-01 3.68069621e-03 1.34514588e+02] [-1.61098931e-01 9.86938095e-01 -5.75851220e-04 -8.01110534e+00] [-3.72538891e-03 -2.46306695e-05 9.99993060e-01 -6.14849821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:-8.02, Z:-0.62 [[ 9.86188200e-01 1.65587703e-01 3.68073178e-03 1.34571050e+02] [-1.65586708e-01 9.86195067e-01 -5.75623768e-04 -8.02384701e+00] [-3.72523574e-03 -4.18068897e-05 9.99993060e-01 -6.16551121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.63, Y:-8.03, Z:-0.61 [[ 9.85732623e-01 1.68278484e-01 3.68076504e-03 1.34629583e+02] [-1.68277508e-01 9.85739494e-01 -5.75411039e-04 -8.03301633e+00] [-3.72510476e-03 -5.21885350e-05 9.99993060e-01 -6.08908619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:-8.05, Z:-0.61 [[ 9.86005964e-01 1.66669405e-01 3.68079380e-03 1.34687210e+02] [-1.66668418e-01 9.86012833e-01 -5.75227000e-04 -8.04759916e+00] [-3.72518266e-03 -4.62948283e-05 9.99993060e-01 -6.05651677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:-8.06, Z:-0.61 [[ 9.86322952e-01 1.64783148e-01 3.68082331e-03 1.34743762e+02] [-1.64782149e-01 9.86329819e-01 -5.75038074e-04 -8.06058003e+00] [-3.72526238e-03 -3.93607269e-05 9.99993060e-01 -6.08474741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:-8.07, Z:-0.61 [[ 9.86479020e-01 1.63846249e-01 3.68085979e-03 1.34801296e+02] [-1.63845245e-01 9.86485887e-01 -5.74804507e-04 -8.07264243e+00] [-3.72529579e-03 -3.60587869e-05 9.99993060e-01 -6.13008270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:-8.09, Z:-0.61 [[ 9.86077008e-01 1.66248565e-01 3.68088812e-03 1.34857741e+02] [-1.66247578e-01 9.86083877e-01 -5.74622996e-04 -8.08589031e+00] [-3.72519468e-03 -4.53162113e-05 9.99993060e-01 -6.13297204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:-8.10, Z:-0.61 [[ 9.85602591e-01 1.69038409e-01 3.68092315e-03 1.34915343e+02] [-1.69037442e-01 9.85609463e-01 -5.74398500e-04 -8.09948858e+00] [-3.72504810e-03 -5.60851842e-05 9.99993060e-01 -6.09038145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.97, Y:-8.11, Z:-0.61 [[ 9.84614762e-01 1.74700376e-01 3.68095161e-03 1.34971928e+02] [-1.74699449e-01 9.84621639e-01 -5.74216062e-04 -8.10969983e+00] [-3.72466037e-03 -7.76786091e-05 9.99993060e-01 -6.14228884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-8.12, Z:-0.61 [[ 9.84050686e-01 1.77850210e-01 3.68098665e-03 1.35029559e+02] [-1.77849306e-01 9.84057567e-01 -5.73991353e-04 -8.11656922e+00] [-3.72438725e-03 -8.98243380e-05 9.99993060e-01 -6.12646326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-8.13, Z:-0.61 [[ 9.83698588e-01 1.79787480e-01 3.68102825e-03 1.35087946e+02] [-1.79786591e-01 9.83705470e-01 -5.73724443e-04 -8.12719140e+00] [-3.72419610e-03 -9.74275975e-05 9.99993060e-01 -6.13380699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:-8.13, Z:-0.62 [[ 9.82698572e-01 1.85175504e-01 3.68104957e-03 1.35145599e+02] [-1.85174653e-01 9.82705459e-01 -5.73587673e-04 -8.13235542e+00] [-3.72360189e-03 -1.17973291e-04 9.99993060e-01 -6.17169231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:-8.13, Z:-0.62 [[ 9.81996986e-01 1.88860716e-01 3.68108471e-03 1.35204567e+02] [-1.88859892e-01 9.82003876e-01 -5.73362035e-04 -8.13456219e+00] [-3.72312502e-03 -1.32169471e-04 9.99993060e-01 -6.15301483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:-8.14, Z:-0.61 [[ 9.82093787e-01 1.88356689e-01 3.68111164e-03 1.35263695e+02] [-1.88355862e-01 9.82100677e-01 -5.73189085e-04 -8.13505688e+00] [-3.72318624e-03 -1.30433519e-04 9.99993060e-01 -6.09975622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:-8.14, Z:-0.61 [[ 9.83794771e-01 1.79260419e-01 3.68113986e-03 1.35322597e+02] [-1.79259529e-01 9.83801653e-01 -5.73007785e-04 -8.13689077e+00] [-3.72422910e-03 -9.61573368e-05 9.99993060e-01 -6.08598703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:-8.14, Z:-0.61 [[ 9.85199959e-01 1.71369453e-01 3.68116805e-03 1.35380158e+02] [-1.71368509e-01 9.85206834e-01 -5.72826667e-04 -8.14184633e+00] [-3.72487691e-03 -6.64874710e-05 9.99993060e-01 -6.09410220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:-8.15, Z:-0.61 [[ 9.86964476e-01 1.60896152e-01 3.68121033e-03 1.35438990e+02] [-1.60895136e-01 9.86971341e-01 -5.72554802e-04 -8.14528506e+00] [-3.72537096e-03 -2.71975864e-05 9.99993060e-01 -6.10287968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:-8.15, Z:-0.61 [[ 9.88236534e-01 1.52888853e-01 3.68123844e-03 1.35497296e+02] [-1.52887782e-01 9.88243390e-01 -5.72374020e-04 -8.14863412e+00] [-3.72546916e-03 2.82453773e-06 9.99993060e-01 -6.06325661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:-8.16, Z:-0.61 [[ 9.89151112e-01 1.46855460e-01 3.68127315e-03 1.35555659e+02] [-1.46854347e-01 9.89157962e-01 -5.72150672e-04 -8.15532635e+00] [-3.72538410e-03 2.53325075e-05 9.99993060e-01 -6.09815252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.61, Y:-8.16, Z:-0.61 [[ 9.90339119e-01 1.38617739e-01 3.68130080e-03 1.35613477e+02] [-1.38616571e-01 9.90345959e-01 -5.71972763e-04 -8.16252505e+00] [-3.72504694e-03 5.61577104e-05 9.99993060e-01 -6.13014787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:-8.17, Z:-0.61 [[ 9.90823115e-01 1.35114777e-01 3.68133503e-03 1.35671675e+02] [-1.35113585e-01 9.90829951e-01 -5.71752350e-04 -8.17224478e+00] [-3.72482920e-03 6.91070720e-05 9.99993060e-01 -6.10473061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:-8.18, Z:-0.61 [[ 9.90558060e-01 1.37044437e-01 3.68136314e-03 1.35728293e+02] [-1.37043259e-01 9.90564899e-01 -5.71571263e-04 -8.17712077e+00] [-3.72495977e-03 6.16685181e-05 9.99993060e-01 -6.12257662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:-8.19, Z:-0.61 [[ 9.90252287e-01 1.39236686e-01 3.68141188e-03 1.35786410e+02] [-1.39235524e-01 9.90259129e-01 -5.71257211e-04 -8.18566127e+00] [-3.72509168e-03 5.31054474e-05 9.99993060e-01 -6.12462182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:-8.19, Z:-0.61 [[ 9.89582058e-01 1.43922887e-01 3.68143991e-03 1.35843180e+02] [-1.43921759e-01 9.89588905e-01 -5.71076472e-04 -8.18845196e+00] [-3.72530307e-03 3.52877231e-05 9.99993060e-01 -6.14263200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:-8.19, Z:-0.62 [[ 9.89118128e-01 1.47077446e-01 3.68148838e-03 1.35901848e+02] [-1.47076341e-01 9.89124979e-01 -5.70763848e-04 -8.19387062e+00] [-3.72539861e-03 2.30930293e-05 9.99993060e-01 -6.16438597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-8.20, Z:-0.62 [[ 9.88922201e-01 1.48389103e-01 3.68151568e-03 1.35959784e+02] [-1.48388008e-01 9.88929054e-01 -5.70587717e-04 -8.19867676e+00] [-3.72542682e-03 1.79740846e-05 9.99993060e-01 -6.16563695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:-8.21, Z:-0.62 [[ 9.89164624e-01 1.46764413e-01 3.68154948e-03 1.36016848e+02] [-1.46763307e-01 9.89171475e-01 -5.70369548e-04 -8.20782381e+00] [-3.72539368e-03 2.38730033e-05 9.99993060e-01 -6.16240789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:-8.21, Z:-0.62 [[ 9.89561243e-01 1.44065934e-01 3.68158281e-03 1.36075114e+02] [-1.44064809e-01 9.89568090e-01 -5.70154301e-04 -8.21395547e+00] [-3.72531669e-03 3.38160728e-05 9.99993060e-01 -6.15447216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:-8.22, Z:-0.61 [[ 9.90034063e-01 1.40779968e-01 3.68160950e-03 1.36133067e+02] [-1.40778822e-01 9.90040907e-01 -5.69981946e-04 -8.22355129e+00] [-3.72518605e-03 4.60088943e-05 9.99993060e-01 -6.14635166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:-8.23, Z:-0.61 [[ 9.90618379e-01 1.36607734e-01 3.68163780e-03 1.36189423e+02] [-1.36606560e-01 9.90625218e-01 -5.69799073e-04 -8.23471959e+00] [-3.72496221e-03 6.15175608e-05 9.99993060e-01 -6.13757128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:-8.25, Z:-0.61 [[ 9.90629435e-01 1.36527533e-01 3.68167268e-03 1.36246692e+02] [-1.36526359e-01 9.90636275e-01 -5.69573611e-04 -8.24539015e+00] [-3.72496099e-03 6.15910173e-05 9.99993060e-01 -6.13362936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:-8.26, Z:-0.61 [[ 9.90257127e-01 1.39202251e-01 3.68172143e-03 1.36304642e+02] [-1.39201096e-01 9.90263970e-01 -5.69258311e-04 -8.25574869e+00] [-3.72511812e-03 5.12124418e-05 9.99993060e-01 -6.14308618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:-8.27, Z:-0.61 [[ 9.89533937e-01 1.44253359e-01 3.68174695e-03 1.36362378e+02] [-1.44252240e-01 9.89540786e-01 -5.69093239e-04 -8.26675134e+00] [-3.72533238e-03 3.20368290e-05 9.99993060e-01 -6.13111224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:-8.28, Z:-0.61 [[ 9.88833164e-01 1.48981266e-01 3.68177363e-03 1.36420461e+02] [-1.48980181e-01 9.88840018e-01 -5.68920530e-04 -8.27899773e+00] [-3.72544361e-03 1.40561870e-05 9.99993060e-01 -6.12693519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:-8.29, Z:-0.61 [[ 9.88160695e-01 1.53378245e-01 3.68180022e-03 1.36477847e+02] [-1.53377191e-01 9.88167554e-01 -5.68748437e-04 -8.29320544e+00] [-3.72546915e-03 -2.68932304e-06 9.99993060e-01 -6.08566966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:-8.31, Z:-0.61 [[ 9.87765620e-01 1.55902291e-01 3.68182809e-03 1.36535333e+02] [-1.55901254e-01 9.87772482e-01 -5.68567953e-04 -8.30514634e+00] [-3.72544952e-03 -1.23897418e-05 9.99993060e-01 -6.07929851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:-8.32, Z:-0.61 [[ 9.87344029e-01 1.58550349e-01 3.68185613e-03 1.36591919e+02] [-1.58549332e-01 9.87350893e-01 -5.68386329e-04 -8.31521648e+00] [-3.72540179e-03 -2.25629810e-05 9.99993060e-01 -6.07044402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:-8.33, Z:-0.61 [[ 9.87564186e-01 1.57173223e-01 3.68189091e-03 1.36649074e+02] [-1.57172197e-01 9.87571049e-01 -5.68160918e-04 -8.33314155e+00] [-3.72542855e-03 -1.75955090e-05 9.99993060e-01 -6.09265445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:-8.35, Z:-0.61 [[ 9.88021779e-01 1.54270565e-01 3.68191925e-03 1.36705395e+02] [-1.54269520e-01 9.88028640e-01 -5.67977227e-04 -8.34914275e+00] [-3.72546383e-03 -6.83404355e-06 9.99993060e-01 -6.13046471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.76, Y:-8.37, Z:-0.61 [[ 9.88590757e-01 1.50581401e-01 3.68196673e-03 1.36761941e+02] [-1.50580332e-01 9.88597614e-01 -5.67669242e-04 -8.36643727e+00] [-3.72546395e-03 6.76079411e-06 9.99993060e-01 -6.07955913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:-8.39, Z:-0.61 [[ 9.89128843e-01 1.47005354e-01 3.68199478e-03 1.36817002e+02] [-1.47004260e-01 9.89135696e-01 -5.67487281e-04 -8.38711433e+00] [-3.72541614e-03 2.00491189e-05 9.99993060e-01 -6.12311587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:-8.41, Z:-0.61 [[ 9.89293310e-01 1.45894443e-01 3.68202933e-03 1.36873783e+02] [-1.45893342e-01 9.89300162e-01 -5.67262991e-04 -8.40562617e+00] [-3.72539273e-03 2.40059174e-05 9.99993060e-01 -6.13384051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.93, Y:-8.43, Z:-0.61 [[ 9.89169936e-01 1.46728594e-01 3.68205593e-03 1.36930104e+02] [-1.46727499e-01 9.89176789e-01 -5.67090306e-04 -8.42690824e+00] [-3.72541262e-03 2.06898234e-05 9.99993060e-01 -6.13092048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84420382199997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.99, Y:-8.44, Z:-0.61 [[ 9.88909982e-01 1.48470502e-01 3.68208299e-03 1.36985888e+02] [-1.48469420e-01 9.88916837e-01 -5.66914531e-04 -8.44288847e+00] [-3.72544395e-03 1.39507123e-05 9.99993060e-01 -6.12662903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.04, Y:-8.46, Z:-0.61 [[ 9.88360936e-01 1.52082549e-01 3.68211654e-03 1.37042321e+02] [-1.52081493e-01 9.88367795e-01 -5.66696526e-04 -8.46251035e+00] [-3.72547006e-03 1.18926243e-07 9.99993060e-01 -6.10172368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.10, Y:-8.48, Z:-0.61 [[ 9.87743253e-01 1.56043929e-01 3.68214430e-03 1.37098779e+02] [-1.56042901e-01 9.87750116e-01 -5.66516090e-04 -8.48169615e+00] [-3.72543986e-03 -1.50000348e-05 9.99993060e-01 -6.09642202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.16, Y:-8.50, Z:-0.61 [[ 9.87394556e-01 1.58235371e-01 3.68217217e-03 1.37155286e+02] [-1.58234360e-01 9.87401421e-01 -5.66334923e-04 -8.49510181e+00] [-3.72539625e-03 -2.34501352e-05 9.99993060e-01 -6.13039382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.21, Y:-8.51, Z:-0.61 [[ 9.87104286e-01 1.60036151e-01 3.68220657e-03 1.37212075e+02] [-1.60035152e-01 9.87111154e-01 -5.66111183e-04 -8.51075490e+00] [-3.72534543e-03 -3.04717135e-05 9.99993060e-01 -6.14241809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:-8.52, Z:-0.61 [[ 9.87228529e-01 1.59267926e-01 3.68223316e-03 1.37270113e+02] [-1.59266923e-01 9.87235396e-01 -5.65938179e-04 -8.52448410e+00] [-3.72536671e-03 -2.77476272e-05 9.99993060e-01 -6.14976758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:-8.54, Z:-0.62 [[ 9.87537331e-01 1.57341859e-01 3.68224652e-03 1.37328179e+02] [-1.57340843e-01 9.87544196e-01 -5.65851193e-04 -8.53764807e+00] [-3.72541326e-03 -2.05685940e-05 9.99993060e-01 -6.15273645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:-8.55, Z:-0.61 [[ 9.88008717e-01 1.54354193e-01 3.68225979e-03 1.37387330e+02] [-1.54353157e-01 9.88015578e-01 -5.65764824e-04 -8.55228706e+00] [-3.72545821e-03 -9.38784593e-06 9.99993060e-01 -6.11696882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:-8.57, Z:-0.61 [[ 9.88116194e-01 1.53664658e-01 3.68225979e-03 1.37446604e+02] [-1.53663617e-01 9.88123055e-01 -5.65764824e-04 -8.56784603e+00] [-3.72546386e-03 -6.78797290e-06 9.99993060e-01 -6.12345860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:-8.58, Z:-0.62 [[ 9.88241511e-01 1.52856653e-01 3.68225979e-03 1.37506558e+02] [-1.52855606e-01 9.88248371e-01 -5.65764824e-04 -8.58075379e+00] [-3.72546816e-03 -3.74176866e-06 9.99993060e-01 -6.17084463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.57, Y:-8.60, Z:-0.61 [[ 9.88857326e-01 1.48820796e-01 3.68224598e-03 1.37566960e+02] [-1.48819721e-01 9.88864182e-01 -5.65854683e-04 -8.59848726e+00] [-3.72545211e-03 1.15587308e-05 9.99993060e-01 -6.14803095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50420382199997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:-8.61, Z:-0.62 [[ 9.89502887e-01 1.44466184e-01 3.68214764e-03 1.37626706e+02] [-1.44465076e-01 9.89509738e-01 -5.66493884e-04 -8.61305979e+00] [-3.72536016e-03 2.86055956e-05 9.99993060e-01 -6.15178081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:-8.63, Z:-0.61 [[ 9.90310245e-01 1.38823847e-01 3.68205732e-03 1.37687036e+02] [-1.38822698e-01 9.90317089e-01 -5.67080395e-04 -8.63429415e+00] [-3.72512856e-03 5.04323955e-05 9.99993060e-01 -6.14035832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.75, Y:-8.65, Z:-0.61 [[ 9.90195866e-01 1.39637355e-01 3.68194400e-03 1.37746890e+02] [-1.39636209e-01 9.90202710e-01 -5.67815158e-04 -8.64748399e+00] [-3.72515914e-03 4.81155211e-05 9.99993060e-01 -6.12525504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-8.66, Z:-0.62 [[ 9.89125384e-01 1.47028631e-01 3.68185261e-03 1.37806461e+02] [-1.47027534e-01 9.89132236e-01 -5.68407178e-04 -8.66213783e+00] [-3.72541123e-03 2.08922599e-05 9.99993060e-01 -6.16836843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:-8.67, Z:-0.62 [[ 9.87756545e-01 1.55959781e-01 3.68176317e-03 1.37867573e+02] [-1.55958744e-01 9.87763406e-01 -5.68985889e-04 -8.67443116e+00] [-3.72544985e-03 -1.21836234e-05 9.99993060e-01 -6.16040103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:-8.68, Z:-0.62 [[ 9.87344880e-01 1.58545049e-01 3.68166296e-03 1.37929008e+02] [-1.58544027e-01 9.87351744e-01 -5.69633596e-04 -8.68497157e+00] [-3.72540893e-03 -2.12808552e-05 9.99993060e-01 -6.21220680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:-8.70, Z:-0.62 [[ 9.86764832e-01 1.62116045e-01 3.68155725e-03 1.37989905e+02] [-1.62115045e-01 9.86771700e-01 -5.70315941e-04 -8.69593012e+00] [-3.72531387e-03 -3.40681057e-05 9.99993060e-01 -6.17332063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.05, Y:-8.71, Z:-0.62 [[ 9.86767618e-01 1.62099087e-01 3.68146261e-03 1.38051274e+02] [-1.62098085e-01 9.86774485e-01 -5.70926213e-04 -8.70780549e+00] [-3.72531999e-03 -3.33865412e-05 9.99993060e-01 -6.17879684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.11, Y:-8.72, Z:-0.62 [[ 9.86688759e-01 1.62578414e-01 3.68136350e-03 1.38112263e+02] [-1.62577413e-01 9.86695626e-01 -5.71564573e-04 -8.71919318e+00] [-3.72530933e-03 -3.45502171e-05 9.99993060e-01 -6.20856366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:-8.73, Z:-0.62 [[ 9.86660909e-01 1.62747347e-01 3.68125796e-03 1.38173403e+02] [-1.62746344e-01 9.86667776e-01 -5.72243545e-04 -8.73121149e+00] [-3.72530972e-03 -3.45009389e-05 9.99993060e-01 -6.19450054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:-8.74, Z:-0.62 [[ 9.86824742e-01 1.61750975e-01 3.68116552e-03 1.38235092e+02] [-1.61749964e-01 9.86831607e-01 -5.72837558e-04 -8.74004572e+00] [-3.72534752e-03 -3.01381145e-05 9.99993060e-01 -6.15452862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:-8.75, Z:-0.62 [[ 9.87254562e-01 1.59106502e-01 3.68107057e-03 1.38296669e+02] [-1.59105470e-01 9.87261425e-01 -5.73447030e-04 -8.75040109e+00] [-3.72541813e-03 -1.95402669e-05 9.99993060e-01 -6.17412260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.36, Y:-8.76, Z:-0.62 [[ 9.87732447e-01 1.56112342e-01 3.68097270e-03 1.38357382e+02] [-1.56111287e-01 9.87739306e-01 -5.74074632e-04 -8.75878456e+00] [-3.72546155e-03 -7.60924361e-06 9.99993060e-01 -6.20480367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:-8.77, Z:-0.62 [[ 9.88032584e-01 1.54201378e-01 3.68088237e-03 1.38418479e+02] [-1.54200307e-01 9.88039440e-01 -5.74653205e-04 -8.76965376e+00] [-3.72546927e-03 1.82899702e-07 9.99993060e-01 -6.20979186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.48, Y:-8.78, Z:-0.63 [[ 9.88351236e-01 1.52145609e-01 3.68078386e-03 1.38480341e+02] [-1.52144521e-01 9.88358090e-01 -5.75283513e-04 -8.77688449e+00] [-3.72545936e-03 8.57107278e-06 9.99993060e-01 -6.25392212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.54, Y:-8.79, Z:-0.63 [[ 9.88819861e-01 1.49069568e-01 3.68068514e-03 1.38540154e+02] [-1.49068457e-01 9.88826711e-01 -5.75914393e-04 -8.78733667e+00] [-3.72541109e-03 2.08015360e-05 9.99993060e-01 -6.29430751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46420382199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:-8.80, Z:-0.63 [[ 9.89190315e-01 1.46591180e-01 3.68059392e-03 1.38601461e+02] [-1.46590050e-01 9.89197162e-01 -5.76496770e-04 -8.79841711e+00] [-3.72534241e-03 3.07265754e-05 9.99993060e-01 -6.28316948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.66, Y:-8.81, Z:-0.63 [[ 9.89295796e-01 1.45877628e-01 3.68049393e-03 1.38663391e+02] [-1.45876491e-01 9.89302641e-01 -5.77134476e-04 -8.80808947e+00] [-3.72531337e-03 3.40591726e-05 9.99993060e-01 -6.29364680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.72, Y:-8.82, Z:-0.63 [[ 9.89341465e-01 1.45567579e-01 3.68038046e-03 1.38722502e+02] [-1.45566437e-01 9.89348310e-01 -5.77857142e-04 -8.82245348e+00] [-3.72529545e-03 3.59581621e-05 9.99993060e-01 -6.25053210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:-8.83, Z:-0.62 [[ 9.89277849e-01 1.45999290e-01 3.68036633e-03 1.38784122e+02] [-1.45998150e-01 9.89284694e-01 -5.77947100e-04 -8.83355632e+00] [-3.72530995e-03 3.44235887e-05 9.99993060e-01 -6.24155638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.85, Y:-8.84, Z:-0.62 [[ 9.89335719e-01 1.45606632e-01 3.68025546e-03 1.38845327e+02] [-1.45605487e-01 9.89342563e-01 -5.78652263e-04 -8.84489799e+00] [-3.72528898e-03 3.66159637e-05 9.99993060e-01 -6.23742900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.91, Y:-8.86, Z:-0.62 [[ 9.89832180e-01 1.42192517e-01 3.68015949e-03 1.38905362e+02] [-1.42191346e-01 9.89839020e-01 -5.79261953e-04 -8.86317324e+00] [-3.72513218e-03 5.00852885e-05 9.99993060e-01 -6.24307863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.97, Y:-8.88, Z:-0.63 [[ 9.89961441e-01 1.41289781e-01 3.68005929e-03 1.38965010e+02] [-1.41288602e-01 9.89968280e-01 -5.79897879e-04 -8.88230292e+00] [-3.72507560e-03 5.41261095e-05 9.99993060e-01 -6.26210244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.02, Y:-8.89, Z:-0.63 [[ 9.89466933e-01 1.44712286e-01 3.67995766e-03 1.39024850e+02] [-1.44711127e-01 9.89473776e-01 -5.80542091e-04 -8.89390047e+00] [-3.72523317e-03 4.18963814e-05 9.99993060e-01 -6.30268949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:-8.91, Z:-0.63 [[ 9.88452018e-01 1.51489497e-01 3.67986371e-03 1.39084552e+02] [-1.51488383e-01 9.88458867e-01 -5.81136990e-04 -8.91376047e+00] [-3.72543006e-03 1.69694273e-05 9.99993060e-01 -6.27447917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:-8.93, Z:-0.63 [[ 9.87677963e-01 1.56456704e-01 3.67976612e-03 1.39144517e+02] [-1.56455623e-01 9.87684818e-01 -5.81754240e-04 -8.92835324e+00] [-3.72546849e-03 -1.13425867e-06 9.99993060e-01 -6.26166153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.21, Y:-8.94, Z:-0.63 [[ 9.86208833e-01 1.65464792e-01 3.67967627e-03 1.39205378e+02] [-1.65463771e-01 9.86215697e-01 -5.82322052e-04 -8.94413659e+00] [-3.72530829e-03 -3.45619595e-05 9.99993060e-01 -6.25928888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.27, Y:-8.96, Z:-0.62 [[ 9.84915464e-01 1.72997080e-01 3.67956752e-03 1.39266651e+02] [-1.72996109e-01 9.84922335e-01 -5.83008361e-04 -8.95654685e+00] [-3.72494698e-03 -6.23369141e-05 9.99993060e-01 -6.22980281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.33, Y:-8.97, Z:-0.63 [[ 9.83250353e-01 1.82222953e-01 3.67947065e-03 1.39327609e+02] [-1.82222044e-01 9.83257233e-01 -5.83619132e-04 -8.96825506e+00] [-3.72421493e-03 -9.66369438e-05 9.99993060e-01 -6.25115615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.39, Y:-8.98, Z:-0.63 [[ 9.82352574e-01 1.87002361e-01 3.67937428e-03 1.39389383e+02] [-1.87001483e-01 9.82359458e-01 -5.84226039e-04 -8.97710713e+00] [-3.72371977e-03 -1.14132493e-04 9.99993060e-01 -6.27853970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:-8.99, Z:-0.63 [[ 9.82399565e-01 1.86755343e-01 3.67927790e-03 1.39450074e+02] [-1.86754461e-01 9.82406448e-01 -5.84832385e-04 -8.98880743e+00] [-3.72376690e-03 -1.12582481e-04 9.99993060e-01 -6.29392392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:-9.00, Z:-0.63 [[ 9.82947897e-01 1.83847479e-01 3.67918219e-03 1.39513129e+02] [-1.83846575e-01 9.82954777e-01 -5.85433846e-04 -8.99615534e+00] [-3.72410025e-03 -1.00954077e-04 9.99993060e-01 -6.27264572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.58, Y:-9.01, Z:-0.63 [[ 9.83450031e-01 1.81142213e-01 3.67906790e-03 1.39575278e+02] [-1.81141287e-01 9.83456908e-01 -5.86151253e-04 -9.00654250e+00] [-3.72438147e-03 -8.99806271e-05 9.99993060e-01 -6.26303491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:-9.02, Z:-0.63 [[ 9.84544861e-01 1.75093926e-01 3.67895427e-03 1.39635503e+02] [-1.75092955e-01 9.84551732e-01 -5.86863574e-04 -9.01737065e+00] [-3.72487704e-03 -6.63654574e-05 9.99993060e-01 -6.27776630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.70, Y:-9.03, Z:-0.62 [[ 9.85745076e-01 1.68205561e-01 3.67886271e-03 1.39696529e+02] [-1.68204540e-01 9.85751940e-01 -5.87436981e-04 -9.02774890e+00] [-3.72525622e-03 -3.97382967e-05 9.99993060e-01 -6.22275481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.76, Y:-9.04, Z:-0.62 [[ 9.86442363e-01 1.64066850e-01 3.67876425e-03 1.39758682e+02] [-1.64065797e-01 9.86449222e-01 -5.88052934e-04 -9.03814561e+00] [-3.72539412e-03 -2.34790634e-05 9.99993060e-01 -6.22451711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.82, Y:-9.05, Z:-0.63 [[ 9.86632727e-01 1.62918170e-01 3.67865021e-03 1.39819022e+02] [-1.62917107e-01 9.86639584e-01 -5.88765439e-04 -9.05122713e+00] [-3.72542250e-03 -1.84198012e-05 9.99993060e-01 -6.28132920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.88, Y:-9.06, Z:-0.63 [[ 9.86468936e-01 1.63907008e-01 3.67855154e-03 1.39880677e+02] [-1.63905950e-01 9.86475794e-01 -5.89381263e-04 -9.06112285e+00] [-3.72540577e-03 -2.15301759e-05 9.99993060e-01 -6.29844518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.94, Y:-9.07, Z:-0.63 [[ 9.85502906e-01 1.69618664e-01 3.67845393e-03 1.39942172e+02] [-1.69617644e-01 9.85509770e-01 -5.89989844e-04 -9.06976085e+00] [-3.72522558e-03 -4.24939821e-05 9.99993060e-01 -6.28055069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:-9.08, Z:-0.62 [[ 9.84545979e-01 1.75087647e-01 3.67835708e-03 1.40003474e+02] [-1.75086662e-01 9.84552849e-01 -5.90593053e-04 -9.07710003e+00] [-3.72494249e-03 -6.25652487e-05 9.99993060e-01 -6.24681363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.07, Y:-9.08, Z:-0.62 [[ 9.83140042e-01 1.82817197e-01 3.67826667e-03 1.40066594e+02] [-1.82816264e-01 9.83146919e-01 -5.91155624e-04 -9.08125247e+00] [-3.72434995e-03 -9.12582032e-05 9.99993060e-01 -6.24722356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.13, Y:-9.08, Z:-0.63 [[ 9.81891031e-01 1.89410863e-01 3.67815425e-03 1.40128705e+02] [-1.89409974e-01 9.81897913e-01 -5.91854228e-04 -9.08179043e+00] [-3.72367560e-03 -1.15542743e-04 9.99993060e-01 -6.25329319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:-9.09, Z:-0.62 [[ 9.81739126e-01 1.90196637e-01 3.67810151e-03 1.40192188e+02] [-1.90195752e-01 9.81746009e-01 -5.92181814e-04 -9.08526420e+00] [-3.72359247e-03 -1.18191226e-04 9.99993060e-01 -6.24867196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.25, Y:-9.09, Z:-0.63 [[ 9.82574024e-01 1.85835304e-01 3.67799075e-03 1.40254042e+02] [-1.85834386e-01 9.82580902e-01 -5.92868940e-04 -9.09118787e+00] [-3.72409945e-03 -1.00959533e-04 9.99993060e-01 -6.28770748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:-9.09, Z:-0.63 [[ 9.84047875e-01 1.77865828e-01 3.67789415e-03 1.40316946e+02] [-1.77864851e-01 9.84054746e-01 -5.93467609e-04 -9.09329631e+00] [-3.72480680e-03 -7.01675560e-05 9.99993060e-01 -6.29865758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:-9.10, Z:-0.63 [[ 9.85369438e-01 1.70392326e-01 3.67779543e-03 1.40379734e+02] [-1.70391296e-01 9.85376300e-01 -5.94078748e-04 -9.09891719e+00] [-3.72523892e-03 -4.12772864e-05 9.99993060e-01 -6.28599496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.44, Y:-9.11, Z:-0.63 [[ 9.86397589e-01 1.64335847e-01 3.67767958e-03 1.40440320e+02] [-1.64334772e-01 9.86404445e-01 -5.94795039e-04 -9.10928946e+00] [-3.72542564e-03 -1.76662414e-05 9.99993060e-01 -6.30445392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:-9.12, Z:-0.63 [[ 9.88150428e-01 1.53444473e-01 3.67758597e-03 1.40501599e+02] [-1.53443320e-01 9.88157272e-01 -5.95373260e-04 -9.11881641e+00] [-3.72539006e-03 2.40173418e-05 9.99993060e-01 -6.29301054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:-9.13, Z:-0.63 [[ 9.88968657e-01 1.48079272e-01 3.67748675e-03 1.40562629e+02] [-1.48078080e-01 9.88975494e-01 -5.95985550e-04 -9.12960991e+00] [-3.72519738e-03 4.48558545e-05 9.99993060e-01 -6.31656324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:-9.14, Z:-0.63 [[ 9.88611408e-01 1.50445873e-01 3.67738532e-03 1.40622439e+02] [-1.50444694e-01 9.88618247e-01 -5.96610699e-04 -9.14216245e+00] [-3.72528785e-03 3.65730325e-05 9.99993060e-01 -6.33674399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:-9.15, Z:-0.63 [[ 9.87165562e-01 1.59657852e-01 3.67732775e-03 1.40683745e+02] [-1.59656736e-01 9.87172412e-01 -5.96965330e-04 -9.15176581e+00] [-3.72546671e-03 2.19347119e-06 9.99993060e-01 -6.33635857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:-9.16, Z:-0.63 [[ 9.85687710e-01 1.68541437e-01 3.67722400e-03 1.40744095e+02] [-1.68540381e-01 9.85694569e-01 -5.97603776e-04 -9.15879362e+00] [-3.72534072e-03 -3.07100343e-05 9.99993060e-01 -6.33887793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:-9.17, Z:-0.63 [[ 9.85267429e-01 1.70981201e-01 3.67720931e-03 1.40805847e+02] [-1.70980161e-01 9.85274290e-01 -5.97694112e-04 -9.16911362e+00] [-3.72525425e-03 -3.98412971e-05 9.99993060e-01 -6.33731795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.87, Y:-9.18, Z:-0.63 [[ 9.85166911e-01 1.71559424e-01 3.67710864e-03 1.40867043e+02] [-1.71558385e-01 9.85173773e-01 -5.98312805e-04 -9.17736871e+00] [-3.72523719e-03 -4.14008436e-05 9.99993060e-01 -6.32519661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:-9.19, Z:-0.64 [[ 9.84968802e-01 1.72693195e-01 3.67700700e-03 1.40927701e+02] [-1.72692162e-01 9.84975664e-01 -5.98936828e-04 -9.18717445e+00] [-3.72519472e-03 -4.50561979e-05 9.99993060e-01 -6.37138145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.99, Y:-9.20, Z:-0.64 [[ 9.84803407e-01 1.73633899e-01 3.67691377e-03 1.40989199e+02] [-1.73632870e-01 9.84810270e-01 -5.99508603e-04 -9.19838112e+00] [-3.72515746e-03 -4.80349776e-05 9.99993060e-01 -6.36908024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:-9.21, Z:-0.64 [[ 9.84762692e-01 1.73864663e-01 3.67679845e-03 1.41050301e+02] [-1.73863633e-01 9.84769555e-01 -6.00215043e-04 -9.20648819e+00] [-3.72515536e-03 -4.81921561e-05 9.99993060e-01 -6.40049875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.11, Y:-9.22, Z:-0.64 [[ 9.85073275e-01 1.72096268e-01 3.67669876e-03 1.41112628e+02] [-1.72095224e-01 9.85080135e-01 -6.00825077e-04 -9.21873069e+00] [-3.72524267e-03 -4.08855698e-05 9.99993060e-01 -6.38173251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.17, Y:-9.23, Z:-0.63 [[ 9.85514592e-01 1.69550793e-01 3.67658216e-03 1.41174251e+02] [-1.69549729e-01 9.85521450e-01 -6.01537719e-04 -9.22866431e+00] [-3.72534178e-03 -3.05393101e-05 9.99993060e-01 -6.34364506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.24, Y:-9.24, Z:-0.64 [[ 9.85667868e-01 1.68657456e-01 3.67648033e-03 1.41235376e+02] [-1.68656383e-01 9.85674724e-01 -6.02159444e-04 -9.23813507e+00] [-3.72537242e-03 -2.65326587e-05 9.99993060e-01 -6.37496696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.30, Y:-9.25, Z:-0.63 [[ 9.85787356e-01 1.67957654e-01 3.67637890e-03 1.41295751e+02] [-1.67956574e-01 9.85794211e-01 -6.02778109e-04 -9.25430653e+00] [-3.72539423e-03 -2.32609666e-05 9.99993060e-01 -6.34660418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:-9.26, Z:-0.64 [[ 9.85476037e-01 1.69774747e-01 3.67627428e-03 1.41356497e+02] [-1.69773678e-01 9.85482894e-01 -6.03415486e-04 -9.26373159e+00] [-3.72535013e-03 -2.94831019e-05 9.99993060e-01 -6.39011840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.42, Y:-9.27, Z:-0.64 [[ 9.84445669e-01 1.75650821e-01 3.67617808e-03 1.41418025e+02] [-1.75649790e-01 9.84452531e-01 -6.04000975e-04 -9.26964498e+00] [-3.72511609e-03 -5.11137626e-05 9.99993060e-01 -6.37259864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.48, Y:-9.28, Z:-0.64 [[ 9.83694821e-01 1.79808193e-01 3.67608428e-03 1.41478497e+02] [-1.79807189e-01 9.83701687e-01 -6.04571337e-04 -9.27920552e+00] [-3.72487719e-03 -6.62726869e-05 9.99993060e-01 -6.38209964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.54, Y:-9.29, Z:-0.63 [[ 9.83576135e-01 1.80456294e-01 3.67599187e-03 1.41539408e+02] [-1.80455292e-01 9.83583002e-01 -6.05132708e-04 -9.28876208e+00] [-3.72484312e-03 -6.81580969e-05 9.99993060e-01 -6.34891832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.60, Y:-9.29, Z:-0.63 [[ 9.83645000e-01 1.80080542e-01 3.67590076e-03 1.41602145e+02] [-1.80079536e-01 9.83651866e-01 -6.05685629e-04 -9.29157434e+00] [-3.72487884e-03 -6.61748630e-05 9.99993060e-01 -6.31296911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.66, Y:-9.30, Z:-0.64 [[ 9.83727325e-01 1.79630281e-01 3.67579777e-03 1.41661926e+02] [-1.79629269e-01 9.83734191e-01 -6.06310025e-04 -9.30220445e+00] [-3.72491959e-03 -6.38371285e-05 9.99993060e-01 -6.35436877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.72, Y:-9.31, Z:-0.63 [[ 9.83800094e-01 1.79231316e-01 3.67570274e-03 1.41724706e+02] [-1.79230299e-01 9.83806958e-01 -6.06885575e-04 -9.30821144e+00] [-3.72495484e-03 -6.17432184e-05 9.99993060e-01 -6.32540774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.79, Y:-9.31, Z:-0.64 [[ 9.84227141e-01 1.76871212e-01 3.67558440e-03 1.41785855e+02] [-1.76870176e-01 9.84234002e-01 -6.07601458e-04 -9.31171821e+00] [-3.72510235e-03 -5.20834159e-05 9.99993060e-01 -6.36474213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.85, Y:-9.32, Z:-0.64 [[ 9.84515114e-01 1.75261177e-01 3.67552572e-03 1.41847029e+02] [-1.75260128e-01 9.84521974e-01 -6.07956242e-04 -9.32182949e+00] [-3.72518696e-03 -4.56309993e-05 9.99993060e-01 -6.37507541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.91, Y:-9.33, Z:-0.64 [[ 9.85297181e-01 1.70809709e-01 3.67542382e-03 1.41908178e+02] [-1.70808627e-01 9.85304036e-01 -6.08571636e-04 -9.33265023e+00] [-3.72535987e-03 -2.81701798e-05 9.99993060e-01 -6.38017140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.97, Y:-9.34, Z:-0.64 [[ 9.86342166e-01 1.64668224e-01 3.67531543e-03 1.41970779e+02] [-1.64667097e-01 9.86349013e-01 -6.09225555e-04 -9.34114373e+00] [-3.72546384e-03 -4.29866958e-06 9.99993060e-01 -6.36867119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.03, Y:-9.35, Z:-0.63 [[ 9.87060511e-01 1.60306083e-01 3.67519552e-03 1.42031043e+02] [-1.60304923e-01 9.87067353e-01 -6.09948082e-04 -9.35065643e+00] [-3.72544390e-03 1.29037296e-05 9.99993060e-01 -6.34940260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.09, Y:-9.36, Z:-0.63 [[ 9.87038060e-01 1.60444266e-01 3.67509884e-03 1.42093245e+02] [-1.60443105e-01 9.87044901e-01 -6.10530047e-04 -9.36138046e+00] [-3.72544361e-03 1.29721254e-05 9.99993060e-01 -6.33320323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.15, Y:-9.37, Z:-0.64 [[ 9.86341232e-01 1.64673824e-01 3.67497715e-03 1.42153945e+02] [-1.64672690e-01 9.86348078e-01 -6.11261641e-04 -9.37039572e+00] [-3.72546544e-03 -2.25581060e-06 9.99993060e-01 -6.36971876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00420382199997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:142.22, Y:-9.38, Z:-0.64 [[ 9.84228351e-01 1.76864492e-01 3.67487944e-03 1.42215606e+02] [-1.76863440e-01 9.84235210e-01 -6.11848487e-04 -9.37611261e+00] [-3.72516001e-03 -4.77531936e-05 9.99993060e-01 -6.38560393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.28, Y:-9.38, Z:-0.64 [[ 9.83211828e-01 1.82430800e-01 3.67486441e-03 1.42276024e+02] [-1.82429786e-01 9.83218693e-01 -6.11938787e-04 -9.38198854e+00] [-3.72483186e-03 -6.87392754e-05 9.99993060e-01 -6.36724588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.34, Y:-9.39, Z:-0.64 [[ 9.82200878e-01 1.87797581e-01 3.67485702e-03 1.42335390e+02] [-1.87796605e-01 9.82207748e-01 -6.11983154e-04 -9.38801122e+00] [-3.72440199e-03 -8.90352796e-05 9.99993060e-01 -6.38538737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.40, Y:-9.39, Z:-0.64 [[ 9.81949690e-01 1.89106588e-01 3.67486427e-03 1.42395682e+02] [-1.89105621e-01 9.81956562e-01 -6.11939625e-04 -9.39458758e+00] [-3.72427889e-03 -9.40435651e-05 9.99993060e-01 -6.35951708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.46, Y:-9.40, Z:-0.64 [[ 9.82062515e-01 1.88519790e-01 3.67486427e-03 1.42456642e+02] [-1.88518819e-01 9.82069387e-01 -6.11939625e-04 -9.39637246e+00] [-3.72433443e-03 -9.18181057e-05 9.99993060e-01 -6.38139356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.52, Y:-9.40, Z:-0.64 [[ 9.82598873e-01 1.85703931e-01 3.67486427e-03 1.42515631e+02] [-1.85702941e-01 9.82605742e-01 -6.11939625e-04 -9.40246948e+00] [-3.72458232e-03 -8.11419146e-05 9.99993060e-01 -6.40803405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.58, Y:-9.41, Z:-0.64 [[ 9.84004446e-01 1.78105998e-01 3.67487166e-03 1.42575193e+02] [-1.78104954e-01 9.84011306e-01 -6.11895240e-04 -9.40717138e+00] [-3.72509747e-03 -5.24052117e-05 9.99993060e-01 -6.40789506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.64, Y:-9.41, Z:-0.64 [[ 9.85584949e-01 1.69141371e-01 3.67487897e-03 1.42635550e+02] [-1.69140266e-01 9.85591800e-01 -6.11851328e-04 -9.41243994e+00] [-3.72541995e-03 -1.85385452e-05 9.99993060e-01 -6.38760310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48420382199998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:142.70, Y:-9.42, Z:-0.64 [[ 9.86773718e-01 1.62062103e-01 3.67487897e-03 1.42696334e+02] [-1.62060948e-01 9.86780561e-01 -6.11851328e-04 -9.42200018e+00] [-3.72545704e-03 8.20444157e-06 9.99993060e-01 -6.37522909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.76, Y:-9.43, Z:-0.64 [[ 9.87270077e-01 1.59010348e-01 3.67486321e-03 1.42755448e+02] [-1.59009172e-01 9.87276916e-01 -6.11945975e-04 -9.43240661e+00] [-3.72541336e-03 1.98189937e-05 9.99993060e-01 -6.38618187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.82, Y:-9.44, Z:-0.64 [[ 9.87506403e-01 1.57536026e-01 3.67485539e-03 1.42815097e+02] [-1.57534839e-01 9.87513240e-01 -6.11992910e-04 -9.44129913e+00] [-3.72537929e-03 2.54291644e-05 9.99993060e-01 -6.41698276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.87, Y:-9.45, Z:-0.64 [[ 9.87372902e-01 1.58370604e-01 3.67485539e-03 1.42874895e+02] [-1.58369424e-01 9.87379740e-01 -6.11992910e-04 -9.44976066e+00] [-3.72539945e-03 2.22804856e-05 9.99993060e-01 -6.42687562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:-9.46, Z:-0.64 [[ 9.87110753e-01 1.59996428e-01 3.67485539e-03 1.42933887e+02] [-1.59995258e-01 9.87117593e-01 -6.11992910e-04 -9.45967786e+00] [-3.72543109e-03 1.61453457e-05 9.99993060e-01 -6.44551273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:-9.47, Z:-0.65 [[ 9.87323221e-01 1.58680034e-01 3.67486301e-03 1.42993640e+02] [-1.58678855e-01 9.87330060e-01 -6.11947131e-04 -9.46836397e+00] [-3.72540651e-03 2.10665565e-05 9.99993060e-01 -6.46480622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.05, Y:-9.48, Z:-0.65 [[ 9.87580429e-01 1.57071292e-01 3.67486301e-03 1.43053682e+02] [-1.57070102e-01 9.87587266e-01 -6.11947131e-04 -9.47754769e+00] [-3.72536724e-03 2.71359012e-05 9.99993060e-01 -6.47180202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:-9.49, Z:-0.65 [[ 9.87367734e-01 1.58402822e-01 3.67486301e-03 1.43112059e+02] [-1.58401642e-01 9.87374572e-01 -6.11947131e-04 -9.48963265e+00] [-3.72540045e-03 2.21125175e-05 9.99993060e-01 -6.48395037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:-9.50, Z:-0.65 [[ 9.86928849e-01 1.61114685e-01 3.67487044e-03 1.43171806e+02] [-1.61113524e-01 9.86935691e-01 -6.11902527e-04 -9.50171127e+00] [-3.72544728e-03 1.18329318e-05 9.99993060e-01 -6.46550242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.23, Y:-9.51, Z:-0.65 [[ 9.86212585e-01 1.65442538e-01 3.67487044e-03 1.43230388e+02] [-1.65441406e-01 9.86219431e-01 -6.11902527e-04 -9.51436749e+00] [-3.72546334e-03 -4.50976119e-06 9.99993060e-01 -6.47003464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.29, Y:-9.53, Z:-0.65 [[ 9.85774960e-01 1.68030424e-01 3.67487799e-03 1.43289433e+02] [-1.68029311e-01 9.85781810e-01 -6.11857196e-04 -9.52560378e+00] [-3.72543850e-03 -1.43337133e-05 9.99993060e-01 -6.45873359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.35, Y:-9.54, Z:-0.65 [[ 9.84890384e-01 1.73139907e-01 3.67487799e-03 1.43348013e+02] [-1.73138829e-01 9.84897239e-01 -6.11857196e-04 -9.53682360e+00] [-3.72531408e-03 -3.36518036e-05 9.99993060e-01 -6.54504886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.41, Y:-9.55, Z:-0.65 [[ 9.83729517e-01 1.79618299e-01 3.67486602e-03 1.43406533e+02] [-1.79617266e-01 9.83736379e-01 -6.11929068e-04 -9.54558872e+00] [-3.72501305e-03 -5.80967014e-05 9.99993060e-01 -6.53300169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.47, Y:-9.55, Z:-0.65 [[ 9.82468290e-01 1.86393547e-01 3.67488734e-03 1.43465775e+02] [-1.86392562e-01 9.82475159e-01 -6.11801037e-04 -9.55092938e+00] [-3.72452129e-03 -8.38965467e-05 9.99993060e-01 -6.53090203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32420382199996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:143.53, Y:-9.55, Z:-0.66 [[ 9.81876790e-01 1.89484736e-01 3.67490958e-03 1.43525063e+02] [-1.89483773e-01 9.81883662e-01 -6.11667364e-04 -9.55299836e+00] [-3.72423531e-03 -9.57537444e-05 9.99993060e-01 -6.55280615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:-9.56, Z:-0.66 [[ 9.82449087e-01 1.86494736e-01 3.67493957e-03 1.43581813e+02] [-1.86493753e-01 9.82455956e-01 -6.11487165e-04 -9.56187863e+00] [-3.72450541e-03 -8.45982651e-05 9.99993060e-01 -6.57913133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.64, Y:-9.57, Z:-0.65 [[ 9.84726639e-01 1.74068780e-01 3.67497653e-03 1.43641763e+02] [-1.74067711e-01 9.84733496e-01 -6.11264960e-04 -9.57020556e+00] [-3.72527463e-03 -3.77658615e-05 9.99993060e-01 -6.48943819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.70, Y:-9.58, Z:-0.65 [[ 9.85601633e-01 1.69044125e-01 3.67497653e-03 1.43700384e+02] [-1.69043020e-01 9.85608484e-01 -6.11264960e-04 -9.58102156e+00] [-3.72541879e-03 -1.87653897e-05 9.99993060e-01 -6.52432191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:-9.59, Z:-0.65 [[ 9.87160875e-01 1.59686885e-01 3.67498425e-03 1.43759528e+02] [-1.59685716e-01 9.87167715e-01 -6.11218533e-04 -9.59362476e+00] [-3.72542939e-03 1.65285310e-05 9.99993060e-01 -6.52082262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.82, Y:-9.61, Z:-0.65 [[ 9.88372155e-01 1.52009793e-01 3.67498425e-03 1.43818821e+02] [-1.52008571e-01 9.88378986e-01 -6.11218533e-04 -9.60893512e+00] [-3.72518841e-03 4.54822761e-05 9.99993060e-01 -6.49471107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:-9.62, Z:-0.65 [[ 9.88112076e-01 1.53691317e-01 3.67496908e-03 1.43877842e+02] [-1.53690106e-01 9.88118909e-01 -6.11309745e-04 -9.62195837e+00] [-3.72525943e-03 3.92361551e-05 9.99993060e-01 -6.53312799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:-9.63, Z:-0.66 [[ 9.86721688e-01 1.62378586e-01 3.67496908e-03 1.43936535e+02] [-1.62377436e-01 9.86728531e-01 -6.11309745e-04 -9.63333628e+00] [-3.72546045e-03 6.46052809e-06 9.99993060e-01 -6.55170886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80420382199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:-9.64, Z:-0.65 [[ 9.85388158e-01 1.70284091e-01 3.67497657e-03 1.43995198e+02] [-1.70282996e-01 9.85395011e-01 -6.11264694e-04 -9.64232868e+00] [-3.72539223e-03 -2.34530291e-05 9.99993060e-01 -6.54730676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86420382199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.05, Y:-9.65, Z:-0.66 [[ 9.83666834e-01 1.79961258e-01 3.67499149e-03 1.44053572e+02] [-1.79960230e-01 9.83673697e-01 -6.11174964e-04 -9.65142912e+00] [-3.72498028e-03 -6.01597739e-05 9.99993060e-01 -6.55916736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:-9.66, Z:-0.65 [[ 9.82181604e-01 1.87898352e-01 3.67501351e-03 1.44111951e+02] [-1.87897381e-01 9.82188475e-01 -6.11042574e-04 -9.65853637e+00] [-3.72436980e-03 -9.03706359e-05 9.99993060e-01 -6.51934823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.17, Y:-9.66, Z:-0.65 [[ 9.81122528e-01 1.93352213e-01 3.67504341e-03 1.44169376e+02] [-1.93351280e-01 9.81129405e-01 -6.10862642e-04 -9.66379306e+00] [-3.72380480e-03 -1.11243249e-04 9.99993060e-01 -6.52354482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.23, Y:-9.67, Z:-0.66 [[ 9.80876133e-01 1.94598317e-01 3.67508023e-03 1.44227060e+02] [-1.94597394e-01 9.80883011e-01 -6.10641045e-04 -9.66704006e+00] [-3.72365349e-03 -1.16197809e-04 9.99993060e-01 -6.59385737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.28, Y:-9.68, Z:-0.65 [[ 9.81657097e-01 1.90619616e-01 3.67511557e-03 1.44284821e+02] [-1.90618665e-01 9.81663971e-01 -6.10428325e-04 -9.67575208e+00] [-3.72408815e-03 -1.01314326e-04 9.99993060e-01 -6.53612262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.34, Y:-9.68, Z:-0.65 [[ 9.82545561e-01 1.85985789e-01 3.67514528e-03 1.44343172e+02] [-1.85984807e-01 9.82552431e-01 -6.10249353e-04 -9.68330036e+00] [-3.72452064e-03 -8.39233933e-05 9.99993060e-01 -6.53594826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.40, Y:-9.69, Z:-0.65 [[ 9.84062359e-01 1.77785735e-01 3.67517478e-03 1.44403068e+02] [-1.77784696e-01 9.84069220e-01 -6.10071690e-04 -9.68879952e+00] [-3.72508842e-03 -5.30412456e-05 9.99993060e-01 -6.52329847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.46, Y:-9.70, Z:-0.66 [[ 9.85415167e-01 1.70127721e-01 3.67519012e-03 1.44460822e+02] [-1.70126629e-01 9.85422020e-01 -6.09979215e-04 -9.69808850e+00] [-3.72538765e-03 -2.41649360e-05 9.99993060e-01 -6.56965777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.52, Y:-9.71, Z:-0.66 [[ 9.86441890e-01 1.64069771e-01 3.67520259e-03 1.44519183e+02] [-1.64068638e-01 9.86448737e-01 -6.09904067e-04 -9.70753916e+00] [-3.72546578e-03 -1.35056145e-06 9.99993060e-01 -6.58457894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:-9.72, Z:-0.66 [[ 9.86846939e-01 1.61615630e-01 3.67521733e-03 1.44578151e+02] [-1.61614479e-01 9.86853783e-01 -6.09815254e-04 -9.71538493e+00] [-3.72545780e-03 7.82598143e-06 9.99993060e-01 -6.55914250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:-9.72, Z:-0.65 [[ 9.87263081e-01 1.59053770e-01 3.67523191e-03 1.44636876e+02] [-1.59052603e-01 9.87269921e-01 -6.09727397e-04 -9.72346550e+00] [-3.72542536e-03 1.74061490e-05 9.99993060e-01 -6.50739508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:-9.74, Z:-0.65 [[ 9.87605108e-01 1.56916038e-01 3.67525450e-03 1.44694771e+02] [-1.56914856e-01 9.87611946e-01 -6.09591172e-04 -9.73532080e+00] [-3.72537988e-03 2.53333237e-05 9.99993060e-01 -6.52654530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.75, Y:-9.75, Z:-0.65 [[ 9.87891479e-01 1.55102929e-01 3.67526892e-03 1.44753465e+02] [-1.55101734e-01 9.87898315e-01 -6.09504211e-04 -9.74821959e+00] [-3.72532786e-03 3.20834323e-05 9.99993060e-01 -6.51399896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.81, Y:-9.76, Z:-0.65 [[ 9.87323499e-01 1.58678292e-01 3.67528401e-03 1.44812796e+02] [-1.58677123e-01 9.87330339e-01 -6.09413221e-04 -9.75802818e+00] [-3.72542006e-03 1.85045000e-05 9.99993060e-01 -6.50401211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.87, Y:-9.76, Z:-0.65 [[ 9.85965365e-01 1.66909531e-01 3.67529902e-03 1.44871344e+02] [-1.66908419e-01 9.85972215e-01 -6.09322665e-04 -9.76441858e+00] [-3.72544448e-03 -1.26673045e-05 9.99993060e-01 -6.54446397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.93, Y:-9.77, Z:-0.66 [[ 9.85212403e-01 1.71298022e-01 3.67532904e-03 1.44928735e+02] [-1.71296942e-01 9.85219258e-01 -6.09141547e-04 -9.77237460e+00] [-3.72534969e-03 -2.94388169e-05 9.99993060e-01 -6.60272910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:-9.78, Z:-0.65 [[ 9.84886108e-01 1.73164216e-01 3.67536611e-03 1.44986890e+02] [-1.73163149e-01 9.84892965e-01 -6.08917807e-04 -9.77990228e+00] [-3.72528500e-03 -3.67232797e-05 9.99993060e-01 -6.54762131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:-9.79, Z:-0.65 [[ 9.85573278e-01 1.69209353e-01 3.67539575e-03 1.45046085e+02] [-1.69208259e-01 9.85580131e-01 -6.08738874e-04 -9.79055238e+00] [-3.72540133e-03 -2.19505488e-05 9.99993060e-01 -6.53556881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.10, Y:-9.80, Z:-0.65 [[ 9.86110025e-01 1.66052734e-01 3.67541060e-03 1.45103577e+02] [-1.66051619e-01 9.86116874e-01 -6.08649160e-04 -9.80127929e+00] [-3.72545227e-03 -1.01128413e-05 9.99993060e-01 -6.54325530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:-9.81, Z:-0.65 [[ 9.86891551e-01 1.61342982e-01 3.67543271e-03 1.45162013e+02] [-1.61341835e-01 9.86898395e-01 -6.08515614e-04 -9.81419901e+00] [-3.72545837e-03 7.53786178e-06 9.99993060e-01 -6.50534316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:-9.83, Z:-0.65 [[ 9.87215680e-01 1.59347707e-01 3.67544715e-03 1.45219106e+02] [-1.59346546e-01 9.87222522e-01 -6.08428389e-04 -9.82833857e+00] [-3.72543588e-03 1.49802387e-05 9.99993060e-01 -6.51092962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:-9.84, Z:-0.65 [[ 9.87004339e-01 1.60651564e-01 3.67546159e-03 1.45277094e+02] [-1.60650413e-01 9.87011183e-01 -6.08341187e-04 -9.84099161e+00] [-3.72545265e-03 9.97097089e-06 9.99993060e-01 -6.52891435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.34, Y:-9.85, Z:-0.66 [[ 9.86080323e-01 1.66229020e-01 3.67547638e-03 1.45335443e+02] [-1.66227907e-01 9.86087173e-01 -6.08251804e-04 -9.85066260e+00] [-3.72544921e-03 -1.11816110e-05 9.99993060e-01 -6.55450150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.39, Y:-9.87, Z:-0.66 [[ 9.85243126e-01 1.71121226e-01 3.67549100e-03 1.45393287e+02] [-1.71120148e-01 9.85249981e-01 -6.08163407e-04 -9.86506609e+00] [-3.72534711e-03 -2.97617495e-05 9.99993060e-01 -6.57609554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.45, Y:-9.88, Z:-0.66 [[ 9.85289153e-01 1.70856006e-01 3.67550594e-03 1.45450493e+02] [-1.70854926e-01 9.85296009e-01 -6.08073127e-04 -9.87630634e+00] [-3.72535428e-03 -2.88504389e-05 9.99993060e-01 -6.57050123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36420382199998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:145.51, Y:-9.89, Z:-0.66 [[ 9.85992406e-01 1.66749712e-01 3.67552275e-03 1.45510061e+02] [-1.66748604e-01 9.85999256e-01 -6.07971468e-04 -9.88922679e+00] [-3.72544177e-03 -1.34330394e-05 9.99993060e-01 -6.56635408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.57, Y:-9.90, Z:-0.66 [[ 9.86591719e-01 1.63166392e-01 3.67552275e-03 1.45568405e+02] [-1.63165259e-01 9.86598565e-01 -6.07971468e-04 -9.90202459e+00] [-3.72546599e-03 1.01993779e-07 9.99993060e-01 -6.58334486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.63, Y:-9.92, Z:-0.66 [[ 9.86909056e-01 1.61235872e-01 3.67553023e-03 1.45627366e+02] [-1.61234726e-01 9.86915900e-01 -6.07926253e-04 -9.91509700e+00] [-3.72545875e-03 7.34481435e-06 9.99993060e-01 -6.55111171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:-9.93, Z:-0.65 [[ 9.86884016e-01 1.61389061e-01 3.67553023e-03 1.45686203e+02] [-1.61387916e-01 9.86890861e-01 -6.07926253e-04 -9.93263986e+00] [-3.72545984e-03 6.76653840e-06 9.99993060e-01 -6.54830596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.75, Y:-9.95, Z:-0.66 [[ 9.86076201e-01 1.66253469e-01 3.67551512e-03 1.45745208e+02] [-1.66252357e-01 9.86083051e-01 -6.08017626e-04 -9.94581916e+00] [-3.72544820e-03 -1.15113413e-05 9.99993060e-01 -6.57695546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:-9.96, Z:-0.66 [[ 9.85272574e-01 1.70951590e-01 3.67547580e-03 1.45804022e+02] [-1.70950510e-01 9.85279429e-01 -6.08255215e-04 -9.95787236e+00] [-3.72535289e-03 -2.90272828e-05 9.99993060e-01 -6.59488772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.86, Y:-9.97, Z:-0.66 [[ 9.84063649e-01 1.77778587e-01 3.67547580e-03 1.45862550e+02] [-1.77777555e-01 9.84070511e-01 -6.08255215e-04 -9.96729307e+00] [-3.72506210e-03 -5.48552556e-05 9.99993060e-01 -6.61694302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:-9.98, Z:-0.67 [[ 9.83485143e-01 1.80951553e-01 3.67549017e-03 1.45921987e+02] [-1.80950543e-01 9.83492009e-01 -6.08168383e-04 -9.97804255e+00] [-3.72486422e-03 -6.69573740e-05 9.99993060e-01 -6.65282805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:-9.99, Z:-0.66 [[ 9.83520736e-01 1.80757994e-01 3.67549017e-03 1.45982515e+02] [-1.80756983e-01 9.83527602e-01 -6.08168383e-04 -9.98928735e+00] [-3.72487733e-03 -6.62242985e-05 9.99993060e-01 -6.59679100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:-10.00, Z:-0.66 [[ 9.83515917e-01 1.80784212e-01 3.67547574e-03 1.46042555e+02] [-1.80783200e-01 9.83522783e-01 -6.08255558e-04 -9.99771713e+00] [-3.72487713e-03 -6.62352450e-05 9.99993060e-01 -6.60261968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96420382199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:146.10, Y:-10.00, Z:-0.66 [[ 9.83280131e-01 1.82062281e-01 3.67547574e-03 1.46103354e+02] [-1.82061279e-01 9.83286998e-01 -6.08255558e-04 -1.00036424e+01] [-3.72478790e-03 -7.10762093e-05 9.99993060e-01 -6.58962244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:-10.01, Z:-0.66 [[ 9.83181744e-01 1.82592851e-01 3.67547574e-03 1.46162686e+02] [-1.82591853e-01 9.83188611e-01 -6.08255558e-04 -1.00088652e+01] [-3.72474901e-03 -7.30861648e-05 9.99993060e-01 -6.57967379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:-10.01, Z:-0.66 [[ 9.83573148e-01 1.80472586e-01 3.67548301e-03 1.46222625e+02] [-1.80471572e-01 9.83580013e-01 -6.08211639e-04 -1.00148967e+01] [-3.72489715e-03 -6.50995621e-05 9.99993060e-01 -6.57963707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:-10.02, Z:-0.66 [[ 9.84162418e-01 1.77230996e-01 3.67549752e-03 1.46282720e+02] [-1.77229961e-01 9.84169280e-01 -6.08123911e-04 -1.00202725e+01] [-3.72509016e-03 -5.29155834e-05 9.99993060e-01 -6.58350332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:-10.03, Z:-0.66 [[ 9.85539555e-01 1.69405655e-01 3.67550491e-03 1.46342712e+02] [-1.69404565e-01 9.85546409e-01 -6.08079269e-04 -1.00265176e+01] [-3.72539273e-03 -2.33611399e-05 9.99993060e-01 -6.57115656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:-10.03, Z:-0.66 [[ 9.87153016e-01 1.59735447e-01 3.67550491e-03 1.46401494e+02] [-1.59734290e-01 9.87159859e-01 -6.08079269e-04 -1.00346245e+01] [-3.72544272e-03 1.31631159e-05 9.99993060e-01 -6.56491657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:-10.05, Z:-0.66 [[ 9.88100310e-01 1.53766925e-01 3.67551228e-03 1.46460560e+02] [-1.53765727e-01 9.88107146e-01 -6.08034698e-04 -1.00453316e+01] [-3.72529558e-03 3.56314572e-05 9.99993060e-01 -6.57219508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38420382199996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:146.52, Y:-10.05, Z:-0.66 [[ 9.88978825e-01 1.48011399e-01 3.67551228e-03 1.46521129e+02] [-1.48010162e-01 9.88985653e-01 -6.08034698e-04 -1.00537008e+01] [-3.72502498e-03 5.73202749e-05 9.99993060e-01 -6.59720889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.58, Y:-10.06, Z:-0.66 [[ 9.88822641e-01 1.49051253e-01 3.67549719e-03 1.46580489e+02] [-1.49050022e-01 9.88829470e-01 -6.08125930e-04 -1.00641836e+01] [-3.72508187e-03 5.34957507e-05 9.99993060e-01 -6.62511764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:-10.07, Z:-0.67 [[ 9.88164489e-01 1.53353947e-01 3.67548972e-03 1.46639846e+02] [-1.53352745e-01 9.88171324e-01 -6.08171038e-04 -1.00696158e+01] [-3.72527898e-03 3.73265835e-05 9.99993060e-01 -6.67876674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:-10.08, Z:-0.67 [[ 9.87446662e-01 1.57910041e-01 3.67549709e-03 1.46698367e+02] [-1.57908871e-01 9.87453502e-01 -6.08126509e-04 -1.00785634e+01] [-3.72541176e-03 2.00988941e-05 9.99993060e-01 -6.65229524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:-10.09, Z:-0.67 [[ 9.87287521e-01 1.58901987e-01 3.67551185e-03 1.46757637e+02] [-1.58900824e-01 9.87294363e-01 -6.08037317e-04 -1.00888677e+01] [-3.72543046e-03 1.62657929e-05 9.99993060e-01 -6.66949519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:-10.10, Z:-0.67 [[ 9.87525515e-01 1.57416163e-01 3.67551926e-03 1.46816131e+02] [-1.57414990e-01 9.87532355e-01 -6.07992480e-04 -1.01029189e+01] [-3.72540203e-03 2.18262573e-05 9.99993060e-01 -6.69743884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:-10.12, Z:-0.66 [[ 9.87882029e-01 1.55163099e-01 3.67551926e-03 1.46876411e+02] [-1.55161911e-01 9.87888866e-01 -6.07992480e-04 -1.01158963e+01] [-3.72534255e-03 3.03242507e-05 9.99993060e-01 -6.63456480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:-10.13, Z:-0.66 [[ 9.87740152e-01 1.56063716e-01 3.67550419e-03 1.46934936e+02] [-1.56062534e-01 9.87746990e-01 -6.08083565e-04 -1.01299340e+01] [-3.72536798e-03 2.70200566e-05 9.99993060e-01 -6.63686463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:-10.15, Z:-0.66 [[ 9.86791735e-01 1.61952345e-01 3.67549676e-03 1.46993539e+02] [-1.61951203e-01 9.86798580e-01 -6.08128518e-04 -1.01462799e+01] [-3.72546282e-03 4.84507216e-06 9.99993060e-01 -6.60221452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:-10.16, Z:-0.66 [[ 9.85707378e-01 1.68426409e-01 3.67549676e-03 1.47051644e+02] [-1.68425312e-01 9.85714231e-01 -6.08128518e-04 -1.01564986e+01] [-3.72541436e-03 -1.96099207e-05 9.99993060e-01 -6.62721373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.11, Y:-10.17, Z:-0.66 [[ 9.83686306e-01 1.79854778e-01 3.67550416e-03 1.47110914e+02] [-1.79853761e-01 9.83693171e-01 -6.08083740e-04 -1.01666365e+01] [-3.72493511e-03 -6.28895988e-05 9.99993060e-01 -6.59115162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.17, Y:-10.17, Z:-0.66 [[ 9.81885034e-01 1.89441996e-01 3.67551932e-03 1.47170483e+02] [-1.89441046e-01 9.81891909e-01 -6.07992144e-04 -1.01749474e+01] [-3.72414192e-03 -9.93158359e-05 9.99993060e-01 -6.59791182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.23, Y:-10.18, Z:-0.67 [[ 9.80965807e-01 1.94145758e-01 3.67553421e-03 1.47229259e+02] [-1.94144842e-01 9.80972686e-01 -6.07902065e-04 -1.01806079e+01] [-3.72362028e-03 -1.17254870e-04 9.99993060e-01 -6.65482767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:-10.19, Z:-0.66 [[ 9.80954332e-01 1.94203731e-01 3.67555616e-03 1.47288296e+02] [-1.94202815e-01 9.80961211e-01 -6.07769337e-04 -1.01877782e+01] [-3.72360909e-03 -1.17609391e-04 9.99993060e-01 -6.61980316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:-10.19, Z:-0.66 [[ 9.82175252e-01 1.87931540e-01 3.67557082e-03 1.47347851e+02] [-1.87930581e-01 9.82182125e-01 -6.07680687e-04 -1.01942740e+01] [-3.72428232e-03 -9.39032256e-05 9.99993060e-01 -6.58831867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:-10.20, Z:-0.66 [[ 9.83114180e-01 1.82956277e-01 3.67558551e-03 1.47406559e+02] [-1.82955283e-01 9.83121048e-01 -6.07591823e-04 -1.02014761e+01] [-3.72470821e-03 -7.51356509e-05 9.99993060e-01 -6.61569988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:-10.21, Z:-0.66 [[ 9.83559181e-01 1.80548685e-01 3.67560739e-03 1.47465594e+02] [-1.80547675e-01 9.83566047e-01 -6.07459420e-04 -1.02104092e+01] [-3.72487863e-03 -6.61500783e-05 9.99993060e-01 -6.60347279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.53, Y:-10.22, Z:-0.66 [[ 9.84683349e-01 1.74313487e-01 3.67562165e-03 1.47525734e+02] [-1.74312434e-01 9.84690208e-01 -6.07373130e-04 -1.02180808e+01] [-3.72522197e-03 -4.26363477e-05 9.99993060e-01 -6.58630454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.58, Y:-10.22, Z:-0.66 [[ 9.85126350e-01 1.71792213e-01 3.67562165e-03 1.47584177e+02] [-1.71791143e-01 9.85133206e-01 -6.07373130e-04 -1.02243464e+01] [-3.72531891e-03 -3.30999684e-05 9.99993060e-01 -6.63057178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.64, Y:-10.23, Z:-0.66 [[ 9.85622132e-01 1.68924547e-01 3.67564383e-03 1.47643246e+02] [-1.68923457e-01 9.85628985e-01 -6.07238831e-04 -1.02304581e+01] [-3.72539865e-03 -2.23944314e-05 9.99993060e-01 -6.60940084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.70, Y:-10.24, Z:-0.67 [[ 9.86272757e-01 1.65083426e-01 3.67565875e-03 1.47702563e+02] [-1.65082310e-01 9.86279607e-01 -6.07148547e-04 -1.02370700e+01] [-3.72545743e-03 -7.97216466e-06 9.99993060e-01 -6.65310371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.76, Y:-10.24, Z:-0.67 [[ 9.86595399e-01 1.63144133e-01 3.67567358e-03 1.47760940e+02] [-1.63143004e-01 9.86602246e-01 -6.07058717e-04 -1.02443350e+01] [-3.72546588e-03 -7.39092329e-07 9.99993060e-01 -6.68057924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.82, Y:-10.25, Z:-0.67 [[ 9.86701143e-01 1.62503363e-01 3.67569570e-03 1.47818456e+02] [-1.62502229e-01 9.86707990e-01 -6.06924752e-04 -1.02537851e+01] [-3.72546563e-03 1.54460060e-06 9.99993060e-01 -6.70277739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.88, Y:-10.26, Z:-0.67 [[ 9.86725724e-01 1.62354042e-01 3.67571002e-03 1.47876862e+02] [-1.62352908e-01 9.86732570e-01 -6.06838024e-04 -1.02638355e+01] [-3.72546540e-03 2.02047738e-06 9.99993060e-01 -6.66793258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.94, Y:-10.28, Z:-0.67 [[ 9.86605738e-01 1.63081597e-01 3.67572478e-03 1.47935305e+02] [-1.63080469e-01 9.86612585e-01 -6.06748629e-04 -1.02787649e+01] [-3.72546586e-03 -8.17240067e-07 9.99993060e-01 -6.66658778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:-10.28, Z:-0.67 [[ 9.85899704e-01 1.67296931e-01 3.67573978e-03 1.47994202e+02] [-1.67295832e-01 9.85906556e-01 -6.06657714e-04 -1.02847019e+01] [-3.72542792e-03 -1.68322837e-05 9.99993060e-01 -6.69829308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:-10.29, Z:-0.67 [[ 9.84392217e-01 1.75950138e-01 3.67576202e-03 1.48051297e+02] [-1.75949099e-01 9.84399079e-01 -6.06522957e-04 -1.02940300e+01] [-3.72513454e-03 -4.96905379e-05 9.99993060e-01 -6.71379450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.11, Y:-10.30, Z:-0.67 [[ 9.83011978e-01 1.83504606e-01 3.67579709e-03 1.48109972e+02] [-1.83503621e-01 9.83018847e-01 -6.06310328e-04 -1.03011429e+01] [-3.72463856e-03 -7.85117604e-05 9.99993060e-01 -6.65149846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.17, Y:-10.31, Z:-0.66 [[ 9.82572757e-01 1.85842045e-01 3.67582600e-03 1.48168719e+02] [-1.85841077e-01 9.82579629e-01 -6.06135011e-04 -1.03063362e+01] [-3.72443712e-03 -8.75477141e-05 9.99993060e-01 -6.62859402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.23, Y:-10.31, Z:-0.67 [[ 9.82857760e-01 1.84328815e-01 3.67585502e-03 1.48227453e+02] [-1.84327837e-01 9.82864630e-01 -6.05958953e-04 -1.03068505e+01] [-3.72456358e-03 -8.19909477e-05 9.99993060e-01 -6.66937438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:-10.31, Z:-0.67 [[ 9.84007430e-01 1.78089488e-01 3.67589077e-03 1.48286187e+02] [-1.78088468e-01 9.84014294e-01 -6.05742041e-04 -1.03124701e+01] [-3.72500535e-03 -5.85790859e-05 9.99993060e-01 -6.71311440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:-10.32, Z:-0.68 [[ 9.85330358e-01 1.70618211e-01 3.67591952e-03 1.48343985e+02] [-1.70617140e-01 9.85337214e-01 -6.05567514e-04 -1.03160672e+01] [-3.72534114e-03 -3.04908180e-05 9.99993060e-01 -6.75342312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.40, Y:-10.32, Z:-0.67 [[ 9.86239448e-01 1.65282302e-01 3.67595773e-03 1.48402762e+02] [-1.65281193e-01 9.86246298e-01 -6.05335461e-04 -1.03227826e+01] [-3.72545094e-03 -1.05609701e-05 9.99993060e-01 -6.70369208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:-10.33, Z:-0.67 [[ 9.87358761e-01 1.58458717e-01 3.67598748e-03 1.48460986e+02] [-1.58457562e-01 9.87365603e-01 -6.05154768e-04 -1.03267214e+01] [-3.72543564e-03 1.50168481e-05 9.99993060e-01 -6.73346028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42420382199998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:-10.34, Z:-0.67 [[ 9.88461939e-01 1.51424837e-01 3.67602663e-03 1.48518951e+02] [-1.51423634e-01 9.88468774e-01 -6.04916871e-04 -1.03355467e+01] [-3.72523697e-03 4.12999933e-05 9.99993060e-01 -6.74433236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:-10.35, Z:-0.67 [[ 9.88825409e-01 1.49032872e-01 3.67605531e-03 1.48576726e+02] [-1.49031653e-01 9.88832241e-01 -6.04742545e-04 -1.03453811e+01] [-3.72512852e-03 5.01361951e-05 9.99993060e-01 -6.71210004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:-10.35, Z:-0.67 [[ 9.88474811e-01 1.51340789e-01 3.67608530e-03 1.48634898e+02] [-1.51339587e-01 9.88481646e-01 -6.04560175e-04 -1.03518010e+01] [-3.72523746e-03 4.12552730e-05 9.99993060e-01 -6.69758351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.69, Y:-10.36, Z:-0.67 [[ 9.87352851e-01 1.58495530e-01 3.67611513e-03 1.48693471e+02] [-1.58494378e-01 9.87359695e-01 -6.04378729e-04 -1.03589900e+01] [-3.72543924e-03 1.40914793e-05 9.99993060e-01 -6.70377542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.75, Y:-10.36, Z:-0.67 [[ 9.86056601e-01 1.66369666e-01 3.67614502e-03 1.48751473e+02] [-1.66368570e-01 9.86063453e-01 -6.04196885e-04 -1.03648933e+01] [-3.72543228e-03 -1.58226611e-05 9.99993060e-01 -6.73252090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-10.37, Z:-0.67 [[ 9.85282883e-01 1.70892147e-01 3.67618200e-03 1.48809551e+02] [-1.70891083e-01 9.85289741e-01 -6.03971759e-04 -1.03709116e+01] [-3.72531844e-03 -3.31436862e-05 9.99993060e-01 -6.73126053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.87, Y:-10.38, Z:-0.68 [[ 9.84641321e-01 1.74550723e-01 3.67622635e-03 1.48867319e+02] [-1.74549685e-01 9.84648182e-01 -6.03701708e-04 -1.03758805e+01] [-3.72516616e-03 -4.72545057e-05 9.99993060e-01 -6.76682117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.93, Y:-10.38, Z:-0.68 [[ 9.84811135e-01 1.73590074e-01 3.67626278e-03 1.48925315e+02] [-1.73589031e-01 9.84817995e-01 -6.03479771e-04 -1.03842240e+01] [-3.72520784e-03 -4.38452955e-05 9.99993060e-01 -6.76412177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.98, Y:-10.39, Z:-0.68 [[ 9.85615399e-01 1.68963811e-01 3.67629202e-03 1.48982851e+02] [-1.68962736e-01 9.85622255e-01 -6.03301623e-04 -1.03911166e+01] [-3.72537137e-03 -2.65329863e-05 9.99993060e-01 -6.78705908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.04, Y:-10.40, Z:-0.68 [[ 9.86396883e-01 1.64340119e-01 3.67632822e-03 1.49040830e+02] [-1.64339012e-01 9.86403733e-01 -6.03080904e-04 -1.04012676e+01] [-3.72545427e-03 -9.28702531e-06 9.99993060e-01 -6.80644463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02420382199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:149.10, Y:-10.41, Z:-0.68 [[ 9.86794608e-01 1.61934822e-01 3.67635686e-03 1.49099325e+02] [-1.61933699e-01 9.86801456e-01 -6.02906308e-04 -1.04105330e+01] [-3.72546583e-03 -3.81371757e-07 9.99993060e-01 -6.81296310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.16, Y:-10.42, Z:-0.68 [[ 9.87151817e-01 1.59742838e-01 3.67638663e-03 1.49157210e+02] [-1.59741701e-01 9.87158663e-01 -6.02724677e-04 -1.04218623e+01] [-3.72545787e-03 7.70850677e-06 9.99993060e-01 -6.80323767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.22, Y:-10.43, Z:-0.68 [[ 9.87512260e-01 1.57499268e-01 3.67641610e-03 1.49215405e+02] [-1.57498116e-01 9.87519104e-01 -6.02544911e-04 -1.04331247e+01] [-3.72543151e-03 1.59918773e-05 9.99993060e-01 -6.78766009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.27, Y:-10.45, Z:-0.68 [[ 9.87238362e-01 1.59207097e-01 3.67644513e-03 1.49272106e+02] [-1.59205957e-01 9.87245208e-01 -6.02367728e-04 -1.04450598e+01] [-3.72545405e-03 9.36856208e-06 9.99993060e-01 -6.80007884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.33, Y:-10.45, Z:-0.68 [[ 9.86891783e-01 1.61341538e-01 3.67648110e-03 1.49330606e+02] [-1.61340414e-01 9.86898631e-01 -6.02148069e-04 -1.04537082e+01] [-3.72546567e-03 1.08999678e-06 9.99993060e-01 -6.78955593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.39, Y:-10.46, Z:-0.68 [[ 9.85374299e-01 1.70364237e-01 3.67650970e-03 1.49387866e+02] [-1.70363177e-01 9.85381158e-01 -6.01973454e-04 -1.04629435e+01] [-3.72531813e-03 -3.31727010e-05 9.99993060e-01 -6.78555685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.45, Y:-10.47, Z:-0.68 [[ 9.84022075e-01 1.78008536e-01 3.67654503e-03 1.49446842e+02] [-1.78007530e-01 9.84028941e-01 -6.01757597e-04 -1.04681847e+01] [-3.72494470e-03 -6.23099386e-05 9.99993060e-01 -6.77427432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.50, Y:-10.48, Z:-0.68 [[ 9.83595443e-01 1.80351011e-01 3.67657318e-03 1.49504648e+02] [-1.80350022e-01 9.83602312e-01 -6.01585536e-04 -1.04780590e+01] [-3.72478244e-03 -7.13532598e-05 9.99993060e-01 -6.80327724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:-10.48, Z:-0.68 [[ 9.83466366e-01 1.81053553e-01 3.67660087e-03 1.49563531e+02] [-1.81052570e-01 9.83473236e-01 -6.01416256e-04 -1.04823847e+01] [-3.72472710e-03 -7.41853752e-05 9.99993060e-01 -6.83453773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-10.49, Z:-0.68 [[ 9.83300087e-01 1.81954449e-01 3.67662833e-03 1.49621943e+02] [-1.81953472e-01 9.83306957e-01 -6.01248348e-04 -1.04875906e+01] [-3.72465403e-03 -7.77677365e-05 9.99993060e-01 -6.76924820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:-10.49, Z:-0.68 [[ 9.83339088e-01 1.81743558e-01 3.67665795e-03 1.49680937e+02] [-1.81742581e-01 9.83345958e-01 -6.01067164e-04 -1.04901097e+01] [-3.72466682e-03 -7.71524670e-05 9.99993060e-01 -6.77133005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.74, Y:-10.50, Z:-0.68 [[ 9.83749938e-01 1.79506385e-01 3.67668765e-03 1.49738450e+02] [-1.79505393e-01 9.83756806e-01 -6.00885400e-04 -1.04967334e+01] [-3.72482927e-03 -6.88642870e-05 9.99993060e-01 -6.81249256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.80, Y:-10.50, Z:-0.68 [[ 9.85327214e-01 1.70636345e-01 3.67672436e-03 1.49797154e+02] [-1.70635292e-01 9.85334073e-01 -6.00660726e-04 -1.05012278e+01] [-3.72529634e-03 -3.55315743e-05 9.99993060e-01 -6.79079006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:-10.51, Z:-0.68 [[ 9.87657214e-01 1.56587705e-01 3.67675245e-03 1.49855749e+02] [-1.56586554e-01 9.87664057e-01 -6.00488752e-04 -1.05095922e+01] [-3.72542539e-03 1.73470505e-05 9.99993060e-01 -6.76554922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-10.52, Z:-0.68 [[ 9.88979625e-01 1.48006023e-01 3.67678098e-03 1.49913535e+02] [-1.48004814e-01 9.88986458e-01 -6.00313977e-04 -1.05196558e+01] [-3.72513669e-03 4.95170051e-05 9.99993060e-01 -6.75685636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-10.53, Z:-0.67 [[ 9.89886656e-01 1.41812867e-01 3.67680999e-03 1.49971531e+02] [-1.41811616e-01 9.89893482e-01 -6.00136247e-04 -1.05314958e+01] [-3.72475729e-03 7.26524961e-05 9.99993060e-01 -6.72577117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:-10.54, Z:-0.67 [[ 9.90001888e-01 1.41006182e-01 3.67683940e-03 1.50029587e+02] [-1.41004926e-01 9.90008713e-01 -5.99956019e-04 -1.05438958e+01] [-3.72470055e-03 7.55051232e-05 9.99993060e-01 -6.71003482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:-10.55, Z:-0.67 [[ 9.89649196e-01 1.43460622e-01 3.67686877e-03 1.50087906e+02] [-1.43459384e-01 9.89656024e-01 -5.99775958e-04 -1.05547332e+01] [-3.72487956e-03 6.60864665e-05 9.99993060e-01 -6.70839410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.14, Y:-10.57, Z:-0.67 [[ 9.89272774e-01 1.46033761e-01 3.67689802e-03 1.50144929e+02] [-1.46032541e-01 9.89279605e-01 -5.99596607e-04 -1.05685477e+01] [-3.72504157e-03 5.62178390e-05 9.99993060e-01 -6.71782362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.20, Y:-10.58, Z:-0.67 [[ 9.88566416e-01 1.50741238e-01 3.67692725e-03 1.50201290e+02] [-1.50740051e-01 9.88573254e-01 -5.99417318e-04 -1.05835462e+01] [-3.72526884e-03 3.83036288e-05 9.99993060e-01 -6.73216675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:-10.60, Z:-0.68 [[ 9.87623907e-01 1.56797635e-01 3.67696334e-03 1.50258699e+02] [-1.56796491e-01 9.87630752e-01 -5.99195811e-04 -1.05997037e+01] [-3.72543456e-03 1.52451596e-05 9.99993060e-01 -6.75936563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.32, Y:-10.62, Z:-0.67 [[ 9.86526272e-01 1.63561592e-01 3.67698530e-03 1.50315297e+02] [-1.63560495e-01 9.86533124e-01 -5.99061016e-04 -1.06154506e+01] [-3.72545117e-03 -1.04201071e-05 9.99993060e-01 -6.74177136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.37, Y:-10.63, Z:-0.67 [[ 9.85755934e-01 1.68141958e-01 3.67702217e-03 1.50371565e+02] [-1.68140894e-01 9.85762792e-01 -5.98834633e-04 -1.06340251e+01] [-3.72536087e-03 -2.79530010e-05 9.99993060e-01 -6.74269774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.43, Y:-10.65, Z:-0.68 [[ 9.85532144e-01 1.69448730e-01 3.67705173e-03 1.50428469e+02] [-1.69447676e-01 9.85539003e-01 -5.98653075e-04 -1.06471069e+01] [-3.72531890e-03 -3.30760227e-05 9.99993060e-01 -6.76991461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46420382199997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:150.49, Y:-10.66, Z:-0.67 [[ 9.85325353e-01 1.70647084e-01 3.67709080e-03 1.50485807e+02] [-1.70646039e-01 9.85332214e-01 -5.98413026e-04 -1.06612573e+01] [-3.72527345e-03 -3.78494522e-05 9.99993060e-01 -6.73710097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.54, Y:-10.68, Z:-0.67 [[ 9.84679135e-01 1.74337261e-01 3.67711906e-03 1.50542280e+02] [-1.74336242e-01 9.84685999e-01 -5.98239327e-04 -1.06785807e+01] [-3.72510306e-03 -5.19813342e-05 9.99993060e-01 -6.71912120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:-10.69, Z:-0.67 [[ 9.83693024e-01 1.79818002e-01 3.67714773e-03 1.50598641e+02] [-1.79817022e-01 9.83699894e-01 -5.98063045e-04 -1.06927302e+01] [-3.72475233e-03 -7.29033097e-05 9.99993060e-01 -6.74382011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.66, Y:-10.70, Z:-0.67 [[ 9.82704042e-01 1.85146545e-01 3.67718447e-03 1.50656544e+02] [-1.85145604e-01 9.82710918e-01 -5.97837081e-04 -1.07021378e+01] [-3.72429679e-03 -9.33176207e-05 9.99993060e-01 -6.74749633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:-10.72, Z:-0.67 [[ 9.82561545e-01 1.85901287e-01 3.67721329e-03 1.50712368e+02] [-1.85900351e-01 9.82568421e-01 -5.97659760e-04 -1.07170291e+01] [-3.72421937e-03 -9.63577435e-05 9.99993060e-01 -6.74582521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.77, Y:-10.73, Z:-0.67 [[ 9.82353902e-01 1.86995426e-01 3.67724890e-03 1.50769712e+02] [-1.86994499e-01 9.82360779e-01 -5.97440579e-04 -1.07308629e+01] [-3.72410375e-03 -1.00727231e-04 9.99993060e-01 -6.72957082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:-10.74, Z:-0.67 [[ 9.82181051e-01 1.87901198e-01 3.67727691e-03 1.50827800e+02] [-1.87900277e-01 9.82187930e-01 -5.97268118e-04 -1.07398352e+01] [-3.72400439e-03 -1.04335922e-04 9.99993060e-01 -6.72162790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:-10.75, Z:-0.67 [[ 9.81982222e-01 1.88937536e-01 3.67730468e-03 1.50885661e+02] [-1.88936624e-01 9.81989102e-01 -5.97097093e-04 -1.07477935e+01] [-3.72388717e-03 -1.08438800e-04 9.99993060e-01 -6.71663602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:-10.76, Z:-0.67 [[ 9.81606924e-01 1.90877772e-01 3.67733318e-03 1.50943548e+02] [-1.90876874e-01 9.81613805e-01 -5.96921484e-04 -1.07558355e+01] [-3.72366006e-03 -1.15975601e-04 9.99993060e-01 -6.72613932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:-10.76, Z:-0.67 [[ 9.81545855e-01 1.91191555e-01 3.67736202e-03 1.51002858e+02] [-1.91190659e-01 9.81552737e-01 -5.96743765e-04 -1.07573860e+01] [-3.72361713e-03 -1.17345901e-04 9.99993060e-01 -6.71693922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.06, Y:-10.76, Z:-0.67 [[ 9.81836945e-01 1.89691037e-01 3.67739109e-03 1.51061185e+02] [-1.89690132e-01 9.81843826e-01 -5.96564556e-04 -1.07610183e+01] [-3.72378669e-03 -1.11835680e-04 9.99993060e-01 -6.74211575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.12, Y:-10.77, Z:-0.68 [[ 9.82322839e-01 1.87158535e-01 3.67742990e-03 1.51120054e+02] [-1.87157613e-01 9.82329717e-01 -5.96325274e-04 -1.07650885e+01] [-3.72405603e-03 -1.02475064e-04 9.99993060e-01 -6.75187335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18420382199997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:151.18, Y:-10.77, Z:-0.68 [[ 9.82839174e-01 1.84427858e-01 3.67745808e-03 1.51177773e+02] [-1.84426917e-01 9.82846049e-01 -5.96151414e-04 -1.07703498e+01] [-3.72432207e-03 -9.23012934e-05 9.99993060e-01 -6.77879984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.24, Y:-10.77, Z:-0.68 [[ 9.83356979e-01 1.81646713e-01 3.67749295e-03 1.51236747e+02] [-1.81645754e-01 9.83363852e-01 -5.95936214e-04 -1.07701348e+01] [-3.72456349e-03 -8.19829432e-05 9.99993060e-01 -6.78569305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:-10.77, Z:-0.68 [[ 9.83619322e-01 1.80220712e-01 3.67752742e-03 1.51296903e+02] [-1.80219744e-01 9.83626194e-01 -5.95723413e-04 -1.07677251e+01] [-3.72467400e-03 -7.67979918e-05 9.99993060e-01 -6.78781278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.36, Y:-10.77, Z:-0.68 [[ 9.83849727e-01 1.78958627e-01 3.67755479e-03 1.51356177e+02] [-1.78957650e-01 9.83856598e-01 -5.95554421e-04 -1.07651485e+01] [-3.72476615e-03 -7.21905098e-05 9.99993060e-01 -6.78716686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.41, Y:-10.77, Z:-0.68 [[ 9.84116297e-01 1.77486871e-01 3.67758874e-03 1.51414980e+02] [-1.77485885e-01 9.84123166e-01 -5.95344711e-04 -1.07679479e+01] [-3.72486614e-03 -6.68316600e-05 9.99993060e-01 -6.77293606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:-10.77, Z:-0.67 [[ 9.84782553e-01 1.73752120e-01 3.67761676e-03 1.51474510e+02] [-1.73751108e-01 9.84789418e-01 -5.95171577e-04 -1.07662142e+01] [-3.72509039e-03 -5.28754034e-05 9.99993060e-01 -6.74506412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:-10.77, Z:-0.68 [[ 9.85599776e-01 1.69054893e-01 3.67766099e-03 1.51533122e+02] [-1.69053850e-01 9.85606636e-01 -5.94898155e-04 -1.07686548e+01] [-3.72529752e-03 -3.53912612e-05 9.99993060e-01 -6.75879020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:-10.77, Z:-0.67 [[ 9.87149510e-01 1.59757066e-01 3.67769760e-03 1.51592888e+02] [-1.59755959e-01 9.87156360e-01 -5.94671746e-04 -1.07705205e+01] [-3.72546559e-03 -5.04182991e-07 9.99993060e-01 -6.71622031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:-10.78, Z:-0.68 [[ 9.88427272e-01 1.51650921e-01 3.67772754e-03 1.51650189e+02] [-1.51649759e-01 9.88434114e-01 -5.94486486e-04 -1.07774807e+01] [-3.72534579e-03 2.98801598e-05 9.99993060e-01 -6.75868585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:-10.78, Z:-0.67 [[ 9.88841404e-01 1.48926665e-01 3.67776430e-03 1.51709181e+02] [-1.48925485e-01 9.88848243e-01 -5.94259003e-04 -1.07831075e+01] [-3.72525178e-03 3.99150746e-05 9.99993060e-01 -6.74085243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:-10.79, Z:-0.68 [[ 9.88631026e-01 1.50316895e-01 3.67779338e-03 1.51766435e+02] [-1.50315725e-01 9.88637866e-01 -5.94079001e-04 -1.07898054e+01] [-3.72530591e-03 3.44947545e-05 9.99993060e-01 -6.79350581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:-10.80, Z:-0.68 [[ 9.87862728e-01 1.55285880e-01 3.67782920e-03 1.51825441e+02] [-1.55284745e-01 9.87869574e-01 -5.93857175e-04 -1.07952027e+01] [-3.72543319e-03 1.55386006e-05 9.99993060e-01 -6.78849565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.88, Y:-10.80, Z:-0.68 [[ 9.87351463e-01 1.58504138e-01 3.67785827e-03 1.51882791e+02] [-1.58503026e-01 9.87358313e-01 -5.93677066e-04 -1.08030167e+01] [-3.72546421e-03 3.21625311e-06 9.99993060e-01 -6.76654283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.94, Y:-10.81, Z:-0.67 [[ 9.87006889e-01 1.60635842e-01 3.67789415e-03 1.51940943e+02] [-1.60634746e-01 9.87013742e-01 -5.93454684e-04 -1.08119148e+01] [-3.72546216e-03 -5.05373201e-06 9.99993060e-01 -6.74084028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.00, Y:-10.82, Z:-0.67 [[ 9.87284772e-01 1.58919013e-01 3.67792246e-03 1.51999398e+02] [-1.58917906e-01 9.87291622e-01 -5.93279168e-04 -1.08199002e+01] [-3.72546538e-03 1.24775327e-06 9.99993060e-01 -6.70079782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:-10.83, Z:-0.68 [[ 9.87417866e-01 1.58089947e-01 3.67795170e-03 1.52056171e+02] [-1.58088834e-01 9.87424715e-01 -5.93097867e-04 -1.08321787e+01] [-3.72546322e-03 4.19233308e-06 9.99993060e-01 -6.75665243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.11, Y:-10.84, Z:-0.68 [[ 9.87180102e-01 1.59567914e-01 3.67798776e-03 1.52113850e+02] [-1.59566812e-01 9.87186953e-01 -5.92874161e-04 -1.08425957e+01] [-3.72546522e-03 -1.61120804e-06 9.99993060e-01 -6.78441626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:-10.85, Z:-0.68 [[ 9.86397045e-01 1.64339107e-01 3.67801539e-03 1.52172165e+02] [-1.64338040e-01 9.86403902e-01 -5.92702704e-04 -1.08527511e+01] [-3.72541296e-03 -1.97976434e-05 9.99993060e-01 -6.79457486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.23, Y:-10.86, Z:-0.68 [[ 9.85254881e-01 1.71053473e-01 3.67804301e-03 1.52230463e+02] [-1.71052453e-01 9.85261746e-01 -5.92531235e-04 -1.08616039e+01] [-3.72518961e-03 -4.53439880e-05 9.99993060e-01 -6.75920094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:-10.87, Z:-0.67 [[ 9.84645573e-01 1.74526697e-01 3.67807170e-03 1.52288771e+02] [-1.74525701e-01 9.84652441e-01 -5.92353115e-04 -1.08719647e+01] [-3.72500371e-03 -5.86601705e-05 9.99993060e-01 -6.74473531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:-10.88, Z:-0.67 [[ 9.84299048e-01 1.76470554e-01 3.67810085e-03 1.52346684e+02] [-1.76469573e-01 9.84305918e-01 -5.92172030e-04 -1.08801184e+01] [-3.72487736e-03 -6.61985213e-05 9.99993060e-01 -6.70230558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.40, Y:-10.89, Z:-0.67 [[ 9.84674247e-01 1.74364844e-01 3.67813744e-03 1.52403216e+02] [-1.74363849e-01 9.84681115e-01 -5.91944723e-04 -1.08911814e+01] [-3.72500682e-03 -5.84614772e-05 9.99993060e-01 -6.70582686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.46, Y:-10.90, Z:-0.67 [[ 9.85359903e-01 1.70447449e-01 3.67817366e-03 1.52460605e+02] [-1.70446427e-01 9.85366767e-01 -5.91719555e-04 -1.09035094e+01] [-3.72520718e-03 -4.38748361e-05 9.99993060e-01 -6.68822373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:-10.92, Z:-0.67 [[ 9.86446603e-01 1.64041369e-01 3.67820176e-03 1.52518171e+02] [-1.64040304e-01 9.86453460e-01 -5.91544823e-04 -1.09175087e+01] [-3.72541268e-03 -1.98459535e-05 9.99993060e-01 -6.69422729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.58, Y:-10.93, Z:-0.67 [[ 9.87000165e-01 1.60677146e-01 3.67822985e-03 1.52575155e+02] [-1.60676058e-01 9.87007019e-01 -5.91370138e-04 -1.09314171e+01] [-3.72545834e-03 -7.32104910e-06 9.99993060e-01 -6.66817917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.63, Y:-10.94, Z:-0.67 [[ 9.86696094e-01 1.62533958e-01 3.67825826e-03 1.52631785e+02] [-1.62532884e-01 9.86702950e-01 -5.91193367e-04 -1.09426610e+01] [-3.72543727e-03 -1.45097349e-05 9.99993060e-01 -6.69407411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.69, Y:-10.95, Z:-0.67 [[ 9.85252293e-01 1.71068374e-01 3.67829327e-03 1.52690459e+02] [-1.71067359e-01 9.85259158e-01 -5.90975452e-04 -1.09510264e+01] [-3.72516934e-03 -4.69759965e-05 9.99993060e-01 -6.68240437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.75, Y:-10.96, Z:-0.67 [[ 9.83799571e-01 1.79234133e-01 3.67832105e-03 1.52749398e+02] [-1.79233176e-01 9.83806444e-01 -5.90802477e-04 -1.09582259e+01] [-3.72464792e-03 -7.80459413e-05 9.99993060e-01 -6.72259724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.81, Y:-10.97, Z:-0.68 [[ 9.83374440e-01 1.81552144e-01 3.67841073e-03 1.52807586e+02] [-1.81551205e-01 9.83381315e-01 -5.90243601e-04 -1.09659783e+01] [-3.72444037e-03 -8.73894310e-05 9.99993060e-01 -6.75901794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.86, Y:-10.97, Z:-0.68 [[ 9.83621309e-01 1.80209851e-01 3.67843802e-03 1.52864486e+02] [-1.80208904e-01 9.83628183e-01 -5.90073477e-04 -1.09736666e+01] [-3.72455236e-03 -8.24784380e-05 9.99993060e-01 -6.77173372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.92, Y:-10.98, Z:-0.68 [[ 9.83859131e-01 1.78906901e-01 3.67847183e-03 1.52922217e+02] [-1.78905945e-01 9.83866005e-01 -5.89862614e-04 -1.09780928e+01] [-3.72465388e-03 -7.77587611e-05 9.99993060e-01 -6.76589330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:-10.99, Z:-0.68 [[ 9.83901046e-01 1.78676244e-01 3.67850512e-03 1.52980911e+02] [-1.78675287e-01 9.83907919e-01 -5.89654967e-04 -1.09852558e+01] [-3.72466765e-03 -7.70958203e-05 9.99993060e-01 -6.75590151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.04, Y:-10.99, Z:-0.67 [[ 9.84016230e-01 1.78040803e-01 3.67853175e-03 1.53040465e+02] [-1.78039843e-01 9.84023103e-01 -5.89488812e-04 -1.09883106e+01] [-3.72471328e-03 -7.48586544e-05 9.99993060e-01 -6.70323675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.10, Y:-10.99, Z:-0.68 [[ 9.83947714e-01 1.78419068e-01 3.67856079e-03 1.53097740e+02] [-1.78418111e-01 9.83954587e-01 -5.89307522e-04 -1.09914053e+01] [-3.72468046e-03 -7.64740799e-05 9.99993060e-01 -6.75272077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.16, Y:-10.99, Z:-0.67 [[ 9.83641387e-01 1.80100223e-01 3.67861089e-03 1.53157275e+02] [-1.80099279e-01 9.83648262e-01 -5.88994583e-04 -1.09906602e+01] [-3.72453727e-03 -8.31557223e-05 9.99993060e-01 -6.68872570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28420382199997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:-10.99, Z:-0.67 [[ 9.83982188e-01 1.78228842e-01 3.67871257e-03 1.53216009e+02] [-1.78227887e-01 9.83989062e-01 -5.88358848e-04 -1.09898097e+01] [-3.72467545e-03 -7.67145421e-05 9.99993060e-01 -6.71796070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.27, Y:-10.99, Z:-0.67 [[ 9.85439316e-01 1.69987710e-01 3.67882846e-03 1.53273876e+02] [-1.69986701e-01 9.85446181e-01 -5.87633342e-04 -1.09889642e+01] [-3.72517790e-03 -4.62749133e-05 9.99993060e-01 -6.70816084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:153.33, Y:-10.99, Z:-0.67 [[ 9.86849246e-01 1.61601458e-01 3.67890692e-03 1.53332644e+02] [-1.61600392e-01 9.86856103e-01 -5.87141714e-04 -1.09941019e+01] [-3.72543471e-03 -1.50924444e-05 9.99993060e-01 -6.70274934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.39, Y:-11.00, Z:-0.67 [[ 9.88884985e-01 1.48636978e-01 3.67893587e-03 1.53390377e+02] [-1.48635823e-01 9.88891828e-01 -5.86960246e-04 -1.10048320e+01] [-3.72531362e-03 3.36145144e-05 9.99993060e-01 -6.70961903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.45, Y:-11.01, Z:-0.67 [[ 9.89739441e-01 1.42836634e-01 3.67896491e-03 1.53447862e+02] [-1.42835440e-01 9.89746277e-01 -5.86778197e-04 -1.10133890e+01] [-3.72505525e-03 5.52709549e-05 9.99993060e-01 -6.70289116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.51, Y:-11.03, Z:-0.67 [[ 9.90319312e-01 1.38759238e-01 3.67900075e-03 1.53505031e+02] [-1.38758016e-01 9.90326143e-01 -5.86553400e-04 -1.10256796e+01] [-3.72480032e-03 7.03843126e-05 9.99993060e-01 -6.68685309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.56, Y:-11.04, Z:-0.67 [[ 9.89961227e-01 1.41291310e-01 3.67902934e-03 1.53560964e+02] [-1.41290107e-01 9.89968061e-01 -5.86374008e-04 -1.10396592e+01] [-3.72497110e-03 6.06770848e-05 9.99993060e-01 -6.70885542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.62, Y:-11.05, Z:-0.67 [[ 9.88608512e-01 1.50464861e-01 3.67906469e-03 1.53617964e+02] [-1.50463722e-01 9.88615357e-01 -5.86152107e-04 -1.10528663e+01] [-3.72537515e-03 2.59091967e-05 9.99993060e-01 -6.68788755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:-11.06, Z:-0.67 [[ 9.87251608e-01 1.59124876e-01 3.67909348e-03 1.53674625e+02] [-1.59123797e-01 9.87258464e-01 -5.85971366e-04 -1.10617052e+01] [-3.72545880e-03 -6.93015095e-06 9.99993060e-01 -6.70905231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.73, Y:-11.07, Z:-0.67 [[ 9.84925628e-01 1.72939212e-01 3.67914365e-03 1.53733544e+02] [-1.72938231e-01 9.84932498e-01 -5.85656222e-04 -1.10681230e+01] [-3.72499107e-03 -5.94367714e-05 9.99993060e-01 -6.72212450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:-11.07, Z:-0.68 [[ 9.83106099e-01 1.82999621e-01 3.67917178e-03 1.53792498e+02] [-1.82998710e-01 9.83112979e-01 -5.85479458e-04 -1.10716575e+01] [-3.72418404e-03 -9.76952645e-05 9.99993060e-01 -6.75895699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.85, Y:-11.07, Z:-0.67 [[ 9.82236448e-01 1.87611363e-01 3.67927139e-03 1.53852325e+02] [-1.87610487e-01 9.82243332e-01 -5.84852785e-04 -1.10725184e+01] [-3.72366482e-03 -1.15806178e-04 9.99993060e-01 -6.74794229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:-11.08, Z:-0.68 [[ 9.82078443e-01 1.88436713e-01 3.67937193e-03 1.53910501e+02] [-1.88435845e-01 9.82085328e-01 -5.84219621e-04 -1.10763696e+01] [-3.72354561e-03 -1.19576064e-04 9.99993060e-01 -6.75664795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.97, Y:-11.07, Z:-0.68 [[ 9.82933765e-01 1.83923013e-01 3.67948603e-03 1.53968890e+02] [-1.83922117e-01 9.82940647e-01 -5.83500083e-04 -1.10745506e+01] [-3.72403547e-03 -1.03196925e-04 9.99993060e-01 -6.77682603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.03, Y:-11.07, Z:-0.68 [[ 9.84949393e-01 1.72803806e-01 3.67952115e-03 1.54028758e+02] [-1.72802832e-01 9.84956263e-01 -5.83278548e-04 -1.10745652e+01] [-3.72496016e-03 -6.13318240e-05 9.99993060e-01 -6.77625161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:-11.08, Z:-0.68 [[ 9.86564102e-01 1.63333198e-01 3.67961633e-03 1.54086706e+02] [-1.63332161e-01 9.86570963e-01 -5.82677514e-04 -1.10792886e+01] [-3.72537321e-03 -2.61509662e-05 9.99993060e-01 -6.77094710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:154.15, Y:-11.09, Z:-0.67 [[ 9.88965157e-01 1.48102592e-01 3.67972574e-03 1.54145659e+02] [-1.48101452e-01 9.88972002e-01 -5.81985707e-04 -1.10855540e+01] [-3.72533933e-03 3.05908617e-05 9.99993060e-01 -6.73827699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.20, Y:-11.09, Z:-0.67 [[ 9.90636423e-01 1.36476873e-01 3.67982578e-03 1.54203222e+02] [-1.36475655e-01 9.90643254e-01 -5.81352465e-04 -1.10920022e+01] [-3.72473576e-03 7.37022928e-05 9.99993060e-01 -6.73096570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:-11.10, Z:-0.67 [[ 9.91216066e-01 1.32201242e-01 3.67986072e-03 1.54261754e+02] [-1.32199995e-01 9.91222893e-01 -5.81131254e-04 -1.11010858e+01] [-3.72438846e-03 8.95490678e-05 9.99993060e-01 -6.72209128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:-11.11, Z:-0.67 [[ 9.91074589e-01 1.33257713e-01 3.67988767e-03 1.54319898e+02] [-1.33256474e-01 9.91081417e-01 -5.80960564e-04 -1.11092482e+01] [-3.72448576e-03 8.54063982e-05 9.99993060e-01 -6.74453618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.38, Y:-11.11, Z:-0.67 [[ 9.89980646e-01 1.41155161e-01 3.67991462e-03 1.54378501e+02] [-1.41153977e-01 9.89987483e-01 -5.80789768e-04 -1.11145708e+01] [-3.72505089e-03 5.55360454e-05 9.99993060e-01 -6.73663894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54420382199996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:154.44, Y:-11.12, Z:-0.67 [[ 9.88820302e-01 1.49066656e-01 3.67994159e-03 1.54435752e+02] [-1.49065528e-01 9.88827149e-01 -5.80618819e-04 -1.11215812e+01] [-3.72537706e-03 2.55752407e-05 9.99993060e-01 -6.71052948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:-11.13, Z:-0.67 [[ 9.88473475e-01 1.51349421e-01 3.67997500e-03 1.54494289e+02] [-1.51348309e-01 9.88480325e-01 -5.80406999e-04 -1.11283698e+01] [-3.72542715e-03 1.67589313e-05 9.99993060e-01 -6.68977361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:-11.14, Z:-0.67 [[ 9.88765193e-01 1.49431756e-01 3.68006832e-03 1.54551819e+02] [-1.49430633e-01 9.88772041e-01 -5.79814692e-04 -1.11407199e+01] [-3.72539140e-03 2.33856481e-05 9.99993060e-01 -6.72172739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.61, Y:-11.15, Z:-0.67 [[ 9.89525397e-01 1.44311974e-01 3.68016377e-03 1.54608831e+02] [-1.44310818e-01 9.89532239e-01 -5.79208253e-04 -1.11519529e+01] [-3.72522738e-03 4.20538319e-05 9.99993060e-01 -6.72649697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:-11.16, Z:-0.67 [[ 9.90162537e-01 1.39873537e-01 3.68019753e-03 1.54666981e+02] [-1.39872351e-01 9.90169374e-01 -5.78993662e-04 -1.11636681e+01] [-3.72500478e-03 5.85399514e-05 9.99993060e-01 -6.69703736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.72, Y:-11.18, Z:-0.67 [[ 9.90410032e-01 1.38110188e-01 3.68022509e-03 1.54723843e+02] [-1.38108991e-01 9.90416868e-01 -5.78818406e-04 -1.11758195e+01] [-3.72489773e-03 6.49953828e-05 9.99993060e-01 -6.70593056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:-11.19, Z:-0.67 [[ 9.90619448e-01 1.36600015e-01 3.68026649e-03 1.54780216e+02] [-1.36598808e-01 9.90626282e-01 -5.78555105e-04 -1.11913043e+01] [-3.72479934e-03 7.04079259e-05 9.99993060e-01 -6.70193962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.84, Y:-11.20, Z:-0.67 [[ 9.90649582e-01 1.36381305e-01 3.68030082e-03 1.54837804e+02] [-1.36380097e-01 9.90656416e-01 -5.78336615e-04 -1.12011890e+01] [-3.72478792e-03 7.10091424e-05 9.99993060e-01 -6.69724568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.89, Y:-11.21, Z:-0.67 [[ 9.90552569e-01 1.37084147e-01 3.68034198e-03 1.54894953e+02] [-1.37082945e-01 9.90559404e-01 -5.78074594e-04 -1.12146359e+01] [-3.72484222e-03 6.81011579e-05 9.99993060e-01 -6.72820755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.95, Y:-11.23, Z:-0.68 [[ 9.90183354e-01 1.39726088e-01 3.68036952e-03 1.54952816e+02] [-1.39724905e-01 9.90190192e-01 -5.77899171e-04 -1.12278581e+01] [-3.72501339e-03 5.79868569e-05 9.99993060e-01 -6.77048781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.01, Y:-11.24, Z:-0.68 [[ 9.89954360e-01 1.41339380e-01 3.68039692e-03 1.55010542e+02] [-1.41338209e-01 9.89961200e-01 -5.77724639e-04 -1.12414776e+01] [-3.72510539e-03 5.17403166e-05 9.99993060e-01 -6.78464363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:-11.25, Z:-0.68 [[ 9.89685641e-01 1.43208889e-01 3.68042499e-03 1.55066574e+02] [-1.43207732e-01 9.89692484e-01 -5.77545731e-04 -1.12543697e+01] [-3.72519863e-03 4.45234023e-05 9.99993060e-01 -6.78003877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:-11.27, Z:-0.68 [[ 9.89602240e-01 1.43784075e-01 3.68045968e-03 1.55123645e+02] [-1.43782922e-01 9.89609083e-01 -5.77324624e-04 -1.12686498e+01] [-3.72522641e-03 4.21344950e-05 9.99993060e-01 -6.76220105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.18, Y:-11.29, Z:-0.67 [[ 9.89996728e-01 1.41042306e-01 3.68048693e-03 1.55180993e+02] [-1.41041135e-01 9.90003568e-01 -5.77150826e-04 -1.12854518e+01] [-3.72509788e-03 5.22773759e-05 9.99993060e-01 -6.73592497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:-11.30, Z:-0.67 [[ 9.90277578e-01 1.39056720e-01 3.68051507e-03 1.55238360e+02] [-1.39055536e-01 9.90284416e-01 -5.76971298e-04 -1.12989023e+01] [-3.72498846e-03 5.95657431e-05 9.99993060e-01 -6.72015481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.30, Y:-11.32, Z:-0.67 [[ 9.90357204e-01 1.38488488e-01 3.68054307e-03 1.55295120e+02] [-1.38487301e-01 9.90364042e-01 -5.76792665e-04 -1.13173748e+01] [-3.72495665e-03 6.15222970e-05 9.99993060e-01 -6.73809252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.35, Y:-11.33, Z:-0.68 [[ 9.89888077e-01 1.41802851e-01 3.68057143e-03 1.55351164e+02] [-1.41801687e-01 9.89894918e-01 -5.76611629e-04 -1.13328107e+01] [-3.72514413e-03 4.88697390e-05 9.99993060e-01 -6.76892303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.41, Y:-11.35, Z:-0.68 [[ 9.88977470e-01 1.48020326e-01 3.68060644e-03 1.55408435e+02] [-1.48019206e-01 9.88984319e-01 -5.76388050e-04 -1.13452719e+01] [-3.72537920e-03 2.52343517e-05 9.99993060e-01 -6.78461879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:-11.36, Z:-0.68 [[ 9.88181087e-01 1.53246836e-01 3.68063430e-03 1.55465755e+02] [-1.53245753e-01 9.88187941e-01 -5.76210135e-04 -1.13589786e+01] [-3.72546081e-03 5.35838278e-06 9.99993060e-01 -6.80314234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.52, Y:-11.37, Z:-0.68 [[ 9.87189621e-01 1.59508951e-01 3.68066221e-03 1.55522950e+02] [-1.59507912e-01 9.87196482e-01 -5.76031775e-04 -1.13706485e+01] [-3.72541901e-03 -1.84421533e-05 9.99993060e-01 -6.79448004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:-11.38, Z:-0.68 [[ 9.86569423e-01 1.63301027e-01 3.68069694e-03 1.55579510e+02] [-1.63300015e-01 9.86576289e-01 -5.75809760e-04 -1.13814296e+01] [-3.72531865e-03 -3.29815622e-05 9.99993060e-01 -6.81949395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:-11.39, Z:-0.68 [[ 9.86487196e-01 1.63797023e-01 3.68073144e-03 1.55637921e+02] [-1.63796015e-01 9.86494062e-01 -5.75589167e-04 -1.13914769e+01] [-3.72529950e-03 -3.50777996e-05 9.99993060e-01 -6.83098318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.70, Y:-11.40, Z:-0.68 [[ 9.86463793e-01 1.63937904e-01 3.68075705e-03 1.55695695e+02] [-1.63936898e-01 9.86470660e-01 -5.75425304e-04 -1.14008386e+01] [-3.72529286e-03 -3.57756656e-05 9.99993060e-01 -6.82939137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:-11.41, Z:-0.69 [[ 9.86339120e-01 1.64686345e-01 3.68078556e-03 1.55752564e+02] [-1.64685345e-01 9.86345987e-01 -5.75242940e-04 -1.14112553e+01] [-3.72526272e-03 -3.87868253e-05 9.99993060e-01 -6.85867074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.81, Y:-11.42, Z:-0.68 [[ 9.86616989e-01 1.63013399e-01 3.68083873e-03 1.55811139e+02] [-1.63012389e-01 9.86623855e-01 -5.74902485e-04 -1.14178297e+01] [-3.72532010e-03 -3.28137544e-05 9.99993060e-01 -6.83208614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.87, Y:-11.43, Z:-0.69 [[ 9.87084221e-01 1.60159897e-01 3.68086705e-03 1.55867941e+02] [-1.60158867e-01 9.87091083e-01 -5.74721093e-04 -1.14254450e+01] [-3.72539832e-03 -2.22253739e-05 9.99993060e-01 -6.86341455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:-11.44, Z:-0.69 [[ 9.88266561e-01 1.52694646e-01 3.68093870e-03 1.55926191e+02] [-1.52693566e-01 9.88273416e-01 -5.74261869e-04 -1.14368735e+01] [-3.72546057e-03 5.46814747e-06 9.99993060e-01 -6.85618231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.98, Y:-11.45, Z:-0.69 [[ 9.89460845e-01 1.44753884e-01 3.68096557e-03 1.55984363e+02] [-1.44752750e-01 9.89467691e-01 -5.74089555e-04 -1.14488301e+01] [-3.72529820e-03 3.52092459e-05 9.99993060e-01 -6.85042878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:-11.46, Z:-0.69 [[ 9.89829993e-01 1.42207718e-01 3.68098676e-03 1.56040889e+02] [-1.42206567e-01 9.89836837e-01 -5.73953647e-04 -1.14578458e+01] [-3.72519693e-03 4.46560448e-05 9.99993060e-01 -6.87536560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:-11.47, Z:-0.68 [[ 9.89662001e-01 1.43372153e-01 3.68103549e-03 1.56098698e+02] [-1.43371011e-01 9.89668846e-01 -5.73640972e-04 -1.14695799e+01] [-3.72525028e-03 3.99568929e-05 9.99993060e-01 -6.82464495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:-11.48, Z:-0.68 [[ 9.88996611e-01 1.47892374e-01 3.68106338e-03 1.56156336e+02] [-1.47891263e-01 9.89003461e-01 -5.73461918e-04 -1.14784368e+01] [-3.72539507e-03 2.27547784e-05 9.99993060e-01 -6.81106412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:-11.49, Z:-0.68 [[ 9.88587226e-01 1.50604603e-01 3.68111224e-03 1.56212924e+02] [-1.50603513e-01 9.88594079e-01 -5.73148105e-04 -1.14879001e+01] [-3.72544451e-03 1.22184593e-05 9.99993060e-01 -6.83530108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:-11.50, Z:-0.68 [[ 9.88442179e-01 1.51553646e-01 3.68114653e-03 1.56270692e+02] [-1.51552564e-01 9.88449034e-01 -5.72927828e-04 -1.15003212e+01] [-3.72545503e-03 8.41883748e-06 9.99993060e-01 -6.83229661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.33, Y:-11.52, Z:-0.69 [[ 9.88891038e-01 1.48596652e-01 3.68117455e-03 1.56326586e+02] [-1.48595549e-01 9.88897889e-01 -5.72747725e-04 -1.15162598e+01] [-3.72541413e-03 1.93789388e-05 9.99993060e-01 -6.88323637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:-11.53, Z:-0.68 [[ 9.89024526e-01 1.47705569e-01 3.68120928e-03 1.56383762e+02] [-1.47704462e-01 9.89031377e-01 -5.72524381e-04 -1.15301017e+01] [-3.72539653e-03 2.25096195e-05 9.99993060e-01 -6.84426686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.44, Y:-11.54, Z:-0.68 [[ 9.88745159e-01 1.49564228e-01 3.68123750e-03 1.56441082e+02] [-1.49563134e-01 9.88752012e-01 -5.72342919e-04 -1.15441793e+01] [-3.72543301e-03 1.53238743e-05 9.99993060e-01 -6.83508939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.50, Y:-11.56, Z:-0.68 [[ 9.87837168e-01 1.55448311e-01 3.68126586e-03 1.56498608e+02] [-1.55447258e-01 9.87844027e-01 -5.72160424e-04 -1.15584036e+01] [-3.72545787e-03 -7.04135323e-06 9.99993060e-01 -6.80696375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:-11.57, Z:-0.68 [[ 9.86153539e-01 1.65793986e-01 3.68129416e-03 1.56555683e+02] [-1.65793006e-01 9.86160409e-01 -5.71978272e-04 -1.15707881e+01] [-3.72517711e-03 -4.62744270e-05 9.99993060e-01 -6.82337864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-11.58, Z:-0.69 [[ 9.84495583e-01 1.75370735e-01 3.68134373e-03 1.56614244e+02] [-1.75369823e-01 9.84502462e-01 -5.71659044e-04 -1.15777985e+01] [-3.72454424e-03 -8.28007955e-05 9.99993060e-01 -6.86720650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88420382199996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:-11.59, Z:-0.69 [[ 9.84264987e-01 1.76660362e-01 3.68137095e-03 1.56672224e+02] [-1.76659459e-01 9.84271867e-01 -5.71483732e-04 -1.15860899e+01] [-3.72442838e-03 -8.78575728e-05 9.99993060e-01 -6.88065613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:-11.60, Z:-0.69 [[ 9.84286562e-01 1.76540110e-01 3.68139924e-03 1.56729986e+02] [-1.76539207e-01 9.84293443e-01 -5.71301457e-04 -1.15962180e+01] [-3.72443475e-03 -8.75869551e-05 9.99993060e-01 -6.91871776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:-11.61, Z:-0.70 [[ 9.85549257e-01 1.69349075e-01 3.68142728e-03 1.56787273e+02] [-1.69348123e-01 9.85556131e-01 -5.71120706e-04 -1.16064984e+01] [-3.72497199e-03 -6.05752120e-05 9.99993060e-01 -6.96229409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:-11.62, Z:-0.69 [[ 9.87244251e-01 1.59170460e-01 3.68146185e-03 1.56844793e+02] [-1.59169437e-01 9.87251115e-01 -5.70897760e-04 -1.16166115e+01] [-3.72539738e-03 -2.23606797e-05 9.99993060e-01 -6.90898472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:-11.63, Z:-0.68 [[ 9.88635762e-01 1.50285649e-01 3.68150454e-03 1.56901853e+02] [-1.50284566e-01 9.88642617e-01 -5.70622309e-04 -1.16311890e+01] [-3.72544863e-03 1.08643092e-05 9.99993060e-01 -6.80581667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:-11.64, Z:-0.68 [[ 9.89199547e-01 1.46528848e-01 3.68153393e-03 1.56957985e+02] [-1.46527739e-01 9.89206397e-01 -5.70432660e-04 -1.16441885e+01] [-3.72538175e-03 2.48248849e-05 9.99993060e-01 -6.82392286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.02, Y:-11.65, Z:-0.69 [[ 9.89423087e-01 1.45011725e-01 3.68156994e-03 1.57015967e+02] [-1.45010607e-01 9.89429936e-01 -5.70200176e-04 -1.16543352e+01] [-3.72534122e-03 3.03025256e-05 9.99993060e-01 -6.85364602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.07, Y:-11.67, Z:-0.68 [[ 9.88872741e-01 1.48718350e-01 3.68159668e-03 1.57073676e+02] [-1.48717258e-01 9.88879594e-01 -5.70027476e-04 -1.16676646e+01] [-3.72542937e-03 1.61676696e-05 9.99993060e-01 -6.84653876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:-11.68, Z:-0.68 [[ 9.87794307e-01 1.55720432e-01 3.68162485e-03 1.57131930e+02] [-1.55719390e-01 9.87801168e-01 -5.69845414e-04 -1.16775874e+01] [-3.72544990e-03 -1.04103210e-05 9.99993060e-01 -6.84514609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.19, Y:-11.68, Z:-0.69 [[ 9.87002519e-01 1.60662604e-01 3.68165416e-03 1.57189321e+02] [-1.60661597e-01 9.87009385e-01 -5.69656017e-04 -1.16845197e+01] [-3.72534963e-03 -2.92485122e-05 9.99993060e-01 -6.85875988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:-11.69, Z:-0.68 [[ 9.86214317e-01 1.65432056e-01 3.68169048e-03 1.57247758e+02] [-1.65431083e-01 9.86221188e-01 -5.69421172e-04 -1.16929563e+01] [-3.72516168e-03 -4.74947323e-05 9.99993060e-01 -6.80241490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.31, Y:-11.70, Z:-0.68 [[ 9.85975179e-01 1.66851402e-01 3.68171892e-03 1.57305415e+02] [-1.66850440e-01 9.85982052e-01 -5.69237261e-04 -1.16989280e+01] [-3.72508681e-03 -5.30426098e-05 9.99993060e-01 -6.81270139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.36, Y:-11.71, Z:-0.68 [[ 9.85990113e-01 1.66763131e-01 3.68176282e-03 1.57363231e+02] [-1.66762168e-01 9.85996986e-01 -5.68953147e-04 -1.17053351e+01] [-3.72508745e-03 -5.29965736e-05 9.99993060e-01 -6.80598811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:-11.71, Z:-0.69 [[ 9.86222112e-01 1.65385581e-01 3.68180531e-03 1.57420591e+02] [-1.65384610e-01 9.86228983e-01 -5.68678035e-04 -1.17103525e+01] [-3.72515426e-03 -4.80710835e-05 9.99993060e-01 -6.85051814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:-11.72, Z:-0.68 [[ 9.86770160e-01 1.62083604e-01 3.68184041e-03 1.57478547e+02] [-1.62082611e-01 9.86777028e-01 -5.68450714e-04 -1.17168243e+01] [-3.72529208e-03 -3.58321067e-05 9.99993060e-01 -6.84795921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.53, Y:-11.72, Z:-0.69 [[ 9.87624652e-01 1.56792825e-01 3.68188165e-03 1.57534863e+02] [-1.56791796e-01 9.87631515e-01 -5.68183496e-04 -1.17238201e+01] [-3.72542945e-03 -1.61368083e-05 9.99993060e-01 -6.85612332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.59, Y:-11.73, Z:-0.69 [[ 9.88263604e-01 1.52713761e-01 3.68192928e-03 1.57592050e+02] [-1.52712705e-01 9.88270463e-01 -5.67874665e-04 -1.17339624e+01] [-3.72546423e-03 -1.06751721e-06 9.99993060e-01 -6.86391238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.65, Y:-11.74, Z:-0.69 [[ 9.88603562e-01 1.50497311e-01 3.68196266e-03 1.57649921e+02] [-1.50496240e-01 9.88610418e-01 -5.67658176e-04 -1.17437353e+01] [-3.72545767e-03 7.06735713e-06 9.99993060e-01 -6.88769583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.71, Y:-11.75, Z:-0.68 [[ 9.87984109e-01 1.54511626e-01 3.68198937e-03 1.57708763e+02] [-1.54510584e-01 9.87990970e-01 -5.67484873e-04 -1.17491058e+01] [-3.72545526e-03 -8.24029251e-06 9.99993060e-01 -6.81251202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.77, Y:-11.76, Z:-0.68 [[ 9.87147224e-01 1.59771086e-01 3.68201713e-03 1.57767691e+02] [-1.59770081e-01 9.87154091e-01 -5.67304664e-04 -1.17550583e+01] [-3.72535716e-03 -2.82629526e-05 9.99993060e-01 -6.83161930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:-11.76, Z:-0.69 [[ 9.86101768e-01 1.66101615e-01 3.68204527e-03 1.57825561e+02] [-1.66100655e-01 9.86108640e-01 -5.67121957e-04 -1.17593310e+01] [-3.72509653e-03 -5.23501682e-05 9.99993060e-01 -6.92601835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:-11.76, Z:-0.70 [[ 9.85834711e-01 1.67679352e-01 3.68208008e-03 1.57884739e+02] [-1.67678404e-01 9.85841585e-01 -5.66895901e-04 -1.17624166e+01] [-3.72500440e-03 -5.85396531e-05 9.99993060e-01 -6.95956694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.94, Y:-11.77, Z:-0.70 [[ 9.86349821e-01 1.64622210e-01 3.68210741e-03 1.57942350e+02] [-1.64621241e-01 9.86356693e-01 -5.66718343e-04 -1.17681644e+01] [-3.72516571e-03 -4.71705538e-05 9.99993060e-01 -6.97678814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:-11.78, Z:-0.70 [[ 9.87869228e-01 1.55244420e-01 3.68214121e-03 1.58000221e+02] [-1.55243387e-01 9.87876090e-01 -5.66498610e-04 -1.17774905e+01] [-3.72544501e-03 -1.20015285e-05 9.99993060e-01 -6.95188944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.06, Y:-11.79, Z:-0.69 [[ 9.89561637e-01 1.44063210e-01 3.68216895e-03 1.58056990e+02] [-1.44062100e-01 9.89568487e-01 -5.66318277e-04 -1.17867108e+01] [-3.72534398e-03 2.99458505e-05 9.99993060e-01 -6.92770384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:158.11, Y:-11.80, Z:-0.69 [[ 9.90473068e-01 1.37657337e-01 3.68221190e-03 1.58114599e+02] [-1.37656184e-01 9.90479911e-01 -5.66038879e-04 -1.17994296e+01] [-3.72507632e-03 5.37670268e-05 9.99993060e-01 -6.91809564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.17, Y:-11.81, Z:-0.69 [[ 9.90998794e-01 1.33820144e-01 3.68223988e-03 1.58171370e+02] [-1.33818965e-01 9.91005633e-01 -5.65856788e-04 -1.18135935e+01] [-3.72484350e-03 6.80098661e-05 9.99993060e-01 -6.94056831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.23, Y:-11.82, Z:-0.69 [[ 9.90405412e-01 1.38143258e-01 3.68227442e-03 1.58229310e+02] [-1.38142110e-01 9.90412256e-01 -5.65631920e-04 -1.18249067e+01] [-3.72510795e-03 5.15277562e-05 9.99993060e-01 -6.91493897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.29, Y:-11.84, Z:-0.69 [[ 9.89082434e-01 1.47317277e-01 3.68230108e-03 1.58287001e+02] [-1.47316193e-01 9.89089288e-01 -5.65458290e-04 -1.18373248e+01] [-3.72542633e-03 1.68222851e-05 9.99993060e-01 -6.90224793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.34, Y:-11.85, Z:-0.69 [[ 9.87982828e-01 1.54519810e-01 3.68232818e-03 1.58344380e+02] [-1.54518776e-01 9.87989690e-01 -5.65281759e-04 -1.18469415e+01] [-3.72544951e-03 -1.05001727e-05 9.99993060e-01 -6.92321208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:-11.86, Z:-0.70 [[ 9.86287430e-01 1.64995591e-01 3.68236184e-03 1.58402053e+02] [-1.64994631e-01 9.86294303e-01 -5.65062412e-04 -1.18567039e+01] [-3.72512531e-03 -5.02559784e-05 9.99993060e-01 -6.96610085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.46, Y:-11.87, Z:-0.70 [[ 9.85768333e-01 1.68069132e-01 3.68238850e-03 1.58459768e+02] [-1.68068195e-01 9.85775209e-01 -5.64888622e-04 -1.18653252e+01] [-3.72494764e-03 -6.20430720e-05 9.99993060e-01 -6.97371553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:-11.87, Z:-0.70 [[ 9.84435733e-01 1.75706369e-01 3.68241548e-03 1.58518271e+02] [-1.75705486e-01 9.84442616e-01 -5.64712720e-04 -1.18705895e+01] [-3.72435035e-03 -9.10972193e-05 9.99993060e-01 -6.95968000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.58, Y:-11.88, Z:-0.70 [[ 9.83834539e-01 1.79042003e-01 3.68244227e-03 1.58575613e+02] [-1.79041143e-01 9.83841425e-01 -5.64537933e-04 -1.18781773e+01] [-3.72401526e-03 -1.03896756e-04 9.99993060e-01 -6.96358355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92420382199998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:-11.88, Z:-0.70 [[ 9.83468121e-01 1.81043904e-01 3.68247531e-03 1.58634382e+02] [-1.81043059e-01 9.83475008e-01 -5.64322382e-04 -1.18804900e+01] [-3.72378956e-03 -1.11693523e-04 9.99993060e-01 -6.95819106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.69, Y:-11.88, Z:-0.70 [[ 9.83856030e-01 1.78923869e-01 3.68250274e-03 1.58693157e+02] [-1.78923010e-01 9.83862916e-01 -5.64143321e-04 -1.18814694e+01] [-3.72401659e-03 -1.03848664e-04 9.99993060e-01 -6.98466376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.75, Y:-11.88, Z:-0.70 [[ 9.84782638e-01 1.73751531e-01 3.68253659e-03 1.58752446e+02] [-1.73750636e-01 9.84789520e-01 -5.63922229e-04 -1.18832632e+01] [-3.72450579e-03 -8.45022554e-05 9.99993060e-01 -6.99720447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.81, Y:-11.89, Z:-0.70 [[ 9.86165854e-01 1.65720689e-01 3.68256294e-03 1.58811740e+02] [-1.65719739e-01 9.86172728e-01 -5.63750148e-04 -1.18871594e+01] [-3.72506820e-03 -5.43222220e-05 9.99993060e-01 -7.00600781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.87, Y:-11.89, Z:-0.70 [[ 9.87187270e-01 1.59523452e-01 3.68259008e-03 1.58868970e+02] [-1.59522460e-01 9.87194139e-01 -5.63572793e-04 -1.18925047e+01] [-3.72533442e-03 -3.11039403e-05 9.99993060e-01 -7.00792803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:-11.90, Z:-0.70 [[ 9.88467116e-01 1.51390884e-01 3.68262360e-03 1.58927021e+02] [-1.51389836e-01 9.88473976e-01 -5.63353692e-04 -1.18970151e+01] [-3.72546420e-03 -6.55182404e-07 9.99993060e-01 -7.00735694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.99, Y:-11.90, Z:-0.70 [[ 9.89296915e-01 1.45869981e-01 3.68266326e-03 1.58986018e+02] [-1.45868896e-01 9.89303769e-01 -5.63094310e-04 -1.19033598e+01] [-3.72541120e-03 1.98814419e-05 9.99993060e-01 -7.02752811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.04, Y:-11.91, Z:-0.70 [[ 9.89715820e-01 1.43000115e-01 3.68268300e-03 1.59043286e+02] [-1.42999010e-01 9.89722671e-01 -5.62965141e-04 -1.19111362e+01] [-3.72533894e-03 3.05554829e-05 9.99993060e-01 -6.99635536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.10, Y:-11.92, Z:-0.70 [[ 9.89971633e-01 1.41218283e-01 3.68272446e-03 1.59100619e+02] [-1.41217167e-01 9.89978482e-01 -5.62693832e-04 -1.19172618e+01] [-3.72528062e-03 3.69870186e-05 9.99993060e-01 -6.99129054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.16, Y:-11.93, Z:-0.70 [[ 9.90222242e-01 1.39450169e-01 3.68275865e-03 1.59159303e+02] [-1.39449042e-01 9.90229089e-01 -5.62469979e-04 -1.19251542e+01] [-3.72521127e-03 4.34131194e-05 9.99993060e-01 -6.99611049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:-11.93, Z:-0.70 [[ 9.90557531e-01 1.37048221e-01 3.68278470e-03 1.59217759e+02] [-1.37047078e-01 9.90564376e-01 -5.62299352e-04 -1.19348581e+01] [-3.72509745e-03 5.22749767e-05 9.99993060e-01 -6.97833832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.27, Y:-11.95, Z:-0.69 [[ 9.90759593e-01 1.35579739e-01 3.68281205e-03 1.59274892e+02] [-1.35578586e-01 9.90766436e-01 -5.62120161e-04 -1.19473245e+01] [-3.72501867e-03 5.76154915e-05 9.99993060e-01 -6.94678902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:-11.96, Z:-0.70 [[ 9.90505923e-01 1.37420715e-01 3.68285985e-03 1.59331932e+02] [-1.37419576e-01 9.90512769e-01 -5.61806780e-04 -1.19610930e+01] [-3.72512360e-03 5.03759044e-05 9.99993060e-01 -6.95211259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:-11.97, Z:-0.70 [[ 9.89758858e-01 1.42701925e-01 3.68288687e-03 1.59389159e+02] [-1.42700823e-01 9.89765710e-01 -5.61629612e-04 -1.19721171e+01] [-3.72534076e-03 3.03268961e-05 9.99993060e-01 -6.97659917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:-11.98, Z:-0.70 [[ 9.88836388e-01 1.48959838e-01 3.68293353e-03 1.59446653e+02] [-1.48958780e-01 9.88843247e-01 -5.61323447e-04 -1.19835340e+01] [-3.72545860e-03 6.45176358e-06 9.99993060e-01 -6.98783322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.50, Y:-11.99, Z:-0.70 [[ 9.87408979e-01 1.58145323e-01 3.68296029e-03 1.59503787e+02] [-1.58144330e-01 9.87415848e-01 -5.61147851e-04 -1.19942627e+01] [-3.72535626e-03 -2.83568604e-05 9.99993060e-01 -7.01683557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:-12.01, Z:-0.70 [[ 9.86654419e-01 1.62786648e-01 3.68299356e-03 1.59561848e+02] [-1.62785688e-01 9.86661292e-01 -5.60929399e-04 -1.20055993e+01] [-3.72517900e-03 -4.60951712e-05 9.99993060e-01 -7.02405335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:-12.02, Z:-0.70 [[ 9.86985597e-01 1.60766499e-01 3.68301972e-03 1.59617958e+02] [-1.60765526e-01 9.86992468e-01 -5.60757592e-04 -1.20210705e+01] [-3.72526375e-03 -3.86429340e-05 9.99993060e-01 -7.04881753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.68, Y:-12.03, Z:-0.70 [[ 9.87428483e-01 1.58023501e-01 3.68305210e-03 1.59675362e+02] [-1.58022510e-01 9.87435351e-01 -5.60544789e-04 -1.20317900e+01] [-3.72535510e-03 -2.85072465e-05 9.99993060e-01 -6.99678614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:-12.04, Z:-0.70 [[ 9.87893497e-01 1.55089890e-01 3.68310039e-03 1.59731779e+02] [-1.55088879e-01 9.87900362e-01 -5.60227369e-04 -1.20441297e+01] [-3.72542181e-03 -1.77629349e-05 9.99993060e-01 -6.98133409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.79, Y:-12.06, Z:-0.70 [[ 9.87279562e-01 1.58951253e-01 3.68313317e-03 1.59789336e+02] [-1.58950270e-01 9.87286432e-01 -5.60011779e-04 -1.20583456e+01] [-3.72532198e-03 -3.25468271e-05 9.99993060e-01 -6.96395619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:-12.07, Z:-0.69 [[ 9.86624602e-01 1.62967262e-01 3.68315959e-03 1.59846902e+02] [-1.62966307e-01 9.86631476e-01 -5.59837915e-04 -1.20697417e+01] [-3.72515644e-03 -4.78810585e-05 9.99993060e-01 -6.94733276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:-12.08, Z:-0.70 [[ 9.85770410e-01 1.68056931e-01 3.68318663e-03 1.59905497e+02] [-1.68056012e-01 9.85777289e-01 -5.59659978e-04 -1.20765367e+01] [-3.72485647e-03 -6.72854117e-05 9.99993060e-01 -6.96474992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.96, Y:-12.09, Z:-0.70 [[ 9.85594980e-01 1.69082731e-01 3.68321344e-03 1.59962288e+02] [-1.69081820e-01 9.85601859e-01 -5.59483505e-04 -1.20853838e+01] [-3.72478101e-03 -7.13402977e-05 9.99993060e-01 -6.99443703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:-12.09, Z:-0.70 [[ 9.85622578e-01 1.68921780e-01 3.68325986e-03 1.60020746e+02] [-1.68920870e-01 9.85629457e-01 -5.59177728e-04 -1.20940686e+01] [-3.72478671e-03 -7.10412654e-05 9.99993060e-01 -6.97275544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.08, Y:-12.10, Z:-0.70 [[ 9.85833764e-01 1.67684892e-01 3.68328618e-03 1.60078353e+02] [-1.67683974e-01 9.85840643e-01 -5.59004327e-04 -1.21035073e+01] [-3.72486979e-03 -6.65427230e-05 9.99993060e-01 -6.99843036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:-12.11, Z:-0.70 [[ 9.86239031e-01 1.65284625e-01 3.68331233e-03 1.60136826e+02] [-1.65283690e-01 9.86245907e-01 -5.58831951e-04 -1.21075629e+01] [-3.72501804e-03 -5.76495730e-05 9.99993060e-01 -7.04405099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.20, Y:-12.12, Z:-0.71 [[ 9.86575749e-01 1.63262749e-01 3.68333849e-03 1.60195269e+02] [-1.63261801e-01 9.86582623e-01 -5.58659478e-04 -1.21162527e+01] [-3.72512603e-03 -5.01885815e-05 9.99993060e-01 -7.05036065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.25, Y:-12.12, Z:-0.70 [[ 9.86359522e-01 1.64564048e-01 3.68336550e-03 1.60254517e+02] [-1.64563110e-01 9.86366398e-01 -5.58481317e-04 -1.21210019e+01] [-3.72505391e-03 -5.52827172e-05 9.99993060e-01 -7.02068888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.31, Y:-12.12, Z:-0.70 [[ 9.85783225e-01 1.67981744e-01 3.68339262e-03 1.60312382e+02] [-1.67980830e-01 9.85790104e-01 -5.58302380e-04 -1.21235298e+01] [-3.72483661e-03 -6.83742301e-05 9.99993060e-01 -7.02228526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.37, Y:-12.13, Z:-0.70 [[ 9.85327436e-01 1.70634920e-01 3.68342610e-03 1.60371082e+02] [-1.70634025e-01 9.85334318e-01 -5.58081437e-04 -1.21294520e+01] [-3.72463432e-03 -7.86248704e-05 9.99993060e-01 -6.99946299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.43, Y:-12.13, Z:-0.70 [[ 9.85003220e-01 1.72496636e-01 3.68345248e-03 1.60430728e+02] [-1.72495755e-01 9.85010103e-01 -5.57907234e-04 -1.21273161e+01] [-3.72447503e-03 -8.58394952e-05 9.99993060e-01 -6.98583856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.49, Y:-12.13, Z:-0.70 [[ 9.85593046e-01 1.69093995e-01 3.68347867e-03 1.60489939e+02] [-1.69093091e-01 9.85599927e-01 -5.57734291e-04 -1.21272958e+01] [-3.72474583e-03 -7.31517550e-05 9.99993060e-01 -7.00310337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.55, Y:-12.13, Z:-0.70 [[ 9.86708804e-01 1.62456664e-01 3.68350513e-03 1.60549292e+02] [-1.62455715e-01 9.86715678e-01 -5.57559502e-04 -1.21269180e+01] [-3.72515152e-03 -4.82575887e-05 9.99993060e-01 -7.00425728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.61, Y:-12.13, Z:-0.70 [[ 9.87625603e-01 1.56786799e-01 3.68353147e-03 1.60608363e+02] [-1.56785811e-01 9.87632472e-01 -5.57385452e-04 -1.21289341e+01] [-3.72536597e-03 -2.70373238e-05 9.99993060e-01 -6.98598198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.67, Y:-12.13, Z:-0.70 [[ 9.89073904e-01 1.47374502e-01 3.68355863e-03 1.60667593e+02] [-1.47373449e-01 9.89080763e-01 -5.57205892e-04 -1.21291594e+01] [-3.72545492e-03 8.25906899e-06 9.99993060e-01 -6.98885069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.73, Y:-12.14, Z:-0.70 [[ 9.90571787e-01 1.36945119e-01 3.68358553e-03 1.60725389e+02] [-1.36943995e-01 9.90578635e-01 -5.57027998e-04 -1.21352336e+01] [-3.72516339e-03 4.73313025e-05 9.99993060e-01 -6.98103339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.78, Y:-12.14, Z:-0.70 [[ 9.91425764e-01 1.30619242e-01 3.68362622e-03 1.60782830e+02] [-1.30618074e-01 9.91432604e-01 -5.56758740e-04 -1.21401730e+01] [-3.72479055e-03 7.08367945e-05 9.99993060e-01 -7.01811188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.84, Y:-12.15, Z:-0.70 [[ 9.92336696e-01 1.23508351e-01 3.68365952e-03 1.60841041e+02] [-1.23507136e-01 9.92343528e-01 -5.56538375e-04 -1.21471782e+01] [-3.72419282e-03 9.73152150e-05 9.99993060e-01 -7.02743549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.90, Y:-12.16, Z:-0.71 [[ 9.92920324e-01 1.18725147e-01 3.68368533e-03 1.60897433e+02] [-1.18723899e-01 9.92927151e-01 -5.56367461e-04 -1.21597495e+01] [-3.72368599e-03 1.15087075e-04 9.99993060e-01 -7.07139770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.96, Y:-12.17, Z:-0.70 [[ 9.93222744e-01 1.16168027e-01 3.68371709e-03 1.60955155e+02] [-1.16166762e-01 9.93229568e-01 -5.56157092e-04 -1.21728091e+01] [-3.72338441e-03 1.24462385e-04 9.99993060e-01 -7.02632364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:-12.19, Z:-0.70 [[ 9.93266068e-01 1.15797011e-01 3.68374375e-03 1.61010969e+02] [-1.15795745e-01 9.93272891e-01 -5.55980482e-04 -1.21874439e+01] [-3.72334368e-03 1.25674697e-04 9.99993060e-01 -7.02301511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.07, Y:-12.21, Z:-0.70 [[ 9.93087129e-01 1.17321708e-01 3.68378308e-03 1.61067435e+02] [-1.17320453e-01 9.93093954e-01 -5.55719766e-04 -1.22089994e+01] [-3.72354070e-03 1.19695046e-04 9.99993060e-01 -7.01404388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.12, Y:-12.23, Z:-0.70 [[ 9.92361496e-01 1.23308926e-01 3.68380912e-03 1.61122455e+02] [-1.23307713e-01 9.92368328e-01 -5.55547057e-04 -1.22323064e+01] [-3.72419941e-03 9.70614307e-05 9.99993060e-01 -7.02004928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:-12.25, Z:-0.70 [[ 9.90838861e-01 1.34999187e-01 3.68384782e-03 1.61178931e+02] [-1.34998055e-01 9.90845708e-01 -5.55290355e-04 -1.22506961e+01] [-3.72508855e-03 5.28909705e-05 9.99993060e-01 -6.99971502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:-12.27, Z:-0.70 [[ 9.88586890e-01 1.50606742e-01 3.68387377e-03 1.61235945e+02] [-1.50605719e-01 9.88593753e-01 -5.55118165e-04 -1.22688183e+01] [-3.72545913e-03 -6.02991835e-06 9.99993060e-01 -7.01109697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.29, Y:-12.28, Z:-0.70 [[ 9.87138848e-01 1.59822788e-01 3.68390017e-03 1.61291566e+02] [-1.59821830e-01 9.87145721e-01 -5.54942881e-04 -1.22825787e+01] [-3.72523881e-03 -4.09619908e-05 9.99993060e-01 -7.02528305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:-12.30, Z:-0.70 [[ 9.85678832e-01 1.68593207e-01 3.68396152e-03 1.61348611e+02] [-1.68592311e-01 9.85685713e-01 -5.54535319e-04 -1.22971199e+01] [-3.72471913e-03 -7.44938621e-05 9.99993060e-01 -7.03801408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:-12.31, Z:-0.71 [[ 9.85052655e-01 1.72214099e-01 3.68398766e-03 1.61406116e+02] [-1.72213230e-01 9.85059539e-01 -5.54361621e-04 -1.23072282e+01] [-3.72441607e-03 -8.83560269e-05 9.99993060e-01 -7.05070468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:-12.32, Z:-0.71 [[ 9.84970848e-01 1.72681373e-01 3.68402674e-03 1.61463802e+02] [-1.72680508e-01 9.84977733e-01 -5.54101749e-04 -1.23166243e+01] [-3.72436736e-03 -9.03855403e-05 9.99993060e-01 -7.05236082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:-12.33, Z:-0.70 [[ 9.85312759e-01 1.70719640e-01 3.68406599e-03 1.61521140e+02] [-1.70718762e-01 9.85319642e-01 -5.53840719e-04 -1.23279243e+01] [-3.72453407e-03 -8.32328588e-05 9.99993060e-01 -7.04757899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.58, Y:-12.33, Z:-0.71 [[ 9.85850027e-01 1.67589234e-01 3.68409310e-03 1.61578501e+02] [-1.67588335e-01 9.85856908e-01 -5.53660292e-04 -1.23328916e+01] [-3.72477614e-03 -7.15850131e-05 9.99993060e-01 -7.05539001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:-12.34, Z:-0.70 [[ 9.86111667e-01 1.66042786e-01 3.68412666e-03 1.61636909e+02] [-1.66041877e-01 9.86118547e-01 -5.53436914e-04 -1.23391399e+01] [-3.72487983e-03 -6.59687073e-05 9.99993060e-01 -7.01721656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:-12.35, Z:-0.70 [[ 9.86614398e-01 1.63029005e-01 3.68415398e-03 1.61694627e+02] [-1.63028076e-01 9.86621275e-01 -5.53254952e-04 -1.23457725e+01] [-3.72506130e-03 -5.47712325e-05 9.99993060e-01 -7.02490463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.75, Y:-12.35, Z:-0.70 [[ 9.87428673e-01 1.58022286e-01 3.68419472e-03 1.61751897e+02] [-1.58021323e-01 9.87435545e-01 -5.52983535e-04 -1.23506290e+01] [-3.72528855e-03 -3.61495255e-05 9.99993060e-01 -7.03060843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.81, Y:-12.35, Z:-0.70 [[ 9.88245767e-01 1.52829089e-01 3.68422828e-03 1.61810989e+02] [-1.52828091e-01 9.88252634e-01 -5.52759880e-04 -1.23519930e+01] [-3.72542609e-03 -1.67909620e-05 9.99993060e-01 -7.01725750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.87, Y:-12.36, Z:-0.70 [[ 9.88688339e-01 1.49939301e-01 3.68425439e-03 1.61868506e+02] [-1.49938283e-01 9.88695204e-01 -5.52585808e-04 -1.23585394e+01] [-3.72545897e-03 -6.07563131e-06 9.99993060e-01 -7.04753299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:-12.37, Z:-0.70 [[ 9.88939970e-01 1.48270571e-01 3.68428658e-03 1.61926916e+02] [-1.48269542e-01 9.88946833e-01 -5.52371096e-04 -1.23668566e+01] [-3.72546392e-03 -5.62859460e-09 9.99993060e-01 -7.02498450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.99, Y:-12.37, Z:-0.70 [[ 9.89103945e-01 1.47172725e-01 3.68431350e-03 1.61985199e+02] [-1.47171689e-01 9.89110807e-01 -5.52191447e-04 -1.23714448e+01] [-3.72546182e-03 3.94809621e-06 9.99993060e-01 -6.99343031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:-12.38, Z:-0.70 [[ 9.89125798e-01 1.47025784e-01 3.68434737e-03 1.62042421e+02] [-1.47024748e-01 9.89132660e-01 -5.51965398e-04 -1.23780909e+01] [-3.72546146e-03 4.27297011e-06 9.99993060e-01 -7.00895211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.10, Y:-12.39, Z:-0.70 [[ 9.89467189e-01 1.44710425e-01 3.68438071e-03 1.62099223e+02] [-1.44709373e-01 9.89474049e-01 -5.51742751e-04 -1.23935834e+01] [-3.72544202e-03 1.27669253e-05 9.99993060e-01 -7.03284938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.16, Y:-12.40, Z:-0.70 [[ 9.89705754e-01 1.43069724e-01 3.68440729e-03 1.62155551e+02] [-1.43068662e-01 9.89712612e-01 -5.51565184e-04 -1.24023708e+01] [-3.72541664e-03 1.87640161e-05 9.99993060e-01 -7.04701930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.21, Y:-12.42, Z:-0.71 [[ 9.90407776e-01 1.38126254e-01 3.68445325e-03 1.62213095e+02] [-1.38125159e-01 9.90414629e-01 -5.51258022e-04 -1.24179177e+01] [-3.72527960e-03 3.70545419e-05 9.99993060e-01 -7.09480333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.27, Y:-12.43, Z:-0.71 [[ 9.90425307e-01 1.38000492e-01 3.68449264e-03 1.62270088e+02] [-1.37999397e-01 9.90432160e-01 -5.50994640e-04 -1.24316960e+01] [-3.72527753e-03 3.72612729e-05 9.99993060e-01 -7.11836307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.33, Y:-12.45, Z:-0.71 [[ 9.89434431e-01 1.44934231e-01 3.68451836e-03 1.62326810e+02] [-1.44933184e-01 9.89441291e-01 -5.50822573e-04 -1.24478544e+01] [-3.72544765e-03 1.09938409e-05 9.99993060e-01 -7.09984603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:-12.46, Z:-0.71 [[ 9.87720902e-01 1.56185286e-01 3.68454424e-03 1.62384733e+02] [-1.56184318e-01 9.87727774e-01 -5.50649365e-04 -1.24606111e+01] [-3.72533001e-03 -3.15801423e-05 9.99993060e-01 -7.10535986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.44, Y:-12.47, Z:-0.71 [[ 9.86507568e-01 1.63674195e-01 3.68457025e-03 1.62441221e+02] [-1.63673281e-01 9.86514447e-01 -5.50475327e-04 -1.24716079e+01] [-3.72498038e-03 -6.00176244e-05 9.99993060e-01 -7.10771417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:-12.48, Z:-0.71 [[ 9.86249108e-01 1.65224455e-01 3.68461624e-03 1.62497818e+02] [-1.65223552e-01 9.86255989e-01 -5.50167311e-04 -1.24811301e+01] [-3.72487592e-03 -6.61833623e-05 9.99993060e-01 -7.08578330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.56, Y:-12.50, Z:-0.71 [[ 9.86774068e-01 1.62059751e-01 3.68465272e-03 1.62555112e+02] [-1.62058828e-01 9.86780945e-01 -5.49922891e-04 -1.24958923e+01] [-3.72506546e-03 -5.44808509e-05 9.99993060e-01 -7.06726272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:-12.51, Z:-0.70 [[ 9.87547843e-01 1.57275814e-01 3.68467911e-03 1.62612838e+02] [-1.57274858e-01 9.87554716e-01 -5.49745974e-04 -1.25064152e+01] [-3.72528398e-03 -3.66069312e-05 9.99993060e-01 -7.04565532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:-12.52, Z:-0.71 [[ 9.89030089e-01 1.47668232e-01 3.68470572e-03 1.62670654e+02] [-1.47667209e-01 9.89036952e-01 -5.49567572e-04 -1.25194293e+01] [-3.72546379e-03 -5.71345538e-07 9.99993060e-01 -7.06976072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:-12.54, Z:-0.71 [[ 9.90299562e-01 1.38899965e-01 3.68473225e-03 1.62727783e+02] [-1.38898882e-01 9.90306417e-01 -5.49389661e-04 -1.25383697e+01] [-3.72532419e-03 3.22551502e-05 9.99993060e-01 -7.08410061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.79, Y:-12.55, Z:-0.71 [[ 9.90657343e-01 1.36324804e-01 3.68474539e-03 1.62785296e+02] [-1.36323704e-01 9.90664194e-01 -5.49301496e-04 -1.25513710e+01] [-3.72522874e-03 4.18514216e-05 9.99993060e-01 -7.08800997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.84, Y:-12.56, Z:-0.71 [[ 9.90299708e-01 1.38898927e-01 3.68476492e-03 1.62842532e+02] [-1.38897845e-01 9.90306562e-01 -5.49170484e-04 -1.25649494e+01] [-3.72532607e-03 3.20374643e-05 9.99993060e-01 -7.07650217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.90, Y:-12.58, Z:-0.71 [[ 9.89090157e-01 1.47265351e-01 3.68479190e-03 1.62899980e+02] [-1.47264327e-01 9.89097021e-01 -5.48989345e-04 -1.25776543e+01] [-3.72546380e-03 3.61556688e-07 9.99993060e-01 -7.13807314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.96, Y:-12.59, Z:-0.71 [[ 9.87898172e-01 1.55060068e-01 3.68481199e-03 1.62957421e+02] [-1.55059099e-01 9.87905043e-01 -5.48854499e-04 -1.25897777e+01] [-3.72534976e-03 -2.91512707e-05 9.99993060e-01 -7.09924519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:-12.60, Z:-0.71 [[ 9.87275936e-01 1.58973733e-01 3.68483793e-03 1.63015270e+02] [-1.58972792e-01 9.87282812e-01 -5.48680279e-04 -1.25987306e+01] [-3.72520290e-03 -4.40901387e-05 9.99993060e-01 -7.05488307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.07, Y:-12.61, Z:-0.70 [[ 9.86804230e-01 1.61875983e-01 3.68486359e-03 1.63072833e+02] [-1.61875063e-01 9.86811108e-01 -5.48507889e-04 -1.26088769e+01] [-3.72505458e-03 -5.52176208e-05 9.99993060e-01 -7.01235942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:-12.62, Z:-0.70 [[ 9.86359264e-01 1.64565561e-01 3.68489527e-03 1.63129781e+02] [-1.64564660e-01 9.86366145e-01 -5.48294979e-04 -1.26174658e+01] [-3.72488641e-03 -6.55877066e-05 9.99993060e-01 -7.03565932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:-12.62, Z:-0.71 [[ 9.85576157e-01 1.69192379e-01 3.68492665e-03 1.63189020e+02] [-1.69191511e-01 9.85583042e-01 -5.48083989e-04 -1.26194310e+01] [-3.72453285e-03 -8.32797986e-05 9.99993060e-01 -7.07014182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:-12.62, Z:-0.71 [[ 9.85051369e-01 1.72221434e-01 3.68495275e-03 1.63246989e+02] [-1.72220589e-01 9.85058256e-01 -5.47908446e-04 -1.26233556e+01] [-3.72425471e-03 -9.49067677e-05 9.99993060e-01 -7.12503698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:-12.62, Z:-0.71 [[ 9.85325152e-01 1.70648073e-01 3.68498599e-03 1.63307164e+02] [-1.70647218e-01 9.85332039e-01 -5.47684800e-04 -1.26218223e+01] [-3.72439612e-03 -8.91849976e-05 9.99993060e-01 -7.13041251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.37, Y:-12.62, Z:-0.71 [[ 9.87002459e-01 1.60662899e-01 3.68501149e-03 1.63365927e+02] [-1.60661974e-01 9.87009337e-01 -5.47513170e-04 -1.26235000e+01] [-3.72510580e-03 -5.16443761e-05 9.99993060e-01 -7.13386873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.42, Y:-12.63, Z:-0.71 [[ 9.88720953e-01 1.49724074e-01 3.68503696e-03 1.63424666e+02] [-1.49723074e-01 9.88727820e-01 -5.47341691e-04 -1.26315907e+01] [-3.72544879e-03 -1.05668629e-05 9.99993060e-01 -7.13277290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.48, Y:-12.64, Z:-0.71 [[ 9.91346232e-01 1.31221448e-01 3.68506311e-03 1.63482541e+02] [-1.31220321e-01 9.91353079e-01 -5.47165613e-04 -1.26431307e+01] [-3.72499852e-03 5.88754066e-05 9.99993060e-01 -7.11335420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.54, Y:-12.65, Z:-0.71 [[ 9.92969752e-01 1.18310995e-01 3.68508252e-03 1.63542882e+02] [-1.18309779e-01 9.92976584e-01 -5.47034826e-04 -1.26504847e+01] [-3.72392089e-03 1.07207736e-04 9.99993060e-01 -7.09607396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.60, Y:-12.66, Z:-0.71 [[ 9.93245509e-01 1.15973183e-01 3.68508252e-03 1.63600593e+02] [-1.15971950e-01 9.93252338e-01 -5.47034826e-04 -1.26624792e+01] [-3.72365820e-03 1.15973676e-04 9.99993060e-01 -7.12785162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.66, Y:-12.67, Z:-0.71 [[ 9.92458339e-01 1.22527000e-01 3.68510202e-03 1.63659055e+02] [-1.22525814e-01 9.92465176e-01 -5.46903481e-04 -1.26738721e+01] [-3.72434586e-03 9.12587983e-05 9.99993060e-01 -7.10254023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:-12.68, Z:-0.71 [[ 9.91677554e-01 1.28693624e-01 3.68511528e-03 1.63716902e+02] [-1.28692480e-01 9.91684399e-01 -5.46814082e-04 -1.26818775e+01] [-3.72484282e-03 6.80166251e-05 9.99993060e-01 -7.11053208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:-12.69, Z:-0.71 [[ 9.90635577e-01 1.36482866e-01 3.68513508e-03 1.63774730e+02] [-1.36481776e-01 9.90642431e-01 -5.46680601e-04 -1.26931462e+01] [-3.72526371e-03 3.86074716e-05 9.99993060e-01 -7.12629299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.83, Y:-12.71, Z:-0.71 [[ 9.90137355e-01 1.40051554e-01 3.68515416e-03 1.63832530e+02] [-1.40050490e-01 9.90144213e-01 -5.46551941e-04 -1.27060442e+01] [-3.72537952e-03 2.50538470e-05 9.99993060e-01 -7.10564435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:-12.72, Z:-0.72 [[ 9.89818656e-01 1.42286496e-01 3.68518081e-03 1.63890905e+02] [-1.42285448e-01 9.89825516e-01 -5.46372249e-04 -1.27159645e+01] [-3.72542739e-03 1.64618451e-05 9.99993060e-01 -7.17023161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:-12.73, Z:-0.72 [[ 9.89561874e-01 1.44061507e-01 3.68519401e-03 1.63948151e+02] [-1.44060472e-01 9.89568735e-01 -5.46283178e-04 -1.27287005e+01] [-3.72545115e-03 9.69021828e-06 9.99993060e-01 -7.15819089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:-12.74, Z:-0.72 [[ 9.89500315e-01 1.44483722e-01 3.68521977e-03 1.64006615e+02] [-1.44482690e-01 9.89507177e-01 -5.46109362e-04 -1.27387619e+01] [-3.72545532e-03 7.92492164e-06 9.99993060e-01 -7.15169787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:-12.75, Z:-0.72 [[ 9.89384389e-01 1.45275427e-01 3.68524633e-03 1.64065297e+02] [-1.45274402e-01 9.89391252e-01 -5.45930065e-04 -1.27503867e+01] [-3.72546070e-03 4.76272855e-06 9.99993060e-01 -7.17158897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:-12.76, Z:-0.72 [[ 9.89209266e-01 1.46463122e-01 3.68525968e-03 1.64123952e+02] [-1.46462105e-01 9.89216131e-01 -5.45839936e-04 -1.27600266e+01] [-3.72546374e-03 1.99032337e-07 9.99993060e-01 -7.18578981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:-12.77, Z:-0.72 [[ 9.88795915e-01 1.49228204e-01 3.68527293e-03 1.64181640e+02] [-1.49227207e-01 9.88802783e-01 -5.45750450e-04 -1.27715486e+01] [-3.72544949e-03 -1.03071701e-05 9.99993060e-01 -7.18323822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:-12.78, Z:-0.72 [[ 9.87961764e-01 1.54654362e-01 3.68529261e-03 1.64240128e+02] [-1.54653402e-01 9.87968637e-01 -5.45617530e-04 -1.27789852e+01] [-3.72533565e-03 -3.08937823e-05 9.99993060e-01 -7.15135383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-12.78, Z:-0.71 [[ 9.87267225e-01 1.59027812e-01 3.68531939e-03 1.64297950e+02] [-1.59026883e-01 9.87274102e-01 -5.45436548e-04 -1.27835486e+01] [-3.72515998e-03 -4.75732306e-05 9.99993060e-01 -7.14800210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:-12.78, Z:-0.72 [[ 9.85979469e-01 1.66825973e-01 3.68535604e-03 1.64356815e+02] [-1.66825100e-01 9.85986353e-01 -5.45188802e-04 -1.27836530e+01] [-3.72466242e-03 -7.72649257e-05 9.99993060e-01 -7.17944585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:-12.78, Z:-0.72 [[ 9.85127112e-01 1.71787634e-01 3.68538810e-03 1.64415620e+02] [-1.71786797e-01 9.85134001e-01 -5.44972036e-04 -1.27838669e+01] [-3.72422058e-03 -9.62342881e-05 9.99993060e-01 -7.18993092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:-12.78, Z:-0.72 [[ 9.85378772e-01 1.70338173e-01 3.68542591e-03 1.64475170e+02] [-1.70337327e-01 9.85385660e-01 -5.44716202e-04 -1.27839300e+01] [-3.72435181e-03 -9.10138158e-05 9.99993060e-01 -7.17479541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:-12.79, Z:-0.72 [[ 9.86302879e-01 1.64903145e-01 3.68545250e-03 1.64533287e+02] [-1.64902261e-01 9.86309763e-01 -5.44536226e-04 -1.27865008e+01] [-3.72479352e-03 -7.06618046e-05 9.99993060e-01 -7.20207414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.59, Y:-12.79, Z:-0.72 [[ 9.88387148e-01 1.51912026e-01 3.68548552e-03 1.64592005e+02] [-1.51911053e-01 9.88394018e-01 -5.44312702e-04 -1.27929343e+01] [-3.72539949e-03 -2.18743064e-05 9.99993060e-01 -7.21096155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-12.80, Z:-0.72 [[ 9.90197711e-01 1.39624174e-01 3.68551164e-03 1.64649394e+02] [-1.39623116e-01 9.90204570e-01 -5.44135795e-04 -1.27998760e+01] [-3.72538497e-03 2.42194011e-05 9.99993060e-01 -7.24732305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:-12.81, Z:-0.72 [[ 9.91018441e-01 1.33674478e-01 3.68554382e-03 1.64707815e+02] [-1.33673379e-01 9.91025293e-01 -5.43917724e-04 -1.28071784e+01] [-3.72517506e-03 4.63733986e-05 9.99993060e-01 -7.19009142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:-12.82, Z:-0.72 [[ 9.90994657e-01 1.33850690e-01 3.68556978e-03 1.64765391e+02] [-1.33849593e-01 9.91001509e-01 -5.43741720e-04 -1.28157403e+01] [-3.72518542e-03 4.55331224e-05 9.99993060e-01 -7.20927193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:-12.82, Z:-0.72 [[ 9.90365424e-01 1.38429562e-01 3.68560179e-03 1.64824337e+02] [-1.38428497e-01 9.90372281e-01 -5.43524687e-04 -1.28211962e+01] [-3.72535774e-03 2.80957397e-05 9.99993060e-01 -7.20900100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.88, Y:-12.83, Z:-0.72 [[ 9.89663906e-01 1.43358881e-01 3.68562622e-03 1.64883070e+02] [-1.43357851e-01 9.89670769e-01 -5.43359015e-04 -1.28258516e+01] [-3.72545187e-03 9.37934965e-06 9.99993060e-01 -7.18447705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.94, Y:-12.83, Z:-0.72 [[ 9.88683767e-01 1.49969411e-01 3.68565239e-03 1.64940516e+02] [-1.49968428e-01 9.88690637e-01 -5.43181388e-04 -1.28308295e+01] [-3.72543061e-03 -1.56968759e-05 9.99993060e-01 -7.21371891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:-12.84, Z:-0.72 [[ 9.88434016e-01 1.51606765e-01 3.68568472e-03 1.64999446e+02] [-1.51605794e-01 9.88440888e-01 -5.42961981e-04 -1.28369168e+01] [-3.72539818e-03 -2.20890664e-05 9.99993060e-01 -7.20260967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:-12.84, Z:-0.72 [[ 9.88716237e-01 1.49755193e-01 3.68571111e-03 1.65057764e+02] [-1.49754210e-01 9.88723107e-01 -5.42782764e-04 -1.28430106e+01] [-3.72543228e-03 -1.52926230e-05 9.99993060e-01 -7.18094937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.12, Y:-12.85, Z:-0.72 [[ 9.89167702e-01 1.46743564e-01 3.68573791e-03 1.65116203e+02] [-1.46742561e-01 9.89174568e-01 -5.42600737e-04 -1.28457302e+01] [-3.72546137e-03 -4.13149440e-06 9.99993060e-01 -7.15185894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.17, Y:-12.85, Z:-0.72 [[ 9.89360079e-01 1.45440880e-01 3.68577092e-03 1.65173351e+02] [-1.45439869e-01 9.89366944e-01 -5.42376364e-04 -1.28515461e+01] [-3.72546361e-03 5.47481351e-07 9.99993060e-01 -7.16947353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:-12.86, Z:-0.72 [[ 9.89654280e-01 1.43425312e-01 3.68580349e-03 1.65232234e+02] [-1.43424287e-01 9.89661144e-01 -5.42154935e-04 -1.28586681e+01] [-3.72545524e-03 7.91221293e-06 9.99993060e-01 -7.16331890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:-12.86, Z:-0.71 [[ 9.89610200e-01 1.43729141e-01 3.68582898e-03 1.65290533e+02] [-1.43728119e-01 9.89617064e-01 -5.41981607e-04 -1.28649356e+01] [-3.72545781e-03 6.59325964e-06 9.99993060e-01 -7.13289745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:-12.87, Z:-0.71 [[ 9.89403156e-01 1.45147543e-01 3.68585498e-03 1.65347494e+02] [-1.45146532e-01 9.89410022e-01 -5.41804734e-04 -1.28735548e+01] [-3.72546348e-03 1.07424797e-06 9.99993060e-01 -7.14966071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.41, Y:-12.88, Z:-0.72 [[ 9.89030181e-01 1.47667584e-01 3.68588707e-03 1.65406278e+02] [-1.47666591e-01 9.89037049e-01 -5.41586309e-04 -1.28791392e+01] [-3.72545362e-03 -8.63717390e-06 9.99993060e-01 -7.15865500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.46, Y:-12.89, Z:-0.72 [[ 9.88112451e-01 1.53688643e-01 3.68591252e-03 1.65464557e+02] [-1.53687693e-01 9.88119325e-01 -5.41413084e-04 -1.28857293e+01] [-3.72533043e-03 -3.15023809e-05 9.99993060e-01 -7.17956784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.52, Y:-12.89, Z:-0.72 [[ 9.87196896e-01 1.59463796e-01 3.68593808e-03 1.65521447e+02] [-1.59462886e-01 9.87203776e-01 -5.41239029e-04 -1.28932445e+01] [-3.72508002e-03 -5.34608342e-05 9.99993060e-01 -7.16733961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.58, Y:-12.90, Z:-0.71 [[ 9.86666530e-01 1.62713162e-01 3.68596975e-03 1.65580299e+02] [-1.62712276e-01 9.86673412e-01 -5.41023274e-04 -1.28975108e+01] [-3.72487995e-03 -6.59429713e-05 9.99993060e-01 -7.14825478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.64, Y:-12.90, Z:-0.71 [[ 9.86284061e-01 1.65015651e-01 3.68599477e-03 1.65638687e+02] [-1.65014781e-01 9.86290946e-01 -5.40852696e-04 -1.29005073e+01] [-3.72471243e-03 -7.48092290e-05 9.99993060e-01 -7.14595351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.70, Y:-12.91, Z:-0.71 [[ 9.86731105e-01 1.62321103e-01 3.68603282e-03 1.65697780e+02] [-1.62320216e-01 9.86737987e-01 -5.40593309e-04 -1.29051970e+01] [-3.72489830e-03 -6.48974090e-05 9.99993060e-01 -7.14566145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:-12.91, Z:-0.72 [[ 9.87506555e-01 1.57534812e-01 3.68605815e-03 1.65756049e+02] [-1.57533892e-01 9.87513433e-01 -5.40420495e-04 -1.29107504e+01] [-3.72516698e-03 -4.70103072e-05 9.99993060e-01 -7.16651685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.81, Y:-12.92, Z:-0.72 [[ 9.87712789e-01 1.56236550e-01 3.68608373e-03 1.65814573e+02] [-1.56235622e-01 9.87719666e-01 -5.40246010e-04 -1.29182436e+01] [-3.72522356e-03 -4.22896904e-05 9.99993060e-01 -7.17722401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.87, Y:-12.92, Z:-0.72 [[ 9.87862341e-01 1.55288143e-01 3.68610920e-03 1.65873779e+02] [-1.55287209e-01 9.87869218e-01 -5.40072164e-04 -1.29221312e+01] [-3.72526061e-03 -3.88886570e-05 9.99993060e-01 -7.21231504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:-12.92, Z:-0.72 [[ 9.87830549e-01 1.55490256e-01 3.68613470e-03 1.65932484e+02] [-1.55489324e-01 9.87837425e-01 -5.39898040e-04 -1.29232517e+01] [-3.72525070e-03 -3.98268155e-05 9.99993060e-01 -7.23716982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.99, Y:-12.93, Z:-0.72 [[ 9.88100591e-01 1.53764865e-01 3.68616628e-03 1.65990855e+02] [-1.53763921e-01 9.88107466e-01 -5.39682332e-04 -1.29306149e+01] [-3.72531261e-03 -3.35389514e-05 9.99993060e-01 -7.24128820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:-12.94, Z:-0.72 [[ 9.88987638e-01 1.47952233e-01 3.68619231e-03 1.66047977e+02] [-1.47951250e-01 9.88994508e-01 -5.39504476e-04 -1.29381347e+01] [-3.72544484e-03 -1.18135017e-05 9.99993060e-01 -7.24320805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.11, Y:-12.94, Z:-0.72 [[ 9.89793284e-01 1.42462860e-01 3.68622443e-03 1.66107140e+02] [-1.42461839e-01 9.89800148e-01 -5.39284976e-04 -1.29425744e+01] [-3.72545356e-03 8.63433596e-06 9.99993060e-01 -7.18105350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.16, Y:-12.95, Z:-0.72 [[ 9.90142030e-01 1.40018473e-01 3.68625104e-03 1.66164899e+02] [-1.40017436e-01 9.90148891e-01 -5.39102964e-04 -1.29515266e+01] [-3.72542176e-03 1.76490810e-05 9.99993060e-01 -7.19978285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.22, Y:-12.96, Z:-0.72 [[ 9.90556978e-01 1.37052125e-01 3.68627738e-03 1.66221387e+02] [-1.37051068e-01 9.90563837e-01 -5.38922819e-04 -1.29616921e+01] [-3.72535358e-03 2.86255053e-05 9.99993060e-01 -7.22804074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.28, Y:-12.97, Z:-0.73 [[ 9.90479723e-01 1.37609335e-01 3.68630986e-03 1.66280113e+02] [-1.37608283e-01 9.90486583e-01 -5.38700544e-04 -1.29682547e+01] [-3.72537068e-03 2.63051959e-05 9.99993060e-01 -7.26437690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.34, Y:-12.98, Z:-0.73 [[ 9.90094901e-01 1.40351339e-01 3.68633491e-03 1.66338564e+02] [-1.40350307e-01 9.90101763e-01 -5.38529099e-04 -1.29753095e+01] [-3.72542997e-03 1.58166786e-05 9.99993060e-01 -7.29669276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.40, Y:-12.99, Z:-0.73 [[ 9.89803902e-01 1.42389069e-01 3.68636004e-03 1.66396098e+02] [-1.42388051e-01 9.89810766e-01 -5.38356983e-04 -1.29857882e+01] [-3.72545501e-03 7.97421993e-06 9.99993060e-01 -7.29729351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:-12.99, Z:-0.73 [[ 9.89622000e-01 1.43647857e-01 3.68638547e-03 1.66453407e+02] [-1.43646849e-01 9.89628866e-01 -5.38182810e-04 -1.29916883e+01] [-3.72546228e-03 3.05989316e-06 9.99993060e-01 -7.31506823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:-13.00, Z:-0.73 [[ 9.89598851e-01 1.43807249e-01 3.68641706e-03 1.66511777e+02] [-1.43806242e-01 9.89605717e-01 -5.37966373e-04 -1.29980314e+01] [-3.72546286e-03 2.24112012e-06 9.99993060e-01 -7.27994134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.57, Y:-13.01, Z:-0.73 [[ 9.89990959e-01 1.41082639e-01 3.68644245e-03 1.66568223e+02] [-1.41081614e-01 9.89997823e-01 -5.37792343e-04 -1.30093286e+01] [-3.72544316e-03 1.23203056e-05 9.99993060e-01 -7.29411537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:-13.02, Z:-0.73 [[ 9.90635419e-01 1.36483981e-01 3.68647381e-03 1.66626037e+02] [-1.36482925e-01 9.90642278e-01 -5.37577254e-04 -1.30221121e+01] [-3.72534750e-03 2.94023391e-05 9.99993060e-01 -7.26532995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.68, Y:-13.03, Z:-0.73 [[ 9.91043457e-01 1.33488858e-01 3.68649981e-03 1.66683349e+02] [-1.33487782e-01 9.91050313e-01 -5.37398929e-04 -1.30338481e+01] [-3.72524356e-03 4.04830093e-05 9.99993060e-01 -7.25405405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:-13.05, Z:-0.73 [[ 9.91211380e-01 1.32236189e-01 3.68652611e-03 1.66739236e+02] [-1.32235105e-01 9.91218234e-01 -5.37218447e-04 -1.30494176e+01] [-3.72519162e-03 4.50088716e-05 9.99993060e-01 -7.25486158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.80, Y:-13.06, Z:-0.72 [[ 9.90668782e-01 1.36241601e-01 3.68655866e-03 1.66796651e+02] [-1.36240546e-01 9.90675641e-01 -5.36994986e-04 -1.30634379e+01] [-3.72534492e-03 2.97254061e-05 9.99993060e-01 -7.24288374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.86, Y:-13.07, Z:-0.73 [[ 9.89559295e-01 1.44079180e-01 3.68658472e-03 1.66855131e+02] [-1.44078180e-01 9.89566162e-01 -5.36815996e-04 -1.30726901e+01] [-3.72546350e-03 5.48414946e-08 9.99993060e-01 -7.25132511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:-13.08, Z:-0.73 [[ 9.88854798e-01 1.48837484e-01 3.68661200e-03 1.66911465e+02] [-1.48836518e-01 9.88861670e-01 -5.36628610e-04 -1.30824511e+01] [-3.72541975e-03 -1.80547158e-05 9.99993060e-01 -7.30237076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.97, Y:-13.09, Z:-0.73 [[ 9.88071667e-01 1.53950608e-01 3.68667576e-03 1.66969212e+02] [-1.53949679e-01 9.88078544e-01 -5.36190176e-04 -1.30938568e+01] [-3.72527202e-03 -3.77682306e-05 9.99993060e-01 -7.29269315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.03, Y:-13.10, Z:-0.73 [[ 9.87581032e-01 1.57067229e-01 3.68670209e-03 1.67025699e+02] [-1.57066322e-01 9.87587912e-01 -5.36009061e-04 -1.31037946e+01] [-3.72513188e-03 -4.97043585e-05 9.99993060e-01 -7.29755362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:-13.11, Z:-0.73 [[ 9.87375289e-01 1.58355444e-01 3.68674678e-03 1.67083463e+02] [-1.58354547e-01 9.87382170e-01 -5.35701525e-04 -1.31119066e+01] [-3.72505929e-03 -5.48746687e-05 9.99993060e-01 -7.27764126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:-13.12, Z:-0.73 [[ 9.87565006e-01 1.57167957e-01 3.68677909e-03 1.67141007e+02] [-1.57167053e-01 9.87571886e-01 -5.35479080e-04 -1.31177398e+01] [-3.72511953e-03 -5.06198031e-05 9.99993060e-01 -7.28335614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.20, Y:-13.12, Z:-0.73 [[ 9.88499113e-01 1.51181715e-01 3.68681815e-03 1.67198674e+02] [-1.51180770e-01 9.88505988e-01 -5.35209994e-04 -1.31236146e+01] [-3.72535579e-03 -2.83214046e-05 9.99993060e-01 -7.27094284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.26, Y:-13.13, Z:-0.73 [[ 9.89370619e-01 1.45369137e-01 3.68685036e-03 1.67255677e+02] [-1.45368153e-01 9.89377488e-01 -5.34988032e-04 -1.31330485e+01] [-3.72545750e-03 -6.64918652e-06 9.99993060e-01 -7.26232216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.31, Y:-13.14, Z:-0.73 [[ 9.89731948e-01 1.42888338e-01 3.68688169e-03 1.67314397e+02] [-1.42887338e-01 9.89738815e-01 -5.34772016e-04 -1.31401397e+01] [-3.72546260e-03 2.47223980e-06 9.99993060e-01 -7.25087484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:-13.15, Z:-0.72 [[ 9.89944076e-01 1.41411222e-01 3.68690695e-03 1.67372747e+02] [-1.41410212e-01 9.89950941e-01 -5.34597855e-04 -1.31459395e+01] [-3.72545514e-03 7.85568710e-06 9.99993060e-01 -7.24635551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:-13.15, Z:-0.73 [[ 9.90205195e-01 1.39571054e-01 3.68693319e-03 1.67429966e+02] [-1.39570031e-01 9.90212058e-01 -5.34416781e-04 -1.31522753e+01] [-3.72543482e-03 1.45968915e-05 9.99993060e-01 -7.25651208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-13.16, Z:-0.72 [[ 9.90649369e-01 1.36382671e-01 3.68696562e-03 1.67488407e+02] [-1.36381628e-01 9.90656230e-01 -5.34192960e-04 -1.31612500e+01] [-3.72537013e-03 2.63635460e-05 9.99993060e-01 -7.23081793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:-13.17, Z:-0.72 [[ 9.91385462e-01 1.30924684e-01 3.68699165e-03 1.67545662e+02] [-1.30923603e-01 9.91392316e-01 -5.34013231e-04 -1.31708182e+01] [-3.72517071e-03 4.66987223e-05 9.99993060e-01 -7.22503739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.60, Y:-13.19, Z:-0.72 [[ 9.91706247e-01 1.28472277e-01 3.68702373e-03 1.67602662e+02] [-1.28471180e-01 9.91713099e-01 -5.33791652e-04 -1.31863732e+01] [-3.72504716e-03 5.56882254e-05 9.99993060e-01 -7.24870020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.66, Y:-13.20, Z:-0.73 [[ 9.91709290e-01 1.28448783e-01 3.68704978e-03 1.67660086e+02] [-1.28447687e-01 9.91716142e-01 -5.33611702e-04 -1.31961859e+01] [-3.72504855e-03 5.55946683e-05 9.99993060e-01 -7.27262824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:-13.21, Z:-0.73 [[ 9.91494237e-01 1.30098359e-01 3.68708472e-03 1.67717531e+02] [-1.30097275e-01 9.91501092e-01 -5.33370121e-04 -1.32081623e+01] [-3.72513910e-03 4.91537246e-05 9.99993060e-01 -7.28792042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.77, Y:-13.22, Z:-0.73 [[ 9.90862910e-01 1.34822471e-01 3.68710973e-03 1.67774524e+02] [-1.34821420e-01 9.90869770e-01 -5.33197210e-04 -1.32226973e+01] [-3.72533253e-03 3.12239703e-05 9.99993060e-01 -7.27954935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.83, Y:-13.24, Z:-0.73 [[ 9.90318351e-01 1.38765878e-01 3.68713455e-03 1.67832441e+02] [-1.38764855e-01 9.90325215e-01 -5.33025470e-04 -1.32362611e+01] [-3.72542807e-03 1.62202129e-05 9.99993060e-01 -7.27698938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:-13.25, Z:-0.72 [[ 9.89331546e-01 1.45634810e-01 3.68715926e-03 1.67889897e+02] [-1.45633835e-01 9.89338416e-01 -5.32854547e-04 -1.32498737e+01] [-3.72545047e-03 -9.80533130e-06 9.99993060e-01 -7.24919389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.95, Y:-13.26, Z:-0.73 [[ 9.87994333e-01 1.54446118e-01 3.68718593e-03 1.67947160e+02] [-1.54445206e-01 9.88001212e-01 -5.32669876e-04 -1.32608449e+01] [-3.72521297e-03 -4.31933721e-05 9.99993060e-01 -7.30659205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:-13.27, Z:-0.73 [[ 9.86879560e-01 1.61416043e-01 3.68721240e-03 1.68004760e+02] [-1.61415179e-01 9.86886445e-01 -5.32486620e-04 -1.32717985e+01] [-3.72481182e-03 -6.96718904e-05 9.99993060e-01 -7.26482940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:-13.28, Z:-0.73 [[ 9.86600641e-01 1.63112171e-01 3.68723759e-03 1.68060885e+02] [-1.63111320e-01 9.86607528e-01 -5.32312128e-04 -1.32812088e+01] [-3.72468295e-03 -7.62507041e-05 9.99993060e-01 -7.27946644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.12, Y:-13.29, Z:-0.73 [[ 9.86862728e-01 1.61518915e-01 3.68728115e-03 1.68119178e+02] [-1.61518054e-01 9.86869614e-01 -5.32010205e-04 -1.32914769e+01] [-3.72479544e-03 -7.05414341e-05 9.99993060e-01 -7.26839815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.18, Y:-13.31, Z:-0.72 [[ 9.88079218e-01 1.53902122e-01 3.68730641e-03 1.68176854e+02] [-1.53901209e-01 9.88086097e-01 -5.31835078e-04 -1.33053945e+01] [-3.72522675e-03 -4.19857265e-05 9.99993060e-01 -7.24158699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.23, Y:-13.32, Z:-0.72 [[ 9.89518430e-01 1.44359550e-01 3.68733218e-03 1.68233131e+02] [-1.44358572e-01 9.89525300e-01 -5.31656395e-04 -1.33196473e+01] [-3.72545816e-03 -6.21420452e-06 9.99993060e-01 -7.24447761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.29, Y:-13.33, Z:-0.72 [[ 9.90208023e-01 1.39550978e-01 3.68736403e-03 1.68290931e+02] [-1.39549966e-01 9.90214888e-01 -5.31435341e-04 -1.33317427e+01] [-3.72544509e-03 1.16600118e-05 9.99993060e-01 -7.22546314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:-13.35, Z:-0.73 [[ 9.90397351e-01 1.38200906e-01 3.68739006e-03 1.68347641e+02] [-1.38199886e-01 9.90404215e-01 -5.31254701e-04 -1.33465945e+01] [-3.72542654e-03 1.65563623e-05 9.99993060e-01 -7.28512829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.41, Y:-13.36, Z:-0.73 [[ 9.89839345e-01 1.42142443e-01 3.68741583e-03 1.68405658e+02] [-1.42141451e-01 9.89846213e-01 -5.31075797e-04 -1.33588178e+01] [-3.72546300e-03 1.54508207e-06 9.99993060e-01 -7.26373943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:-13.37, Z:-0.72 [[ 9.89453811e-01 1.44801792e-01 3.68744165e-03 1.68464007e+02] [-1.44800819e-01 9.89460682e-01 -5.30896445e-04 -1.33686360e+01] [-3.72545328e-03 -8.64706005e-06 9.99993060e-01 -7.24786814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.52, Y:-13.38, Z:-0.73 [[ 9.89479261e-01 1.44627780e-01 3.68746773e-03 1.68521044e+02] [-1.44626807e-01 9.89486132e-01 -5.30715240e-04 -1.33805568e+01] [-3.72545435e-03 -8.17495885e-06 9.99993060e-01 -7.27182530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.58, Y:-13.39, Z:-0.73 [[ 9.89632592e-01 1.43574841e-01 3.68750003e-03 1.68578671e+02] [-1.43573861e-01 9.89639462e-01 -5.30490681e-04 -1.33934564e+01] [-3.72546066e-03 -4.43775010e-06 9.99993060e-01 -7.28928765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:-13.41, Z:-0.73 [[ 9.89658727e-01 1.43394582e-01 3.68752509e-03 1.68635927e+02] [-1.43393602e-01 9.89665597e-01 -5.30316454e-04 -1.34056637e+01] [-3.72546123e-03 -3.93519636e-06 9.99993060e-01 -7.29744064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:-13.42, Z:-0.73 [[ 9.89525760e-01 1.44309296e-01 3.68754367e-03 1.68694074e+02] [-1.44308322e-01 9.89532631e-01 -5.30187215e-04 -1.34153321e+01] [-3.72545573e-03 -7.50933201e-06 9.99993060e-01 -7.27582569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:-13.43, Z:-0.73 [[ 9.88961563e-01 1.48126394e-01 3.68756880e-03 1.68751678e+02] [-1.48125448e-01 9.88968438e-01 -5.30012404e-04 -1.34262641e+01] [-3.72539798e-03 -2.20608839e-05 9.99993060e-01 -7.27475469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:-13.43, Z:-0.73 [[ 9.88396844e-01 1.51848873e-01 3.68759418e-03 1.68809420e+02] [-1.51847953e-01 9.88403722e-01 -5.29835721e-04 -1.34337395e+01] [-3.72528677e-03 -3.62656731e-05 9.99993060e-01 -7.31067908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.87, Y:-13.44, Z:-0.73 [[ 9.88370803e-01 1.52018279e-01 3.68762549e-03 1.68867758e+02] [-1.52017360e-01 9.88377682e-01 -5.29617709e-04 -1.34418018e+01] [-3.72527831e-03 -3.71244133e-05 9.99993060e-01 -7.33957690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60420382199996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:168.93, Y:-13.45, Z:-0.73 [[ 9.88561498e-01 1.50773229e-01 3.68765039e-03 1.68926375e+02] [-1.50772303e-01 9.88568375e-01 -5.29444296e-04 -1.34502118e+01] [-3.72532058e-03 -3.26072971e-05 9.99993060e-01 -7.33871579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:-13.46, Z:-0.73 [[ 9.89060229e-01 1.47466148e-01 3.68767535e-03 1.68984800e+02] [-1.47465199e-01 9.89067103e-01 -5.29270376e-04 -1.34600599e+01] [-3.72540784e-03 -2.03235026e-05 9.99993060e-01 -7.31005581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:-13.47, Z:-0.73 [[ 9.89489056e-01 1.44560748e-01 3.68768830e-03 1.69042476e+02] [-1.44559779e-01 9.89495927e-01 -5.29180161e-04 -1.34715882e+01] [-3.72545123e-03 -9.47342902e-06 9.99993060e-01 -7.33201907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.10, Y:-13.48, Z:-0.73 [[ 9.89595560e-01 1.43829860e-01 3.68770749e-03 1.69101808e+02] [-1.43828887e-01 9.89602431e-01 -5.29046379e-04 -1.34777159e+01] [-3.72545696e-03 -6.85691513e-06 9.99993060e-01 -7.30800355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84420382199997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:169.16, Y:-13.49, Z:-0.73 [[ 9.89510981e-01 1.44410594e-01 3.68772049e-03 1.69160302e+02] [-1.44409625e-01 9.89517852e-01 -5.28955767e-04 -1.34881544e+01] [-3.72545207e-03 -9.13479435e-06 9.99993060e-01 -7.31796367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.22, Y:-13.50, Z:-0.73 [[ 9.89360772e-01 1.45436116e-01 3.68773335e-03 1.69217991e+02] [-1.45435155e-01 9.89367645e-01 -5.28866112e-04 -1.34985221e+01] [-3.72544029e-03 -1.30866860e-05 9.99993060e-01 -7.31349978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:-13.51, Z:-0.73 [[ 9.89606147e-01 1.43756998e-01 3.68775243e-03 1.69276862e+02] [-1.43756026e-01 9.89613018e-01 -5.28732981e-04 -1.35113269e+01] [-3.72545688e-03 -6.89922640e-06 9.99993060e-01 -7.32764226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.34, Y:-13.52, Z:-0.73 [[ 9.89912807e-01 1.41629923e-01 3.68776507e-03 1.69336190e+02] [-1.41628936e-01 9.89919676e-01 -5.28644799e-04 -1.35235502e+01] [-3.72546313e-03 1.01801368e-06 9.99993060e-01 -7.30282262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.40, Y:-13.54, Z:-0.73 [[ 9.90042596e-01 1.40719789e-01 3.68776507e-03 1.69395563e+02] [-1.40718796e-01 9.90049464e-01 -5.28644799e-04 -1.35379757e+01] [-3.72546062e-03 4.44300797e-06 9.99993060e-01 -7.28495998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14420382199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:169.45, Y:-13.55, Z:-0.73 [[ 9.89806563e-01 1.42370530e-01 3.68776507e-03 1.69453762e+02] [-1.42369548e-01 9.89813433e-01 -5.28644799e-04 -1.35538642e+01] [-3.72546285e-03 -1.76935649e-06 9.99993060e-01 -7.29822209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:-13.57, Z:-0.72 [[ 9.89427544e-01 1.44981155e-01 3.68776115e-03 1.69513635e+02] [-1.44980192e-01 9.89434417e-01 -5.28672185e-04 -1.35657547e+01] [-3.72544530e-03 -1.15694961e-05 9.99993060e-01 -7.24300689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:-13.58, Z:-0.72 [[ 9.89089715e-01 1.47268243e-01 3.68776115e-03 1.69573196e+02] [-1.47267295e-01 9.89096590e-01 -5.28672185e-04 -1.35754736e+01] [-3.72540860e-03 -2.01823884e-05 9.99993060e-01 -7.23747740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.63, Y:-13.59, Z:-0.73 [[ 9.88640594e-01 1.50253705e-01 3.68776115e-03 1.69631196e+02] [-1.50252778e-01 9.88647472e-01 -5.28672185e-04 -1.35895536e+01] [-3.72533069e-03 -3.14295745e-05 9.99993060e-01 -7.27276565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.69, Y:-13.61, Z:-0.73 [[ 9.88316130e-01 1.52373319e-01 3.68775352e-03 1.69690371e+02] [-1.52372407e-01 9.88323009e-01 -5.28725422e-04 -1.36057882e+01] [-3.72525530e-03 -3.93640163e-05 9.99993060e-01 -7.28169070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.75, Y:-13.62, Z:-0.73 [[ 9.87968689e-01 1.54610060e-01 3.68774092e-03 1.69749650e+02] [-1.54609163e-01 9.87975570e-01 -5.28813231e-04 -1.36156952e+01] [-3.72515779e-03 -4.77076246e-05 9.99993060e-01 -7.27995717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:-13.62, Z:-0.73 [[ 9.87268093e-01 1.59022367e-01 3.68773469e-03 1.69810291e+02] [-1.59021501e-01 9.87274978e-01 -5.28856723e-04 -1.36213356e+01] [-3.72490823e-03 -6.43057356e-05 9.99993060e-01 -7.27053018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.87, Y:-13.63, Z:-0.73 [[ 9.86581737e-01 1.63226460e-01 3.68773469e-03 1.69869008e+02] [-1.63225623e-01 9.86588626e-01 -5.28856723e-04 -1.36297536e+01] [-3.72460051e-03 -8.01724071e-05 9.99993060e-01 -7.26066513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.93, Y:-13.63, Z:-0.73 [[ 9.86573395e-01 1.63276872e-01 3.68774088e-03 1.69929518e+02] [-1.63276035e-01 9.86580284e-01 -5.28813537e-04 -1.36326922e+01] [-3.72459546e-03 -8.04063441e-05 9.99993060e-01 -7.28705692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.99, Y:-13.64, Z:-0.73 [[ 9.87473371e-01 1.57742648e-01 3.68774088e-03 1.69990704e+02] [-1.57741773e-01 9.87480255e-01 -5.28813537e-04 -1.36359163e+01] [-3.72498775e-03 -5.95215000e-05 9.99993060e-01 -7.29099257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.05, Y:-13.64, Z:-0.73 [[ 9.88281740e-01 1.52596209e-01 3.68773909e-03 1.70050989e+02] [-1.52595298e-01 9.88288619e-01 -5.28826012e-04 -1.36435264e+01] [-3.72524742e-03 -4.01025533e-05 9.99993060e-01 -7.29516005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:-13.65, Z:-0.73 [[ 9.88975913e-01 1.48030550e-01 3.68773273e-03 1.70110777e+02] [-1.48029607e-01 9.88982788e-01 -5.28870368e-04 -1.36504569e+01] [-3.72539317e-03 -2.28535725e-05 9.99993060e-01 -7.30447813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.17, Y:-13.65, Z:-0.73 [[ 9.88901609e-01 1.48526121e-01 3.68773273e-03 1.70171866e+02] [-1.48525182e-01 9.88908485e-01 -5.28870368e-04 -1.36531777e+01] [-3.72538125e-03 -2.47204153e-05 9.99993060e-01 -7.28140436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.23, Y:-13.66, Z:-0.73 [[ 9.88602048e-01 1.50507112e-01 3.68773273e-03 1.70231990e+02] [-1.50506187e-01 9.88608926e-01 -5.28870368e-04 -1.36580605e+01] [-3.72532424e-03 -3.21842611e-05 9.99993060e-01 -7.29436919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.29, Y:-13.66, Z:-0.73 [[ 9.88089956e-01 1.53833154e-01 3.68773273e-03 1.70291089e+02] [-1.53832251e-01 9.88096837e-01 -5.28870368e-04 -1.36622774e+01] [-3.72519484e-03 -4.47207280e-05 9.99993060e-01 -7.33945154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:-13.66, Z:-0.73 [[ 9.87826294e-01 1.55517246e-01 3.68774546e-03 1.70350730e+02] [-1.55516355e-01 9.87833176e-01 -5.28781594e-04 -1.36621905e+01] [-3.72511197e-03 -5.11603708e-05 9.99993060e-01 -7.33946533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.41, Y:-13.66, Z:-0.73 [[ 9.87911995e-01 1.54971903e-01 3.68777039e-03 1.70410013e+02] [-1.54971009e-01 9.87918877e-01 -5.28607658e-04 -1.36643398e+01] [-3.72513732e-03 -4.92796525e-05 9.99993060e-01 -7.31371248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.47, Y:-13.67, Z:-0.74 [[ 9.88138290e-01 1.53522377e-01 3.68779605e-03 1.70467534e+02] [-1.53521474e-01 9.88145170e-01 -5.28428570e-04 -1.36701257e+01] [-3.72520347e-03 -4.39953805e-05 9.99993060e-01 -7.35653549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.53, Y:-13.67, Z:-0.73 [[ 9.88543065e-01 1.50894028e-01 3.68782907e-03 1.70526591e+02] [-1.50893107e-01 9.88549944e-01 -5.28198045e-04 -1.36737848e+01] [-3.72530515e-03 -3.43214728e-05 9.99993060e-01 -7.34831893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.59, Y:-13.68, Z:-0.73 [[ 9.88914227e-01 1.48442083e-01 3.68785420e-03 1.70585281e+02] [-1.48441146e-01 9.88921103e-01 -5.28022536e-04 -1.36788836e+01] [-3.72537761e-03 -2.52603077e-05 9.99993060e-01 -7.32022924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:-13.68, Z:-0.73 [[ 9.89117828e-01 1.47079303e-01 3.68788031e-03 1.70642428e+02] [-1.47078357e-01 9.89124703e-01 -5.27840099e-04 -1.36846561e+01] [-3.72540787e-03 -2.03113238e-05 9.99993060e-01 -7.34472678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:-13.69, Z:-0.73 [[ 9.89132430e-01 1.46981070e-01 3.68791262e-03 1.70700161e+02] [-1.46980125e-01 9.89139305e-01 -5.27614255e-04 -1.36934733e+01] [-3.72540864e-03 -2.01694879e-05 9.99993060e-01 -7.33542412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:-13.70, Z:-0.73 [[ 9.89204563e-01 1.46494817e-01 3.68793772e-03 1.70758388e+02] [-1.46493869e-01 9.89211438e-01 -5.27438741e-04 -1.37004131e+01] [-3.72541722e-03 -1.85154556e-05 9.99993060e-01 -7.33903714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.82, Y:-13.71, Z:-0.73 [[ 9.89559055e-01 1.44080798e-01 3.68796255e-03 1.70815963e+02] [-1.44079834e-01 9.89565927e-01 -5.27265120e-04 -1.37095051e+01] [-3.72545085e-03 -9.60105669e-06 9.99993060e-01 -7.34412930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:-13.72, Z:-0.73 [[ 9.89852487e-01 1.42050880e-01 3.68799330e-03 1.70873345e+02] [-1.42049903e-01 9.89859357e-01 -5.27049883e-04 -1.37211276e+01] [-3.72546258e-03 -2.17745250e-06 9.99993060e-01 -7.31445560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.93, Y:-13.73, Z:-0.73 [[ 9.89800575e-01 1.42412152e-01 3.68801742e-03 1.70931340e+02] [-1.42411178e-01 9.89807445e-01 -5.26881105e-04 -1.37325863e+01] [-3.72546137e-03 -3.70768416e-06 9.99993060e-01 -7.32251656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:-13.74, Z:-0.73 [[ 9.89381344e-01 1.45296092e-01 3.68804143e-03 1.70988517e+02] [-1.45295138e-01 9.89388218e-01 -5.26712969e-04 -1.37439167e+01] [-3.72543407e-03 -1.47345015e-05 9.99993060e-01 -7.31878984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.05, Y:-13.75, Z:-0.73 [[ 9.88580742e-01 1.50646988e-01 3.68807411e-03 1.71047051e+02] [-1.50646072e-01 9.88587621e-01 -5.26484022e-04 -1.37524818e+01] [-3.72529764e-03 -3.51219138e-05 9.99993060e-01 -7.31133532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.11, Y:-13.76, Z:-0.73 [[ 9.87282477e-01 1.58933034e-01 3.68809905e-03 1.71105338e+02] [-1.58932176e-01 9.87289363e-01 -5.26309295e-04 -1.37580042e+01] [-3.72486889e-03 -6.65416633e-05 9.99993060e-01 -7.31590165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.16, Y:-13.76, Z:-0.73 [[ 9.86023797e-01 1.66563708e-01 3.68812397e-03 1.71163939e+02] [-1.66562905e-01 9.86030690e-01 -5.26134615e-04 -1.37613333e+01] [-3.72423835e-03 -9.55233893e-05 9.99993060e-01 -7.31276283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.22, Y:-13.77, Z:-0.73 [[ 9.85599363e-01 1.69057073e-01 3.68814848e-03 1.71222444e+02] [-1.69056287e-01 9.85606258e-01 -5.25962686e-04 -1.37651213e+01] [-3.72397994e-03 -1.05116202e-04 9.99993060e-01 -7.32618362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.28, Y:-13.77, Z:-0.74 [[ 9.85965495e-01 1.66908479e-01 3.68817420e-03 1.71280916e+02] [-1.66907679e-01 9.85972388e-01 -5.25782293e-04 -1.37670794e+01] [-3.72419545e-03 -9.71813974e-05 9.99993060e-01 -7.38827998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:-13.78, Z:-0.74 [[ 9.87733410e-01 1.56106081e-01 3.68820603e-03 1.71339440e+02] [-1.56105207e-01 9.87740294e-01 -5.25558938e-04 -1.37759332e+01] [-3.72503265e-03 -5.66360437e-05 9.99993060e-01 -7.36238728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.40, Y:-13.78, Z:-0.74 [[ 9.88442745e-01 1.51549783e-01 3.68823038e-03 1.71397085e+02] [-1.51548878e-01 9.88449625e-01 -5.25388012e-04 -1.37839382e+01] [-3.72525237e-03 -3.96312051e-05 9.99993060e-01 -7.36909302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.46, Y:-13.79, Z:-0.74 [[ 9.89964066e-01 1.41271173e-01 3.68826067e-03 1.71455621e+02] [-1.41270197e-01 9.89970937e-01 -5.25175284e-04 -1.37903535e+01] [-3.72546300e-03 -1.13665090e-06 9.99993060e-01 -7.36171573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:-13.80, Z:-0.74 [[ 9.90403954e-01 1.38153555e-01 3.68828521e-03 1.71513481e+02] [-1.38152558e-01 9.90410821e-01 -5.25002877e-04 -1.37983558e+01] [-3.72544860e-03 1.04188886e-05 9.99993060e-01 -7.35088465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:-13.81, Z:-0.74 [[ 9.90355115e-01 1.38503221e-01 3.68831000e-03 1.71571750e+02] [-1.38502227e-01 9.90361983e-01 -5.24828650e-04 -1.38066515e+01] [-3.72545247e-03 8.92758856e-06 9.99993060e-01 -7.36143466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.63, Y:-13.82, Z:-0.74 [[ 9.89951340e-01 1.41360324e-01 3.68833474e-03 1.71629428e+02] [-1.41359350e-01 9.89958211e-01 -5.24654736e-04 -1.38157084e+01] [-3.72546262e-03 -1.99794277e-06 9.99993060e-01 -7.35297862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:-13.83, Z:-0.74 [[ 9.89862017e-01 1.41984450e-01 3.68836057e-03 1.71685963e+02] [-1.41983481e-01 9.89868888e-01 -5.24473080e-04 -1.38254826e+01] [-3.72546040e-03 -4.53029171e-06 9.99993060e-01 -7.38005325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:-13.84, Z:-0.74 [[ 9.89915466e-01 1.41611320e-01 3.68839500e-03 1.71743471e+02] [-1.41610350e-01 9.89922337e-01 -5.24230820e-04 -1.38369609e+01] [-3.72546162e-03 -3.37070971e-06 9.99993060e-01 -7.35336111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:-13.85, Z:-0.74 [[ 9.89727756e-01 1.42917337e-01 3.68842074e-03 1.71799652e+02] [-1.42916377e-01 9.89734628e-01 -5.24049672e-04 -1.38511730e+01] [-3.72545351e-03 -8.46922107e-06 9.99993060e-01 -7.36787690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.86, Y:-13.86, Z:-0.74 [[ 9.89061653e-01 1.47456578e-01 3.68845261e-03 1.71857238e+02] [-1.47455650e-01 9.89068530e-01 -5.23825265e-04 -1.38612829e+01] [-3.72537388e-03 -2.57876942e-05 9.99993060e-01 -7.35695312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.92, Y:-13.87, Z:-0.73 [[ 9.88561110e-01 1.50775750e-01 3.68847824e-03 1.71915671e+02] [-1.50774846e-01 9.88567990e-01 -5.23644740e-04 -1.38715210e+01] [-3.72526445e-03 -3.84749128e-05 9.99993060e-01 -7.33944773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:-13.88, Z:-0.73 [[ 9.87646330e-01 1.56656060e-01 3.68850376e-03 1.71973541e+02] [-1.56655197e-01 9.87653216e-01 -5.23464938e-04 -1.38832730e+01] [-3.72496655e-03 -6.08250576e-05 9.99993060e-01 -7.33140763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.03, Y:-13.89, Z:-0.73 [[ 9.86290893e-01 1.64974752e-01 3.68852901e-03 1.72030396e+02] [-1.64973948e-01 9.86297786e-01 -5.23286958e-04 -1.38905184e+01] [-3.72431713e-03 -9.23980302e-05 9.99993060e-01 -7.31529092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:-13.89, Z:-0.74 [[ 9.85108803e-01 1.71892528e-01 3.68856637e-03 1.72089445e+02] [-1.71891773e-01 9.85115701e-01 -5.23023455e-04 -1.38918080e+01] [-3.72356847e-03 -1.18799204e-04 9.99993060e-01 -7.36963058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:-13.89, Z:-0.74 [[ 9.84633590e-01 1.74594064e-01 3.68859077e-03 1.72148512e+02] [-1.74593329e-01 9.84640491e-01 -5.22851341e-04 -1.38948772e+01] [-3.72322256e-03 -1.29186348e-04 9.99993060e-01 -7.42075790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.21, Y:-13.90, Z:-0.75 [[ 9.84715627e-01 1.74130781e-01 3.68861501e-03 1.72208064e+02] [-1.74130043e-01 9.84722527e-01 -5.22680246e-04 -1.38972738e+01] [-3.72327701e-03 -1.27607285e-04 9.99993060e-01 -7.46342255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:-13.90, Z:-0.74 [[ 9.85971366e-01 1.66873783e-01 3.68863313e-03 1.72266746e+02] [-1.66872995e-01 9.85978261e-01 -5.22552345e-04 -1.38999602e+01] [-3.72411236e-03 -1.00311607e-04 9.99993060e-01 -7.40598567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:-13.90, Z:-0.74 [[ 9.87737738e-01 1.56078683e-01 3.68866361e-03 1.72325127e+02] [-1.56077821e-01 9.87744623e-01 -5.22337068e-04 -1.39002648e+01] [-3.72498333e-03 -5.97865440e-05 9.99993060e-01 -7.38598008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:-13.91, Z:-0.74 [[ 9.88918692e-01 1.48412313e-01 3.68869793e-03 1.72383916e+02] [-1.48411398e-01 9.88925571e-01 -5.22094649e-04 -1.39073411e+01] [-3.72533298e-03 -3.11356606e-05 9.99993060e-01 -7.36646218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:-13.92, Z:-0.74 [[ 9.90708845e-01 1.35949907e-01 3.68872249e-03 1.72441113e+02] [-1.35948906e-01 9.90715712e-01 -5.21921040e-04 -1.39155599e+01] [-3.72543045e-03 1.55940041e-05 9.99993060e-01 -7.37618510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:-13.93, Z:-0.74 [[ 9.92143866e-01 1.25047763e-01 3.68875300e-03 1.72499535e+02] [-1.25046687e-01 9.92150721e-01 -5.21705315e-04 -1.39271642e+01] [-3.72503703e-03 5.63403860e-05 9.99993060e-01 -7.40472748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:-13.94, Z:-0.74 [[ 9.92735974e-01 1.20256719e-01 3.68876483e-03 1.72558209e+02] [-1.20255610e-01 9.92742825e-01 -5.21621670e-04 -1.39385901e+01] [-3.72472333e-03 7.42379304e-05 9.99993060e-01 -7.39683473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:-13.95, Z:-0.74 [[ 9.92525832e-01 1.21978957e-01 3.68877684e-03 1.72616787e+02] [-1.21977861e-01 9.92532684e-01 -5.21536746e-04 -1.39496714e+01] [-3.72484808e-03 6.76895846e-05 9.99993060e-01 -7.40200770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:-13.96, Z:-0.74 [[ 9.91444981e-01 1.30473151e-01 3.68878943e-03 1.72673900e+02] [-1.30472114e-01 9.91451842e-01 -5.21447619e-04 -1.39590641e+01] [-3.72529199e-03 3.57024702e-05 9.99993060e-01 -7.41039436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:-13.97, Z:-0.74 [[ 9.90126802e-01 1.40126048e-01 3.68882069e-03 1.72732265e+02] [-1.40125078e-01 9.90133673e-01 -5.21226416e-04 -1.39692695e+01] [-3.72546298e-03 -8.16044464e-07 9.99993060e-01 -7.38160740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:-13.98, Z:-0.74 [[ 9.89357566e-01 1.45457897e-01 3.68884541e-03 1.72790718e+02] [-1.45456965e-01 9.89364442e-01 -5.21051385e-04 -1.39780773e+01] [-3.72540352e-03 -2.10621284e-05 9.99993060e-01 -7.38367187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.85, Y:-13.99, Z:-0.74 [[ 9.88285198e-01 1.52573786e-01 3.68887077e-03 1.72846889e+02] [-1.52572904e-01 9.88292081e-01 -5.20871797e-04 -1.39908255e+01] [-3.72515315e-03 -4.80518403e-05 9.99993060e-01 -7.40625889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:172.90, Y:-14.00, Z:-0.74 [[ 9.87780385e-01 1.55808548e-01 3.68890477e-03 1.72904978e+02] [-1.55807690e-01 9.87787271e-01 -5.20630916e-04 -1.39985647e+01] [-3.72497192e-03 -6.04907234e-05 9.99993060e-01 -7.40098798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.96, Y:-14.01, Z:-0.74 [[ 9.86781177e-01 1.62016357e-01 3.68892913e-03 1.72963789e+02] [-1.62015542e-01 9.86788069e-01 -5.20458229e-04 -1.40061253e+01] [-3.72451400e-03 -8.40854699e-05 9.99993060e-01 -7.42295164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.02, Y:-14.01, Z:-0.74 [[ 9.86187288e-01 1.65592951e-01 3.68894765e-03 1.73022791e+02] [-1.65592162e-01 9.86194182e-01 -5.20326919e-04 -1.40124084e+01] [-3.72418118e-03 -9.77210244e-05 9.99993060e-01 -7.41115481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.08, Y:-14.02, Z:-0.74 [[ 9.85623559e-01 1.68915930e-01 3.68897334e-03 1.73080983e+02] [-1.68915165e-01 9.85630456e-01 -5.20144772e-04 -1.40152338e+01] [-3.72382521e-03 -1.10456598e-04 9.99993060e-01 -7.41382824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.14, Y:-14.02, Z:-0.74 [[ 9.85670904e-01 1.68639438e-01 3.68900627e-03 1.73140707e+02] [-1.68638672e-01 9.85677801e-01 -5.19911088e-04 -1.40166220e+01] [-3.72384910e-03 -1.09647888e-04 9.99993060e-01 -7.43081727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.20, Y:-14.02, Z:-0.74 [[ 9.85774535e-01 1.68032610e-01 3.68902458e-03 1.73198108e+02] [-1.68031840e-01 9.85781431e-01 -5.19781107e-04 -1.40222381e+01] [-3.72391211e-03 -1.07486611e-04 9.99993060e-01 -7.42395755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.26, Y:-14.02, Z:-0.74 [[ 9.86331541e-01 1.64731547e-01 3.68906271e-03 1.73256443e+02] [-1.64730755e-01 9.86338435e-01 -5.19510366e-04 -1.40230917e+01] [-3.72424409e-03 -9.52926266e-05 9.99993060e-01 -7.43190961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.32, Y:-14.02, Z:-0.74 [[ 9.87166426e-01 1.59652241e-01 3.68910198e-03 1.73315858e+02] [-1.59651415e-01 9.87173316e-01 -5.19231371e-04 -1.40230495e+01] [-3.72467949e-03 -7.64025737e-05 9.99993060e-01 -7.44240389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.37, Y:-14.03, Z:-0.74 [[ 9.87880939e-01 1.55169716e-01 3.68912611e-03 1.73374858e+02] [-1.55168859e-01 9.87887826e-01 -5.19059890e-04 -1.40262658e+01] [-3.72498514e-03 -5.96681169e-05 9.99993060e-01 -7.41591118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:-14.03, Z:-0.74 [[ 9.89040799e-01 1.47596367e-01 3.68915035e-03 1.73434084e+02] [-1.47595458e-01 9.89047679e-01 -5.18887490e-04 -1.40304755e+01] [-3.72533150e-03 -3.13009395e-05 9.99993060e-01 -7.39261345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:-14.03, Z:-0.74 [[ 9.89915122e-01 1.41613707e-01 3.68917587e-03 1.73493366e+02] [-1.41612758e-01 9.89921996e-01 -5.18706018e-04 -1.40341048e+01] [-3.72545222e-03 -8.95943803e-06 9.99993060e-01 -7.40257003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:-14.04, Z:-0.75 [[ 9.90272575e-01 1.39092118e-01 3.68920169e-03 1.73550546e+02] [-1.39091151e-01 9.90279447e-01 -5.18522313e-04 -1.40421074e+01] [-3.72546298e-03 3.43116765e-07 9.99993060e-01 -7.45006318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:-14.05, Z:-0.75 [[ 9.90370087e-01 1.38396102e-01 3.68923344e-03 1.73608925e+02] [-1.38395131e-01 9.90376958e-01 -5.18296323e-04 -1.40497749e+01] [-3.72546198e-03 2.73322886e-06 9.99993060e-01 -7.45261078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.67, Y:-14.05, Z:-0.74 [[ 9.89813788e-01 1.42320252e-01 3.68925904e-03 1.73666530e+02] [-1.42319310e-01 9.89820663e-01 -5.18114056e-04 -1.40546353e+01] [-3.72544295e-03 -1.22163638e-05 9.99993060e-01 -7.44741415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:-14.06, Z:-0.75 [[ 9.89138852e-01 1.46937811e-01 3.68929055e-03 1.73725064e+02] [-1.46936901e-01 9.89145732e-01 -5.17889533e-04 -1.40629678e+01] [-3.72534356e-03 -2.98282640e-05 9.99993060e-01 -7.46357398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:-14.07, Z:-0.75 [[ 9.88735177e-01 1.49630005e-01 3.68931521e-03 1.73782523e+02] [-1.49629115e-01 9.88742059e-01 -5.17713832e-04 -1.40709550e+01] [-3.72524664e-03 -4.01470929e-05 9.99993060e-01 -7.46268303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:-14.07, Z:-0.75 [[ 9.88115374e-01 1.53669765e-01 3.68934570e-03 1.73841960e+02] [-1.53668904e-01 9.88122260e-01 -5.17496443e-04 -1.40742858e+01] [-3.72504817e-03 -5.55915200e-05 9.99993060e-01 -7.46259268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:-14.08, Z:-0.75 [[ 9.87785414e-01 1.55776648e-01 3.68936485e-03 1.73899871e+02] [-1.55775802e-01 9.87792302e-01 -5.17359880e-04 -1.40776469e+01] [-3.72491879e-03 -6.36732255e-05 9.99993060e-01 -7.47741204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.96, Y:-14.08, Z:-0.75 [[ 9.87976814e-01 1.54558089e-01 3.68939641e-03 1.73958286e+02] [-1.54557235e-01 9.87983701e-01 -5.17134722e-04 -1.40839473e+01] [-3.72499088e-03 -5.93057935e-05 9.99993060e-01 -7.48987025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82420382199996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-14.09, Z:-0.75 [[ 9.88520272e-01 1.51043238e-01 3.68942063e-03 1.74016590e+02] [-1.51042360e-01 9.88527156e-01 -5.16961858e-04 -1.40915183e+01] [-3.72517608e-03 -4.62315240e-05 9.99993060e-01 -7.51207260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:-14.10, Z:-0.75 [[ 9.89013195e-01 1.47781218e-01 3.68944496e-03 1.74075245e+02] [-1.47780318e-01 9.89020076e-01 -5.16788167e-04 -1.40984179e+01] [-3.72530672e-03 -3.41170338e-05 9.99993060e-01 -7.49725728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94420382199996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:174.13, Y:-14.11, Z:-0.75 [[ 9.89637453e-01 1.43541284e-01 3.68946904e-03 1.74133582e+02] [-1.43540356e-01 9.89644330e-01 -5.16616224e-04 -1.41084532e+01] [-3.72541787e-03 -1.83249339e-05 9.99993060e-01 -7.47546708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.19, Y:-14.12, Z:-0.75 [[ 9.89583287e-01 1.43914232e-01 3.68949444e-03 1.74190234e+02] [-1.43913307e-01 9.89590164e-01 -5.16434749e-04 -1.41156480e+01] [-3.72540972e-03 -1.99121488e-05 9.99993060e-01 -7.47399218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.25, Y:-14.12, Z:-0.75 [[ 9.89339394e-01 1.45581425e-01 3.68953824e-03 1.74247736e+02] [-1.45580513e-01 9.89346273e-01 -5.16121642e-04 -1.41227100e+01] [-3.72536863e-03 -2.65053971e-05 9.99993060e-01 -7.46281017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.31, Y:-14.13, Z:-0.75 [[ 9.88997238e-01 1.47887963e-01 3.68957627e-03 1.74306347e+02] [-1.47887067e-01 9.89004120e-01 -5.15849670e-04 -1.41271232e+01] [-3.72529409e-03 -3.54667144e-05 9.99993060e-01 -7.48349647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.36, Y:-14.14, Z:-0.75 [[ 9.89037850e-01 1.47616119e-01 3.68960147e-03 1.74364909e+02] [-1.47615222e-01 9.89044731e-01 -5.15669363e-04 -1.41351902e+01] [-3.72530200e-03 -3.46248218e-05 9.99993060e-01 -7.49944677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.42, Y:-14.14, Z:-0.75 [[ 9.89300737e-01 1.45843882e-01 3.68962666e-03 1.74421923e+02] [-1.45842974e-01 9.89307617e-01 -5.15489067e-04 -1.41427750e+01] [-3.72535668e-03 -2.81324109e-05 9.99993060e-01 -7.50598747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.48, Y:-14.15, Z:-0.75 [[ 9.89546293e-01 1.44168377e-01 3.68966490e-03 1.74479707e+02] [-1.44167458e-01 9.89553171e-01 -5.15215211e-04 -1.41478255e+01] [-3.72539734e-03 -2.21003089e-05 9.99993060e-01 -7.48353631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.54, Y:-14.16, Z:-0.75 [[ 9.89789453e-01 1.42489387e-01 3.68969638e-03 1.74537892e+02] [-1.42488457e-01 9.89796330e-01 -5.14989614e-04 -1.41552669e+01] [-3.72542849e-03 -1.60078562e-05 9.99993060e-01 -7.50095297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.60, Y:-14.17, Z:-0.75 [[ 9.90364574e-01 1.38435534e-01 3.68972150e-03 1.74596342e+02] [-1.38434577e-01 9.90371447e-01 -5.14809598e-04 -1.41650531e+01] [-3.72546276e-03 -9.35846179e-07 9.99993060e-01 -7.52796990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:-14.17, Z:-0.75 [[ 9.90867497e-01 1.34788686e-01 3.68974675e-03 1.74654881e+02] [-1.34787704e-01 9.90874366e-01 -5.14628608e-04 -1.41741437e+01] [-3.72544158e-03 1.25962677e-05 9.99993060e-01 -7.53668077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:-14.19, Z:-0.76 [[ 9.91244410e-01 1.31988275e-01 3.68977186e-03 1.74711219e+02] [-1.31987274e-01 9.91251277e-01 -5.14448473e-04 -1.41872746e+01] [-3.72539224e-03 2.29412427e-05 9.99993060e-01 -7.55292832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:-14.20, Z:-0.75 [[ 9.90773256e-01 1.35479668e-01 3.68980274e-03 1.74768124e+02] [-1.35478692e-01 9.90780127e-01 -5.14226930e-04 -1.41953294e+01] [-3.72545052e-03 9.59264114e-06 9.99993060e-01 -7.54156819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.83, Y:-14.20, Z:-0.75 [[ 9.89670334e-01 1.43314391e-01 3.68984216e-03 1.74826170e+02] [-1.43313471e-01 9.89677213e-01 -5.13943895e-04 -1.42038251e+01] [-3.72540826e-03 -2.01690606e-05 9.99993060e-01 -7.49817064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:-14.21, Z:-0.75 [[ 9.88846942e-01 1.48889590e-01 3.68986737e-03 1.74883647e+02] [-1.48888709e-01 9.88853826e-01 -5.13762859e-04 -1.42109524e+01] [-3.72523340e-03 -4.13467562e-05 9.99993060e-01 -7.50421666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.94, Y:-14.21, Z:-0.75 [[ 9.87844825e-01 1.55399439e-01 3.68989850e-03 1.74942020e+02] [-1.55398605e-01 9.87851715e-01 -5.13539131e-04 -1.42146208e+01] [-3.72487626e-03 -6.61081054e-05 9.99993060e-01 -7.49491646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:-14.22, Z:-0.75 [[ 9.87257702e-01 1.59086813e-01 3.68994353e-03 1.75001342e+02] [-1.59086005e-01 9.87264594e-01 -5.13215363e-04 -1.42169522e+01] [-3.72459640e-03 -8.03425571e-05 9.99993060e-01 -7.51381199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:-14.22, Z:-0.75 [[ 9.87155114e-01 1.59722147e-01 3.68996848e-03 1.75059344e+02] [-1.59721345e-01 9.87162007e-01 -5.13035940e-04 -1.42229115e+01] [-3.72453989e-03 -8.29206761e-05 9.99993060e-01 -7.52221343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:-14.23, Z:-0.75 [[ 9.87206946e-01 1.59401470e-01 3.69000566e-03 1.75118018e+02] [-1.59400666e-01 9.87213839e-01 -5.12768361e-04 -1.42257654e+01] [-3.72456069e-03 -8.19808739e-05 9.99993060e-01 -7.52114146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:-14.23, Z:-0.75 [[ 9.88141918e-01 1.53498970e-01 3.69003050e-03 1.75176354e+02] [-1.53498125e-01 9.88148806e-01 -5.12589548e-04 -1.42275231e+01] [-3.72498120e-03 -5.99015464e-05 9.99993060e-01 -7.54966215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.23, Y:-14.23, Z:-0.76 [[ 9.89644665e-01 1.43491535e-01 3.69006130e-03 1.75234664e+02] [-1.43490622e-01 9.89651544e-01 -5.12367723e-04 -1.42321088e+01] [-3.72539530e-03 -2.24272088e-05 9.99993060e-01 -7.55493406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:-14.24, Z:-0.75 [[ 9.90681218e-01 1.36151047e-01 3.69008538e-03 1.75292681e+02] [-1.36150084e-01 9.90688090e-01 -5.12194254e-04 -1.42404520e+01] [-3.72545942e-03 5.01579450e-06 9.99993060e-01 -7.53182001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.35, Y:-14.25, Z:-0.75 [[ 9.91437205e-01 1.30532186e-01 3.69011017e-03 1.75350656e+02] [-1.30531185e-01 9.91444072e-01 -5.12015590e-04 -1.42492133e+01] [-3.72537237e-03 2.59568536e-05 9.99993060e-01 -7.50622247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.41, Y:-14.26, Z:-0.75 [[ 9.91651334e-01 1.28895367e-01 3.69013519e-03 1.75407986e+02] [-1.28894354e-01 9.91658199e-01 -5.11835217e-04 -1.42579820e+01] [-3.72532600e-03 3.19244829e-05 9.99993060e-01 -7.52942338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.47, Y:-14.27, Z:-0.75 [[ 9.91676813e-01 1.28699189e-01 3.69016606e-03 1.75465584e+02] [-1.28698176e-01 9.91683678e-01 -5.11612568e-04 -1.42687117e+01] [-3.72532157e-03 3.24366803e-05 9.99993060e-01 -7.51337223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:-14.28, Z:-0.75 [[ 9.91453708e-01 1.30406779e-01 3.69019021e-03 1.75522489e+02] [-1.30405779e-01 9.91460575e-01 -5.11438312e-04 -1.42783340e+01] [-3.72537313e-03 2.58452823e-05 9.99993060e-01 -7.50773401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.58, Y:-14.29, Z:-0.75 [[ 9.90871549e-01 1.34758877e-01 3.69022002e-03 1.75578984e+02] [-1.34757907e-01 9.90878421e-01 -5.11223137e-04 -1.42914902e+01] [-3.72545124e-03 9.27013533e-06 9.99993060e-01 -7.49671929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:-14.30, Z:-0.76 [[ 9.89596827e-01 1.43821074e-01 3.69025764e-03 1.75636283e+02] [-1.43820169e-01 9.89603708e-01 -5.10951449e-04 -1.43008833e+01] [-3.72537822e-03 -2.50975421e-05 9.99993060e-01 -7.57102791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:-14.31, Z:-0.76 [[ 9.88596836e-01 1.50541282e-01 3.69028878e-03 1.75694674e+02] [-1.50540424e-01 9.88603722e-01 -5.10726382e-04 -1.43064896e+01] [-3.72511863e-03 -5.06351532e-05 9.99993060e-01 -7.55828630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:-14.31, Z:-0.76 [[ 9.87627325e-01 1.56775792e-01 3.69031378e-03 1.75752322e+02] [-1.56774978e-01 9.87634216e-01 -5.10545703e-04 -1.43141060e+01] [-3.72472137e-03 -7.43199758e-05 9.99993060e-01 -7.61437109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:-14.32, Z:-0.76 [[ 9.87796867e-01 1.55703983e-01 3.69035795e-03 1.75810462e+02] [-1.55703163e-01 9.87803758e-01 -5.10226206e-04 -1.43221861e+01] [-3.72479371e-03 -7.06005569e-05 9.99993060e-01 -7.62503876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:-14.33, Z:-0.76 [[ 9.88997832e-01 1.47883972e-01 3.69038260e-03 1.75868434e+02] [-1.47883098e-01 9.89004716e-01 -5.10047859e-04 -1.43288598e+01] [-3.72523370e-03 -4.13089869e-05 9.99993060e-01 -7.61460398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.93, Y:-14.34, Z:-0.76 [[ 9.89770820e-01 1.42618738e-01 3.69041322e-03 1.75926719e+02] [-1.42617828e-01 9.89777700e-01 -5.09826216e-04 -1.43384309e+01] [-3.72539948e-03 -2.17076071e-05 9.99993060e-01 -7.57664780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.98, Y:-14.35, Z:-0.75 [[ 9.90592412e-01 1.36795664e-01 3.69043757e-03 1.75983943e+02] [-1.36794715e-01 9.90599286e-01 -5.09649931e-04 -1.43471915e+01] [-3.72546272e-03 2.29992685e-08 9.99993060e-01 -7.54258192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.04, Y:-14.35, Z:-0.76 [[ 9.90872917e-01 1.34748811e-01 3.69046766e-03 1.76041299e+02] [-1.34747848e-01 9.90879790e-01 -5.09431948e-04 -1.43523526e+01] [-3.72545517e-03 7.49974600e-06 9.99993060e-01 -7.57920095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.10, Y:-14.36, Z:-0.76 [[ 9.90639014e-01 1.36457776e-01 3.69049717e-03 1.76099706e+02] [-1.36456826e-01 9.90645888e-01 -5.09218090e-04 -1.43575317e+01] [-3.72546261e-03 8.57777719e-07 9.99993060e-01 -7.58718453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.16, Y:-14.36, Z:-0.76 [[ 9.90367132e-01 1.38417208e-01 3.69052083e-03 1.76157018e+02] [-1.38416273e-01 9.90374008e-01 -5.09046545e-04 -1.43637413e+01] [-3.72545671e-03 -6.68517007e-06 9.99993060e-01 -7.61138055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:-14.36, Z:-0.76 [[ 9.90087033e-01 1.40406718e-01 3.69055027e-03 1.76215275e+02] [-1.40405797e-01 9.90093911e-01 -5.08832990e-04 -1.43638942e+01] [-3.72543493e-03 -1.43857057e-05 9.99993060e-01 -7.60675062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.27, Y:-14.37, Z:-0.76 [[ 9.90478254e-01 1.37619796e-01 3.69058558e-03 1.76273823e+02] [-1.37618856e-01 9.90485130e-01 -5.08576797e-04 -1.43680142e+01] [-3.72546037e-03 -4.15990669e-06 9.99993060e-01 -7.58452419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.33, Y:-14.38, Z:-0.76 [[ 9.91736794e-01 1.28236150e-01 3.69061059e-03 1.76331262e+02] [-1.28235146e-01 9.91743661e-01 -5.08395215e-04 -1.43775400e+01] [-3.72533430e-03 3.09282525e-05 9.99993060e-01 -7.57017813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:-14.39, Z:-0.75 [[ 9.93050207e-01 1.17633611e-01 3.69064155e-03 1.76389559e+02] [-1.17632535e-01 9.93057062e-01 -5.08170336e-04 -1.43883071e+01] [-3.72479557e-03 7.04991365e-05 9.99993060e-01 -7.54643398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.45, Y:-14.40, Z:-0.76 [[ 9.93613857e-01 1.12773590e-01 3.69066679e-03 1.76445782e+02] [-1.12772480e-01 9.93620707e-01 -5.07987015e-04 -1.44015230e+01] [-3.72441046e-03 8.85372898e-05 9.99993060e-01 -7.56086614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40420382199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:-14.42, Z:-0.76 [[ 9.93724319e-01 1.11796052e-01 3.69069793e-03 1.76503607e+02] [-1.11794937e-01 9.93731168e-01 -5.07760641e-04 -1.44160540e+01] [-3.72432720e-03 9.19727558e-05 9.99993060e-01 -7.57708091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:-14.43, Z:-0.76 [[ 9.93059655e-01 1.17553822e-01 3.69072152e-03 1.76560748e+02] [-1.17552747e-01 9.93066510e-01 -5.07589098e-04 -1.44295453e+01] [-3.72480098e-03 7.02118002e-05 9.99993060e-01 -7.58403089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.62, Y:-14.44, Z:-0.76 [[ 9.92143116e-01 1.25053650e-01 3.69074527e-03 1.76617469e+02] [-1.25052627e-01 9.92149980e-01 -5.07416374e-04 -1.44431378e+01] [-3.72522712e-03 4.18922695e-05 9.99993060e-01 -7.58625068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.67, Y:-14.45, Z:-0.76 [[ 9.91626954e-01 1.29082772e-01 3.69078161e-03 1.76674083e+02] [-1.29081779e-01 9.91633822e-01 -5.07151914e-04 -1.44536518e+01] [-3.72536845e-03 2.64928524e-05 9.99993060e-01 -7.60651994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:-14.47, Z:-0.76 [[ 9.91021273e-01 1.33653340e-01 3.69081162e-03 1.76731828e+02] [-1.33652379e-01 9.91028145e-01 -5.06933455e-04 -1.44672540e+01] [-3.72545154e-03 9.09608445e-06 9.99993060e-01 -7.64175407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.79, Y:-14.48, Z:-0.76 [[ 9.90255355e-01 1.39214617e-01 3.69083539e-03 1.76787746e+02] [-1.39213695e-01 9.90262233e-01 -5.06760322e-04 -1.44815626e+01] [-3.72544334e-03 -1.19927094e-05 9.99993060e-01 -7.62538231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.85, Y:-14.49, Z:-0.76 [[ 9.89613349e-01 1.43707334e-01 3.69087077e-03 1.76845479e+02] [-1.43706444e-01 9.89620231e-01 -5.06502517e-04 -1.44907009e+01] [-3.72534851e-03 -2.91602610e-05 9.99993060e-01 -7.60404057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.90, Y:-14.50, Z:-0.76 [[ 9.89011493e-01 1.47792571e-01 3.69089465e-03 1.76903800e+02] [-1.47791711e-01 9.89018379e-01 -5.06328385e-04 -1.45000293e+01] [-3.72519422e-03 -4.47190438e-05 9.99993060e-01 -7.58617898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:-14.51, Z:-0.76 [[ 9.88429658e-01 1.51635051e-01 3.69091891e-03 1.76960936e+02] [-1.51634218e-01 9.88436547e-01 -5.06151493e-04 -1.45116355e+01] [-3.72498945e-03 -5.93744553e-05 9.99993060e-01 -7.59756715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.02, Y:-14.52, Z:-0.76 [[ 9.88263658e-01 1.52713195e-01 3.69094887e-03 1.77019391e+02] [-1.52712371e-01 9.88270548e-01 -5.05932965e-04 -1.45210899e+01] [-3.72491870e-03 -6.36583883e-05 9.99993060e-01 -7.61538172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:-14.53, Z:-0.76 [[ 9.88522829e-01 1.51026468e-01 3.69097398e-03 1.77077370e+02] [-1.51025632e-01 9.88529718e-01 -5.05749683e-04 -1.45290311e+01] [-3.72501906e-03 -5.74865700e-05 9.99993060e-01 -7.64886275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:-14.54, Z:-0.77 [[ 9.89364606e-01 1.45409949e-01 3.69099897e-03 1.77134218e+02] [-1.45409075e-01 9.89371490e-01 -5.05567211e-04 -1.45409072e+01] [-3.72528366e-03 -3.65144422e-05 9.99993060e-01 -7.69667390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.19, Y:-14.55, Z:-0.77 [[ 9.90235113e-01 1.39358521e-01 3.69103008e-03 1.77192251e+02] [-1.39357605e-01 9.90241992e-01 -5.05340047e-04 -1.45516376e+01] [-3.72543642e-03 -1.39676537e-05 9.99993060e-01 -7.72213630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.25, Y:-14.56, Z:-0.77 [[ 9.90812786e-01 1.35190232e-01 3.69105399e-03 1.77250126e+02] [-1.35189289e-01 9.90819661e-01 -5.05165277e-04 -1.45606286e+01] [-3.72546228e-03 1.53325256e-06 9.99993060e-01 -7.71258416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.31, Y:-14.57, Z:-0.77 [[ 9.90938621e-01 1.34264762e-01 3.69107895e-03 1.77308124e+02] [-1.34263812e-01 9.90945495e-01 -5.04982867e-04 -1.45699824e+01] [-3.72545946e-03 4.82869400e-06 9.99993060e-01 -7.71467402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:-14.58, Z:-0.77 [[ 9.91206101e-01 1.32275628e-01 3.69110374e-03 1.77364187e+02] [-1.32274665e-01 9.91212973e-01 -5.04801589e-04 -1.45835577e+01] [-3.72544286e-03 1.21229038e-05 9.99993060e-01 -7.67707008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.42, Y:-14.59, Z:-0.76 [[ 9.91646331e-01 1.28933817e-01 3.69114035e-03 1.77422369e+02] [-1.28932832e-01 9.91653201e-01 -5.04533760e-04 -1.45942396e+01] [-3.72538261e-03 2.44098738e-05 9.99993060e-01 -7.64716347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.48, Y:-14.61, Z:-0.76 [[ 9.92175799e-01 1.24794067e-01 3.69116408e-03 1.77480685e+02] [-1.24793054e-01 9.92182664e-01 -5.04360085e-04 -1.46115205e+01] [-3.72525016e-03 3.97822321e-05 9.99993060e-01 -7.61290872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:-14.63, Z:-0.76 [[ 9.92141955e-01 1.25062849e-01 3.69117594e-03 1.77538252e+02] [-1.25061838e-01 9.92148821e-01 -5.04273274e-04 -1.46284712e+01] [-3.72526171e-03 3.86854231e-05 9.99993060e-01 -7.59886656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:-14.64, Z:-0.76 [[ 9.91708683e-01 1.28453347e-01 3.69118827e-03 1.77596504e+02] [-1.28452361e-01 9.91715552e-01 -5.04183032e-04 -1.46404817e+01] [-3.72537281e-03 2.58608445e-05 9.99993060e-01 -7.60704459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.65, Y:-14.65, Z:-0.77 [[ 9.90588648e-01 1.36822894e-01 3.69122647e-03 1.77654399e+02] [-1.36821966e-01 9.90595526e-01 -5.03903179e-04 -1.46544542e+01] [-3.72545792e-03 -5.88009501e-06 9.99993060e-01 -7.69369604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.71, Y:-14.67, Z:-0.77 [[ 9.89153095e-01 1.46841852e-01 3.69124504e-03 1.77711429e+02] [-1.46840994e-01 9.89159981e-01 -5.03767139e-04 -1.46658677e+01] [-3.72520597e-03 -4.37232656e-05 9.99993060e-01 -7.69444045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.77, Y:-14.68, Z:-0.77 [[ 9.87940332e-01 1.54791067e-01 3.69127567e-03 1.77769101e+02] [-1.54790265e-01 9.87947225e-01 -5.03542560e-04 -1.46755636e+01] [-3.72472945e-03 -7.39035379e-05 9.99993060e-01 -7.71134592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.83, Y:-14.68, Z:-0.77 [[ 9.87311457e-01 1.58752831e-01 3.69129916e-03 1.77827522e+02] [-1.58752058e-01 9.87318353e-01 -5.03370319e-04 -1.46840178e+01] [-3.72439887e-03 -8.90180549e-05 9.99993060e-01 -7.69820077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.89, Y:-14.69, Z:-0.77 [[ 9.87154193e-01 1.59727808e-01 3.69132261e-03 1.77885227e+02] [-1.59727043e-01 9.87161091e-01 -5.03198337e-04 -1.46935403e+01] [-3.72430482e-03 -9.28696955e-05 9.99993060e-01 -7.69629609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:-14.70, Z:-0.77 [[ 9.87516847e-01 1.57470160e-01 3.69134600e-03 1.77943087e+02] [-1.57469379e-01 9.87523742e-01 -5.03026658e-04 -1.47022306e+01] [-3.72450351e-03 -8.45266642e-05 9.99993060e-01 -7.72473717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.00, Y:-14.71, Z:-0.77 [[ 9.87770587e-01 1.55870589e-01 3.69136963e-03 1.78001284e+02] [-1.55869797e-01 9.87777482e-01 -5.02853237e-04 -1.47093101e+01] [-3.72463182e-03 -7.86693977e-05 9.99993060e-01 -7.71614662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.06, Y:-14.72, Z:-0.77 [[ 9.88134420e-01 1.53547199e-01 3.69139420e-03 1.78058931e+02] [-1.53546392e-01 9.88141312e-01 -5.02672790e-04 -1.47161396e+01] [-3.72480311e-03 -7.00919758e-05 9.99993060e-01 -7.73918621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:-14.72, Z:-0.77 [[ 9.88603263e-01 1.50499040e-01 3.69142470e-03 1.78117795e+02] [-1.50498213e-01 9.88610153e-01 -5.02448698e-04 -1.47201538e+01] [-3.72499799e-03 -5.88303975e-05 9.99993060e-01 -7.70015844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.18, Y:-14.73, Z:-0.77 [[ 9.89332351e-01 1.45629229e-01 3.69144815e-03 1.78176235e+02] [-1.45628368e-01 9.89339237e-01 -5.02276356e-04 -1.47270002e+01] [-3.72524061e-03 -4.06613219e-05 9.99993060e-01 -7.71535162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:-14.73, Z:-0.77 [[ 9.89927522e-01 1.41526939e-01 3.69147174e-03 1.78235043e+02] [-1.41526050e-01 9.89934404e-01 -5.02102882e-04 -1.47347227e+01] [-3.72537597e-03 -2.53939542e-05 9.99993060e-01 -7.72028321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:-14.74, Z:-0.78 [[ 9.90581252e-01 1.36876427e-01 3.69150904e-03 1.78293627e+02] [-1.36875507e-01 9.90588130e-01 -5.01828556e-04 -1.47431543e+01] [-3.72545353e-03 -8.17521137e-06 9.99993060e-01 -7.76655321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.35, Y:-14.75, Z:-0.77 [[ 9.90563443e-01 1.37005247e-01 3.69152098e-03 1.78353144e+02] [-1.37004329e-01 9.90570322e-01 -5.01740686e-04 -1.47493874e+01] [-3.72545223e-03 -8.74837296e-06 9.99993060e-01 -7.72296257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.41, Y:-14.75, Z:-0.77 [[ 9.90141815e-01 1.40019853e-01 3.69153324e-03 1.78410930e+02] [-1.40018956e-01 9.90148696e-01 -5.01650436e-04 -1.47537123e+01] [-3.72540785e-03 -2.01795578e-05 9.99993060e-01 -7.74403606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:-14.76, Z:-0.77 [[ 9.89950514e-01 1.41366019e-01 3.69156662e-03 1.78468814e+02] [-1.41365132e-01 9.89957397e-01 -5.01404704e-04 -1.47617451e+01] [-3.72537527e-03 -2.54929572e-05 9.99993060e-01 -7.73308497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:-14.77, Z:-0.77 [[ 9.89960693e-01 1.41294724e-01 3.69159036e-03 1.78526878e+02] [-1.41293837e-01 9.89967575e-01 -5.01229860e-04 -1.47686485e+01] [-3.72537589e-03 -2.54011068e-05 9.99993060e-01 -7.71719555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:-14.78, Z:-0.77 [[ 9.90594824e-01 1.36778164e-01 3.69161418e-03 1.78585925e+02] [-1.36777246e-01 9.90601703e-01 -5.01054369e-04 -1.47765320e+01] [-3.72545259e-03 -8.58695705e-06 9.99993060e-01 -7.67449582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:-14.79, Z:-0.77 [[ 9.91128593e-01 1.32855123e-01 3.69162652e-03 1.78643527e+02] [-1.32854179e-01 9.91135468e-01 -5.00963437e-04 -1.47898658e+01] [-3.72545754e-03 6.07117759e-06 9.99993060e-01 -7.69297473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.70, Y:-14.80, Z:-0.77 [[ 9.91264929e-01 1.31834032e-01 3.69164486e-03 1.78702641e+02] [-1.31833081e-01 9.91271803e-01 -5.00828224e-04 -1.48005254e+01] [-3.72544966e-03 9.77253659e-06 9.99993060e-01 -7.68471414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74420382199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:178.76, Y:-14.81, Z:-0.77 [[ 9.91296901e-01 1.31593409e-01 3.69165709e-03 1.78760773e+02] [-1.31592457e-01 9.91303775e-01 -5.00738081e-04 -1.48117362e+01] [-3.72544744e-03 1.05858819e-05 9.99993060e-01 -7.70143322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.82, Y:-14.82, Z:-0.77 [[ 9.91138359e-01 1.32782244e-01 3.69166313e-03 1.78819051e+02] [-1.32781300e-01 9.91145234e-01 -5.00693521e-04 -1.48227167e+01] [-3.72545753e-03 6.07272628e-06 9.99993060e-01 -7.72016594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.88, Y:-14.83, Z:-0.77 [[ 9.90957247e-01 1.34127204e-01 3.69167502e-03 1.78878675e+02] [-1.34126270e-01 9.90964123e-01 -5.00605887e-04 -1.48342148e+01] [-3.72546236e-03 9.28429866e-07 9.99993060e-01 -7.68084266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.94, Y:-14.85, Z:-0.77 [[ 9.90696204e-01 1.36041919e-01 3.69167502e-03 1.78936464e+02] [-1.36040998e-01 9.90703082e-01 -5.00605887e-04 -1.48488568e+01] [-3.72545720e-03 -6.27080090e-06 9.99993060e-01 -7.66901477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.00, Y:-14.86, Z:-0.77 [[ 9.90238117e-01 1.39337156e-01 3.69167249e-03 1.78995813e+02] [-1.39336258e-01 9.90244998e-01 -5.00624549e-04 -1.48616064e+01] [-3.72541582e-03 -1.86463189e-05 9.99993060e-01 -7.65927691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:-14.87, Z:-0.77 [[ 9.89771063e-01 1.42617021e-01 3.69167249e-03 1.79054355e+02] [-1.42616145e-01 9.89777947e-01 -5.00624549e-04 -1.48729956e+01] [-3.72533360e-03 -3.09884073e-05 9.99993060e-01 -7.68139673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-14.88, Z:-0.77 [[ 9.89077842e-01 1.47347864e-01 3.69167856e-03 1.79113855e+02] [-1.47347022e-01 9.89084731e-01 -5.00579754e-04 -1.48840293e+01] [-3.72514225e-03 -4.88454984e-05 9.99993060e-01 -7.68360938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:-14.90, Z:-0.77 [[ 9.88638635e-01 1.50266498e-01 3.69167856e-03 1.79172712e+02] [-1.50265676e-01 9.88645526e-01 -5.00579754e-04 -1.48966146e+01] [-3.72498186e-03 -5.98400880e-05 9.99993060e-01 -7.66995831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.23, Y:-14.91, Z:-0.77 [[ 9.88507176e-01 1.51128865e-01 3.69167472e-03 1.79231988e+02] [-1.51128049e-01 9.88514068e-01 -5.00608077e-04 -1.49055653e+01] [-3.72492872e-03 -6.30609214e-05 9.99993060e-01 -7.73296792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.29, Y:-14.92, Z:-0.77 [[ 9.88454246e-01 1.51474666e-01 3.69167472e-03 1.79291293e+02] [-1.51473852e-01 9.88461138e-01 -5.00608077e-04 -1.49170801e+01] [-3.72490644e-03 -6.43640117e-05 9.99993060e-01 -7.74711607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:-14.93, Z:-0.77 [[ 9.88272953e-01 1.52653010e-01 3.69167472e-03 1.79350870e+02] [-1.52652204e-01 9.88279846e-01 -5.00608077e-04 -1.49277608e+01] [-3.72482705e-03 -6.88048610e-05 9.99993060e-01 -7.71663806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:-14.94, Z:-0.77 [[ 9.88240643e-01 1.52862041e-01 3.69167472e-03 1.79410258e+02] [-1.52861237e-01 9.88247536e-01 -5.00608077e-04 -1.49374743e+01] [-3.72481242e-03 -6.95927169e-05 9.99993060e-01 -7.73335020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:-14.95, Z:-0.77 [[ 9.88685944e-01 1.49954910e-01 3.69166862e-03 1.79470110e+02] [-1.49954086e-01 9.88692835e-01 -5.00653059e-04 -1.49466324e+01] [-3.72500170e-03 -5.85921513e-05 9.99993060e-01 -7.72710752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:-14.96, Z:-0.78 [[ 9.89606604e-01 1.43753751e-01 3.69164382e-03 1.79531055e+02] [-1.43752883e-01 9.89613489e-01 -5.00835861e-04 -1.49625147e+01] [-3.72529755e-03 -3.50539664e-05 9.99993060e-01 -7.75017729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.59, Y:-14.98, Z:-0.77 [[ 9.90100786e-01 1.40309680e-01 3.69156175e-03 1.79591853e+02] [-1.40308786e-01 9.90107667e-01 -5.01440064e-04 -1.49750625e+01] [-3.72540049e-03 -2.14823443e-05 9.99993060e-01 -7.73405039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:-14.99, Z:-0.77 [[ 9.90082112e-01 1.40441391e-01 3.69147558e-03 1.79652804e+02] [-1.40440495e-01 9.90088994e-01 -5.02073583e-04 -1.49854401e+01] [-3.72540126e-03 -2.13385858e-05 9.99993060e-01 -7.71648526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:-15.00, Z:-0.77 [[ 9.89414015e-01 1.45073364e-01 3.69138993e-03 1.79712713e+02] [-1.45072498e-01 9.89420900e-01 -5.02702570e-04 -1.49965028e+01] [-3.72526710e-03 -3.81381890e-05 9.99993060e-01 -7.70524162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.77, Y:-15.01, Z:-0.77 [[ 9.89152533e-01 1.46845636e-01 3.69131127e-03 1.79773079e+02] [-1.46844780e-01 9.89159420e-01 -5.03279502e-04 -1.50095630e+01] [-3.72519971e-03 -4.42295965e-05 9.99993060e-01 -7.70017848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:-15.02, Z:-0.77 [[ 9.89318441e-01 1.45723702e-01 3.69126559e-03 1.79834872e+02] [-1.45722837e-01 9.89325326e-01 -5.03614324e-04 -1.50202749e+01] [-3.72525107e-03 -3.96667540e-05 9.99993060e-01 -7.67982000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.90, Y:-15.03, Z:-0.77 [[ 9.89687718e-01 1.43194258e-01 3.69117092e-03 1.79896442e+02] [-1.43193373e-01 9.89694601e-01 -5.04307230e-04 -1.50346637e+01] [-3.72534583e-03 -2.94445416e-05 9.99993060e-01 -7.69276788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.96, Y:-15.05, Z:-0.76 [[ 9.89998419e-01 1.41030162e-01 3.69107674e-03 1.79957026e+02] [-1.41029259e-01 9.90005299e-01 -5.04995574e-04 -1.50479799e+01] [-3.72540514e-03 -2.06049993e-05 9.99993060e-01 -7.64378898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.02, Y:-15.06, Z:-0.76 [[ 9.90257246e-01 1.39201158e-01 3.69099012e-03 1.80019417e+02] [-1.39200241e-01 9.90264125e-01 -5.05627923e-04 -1.50597958e+01] [-3.72543909e-03 -1.30849976e-05 9.99993060e-01 -7.63964373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-15.07, Z:-0.77 [[ 9.90412151e-01 1.38094709e-01 3.69088735e-03 1.80079317e+02] [-1.38093781e-01 9.90419028e-01 -5.06376925e-04 -1.50714595e+01] [-3.72545304e-03 -8.16673180e-06 9.99993060e-01 -7.66542004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.14, Y:-15.08, Z:-0.77 [[ 9.90477982e-01 1.37621746e-01 3.69080485e-03 1.80138757e+02] [-1.37620812e-01 9.90484859e-01 -5.06977587e-04 -1.50848580e+01] [-3.72545746e-03 -5.78142261e-06 9.99993060e-01 -7.72529557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.20, Y:-15.10, Z:-0.77 [[ 9.90110269e-01 1.40242767e-01 3.69075448e-03 1.80198164e+02] [-1.40241850e-01 9.90117148e-01 -5.07343973e-04 -1.50990599e+01] [-3.72543062e-03 -1.52717587e-05 9.99993060e-01 -7.74313187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.26, Y:-15.11, Z:-0.77 [[ 9.89566265e-01 1.44031198e-01 3.69067630e-03 1.80260935e+02] [-1.44030305e-01 9.89573147e-01 -5.07912097e-04 -1.51080754e+01] [-3.72534934e-03 -2.89565566e-05 9.99993060e-01 -7.73016653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:-15.12, Z:-0.78 [[ 9.88532324e-01 1.50964311e-01 3.69057913e-03 1.80322489e+02] [-1.50963464e-01 9.88539212e-01 -5.08617115e-04 -1.51173371e+01] [-3.72506522e-03 -5.43581494e-05 9.99993060e-01 -7.75803914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.38, Y:-15.13, Z:-0.77 [[ 9.87525054e-01 1.57418702e-01 3.69049382e-03 1.80383526e+02] [-1.57417898e-01 9.87531947e-01 -5.09235411e-04 -1.51276904e+01] [-3.72464372e-03 -7.80670519e-05 9.99993060e-01 -7.74253690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.44, Y:-15.13, Z:-0.77 [[ 9.86761426e-01 1.62136576e-01 3.69040786e-03 1.80444733e+02] [-1.62135802e-01 9.86768322e-01 -5.09857579e-04 -1.51336198e+01] [-3.72424414e-03 -9.52394475e-05 9.99993060e-01 -7.73074204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:-15.14, Z:-0.77 [[ 9.86056355e-01 1.66370809e-01 3.69032874e-03 1.80506575e+02] [-1.66370063e-01 9.86063254e-01 -5.10429628e-04 -1.51396705e+01] [-3.72381816e-03 -1.10647845e-04 9.99993060e-01 -7.72733221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-15.15, Z:-0.77 [[ 9.85436302e-01 1.70004929e-01 3.69024442e-03 1.80569556e+02] [-1.70004206e-01 9.85443204e-01 -5.11038510e-04 -1.51456683e+01] [-3.72340535e-03 -1.23761172e-04 9.99993060e-01 -7.73364057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.63, Y:-15.15, Z:-0.77 [[ 9.84935325e-01 1.72883741e-01 3.69014882e-03 1.80632368e+02] [-1.72883035e-01 9.84942229e-01 -5.11727908e-04 -1.51497738e+01] [-3.72305283e-03 -1.33945234e-04 9.99993060e-01 -7.72246806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.70, Y:-15.15, Z:-0.77 [[ 9.84769369e-01 1.73826564e-01 3.69005161e-03 1.80695104e+02] [-1.73825862e-01 9.84776273e-01 -5.12427903e-04 -1.51521565e+01] [-3.72294885e-03 -1.36803100e-04 9.99993060e-01 -7.72813509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.76, Y:-15.15, Z:-0.78 [[ 9.85529612e-01 1.69463176e-01 3.68996149e-03 1.80757544e+02] [-1.69462441e-01 9.85536513e-01 -5.13076013e-04 -1.51530244e+01] [-3.72353927e-03 -1.19658278e-04 9.99993060e-01 -7.75316101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.82, Y:-15.15, Z:-0.77 [[ 9.87077653e-01 1.60200160e-01 3.68987835e-03 1.80820528e+02] [-1.60199358e-01 9.87084546e-01 -5.13673274e-04 -1.51545192e+01] [-3.72451243e-03 -8.40807338e-05 9.99993060e-01 -7.74767653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:-15.16, Z:-0.78 [[ 9.88773905e-01 1.49373861e-01 3.68977983e-03 1.80881824e+02] [-1.49372981e-01 9.88780789e-01 -5.14379971e-04 -1.51569297e+01] [-3.72521833e-03 -4.25479200e-05 9.99993060e-01 -7.78858221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90420382199997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:180.94, Y:-15.16, Z:-0.78 [[ 9.89757420e-01 1.42711725e-01 3.68970028e-03 1.80944819e+02] [-1.42710797e-01 9.89764297e-01 -5.14949927e-04 -1.51619847e+01] [-3.72542300e-03 -1.68845584e-05 9.99993060e-01 -7.75445227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:-15.17, Z:-0.78 [[ 9.89978129e-01 1.41172558e-01 3.68959706e-03 1.81006309e+02] [-1.41171617e-01 9.89985004e-01 -5.15688457e-04 -1.51693073e+01] [-3.72544682e-03 -1.03460877e-05 9.99993060e-01 -7.78908450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.07, Y:-15.17, Z:-0.78 [[ 9.89970524e-01 1.41225879e-01 3.68950098e-03 1.81067939e+02] [-1.41224935e-01 9.89977399e-01 -5.16374980e-04 -1.51735604e+01] [-3.72544809e-03 -9.85352702e-06 9.99993060e-01 -7.78593464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.13, Y:-15.18, Z:-0.78 [[ 9.89728867e-01 1.42909613e-01 3.68948881e-03 1.81129093e+02] [-1.42908681e-01 9.89735744e-01 -5.16461882e-04 -1.51837493e+01] [-3.72542632e-03 -1.61027464e-05 9.99993060e-01 -7.76266560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.19, Y:-15.19, Z:-0.78 [[ 9.89120450e-01 1.47061634e-01 3.68939993e-03 1.81189844e+02] [-1.47060728e-01 9.89127330e-01 -5.17096035e-04 -1.51899084e+01] [-3.72533129e-03 -3.10955756e-05 9.99993060e-01 -7.76377678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.25, Y:-15.20, Z:-0.78 [[ 9.88156926e-01 1.53402338e-01 3.68938712e-03 1.81248873e+02] [-1.53401476e-01 9.88163812e-01 -5.17187432e-04 -1.51957474e+01] [-3.72505660e-03 -5.48950854e-05 9.99993060e-01 -7.77964406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.31, Y:-15.20, Z:-0.78 [[ 9.87486130e-01 1.57662714e-01 3.68938121e-03 1.81307739e+02] [-1.57661882e-01 9.87493019e-01 -5.17229559e-04 -1.52024697e+01] [-3.72478601e-03 -7.09177693e-05 9.99993060e-01 -7.80582697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.37, Y:-15.21, Z:-0.78 [[ 9.86763370e-01 1.62124764e-01 3.68937331e-03 1.81367188e+02] [-1.62123963e-01 9.86770264e-01 -5.17285940e-04 -1.52078628e+01] [-3.72442873e-03 -8.76970031e-05 9.99993060e-01 -7.82066154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.43, Y:-15.21, Z:-0.78 [[ 9.86397256e-01 1.64337586e-01 3.68938550e-03 1.81426956e+02] [-1.64336800e-01 9.86404151e-01 -5.17198961e-04 -1.52093589e+01] [-3.72422040e-03 -9.61381726e-05 9.99993060e-01 -7.80116510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.49, Y:-15.22, Z:-0.78 [[ 9.86457909e-01 1.63973112e-01 3.68939810e-03 1.81485397e+02] [-1.63972324e-01 9.86464804e-01 -5.17109041e-04 -1.52157832e+01] [-3.72425336e-03 -9.48528796e-05 9.99993060e-01 -7.82401328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.55, Y:-15.22, Z:-0.78 [[ 9.86544874e-01 1.63449071e-01 3.68941679e-03 1.81545206e+02] [-1.63448280e-01 9.86551769e-01 -5.16975689e-04 -1.52179077e+01] [-3.72429985e-03 -9.30091115e-05 9.99993060e-01 -7.77778484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:-15.21, Z:-0.78 [[ 9.86297102e-01 1.64937607e-01 3.68942880e-03 1.81605235e+02] [-1.64936826e-01 9.86303998e-01 -5.16889921e-04 -1.52144877e+01] [-3.72415297e-03 -9.87156473e-05 9.99993060e-01 -7.79080081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.66, Y:-15.21, Z:-0.78 [[ 9.86170043e-01 1.65695606e-01 3.68945315e-03 1.81664595e+02] [-1.65694831e-01 9.86176939e-01 -5.16716062e-04 -1.52138016e+01] [-3.72407120e-03 -1.01753417e-04 9.99993060e-01 -7.78958853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:-15.21, Z:-0.78 [[ 9.86599936e-01 1.63116382e-01 3.68947808e-03 1.81723921e+02] [-1.63115590e-01 9.86606830e-01 -5.16538036e-04 -1.52126701e+01] [-3.72432009e-03 -9.21950015e-05 9.99993060e-01 -7.76677678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.78, Y:-15.21, Z:-0.78 [[ 9.87589841e-01 1.57011760e-01 3.68950313e-03 1.81783653e+02] [-1.57010927e-01 9.87596731e-01 -5.16359031e-04 -1.52090946e+01] [-3.72481567e-03 -6.93413721e-05 9.99993060e-01 -7.75927673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.84, Y:-15.21, Z:-0.78 [[ 9.88450576e-01 1.51498667e-01 3.68952815e-03 1.81841851e+02] [-1.51497796e-01 9.88457461e-01 -5.16180190e-04 -1.52127402e+01] [-3.72514224e-03 -4.87367760e-05 9.99993060e-01 -7.79385928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.90, Y:-15.22, Z:-0.78 [[ 9.89487400e-01 1.44572029e-01 3.68955920e-03 1.81901229e+02] [-1.44571110e-01 9.89494279e-01 -5.15958129e-04 -1.52162779e+01] [-3.72539084e-03 -2.28696015e-05 9.99993060e-01 -7.79999060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.96, Y:-15.22, Z:-0.78 [[ 9.90035342e-01 1.40770763e-01 3.68958366e-03 1.81959865e+02] [-1.40769818e-01 9.90042217e-01 -5.15783161e-04 -1.52171495e+01] [-3.72545078e-03 -8.73846223e-06 9.99993060e-01 -7.84249327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.02, Y:-15.23, Z:-0.78 [[ 9.90282616e-01 1.39020600e-01 3.68961393e-03 1.82017956e+02] [-1.39019644e-01 9.90289489e-01 -5.15566597e-04 -1.52253575e+01] [-3.72546027e-03 -2.37217749e-06 9.99993060e-01 -7.82816379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:-15.23, Z:-0.78 [[ 9.90407586e-01 1.38127476e-01 3.68963843e-03 1.82075204e+02] [-1.38126514e-01 9.90414459e-01 -5.15391199e-04 -1.52317443e+01] [-3.72546093e-03 8.10458694e-07 9.99993060e-01 -7.80705026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.13, Y:-15.24, Z:-0.77 [[ 9.90364416e-01 1.38436665e-01 3.68966870e-03 1.82134490e+02] [-1.38435706e-01 9.90371289e-01 -5.15174377e-04 -1.52351999e+01] [-3.72546097e-03 -5.71521233e-07 9.99993060e-01 -7.74848052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.19, Y:-15.24, Z:-0.78 [[ 9.90136189e-01 1.40059679e-01 3.68969420e-03 1.82191997e+02] [-1.40058732e-01 9.90143064e-01 -5.14991678e-04 -1.52411630e+01] [-3.72545469e-03 -6.86199430e-06 9.99993060e-01 -7.77032466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.25, Y:-15.25, Z:-0.78 [[ 9.89798574e-01 1.42426013e-01 3.68972560e-03 1.82249266e+02] [-1.42425084e-01 9.89805451e-01 -5.14766646e-04 -1.52495386e+01] [-3.72542667e-03 -1.59941852e-05 9.99993060e-01 -7.75582015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:-15.26, Z:-0.78 [[ 9.89704356e-01 1.43079255e-01 3.68975974e-03 1.82306659e+02] [-1.43078331e-01 9.89711234e-01 -5.14521807e-04 -1.52571929e+01] [-3.72541406e-03 -1.87001898e-05 9.99993060e-01 -7.78551893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.36, Y:-15.27, Z:-0.78 [[ 9.89834269e-01 1.42177723e-01 3.68979292e-03 1.82364361e+02] [-1.42176793e-01 9.89841146e-01 -5.14283712e-04 -1.52665738e+01] [-3.72542854e-03 -1.55472836e-05 9.99993060e-01 -7.80536290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:-15.28, Z:-0.78 [[ 9.90294768e-01 1.38934006e-01 3.68981719e-03 1.82422371e+02] [-1.38933055e-01 9.90301642e-01 -5.14109522e-04 -1.52772106e+01] [-3.72545932e-03 -3.51760502e-06 9.99993060e-01 -7.81905582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:-15.29, Z:-0.78 [[ 9.90485373e-01 1.37568567e-01 3.68984156e-03 1.82479277e+02] [-1.37567607e-01 9.90492246e-01 -5.13934603e-04 -1.52919164e+01] [-3.72546070e-03 1.44203294e-06 9.99993060e-01 -7.80192362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:-15.30, Z:-0.78 [[ 9.90383102e-01 1.38302913e-01 3.68986583e-03 1.82536993e+02] [-1.38301959e-01 9.90389976e-01 -5.13760303e-04 -1.53011759e+01] [-3.72546067e-03 -1.49614960e-06 9.99993060e-01 -7.77658458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:-15.31, Z:-0.78 [[ 9.89514956e-01 1.44383294e-01 3.68989124e-03 1.82594581e+02] [-1.44382383e-01 9.89521836e-01 -5.13577713e-04 -1.53063918e+01] [-3.72538000e-03 -2.45624610e-05 9.99993060e-01 -7.82580323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:-15.31, Z:-0.78 [[ 9.88488221e-01 1.51252842e-01 3.68992266e-03 1.82652700e+02] [-1.51251979e-01 9.88495106e-01 -5.13351892e-04 -1.53137572e+01] [-3.72511642e-03 -5.06658054e-05 9.99993060e-01 -7.83835953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.71, Y:-15.32, Z:-0.78 [[ 9.87846026e-01 1.55391805e-01 3.68994791e-03 1.82710414e+02] [-1.55390972e-01 9.87852915e-01 -5.13170329e-04 -1.53184896e+01] [-3.72486826e-03 -6.64513201e-05 9.99993060e-01 -7.83764296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:-15.32, Z:-0.78 [[ 9.87805902e-01 1.55646664e-01 3.68997888e-03 1.82769523e+02] [-1.55645833e-01 9.87812792e-01 -5.12947486e-04 -1.53239157e+01] [-3.72484691e-03 -6.76372850e-05 9.99993060e-01 -7.80396199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:-15.33, Z:-0.78 [[ 9.88221239e-01 1.52987472e-01 3.69000392e-03 1.82827043e+02] [-1.52986623e-01 9.88228127e-01 -5.12767327e-04 -1.53298599e+01] [-3.72501264e-03 -5.77936765e-05 9.99993060e-01 -7.82606892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:-15.34, Z:-0.78 [[ 9.88991025e-01 1.47929495e-01 3.69003472e-03 1.82885483e+02] [-1.47928612e-01 9.88997908e-01 -5.12545582e-04 -1.53357502e+01] [-3.72525723e-03 -3.89587352e-05 9.99993060e-01 -7.82789719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.94, Y:-15.34, Z:-0.78 [[ 9.89848681e-01 1.42077345e-01 3.69005901e-03 1.82944162e+02] [-1.42076422e-01 9.89855559e-01 -5.12370653e-04 -1.53431633e+01] [-3.72542169e-03 -1.71009665e-05 9.99993060e-01 -7.83287349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.00, Y:-15.35, Z:-0.79 [[ 9.90495957e-01 1.37492338e-01 3.69008473e-03 1.83001493e+02] [-1.37491384e-01 9.90502830e-01 -5.12185318e-04 -1.53531317e+01] [-3.72546093e-03 -3.73694514e-08 9.99993060e-01 -7.86875923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.06, Y:-15.36, Z:-0.78 [[ 9.90662328e-01 1.36288426e-01 3.69011643e-03 1.83060056e+02] [-1.36287464e-01 9.90669201e-01 -5.11956839e-04 -1.53604606e+01] [-3.72545849e-03 4.25974343e-06 9.99993060e-01 -7.84912333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.12, Y:-15.37, Z:-0.78 [[ 9.90437566e-01 1.37912333e-01 3.69014157e-03 1.83117813e+02] [-1.37911383e-01 9.90444440e-01 -5.11775620e-04 -1.53707078e+01] [-3.72546037e-03 -2.03072838e-06 9.99993060e-01 -7.84916995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:-15.38, Z:-0.79 [[ 9.90064495e-01 1.40565567e-01 3.69016671e-03 1.83175071e+02] [-1.40564637e-01 9.90071372e-01 -5.11594270e-04 -1.53808694e+01] [-3.72544095e-03 -1.21956205e-05 9.99993060e-01 -7.85806535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.23, Y:-15.39, Z:-0.78 [[ 9.89632834e-01 1.43573105e-01 3.69019771e-03 1.83232660e+02] [-1.43572196e-01 9.89639714e-01 -5.11370524e-04 -1.53924881e+01] [-3.72538526e-03 -2.37407306e-05 9.99993060e-01 -7.84682729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.29, Y:-15.40, Z:-0.79 [[ 9.89091305e-01 1.47257506e-01 3.69022220e-03 1.83290757e+02] [-1.47256624e-01 9.89098188e-01 -5.11193765e-04 -1.54023757e+01] [-3.72526921e-03 -3.77923546e-05 9.99993060e-01 -7.85053306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.35, Y:-15.41, Z:-0.79 [[ 9.88060064e-01 1.54024972e-01 3.69024676e-03 1.83347713e+02] [-1.54024137e-01 9.88066953e-01 -5.11016368e-04 -1.54122051e+01] [-3.72492016e-03 -6.34722095e-05 9.99993060e-01 -7.86513067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.41, Y:-15.42, Z:-0.79 [[ 9.87187415e-01 1.59522382e-01 3.69027722e-03 1.83405783e+02] [-1.59521586e-01 9.87194308e-01 -5.10796349e-04 -1.54203974e+01] [-3.72450412e-03 -8.44271495e-05 9.99993060e-01 -7.88083425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.46, Y:-15.43, Z:-0.79 [[ 9.86886430e-01 1.61373964e-01 3.69030196e-03 1.83462556e+02] [-1.61373182e-01 9.86893325e-01 -5.10617522e-04 -1.54289487e+01] [-3.72433475e-03 -9.15942682e-05 9.99993060e-01 -7.88455421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:-15.43, Z:-0.79 [[ 9.86836898e-01 1.61676583e-01 3.69033248e-03 1.83521170e+02] [-1.61675804e-01 9.86843794e-01 -5.10396897e-04 -1.54328158e+01] [-3.72430093e-03 -9.29589805e-05 9.99993060e-01 -7.86295697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.58, Y:-15.44, Z:-0.79 [[ 9.87382773e-01 1.58308688e-01 3.69035650e-03 1.83579315e+02] [-1.58307887e-01 9.87389666e-01 -5.10223103e-04 -1.54402096e+01] [-3.72459263e-03 -8.04270361e-05 9.99993060e-01 -7.88260402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.64, Y:-15.45, Z:-0.79 [[ 9.88535788e-01 1.50941632e-01 3.69038042e-03 1.83637473e+02] [-1.50940779e-01 9.88542675e-01 -5.10050039e-04 -1.54517309e+01] [-3.72508632e-03 -5.28261791e-05 9.99993060e-01 -7.88571240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.70, Y:-15.46, Z:-0.79 [[ 9.89098484e-01 1.47209270e-01 3.69040419e-03 1.83695610e+02] [-1.47208393e-01 9.89105368e-01 -5.09877994e-04 -1.54575249e+01] [-3.72525737e-03 -3.89389184e-05 9.99993060e-01 -7.90125438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:-15.47, Z:-0.79 [[ 9.89407931e-01 1.45114876e-01 3.69042788e-03 1.83752394e+02] [-1.45113985e-01 9.89414813e-01 -5.09706511e-04 -1.54663215e+01] [-3.72533001e-03 -3.12250306e-05 9.99993060e-01 -7.91066051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:-15.47, Z:-0.79 [[ 9.89311499e-01 1.45770840e-01 3.69045718e-03 1.83809959e+02] [-1.45769954e-01 9.89318382e-01 -5.09494289e-04 -1.54702998e+01] [-3.72530653e-03 -3.39092137e-05 9.99993060e-01 -7.89936032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:-15.47, Z:-0.79 [[ 9.89229648e-01 1.46325269e-01 3.69048600e-03 1.83868742e+02] [-1.46324388e-01 9.89236531e-01 -5.09285425e-04 -1.54745774e+01] [-3.72528490e-03 -3.62078629e-05 9.99993060e-01 -7.93012608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.93, Y:-15.48, Z:-0.79 [[ 9.89208615e-01 1.46467392e-01 3.69050897e-03 1.83927887e+02] [-1.46466512e-01 9.89215498e-01 -5.09118917e-04 -1.54793972e+01] [-3.72527799e-03 -3.69111566e-05 9.99993060e-01 -7.91935784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:-15.49, Z:-0.79 [[ 9.89350831e-01 1.45503651e-01 3.69053272e-03 1.83985952e+02] [-1.45502765e-01 9.89357714e-01 -5.08946712e-04 -1.54869861e+01] [-3.72531062e-03 -3.34558616e-05 9.99993060e-01 -7.90558336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:-15.49, Z:-0.79 [[ 9.89727758e-01 1.42917269e-01 3.69055699e-03 1.84045430e+02] [-1.42916365e-01 9.89734638e-01 -5.08770631e-04 -1.54898250e+01] [-3.72538420e-03 -2.38965759e-05 9.99993060e-01 -7.90455697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.10, Y:-15.50, Z:-0.79 [[ 9.90479271e-01 1.37612473e-01 3.69058142e-03 1.84103551e+02] [-1.37611533e-01 9.90486147e-01 -5.08593369e-04 -1.54988364e+01] [-3.72545856e-03 -4.11537935e-06 9.99993060e-01 -7.86661989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.16, Y:-15.51, Z:-0.79 [[ 9.91117036e-01 1.32941341e-01 3.69060670e-03 1.84160295e+02] [-1.32940369e-01 9.91123907e-01 -5.08409877e-04 -1.55080008e+01] [-3.72543722e-03 1.32630733e-05 9.99993060e-01 -7.89494125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:-15.52, Z:-0.79 [[ 9.91293651e-01 1.31617919e-01 3.69063782e-03 1.84217973e+02] [-1.31616939e-01 9.91300521e-01 -5.08183865e-04 -1.55165080e+01] [-3.72541730e-03 1.80089855e-05 9.99993060e-01 -7.87434224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.28, Y:-15.53, Z:-0.78 [[ 9.90852851e-01 1.34896279e-01 3.69066785e-03 1.84275887e+02] [-1.34895322e-01 9.90859725e-01 -5.07965688e-04 -1.55278685e+01] [-3.72545681e-03 5.46542194e-06 9.99993060e-01 -7.82749832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.33, Y:-15.54, Z:-0.78 [[ 9.89893288e-01 1.41766209e-01 3.69069262e-03 1.84333170e+02] [-1.41765301e-01 9.89900167e-01 -5.07785676e-04 -1.55367301e+01] [-3.72540409e-03 -2.05585183e-05 9.99993060e-01 -7.84291683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.39, Y:-15.54, Z:-0.78 [[ 9.89562345e-01 1.44058130e-01 3.69072611e-03 1.84391111e+02] [-1.44057239e-01 9.89569227e-01 -5.07542102e-04 -1.55437131e+01] [-3.72534455e-03 -2.94312605e-05 9.99993060e-01 -7.83225752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:-15.55, Z:-0.78 [[ 9.88563108e-01 1.50762593e-01 3.69075117e-03 1.84449469e+02] [-1.50761749e-01 9.88569996e-01 -5.07359815e-04 -1.55491023e+01] [-3.72505675e-03 -5.48669062e-05 9.99993060e-01 -7.83241256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.51, Y:-15.56, Z:-0.79 [[ 9.87530300e-01 1.57385785e-01 3.69077671e-03 1.84506481e+02] [-1.57384988e-01 9.87537193e-01 -5.07173966e-04 -1.55557244e+01] [-3.72460124e-03 -8.00231899e-05 9.99993060e-01 -7.85550746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.57, Y:-15.56, Z:-0.78 [[ 9.86537896e-01 1.63491153e-01 3.69080811e-03 1.84565545e+02] [-1.63490399e-01 9.86544795e-01 -5.06945377e-04 -1.55579973e+01] [-3.72402861e-03 -1.03290865e-04 9.99993060e-01 -7.82785467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.62, Y:-15.56, Z:-0.79 [[ 9.86173685e-01 1.65673899e-01 3.69083279e-03 1.84623515e+02] [-1.65673161e-01 9.86180585e-01 -5.06765629e-04 -1.55605871e+01] [-3.72378547e-03 -1.11713007e-04 9.99993060e-01 -7.87442774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:-15.56, Z:-0.79 [[ 9.86323519e-01 1.64779529e-01 3.69086324e-03 1.84681917e+02] [-1.64778786e-01 9.86330419e-01 -5.06543756e-04 -1.55616460e+01] [-3.72387872e-03 -1.08559942e-04 9.99993060e-01 -7.94698207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80420382199998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:-15.57, Z:-0.79 [[ 9.87124384e-01 1.59911936e-01 3.69089162e-03 1.84740812e+02] [-1.59911160e-01 9.87131280e-01 -5.06336892e-04 -1.55653346e+01] [-3.72436388e-03 -9.03972669e-05 9.99993060e-01 -7.91911942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:-15.57, Z:-0.79 [[ 9.87991405e-01 1.54464756e-01 3.69091648e-03 1.84799777e+02] [-1.54463943e-01 9.87998297e-01 -5.06155570e-04 -1.55677126e+01] [-3.72480239e-03 -7.00361583e-05 9.99993060e-01 -7.88832204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:-15.57, Z:-0.79 [[ 9.88641216e-01 1.50249537e-01 3.69094151e-03 1.84857252e+02] [-1.50248695e-01 9.88648104e-01 -5.05972995e-04 -1.55717444e+01] [-3.72506453e-03 -5.43333891e-05 9.99993060e-01 -7.93311186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:-15.58, Z:-0.79 [[ 9.89508352e-01 1.44428520e-01 3.69097232e-03 1.84915971e+02] [-1.44427639e-01 9.89515236e-01 -5.05748160e-04 -1.55771420e+01] [-3.72531780e-03 -3.26363868e-05 9.99993060e-01 -7.91129905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:-15.58, Z:-0.79 [[ 9.89950807e-01 1.41363987e-01 3.69099666e-03 1.84975098e+02] [-1.41363084e-01 9.89957687e-01 -5.05570451e-04 -1.55811581e+01] [-3.72539997e-03 -2.12807957e-05 9.99993060e-01 -7.90018162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.03, Y:-15.59, Z:-0.79 [[ 9.89996792e-01 1.41041582e-01 3.69102079e-03 1.85033166e+02] [-1.41040678e-01 9.90003673e-01 -5.05394188e-04 -1.55862484e+01] [-3.72540574e-03 -2.02454501e-05 9.99993060e-01 -7.89087769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:-15.59, Z:-0.79 [[ 9.90001638e-01 1.41007560e-01 3.69105068e-03 1.85092287e+02] [-1.41006657e-01 9.90008519e-01 -5.05175851e-04 -1.55899546e+01] [-3.72540523e-03 -2.03377956e-05 9.99993060e-01 -7.87866672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.15, Y:-15.60, Z:-0.79 [[ 9.89980390e-01 1.41156665e-01 3.69107453e-03 1.85151390e+02] [-1.41155763e-01 9.89987270e-01 -5.05001505e-04 -1.55951186e+01] [-3.72540113e-03 -2.10748558e-05 9.99993060e-01 -7.87046135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:-15.60, Z:-0.79 [[ 9.89711612e-01 1.43029019e-01 3.69109928e-03 1.85209688e+02] [-1.43028131e-01 9.89718495e-01 -5.04820566e-04 -1.55983226e+01] [-3.72535321e-03 -2.83042551e-05 9.99993060e-01 -7.91171255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:-15.60, Z:-0.79 [[ 9.89382644e-01 1.45287162e-01 3.69112981e-03 1.85268491e+02] [-1.45286290e-01 9.89389529e-01 -5.04597178e-04 -1.56028081e+01] [-3.72527668e-03 -3.70308677e-05 9.99993060e-01 -7.91369133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:185.33, Y:-15.61, Z:-0.79 [[ 9.89012584e-01 1.47785266e-01 3.69115461e-03 1.85325886e+02] [-1.47784412e-01 9.89019470e-01 -5.04415739e-04 -1.56067244e+01] [-3.72516899e-03 -4.66216022e-05 9.99993060e-01 -7.94790998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:-15.61, Z:-0.79 [[ 9.89053792e-01 1.47509228e-01 3.69118536e-03 1.85384993e+02] [-1.47508374e-01 9.89060678e-01 -5.04190617e-04 -1.56102247e+01] [-3.72517906e-03 -4.58091082e-05 9.99993060e-01 -7.90276287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.44, Y:-15.62, Z:-0.79 [[ 9.89271246e-01 1.46043748e-01 3.69120988e-03 1.85442364e+02] [-1.46042884e-01 9.89278132e-01 -5.04011030e-04 -1.56157764e+01] [-3.72524087e-03 -4.04713166e-05 9.99993060e-01 -7.91467403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:-15.62, Z:-0.79 [[ 9.89790798e-01 1.42480001e-01 3.69124013e-03 1.85500196e+02] [-1.42479113e-01 9.89797681e-01 -5.03789401e-04 -1.56241969e+01] [-3.72536083e-03 -2.72785048e-05 9.99993060e-01 -7.89058596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:-15.63, Z:-0.79 [[ 9.90558993e-01 1.37037428e-01 3.69126481e-03 1.85558152e+02] [-1.37036503e-01 9.90565870e-01 -5.03608506e-04 -1.56326952e+01] [-3.72545415e-03 -6.98408788e-06 9.99993060e-01 -7.90884133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.62, Y:-15.64, Z:-0.79 [[ 9.91141882e-01 1.32755956e-01 3.69128936e-03 1.85615755e+02] [-1.32755002e-01 9.91148756e-01 -5.03428516e-04 -1.56414755e+01] [-3.72544999e-03 8.93196318e-06 9.99993060e-01 -7.94776765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:185.67, Y:-15.65, Z:-0.79 [[ 9.91371992e-01 1.31026516e-01 3.69131964e-03 1.85673300e+02] [-1.31025550e-01 9.91378864e-01 -5.03206349e-04 -1.56517080e+01] [-3.72542965e-03 1.52074936e-05 9.99993060e-01 -7.93544983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.73, Y:-15.66, Z:-0.79 [[ 9.91691822e-01 1.28583453e-01 3.69134350e-03 1.85730032e+02] [-1.28582471e-01 9.91698692e-01 -5.03031249e-04 -1.56628037e+01] [-3.72538202e-03 2.42099065e-05 9.99993060e-01 -7.94223332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.79, Y:-15.67, Z:-0.79 [[ 9.91659283e-01 1.28834154e-01 3.69137309e-03 1.85788155e+02] [-1.28833175e-01 9.91666154e-01 -5.02814072e-04 -1.56730182e+01] [-3.72538938e-03 2.30489259e-05 9.99993060e-01 -7.91749360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:-15.68, Z:-0.79 [[ 9.91404127e-01 1.30783146e-01 3.69139764e-03 1.85844631e+02] [-1.30782181e-01 9.91410999e-01 -5.02633741e-04 -1.56821126e+01] [-3.72542824e-03 1.55441296e-05 9.99993060e-01 -7.92246183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:-15.70, Z:-0.79 [[ 9.91135830e-01 1.32801130e-01 3.69144018e-03 1.85902211e+02] [-1.32800180e-01 9.91142704e-01 -5.02321162e-04 -1.56957760e+01] [-3.72545282e-03 7.64458245e-06 9.99993060e-01 -7.91599322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:-15.71, Z:-0.79 [[ 9.91152875e-01 1.32673852e-01 3.69146472e-03 1.85959024e+02] [-1.32672902e-01 9.91159749e-01 -5.02140712e-04 -1.57070076e+01] [-3.72545219e-03 7.94087420e-06 9.99993060e-01 -7.89740931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:-15.72, Z:-0.79 [[ 9.91167255e-01 1.32566381e-01 3.69149506e-03 1.86016371e+02] [-1.32565431e-01 9.91174129e-01 -5.01917571e-04 -1.57186846e+01] [-3.72545180e-03 8.11962853e-06 9.99993060e-01 -7.87757352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:-15.73, Z:-0.79 [[ 9.90923395e-01 1.34377076e-01 3.69151947e-03 1.86072407e+02] [-1.34376139e-01 9.90930271e-01 -5.01738009e-04 -1.57298999e+01] [-3.72546047e-03 1.13179764e-06 9.99993060e-01 -7.89865876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:-15.74, Z:-0.79 [[ 9.90277319e-01 1.39058276e-01 3.69157654e-03 1.86130722e+02] [-1.39057373e-01 9.90284199e-01 -5.01317727e-04 -1.57384096e+01] [-3.72542230e-03 -1.68973620e-05 9.99993060e-01 -7.93775073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.19, Y:-15.74, Z:-0.80 [[ 9.89586076e-01 1.43895000e-01 3.69160050e-03 1.86189601e+02] [-1.43894131e-01 9.89592961e-01 -5.01141237e-04 -1.57430703e+01] [-3.72529359e-03 -3.52772577e-05 9.99993060e-01 -7.96770455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.25, Y:-15.75, Z:-0.80 [[ 9.89456591e-01 1.44782690e-01 3.69162425e-03 1.86246929e+02] [-1.44781829e-01 9.89463476e-01 -5.00966233e-04 -1.57500179e+01] [-3.72525860e-03 -3.87957689e-05 9.99993060e-01 -7.95306146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:-15.76, Z:-0.80 [[ 9.89448421e-01 1.44838506e-01 3.69166139e-03 1.86304958e+02] [-1.44837646e-01 9.89455308e-01 -5.00692388e-04 -1.57552047e+01] [-3.72525349e-03 -3.92822524e-05 9.99993060e-01 -7.96894919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:-15.76, Z:-0.79 [[ 9.90474872e-01 1.37644101e-01 3.69169204e-03 1.86362985e+02] [-1.37643192e-01 9.90481752e-01 -5.00466312e-04 -1.57613592e+01] [-3.72543983e-03 -1.24369673e-05 9.99993060e-01 -7.94087375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:-15.77, Z:-0.79 [[ 9.92211931e-01 1.24506443e-01 3.69172236e-03 1.86420241e+02] [-1.24505444e-01 9.92218799e-01 -5.00242538e-04 -1.57696641e+01] [-3.72527974e-03 3.67070841e-05 9.99993060e-01 -7.93685562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60420382199996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:186.48, Y:-15.78, Z:-0.79 [[ 9.93344592e-01 1.15121211e-01 3.69175993e-03 1.86478319e+02] [-1.15120147e-01 9.93351449e-01 -4.99965091e-04 -1.57827507e+01] [-3.72477167e-03 7.16416714e-05 9.99993060e-01 -7.92240169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.54, Y:-15.80, Z:-0.79 [[ 9.94439962e-01 1.05240352e-01 3.69178434e-03 1.86536070e+02] [-1.05239221e-01 9.94446809e-01 -4.99784845e-04 -1.57975337e+01] [-3.72388069e-03 1.08485514e-04 9.99993060e-01 -7.90375385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.59, Y:-15.81, Z:-0.79 [[ 9.94825399e-01 1.01532238e-01 3.69180843e-03 1.86593182e+02] [-1.01531082e-01 9.94832242e-01 -4.99606820e-04 -1.58145334e+01] [-3.72345625e-03 1.22188251e-04 9.99993060e-01 -7.87531097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.65, Y:-15.83, Z:-0.79 [[ 9.94668436e-01 1.03058590e-01 3.69182628e-03 1.86649397e+02] [-1.03057446e-01 9.94675280e-01 -4.99474877e-04 -1.58295523e+01] [-3.72364352e-03 1.16341709e-04 9.99993060e-01 -7.88519903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.71, Y:-15.85, Z:-0.79 [[ 9.93924892e-01 1.09998543e-01 3.69185506e-03 1.86705766e+02] [-1.09997447e-01 9.93931744e-01 -4.99262013e-04 -1.58488150e+01] [-3.72437004e-03 9.01343109e-05 9.99993060e-01 -7.89262691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:-15.87, Z:-0.79 [[ 9.92977030e-01 1.18249688e-01 3.69187804e-03 1.86763076e+02] [-1.18248650e-01 9.92983891e-01 -4.99092029e-04 -1.58664570e+01] [-3.72499290e-03 5.90273260e-05 9.99993060e-01 -7.90402585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.82, Y:-15.89, Z:-0.79 [[ 9.92107485e-01 1.25335981e-01 3.69190189e-03 1.86818869e+02] [-1.25334992e-01 9.92114354e-01 -4.98915574e-04 -1.58902147e+01] [-3.72532093e-03 3.22533823e-05 9.99993060e-01 -7.91220519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.88, Y:-15.91, Z:-0.79 [[ 9.91341545e-01 1.31256657e-01 3.69192558e-03 1.86875818e+02] [-1.31255709e-01 9.91348420e-01 -4.98740190e-04 -1.59051739e+01] [-3.72544756e-03 9.83555944e-06 9.99993060e-01 -7.91489389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:-15.92, Z:-0.79 [[ 9.89603801e-01 1.43773035e-01 3.69194917e-03 1.86932925e+02] [-1.43772175e-01 9.89610688e-01 -4.98565536e-04 -1.59203730e+01] [-3.72527263e-03 -3.74172136e-05 9.99993060e-01 -7.91153666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.99, Y:-15.93, Z:-0.79 [[ 9.87669278e-01 1.56511234e-01 3.69197265e-03 1.86990166e+02] [-1.56510464e-01 9.87676175e-01 -4.98391558e-04 -1.59336221e+01] [-3.72447731e-03 -8.55863222e-05 9.99993060e-01 -7.90871574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.05, Y:-15.94, Z:-0.79 [[ 9.86331914e-01 1.64729243e-01 3.69199652e-03 1.87047297e+02] [-1.64728531e-01 9.86338817e-01 -4.98214715e-04 -1.59411801e+01] [-3.72363001e-03 -1.16772091e-04 9.99993060e-01 -7.92035705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:-15.95, Z:-0.79 [[ 9.86167644e-01 1.65709826e-01 3.69202588e-03 1.87105980e+02] [-1.65709121e-01 9.86174548e-01 -4.97997033e-04 -1.59492700e+01] [-3.72350495e-03 -1.20693804e-04 9.99993060e-01 -7.92017737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:-15.96, Z:-0.79 [[ 9.86524629e-01 1.63571160e-01 3.69204950e-03 1.87164439e+02] [-1.63570442e-01 9.86531532e-01 -4.97821839e-04 -1.59554990e+01] [-3.72375255e-03 -1.12796663e-04 9.99993060e-01 -7.90398777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:-15.96, Z:-0.79 [[ 9.87173073e-01 1.59611064e-01 3.69207374e-03 1.87223574e+02] [-1.59610318e-01 9.87179973e-01 -4.97642042e-04 -1.59586443e+01] [-3.72417043e-03 -9.80342395e-05 9.99993060e-01 -7.91342376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:-15.96, Z:-0.80 [[ 9.87931795e-01 1.54845523e-01 3.69209796e-03 1.87281145e+02] [-1.54844745e-01 9.87938691e-01 -4.97462284e-04 -1.59632878e+01] [-3.72459623e-03 -8.02431593e-05 9.99993060e-01 -7.95060356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.34, Y:-15.97, Z:-0.79 [[ 9.88493172e-01 1.51220428e-01 3.69212792e-03 1.87339680e+02] [-1.51219625e-01 9.88500065e-01 -4.97239785e-04 -1.59689981e+01] [-3.72486150e-03 -6.68040685e-05 9.99993060e-01 -7.93431094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.40, Y:-15.97, Z:-0.80 [[ 9.89188671e-01 1.46601984e-01 3.69215138e-03 1.87398908e+02] [-1.46601149e-01 9.89195560e-01 -4.97065546e-04 -1.59731226e+01] [-3.72513055e-03 -4.95820295e-05 9.99993060e-01 -7.96926736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.46, Y:-15.98, Z:-0.79 [[ 9.89678858e-01 1.43255460e-01 3.69216884e-03 1.87457247e+02] [-1.43254603e-01 9.89685744e-01 -4.96935812e-04 -1.59805892e+01] [-3.72527563e-03 -3.71133131e-05 9.99993060e-01 -7.94959819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:-15.99, Z:-0.79 [[ 9.89754197e-01 1.42734006e-01 3.69219328e-03 1.87515804e+02] [-1.42733146e-01 9.89761083e-01 -4.96754151e-04 -1.59882984e+01] [-3.72529293e-03 -3.53338561e-05 9.99993060e-01 -7.92399597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.57, Y:-16.00, Z:-0.79 [[ 9.89588375e-01 1.43879173e-01 3.69221774e-03 1.87573115e+02] [-1.43878322e-01 9.89595262e-01 -4.96572319e-04 -1.59952163e+01] [-3.72524759e-03 -3.98278969e-05 9.99993060e-01 -7.91049001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.63, Y:-16.00, Z:-0.79 [[ 9.89030486e-01 1.47665383e-01 3.69224805e-03 1.87631226e+02] [-1.47664558e-01 9.89037376e-01 -4.96346842e-04 -1.60015576e+01] [-3.72506457e-03 -5.43120192e-05 9.99993060e-01 -7.91899334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:-16.01, Z:-0.80 [[ 9.88517625e-01 1.51060490e-01 3.69227163e-03 1.87688819e+02] [-1.51059690e-01 9.88524519e-01 -4.96171319e-04 -1.60061809e+01] [-3.72485292e-03 -6.72793160e-05 9.99993060e-01 -7.96012244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.75, Y:-16.01, Z:-0.80 [[ 9.88588870e-01 1.50593538e-01 3.69230078e-03 1.87747066e+02] [-1.50592736e-01 9.88595763e-01 -4.95954342e-04 -1.60129957e+01] [-3.72488042e-03 -6.57387326e-05 9.99993060e-01 -7.97528786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:-16.02, Z:-0.80 [[ 9.88950206e-01 1.48202080e-01 3.69232395e-03 1.87805298e+02] [-1.48201262e-01 9.88957097e-01 -4.95781794e-04 -1.60216989e+01] [-3.72502587e-03 -5.69035607e-05 9.99993060e-01 -7.95483305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.86, Y:-16.03, Z:-0.80 [[ 9.89380681e-01 1.45300497e-01 3.69234814e-03 1.87861888e+02] [-1.45299659e-01 9.89387570e-01 -4.95601521e-04 -1.60329358e+01] [-3.72517450e-03 -4.61583560e-05 9.99993060e-01 -7.99401780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:-16.04, Z:-0.80 [[ 9.89538172e-01 1.44224038e-01 3.69237808e-03 1.87919776e+02] [-1.44223194e-01 9.89545060e-01 -4.95378390e-04 -1.60425470e+01] [-3.72521996e-03 -4.23307323e-05 9.99993060e-01 -7.99466251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.98, Y:-16.05, Z:-0.80 [[ 9.89446412e-01 1.44852213e-01 3.69240168e-03 1.87978001e+02] [-1.44851373e-01 9.89453301e-01 -4.95202443e-04 -1.60495102e+01] [-3.72519020e-03 -4.48731721e-05 9.99993060e-01 -7.98994806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.04, Y:-16.06, Z:-0.80 [[ 9.89243816e-01 1.46229403e-01 3.69242512e-03 1.88036552e+02] [-1.46228573e-01 9.89250706e-01 -4.95027609e-04 -1.60573967e+01] [-3.72512174e-03 -5.02350559e-05 9.99993060e-01 -7.99563780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:-16.07, Z:-0.80 [[ 9.88708515e-01 1.49806004e-01 3.69244831e-03 1.88094549e+02] [-1.49805200e-01 9.88715408e-01 -4.94854543e-04 -1.60669086e+01] [-3.72491272e-03 -6.38810568e-05 9.99993060e-01 -7.98082484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.15, Y:-16.07, Z:-0.79 [[ 9.88086357e-01 1.53856156e-01 3.69247216e-03 1.88153564e+02] [-1.53855381e-01 9.88093253e-01 -4.94676549e-04 -1.60711141e+01] [-3.72461586e-03 -7.93235602e-05 9.99993060e-01 -7.94801613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:-16.07, Z:-0.80 [[ 9.87077894e-01 1.60198619e-01 3.69249624e-03 1.88212363e+02] [-1.60197889e-01 9.87084795e-01 -4.94496668e-04 -1.60728395e+01] [-3.72402458e-03 -1.03423374e-04 9.99993060e-01 -7.96700785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.27, Y:-16.08, Z:-0.80 [[ 9.86347546e-01 1.64635611e-01 3.69252025e-03 1.88271101e+02] [-1.64634913e-01 9.86354450e-01 -4.94317351e-04 -1.60766227e+01] [-3.72351602e-03 -1.20349045e-04 9.99993060e-01 -7.98113267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.33, Y:-16.08, Z:-0.79 [[ 9.86487006e-01 1.63797902e-01 3.69254418e-03 1.88330267e+02] [-1.63797199e-01 9.86493909e-01 -4.94138517e-04 -1.60770625e+01] [-3.72361120e-03 -1.17367168e-04 9.99993060e-01 -7.94016474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:-16.08, Z:-0.80 [[ 9.87143087e-01 1.59796403e-01 3.69256837e-03 1.88388391e+02] [-1.59795673e-01 9.87149988e-01 -4.93957688e-04 -1.60783203e+01] [-3.72405149e-03 -1.02449531e-04 9.99993060e-01 -7.96906714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:-16.08, Z:-0.80 [[ 9.88427469e-01 1.51649279e-01 3.69259826e-03 1.88446937e+02] [-1.51648492e-01 9.88434364e-01 -4.93734147e-04 -1.60830500e+01] [-3.72476544e-03 -7.19565663e-05 9.99993060e-01 -7.97847321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.51, Y:-16.09, Z:-0.80 [[ 9.89110175e-01 1.47130647e-01 3.69262242e-03 1.88506058e+02] [-1.47129829e-01 9.89117066e-01 -4.93553419e-04 -1.60865146e+01] [-3.72505268e-03 -5.51161977e-05 9.99993060e-01 -7.98998355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.57, Y:-16.08, Z:-0.80 [[ 9.89242775e-01 1.46236443e-01 3.69264653e-03 1.88565582e+02] [-1.46235620e-01 9.89249665e-01 -4.93372911e-04 -1.60842556e+01] [-3.72509845e-03 -5.19308692e-05 9.99993060e-01 -7.99503286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82420382199996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:188.62, Y:-16.09, Z:-0.80 [[ 9.89326878e-01 1.45666373e-01 3.69267086e-03 1.88624221e+02] [-1.45665547e-01 9.89333768e-01 -4.93190754e-04 -1.60874858e+01] [-3.72512529e-03 -4.99680524e-05 9.99993060e-01 -8.01136156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.68, Y:-16.09, Z:-0.80 [[ 9.89601961e-01 1.43785686e-01 3.69269533e-03 1.88681731e+02] [-1.43784847e-01 9.89608849e-01 -4.93007506e-04 -1.60881990e+01] [-3.72521140e-03 -4.30724381e-05 9.99993060e-01 -8.03083629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.74, Y:-16.09, Z:-0.80 [[ 9.89913115e-01 1.41627641e-01 3.69273779e-03 1.88740214e+02] [-1.41626788e-01 9.89920002e-01 -4.92689228e-04 -1.60908343e+01] [-3.72529342e-03 -3.52710657e-05 9.99993060e-01 -8.02645353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.80, Y:-16.09, Z:-0.80 [[ 9.90207829e-01 1.39552206e-01 3.69277794e-03 1.88799307e+02] [-1.39551340e-01 9.90214715e-01 -4.92388146e-04 -1.60920179e+01] [-3.72535691e-03 -2.77655134e-05 9.99993060e-01 -7.99220049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.86, Y:-16.09, Z:-0.80 [[ 9.90460338e-01 1.37748618e-01 3.69280220e-03 1.88856870e+02] [-1.37747740e-01 9.90467222e-01 -4.92206153e-04 -1.60938230e+01] [-3.72540025e-03 -2.11644831e-05 9.99993060e-01 -8.00761079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.92, Y:-16.10, Z:-0.80 [[ 9.90525122e-01 1.37281994e-01 3.69284338e-03 1.88915934e+02] [-1.37281115e-01 9.90532005e-01 -4.91896965e-04 -1.60975876e+01] [-3.72540816e-03 -1.97213542e-05 9.99993060e-01 -7.99429172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:-16.10, Z:-0.80 [[ 9.90505127e-01 1.37426186e-01 3.69286764e-03 1.88973042e+02] [-1.37425308e-01 9.90512010e-01 -4.91714798e-04 -1.61019677e+01] [-3.72540424e-03 -2.04474444e-05 9.99993060e-01 -8.02837223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:-16.10, Z:-0.80 [[ 9.90359485e-01 1.38471851e-01 3.69290949e-03 1.89031624e+02] [-1.38470981e-01 9.90366370e-01 -4.91400240e-04 -1.61039702e+01] [-3.72537847e-03 -2.46979128e-05 9.99993060e-01 -7.99620758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.09, Y:-16.10, Z:-0.80 [[ 9.90041267e-01 1.40729002e-01 3.69293903e-03 1.89089373e+02] [-1.40728148e-01 9.90048154e-01 -4.91178179e-04 -1.61024671e+01] [-3.72531048e-03 -3.34138052e-05 9.99993060e-01 -8.01096245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.15, Y:-16.11, Z:-0.80 [[ 9.89734677e-01 1.42869280e-01 3.69297967e-03 1.89148266e+02] [-1.42868442e-01 9.89741566e-01 -4.90872426e-04 -1.61056335e+01] [-3.72522607e-03 -4.17767914e-05 9.99993060e-01 -8.00471844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.21, Y:-16.11, Z:-0.80 [[ 9.89775241e-01 1.42587985e-01 3.69300272e-03 1.89206381e+02] [-1.42587146e-01 9.89782130e-01 -4.90698928e-04 -1.61088181e+01] [-3.72523587e-03 -4.08930692e-05 9.99993060e-01 -8.02645557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.26, Y:-16.11, Z:-0.80 [[ 9.90294499e-01 1.38935839e-01 3.69303123e-03 1.89264600e+02] [-1.38934976e-01 9.90301384e-01 -4.90484281e-04 -1.61096086e+01] [-3.72535979e-03 -2.73673201e-05 9.99993060e-01 -8.03647159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-16.11, Z:-0.80 [[ 9.90921024e-01 1.34394513e-01 3.69306512e-03 1.89323121e+02] [-1.34393619e-01 9.90927906e-01 -4.90228974e-04 -1.61138495e+01] [-3.72544537e-03 -1.05461888e-05 9.99993060e-01 -8.01811413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.38, Y:-16.12, Z:-0.81 [[ 9.91363856e-01 1.31088006e-01 3.69308892e-03 1.89381179e+02] [-1.31087090e-01 9.91370735e-01 -4.90049617e-04 -1.61178371e+01] [-3.72545991e-03 1.70119714e-06 9.99993060e-01 -8.06524069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.44, Y:-16.12, Z:-0.81 [[ 9.91696659e-01 1.28546088e-01 3.69311829e-03 1.89439726e+02] [-1.28545155e-01 9.91703536e-01 -4.89828219e-04 -1.61221916e+01] [-3.72544396e-03 1.10285439e-05 9.99993060e-01 -8.05650285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:-16.13, Z:-0.80 [[ 9.92347872e-01 1.23418236e-01 3.69314156e-03 1.89498147e+02] [-1.23417268e-01 9.92354744e-01 -4.89652666e-04 -1.61289396e+01] [-3.72533862e-03 3.01083382e-05 9.99993060e-01 -8.01884596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78420382199997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:189.56, Y:-16.14, Z:-0.80 [[ 9.93104714e-01 1.17172465e-01 3.69316515e-03 1.89555101e+02] [-1.17171455e-01 9.93111580e-01 -4.89474689e-04 -1.61357898e+01] [-3.72507803e-03 5.33660870e-05 9.99993060e-01 -7.99129548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84420382199997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:-16.15, Z:-0.80 [[ 9.93577280e-01 1.13095307e-01 3.69321416e-03 1.89612079e+02] [-1.13094270e-01 9.93584142e-01 -4.89104628e-04 -1.61462759e+01] [-3.72483446e-03 6.82818863e-05 9.99993060e-01 -7.99091442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.67, Y:-16.16, Z:-0.80 [[ 9.93912662e-01 1.10108946e-01 3.69325407e-03 1.89669881e+02] [-1.10107889e-01 9.93919521e-01 -4.88803088e-04 -1.61595769e+01] [-3.72461891e-03 7.91711691e-05 9.99993060e-01 -7.97872090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96420382199997 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:-16.18, Z:-0.80 [[ 9.93880426e-01 1.10399544e-01 3.69327642e-03 1.89727525e+02] [-1.10398490e-01 9.93887285e-01 -4.88634172e-04 -1.61756985e+01] [-3.72464546e-03 7.79117973e-05 9.99993060e-01 -8.01574140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:-16.19, Z:-0.80 [[ 9.93432231e-01 1.14362411e-01 3.69329965e-03 1.89784948e+02] [-1.14361385e-01 9.93439095e-01 -4.88458502e-04 -1.61885293e+01] [-3.72492955e-03 6.28795543e-05 9.99993060e-01 -8.03304459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:-16.20, Z:-0.81 [[ 9.93036378e-01 1.17750211e-01 3.69332265e-03 1.89841585e+02] [-1.17749209e-01 9.93043244e-01 -4.88284509e-04 -1.62015427e+01] [-3.72512471e-03 4.99984588e-05 9.99993060e-01 -8.05490104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:-16.22, Z:-0.81 [[ 9.92592905e-01 1.21431812e-01 3.69335106e-03 1.89899138e+02] [-1.21430837e-01 9.92599775e-01 -4.88069534e-04 -1.62157043e+01] [-3.72528660e-03 3.59676469e-05 9.99993060e-01 -8.05191641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:-16.23, Z:-0.81 [[ 9.92041290e-01 1.25858805e-01 3.69337485e-03 1.89955979e+02] [-1.25857861e-01 9.92048165e-01 -4.87889443e-04 -1.62288404e+01] [-3.72541092e-03 1.91662128e-05 9.99993060e-01 -8.06317534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:-16.24, Z:-0.80 [[ 9.91107646e-01 1.33011254e-01 3.69341040e-03 1.90012441e+02] [-1.33010360e-01 9.91114527e-01 -4.87620144e-04 -1.62396462e+01] [-3.72545167e-03 -7.97779456e-06 9.99993060e-01 -8.04020703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.07, Y:-16.25, Z:-0.80 [[ 9.90273086e-01 1.39088366e-01 3.69344563e-03 1.90070211e+02] [-1.39087515e-01 9.90279973e-01 -4.87353211e-04 -1.62520132e+01] [-3.72533040e-03 -3.10994071e-05 9.99993060e-01 -8.02973982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:-16.26, Z:-0.81 [[ 9.89668638e-01 1.43326013e-01 3.69346965e-03 1.90128553e+02] [-1.43325193e-01 9.89675528e-01 -4.87171080e-04 -1.62629029e+01] [-3.72516082e-03 -4.72293122e-05 9.99993060e-01 -8.06103648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:-16.27, Z:-0.81 [[ 9.89934323e-01 1.41479304e-01 3.69349370e-03 1.90184940e+02] [-1.41478472e-01 9.89941213e-01 -4.86988657e-04 -1.62746836e+01] [-3.72524045e-03 -4.04630585e-05 9.99993060e-01 -8.08081200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50420382199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:190.24, Y:-16.29, Z:-0.81 [[ 9.90613884e-01 1.36640001e-01 3.69352355e-03 1.90243088e+02] [-1.36639136e-01 9.90620770e-01 -4.86762191e-04 -1.62866888e+01] [-3.72539233e-03 -2.24864814e-05 9.99993060e-01 -8.06255670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:-16.30, Z:-0.80 [[ 9.91505885e-01 1.30009377e-01 3.69354753e-03 1.90301256e+02] [-1.30008467e-01 9.91512764e-01 -4.86580122e-04 -1.62989667e+01] [-3.72545950e-03 2.25460371e-06 9.99993060e-01 -8.01793590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.36, Y:-16.31, Z:-0.80 [[ 9.92005483e-01 1.26140716e-01 3.69357131e-03 1.90358481e+02] [-1.26139779e-01 9.92012359e-01 -4.86399569e-04 -1.63133775e+01] [-3.72542318e-03 1.66047699e-05 9.99993060e-01 -8.02812274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68420382199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:190.42, Y:-16.33, Z:-0.80 [[ 9.92191185e-01 1.24671604e-01 3.69359494e-03 1.90416076e+02] [-1.24670658e-01 9.92198060e-01 -4.86220033e-04 -1.63258613e+01] [-3.72539557e-03 2.19403189e-05 9.99993060e-01 -8.04758739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.47, Y:-16.34, Z:-0.80 [[ 9.92057624e-01 1.25729980e-01 3.69361887e-03 1.90472629e+02] [-1.25729042e-01 9.92064500e-01 -4.86038236e-04 -1.63361718e+01] [-3.72541773e-03 1.77827776e-05 9.99993060e-01 -8.04443025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:-16.35, Z:-0.81 [[ 9.91308680e-01 1.31504596e-01 3.69364846e-03 1.90530605e+02] [-1.31503698e-01 9.91315561e-01 -4.85813239e-04 -1.63485127e+01] [-3.72545787e-03 -4.13755283e-06 9.99993060e-01 -8.05885263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:-16.36, Z:-0.81 [[ 9.90883519e-01 1.34670743e-01 3.69367170e-03 1.90588874e+02] [-1.34669868e-01 9.90890403e-01 -4.85636489e-04 -1.63584286e+01] [-3.72542486e-03 -1.62170877e-05 9.99993060e-01 -8.05913904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.65, Y:-16.36, Z:-0.81 [[ 9.90444576e-01 1.37861879e-01 3.69369556e-03 1.90646301e+02] [-1.37861027e-01 9.90451464e-01 -4.85454925e-04 -1.63632489e+01] [-3.72535190e-03 -2.84004656e-05 9.99993060e-01 -8.06846725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.70, Y:-16.37, Z:-0.81 [[ 9.90116184e-01 1.40200921e-01 3.69372502e-03 1.90704651e+02] [-1.40200086e-01 9.90123073e-01 -4.85230678e-04 -1.63709895e+01] [-3.72527216e-03 -3.74258179e-05 9.99993060e-01 -8.08329179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:-16.38, Z:-0.81 [[ 9.90045766e-01 1.40697326e-01 3.69374829e-03 1.90762066e+02] [-1.40696496e-01 9.90052656e-01 -4.85053438e-04 -1.63790897e+01] [-3.72525103e-03 -3.94723384e-05 9.99993060e-01 -8.07253740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.82, Y:-16.38, Z:-0.80 [[ 9.90577959e-01 1.36900196e-01 3.69377872e-03 1.90820906e+02] [-1.36899339e-01 9.90584845e-01 -4.84821607e-04 -1.63840233e+01] [-3.72537340e-03 -2.54222697e-05 9.99993060e-01 -8.03375742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:-16.39, Z:-0.80 [[ 9.91642772e-01 1.28961116e-01 3.69380156e-03 1.90879956e+02] [-1.28960205e-01 9.91649651e-01 -4.84647554e-04 -1.63897181e+01] [-3.72545772e-03 4.24383613e-06 9.99993060e-01 -8.02369860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.94, Y:-16.40, Z:-0.80 [[ 9.92484506e-01 1.22314602e-01 3.69382541e-03 1.90936201e+02] [-1.22313646e-01 9.92491379e-01 -4.84465683e-04 -1.64015685e+01] [-3.72534710e-03 2.90194315e-05 9.99993060e-01 -8.01973780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28420382199997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:190.99, Y:-16.41, Z:-0.80 [[ 9.92785482e-01 1.19847162e-01 3.69386061e-03 1.90994689e+02] [-1.19846190e-01 9.92792353e-01 -4.84197161e-04 -1.64081751e+01] [-3.72526622e-03 3.80087910e-05 9.99993060e-01 -8.03750070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:-16.42, Z:-0.81 [[ 9.93106353e-01 1.17158552e-01 3.69388423e-03 1.91052128e+02] [-1.17157562e-01 9.93113222e-01 -4.84016929e-04 -1.64166339e+01] [-3.72515199e-03 4.79138168e-05 9.99993060e-01 -8.06345172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.11, Y:-16.43, Z:-0.81 [[ 9.93347734e-01 1.15094020e-01 3.69391343e-03 1.91110178e+02] [-1.15093016e-01 9.93354601e-01 -4.83793927e-04 -1.64266424e+01] [-3.72504769e-03 5.54319618e-05 9.99993060e-01 -8.09891773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:-16.44, Z:-0.81 [[ 9.93149014e-01 1.16796367e-01 3.69393606e-03 1.91167768e+02] [-1.16795376e-01 9.93155882e-01 -4.83621112e-04 -1.64361951e+01] [-3.72513951e-03 4.88731805e-05 9.99993060e-01 -8.09343026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:-16.45, Z:-0.81 [[ 9.92811068e-01 1.19635016e-01 3.69395921e-03 1.91226436e+02] [-1.19634045e-01 9.92817940e-01 -4.83444225e-04 -1.64450318e+01] [-3.72526583e-03 3.80454945e-05 9.99993060e-01 -8.08530365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-16.45, Z:-0.81 [[ 9.92219282e-01 1.24447782e-01 3.69398286e-03 1.91284216e+02] [-1.24446845e-01 9.92226158e-01 -4.83263430e-04 -1.64523721e+01] [-3.72540748e-03 1.97987820e-05 9.99993060e-01 -8.12703013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:-16.46, Z:-0.81 [[ 9.91635664e-01 1.29015754e-01 3.69401205e-03 1.91341968e+02] [-1.29014850e-01 9.91642544e-01 -4.83040201e-04 -1.64608874e+01] [-3.72545930e-03 2.41748174e-06 9.99993060e-01 -8.10561952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:-16.47, Z:-0.81 [[ 9.91111065e-01 1.32985758e-01 3.69403574e-03 1.91399616e+02] [-1.32984882e-01 9.91117949e-01 -4.82858948e-04 -1.64667719e+01] [-3.72543849e-03 -1.26840612e-05 9.99993060e-01 -8.11878596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76420382199996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:-16.47, Z:-0.81 [[ 9.90193458e-01 1.39654109e-01 3.69406514e-03 1.91459029e+02] [-1.39653280e-01 9.90200348e-01 -4.82633926e-04 -1.64700999e+01] [-3.72526640e-03 -3.79873599e-05 9.99993060e-01 -8.14031019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:-16.47, Z:-0.81 [[ 9.89403558e-01 1.45144591e-01 3.69408337e-03 1.91517639e+02] [-1.45143801e-01 9.89410453e-01 -4.82494385e-04 -1.64734403e+01] [-3.72499615e-03 -5.87916387e-05 9.99993060e-01 -8.14657695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:-16.47, Z:-0.81 [[ 9.88724867e-01 1.49697999e-01 3.69410753e-03 1.91575903e+02] [-1.49697241e-01 9.88731765e-01 -4.82309313e-04 -1.64717070e+01] [-3.72468220e-03 -7.61264948e-05 9.99993060e-01 -8.13521626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:-16.47, Z:-0.81 [[ 9.88727768e-01 1.49678836e-01 3.69413730e-03 1.91634873e+02] [-1.49678079e-01 9.88734666e-01 -4.82081166e-04 -1.64723278e+01] [-3.72467896e-03 -7.62843397e-05 9.99993060e-01 -8.12084107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:-16.47, Z:-0.81 [[ 9.89374900e-01 1.45339810e-01 3.69415975e-03 1.91693274e+02] [-1.45339024e-01 9.89381795e-01 -4.81909110e-04 -1.64724770e+01] [-3.72497498e-03 -6.01167936e-05 9.99993060e-01 -8.11811628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.75, Y:-16.48, Z:-0.81 [[ 9.89628761e-01 1.43601071e-01 3.69419446e-03 1.91751437e+02] [-1.43600274e-01 9.89635655e-01 -4.81642873e-04 -1.64780490e+01] [-3.72507099e-03 -5.38396961e-05 9.99993060e-01 -8.12159645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.81, Y:-16.48, Z:-0.82 [[ 9.90366654e-01 1.38420529e-01 3.69422898e-03 1.91811063e+02] [-1.38419696e-01 9.90373544e-01 -4.81377999e-04 -1.64790207e+01] [-3.72529924e-03 -3.46133336e-05 9.99993060e-01 -8.15701944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:-16.48, Z:-0.82 [[ 9.91167844e-01 1.32561904e-01 3.69425173e-03 1.91869080e+02] [-1.32561031e-01 9.91174728e-01 -4.81203296e-04 -1.64821245e+01] [-3.72543818e-03 -1.27605853e-05 9.99993060e-01 -8.15359984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:-16.49, Z:-0.81 [[ 9.91686559e-01 1.28623950e-01 3.69427984e-03 1.91927772e+02] [-1.28623050e-01 9.91693440e-01 -4.80987426e-04 -1.64850785e+01] [-3.72545958e-03 1.81922375e-06 9.99993060e-01 -8.14679058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:-16.49, Z:-0.82 [[ 9.92499760e-01 1.22190749e-01 3.69430198e-03 1.91986270e+02] [-1.22189806e-01 9.92506635e-01 -4.80817273e-04 -1.64926590e+01] [-3.72537065e-03 2.58049861e-05 9.99993060e-01 -8.16164675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.04, Y:-16.50, Z:-0.82 [[ 9.93217604e-01 1.16211628e-01 3.69432402e-03 1.92043727e+02] [-1.16210644e-01 9.93224474e-01 -4.80647921e-04 -1.65038557e+01] [-3.72514990e-03 4.80682027e-05 9.99993060e-01 -8.16235421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:-16.51, Z:-0.82 [[ 9.93632739e-01 1.12606980e-01 3.69434715e-03 1.92101031e+02] [-1.12605971e-01 9.93639605e-01 -4.80470039e-04 -1.65134218e+01] [-3.72495392e-03 6.14052110e-05 9.99993060e-01 -8.16957537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.16, Y:-16.52, Z:-0.82 [[ 9.93651652e-01 1.12439968e-01 3.69437564e-03 1.92159323e+02] [-1.12438959e-01 9.93658518e-01 -4.80250912e-04 -1.65231975e+01] [-3.72494722e-03 6.18103600e-05 9.99993060e-01 -8.17284113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:-16.53, Z:-0.82 [[ 9.93252771e-01 1.15910671e-01 3.69439884e-03 1.92215748e+02] [-1.15909687e-01 9.93259641e-01 -4.80072319e-04 -1.65340340e+01] [-3.72514277e-03 4.86165489e-05 9.99993060e-01 -8.22020128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:-16.54, Z:-0.82 [[ 9.92531349e-01 1.21933884e-01 3.69442760e-03 1.92274188e+02] [-1.21932942e-01 9.92538225e-01 -4.79850905e-04 -1.65444254e+01] [-3.72537070e-03 2.57946375e-05 9.99993060e-01 -8.18779857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.33, Y:-16.55, Z:-0.82 [[ 9.91433469e-01 1.30560437e-01 3.69445101e-03 1.92332770e+02] [-1.30559556e-01 9.91440352e-01 -4.79670657e-04 -1.65523708e+01] [-3.72545382e-03 -6.78433969e-06 9.99993060e-01 -8.19752365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:-16.56, Z:-0.82 [[ 9.90678498e-01 1.36170717e-01 3.69447455e-03 1.92389734e+02] [-1.36169876e-01 9.90685386e-01 -4.79489266e-04 -1.65605485e+01] [-3.72535434e-03 -2.80564361e-05 9.99993060e-01 -8.21453160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.45, Y:-16.57, Z:-0.82 [[ 9.89678298e-01 1.43259265e-01 3.69450385e-03 1.92447857e+02] [-1.43258474e-01 9.89685192e-01 -4.79263375e-04 -1.65668468e+01] [-3.72505467e-03 -5.49524238e-05 9.99993060e-01 -8.20995401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:-16.57, Z:-0.82 [[ 9.89291197e-01 1.45908459e-01 3.69452740e-03 1.92505338e+02] [-1.45907687e-01 9.89298093e-01 -4.79081758e-04 -1.65708021e+01] [-3.72489099e-03 -6.51085821e-05 9.99993060e-01 -8.23846213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.56, Y:-16.58, Z:-0.83 [[ 9.89412449e-01 1.45083960e-01 3.69456745e-03 1.92562821e+02] [-1.45083183e-01 9.89419345e-01 -4.78772731e-04 -1.65774987e+01] [-3.72493875e-03 -6.23159060e-05 9.99993060e-01 -8.26269889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.62, Y:-16.58, Z:-0.82 [[ 9.89894958e-01 1.41754442e-01 3.69459584e-03 1.92621367e+02] [-1.41753643e-01 9.89901852e-01 -4.78553515e-04 -1.65823995e+01] [-3.72512435e-03 -5.00047084e-05 9.99993060e-01 -8.23640491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.68, Y:-16.58, Z:-0.82 [[ 9.90467163e-01 1.37699486e-01 3.69461945e-03 1.92680302e+02] [-1.37698660e-01 9.90474053e-01 -4.78371221e-04 -1.65849691e+01] [-3.72529617e-03 -3.49331598e-05 9.99993060e-01 -8.22385618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:-16.59, Z:-0.82 [[ 9.91226092e-01 1.32125636e-01 3.69464286e-03 1.92738143e+02] [-1.32124771e-01 9.91232978e-01 -4.78190330e-04 -1.65891831e+01] [-3.72543304e-03 -1.41591109e-05 9.99993060e-01 -8.24826226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:-16.59, Z:-0.82 [[ 9.92076084e-01 1.25584208e-01 3.69467163e-03 1.92795903e+02] [-1.25583299e-01 9.92082964e-01 -4.77967898e-04 -1.65931011e+01] [-3.72544600e-03 1.01914695e-05 9.99993060e-01 -8.23742062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:-16.60, Z:-0.82 [[ 9.92522210e-01 1.22008244e-01 3.69470598e-03 1.92852848e+02] [-1.22007311e-01 9.92529087e-01 -4.77702262e-04 -1.65992201e+01] [-3.72538676e-03 2.33489643e-05 9.99993060e-01 -8.20073306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.91, Y:-16.61, Z:-0.82 [[ 9.92888172e-01 1.18993392e-01 3.69473980e-03 1.92911285e+02] [-1.18992439e-01 9.92895046e-01 -4.77440528e-04 -1.66053605e+01] [-3.72530111e-03 3.43989523e-05 9.99993060e-01 -8.15445263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:-16.62, Z:-0.82 [[ 9.93084400e-01 1.17344464e-01 3.69476375e-03 1.92968210e+02] [-1.17343500e-01 9.93091272e-01 -4.77255136e-04 -1.66156260e+01] [-3.72524088e-03 4.03981204e-05 9.99993060e-01 -8.17024464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.03, Y:-16.63, Z:-0.82 [[ 9.93148501e-01 1.16800696e-01 3.69479282e-03 1.93026112e+02] [-1.16799730e-01 9.93155373e-01 -4.77029924e-04 -1.66257921e+01] [-3.72522077e-03 4.22107502e-05 9.99993060e-01 -8.22562091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44420382199996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:-16.64, Z:-0.83 [[ 9.93178185e-01 1.16548023e-01 3.69481608e-03 1.93083071e+02] [-1.16547056e-01 9.93185057e-01 -4.76849763e-04 -1.66370368e+01] [-3.72521201e-03 4.29768475e-05 9.99993060e-01 -8.26800962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.14, Y:-16.65, Z:-0.82 [[ 9.93203845e-01 1.16329150e-01 3.69484879e-03 1.93140089e+02] [-1.16328182e-01 9.93210716e-01 -4.76596153e-04 -1.66483090e+01] [-3.72520544e-03 4.35420879e-05 9.99993060e-01 -8.23920503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.20, Y:-16.66, Z:-0.83 [[ 9.93029696e-01 1.17806500e-01 3.69488362e-03 1.93196284e+02] [-1.17805543e-01 9.93036569e-01 -4.76325976e-04 -1.66649125e+01] [-3.72526885e-03 3.77280686e-05 9.99993060e-01 -8.26943339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.25, Y:-16.68, Z:-0.83 [[ 9.92482064e-01 1.22334377e-01 3.69491241e-03 1.93253024e+02] [-1.22333452e-01 9.92488942e-01 -4.76102501e-04 -1.66801875e+01] [-3.72540341e-03 2.05118019e-05 9.99993060e-01 -8.29064058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.31, Y:-16.70, Z:-0.83 [[ 9.91834532e-01 1.27477874e-01 3.69494075e-03 1.93310658e+02] [-1.27476986e-01 9.91841415e-01 -4.75882466e-04 -1.66954460e+01] [-3.72545975e-03 9.76752341e-07 9.99993060e-01 -8.26663255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:-16.71, Z:-0.82 [[ 9.91257527e-01 1.31889586e-01 3.69496292e-03 1.93367864e+02] [-1.31888729e-01 9.91264413e-01 -4.75710267e-04 -1.67131630e+01] [-3.72542648e-03 -1.57725795e-05 9.99993060e-01 -8.24048492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:-16.73, Z:-0.82 [[ 9.90868758e-01 1.34779267e-01 3.69498549e-03 1.93424404e+02] [-1.34778431e-01 9.90875647e-01 -4.75534934e-04 -1.67262772e+01] [-3.72536339e-03 -2.68116365e-05 9.99993060e-01 -8.24824929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:-16.74, Z:-0.82 [[ 9.90242782e-01 1.39303914e-01 3.69501339e-03 1.93481379e+02] [-1.39303110e-01 9.90249674e-01 -4.75317992e-04 -1.67416367e+01] [-3.72519947e-03 -4.40466470e-05 9.99993060e-01 -8.22185288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.54, Y:-16.75, Z:-0.83 [[ 9.89380530e-01 1.45301460e-01 3.69503685e-03 1.93538524e+02] [-1.45300698e-01 9.89387427e-01 -4.75135546e-04 -1.67544380e+01] [-3.72486090e-03 -6.68015769e-05 9.99993060e-01 -8.25280129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.60, Y:-16.76, Z:-0.83 [[ 9.89168004e-01 1.46741289e-01 3.69505997e-03 1.93596618e+02] [-1.46740538e-01 9.89174903e-01 -4.74955708e-04 -1.67642728e+01] [-3.72475620e-03 -7.24040978e-05 9.99993060e-01 -8.25945564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04420382199996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:-16.78, Z:-0.83 [[ 9.88888240e-01 1.48614924e-01 3.69508254e-03 1.93654695e+02] [-1.48614187e-01 9.88895140e-01 -4.74780063e-04 -1.67767669e+01] [-3.72460857e-03 -7.96372648e-05 9.99993060e-01 -8.27156764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:-16.79, Z:-0.83 [[ 9.88761346e-01 1.49456841e-01 3.69510558e-03 1.93711473e+02] [-1.49456111e-01 9.88768247e-01 -4.74600672e-04 -1.67874248e+01] [-3.72453538e-03 -8.29893097e-05 9.99993060e-01 -8.29091225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.77, Y:-16.80, Z:-0.82 [[ 9.87817242e-01 1.55574556e-01 3.69513589e-03 1.93769784e+02] [-1.55573869e-01 9.87824147e-01 -4.74364546e-04 -1.67964955e+01] [-3.72394352e-03 -1.06281110e-04 9.99993060e-01 -8.22551913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.83, Y:-16.80, Z:-0.82 [[ 9.87409563e-01 1.58141396e-01 3.69515833e-03 1.93828738e+02] [-1.58140727e-01 9.87416470e-01 -4.74189740e-04 -1.68023261e+01] [-3.72364922e-03 -1.16135541e-04 9.99993060e-01 -8.21807716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.89, Y:-16.80, Z:-0.82 [[ 9.87208205e-01 1.59393554e-01 3.69518191e-03 1.93886930e+02] [-1.59392895e-01 9.87215113e-01 -4.74005900e-04 -1.68040419e+01] [-3.72349291e-03 -1.21043229e-04 9.99993060e-01 -8.22384218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.95, Y:-16.80, Z:-0.82 [[ 9.87372169e-01 1.58374700e-01 3.69521107e-03 1.93946705e+02] [-1.58374035e-01 9.87379076e-01 -4.73778479e-04 -1.68030847e+01] [-3.72360861e-03 -1.17429803e-04 9.99993060e-01 -8.23456669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.01, Y:-16.80, Z:-0.83 [[ 9.87628248e-01 1.56769862e-01 3.69523386e-03 1.94005207e+02] [-1.56769186e-01 9.87635154e-01 -4.73600616e-04 -1.68033118e+01] [-3.72378917e-03 -1.11557458e-04 9.99993060e-01 -8.27712787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:-16.80, Z:-0.83 [[ 9.88460693e-01 1.51432507e-01 3.69526194e-03 1.94064701e+02] [-1.51431795e-01 9.88467596e-01 -4.73381437e-04 -1.68022777e+01] [-3.72433202e-03 -9.16612054e-05 9.99993060e-01 -8.26723039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:-16.80, Z:-0.83 [[ 9.89882056e-01 1.41844495e-01 3.69528526e-03 1.94123076e+02] [-1.41843717e-01 9.89888951e-01 -4.73199322e-04 -1.67977261e+01] [-3.72504277e-03 -5.57414787e-05 9.99993060e-01 -8.28122281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:-16.80, Z:-0.83 [[ 9.91672794e-01 1.28730006e-01 3.69530664e-03 1.94181083e+02] [-1.28729137e-01 9.91679679e-01 -4.73032318e-04 -1.67972965e+01] [-3.72545395e-03 -6.60035298e-06 9.99993060e-01 -8.25584224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:-16.80, Z:-0.82 [[ 9.93304628e-01 1.15465411e-01 3.69533456e-03 1.94240444e+02] [-1.15464451e-01 9.93311500e-01 -4.72814123e-04 -1.68000525e+01] [-3.72521199e-03 4.29686789e-05 9.99993060e-01 -8.22115463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:-16.81, Z:-0.82 [[ 9.94160462e-01 1.07848594e-01 3.69535692e-03 1.94299456e+02] [-1.07847582e-01 9.94167328e-01 -4.72639247e-04 -1.68060004e+01] [-3.72477660e-03 7.13439444e-05 9.99993060e-01 -8.20585599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76420382199996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:-16.81, Z:-0.82 [[ 9.94918318e-01 1.00617513e-01 3.69537906e-03 1.94357329e+02] [-1.00616452e-01 9.94925176e-01 -4.72466104e-04 -1.68148029e+01] [-3.72416403e-03 9.82492525e-05 9.99993060e-01 -8.22304041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.41, Y:-16.82, Z:-0.82 [[ 9.95101286e-01 9.87915756e-02 3.69540179e-03 1.94414136e+02] [-9.87905024e-02 9.95108142e-01 -4.72288284e-04 -1.68237957e+01] [-3.72398251e-03 1.04904079e-04 9.99993060e-01 -8.24997758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.47, Y:-16.83, Z:-0.83 [[ 9.94800905e-01 1.01771818e-01 3.69542987e-03 1.94472661e+02] [-1.01770766e-01 9.94807765e-01 -4.72068435e-04 -1.68336662e+01] [-3.72428559e-03 9.35273782e-05 9.99993060e-01 -8.25690812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:-16.85, Z:-0.83 [[ 9.94180884e-01 1.07660176e-01 3.69545164e-03 1.94530655e+02] [-1.07659165e-01 9.94187750e-01 -4.71897986e-04 -1.68458464e+01] [-3.72477737e-03 7.13027190e-05 9.99993060e-01 -8.25200756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:-16.86, Z:-0.82 [[ 9.93644264e-01 1.12505199e-01 3.69547392e-03 1.94588878e+02] [-1.12504222e-01 9.93651135e-01 -4.71723433e-04 -1.68569134e+01] [-3.72508319e-03 5.29688647e-05 9.99993060e-01 -8.24406879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:-16.87, Z:-0.83 [[ 9.92751401e-01 1.20129092e-01 3.69549640e-03 1.94645772e+02] [-1.20128169e-01 9.92758279e-01 -4.71547239e-04 -1.68652394e+01] [-3.72538119e-03 2.41959651e-05 9.99993060e-01 -8.25132478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:-16.88, Z:-0.83 [[ 9.91874257e-01 1.27168398e-01 3.69552433e-03 1.94703876e+02] [-1.27167524e-01 9.91881141e-01 -4.71328242e-04 -1.68759776e+01] [-3.72545895e-03 -2.45232928e-06 9.99993060e-01 -8.27735650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:-16.88, Z:-0.83 [[ 9.90906330e-01 1.34502746e-01 3.69554639e-03 1.94762733e+02] [-1.34501924e-01 9.90913220e-01 -4.71155187e-04 -1.68831323e+01] [-3.72533745e-03 -3.01874426e-05 9.99993060e-01 -8.25514120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.82, Y:-16.89, Z:-0.83 [[ 9.90234584e-01 1.39362160e-01 3.69556981e-03 1.94821484e+02] [-1.39361372e-01 9.90241479e-01 -4.70971461e-04 -1.68876386e+01] [-3.72514211e-03 -4.86474519e-05 9.99993060e-01 -8.26694209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.88, Y:-16.89, Z:-0.83 [[ 9.89819544e-01 1.42280054e-01 3.69559318e-03 1.94878259e+02] [-1.42279288e-01 9.89826441e-01 -4.70788015e-04 -1.68919707e+01] [-3.72497959e-03 -5.98111863e-05 9.99993060e-01 -8.29647387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:-16.90, Z:-0.83 [[ 9.90390068e-01 1.38252871e-01 3.69563361e-03 1.94937347e+02] [-1.38252078e-01 9.90396962e-01 -4.70470385e-04 -1.68976669e+01] [-3.72518818e-03 -4.49798318e-05 9.99993060e-01 -8.28586290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:-16.90, Z:-0.83 [[ 9.91538995e-01 1.29756551e-01 3.69565113e-03 1.94994966e+02] [-1.29755699e-01 9.91545883e-01 -4.70332721e-04 -1.69011482e+01] [-3.72543642e-03 -1.31785643e-05 9.99993060e-01 -8.28921958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:-16.91, Z:-0.83 [[ 9.92326408e-01 1.23590621e-01 3.69567999e-03 1.95053305e+02] [-1.23589728e-01 9.92333290e-01 -4.70105845e-04 -1.69086856e+01] [-3.72544696e-03 9.75036049e-06 9.99993060e-01 -8.27254767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:-16.92, Z:-0.83 [[ 9.93288359e-01 1.15605270e-01 3.69570265e-03 1.95111098e+02] [-1.15604322e-01 9.93295233e-01 -4.69927695e-04 -1.69185535e+01] [-3.72524994e-03 3.95345114e-05 9.99993060e-01 -8.28344762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:-16.93, Z:-0.83 [[ 9.93726956e-01 1.11772441e-01 3.69572531e-03 1.95168384e+02] [-1.11771467e-01 9.93733827e-01 -4.69749430e-04 -1.69260779e+01] [-3.72507229e-03 5.37260327e-05 9.99993060e-01 -8.28707926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.23, Y:-16.93, Z:-0.83 [[ 9.93711042e-01 1.11913838e-01 3.69575544e-03 1.95225196e+02] [-1.11912866e-01 9.93717913e-01 -4.69512239e-04 -1.69338385e+01] [-3.72508330e-03 5.29569125e-05 9.99993060e-01 -8.27898533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:-16.94, Z:-0.83 [[ 9.93403800e-01 1.14609036e-01 3.69577530e-03 1.95283762e+02] [-1.14608083e-01 9.93410674e-01 -4.69355827e-04 -1.69414804e+01] [-3.72521505e-03 4.26941405e-05 9.99993060e-01 -8.27946649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:-16.95, Z:-0.83 [[ 9.93242243e-01 1.16000807e-01 3.69579711e-03 1.95341499e+02] [-1.15999864e-01 9.93249118e-01 -4.69184047e-04 -1.69514780e+01] [-3.72527295e-03 3.73014526e-05 9.99993060e-01 -8.26092982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:-16.96, Z:-0.83 [[ 9.93256185e-01 1.15881368e-01 3.69581980e-03 1.95398581e+02] [-1.15880425e-01 9.93263060e-01 -4.69005271e-04 -1.69583487e+01] [-3.72527025e-03 3.75692168e-05 9.99993060e-01 -8.25942178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:-16.97, Z:-0.82 [[ 9.93386872e-01 1.14755665e-01 3.69584784e-03 1.95457139e+02] [-1.14754715e-01 9.93393747e-01 -4.68784177e-04 -1.69671977e+01] [-3.72522777e-03 4.15680823e-05 9.99993060e-01 -8.24160712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:195.51, Y:-16.98, Z:-0.83 [[ 9.93775880e-01 1.11336615e-01 3.69587008e-03 1.95514436e+02] [-1.11335642e-01 9.93782751e-01 -4.68608764e-04 -1.69782934e+01] [-3.72506525e-03 5.42100196e-05 9.99993060e-01 -8.25380631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:-16.99, Z:-0.82 [[ 9.94200801e-01 1.07476081e-01 3.69589760e-03 1.95571637e+02] [-1.07475082e-01 9.94207668e-01 -4.68391651e-04 -1.69900433e+01] [-3.72483063e-03 6.84584576e-05 9.99993060e-01 -8.22178221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.63, Y:-17.01, Z:-0.82 [[ 9.94168381e-01 1.07775557e-01 3.69592455e-03 1.95628628e+02] [-1.07774561e-01 9.94175249e-01 -4.68178914e-04 -1.70061792e+01] [-3.72485495e-03 6.71220282e-05 9.99993060e-01 -8.21219310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:-17.02, Z:-0.82 [[ 9.94036138e-01 1.08988516e-01 3.69594731e-03 1.95686789e+02] [-1.08987529e-01 9.94043007e-01 -4.67999135e-04 -1.70178528e+01] [-3.72493711e-03 6.23958888e-05 9.99993060e-01 -8.24092138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:-17.03, Z:-0.83 [[ 9.93763237e-01 1.11449395e-01 3.69597016e-03 1.95743445e+02] [-1.11448426e-01 9.93770109e-01 -4.67818633e-04 -1.70333708e+01] [-3.72508277e-03 5.29909046e-05 9.99993060e-01 -8.27188093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.80, Y:-17.05, Z:-0.83 [[ 9.93416220e-01 1.14501325e-01 3.69600090e-03 1.95800831e+02] [-1.14500378e-01 9.93423095e-01 -4.67575647e-04 -1.70471957e+01] [-3.72523068e-03 4.13037328e-05 9.99993060e-01 -8.29957494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.86, Y:-17.06, Z:-0.83 [[ 9.92942094e-01 1.18542555e-01 3.69602380e-03 1.95858765e+02] [-1.18541636e-01 9.92948973e-01 -4.67394531e-04 -1.70635862e+01] [-3.72536918e-03 2.59629969e-05 9.99993060e-01 -8.29586159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.92, Y:-17.08, Z:-0.83 [[ 9.92482638e-01 1.22329688e-01 3.69603519e-03 1.95916065e+02] [-1.22328796e-01 9.92489520e-01 -4.67304450e-04 -1.70756081e+01] [-3.72544140e-03 1.16600193e-05 9.99993060e-01 -8.26992613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:-17.09, Z:-0.83 [[ 9.92301508e-01 1.23790375e-01 3.69604895e-03 1.95973394e+02] [-1.23789494e-01 9.92308391e-01 -4.67195608e-04 -1.70872346e+01] [-3.72545470e-03 6.06687706e-06 9.99993060e-01 -8.28708709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:-17.10, Z:-0.83 [[ 9.92046556e-01 1.25817210e-01 3.69606552e-03 1.96031734e+02] [-1.25816343e-01 9.92053441e-01 -4.67064504e-04 -1.70994974e+01] [-3.72545927e-03 -1.67571366e-06 9.99993060e-01 -8.28578342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.09, Y:-17.11, Z:-0.83 [[ 9.91590363e-01 1.29363407e-01 3.69607696e-03 1.96089679e+02] [-1.29362565e-01 9.91597251e-01 -4.66973889e-04 -1.71088149e+01] [-3.72542909e-03 -1.50871902e-05 9.99993060e-01 -8.29654365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:-17.11, Z:-0.83 [[ 9.90875904e-01 1.34726693e-01 3.69609405e-03 1.96147883e+02] [-1.34725889e-01 9.90882797e-01 -4.66838630e-04 -1.71146671e+01] [-3.72529163e-03 -3.53804075e-05 9.99993060e-01 -8.25601025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.21, Y:-17.12, Z:-0.83 [[ 9.90452216e-01 1.37806921e-01 3.69611687e-03 1.96206511e+02] [-1.37806139e-01 9.90459111e-01 -4.66657900e-04 -1.71199904e+01] [-3.72516131e-03 -4.71452438e-05 9.99993060e-01 -8.26259396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.27, Y:-17.13, Z:-0.83 [[ 9.90438655e-01 1.37904351e-01 3.69613963e-03 1.96265399e+02] [-1.37903571e-01 9.90445550e-01 -4.66477558e-04 -1.71252522e+01] [-3.72515433e-03 -4.76934474e-05 9.99993060e-01 -8.26569121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:-17.13, Z:-0.83 [[ 9.91407706e-01 1.30755872e-01 3.69616218e-03 1.96324147e+02] [-1.30755042e-01 9.91414596e-01 -4.66298766e-04 -1.71295918e+01] [-3.72540044e-03 -2.09996504e-05 9.99993060e-01 -8.29574337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.38, Y:-17.14, Z:-0.83 [[ 9.92899673e-01 1.18897338e-01 3.69617893e-03 1.96384474e+02] [-1.18896426e-01 9.92906553e-01 -4.66165979e-04 -1.71364385e+01] [-3.72538617e-03 2.33935840e-05 9.99993060e-01 -8.26277434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:-17.15, Z:-0.83 [[ 9.93939198e-01 1.09869052e-01 3.69617893e-03 1.96443262e+02] [-1.09868078e-01 9.93946069e-01 -4.66165979e-04 -1.71462156e+01] [-3.72501973e-03 5.72485665e-05 9.99993060e-01 -8.29233988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:-17.16, Z:-0.83 [[ 9.94239385e-01 1.07118547e-01 3.69618463e-03 1.96503022e+02] [-1.07117554e-01 9.94246253e-01 -4.66120811e-04 -1.71554111e+01] [-3.72484790e-03 6.75094116e-05 9.99993060e-01 -8.28226277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:-17.16, Z:-0.83 [[ 9.94146803e-01 1.07974406e-01 3.69618463e-03 1.96562891e+02] [-1.07973419e-01 9.94153672e-01 -4.66120811e-04 -1.71637551e+01] [-3.72490464e-03 6.43028242e-05 9.99993060e-01 -8.27056817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.62, Y:-17.17, Z:-0.83 [[ 9.93670186e-01 1.12275994e-01 3.69618463e-03 1.96623024e+02] [-1.12275037e-01 9.93677060e-01 -4.66120811e-04 -1.71733624e+01] [-3.72514805e-03 4.81810880e-05 9.99993060e-01 -8.29644482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:-17.18, Z:-0.83 [[ 9.93008086e-01 1.17988470e-01 3.69618463e-03 1.96681049e+02] [-1.17987552e-01 9.93014965e-01 -4.66120811e-04 -1.71811985e+01] [-3.72536353e-03 2.67579569e-05 9.99993060e-01 -8.29382799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:-17.19, Z:-0.83 [[ 9.92139943e-01 1.25078664e-01 3.69620166e-03 1.96739752e+02] [-1.25077796e-01 9.92146828e-01 -4.65985722e-04 -1.71875782e+01] [-3.72545962e-03 1.02919000e-08 9.99993060e-01 -8.28573855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:-17.19, Z:-0.83 [[ 9.91211743e-01 1.32233198e-01 3.69621415e-03 1.96798763e+02] [-1.32232380e-01 9.91218634e-01 -4.65886641e-04 -1.71920626e+01] [-3.72536202e-03 -2.69668831e-05 9.99993060e-01 -8.31065903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:-17.20, Z:-0.83 [[ 9.90818485e-01 1.35148319e-01 3.69623607e-03 1.96857888e+02] [-1.35147522e-01 9.90825378e-01 -4.65712667e-04 -1.71992490e+01] [-3.72526478e-03 -3.81004238e-05 9.99993060e-01 -8.33747681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.92, Y:-17.20, Z:-0.83 [[ 9.90577403e-01 1.36904148e-01 3.69624700e-03 1.96916606e+02] [-1.36903364e-01 9.90584298e-01 -4.65625845e-04 -1.72039707e+01] [-3.72519035e-03 -4.47902087e-05 9.99993060e-01 -8.33776677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:-17.21, Z:-0.83 [[ 9.90722545e-01 1.35849833e-01 3.69626871e-03 1.96975694e+02] [-1.35849041e-01 9.90729439e-01 -4.65453478e-04 -1.72080217e+01] [-3.72523400e-03 -4.09993066e-05 9.99993060e-01 -8.31719928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52420382199998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:197.03, Y:-17.21, Z:-0.84 [[ 9.90846478e-01 1.34942929e-01 3.69629194e-03 1.97033791e+02] [-1.34942133e-01 9.90853372e-01 -4.65268881e-04 -1.72135071e+01] [-3.72526808e-03 -3.77754854e-05 9.99993060e-01 -8.35208401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:-17.22, Z:-0.83 [[ 9.91151947e-01 1.32680650e-01 3.69631497e-03 1.97093080e+02] [-1.32679839e-01 9.91158839e-01 -4.65085867e-04 -1.72211582e+01] [-3.72534315e-03 -2.94557113e-05 9.99993060e-01 -8.34620904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:-17.22, Z:-0.84 [[ 9.91413994e-01 1.30708189e-01 3.69632611e-03 1.97151966e+02] [-1.30707364e-01 9.91420884e-01 -4.64997288e-04 -1.72249208e+01] [-3.72539386e-03 -2.21322236e-05 9.99993060e-01 -8.36488886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:-17.23, Z:-0.83 [[ 9.91331770e-01 1.31330343e-01 3.69634816e-03 1.97210182e+02] [-1.31329522e-01 9.91338661e-01 -4.64822011e-04 -1.72300912e+01] [-3.72537807e-03 -2.46468101e-05 9.99993060e-01 -8.34889651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:-17.24, Z:-0.84 [[ 9.91211153e-01 1.32237619e-01 3.69637117e-03 1.97267737e+02] [-1.32236806e-01 9.91218044e-01 -4.64638928e-04 -1.72362116e+01] [-3.72535255e-03 -2.82410301e-05 9.99993060e-01 -8.37278510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:-17.24, Z:-0.84 [[ 9.90870634e-01 1.34765435e-01 3.69639964e-03 1.97326378e+02] [-1.34764640e-01 9.90877528e-01 -4.64412286e-04 -1.72392200e+01] [-3.72526607e-03 -3.79714707e-05 9.99993060e-01 -8.35380941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:-17.24, Z:-0.83 [[ 9.90824596e-01 1.35103500e-01 3.69642242e-03 1.97385422e+02] [-1.35102709e-01 9.90831491e-01 -4.64230917e-04 -1.72415115e+01] [-3.72525096e-03 -3.94252707e-05 9.99993060e-01 -8.32425784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:-17.25, Z:-0.83 [[ 9.90928256e-01 1.34341087e-01 3.69644550e-03 1.97444322e+02] [-1.34340291e-01 9.90935150e-01 -4.64047080e-04 -1.72468957e+01] [-3.72527837e-03 -3.67441992e-05 9.99993060e-01 -8.32044681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:-17.25, Z:-0.84 [[ 9.91119415e-01 1.32923442e-01 3.69646843e-03 1.97502233e+02] [-1.32922636e-01 9.91126308e-01 -4.63864351e-04 -1.72504470e+01] [-3.72532555e-03 -3.15993655e-05 9.99993060e-01 -8.35274002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:-17.25, Z:-0.83 [[ 9.91246785e-01 1.31970249e-01 3.69649674e-03 1.97560598e+02] [-1.31969437e-01 9.91253677e-01 -4.63638679e-04 -1.72542349e+01] [-3.72535250e-03 -2.82442447e-05 9.99993060e-01 -8.34932322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:-17.26, Z:-0.83 [[ 9.91504314e-01 1.30021273e-01 3.69651873e-03 1.97619399e+02] [-1.30020449e-01 9.91511204e-01 -4.63463236e-04 -1.72577089e+01] [-3.72539982e-03 -2.10972271e-05 9.99993060e-01 -8.33027643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:-17.26, Z:-0.84 [[ 9.91806253e-01 1.27697662e-01 3.69654162e-03 1.97678528e+02] [-1.27696822e-01 9.91813141e-01 -4.63280609e-04 -1.72626954e+01] [-3.72543841e-03 -1.25520138e-05 9.99993060e-01 -8.35332501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.74, Y:-17.27, Z:-0.84 [[ 9.91843126e-01 1.27410947e-01 3.69655874e-03 1.97736352e+02] [-1.27410106e-01 9.91850014e-01 -4.63143998e-04 -1.72685802e+01] [-3.72544145e-03 -1.16127489e-05 9.99993060e-01 -8.37827915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:-17.27, Z:-0.84 [[ 9.91784905e-01 1.27863354e-01 3.69658692e-03 1.97794711e+02] [-1.27862517e-01 9.91791794e-01 -4.62918951e-04 -1.72727021e+01] [-3.72543494e-03 -1.35388810e-05 9.99993060e-01 -8.36167584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:-17.28, Z:-0.84 [[ 9.91996741e-01 1.26209352e-01 3.69660889e-03 1.97853098e+02] [-1.26208504e-01 9.92003629e-01 -4.62743442e-04 -1.72791729e+01] [-3.72545198e-03 -7.50349294e-06 9.99993060e-01 -8.35731403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:-17.29, Z:-0.84 [[ 9.92442463e-01 1.22655177e-01 3.69663079e-03 1.97911828e+02] [-1.22654305e-01 9.92449348e-01 -4.62568409e-04 -1.72862701e+01] [-3.72545523e-03 5.66484886e-06 9.99993060e-01 -8.35507313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:-17.30, Z:-0.83 [[ 9.92997347e-01 1.18078799e-01 3.69665298e-03 1.97969707e+02] [-1.18077896e-01 9.93004228e-01 -4.62391029e-04 -1.72950487e+01] [-3.72539062e-03 2.26600594e-05 9.99993060e-01 -8.34260597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:-17.30, Z:-0.83 [[ 9.93308268e-01 1.15434052e-01 3.69667577e-03 1.98028065e+02] [-1.15433131e-01 9.93315146e-01 -4.62208740e-04 -1.73049323e+01] [-3.72531866e-03 3.23969049e-05 9.99993060e-01 -8.33215676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.09, Y:-17.32, Z:-0.83 [[ 9.93623686e-01 1.12686753e-01 3.69669860e-03 1.98085178e+02] [-1.12685814e-01 9.93630562e-01 -4.62026105e-04 -1.73170538e+01] [-3.72521693e-03 4.25145931e-05 9.99993060e-01 -8.32648177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:-17.33, Z:-0.84 [[ 9.93574505e-01 1.13119567e-01 3.69672681e-03 1.98143715e+02] [-1.13118632e-01 9.93581382e-01 -4.61800290e-04 -1.73276750e+01] [-3.72523758e-03 4.06643151e-05 9.99993060e-01 -8.35508414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:-17.34, Z:-0.84 [[ 9.93160258e-01 1.16700628e-01 3.69673805e-03 1.98201796e+02] [-1.16699717e-01 9.93167137e-01 -4.61710249e-04 -1.73402967e+01] [-3.72536063e-03 2.71439834e-05 9.99993060e-01 -8.35495036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:-17.35, Z:-0.84 [[ 9.92709287e-01 1.20476575e-01 3.69676081e-03 1.98258423e+02] [-1.20475691e-01 9.92716170e-01 -4.61528008e-04 -1.73494561e+01] [-3.72543754e-03 1.27933262e-05 9.99993060e-01 -8.35803956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:-17.36, Z:-0.84 [[ 9.91969741e-01 1.26421382e-01 3.69679463e-03 1.98315225e+02] [-1.26420541e-01 9.91976630e-01 -4.61256937e-04 -1.73593815e+01] [-3.72544662e-03 -9.79785304e-06 9.99993060e-01 -8.37917774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90420382199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:-17.37, Z:-0.84 [[ 9.91275047e-01 1.31757791e-01 3.69682233e-03 1.98373688e+02] [-1.31756987e-01 9.91281940e-01 -4.61034847e-04 -1.73676561e+01] [-3.72533814e-03 -3.00698327e-05 9.99993060e-01 -8.38589973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.43, Y:-17.38, Z:-0.84 [[ 9.90675522e-01 1.36192301e-01 3.69684501e-03 1.98430893e+02] [-1.36191530e-01 9.90682419e-01 -4.60852892e-04 -1.73767159e+01] [-3.72516397e-03 -4.69232968e-05 9.99993060e-01 -8.39633976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:-17.38, Z:-0.84 [[ 9.90190699e-01 1.39673590e-01 3.69687309e-03 1.98489436e+02] [-1.39672844e-01 9.90197599e-01 -4.60627489e-04 -1.73815167e+01] [-3.72497236e-03 -6.02437231e-05 9.99993060e-01 -8.41111650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:-17.38, Z:-0.85 [[ 9.90018366e-01 1.40889911e-01 3.69689466e-03 1.98547210e+02] [-1.40889174e-01 9.90025267e-01 -4.60454370e-04 -1.73849550e+01] [-3.72489249e-03 -6.49941497e-05 9.99993060e-01 -8.45179182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:-17.39, Z:-0.84 [[ 9.90439622e-01 1.37897385e-01 3.69692203e-03 1.98605962e+02] [-1.37896627e-01 9.90446520e-01 -4.60234470e-04 -1.73905900e+01] [-3.72506869e-03 -5.39586252e-05 9.99993060e-01 -8.44158562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:-17.39, Z:-0.84 [[ 9.91274435e-01 1.31762390e-01 3.69694308e-03 1.98664889e+02] [-1.31761590e-01 9.91281328e-01 -4.60065340e-04 -1.73937669e+01] [-3.72532995e-03 -3.10640890e-05 9.99993060e-01 -8.43013743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.72, Y:-17.40, Z:-0.84 [[ 9.92019024e-01 1.26034080e-01 3.69696479e-03 1.98723029e+02] [-1.26033242e-01 9.92025912e-01 -4.59890825e-04 -1.73990618e+01] [-3.72544678e-03 -9.72000955e-06 9.99993060e-01 -8.40570847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.78, Y:-17.40, Z:-0.84 [[ 9.92484828e-01 1.22311892e-01 3.69699198e-03 1.98781972e+02] [-1.22311028e-01 9.92491713e-01 -4.59672137e-04 -1.74039474e+01] [-3.72545727e-03 4.03473280e-06 9.99993060e-01 -8.37543363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.84, Y:-17.41, Z:-0.84 [[ 9.92759726e-01 1.20060230e-01 3.69701397e-03 1.98840783e+02] [-1.20059352e-01 9.92766610e-01 -4.59495215e-04 -1.74095065e+01] [-3.72543912e-03 1.23072431e-05 9.99993060e-01 -8.36206145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.90, Y:-17.41, Z:-0.84 [[ 9.93142066e-01 1.16855332e-01 3.69703646e-03 1.98898926e+02] [-1.16854432e-01 9.93148947e-01 -4.59314167e-04 -1.74147026e+01] [-3.72538118e-03 2.41491263e-05 9.99993060e-01 -8.38635898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.96, Y:-17.42, Z:-0.84 [[ 9.93388044e-01 1.14745481e-01 3.69705865e-03 1.98957529e+02] [-1.14744567e-01 9.93394923e-01 -4.59135457e-04 -1.74216464e+01] [-3.72532302e-03 3.18822805e-05 9.99993060e-01 -8.38393721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.02, Y:-17.43, Z:-0.84 [[ 9.93489913e-01 1.13860106e-01 3.69708141e-03 1.99015208e+02] [-1.13859187e-01 9.93496792e-01 -4.58952166e-04 -1.74282610e+01] [-3.72529486e-03 3.50176645e-05 9.99993060e-01 -8.40578546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62420382199997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:199.07, Y:-17.44, Z:-0.84 [[ 9.93403186e-01 1.14614313e-01 3.69710949e-03 1.99073484e+02] [-1.14613400e-01 9.93410065e-01 -4.58725823e-04 -1.74364308e+01] [-3.72532233e-03 3.19614065e-05 9.99993060e-01 -8.41682780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:-17.45, Z:-0.84 [[ 9.93380456e-01 1.14811150e-01 3.69713193e-03 1.99131646e+02] [-1.14810239e-01 9.93387336e-01 -4.58544927e-04 -1.74451320e+01] [-3.72533011e-03 3.10409705e-05 9.99993060e-01 -8.40392452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.19, Y:-17.45, Z:-0.84 [[ 9.93171991e-01 1.16600717e-01 3.69715437e-03 1.99190349e+02] [-1.16599819e-01 9.93178872e-01 -4.58363926e-04 -1.74530686e+01] [-3.72538117e-03 2.41466838e-05 9.99993060e-01 -8.41790424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:-17.46, Z:-0.84 [[ 9.93111916e-01 1.17111288e-01 3.69717664e-03 1.99247294e+02] [-1.17110393e-01 9.93118797e-01 -4.58184203e-04 -1.74609756e+01] [-3.72539416e-03 2.20503806e-05 9.99993060e-01 -8.44014580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.31, Y:-17.47, Z:-0.85 [[ 9.92925267e-01 1.18683384e-01 3.69720429e-03 1.99305917e+02] [-1.18682501e-01 9.92932150e-01 -4.57961002e-04 -1.74699726e+01] [-3.72542536e-03 1.59275984e-05 9.99993060e-01 -8.46248562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.36, Y:-17.48, Z:-0.84 [[ 9.92487220e-01 1.22292476e-01 3.69723707e-03 1.99364223e+02] [-1.22291619e-01 9.92494106e-01 -4.57696170e-04 -1.74801538e+01] [-3.72545880e-03 2.11649175e-06 9.99993060e-01 -8.43612870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.42, Y:-17.49, Z:-0.84 [[ 9.92285637e-01 1.23917494e-01 3.69725875e-03 1.99422540e+02] [-1.23916649e-01 9.92292525e-01 -4.57521009e-04 -1.74893909e+01] [-3.72545708e-03 -4.16038956e-06 9.99993060e-01 -8.39379467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.48, Y:-17.50, Z:-0.84 [[ 9.92444816e-01 1.22636117e-01 3.69728132e-03 1.99480025e+02] [-1.22635265e-01 9.92451703e-01 -4.57338518e-04 -1.74989935e+01] [-3.72545936e-03 4.66167917e-07 9.99993060e-01 -8.37596073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.54, Y:-17.51, Z:-0.84 [[ 9.92556222e-01 1.21731163e-01 3.69730375e-03 1.99536468e+02] [-1.21730304e-01 9.92563108e-01 -4.57157160e-04 -1.75110033e+01] [-3.72545757e-03 3.68027345e-06 9.99993060e-01 -8.39541675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:-17.52, Z:-0.84 [[ 9.92371304e-01 1.23229558e-01 3.69733120e-03 1.99594579e+02] [-1.23228711e-01 9.92378192e-01 -4.56934976e-04 -1.75198742e+01] [-3.72545875e-03 -2.16820018e-06 9.99993060e-01 -8.39676081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:-17.53, Z:-0.84 [[ 9.91464895e-01 1.30321491e-01 3.69735265e-03 1.99652940e+02] [-1.30320694e-01 9.91471789e-01 -4.56761381e-04 -1.75282662e+01] [-3.72534667e-03 -2.89786888e-05 9.99993060e-01 -8.38064555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:-17.53, Z:-0.84 [[ 9.90202899e-01 1.39587061e-01 3.69737526e-03 1.99710782e+02] [-1.39586329e-01 9.90209800e-01 -4.56578248e-04 -1.75318618e+01] [-3.72490964e-03 -6.39979336e-05 9.99993060e-01 -8.41322957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34420382199997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:199.77, Y:-17.54, Z:-0.84 [[ 9.89460253e-01 1.44757514e-01 3.69740320e-03 1.99769503e+02] [-1.44756819e-01 9.89467157e-01 -4.56351888e-04 -1.75362208e+01] [-3.72451940e-03 -8.36822705e-05 9.99993060e-01 -8.44310457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:-17.54, Z:-0.84 [[ 9.89224817e-01 1.46357746e-01 3.69742556e-03 1.99827009e+02] [-1.46357063e-01 9.89231723e-01 -4.56170651e-04 -1.75403712e+01] [-3.72437477e-03 -8.98890170e-05 9.99993060e-01 -8.43917901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:-17.54, Z:-0.84 [[ 9.89357531e-01 1.45457916e-01 3.69745303e-03 1.99885776e+02] [-1.45457227e-01 9.89364436e-01 -4.55947910e-04 -1.75425401e+01] [-3.72444977e-03 -8.67257679e-05 9.99993060e-01 -8.41819317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52420382199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.95, Y:-17.54, Z:-0.84 [[ 9.89444880e-01 1.44862552e-01 3.69747460e-03 1.99945388e+02] [-1.44861860e-01 9.89451784e-01 -4.55772897e-04 -1.75436074e+01] [-3.72449727e-03 -8.46608890e-05 9.99993060e-01 -8.41174664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:-17.54, Z:-0.84 [[ 9.89572503e-01 1.43988157e-01 3.69749602e-03 2.00004569e+02] [-1.43987460e-01 9.89579408e-01 -4.55599128e-04 -1.75429608e+01] [-3.72456680e-03 -8.15446880e-05 9.99993060e-01 -8.42278354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:-17.54, Z:-0.84 [[ 9.89787678e-01 1.42501509e-01 3.69751740e-03 2.00063340e+02] [-1.42500801e-01 9.89794582e-01 -4.55425526e-04 -1.75434692e+01] [-3.72468151e-03 -7.61246175e-05 9.99993060e-01 -8.41562287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-17.54, Z:-0.84 [[ 9.90099099e-01 1.40321426e-01 3.69753869e-03 2.00122234e+02] [-1.40320704e-01 9.90106001e-01 -4.55252579e-04 -1.75439165e+01] [-3.72483694e-03 -6.80960638e-05 9.99993060e-01 -8.38620671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.18, Y:-17.54, Z:-0.84 [[ 9.90572615e-01 1.36938751e-01 3.69756063e-03 2.00181952e+02] [-1.36938006e-01 9.90579515e-01 -4.55074340e-04 -1.75435008e+01] [-3.72504513e-03 -5.55524014e-05 9.99993060e-01 -8.40791767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:-17.54, Z:-0.85 [[ 9.90923409e-01 1.34376803e-01 3.69758316e-03 2.00240274e+02] [-1.34376041e-01 9.90930307e-01 -4.54891209e-04 -1.75430043e+01] [-3.72517404e-03 -4.61042388e-05 9.99993060e-01 -8.46819011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.30, Y:-17.54, Z:-0.85 [[ 9.91146353e-01 1.32722400e-01 3.69761110e-03 2.00298241e+02] [-1.32721628e-01 9.91153249e-01 -4.54663986e-04 -1.75426866e+01] [-3.72524335e-03 -4.01144115e-05 9.99993060e-01 -8.45546538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.36, Y:-17.54, Z:-0.85 [[ 9.91601546e-01 1.29277610e-01 3.69766069e-03 2.00357539e+02] [-1.29276815e-01 9.91608440e-01 -4.54260339e-04 -1.75416629e+01] [-3.72535724e-03 -2.75765428e-05 9.99993060e-01 -8.46709061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.42, Y:-17.54, Z:-0.84 [[ 9.92024192e-01 1.25993371e-01 3.69768296e-03 2.00416160e+02] [-1.25992554e-01 9.92031083e-01 -4.54078959e-04 -1.75443024e+01] [-3.72542737e-03 -1.54232064e-05 9.99993060e-01 -8.44884362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:-17.55, Z:-0.85 [[ 9.92603685e-01 1.21343526e-01 3.69770529e-03 2.00474384e+02] [-1.21342677e-01 9.92610573e-01 -4.53897015e-04 -1.75470956e+01] [-3.72545883e-03 1.85039047e-06 9.99993060e-01 -8.46800573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:-17.55, Z:-0.85 [[ 9.92974701e-01 1.18269060e-01 3.69773295e-03 2.00532496e+02] [-1.18268191e-01 9.92981586e-01 -4.53671624e-04 -1.75532941e+01] [-3.72543604e-03 1.31602593e-05 9.99993060e-01 -8.50352294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.59, Y:-17.56, Z:-0.85 [[ 9.93160816e-01 1.16695842e-01 3.69775521e-03 2.00590353e+02] [-1.16694962e-01 9.93167700e-01 -4.53490083e-04 -1.75587090e+01] [-3.72541144e-03 1.88791776e-05 9.99993060e-01 -8.52235613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:-17.56, Z:-0.85 [[ 9.93336642e-01 1.15189589e-01 3.69778272e-03 2.00648352e+02] [-1.15188700e-01 9.93343525e-01 -4.53265669e-04 -1.75647741e+01] [-3.72538001e-03 2.43026151e-05 9.99993060e-01 -8.50566205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:-17.58, Z:-0.85 [[ 9.93656479e-01 1.12397192e-01 3.69781787e-03 2.00706180e+02] [-1.12396285e-01 9.93663358e-01 -4.52978720e-04 -1.75755693e+01] [-3.72529966e-03 3.44842495e-05 9.99993060e-01 -8.50758705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.76, Y:-17.59, Z:-0.85 [[ 9.93863094e-01 1.10555309e-01 3.69783907e-03 2.00762605e+02] [-1.10554390e-01 9.93869972e-01 -4.52805557e-04 -1.75865083e+01] [-3.72523128e-03 4.12143895e-05 9.99993060e-01 -8.51883153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:-17.60, Z:-0.85 [[ 9.93973741e-01 1.09556052e-01 3.69786525e-03 2.00820991e+02] [-1.09555126e-01 9.93980618e-01 -4.52591709e-04 -1.75979340e+01] [-3.72519055e-03 4.47441808e-05 9.99993060e-01 -8.52061884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:-17.61, Z:-0.85 [[ 9.94074205e-01 1.08640691e-01 3.69788199e-03 2.00877351e+02] [-1.08639760e-01 9.94081082e-01 -4.52454831e-04 -1.76131965e+01] [-3.72514954e-03 4.80366664e-05 9.99993060e-01 -8.53138126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.93, Y:-17.62, Z:-0.85 [[ 9.93782692e-01 1.11275720e-01 3.69791100e-03 2.00933759e+02] [-1.11274808e-01 9.93789572e-01 -4.52217614e-04 -1.76244051e+01] [-3.72526623e-03 3.79217013e-05 9.99993060e-01 -8.51689895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:-17.63, Z:-0.85 [[ 9.93232914e-01 1.16080596e-01 3.69792991e-03 2.00990703e+02] [-1.16079718e-01 9.93239797e-01 -4.52062973e-04 -1.76331295e+01] [-3.72540689e-03 1.97491639e-05 9.99993060e-01 -8.51521466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.05, Y:-17.65, Z:-0.85 [[ 9.92227883e-01 1.24379068e-01 3.69795678e-03 2.01048275e+02] [-1.24378247e-01 9.92234774e-01 -4.51843036e-04 -1.76453812e+01] [-3.72544113e-03 -1.16141247e-05 9.99993060e-01 -8.50435772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.11, Y:-17.66, Z:-0.85 [[ 9.91750059e-01 1.28133315e-01 3.69797899e-03 2.01105218e+02] [-1.28132521e-01 9.91756953e-01 -4.51661249e-04 -1.76557818e+01] [-3.72536922e-03 -2.58963015e-05 9.99993060e-01 -8.50898210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:-17.66, Z:-0.85 [[ 9.91161646e-01 1.32608131e-01 3.69801071e-03 2.01163326e+02] [-1.32607370e-01 9.91168544e-01 -4.51401328e-04 -1.76630389e+01] [-3.72521138e-03 -4.29717914e-05 9.99993060e-01 -8.45072322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:-17.67, Z:-0.85 [[ 9.90557777e-01 1.37046035e-01 3.69802763e-03 2.01221051e+02] [-1.37045305e-01 9.90564678e-01 -4.51262705e-04 -1.76701329e+01] [-3.72497931e-03 -5.97955422e-05 9.99993060e-01 -8.51684039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.28, Y:-17.68, Z:-0.85 [[ 9.90310566e-01 1.38821135e-01 3.69805582e-03 2.01279957e+02] [-1.38820418e-01 9.90317468e-01 -4.51031564e-04 -1.76754865e+01] [-3.72486199e-03 -6.67043324e-05 9.99993060e-01 -8.52405962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.34, Y:-17.68, Z:-0.86 [[ 9.90312901e-01 1.38804473e-01 3.69807705e-03 2.01338647e+02] [-1.38803757e-01 9.90319804e-01 -4.50857455e-04 -1.76765336e+01] [-3.72485997e-03 -6.68170314e-05 9.99993060e-01 -8.55429005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:-17.68, Z:-0.86 [[ 9.90488149e-01 1.37548357e-01 3.69809839e-03 2.01397554e+02] [-1.37547632e-01 9.90495051e-01 -4.50682292e-04 -1.76803423e+01] [-3.72493876e-03 -6.22692095e-05 9.99993060e-01 -8.58235836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:-17.69, Z:-0.86 [[ 9.91212797e-01 1.32225241e-01 3.69811979e-03 2.01456167e+02] [-1.32224480e-01 9.91219695e-01 -4.50506651e-04 -1.76852256e+01] [-3.72521752e-03 -4.24340104e-05 9.99993060e-01 -8.59369770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:-17.69, Z:-0.86 [[ 9.92100499e-01 1.25391084e-01 3.69814148e-03 2.01514352e+02] [-1.25390277e-01 9.92107391e-01 -4.50328547e-04 -1.76888697e+01] [-3.72542068e-03 -1.69398081e-05 9.99993060e-01 -8.58504218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20420382199995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:-17.69, Z:-0.86 [[ 9.92651718e-01 1.20949951e-01 3.69817538e-03 2.01573354e+02] [-1.20949114e-01 9.92658607e-01 -4.50049966e-04 -1.76942536e+01] [-3.72545914e-03 -5.48164625e-07 9.99993060e-01 -8.63088967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:-17.70, Z:-0.86 [[ 9.92794586e-01 1.19771584e-01 3.69819642e-03 2.01630987e+02] [-1.19770740e-01 9.92801474e-01 -4.49877000e-04 -1.76991866e+01] [-3.72545734e-03 3.69972974e-06 9.99993060e-01 -8.62778519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.69, Y:-17.70, Z:-0.86 [[ 9.92763392e-01 1.20029877e-01 3.69822239e-03 2.01690559e+02] [-1.20029034e-01 9.92770280e-01 -4.49663393e-04 -1.76994812e+01] [-3.72545832e-03 2.51529193e-06 9.99993060e-01 -8.60691720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:-17.71, Z:-0.86 [[ 9.92892481e-01 1.18957322e-01 3.69824411e-03 2.01748291e+02] [-1.18956473e-01 9.92899368e-01 -4.49484677e-04 -1.77077999e+01] [-3.72545374e-03 6.35988130e-06 9.99993060e-01 -8.60325588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:-17.71, Z:-0.86 [[ 9.93147126e-01 1.16812283e-01 3.69827176e-03 2.01806432e+02] [-1.16811420e-01 9.93154011e-01 -4.49257134e-04 -1.77126974e+01] [-3.72543218e-03 1.41780560e-05 9.99993060e-01 -8.61862834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:-17.72, Z:-0.86 [[ 9.93480004e-01 1.13946496e-01 3.69829368e-03 2.01863291e+02] [-1.13945614e-01 9.93486887e-01 -4.49076570e-04 -1.77196035e+01] [-3.72537698e-03 2.47442481e-05 9.99993060e-01 -8.63307751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:-17.73, Z:-0.86 [[ 9.93918351e-01 1.10057408e-01 3.69832538e-03 2.01921139e+02] [-1.10056500e-01 9.93925231e-01 -4.48815386e-04 -1.77277081e+01] [-3.72525436e-03 3.90611002e-05 9.99993060e-01 -8.62190424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:-17.74, Z:-0.86 [[ 9.94340538e-01 1.06175409e-01 3.69834698e-03 2.01978032e+02] [-1.06174475e-01 9.94347414e-01 -4.48637272e-04 -1.77386159e+01] [-3.72507601e-03 5.34281773e-05 9.99993060e-01 -8.59819344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:-17.75, Z:-0.86 [[ 9.94565484e-01 1.04047199e-01 3.69837821e-03 2.02036370e+02] [-1.04046251e-01 9.94572359e-01 -4.48379740e-04 -1.77491421e+01] [-3.72495739e-03 6.11406261e-05 9.99993060e-01 -8.56464452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.09, Y:-17.76, Z:-0.86 [[ 9.94651601e-01 1.03220704e-01 3.69839492e-03 2.02092970e+02] [-1.03219750e-01 9.94658475e-01 -4.48241843e-04 -1.77632022e+01] [-3.72490769e-03 6.40970660e-05 9.99993060e-01 -8.62162677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:-17.78, Z:-0.86 [[ 9.94202044e-01 1.07464495e-01 3.69842261e-03 2.02150785e+02] [-1.07463572e-01 9.94208922e-01 -4.48013215e-04 -1.77771113e+01] [-3.72515027e-03 4.79699499e-05 9.99993060e-01 -8.61464601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:-17.79, Z:-0.86 [[ 9.93310577e-01 1.15414122e-01 3.69844361e-03 2.02208433e+02] [-1.15413255e-01 9.93317462e-01 -4.47839821e-04 -1.77890910e+01] [-3.72541566e-03 1.79946161e-05 9.99993060e-01 -8.60630798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:-17.80, Z:-0.86 [[ 9.92277678e-01 1.23981173e-01 3.69846526e-03 2.02265304e+02] [-1.23980366e-01 9.92284570e-01 -4.47660918e-04 -1.77984765e+01] [-3.72543154e-03 -1.43331406e-05 9.99993060e-01 -8.62282605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.32, Y:-17.81, Z:-0.86 [[ 9.91667661e-01 1.28769452e-01 3.69849206e-03 2.02322339e+02] [-1.28768679e-01 9.91674557e-01 -4.47439400e-04 -1.78090120e+01] [-3.72531701e-03 -3.25387526e-05 9.99993060e-01 -8.60897549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.38, Y:-17.82, Z:-0.86 [[ 9.90713987e-01 1.35912170e-01 3.69852504e-03 2.02379168e+02] [-1.35911447e-01 9.90720888e-01 -4.47166690e-04 -1.78172015e+01] [-3.72498140e-03 -5.96575955e-05 9.99993060e-01 -8.60324000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.44, Y:-17.82, Z:-0.86 [[ 9.90183826e-01 1.39722263e-01 3.69855224e-03 2.02436675e+02] [-1.39721567e-01 9.90190731e-01 -4.46941603e-04 -1.78232300e+01] [-3.72471983e-03 -7.42131689e-05 9.99993060e-01 -8.62499499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.49, Y:-17.83, Z:-0.86 [[ 9.90687469e-01 1.36105325e-01 3.69857912e-03 2.02494941e+02] [-1.36104605e-01 9.90694371e-01 -4.46718999e-04 -1.78327388e+01] [-3.72496235e-03 -6.08347365e-05 9.99993060e-01 -8.58791384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.55, Y:-17.84, Z:-0.86 [[ 9.91250980e-01 1.31938682e-01 3.69860080e-03 2.02553211e+02] [-1.31937934e-01 9.91257879e-01 -4.46539425e-04 -1.78403892e+01] [-3.72518301e-03 -4.53531068e-05 9.99993060e-01 -8.57246269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28420382199997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:202.61, Y:-17.85, Z:-0.86 [[ 9.91911163e-01 1.26880122e-01 3.69862321e-03 2.02611932e+02] [-1.26879339e-01 9.91918058e-01 -4.46353785e-04 -1.78492434e+01] [-3.72536457e-03 -2.65355667e-05 9.99993060e-01 -8.63550926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.67, Y:-17.86, Z:-0.86 [[ 9.92658040e-01 1.20898042e-01 3.69863983e-03 2.02668994e+02] [-1.20897219e-01 9.92664930e-01 -4.46216010e-04 -1.78606189e+01] [-3.72545669e-03 -4.21535876e-06 9.99993060e-01 -8.63231937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.73, Y:-17.87, Z:-0.86 [[ 9.93262429e-01 1.15827743e-01 3.69867053e-03 2.02727106e+02] [-1.15826886e-01 9.93269316e-01 -4.45961401e-04 -1.78693599e+01] [-3.72543065e-03 1.45512168e-05 9.99993060e-01 -8.61788338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.79, Y:-17.88, Z:-0.86 [[ 9.93356070e-01 1.15021901e-01 3.69869163e-03 2.02785314e+02] [-1.15021039e-01 9.93362956e-01 -4.45786319e-04 -1.78762036e+01] [-3.72541844e-03 1.73971931e-05 9.99993060e-01 -8.62665466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:-17.88, Z:-0.87 [[ 9.93210550e-01 1.16271760e-01 3.69871265e-03 2.02843837e+02] [-1.16270907e-01 9.93217437e-01 -4.45611867e-04 -1.78839810e+01] [-3.72543797e-03 1.25337352e-05 9.99993060e-01 -8.65160562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.90, Y:-17.89, Z:-0.87 [[ 9.93077564e-01 1.17402176e-01 3.69873386e-03 2.02900687e+02] [-1.17401331e-01 9.93084452e-01 -4.45435679e-04 -1.78943268e+01] [-3.72545021e-03 8.11590019e-06 9.99993060e-01 -8.67405688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:-17.90, Z:-0.87 [[ 9.93222523e-01 1.16169444e-01 3.69876192e-03 2.02958428e+02] [-1.16168592e-01 9.93229410e-01 -4.45202551e-04 -1.79040732e+01] [-3.72543806e-03 1.25052356e-05 9.99993060e-01 -8.68024390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:-17.92, Z:-0.87 [[ 9.93669006e-01 1.12286355e-01 3.69878302e-03 2.03016440e+02] [-1.12285476e-01 9.93675890e-01 -4.45027257e-04 -1.79159402e+01] [-3.72536199e-03 2.68901810e-05 9.99993060e-01 -8.66637913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.07, Y:-17.93, Z:-0.87 [[ 9.94028268e-01 1.09060171e-01 3.69880509e-03 2.03074958e+02] [-1.09059270e-01 9.94035149e-01 -4.44843706e-04 -1.79317142e+01] [-3.72525700e-03 3.87982348e-05 9.99993060e-01 -8.65592569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.13, Y:-17.95, Z:-0.87 [[ 9.93849259e-01 1.10679576e-01 3.69881613e-03 2.03132530e+02] [-1.10678687e-01 9.93856142e-01 -4.44751879e-04 -1.79458003e+01] [-3.72531608e-03 3.26362127e-05 9.99993060e-01 -8.68552770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.19, Y:-17.96, Z:-0.87 [[ 9.93200849e-01 1.16354599e-01 3.69883248e-03 2.03191686e+02] [-1.16353750e-01 9.93207736e-01 -4.44615896e-04 -1.79562994e+01] [-3.72544214e-03 1.12198554e-05 9.99993060e-01 -8.66963603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:-17.97, Z:-0.87 [[ 9.92736372e-01 1.20253126e-01 3.69884362e-03 2.03249208e+02] [-1.20252305e-01 9.92743263e-01 -4.44523182e-04 -1.79664275e+01] [-3.72545739e-03 -3.50013815e-06 9.99993060e-01 -8.66600985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.31, Y:-17.98, Z:-0.87 [[ 9.92195566e-01 1.24636581e-01 3.69886022e-03 2.03306697e+02] [-1.24635791e-01 9.92202460e-01 -4.44384989e-04 -1.79758075e+01] [-3.72540484e-03 -2.00935537e-05 9.99993060e-01 -8.65880492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:-17.99, Z:-0.87 [[ 9.91927284e-01 1.26754018e-01 3.69886253e-03 2.03363723e+02] [-1.26753242e-01 9.91934180e-01 -4.44365760e-04 -1.79857070e+01] [-3.72535332e-03 -2.80642969e-05 9.99993060e-01 -8.65732764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.42, Y:-18.00, Z:-0.86 [[ 9.91954308e-01 1.26542359e-01 3.69888868e-03 2.03422813e+02] [-1.26541583e-01 9.91961204e-01 -4.44148005e-04 -1.80013499e+01] [-3.72535761e-03 -2.74887008e-05 9.99993060e-01 -8.64730840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:-18.01, Z:-0.87 [[ 9.92217839e-01 1.24459146e-01 3.69888868e-03 2.03481608e+02] [-1.24458355e-01 9.92224733e-01 -4.44148005e-04 -1.80108709e+01] [-3.72540711e-03 -1.96660268e-05 9.99993060e-01 -8.65229535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:-18.03, Z:-0.86 [[ 9.92447919e-01 1.22610952e-01 3.69889405e-03 2.03540698e+02] [-1.22610148e-01 9.92454812e-01 -4.44103234e-04 -1.80271433e+01] [-3.72543713e-03 -1.27726164e-05 9.99993060e-01 -8.64427618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.60, Y:-18.04, Z:-0.86 [[ 9.92564587e-01 1.21662886e-01 3.69889405e-03 2.03600153e+02] [-1.21662076e-01 9.92571480e-01 -4.44103234e-04 -1.80412181e+01] [-3.72544763e-03 -9.21398654e-06 9.99993060e-01 -8.64730320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.66, Y:-18.05, Z:-0.87 [[ 9.92568534e-01 1.21630686e-01 3.69888852e-03 2.03659339e+02] [-1.21629875e-01 9.92575426e-01 -4.44149290e-04 -1.80544374e+01] [-3.72544804e-03 -9.04673944e-06 9.99993060e-01 -8.65313442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:203.72, Y:-18.07, Z:-0.87 [[ 9.92327715e-01 1.23580031e-01 3.69888306e-03 2.03720091e+02] [-1.23579234e-01 9.92334609e-01 -4.44194787e-04 -1.80671611e+01] [-3.72542328e-03 -1.63183384e-05 9.99993060e-01 -8.68078559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:-18.08, Z:-0.87 [[ 9.92084466e-01 1.25517851e-01 3.69886128e-03 2.03779740e+02] [-1.25517066e-01 9.92091361e-01 -4.44376046e-04 -1.80812606e+01] [-3.72538545e-03 -2.34116441e-05 9.99993060e-01 -8.68130280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.84, Y:-18.10, Z:-0.87 [[ 9.91757891e-01 1.28072652e-01 3.69879023e-03 2.03841121e+02] [-1.28071883e-01 9.91764788e-01 -4.44966709e-04 -1.80953361e+01] [-3.72531797e-03 -3.24117855e-05 9.99993060e-01 -8.68982392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.90, Y:-18.11, Z:-0.87 [[ 9.91361870e-01 1.31102873e-01 3.69871484e-03 2.03901601e+02] [-1.31102122e-01 9.91368768e-01 -4.45592485e-04 -1.81083924e+01] [-3.72520883e-03 -4.31659662e-05 9.99993060e-01 -8.68995607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:-18.12, Z:-0.86 [[ 9.90678169e-01 1.36173001e-01 3.69864554e-03 2.03962894e+02] [-1.36172284e-01 9.90685071e-01 -4.46166952e-04 -1.81214127e+01] [-3.72494881e-03 -6.16451514e-05 9.99993060e-01 -8.61177413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:-18.13, Z:-0.86 [[ 9.89675021e-01 1.43281797e-01 3.69862444e-03 2.04024427e+02] [-1.43281129e-01 9.89681928e-01 -4.46341790e-04 -1.81292054e+01] [-3.72441442e-03 -8.82097657e-05 9.99993060e-01 -8.57898533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:-18.13, Z:-0.86 [[ 9.88772440e-01 1.49383344e-01 3.69854870e-03 2.04085209e+02] [-1.49382716e-01 9.88779351e-01 -4.46968501e-04 -1.81346424e+01] [-3.72381824e-03 -1.10549117e-04 9.99993060e-01 -8.62216488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.15, Y:-18.14, Z:-0.86 [[ 9.88438526e-01 1.51577050e-01 3.69847914e-03 2.04146489e+02] [-1.51576436e-01 9.88445438e-01 -4.47543385e-04 -1.81398563e+01] [-3.72358214e-03 -1.18233162e-04 9.99993060e-01 -8.63309933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:-18.14, Z:-0.87 [[ 9.88339448e-01 1.52221739e-01 3.69846854e-03 2.04206477e+02] [-1.52221128e-01 9.88346360e-01 -4.47630946e-04 -1.81437877e+01] [-3.72350708e-03 -1.20573732e-04 9.99993060e-01 -8.65260889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.27, Y:-18.14, Z:-0.86 [[ 9.88528104e-01 1.50991749e-01 3.69846331e-03 2.04267085e+02] [-1.50991130e-01 9.88535016e-01 -4.47674163e-04 -1.81422566e+01] [-3.72365559e-03 -1.15896661e-04 9.99993060e-01 -8.63635498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.33, Y:-18.14, Z:-0.86 [[ 9.88829342e-01 1.49006222e-01 3.69845927e-03 2.04327450e+02] [-1.49005589e-01 9.88836252e-01 -4.47707541e-04 -1.81435061e+01] [-3.72388181e-03 -1.08384749e-04 9.99993060e-01 -8.62236783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:-18.14, Z:-0.86 [[ 9.89515686e-01 1.44378077e-01 3.69845927e-03 2.04387876e+02] [-1.44377412e-01 9.89522593e-01 -4.47707541e-04 -1.81441603e+01] [-3.72434816e-03 -9.09603422e-05 9.99993060e-01 -8.62470971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:-18.14, Z:-0.86 [[ 9.90187203e-01 1.39698333e-01 3.69845927e-03 2.04448903e+02] [-1.39697635e-01 9.90194107e-01 -4.47707541e-04 -1.81422576e+01] [-3.72473657e-03 -7.33517370e-05 9.99993060e-01 -8.61791750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:-18.14, Z:-0.86 [[ 9.90769560e-01 1.35506456e-01 3.69845927e-03 2.04508240e+02] [-1.35505728e-01 9.90776462e-01 -4.47707541e-04 -1.81390876e+01] [-3.72501365e-03 -5.75874135e-05 9.99993060e-01 -8.64493713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.57, Y:-18.14, Z:-0.87 [[ 9.91309094e-01 1.31501335e-01 3.69847514e-03 2.04567624e+02] [-1.31500581e-01 9.91315993e-01 -4.47576360e-04 -1.81382562e+01] [-3.72521445e-03 -4.26651124e-05 9.99993060e-01 -8.66046456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.63, Y:-18.14, Z:-0.86 [[ 9.91561613e-01 1.29583523e-01 3.69849068e-03 2.04627229e+02] [-1.29582756e-01 9.91568510e-01 -4.47447954e-04 -1.81390220e+01] [-3.72528877e-03 -3.55883988e-05 9.99993060e-01 -8.63050850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.69, Y:-18.14, Z:-0.86 [[ 9.91631315e-01 1.29049046e-01 3.69850164e-03 2.04685185e+02] [-1.29048275e-01 9.91638212e-01 -4.47357312e-04 -1.81421271e+01] [-3.72530659e-03 -3.36717355e-05 9.99993060e-01 -8.64808349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:-18.14, Z:-0.87 [[ 9.91756604e-01 1.28082631e-01 3.69852884e-03 2.04744957e+02] [-1.28081854e-01 9.91763499e-01 -4.47132372e-04 -1.81397788e+01] [-3.72533579e-03 -3.02679470e-05 9.99993060e-01 -8.65911489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:-18.14, Z:-0.87 [[ 9.91885487e-01 1.27080689e-01 3.69855002e-03 2.04804773e+02] [-1.27079906e-01 9.91892382e-01 -4.46957089e-04 -1.81370361e+01] [-3.72536320e-03 -2.66811378e-05 9.99993060e-01 -8.67075483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:-18.14, Z:-0.87 [[ 9.92403568e-01 1.22969424e-01 3.69857103e-03 2.04864185e+02] [-1.22968613e-01 9.92410460e-01 -4.46783173e-04 -1.81352432e+01] [-3.72544124e-03 -1.14189337e-05 9.99993060e-01 -8.67632048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.92, Y:-18.14, Z:-0.87 [[ 9.93214729e-01 1.16236065e-01 3.69859213e-03 2.04922938e+02] [-1.16235208e-01 9.93221615e-01 -4.46608460e-04 -1.81386441e+01] [-3.72543365e-03 1.36714762e-05 9.99993060e-01 -8.65029053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.98, Y:-18.14, Z:-0.87 [[ 9.93478979e-01 1.13955422e-01 3.69861425e-03 2.04980605e+02] [-1.13954549e-01 9.93485864e-01 -4.46425146e-04 -1.81404771e+01] [-3.72539354e-03 2.20400781e-05 9.99993060e-01 -8.66289757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:-18.14, Z:-0.87 [[ 9.93366011e-01 1.14936019e-01 3.69864140e-03 2.05039990e+02] [-1.14935154e-01 9.93372896e-01 -4.46200119e-04 -1.81433821e+01] [-3.72541458e-03 1.81361123e-05 9.99993060e-01 -8.65054128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:-18.15, Z:-0.87 [[ 9.93196826e-01 1.16388937e-01 3.69866297e-03 2.05097630e+02] [-1.16388083e-01 9.93203713e-01 -4.46021218e-04 -1.81483509e+01] [-3.72543773e-03 1.25065656e-05 9.99993060e-01 -8.70825167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:-18.15, Z:-0.87 [[ 9.93314218e-01 1.15382768e-01 3.69868963e-03 2.05156131e+02] [-1.15381908e-01 9.93321104e-01 -4.45800031e-04 -1.81522211e+01] [-3.72542411e-03 1.60576417e-05 9.99993060e-01 -8.66541288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.21, Y:-18.16, Z:-0.86 [[ 9.93629197e-01 1.12638086e-01 3.69871066e-03 2.05214577e+02] [-1.12637208e-01 9.93636081e-01 -4.45625481e-04 -1.81579358e+01] [-3.72536677e-03 2.61740477e-05 9.99993060e-01 -8.64335855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.27, Y:-18.16, Z:-0.86 [[ 9.93722316e-01 1.11813583e-01 3.69873193e-03 2.05272485e+02] [-1.11812699e-01 9.93729199e-01 -4.45448850e-04 -1.81646909e+01] [-3.72534516e-03 2.90872623e-05 9.99993060e-01 -8.61204819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:-18.17, Z:-0.86 [[ 9.93300088e-01 1.15504346e-01 3.69875924e-03 2.05328958e+02] [-1.15503489e-01 9.93306975e-01 -4.45221982e-04 -1.81748727e+01] [-3.72542843e-03 1.50194360e-05 9.99993060e-01 -8.59182258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:-18.18, Z:-0.86 [[ 9.92141256e-01 1.25068169e-01 3.69878493e-03 2.05387014e+02] [-1.25067380e-01 9.92148151e-01 -4.45008430e-04 -1.81793608e+01] [-3.72539902e-03 -2.10861164e-05 9.99993060e-01 -8.58556085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:-18.18, Z:-0.86 [[ 9.90567237e-01 1.36977615e-01 3.69881712e-03 2.05444996e+02] [-1.36976909e-01 9.90574141e-01 -4.44740726e-04 -1.81794135e+01] [-3.72487212e-03 -6.61069452e-05 9.99993060e-01 -8.60435808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:-18.18, Z:-0.86 [[ 9.89663495e-01 1.43361377e-01 3.69885229e-03 2.05504212e+02] [-1.43360717e-01 9.89670403e-01 -4.44448085e-04 -1.81831748e+01] [-3.72436132e-03 -9.04160696e-05 9.99993060e-01 -8.60999925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.56, Y:-18.18, Z:-0.86 [[ 9.88670537e-01 1.50056284e-01 3.69887333e-03 2.05564039e+02] [-1.50055671e-01 9.88677449e-01 -4.44272848e-04 -1.81819399e+01] [-3.72365859e-03 -1.15797447e-04 9.99993060e-01 -8.61047468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.62, Y:-18.18, Z:-0.86 [[ 9.88427599e-01 1.51648275e-01 3.69889422e-03 2.05624103e+02] [-1.51647674e-01 9.88434513e-01 -4.44098857e-04 -1.81769335e+01] [-3.72346154e-03 -1.21969137e-04 9.99993060e-01 -8.63972039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.68, Y:-18.18, Z:-0.86 [[ 9.88790581e-01 1.49263207e-01 3.69891481e-03 2.05683713e+02] [-1.49262590e-01 9.88797493e-01 -4.43927343e-04 -1.81757031e+01] [-3.72373971e-03 -1.13158428e-04 9.99993060e-01 -8.63099958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.74, Y:-18.17, Z:-0.87 [[ 9.90026329e-01 1.40833894e-01 3.69893588e-03 2.05742496e+02] [-1.40833219e-01 9.90033236e-01 -4.43751663e-04 -1.81727164e+01] [-3.72456474e-03 -8.16072168e-05 9.99993060e-01 -8.65873401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.80, Y:-18.17, Z:-0.87 [[ 9.91505910e-01 1.30009027e-01 3.69896206e-03 2.05801632e+02] [-1.30008277e-01 9.91512809e-01 -4.43533375e-04 -1.81701071e+01] [-3.72523161e-03 -4.11297224e-05 9.99993060e-01 -8.66344252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.86, Y:-18.17, Z:-0.86 [[ 9.92823541e-01 1.19531306e-01 3.69899222e-03 2.05860647e+02] [-1.19530484e-01 9.92830432e-01 -4.43281715e-04 -1.81692579e+01] [-3.72545808e-03 -2.04180706e-06 9.99993060e-01 -8.64370854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.92, Y:-18.17, Z:-0.86 [[ 9.93474809e-01 1.13991756e-01 3.69901279e-03 2.05919060e+02] [-1.13990896e-01 9.93481695e-01 -4.43109938e-04 -1.81719946e+01] [-3.72541238e-03 1.85647772e-05 9.99993060e-01 -8.63280838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.98, Y:-18.17, Z:-0.86 [[ 9.94028163e-01 1.09061125e-01 3.69903891e-03 2.05977986e+02] [-1.09060232e-01 9.94035044e-01 -4.42891782e-04 -1.81735352e+01] [-3.72527659e-03 3.68288606e-05 9.99993060e-01 -8.62820124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:-18.17, Z:-0.86 [[ 9.94036122e-01 1.08988558e-01 3.69905998e-03 2.06037298e+02] [-1.08987665e-01 9.94043004e-01 -4.42715739e-04 -1.81742872e+01] [-3.72527565e-03 3.69235252e-05 9.99993060e-01 -8.59628837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:-18.18, Z:-0.86 [[ 9.93662210e-01 1.12346467e-01 3.69908137e-03 2.06095509e+02] [-1.12345598e-01 9.93669095e-01 -4.42536971e-04 -1.81773158e+01] [-3.72538030e-03 2.41567571e-05 9.99993060e-01 -8.59336690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:-18.18, Z:-0.86 [[ 9.92993692e-01 1.18109458e-01 3.69910778e-03 2.06153223e+02] [-1.18108630e-01 9.93000582e-01 -4.42316100e-04 -1.81806998e+01] [-3.72545789e-03 2.32054517e-06 9.99993060e-01 -8.58690179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.21, Y:-18.18, Z:-0.86 [[ 9.92479943e-01 1.22351454e-01 3.69913345e-03 2.06211929e+02] [-1.22350656e-01 9.92486837e-01 -4.42101289e-04 -1.81830240e+01] [-3.72543300e-03 -1.38147443e-05 9.99993060e-01 -8.58849701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.27, Y:-18.19, Z:-0.87 [[ 9.91731601e-01 1.28276064e-01 3.69915468e-03 2.06270488e+02] [-1.28275308e-01 9.91738499e-01 -4.41923615e-04 -1.81854098e+01] [-3.72528233e-03 -3.62405931e-05 9.99993060e-01 -8.65445019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.33, Y:-18.19, Z:-0.87 [[ 9.90993412e-01 1.33859527e-01 3.69917592e-03 2.06327970e+02] [-1.33858811e-01 9.91000315e-01 -4.41745776e-04 -1.81876824e+01] [-3.72501638e-03 -5.74001346e-05 9.99993060e-01 -8.66569756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.39, Y:-18.19, Z:-0.86 [[ 9.90408006e-01 1.38124211e-01 3.69921577e-03 2.06387194e+02] [-1.38123525e-01 9.90414912e-01 -4.41411799e-04 -1.81863216e+01] [-3.72472812e-03 -7.37709417e-05 9.99993060e-01 -8.63231140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.45, Y:-18.19, Z:-0.86 [[ 9.89999942e-01 1.41019257e-01 3.69929099e-03 2.06445346e+02] [-1.41018594e-01 9.90006849e-01 -4.40780543e-04 -1.81878378e+01] [-3.72448196e-03 -8.52961024e-05 9.99993060e-01 -8.64118117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:-18.19, Z:-0.87 [[ 9.90129041e-01 1.40109944e-01 3.69933085e-03 2.06504952e+02] [-1.40109276e-01 9.90135949e-01 -4.40445725e-04 -1.81886755e+01] [-3.72455129e-03 -8.22124621e-05 9.99993060e-01 -8.66992932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:-18.19, Z:-0.87 [[ 9.90218266e-01 1.39477957e-01 3.69939986e-03 2.06563215e+02] [-1.39477286e-01 9.90225173e-01 -4.39865362e-04 -1.81919338e+01] [-3.72459038e-03 -8.04195372e-05 9.99993060e-01 -8.70451090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.62, Y:-18.19, Z:-0.87 [[ 9.90485136e-01 1.37570014e-01 3.69943927e-03 2.06621833e+02] [-1.37569331e-01 9.90492042e-01 -4.39533592e-04 -1.81924938e+01] [-3.72473180e-03 -7.35778961e-05 9.99993060e-01 -8.68766114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.68, Y:-18.20, Z:-0.87 [[ 9.90955104e-01 1.34142817e-01 3.69952523e-03 2.06679214e+02] [-1.34142113e-01 9.90962008e-01 -4.38808907e-04 -1.81972345e+01] [-3.72495201e-03 -6.14222052e-05 9.99993060e-01 -8.68131214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:-18.20, Z:-0.87 [[ 9.91478369e-01 1.30218879e-01 3.69955168e-03 2.06738531e+02] [-1.30218149e-01 9.91485270e-01 -4.38585755e-04 -1.82001428e+01] [-3.72516315e-03 -4.69004818e-05 9.99993060e-01 -8.66222155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:-18.20, Z:-0.87 [[ 9.91851161e-01 1.27348293e-01 3.69962707e-03 2.06796704e+02] [-1.27347545e-01 9.91858060e-01 -4.37948907e-04 -1.82018286e+01] [-3.72527698e-03 -3.67582920e-05 9.99993060e-01 -8.65017750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:-18.21, Z:-0.87 [[ 9.92052851e-01 1.25767458e-01 3.69965362e-03 2.06854893e+02] [-1.25766700e-01 9.92059749e-01 -4.37724509e-04 -1.82087669e+01] [-3.72532894e-03 -3.10473811e-05 9.99993060e-01 -8.65270843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.91, Y:-18.21, Z:-0.87 [[ 9.92074599e-01 1.25595787e-01 3.69967492e-03 2.06912385e+02] [-1.25595028e-01 9.92081497e-01 -4.37544446e-04 -1.82106550e+01] [-3.72533277e-03 -3.05840459e-05 9.99993060e-01 -8.66626695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:-18.21, Z:-0.87 [[ 9.91837384e-01 1.27455543e-01 3.69971164e-03 2.06969858e+02] [-1.27454798e-01 9.91844284e-01 -4.37233751e-04 -1.82144772e+01] [-3.72526570e-03 -3.78812206e-05 9.99993060e-01 -8.67481806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:-18.21, Z:-0.87 [[ 9.91557956e-01 1.29611465e-01 3.69973750e-03 2.07029075e+02] [-1.29610736e-01 9.91564857e-01 -4.37014764e-04 -1.82146483e+01] [-3.72517181e-03 -4.62002356e-05 9.99993060e-01 -8.68043617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.09, Y:-18.22, Z:-0.87 [[ 9.91437491e-01 1.30529736e-01 3.69980658e-03 2.07087996e+02] [-1.30529017e-01 9.91444393e-01 -4.36429138e-04 -1.82169491e+01] [-3.72511947e-03 -5.02399048e-05 9.99993060e-01 -8.70151136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90420382199997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:-18.22, Z:-0.87 [[ 9.91876561e-01 1.27150297e-01 3.69988039e-03 2.07146851e+02] [-1.27149556e-01 9.91883461e-01 -4.35802546e-04 -1.82183754e+01] [-3.72526259e-03 -3.81758184e-05 9.99993060e-01 -8.71977135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:-18.22, Z:-0.87 [[ 9.92781688e-01 1.19878399e-01 3.69995586e-03 2.07203344e+02] [-1.19877610e-01 9.92788582e-01 -4.35160819e-04 -1.82234555e+01] [-3.72544032e-03 -1.15221737e-05 9.99993060e-01 -8.69825248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02420382199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.26, Y:-18.23, Z:-0.87 [[ 9.93464318e-01 1.14083125e-01 3.69999296e-03 2.07261811e+02] [-1.14082296e-01 9.93471208e-01 -4.34845183e-04 -1.82288873e+01] [-3.72544497e-03 9.89947929e-06 9.99993060e-01 -8.67588606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.32, Y:-18.24, Z:-0.87 [[ 9.94278976e-01 1.06750300e-01 3.70006656e-03 2.07319430e+02] [-1.06749423e-01 9.94285860e-01 -4.34217979e-04 -1.82367787e+01] [-3.72527677e-03 3.67538380e-05 9.99993060e-01 -8.69182880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.38, Y:-18.24, Z:-0.87 [[ 9.94670951e-01 1.03034014e-01 3.70009249e-03 2.07377492e+02] [-1.03033113e-01 9.94677832e-01 -4.33996973e-04 -1.82445822e+01] [-3.72511642e-03 5.04521356e-05 9.99993060e-01 -8.67776150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.44, Y:-18.25, Z:-0.87 [[ 9.94678311e-01 1.02962937e-01 3.70011265e-03 2.07435829e+02] [-1.02962035e-01 9.94685192e-01 -4.33824981e-04 -1.82511772e+01] [-3.72511516e-03 5.05451709e-05 9.99993060e-01 -8.65725872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.49, Y:-18.26, Z:-0.87 [[ 9.94397096e-01 1.05644330e-01 3.70013338e-03 2.07493178e+02] [-1.05643448e-01 9.94403979e-01 -4.33648121e-04 -1.82615347e+01] [-3.72523982e-03 4.03235857e-05 9.99993060e-01 -8.67726267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:-18.27, Z:-0.87 [[ 9.93976318e-01 1.09532586e-01 3.70016424e-03 2.07549961e+02] [-1.09531732e-01 9.93983205e-01 -4.33384598e-04 -1.82689668e+01] [-3.72537085e-03 2.54886284e-05 9.99993060e-01 -8.68433965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:-18.27, Z:-0.87 [[ 9.93715886e-01 1.11870668e-01 3.70019993e-03 2.07608192e+02] [-1.11869831e-01 9.93722775e-01 -4.33079710e-04 -1.82741855e+01] [-3.72542186e-03 1.64174482e-05 9.99993060e-01 -8.68716563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.67, Y:-18.28, Z:-0.87 [[ 9.93478673e-01 1.13958039e-01 3.70027580e-03 2.07666501e+02] [-1.13957218e-01 9.93485564e-01 -4.32430465e-04 -1.82828015e+01] [-3.72544952e-03 7.93730740e-06 9.99993060e-01 -8.71142922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.72, Y:-18.29, Z:-0.87 [[ 9.93463978e-01 1.14086070e-01 3.70029603e-03 2.07724291e+02] [-1.14085251e-01 9.93470870e-01 -4.32257294e-04 -1.82947206e+01] [-3.72545085e-03 7.28285014e-06 9.99993060e-01 -8.69422262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.78, Y:-18.30, Z:-0.87 [[ 9.93583842e-01 1.13037416e-01 3.70031632e-03 2.07781602e+02] [-1.13036591e-01 9.93590732e-01 -4.32083549e-04 -1.83042692e+01] [-3.72544161e-03 1.10400902e-05 9.99993060e-01 -8.69049134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.84, Y:-18.32, Z:-0.87 [[ 9.93816448e-01 1.10973758e-01 3.70034697e-03 2.07838892e+02] [-1.10972920e-01 9.93823337e-01 -4.31820874e-04 -1.83170339e+01] [-3.72541196e-03 1.85123806e-05 9.99993060e-01 -8.68357131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.90, Y:-18.33, Z:-0.87 [[ 9.93893994e-01 1.10277086e-01 3.70036730e-03 2.07896039e+02] [-1.10276243e-01 9.93900882e-01 -4.31646609e-04 -1.83319886e+01] [-3.72539906e-03 2.09483698e-05 9.99993060e-01 -8.71371087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.95, Y:-18.34, Z:-0.87 [[ 9.93323250e-01 1.15304937e-01 3.70038743e-03 2.07952150e+02] [-1.15304129e-01 9.93330142e-01 -4.31473945e-04 -1.83421916e+01] [-3.72545745e-03 1.92314959e-06 9.99993060e-01 -8.72178631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.01, Y:-18.35, Z:-0.87 [[ 9.92269466e-01 1.24046823e-01 3.70042231e-03 2.08010398e+02] [-1.24046077e-01 9.92276365e-01 -4.31174608e-04 -1.83509739e+01] [-3.72532744e-03 -3.11814744e-05 9.99993060e-01 -8.73112452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:-18.36, Z:-0.88 [[ 9.91253145e-01 1.31922360e-01 3.70044266e-03 2.08066516e+02] [-1.31921670e-01 9.91260050e-01 -4.30999929e-04 -1.83579468e+01] [-3.72495950e-03 -6.09385418e-05 9.99993060e-01 -8.75314153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:-18.36, Z:-0.87 [[ 9.90765855e-01 1.35533494e-01 3.70047799e-03 2.08125339e+02] [-1.35532830e-01 9.90772762e-01 -4.30696383e-04 -1.83621449e+01] [-3.72470658e-03 -7.48169855e-05 9.99993060e-01 -8.74778957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:-18.37, Z:-0.88 [[ 9.90609244e-01 1.36673449e-01 3.70049890e-03 2.08182679e+02] [-1.36672794e-01 9.90616153e-01 -4.30516665e-04 -1.83673412e+01] [-3.72461418e-03 -7.92837356e-05 9.99993060e-01 -8.78686320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.24, Y:-18.37, Z:-0.88 [[ 9.91055688e-01 1.33397640e-01 3.70052480e-03 2.08240249e+02] [-1.33396962e-01 9.91062594e-01 -4.30293865e-04 -1.83720880e+01] [-3.72485190e-03 -6.71935856e-05 9.99993060e-01 -8.79216251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.30, Y:-18.38, Z:-0.88 [[ 9.91751775e-01 1.28119952e-01 3.70060602e-03 2.08299305e+02] [-1.28119240e-01 9.91758678e-01 -4.29594249e-04 -1.83758806e+01] [-3.72514773e-03 -4.80679731e-05 9.99993060e-01 -8.79169254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.36, Y:-18.38, Z:-0.88 [[ 9.92412635e-01 1.22896166e-01 3.70062620e-03 2.08355390e+02] [-1.22895419e-01 9.92419534e-01 -4.29420333e-04 -1.83833746e+01] [-3.72534784e-03 -2.86278445e-05 9.99993060e-01 -8.81165366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.41, Y:-18.39, Z:-0.88 [[ 9.93062791e-01 1.17527010e-01 3.70068072e-03 2.08413574e+02] [-1.17526227e-01 9.93069686e-01 -4.28950004e-04 -1.83914172e+01] [-3.72544705e-03 -8.95275538e-06 9.99993060e-01 -8.80576983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:-18.40, Z:-0.88 [[ 9.93711344e-01 1.11910990e-01 3.70070065e-03 2.08470991e+02] [-1.11910170e-01 9.93718235e-01 -4.28777985e-04 -1.83990053e+01] [-3.72543869e-03 1.19355099e-05 9.99993060e-01 -8.79752286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.53, Y:-18.41, Z:-0.88 [[ 9.93854420e-01 1.10633164e-01 3.70073759e-03 2.08529242e+02] [-1.10632336e-01 9.93861310e-01 -4.28458923e-04 -1.84067825e+01] [-3.72542167e-03 1.64045506e-05 9.99993060e-01 -8.79070727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.59, Y:-18.42, Z:-0.88 [[ 9.93917367e-01 1.10066217e-01 3.70075700e-03 2.08586359e+02] [-1.10065386e-01 9.93924256e-01 -4.28291220e-04 -1.84159702e+01] [-3.72541254e-03 1.83608355e-05 9.99993060e-01 -8.75444409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:-18.43, Z:-0.88 [[ 9.94002253e-01 1.09296957e-01 3.70078105e-03 2.08643849e+02] [-1.09296121e-01 9.94009142e-01 -4.28083268e-04 -1.84254326e+01] [-3.72539840e-03 2.10347205e-05 9.99993060e-01 -8.75541320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:-18.43, Z:-0.88 [[ 9.94077134e-01 1.08613795e-01 3.70080965e-03 2.08701295e+02] [-1.08612955e-01 9.94084022e-01 -4.27835853e-04 -1.84343647e+01] [-3.72538462e-03 2.33459648e-05 9.99993060e-01 -8.76736428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:-18.45, Z:-0.88 [[ 9.94145999e-01 1.07981652e-01 3.70083794e-03 2.08757964e+02] [-1.07980808e-01 9.94152887e-01 -4.27591017e-04 -1.84477803e+01] [-3.72537071e-03 2.54684264e-05 9.99993060e-01 -8.82784157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.82, Y:-18.46, Z:-0.89 [[ 9.94275497e-01 1.06782677e-01 3.70086133e-03 2.08815484e+02] [-1.06781825e-01 9.94282384e-01 -4.27388516e-04 -1.84618563e+01] [-3.72533891e-03 2.97572011e-05 9.99993060e-01 -8.88076943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.87, Y:-18.47, Z:-0.89 [[ 9.94255006e-01 1.06973300e-01 3.70087980e-03 2.08872589e+02] [-1.06972451e-01 9.94261893e-01 -4.27228529e-04 -1.84746828e+01] [-3.72534580e-03 2.88819206e-05 9.99993060e-01 -8.86230497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.93, Y:-18.49, Z:-0.88 [[ 9.93580619e-01 1.13065716e-01 3.70090277e-03 2.08930847e+02] [-1.13064910e-01 9.93587512e-01 -4.27029408e-04 -1.84858175e+01] [-3.72545316e-03 5.84590470e-06 9.99993060e-01 -8.84270378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.99, Y:-18.50, Z:-0.88 [[ 9.92792980e-01 1.19784813e-01 3.70092100e-03 2.08988583e+02] [-1.19784054e-01 9.92799878e-01 -4.26871376e-04 -1.84952102e+01] [-3.72540663e-03 -1.95164153e-05 9.99993060e-01 -8.83016769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.05, Y:-18.50, Z:-0.88 [[ 9.91404587e-01 1.30779388e-01 3.70093905e-03 2.09047073e+02] [-1.30778706e-01 9.91411493e-01 -4.26714788e-04 -1.84993857e+01] [-3.72495901e-03 -6.09570239e-05 9.99993060e-01 -8.80585242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:-18.50, Z:-0.88 [[ 9.90383862e-01 1.38297175e-01 3.70095937e-03 2.09105583e+02] [-1.38296546e-01 9.90390773e-01 -4.26538544e-04 -1.85022316e+01] [-3.72438508e-03 -8.93930069e-05 9.99993060e-01 -8.81922399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.16, Y:-18.51, Z:-0.89 [[ 9.90139166e-01 1.40038336e-01 3.70097975e-03 2.09164544e+02] [-1.40037720e-01 9.90146078e-01 -4.26361643e-04 -1.85058029e+01] [-3.72421755e-03 -9.61194040e-05 9.99993060e-01 -8.85921610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.22, Y:-18.51, Z:-0.89 [[ 9.90387463e-01 1.38271384e-01 3.70100001e-03 2.09221965e+02] [-1.38270756e-01 9.90394374e-01 -4.26185668e-04 -1.85077366e+01] [-3.72437887e-03 -8.96511268e-05 9.99993060e-01 -8.86564718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:-18.51, Z:-0.89 [[ 9.91551570e-01 1.29660272e-01 3.70103519e-03 2.09280051e+02] [-1.29659585e-01 9.91558476e-01 -4.25879992e-04 -1.85097063e+01] [-3.72501252e-03 -5.75927128e-05 9.99993060e-01 -8.85750037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:-18.51, Z:-0.88 [[ 9.93161080e-01 1.16693490e-01 3.70105984e-03 2.09339219e+02] [-1.16692714e-01 9.93167976e-01 -4.25665639e-04 -1.85142556e+01] [-3.72544652e-03 -9.13217252e-06 9.99993060e-01 -8.83951110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.40, Y:-18.52, Z:-0.88 [[ 9.94217661e-01 1.07319820e-01 3.70108034e-03 2.09397781e+02] [-1.07318980e-01 9.94224550e-01 -4.25487268e-04 -1.85216618e+01] [-3.72536816e-03 2.58307895e-05 9.99993060e-01 -8.83573297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.46, Y:-18.53, Z:-0.89 [[ 9.94435328e-01 1.05283812e-01 3.70110053e-03 2.09455152e+02] [-1.05282958e-01 9.94442214e-01 -4.25311596e-04 -1.85257597e+01] [-3.72530903e-03 3.32820624e-05 9.99993060e-01 -8.89562941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.51, Y:-18.53, Z:-0.89 [[ 9.94156070e-01 1.07888881e-01 3.70113593e-03 2.09514514e+02] [-1.07888047e-01 9.94162959e-01 -4.25003326e-04 -1.85285326e+01] [-3.72538538e-03 2.32113107e-05 9.99993060e-01 -8.87861488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.57, Y:-18.53, Z:-0.89 [[ 9.93519886e-01 1.13598141e-01 3.70115602e-03 2.09572529e+02] [-1.13597347e-01 9.93526780e-01 -4.24828297e-04 -1.85331735e+01] [-3.72545733e-03 1.63385769e-06 9.99993060e-01 -8.86368590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:-18.54, Z:-0.89 [[ 9.92710013e-01 1.20470461e-01 3.70119279e-03 2.09630950e+02] [-1.20469716e-01 9.92716912e-01 -4.24507735e-04 -1.85367448e+01] [-3.72537732e-03 -2.44685645e-05 9.99993060e-01 -8.86181536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:-18.54, Z:-0.88 [[ 9.92004544e-01 1.26147872e-01 3.70121278e-03 2.09690220e+02] [-1.26147166e-01 9.92011448e-01 -4.24333322e-04 -1.85352375e+01] [-3.72517420e-03 -4.59569210e-05 9.99993060e-01 -8.84432787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.75, Y:-18.54, Z:-0.88 [[ 9.91479687e-01 1.30208798e-01 3.70123276e-03 2.09749500e+02] [-1.30208121e-01 9.91486594e-01 -4.24159016e-04 -1.85361881e+01] [-3.72495190e-03 -6.13855153e-05 9.99993060e-01 -8.84352352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:-18.53, Z:-0.88 [[ 9.90893095e-01 1.34600055e-01 3.70125313e-03 2.09807889e+02] [-1.34599410e-01 9.90900005e-01 -4.23981140e-04 -1.85345741e+01] [-3.72463963e-03 -7.80665034e-05 9.99993060e-01 -8.84187398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:-18.53, Z:-0.88 [[ 9.90585923e-01 1.36842352e-01 3.70133476e-03 2.09867214e+02] [-1.36841725e-01 9.90592834e-01 -4.23267328e-04 -1.85340761e+01] [-3.72443659e-03 -8.72143771e-05 9.99993060e-01 -8.82469545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.92, Y:-18.53, Z:-0.88 [[ 9.90691828e-01 1.36073516e-01 3.70140551e-03 2.09924897e+02] [-1.36072887e-01 9.90698739e-01 -4.22647732e-04 -1.85300119e+01] [-3.72448894e-03 -8.49472783e-05 9.99993060e-01 -8.83186439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:-18.53, Z:-0.88 [[ 9.91584321e-01 1.29409561e-01 3.70144043e-03 2.09984709e+02] [-1.29408886e-01 9.91591227e-01 -4.22341746e-04 -1.85282968e+01] [-3.72497091e-03 -6.02118281e-05 9.99993060e-01 -8.84988109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.04, Y:-18.53, Z:-0.88 [[ 9.92597540e-01 1.21393669e-01 3.70151001e-03 2.10043238e+02] [-1.21392940e-01 9.92604441e-01 -4.21730967e-04 -1.85289439e+01] [-3.72533075e-03 -3.07280629e-05 9.99993060e-01 -8.84562180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:-18.53, Z:-0.88 [[ 9.93220564e-01 1.16186095e-01 3.70159019e-03 2.10101230e+02] [-1.16185333e-01 9.93227462e-01 -4.21026074e-04 -1.85297335e+01] [-3.72543841e-03 -1.18987348e-05 9.99993060e-01 -8.83017831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:-18.53, Z:-0.88 [[ 9.94022419e-01 1.09113374e-01 3.70167066e-03 2.10159943e+02] [-1.09112566e-01 9.94029311e-01 -4.20317418e-04 -1.85281433e+01] [-3.72543138e-03 1.39061532e-05 9.99993060e-01 -8.82599974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.22, Y:-18.53, Z:-0.88 [[ 9.94533553e-01 1.04351851e-01 3.70169538e-03 2.10218726e+02] [-1.04351010e-01 9.94540442e-01 -4.20099558e-04 -1.85333937e+01] [-3.72532393e-03 3.15274529e-05 9.99993060e-01 -8.79675440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:-18.54, Z:-0.88 [[ 9.94992318e-01 9.98828542e-02 3.70171545e-03 2.10276580e+02] [-9.98819831e-02 9.94999203e-01 -4.19922622e-04 -1.85383644e+01] [-3.72514699e-03 4.80851030e-05 9.99993060e-01 -8.80011830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:-18.55, Z:-0.88 [[ 9.95580673e-01 9.38371997e-02 3.70174023e-03 2.10333469e+02] [-9.38362875e-02 9.95587553e-01 -4.19704110e-04 -1.85464308e+01] [-3.72479035e-03 7.04917397e-05 9.99993060e-01 -8.82581873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:-18.55, Z:-0.88 [[ 9.95753825e-01 9.19816118e-02 3.70176459e-03 2.10391510e+02] [-9.19806876e-02 9.95760703e-01 -4.19489146e-04 -1.85546913e+01] [-3.72465700e-03 7.72170691e-05 9.99993060e-01 -8.83698368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:-18.56, Z:-0.88 [[ 9.95608652e-01 9.35398745e-02 3.70178404e-03 2.10448791e+02] [-9.35389618e-02 9.95615532e-01 -4.19317440e-04 -1.85638985e+01] [-3.72477658e-03 7.12150356e-05 9.99993060e-01 -8.83122804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:-18.57, Z:-0.88 [[ 9.95113781e-01 9.86653871e-02 3.70181367e-03 2.10507389e+02] [-9.86645107e-02 9.95120665e-01 -4.19055698e-04 -1.85723130e+01] [-3.72509757e-03 5.17704655e-05 9.99993060e-01 -8.83823495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:-18.58, Z:-0.88 [[ 9.94672582e-01 1.03018208e-01 3.70183333e-03 2.10564591e+02] [-1.03017362e-01 9.94679470e-01 -4.18881893e-04 -1.85808107e+01] [-3.72529008e-03 3.52972288e-05 9.99993060e-01 -8.82715532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:-18.59, Z:-0.88 [[ 9.93844581e-01 1.10721478e-01 3.70191476e-03 2.10621052e+02] [-1.10720688e-01 9.93851475e-01 -4.18161032e-04 -1.85914093e+01] [-3.72545285e-03 5.70852493e-06 9.99993060e-01 -8.84135832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:-18.60, Z:-0.88 [[ 9.92844953e-01 1.19353234e-01 3.70195003e-03 2.10679139e+02] [-1.19352506e-01 9.92851854e-01 -4.17848608e-04 -1.85977006e+01] [-3.72535953e-03 -2.69781296e-05 9.99993060e-01 -8.84581359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:-18.61, Z:-0.89 [[ 9.92302390e-01 1.23783128e-01 3.70196975e-03 2.10735272e+02] [-1.23782431e-01 9.92309294e-01 -4.17673796e-04 -1.86053420e+01] [-3.72519996e-03 -4.37801084e-05 9.99993060e-01 -8.86222611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:-18.62, Z:-0.89 [[ 9.92297654e-01 1.23821083e-01 3.70202359e-03 2.10792480e+02] [-1.23820388e-01 9.92304559e-01 -4.17196010e-04 -1.86169269e+01] [-3.72519255e-03 -4.44033745e-05 9.99993060e-01 -8.89223940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:-18.62, Z:-0.89 [[ 9.92540852e-01 1.21856273e-01 3.70205979e-03 2.10850710e+02] [-1.21855565e-01 9.92547756e-01 -4.16874585e-04 -1.86248187e+01] [-3.72526992e-03 -3.73515333e-05 9.99993060e-01 -8.89094567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.91, Y:-18.64, Z:-0.89 [[ 9.93100022e-01 1.17211946e-01 3.70212791e-03 2.10906804e+02] [-1.17211209e-01 9.93106922e-01 -4.16268704e-04 -1.86358234e+01] [-3.72540052e-03 -2.05344294e-05 9.99993060e-01 -8.90419700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:-18.65, Z:-0.89 [[ 9.93661111e-01 1.12356088e-01 3.70216152e-03 2.10964912e+02] [-1.12355318e-01 9.93668008e-01 -4.15969592e-04 -1.86475070e+01] [-3.72545618e-03 -2.62472615e-06 9.99993060e-01 -8.86620133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:-18.66, Z:-0.89 [[ 9.94061943e-01 1.08752687e-01 3.70223009e-03 2.11022155e+02] [-1.08751895e-01 9.94068837e-01 -4.15358418e-04 -1.86585531e+01] [-3.72544290e-03 1.02674588e-05 9.99993060e-01 -8.88973764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:-18.67, Z:-0.89 [[ 9.94165057e-01 1.07805993e-01 3.70225428e-03 2.11080176e+02] [-1.07805195e-01 9.94171951e-01 -4.15142673e-04 -1.86707462e+01] [-3.72543223e-03 1.35980951e-05 9.99993060e-01 -8.85824857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.14, Y:-18.68, Z:-0.89 [[ 9.94090305e-01 1.08493129e-01 3.70227494e-03 2.11136781e+02] [-1.08492336e-01 9.94097199e-01 -4.14958318e-04 -1.86806108e+01] [-3.72544128e-03 1.08375850e-05 9.99993060e-01 -8.88007204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10420382199996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:-18.69, Z:-0.89 [[ 9.93773599e-01 1.11356754e-01 3.70230048e-03 2.11194521e+02] [-1.11355981e-01 9.93780496e-01 -4.14730394e-04 -1.86909935e+01] [-3.72545703e-03 -1.25186273e-07 9.99993060e-01 -8.91167672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:-18.70, Z:-0.89 [[ 9.93537965e-01 1.13439878e-01 3.70232037e-03 2.11251261e+02] [-1.13439121e-01 9.93544863e-01 -4.14552743e-04 -1.87005586e+01] [-3.72544819e-03 -8.11407809e-06 9.99993060e-01 -8.93326235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:-18.71, Z:-0.89 [[ 9.93245283e-01 1.15974572e-01 3.70234501e-03 2.11309354e+02] [-1.15973834e-01 9.93252183e-01 -4.14332545e-04 -1.87088479e+01] [-3.72541430e-03 -1.78412986e-05 9.99993060e-01 -8.92865071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:-18.71, Z:-0.90 [[ 9.92812295e-01 1.19624575e-01 3.70236457e-03 2.11367263e+02] [-1.19623863e-01 9.92819198e-01 -4.14157665e-04 -1.87138866e+01] [-3.72532206e-03 -3.17103283e-05 9.99993060e-01 -8.95048316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:-18.72, Z:-0.89 [[ 9.92757281e-01 1.20080279e-01 3.70238885e-03 2.11425883e+02] [-1.20079570e-01 9.92764184e-01 -4.13940546e-04 -1.87207640e+01] [-3.72530514e-03 -3.36387715e-05 9.99993060e-01 -8.92220541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.48, Y:-18.73, Z:-0.89 [[ 9.93035793e-01 1.17754852e-01 3.70240907e-03 2.11483289e+02] [-1.17754128e-01 9.93042695e-01 -4.13759561e-04 -1.87285087e+01] [-3.72537248e-03 -2.50958972e-05 9.99993060e-01 -8.93128640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.54, Y:-18.74, Z:-0.89 [[ 9.93768016e-01 1.11406567e-01 3.70243408e-03 2.11541207e+02] [-1.11405800e-01 9.93774913e-01 -4.13535631e-04 -1.87367524e+01] [-3.72545669e-03 -1.51414723e-06 9.99993060e-01 -8.92321715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52420382199995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:-18.75, Z:-0.89 [[ 9.94552542e-01 1.04170695e-01 3.70245328e-03 2.11598918e+02] [-1.04169878e-01 9.94559433e-01 -4.13363683e-04 -1.87497593e+01] [-3.72537022e-03 2.54277967e-05 9.99993060e-01 -8.91653699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:-18.76, Z:-0.89 [[ 9.94992801e-01 9.98780145e-02 3.70247230e-03 2.11656376e+02] [-9.98771683e-02 9.94999689e-01 -4.13193258e-04 -1.87648721e+01] [-3.72522771e-03 4.13318677e-05 9.99993060e-01 -8.91017301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.71, Y:-18.78, Z:-0.89 [[ 9.94912168e-01 1.00678050e-01 3.70249156e-03 2.11714285e+02] [-1.00677210e-01 9.94919056e-01 -4.13020601e-04 -1.87777628e+01] [-3.72526152e-03 3.81627002e-05 9.99993060e-01 -8.89392460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:211.77, Y:-18.79, Z:-0.89 [[ 9.94469942e-01 1.04956304e-01 3.70251106e-03 2.11772091e+02] [-1.04955495e-01 9.94476834e-01 -4.12845704e-04 -1.87891439e+01] [-3.72539224e-03 2.19637622e-05 9.99993060e-01 -8.89713842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:-18.80, Z:-0.89 [[ 9.93221140e-01 1.16181146e-01 3.70253097e-03 2.11829457e+02] [-1.16180415e-01 9.93228041e-01 -4.12667111e-04 -1.88003765e+01] [-3.72540172e-03 -2.02918880e-05 9.99993060e-01 -8.87301903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82420382199996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:-18.81, Z:-0.89 [[ 9.91894643e-01 1.27009091e-01 3.70256779e-03 2.11885824e+02] [-1.27008436e-01 9.91901551e-01 -4.12336477e-04 -1.88070709e+01] [-3.72495321e-03 -6.12630022e-05 9.99993060e-01 -8.87849381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.94, Y:-18.81, Z:-0.89 [[ 9.90641497e-01 1.36439422e-01 3.70262103e-03 2.11942416e+02] [-1.36438835e-01 9.90648411e-01 -4.11857835e-04 -1.88141746e+01] [-3.72418929e-03 -9.71778365e-05 9.99993060e-01 -8.88718110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.00, Y:-18.82, Z:-0.89 [[ 9.89805363e-01 1.42378489e-01 3.70265451e-03 2.11999574e+02] [-1.42377945e-01 9.89812281e-01 -4.11556640e-04 -1.88198007e+01] [-3.72352972e-03 -1.19815368e-04 9.99993060e-01 -8.89191074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.06, Y:-18.82, Z:-0.89 [[ 9.89667918e-01 1.43330746e-01 3.70267811e-03 2.12057063e+02] [-1.43330209e-01 9.89674836e-01 -4.11344204e-04 -1.88237955e+01] [-3.72340562e-03 -1.23611466e-04 9.99993060e-01 -8.86384354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.11, Y:-18.83, Z:-0.89 [[ 9.89729781e-01 1.42902941e-01 3.70275817e-03 2.12114071e+02] [-1.42902403e-01 9.89736700e-01 -4.10622262e-04 -1.88262692e+01] [-3.72343478e-03 -1.22727961e-04 9.99993060e-01 -8.88896500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:212.17, Y:-18.83, Z:-0.89 [[ 9.90408898e-01 1.38117716e-01 3.70281243e-03 2.12173137e+02] [-1.38117147e-01 9.90415814e-01 -4.10132398e-04 -1.88302446e+01] [-3.72397054e-03 -1.05223112e-04 9.99993060e-01 -8.88490737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.23, Y:-18.83, Z:-0.89 [[ 9.91462510e-01 1.30339484e-01 3.70283256e-03 2.12230164e+02] [-1.30338862e-01 9.91469421e-01 -4.09950596e-04 -1.88341934e+01] [-3.72467800e-03 -7.61723348e-05 9.99993060e-01 -8.88912353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:-18.84, Z:-0.89 [[ 9.92689119e-01 1.20642452e-01 3.70286731e-03 2.12289261e+02] [-1.20641763e-01 9.92696025e-01 -4.09636448e-04 -1.88365800e+01] [-3.72524120e-03 -4.00787968e-05 9.99993060e-01 -8.87306014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.35, Y:-18.84, Z:-0.89 [[ 9.93870562e-01 1.10487987e-01 3.70288697e-03 2.12346865e+02] [-1.10487228e-01 9.93877460e-01 -4.09458645e-04 -1.88425426e+01] [-3.72545616e-03 -2.17282333e-06 9.99993060e-01 -8.89486576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.40, Y:-18.85, Z:-0.89 [[ 9.94366050e-01 1.05936051e-01 3.70291117e-03 2.12403291e+02] [-1.05935261e-01 9.94372945e-01 -4.09239668e-04 -1.88478414e+01] [-3.72542792e-03 1.46651697e-05 9.99993060e-01 -8.89172727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.46, Y:-18.85, Z:-0.89 [[ 9.94727585e-01 1.02485701e-01 3.70294407e-03 2.12462212e+02] [-1.02484889e-01 9.94734477e-01 -4.08941787e-04 -1.88544448e+01] [-3.72535682e-03 2.72898636e-05 9.99993060e-01 -8.85356399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.52, Y:-18.86, Z:-0.89 [[ 9.94772814e-01 1.02045760e-01 3.70296362e-03 2.12520671e+02] [-1.02044945e-01 9.94779705e-01 -4.08764630e-04 -1.88608039e+01] [-3.72534576e-03 2.87592210e-05 9.99993060e-01 -8.86044290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.58, Y:-18.87, Z:-0.89 [[ 9.94584128e-01 1.03868669e-01 3.70298307e-03 2.12579218e+02] [-1.03867868e-01 9.94591021e-01 -4.08588438e-04 -1.88691425e+01] [-3.72539325e-03 2.17546186e-05 9.99993060e-01 -8.87505689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.64, Y:-18.87, Z:-0.89 [[ 9.94197905e-01 1.07502618e-01 3.70300259e-03 2.12636033e+02] [-1.07501842e-01 9.94204801e-01 -4.08411391e-04 -1.88747988e+01] [-3.72544825e-03 7.96214883e-06 9.99993060e-01 -8.88303261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.69, Y:-18.88, Z:-0.89 [[ 9.93647655e-01 1.12475000e-01 3.70303649e-03 2.12694586e+02] [-1.12474261e-01 9.93654555e-01 -4.08103800e-04 -1.88785836e+01] [-3.72544055e-03 -1.09849075e-05 9.99993060e-01 -8.86432222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:-18.89, Z:-0.89 [[ 9.93132463e-01 1.16936729e-01 3.70305587e-03 2.12751153e+02] [-1.16936021e-01 9.93139366e-01 -4.07927924e-04 -1.88857026e+01] [-3.72535231e-03 -2.78941541e-05 9.99993060e-01 -8.88234142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.81, Y:-18.89, Z:-0.89 [[ 9.92249056e-01 1.24209896e-01 3.70308936e-03 2.12810274e+02] [-1.24209240e-01 9.92255964e-01 -4.07623639e-04 -1.88895836e+01] [-3.72504339e-03 -5.54937429e-05 9.99993060e-01 -8.86274588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.87, Y:-18.89, Z:-0.89 [[ 9.91435653e-01 1.30543607e-01 3.70310837e-03 2.12869740e+02] [-1.30542996e-01 9.91442565e-01 -4.07450895e-04 -1.88881390e+01] [-3.72460937e-03 -7.94535152e-05 9.99993060e-01 -8.85117286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.93, Y:-18.89, Z:-0.89 [[ 9.91089618e-01 1.33145244e-01 3.70312772e-03 2.12928972e+02] [-1.33144651e-01 9.91096532e-01 -4.07274978e-04 -1.88892809e+01] [-3.72438376e-03 -8.94056441e-05 9.99993060e-01 -8.90231579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:-18.89, Z:-0.89 [[ 9.91450205e-01 1.30433039e-01 3.70319589e-03 2.12988100e+02] [-1.30432429e-01 9.91457118e-01 -4.06654136e-04 -1.88891709e+01] [-3.72460106e-03 -7.98395086e-05 9.99993060e-01 -8.88507211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:-18.89, Z:-0.89 [[ 9.92133676e-01 1.25128152e-01 3.70326499e-03 2.13045745e+02] [-1.25127508e-01 9.92140586e-01 -4.06023865e-04 -1.88913552e+01] [-3.72496452e-03 -6.05503706e-05 9.99993060e-01 -8.88155703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:-18.89, Z:-0.89 [[ 9.94290166e-01 1.06645912e-01 3.70330144e-03 2.13104067e+02] [-1.06645140e-01 9.94297063e-01 -4.05691140e-04 -1.88944582e+01] [-3.72544705e-03 8.43560917e-06 9.99993060e-01 -8.85393602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:-18.90, Z:-0.89 [[ 9.95113791e-01 9.86652352e-02 3.70332552e-03 2.13162232e+02] [-9.86644094e-02 9.95120681e-01 -4.05471221e-04 -1.89033608e+01] [-3.72526173e-03 3.81035788e-05 9.99993060e-01 -8.86832763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:-18.91, Z:-0.89 [[ 9.95961226e-01 8.97079765e-02 3.70334498e-03 2.13219926e+02] [-8.97070894e-02 9.95968109e-01 -4.05293459e-04 -1.89107517e+01] [-3.72477155e-03 7.14402711e-05 9.99993060e-01 -8.89629910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:-18.92, Z:-0.89 [[ 9.96362150e-01 8.51395988e-02 3.70336889e-03 2.13277871e+02] [-8.51386809e-02 9.96369028e-01 -4.05074850e-04 -1.89217133e+01] [-3.72440997e-03 8.83013064e-05 9.99993060e-01 -8.91431825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32420382199996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.34, Y:-18.93, Z:-0.89 [[ 9.96363734e-01 8.51210595e-02 3.70338824e-03 2.13336106e+02] [-8.51201422e-02 9.96370613e-01 -4.04897834e-04 -1.89312189e+01] [-3.72441254e-03 8.81925845e-05 9.99993060e-01 -8.91983276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.39, Y:-18.95, Z:-0.89 [[ 9.96019556e-01 8.90580062e-02 3.70340749e-03 2.13393676e+02] [-8.90571167e-02 9.96026438e-01 -4.04721733e-04 -1.89465055e+01] [-3.72473548e-03 7.32959683e-05 9.99993060e-01 -8.93762672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:-18.96, Z:-0.89 [[ 9.95683693e-01 9.27376265e-02 3.70342680e-03 2.13450763e+02] [-9.27367631e-02 9.95690579e-01 -4.04544877e-04 -1.89563244e+01] [-3.72498371e-03 5.93549231e-05 9.99993060e-01 -8.93544004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:-18.97, Z:-0.89 [[ 9.95238324e-01 9.74010383e-02 3.70346134e-03 2.13508556e+02] [-9.74002083e-02 9.95245214e-01 -4.04228442e-04 -1.89685592e+01] [-3.72522445e-03 4.15857305e-05 9.99993060e-01 -8.91001803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:-18.98, Z:-0.89 [[ 9.94780248e-01 1.01973242e-01 3.70348045e-03 2.13566163e+02] [-1.01972445e-01 9.94787142e-01 -4.04053291e-04 -1.89841685e+01] [-3.72537736e-03 2.42912782e-05 9.99993060e-01 -8.92905782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:-19.00, Z:-0.89 [[ 9.94370454e-01 1.05894683e-01 3.70349959e-03 2.13623828e+02] [-1.05893913e-01 9.94377351e-01 -4.03877835e-04 -1.90001772e+01] [-3.72544462e-03 9.42612138e-06 9.99993060e-01 -8.94235419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:-19.02, Z:-0.89 [[ 9.93986939e-01 1.09436049e-01 3.70351859e-03 2.13680730e+02] [-1.09435304e-01 9.93993839e-01 -4.03703481e-04 -1.90163218e+01] [-3.72545438e-03 -4.01969692e-06 9.99993060e-01 -8.91824230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:-19.03, Z:-0.89 [[ 9.93550398e-01 1.13330886e-01 3.70354309e-03 2.13737209e+02] [-1.13330170e-01 9.93557301e-01 -4.03478574e-04 -1.90306047e+01] [-3.72540886e-03 -1.88468693e-05 9.99993060e-01 -8.92735230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:-19.04, Z:-0.89 [[ 9.93429600e-01 1.14384933e-01 3.70356745e-03 2.13794846e+02] [-1.14384224e-01 9.93436504e-01 -4.03254846e-04 -1.90440766e+01] [-3.72538538e-03 -2.30243887e-05 9.99993060e-01 -8.90530621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:-19.06, Z:-0.89 [[ 9.93366256e-01 1.14933741e-01 3.70358708e-03 2.13852401e+02] [-1.14933037e-01 9.93373160e-01 -4.03074477e-04 -1.90588646e+01] [-3.72537086e-03 -2.52639262e-05 9.99993060e-01 -8.92281254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:-19.07, Z:-0.89 [[ 9.93467826e-01 1.14052452e-01 3.70360662e-03 2.13909646e+02] [-1.14051742e-01 9.93474729e-01 -4.02894942e-04 -1.90723695e+01] [-3.72539074e-03 -2.21396242e-05 9.99993060e-01 -8.94018456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:-19.09, Z:-0.89 [[ 9.93688006e-01 1.12117929e-01 3.70362608e-03 2.13966035e+02] [-1.12117207e-01 9.93694908e-01 -4.02715966e-04 -1.90876774e+01] [-3.72542605e-03 -1.50661847e-05 9.99993060e-01 -8.93466351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:-19.10, Z:-0.89 [[ 9.93608906e-01 1.12816772e-01 3.70365786e-03 2.14022630e+02] [-1.12816056e-01 9.93615809e-01 -4.02423482e-04 -1.91013542e+01] [-3.72541311e-03 -1.79805161e-05 9.99993060e-01 -8.93888553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:-19.11, Z:-0.89 [[ 9.93410242e-01 1.14552932e-01 3.70368141e-03 2.14079556e+02] [-1.14552229e-01 9.93417146e-01 -4.02206556e-04 -1.91112926e+01] [-3.72537456e-03 -2.47088489e-05 9.99993060e-01 -8.91286754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:-19.12, Z:-0.89 [[ 9.93178037e-01 1.16549002e-01 3.70371061e-03 2.14135913e+02] [-1.16548313e-01 9.93184942e-01 -4.01937564e-04 -1.91234045e+01] [-3.72531503e-03 -3.24656626e-05 9.99993060e-01 -8.90282338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:-19.13, Z:-0.89 [[ 9.92880228e-01 1.19059379e-01 3.70373957e-03 2.14194498e+02] [-1.19058709e-01 9.92887135e-01 -4.01670472e-04 -1.91333103e+01] [-3.72521801e-03 -4.21517819e-05 9.99993060e-01 -8.91147619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:-19.14, Z:-0.89 [[ 9.92321188e-01 1.23632281e-01 3.70377385e-03 2.14251516e+02] [-1.23631644e-01 9.92328099e-01 -4.01354157e-04 -1.91416793e+01] [-3.72497919e-03 -5.96314167e-05 9.99993060e-01 -8.93504951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:-19.15, Z:-0.89 [[ 9.91588364e-01 1.29378508e-01 3.70379753e-03 2.14310549e+02] [-1.29377912e-01 9.91595278e-01 -4.01135462e-04 -1.91462394e+01] [-3.72456645e-03 -8.14283340e-05 9.99993060e-01 -8.93165065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:-19.15, Z:-0.89 [[ 9.91324657e-01 1.31383809e-01 3.70381698e-03 2.14367840e+02] [-1.31383227e-01 9.91331573e-01 -4.00955814e-04 -1.91505942e+01] [-3.72438982e-03 -8.91420428e-05 9.99993060e-01 -8.94247826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.43, Y:-19.16, Z:-0.89 [[ 9.91544393e-01 1.29715068e-01 3.70384109e-03 2.14426240e+02] [-1.29714476e-01 9.91551307e-01 -4.00733035e-04 -1.91570682e+01] [-3.72452958e-03 -8.30972118e-05 9.99993060e-01 -8.94969233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:-19.16, Z:-0.90 [[ 9.91916938e-01 1.26834809e-01 3.70386063e-03 2.14483912e+02] [-1.26834197e-01 9.91923851e-01 -4.00552316e-04 -1.91612094e+01] [-3.72475167e-03 -7.24615632e-05 9.99993060e-01 -8.95915866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:-19.16, Z:-0.89 [[ 9.91936861e-01 1.26678908e-01 3.70388482e-03 2.14542406e+02] [-1.26678296e-01 9.91943773e-01 -4.00328491e-04 -1.91632864e+01] [-3.72475866e-03 -7.21012302e-05 9.99993060e-01 -8.91985045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.60, Y:-19.16, Z:-0.89 [[ 9.91891016e-01 1.27037367e-01 3.70390419e-03 2.14601258e+02] [-1.27036758e-01 9.91897929e-01 -4.00149170e-04 -1.91649631e+01] [-3.72472880e-03 -7.36276139e-05 9.99993060e-01 -8.93892287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:-19.17, Z:-0.90 [[ 9.92143861e-01 1.25047350e-01 3.70392377e-03 2.14659942e+02] [-1.25046728e-01 9.92150773e-01 -3.99967890e-04 -1.91669603e+01] [-3.72486575e-03 -6.63378616e-05 9.99993060e-01 -8.96638145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:-19.17, Z:-0.90 [[ 9.92462609e-01 1.22491839e-01 3.70394363e-03 2.14718000e+02] [-1.22491200e-01 9.92469519e-01 -3.99783909e-04 -1.91683838e+01] [-3.72502142e-03 -5.69299178e-05 9.99993060e-01 -8.99142503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:-19.17, Z:-0.90 [[ 9.93195985e-01 1.16395944e-01 3.70396813e-03 2.14776775e+02] [-1.16395263e-01 9.93202891e-01 -3.99556803e-04 -1.91712115e+01] [-3.72529864e-03 -3.42861325e-05 9.99993060e-01 -9.00014901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:-19.18, Z:-0.89 [[ 9.94087505e-01 1.08518717e-01 3.70398667e-03 2.14835446e+02] [-1.08517982e-01 9.94094406e-01 -3.99384796e-04 -1.91765228e+01] [-3.72545316e-03 -4.92572366e-06 9.99993060e-01 -8.93588934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:-19.18, Z:-0.89 [[ 9.94812575e-01 1.01657372e-01 3.70400633e-03 2.14892411e+02] [-1.01656591e-01 9.94819470e-01 -3.99202436e-04 -1.91829470e+01] [-3.72539948e-03 2.05949478e-05 9.99993060e-01 -8.92694713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:-19.19, Z:-0.89 [[ 9.95132190e-01 9.84794611e-02 3.70402697e-03 2.14950438e+02] [-9.84786580e-02 9.95139083e-01 -3.99010843e-04 -1.91890446e+01] [-3.72531637e-03 3.23009297e-05 9.99993060e-01 -8.90481685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.01, Y:-19.20, Z:-0.89 [[ 9.95075851e-01 9.90471111e-02 3.70405121e-03 2.15008121e+02] [-9.90463128e-02 9.95082745e-01 -3.98785696e-04 -1.91971587e+01] [-3.72533601e-03 2.99494016e-05 9.99993060e-01 -8.92746758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.07, Y:-19.20, Z:-0.90 [[ 9.94589650e-01 1.03815736e-01 3.70407838e-03 2.15067134e+02] [-1.03814971e-01 9.94596548e-01 -3.98533106e-04 -1.92031012e+01] [-3.72543758e-03 1.18381116e-05 9.99993060e-01 -8.95511630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:-19.21, Z:-0.90 [[ 9.93784535e-01 1.11259053e-01 3.70409252e-03 2.15125893e+02] [-1.11258341e-01 9.93791438e-01 -3.98401651e-04 -1.92092361e+01] [-3.72542122e-03 -1.61857886e-05 9.99993060e-01 -8.95135127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:-19.21, Z:-0.90 [[ 9.93113439e-01 1.17098153e-01 3.70411175e-03 2.15183711e+02] [-1.17097482e-01 9.93120346e-01 -3.98222754e-04 -1.92123229e+01] [-3.72525989e-03 -3.82617897e-05 9.99993060e-01 -8.98357925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:-19.22, Z:-0.90 [[ 9.92898443e-01 1.18907361e-01 3.70413572e-03 2.15242694e+02] [-1.18906704e-01 9.92905352e-01 -3.97999673e-04 -1.92169545e+01] [-3.72518127e-03 -4.52733126e-05 9.99993060e-01 -8.98025222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:-19.22, Z:-0.90 [[ 9.93111242e-01 1.17116785e-01 3.70415454e-03 2.15300753e+02] [-1.17116115e-01 9.93118149e-01 -3.97824502e-04 -1.92233298e+01] [-3.72525502e-03 -3.87322047e-05 9.99993060e-01 -8.97740459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:-19.23, Z:-0.90 [[ 9.93745900e-01 1.11603606e-01 3.70417325e-03 2.15358762e+02] [-1.11602899e-01 9.93752804e-01 -3.97650215e-04 -1.92297535e+01] [-3.72541175e-03 -1.82332007e-05 9.99993060e-01 -8.98159434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:-19.24, Z:-0.90 [[ 9.94532522e-01 1.04361588e-01 3.70419222e-03 2.15416094e+02] [-1.04360831e-01 9.94539421e-01 -3.97473384e-04 -1.92387159e+01] [-3.72544614e-03 8.72762911e-06 9.99993060e-01 -9.01704713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-19.25, Z:-0.90 [[ 9.95239467e-01 9.73893330e-02 3.70421561e-03 2.15473975e+02] [-9.73885290e-02 9.95246360e-01 -3.97255255e-04 -1.92514548e+01] [-3.72529553e-03 3.46159988e-05 9.99993060e-01 -8.96369886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-19.26, Z:-0.90 [[ 9.95564648e-01 9.40069665e-02 3.70423495e-03 2.15532370e+02] [-9.40061397e-02 9.95571538e-01 -3.97074855e-04 -1.92601305e+01] [-3.72515869e-03 4.70928596e-05 9.99993060e-01 -8.96479670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:-19.28, Z:-0.90 [[ 9.95589462e-01 9.37438042e-02 3.70425423e-03 2.15589086e+02] [-9.37429762e-02 9.95596352e-01 -3.96894955e-04 -1.92750000e+01] [-3.72514844e-03 4.78966187e-05 9.99993060e-01 -8.98789075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:-19.29, Z:-0.90 [[ 9.95353329e-01 9.62186525e-02 3.70427800e-03 2.15647429e+02] [-9.62178425e-02 9.95360221e-01 -3.96672950e-04 -1.92864349e+01] [-3.72525831e-03 3.84121041e-05 9.99993060e-01 -8.97230731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:-19.29, Z:-0.90 [[ 9.94513064e-01 1.04546854e-01 3.70429680e-03 2.15705594e+02] [-1.04546102e-01 9.94519962e-01 -3.96497297e-04 -1.92948796e+01] [-3.72544966e-03 7.05195018e-06 9.99993060e-01 -8.96641291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:-19.30, Z:-0.90 [[ 9.93855069e-01 1.10627214e-01 3.70431575e-03 2.15764029e+02] [-1.10626505e-01 9.93861972e-01 -3.96320237e-04 -1.93025068e+01] [-3.72542236e-03 -1.59106283e-05 9.99993060e-01 -9.00604943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:-19.31, Z:-0.91 [[ 9.93043002e-01 1.17693981e-01 3.70433460e-03 2.15821472e+02] [-1.17693322e-01 9.93049911e-01 -3.96143943e-04 -1.93127852e+01] [-3.72521290e-03 -4.25874745e-05 9.99993060e-01 -9.06791841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:-19.32, Z:-0.91 [[ 9.92703052e-01 1.20527708e-01 3.70435327e-03 2.15879070e+02] [-1.20527069e-01 9.92709962e-01 -3.95969273e-04 -1.93199483e+01] [-3.72507366e-03 -5.33949361e-05 9.99993060e-01 -9.10540865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-19.32, Z:-0.91 [[ 9.92170469e-01 1.24836042e-01 3.70437805e-03 2.15937219e+02] [-1.24835434e-01 9.92177382e-01 -3.95737351e-04 -1.93244724e+01] [-3.72480240e-03 -6.97987276e-05 9.99993060e-01 -9.05241966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:-19.33, Z:-0.91 [[ 9.92314680e-01 1.23684495e-01 3.70440127e-03 2.15995034e+02] [-1.23683880e-01 9.92321592e-01 -3.95519858e-04 -1.93307519e+01] [-3.72487704e-03 -6.56945591e-05 9.99993060e-01 -9.07481172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:-19.34, Z:-0.90 [[ 9.93077071e-01 1.17406171e-01 3.70442422e-03 2.16053698e+02] [-1.17405513e-01 9.93083979e-01 -3.95304813e-04 -1.93362749e+01] [-3.72521556e-03 -4.23516792e-05 9.99993060e-01 -9.02201541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:-19.34, Z:-0.90 [[ 9.93706145e-01 1.11957017e-01 3.70444335e-03 2.16112470e+02] [-1.11956322e-01 9.93713050e-01 -3.95125454e-04 -1.93430596e+01] [-3.72539076e-03 -2.20972582e-05 9.99993060e-01 -9.02818514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:-19.35, Z:-0.91 [[ 9.94660170e-01 1.03137889e-01 3.70446220e-03 2.16169965e+02] [-1.03137133e-01 9.94667068e-01 -3.94948660e-04 -1.93514496e+01] [-3.72544072e-03 1.07720904e-05 9.99993060e-01 -9.05775877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.23, Y:-19.36, Z:-0.91 [[ 9.95336709e-01 9.63904191e-02 3.70448543e-03 2.16227856e+02] [-9.63896175e-02 9.95343602e-01 -3.94730636e-04 -1.93632583e+01] [-3.72528412e-03 3.58159591e-05 9.99993060e-01 -9.08011948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:216.29, Y:-19.37, Z:-0.90 [[ 9.95501638e-01 9.46718823e-02 3.70450372e-03 2.16285552e+02] [-9.46710694e-02 9.95508530e-01 -3.94558910e-04 -1.93746264e+01] [-3.72521868e-03 4.20747123e-05 9.99993060e-01 -9.04714218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.34, Y:-19.38, Z:-0.90 [[ 9.95014558e-01 9.96609544e-02 3.70452305e-03 2.16343598e+02] [-9.96601768e-02 9.95021454e-01 -3.94377325e-04 -1.93832502e+01] [-3.72538393e-03 2.32177577e-05 9.99993060e-01 -9.01849040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.40, Y:-19.39, Z:-0.90 [[ 9.93758165e-01 1.11494331e-01 3.70454222e-03 2.16401478e+02] [-1.11493637e-01 9.93765070e-01 -3.94197129e-04 -1.93930678e+01] [-3.72539541e-03 -2.12962692e-05 9.99993060e-01 -9.01960142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:-19.40, Z:-0.90 [[ 9.92343866e-01 1.23450100e-01 3.70456131e-03 2.16459795e+02] [-1.23449489e-01 9.92350779e-01 -3.94017662e-04 -1.93970120e+01] [-3.72486582e-03 -6.63251918e-05 9.99993060e-01 -9.00928332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:-19.40, Z:-0.90 [[ 9.91589966e-01 1.29366210e-01 3.70458035e-03 2.16518012e+02] [-1.29365641e-01 9.91596882e-01 -3.93838589e-04 -1.93985154e+01] [-3.72439973e-03 -8.87190196e-05 9.99993060e-01 -9.01236111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.58, Y:-19.41, Z:-0.90 [[ 9.91164359e-01 1.32587665e-01 3.70460889e-03 2.16575529e+02] [-1.32587120e-01 9.91171277e-01 -3.93569970e-04 -1.94066551e+01] [-3.72408444e-03 -1.01090894e-04 9.99993060e-01 -9.01841114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.63, Y:-19.41, Z:-0.90 [[ 9.91585551e-01 1.29400042e-01 3.70463928e-03 2.16634739e+02] [-1.29399475e-01 9.91592467e-01 -3.93283655e-04 -1.94106986e+01] [-3.72438333e-03 -8.94039895e-05 9.99993060e-01 -9.02133835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.69, Y:-19.41, Z:-0.90 [[ 9.92140781e-01 1.25071762e-01 3.70465783e-03 2.16692750e+02] [-1.25071166e-01 9.92147695e-01 -3.93108814e-04 -1.94129500e+01] [-3.72473454e-03 -7.33265875e-05 9.99993060e-01 -9.04626070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.75, Y:-19.42, Z:-0.90 [[ 9.92617791e-01 1.21227868e-01 3.70468076e-03 2.16751857e+02] [-1.21227246e-01 9.92624703e-01 -3.92892603e-04 -1.94179779e+01] [-3.72498717e-03 -5.91160579e-05 9.99993060e-01 -9.01557504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.81, Y:-19.42, Z:-0.90 [[ 9.92983700e-01 1.18193260e-01 3.70470003e-03 2.16810668e+02] [-1.18192617e-01 9.92990610e-01 -3.92710827e-04 -1.94197562e+01] [-3.72514812e-03 -4.79127421e-05 9.99993060e-01 -9.03056576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.87, Y:-19.42, Z:-0.90 [[ 9.93232379e-01 1.16084956e-01 3.70471912e-03 2.16869133e+02] [-1.16084299e-01 9.93239287e-01 -3.92530634e-04 -1.94225078e+01] [-3.72523948e-03 -4.01855878e-05 9.99993060e-01 -9.03581942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.93, Y:-19.42, Z:-0.91 [[ 9.93623892e-01 1.12684677e-01 3.70473861e-03 2.16927529e+02] [-1.12683997e-01 9.93630798e-01 -3.92346681e-04 -1.94236848e+01] [-3.72535384e-03 -2.76197182e-05 9.99993060e-01 -9.06459537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:-19.43, Z:-0.91 [[ 9.94230675e-01 1.07199069e-01 3.70476266e-03 2.16985487e+02] [-1.07198352e-01 9.94237577e-01 -3.92119445e-04 -1.94272843e+01] [-3.72544909e-03 -7.28727212e-06 9.99993060e-01 -9.06027378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.04, Y:-19.43, Z:-0.90 [[ 9.95013208e-01 9.96744230e-02 3.70478550e-03 2.17044482e+02] [-9.96736547e-02 9.95020105e-01 -3.91903553e-04 -1.94323867e+01] [-3.72539881e-03 2.06797015e-05 9.99993060e-01 -9.03688382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:-19.44, Z:-0.90 [[ 9.95630061e-01 9.33116059e-02 3.70480390e-03 2.17102520e+02] [-9.33107941e-02 9.95636953e-01 -3.91729489e-04 -1.94393748e+01] [-3.72519257e-03 4.43194616e-05 9.99993060e-01 -9.03338385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:-19.45, Z:-0.91 [[ 9.95836935e-01 9.10772934e-02 3.70482278e-03 2.17159411e+02] [-9.10764668e-02 9.95843825e-01 -3.91550837e-04 -1.94468440e+01] [-3.72508628e-03 5.24986159e-05 9.99993060e-01 -9.06450362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:-19.45, Z:-0.91 [[ 9.95665754e-01 9.29299743e-02 3.70484823e-03 2.17218151e+02] [-9.29291615e-02 9.95672646e-01 -3.91309897e-04 -1.94531952e+01] [-3.72518046e-03 4.53254244e-05 9.99993060e-01 -9.06659079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.28, Y:-19.46, Z:-0.91 [[ 9.94705790e-01 1.02696955e-01 3.70486677e-03 2.17276817e+02] [-1.02696211e-01 9.94712690e-01 -3.91134315e-04 -1.94587282e+01] [-3.72544629e-03 8.58778972e-06 9.99993060e-01 -9.05943480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.33, Y:-19.46, Z:-0.91 [[ 9.94159945e-01 1.07853040e-01 3.70488601e-03 2.17333802e+02] [-1.07852332e-01 9.94166848e-01 -3.90951911e-04 -1.94647687e+01] [-3.72544020e-03 -1.09118655e-05 9.99993060e-01 -9.06073628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.39, Y:-19.47, Z:-0.90 [[ 9.93716024e-01 1.11869290e-01 3.70491468e-03 2.17391986e+02] [-1.11868611e-01 9.93722930e-01 -3.90680070e-04 -1.94722283e+01] [-3.72536377e-03 -2.62386140e-05 9.99993060e-01 -9.03677556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:-19.48, Z:-0.91 [[ 9.93658804e-01 1.12376396e-01 3.70493397e-03 2.17449905e+02] [-1.12375721e-01 9.93665711e-01 -3.90497082e-04 -1.94780024e+01] [-3.72534850e-03 -2.83237612e-05 9.99993060e-01 -9.07391532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:-19.48, Z:-0.91 [[ 9.93218765e-01 1.16201372e-01 3.70495778e-03 2.17508918e+02] [-1.16200724e-01 9.93225674e-01 -3.90270974e-04 -1.94837839e+01] [-3.72520921e-03 -4.28943229e-05 9.99993060e-01 -9.05908425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:-19.49, Z:-0.91 [[ 9.92959052e-01 1.18400145e-01 3.70497623e-03 2.17567564e+02] [-1.18399514e-01 9.92965963e-01 -3.90095814e-04 -1.94901665e+01] [-3.72510269e-03 -5.13182138e-05 9.99993060e-01 -9.05338203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:-19.49, Z:-0.90 [[ 9.92052410e-01 1.25770781e-01 3.70499466e-03 2.17626345e+02] [-1.25770201e-01 9.92059325e-01 -3.89920640e-04 -1.94921780e+01] [-3.72461513e-03 -7.91562141e-05 9.99993060e-01 -9.01806027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.69, Y:-19.49, Z:-0.90 [[ 9.91466325e-01 1.30310397e-01 3.70501317e-03 2.17685843e+02] [-1.30309849e-01 9.91473243e-01 -3.89744672e-04 -1.94902477e+01] [-3.72420921e-03 -9.63809912e-05 9.99993060e-01 -8.99883736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:-19.49, Z:-0.90 [[ 9.91666479e-01 1.28778364e-01 3.70503231e-03 2.17743962e+02] [-1.28777807e-01 9.91673396e-01 -3.89562709e-04 -1.94907145e+01] [-3.72434922e-03 -9.08096553e-05 9.99993060e-01 -9.00568976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:-19.49, Z:-0.90 [[ 9.92507607e-01 1.22126668e-01 3.70506082e-03 2.17801687e+02] [-1.22126065e-01 9.92514520e-01 -3.89291282e-04 -1.94917993e+01] [-3.72486951e-03 -6.61099413e-05 9.99993060e-01 -9.01953116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:-19.49, Z:-0.90 [[ 9.93399784e-01 1.14643538e-01 3.70508923e-03 2.17859729e+02] [-1.14642884e-01 9.93406693e-01 -3.89020696e-04 -1.94937840e+01] [-3.72525915e-03 -3.83090414e-05 9.99993060e-01 -9.04261720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:-19.49, Z:-0.91 [[ 9.94145863e-01 1.07982756e-01 3.70511259e-03 2.17919118e+02] [-1.07982057e-01 9.94152767e-01 -3.88798171e-04 -1.94948922e+01] [-3.72543143e-03 -1.35635861e-05 9.99993060e-01 -9.08596492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:-19.50, Z:-0.91 [[ 9.94757727e-01 1.02192644e-01 3.70513086e-03 2.17977826e+02] [-1.02191906e-01 9.94764627e-01 -3.88623899e-04 -1.94999437e+01] [-3.72544763e-03 7.95224190e-06 9.99993060e-01 -9.10936877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.04, Y:-19.50, Z:-0.91 [[ 9.95019791e-01 9.96086680e-02 3.70514912e-03 2.18036728e+02] [-9.96079121e-02 9.95026690e-01 -3.88449770e-04 -1.95031983e+01] [-3.72541523e-03 1.74530416e-05 9.99993060e-01 -9.12483465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:-19.51, Z:-0.91 [[ 9.95393055e-01 9.58067709e-02 3.70516729e-03 2.18094741e+02] [-9.58059893e-02 9.95399951e-01 -3.88276419e-04 -1.95102501e+01] [-3.72532284e-03 3.15104339e-05 9.99993060e-01 -9.09435836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.15, Y:-19.52, Z:-0.91 [[ 9.95616913e-01 9.34517715e-02 3.70518615e-03 2.18152411e+02] [-9.34509742e-02 9.95623807e-01 -3.88096371e-04 -1.95174730e+01] [-3.72523983e-03 4.01420560e-05 9.99993060e-01 -9.08960468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:-19.52, Z:-0.91 [[ 9.95373568e-01 9.60090151e-02 3.70520946e-03 2.18210770e+02] [-9.60082364e-02 9.95380464e-01 -3.87873636e-04 -1.95221034e+01] [-3.72533248e-03 3.03485391e-05 9.99993060e-01 -9.06633667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:-19.53, Z:-0.91 [[ 9.94761644e-01 1.02154504e-01 3.70522808e-03 2.18268722e+02] [-1.02153769e-01 9.94768545e-01 -3.87695720e-04 -1.95278860e+01] [-3.72544921e-03 7.16181968e-06 9.99993060e-01 -9.05689936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:-19.53, Z:-0.91 [[ 9.94392190e-01 1.05690320e-01 3.70525568e-03 2.18327600e+02] [-1.05689610e-01 9.94399093e-01 -3.87431739e-04 -1.95336279e+01] [-3.72545067e-03 -6.34793339e-06 9.99993060e-01 -9.08895914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:-19.53, Z:-0.91 [[ 9.94093071e-01 1.08467675e-01 3.70527404e-03 2.18386803e+02] [-1.08466985e-01 9.94099976e-01 -3.87256077e-04 -1.95323839e+01] [-3.72541760e-03 -1.69313203e-05 9.99993060e-01 -9.12416925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.44, Y:-19.54, Z:-0.91 [[ 9.94210508e-01 1.07385922e-01 3.70529237e-03 2.18444516e+02] [-1.07385225e-01 9.94217413e-01 -3.87080633e-04 -1.95385907e+01] [-3.72543320e-03 -1.30540226e-05 9.99993060e-01 -9.12356981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.50, Y:-19.54, Z:-0.91 [[ 9.94606749e-01 1.03651753e-01 3.70531520e-03 2.18503311e+02] [-1.03651031e-01 9.94613651e-01 -3.86861970e-04 -1.95432394e+01] [-3.72545600e-03 7.15787653e-07 9.99993060e-01 -9.10706349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:-19.55, Z:-0.91 [[ 9.95122209e-01 9.85802151e-02 3.70533334e-03 2.18562380e+02] [-9.85794586e-02 9.95129108e-01 -3.86688145e-04 -1.95469845e+01] [-3.72540486e-03 1.95322072e-05 9.99993060e-01 -9.09649865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.62, Y:-19.55, Z:-0.91 [[ 9.95562297e-01 9.40318200e-02 3.70535239e-03 2.18620170e+02] [-9.40310327e-02 9.95569192e-01 -3.86505547e-04 -1.95547450e+01] [-3.72527850e-03 3.63722390e-05 9.99993060e-01 -9.11466612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.68, Y:-19.56, Z:-0.91 [[ 9.95843919e-01 9.10008743e-02 3.70537583e-03 2.18678534e+02] [-9.10000668e-02 9.95850811e-01 -3.86280608e-04 -1.95637330e+01] [-3.72515340e-03 4.74857460e-05 9.99993060e-01 -9.11216437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.74, Y:-19.57, Z:-0.91 [[ 9.95852776e-01 9.09039017e-02 3.70539380e-03 2.18737021e+02] [-9.09030943e-02 9.95859668e-01 -3.86108229e-04 -1.95708426e+01] [-3.72515098e-03 4.76751904e-05 9.99993060e-01 -9.09717225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.79, Y:-19.58, Z:-0.91 [[ 9.95368676e-01 9.60597185e-02 3.70541196e-03 2.18794137e+02] [-9.60589474e-02 9.95375572e-01 -3.85933835e-04 -1.95788723e+01] [-3.72534925e-03 2.82084782e-05 9.99993060e-01 -9.10708385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:-19.59, Z:-0.91 [[ 9.94461182e-01 1.05039169e-01 3.70543436e-03 2.18852336e+02] [-1.05038461e-01 9.94468085e-01 -3.85718658e-04 -1.95857711e+01] [-3.72545178e-03 -5.63088811e-06 9.99993060e-01 -9.10704442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:-19.59, Z:-0.91 [[ 9.93614175e-01 1.12770305e-01 3.70545246e-03 2.18911535e+02] [-1.12769651e-01 9.93621083e-01 -3.85544720e-04 -1.95879653e+01] [-3.72529368e-03 -3.47798819e-05 9.99993060e-01 -9.13185760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.97, Y:-19.59, Z:-0.91 [[ 9.93051554e-01 1.17621770e-01 3.70547055e-03 2.18968869e+02] [-1.17621150e-01 9.93058466e-01 -3.85370733e-04 -1.95910806e+01] [-3.72507689e-03 -5.31487044e-05 9.99993060e-01 -9.13516361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.03, Y:-19.59, Z:-0.92 [[ 9.92607417e-01 1.21312753e-01 3.70549304e-03 2.19027035e+02] [-1.21312161e-01 9.92614332e-01 -3.85154415e-04 -1.95930816e+01] [-3.72484964e-03 -6.72142378e-05 9.99993060e-01 -9.15051053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.09, Y:-19.60, Z:-0.91 [[ 9.92527291e-01 1.21966576e-01 3.70551520e-03 2.19086245e+02] [-1.21965988e-01 9.92534206e-01 -3.84941067e-04 -1.95951156e+01] [-3.72480053e-03 -6.98823082e-05 9.99993060e-01 -9.10965052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.14, Y:-19.60, Z:-0.91 [[ 9.92883152e-01 1.19034934e-01 3.70553378e-03 2.19144102e+02] [-1.19034326e-01 9.92890065e-01 -3.84762114e-04 -1.95952088e+01] [-3.72498781e-03 -5.90618972e-05 9.99993060e-01 -9.11524889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.20, Y:-19.60, Z:-0.91 [[ 9.93403380e-01 1.14612365e-01 3.70555678e-03 2.19203254e+02] [-1.14611728e-01 9.93410290e-01 -3.84540516e-04 -1.95994395e+01] [-3.72521133e-03 -4.26964163e-05 9.99993060e-01 -9.09198242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.26, Y:-19.60, Z:-0.91 [[ 9.94268537e-01 1.06847295e-01 3.70557481e-03 2.19261682e+02] [-1.06846605e-01 9.94275442e-01 -3.84366632e-04 -1.96035235e+01] [-3.72543057e-03 -1.37644390e-05 9.99993060e-01 -9.10159470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.32, Y:-19.61, Z:-0.91 [[ 9.95074859e-01 9.90570224e-02 3.70559286e-03 2.19319754e+02] [-9.90562785e-02 9.95081758e-01 -3.84192590e-04 -1.96109371e+01] [-3.72542483e-03 1.52381494e-05 9.99993060e-01 -9.10436552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.38, Y:-19.62, Z:-0.91 [[ 9.95763603e-01 9.18755465e-02 3.70561067e-03 2.19377372e+02] [-9.18747535e-02 9.95770497e-01 -3.84020754e-04 -1.96209678e+01] [-3.72521989e-03 4.19418231e-05 9.99993060e-01 -9.09390770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.43, Y:-19.63, Z:-0.91 [[ 9.96098433e-01 8.81713081e-02 3.70562863e-03 2.19434164e+02] [-8.81704901e-02 9.96105324e-01 -3.83847285e-04 -1.96304840e+01] [-3.72504073e-03 5.56225869e-05 9.99993060e-01 -9.10760612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:-19.64, Z:-0.91 [[ 9.96316983e-01 8.56664357e-02 3.70565081e-03 2.19492275e+02] [-8.56656012e-02 9.96323872e-01 -3.83633046e-04 -1.96401933e+01] [-3.72489284e-03 6.47733142e-05 9.99993060e-01 -9.08759560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:-19.66, Z:-0.91 [[ 9.96185474e-01 8.71823934e-02 3.70568115e-03 2.19549336e+02] [-8.71815705e-02 9.96192364e-01 -3.83339826e-04 -1.96562988e+01] [-3.72499175e-03 5.88104638e-05 9.99993060e-01 -9.07547048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.61, Y:-19.67, Z:-0.91 [[ 9.95929535e-01 9.00590344e-02 3.70570037e-03 2.19606360e+02] [-9.00582321e-02 9.95936428e-01 -3.83153872e-04 -1.96665097e+01] [-3.72514846e-03 4.78654330e-05 9.99993060e-01 -9.10890061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.66, Y:-19.68, Z:-0.91 [[ 9.95315591e-01 9.66081878e-02 3.70572504e-03 2.19663722e+02] [-9.66074317e-02 9.95322489e-01 -3.82915185e-04 -1.96792381e+01] [-3.72538421e-03 2.31208750e-05 9.99993060e-01 -9.11285069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:-19.69, Z:-0.91 [[ 9.94661804e-01 1.03122079e-01 3.70574348e-03 2.19720453e+02] [-1.03121369e-01 9.94668707e-01 -3.82736601e-04 -1.96883236e+01] [-3.72545567e-03 -1.44786165e-06 9.99993060e-01 -9.14427884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.78, Y:-19.70, Z:-0.92 [[ 9.94105546e-01 1.08353264e-01 3.70576929e-03 2.19778791e+02] [-1.08352591e-01 9.94112453e-01 -3.82486543e-04 -1.96999297e+01] [-3.72539507e-03 -2.12977089e-05 9.99993060e-01 -9.15850584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.84, Y:-19.71, Z:-0.91 [[ 9.93508968e-01 1.13693438e-01 3.70578736e-03 2.19836790e+02] [-1.13692803e-01 9.93515878e-01 -3.82311393e-04 -1.97110303e+01] [-3.72522488e-03 -4.14915545e-05 9.99993060e-01 -9.14359556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.90, Y:-19.72, Z:-0.91 [[ 9.93132133e-01 1.16939446e-01 3.70580569e-03 2.19895541e+02] [-1.16938834e-01 9.93139045e-01 -3.82133624e-04 -1.97174958e+01] [-3.72506682e-03 -5.38434150e-05 9.99993060e-01 -9.11614571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.95, Y:-19.72, Z:-0.91 [[ 9.92569404e-01 1.21623378e-01 3.70582479e-03 2.19953062e+02] [-1.21622799e-01 9.92576319e-01 -3.81948374e-04 -1.97239867e+01] [-3.72476778e-03 -7.16025130e-05 9.99993060e-01 -9.10578113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.01, Y:-19.73, Z:-0.91 [[ 9.92214935e-01 1.24482081e-01 3.70584834e-03 2.20011366e+02] [-1.24481523e-01 9.92221853e-01 -3.81719653e-04 -1.97312953e+01] [-3.72454097e-03 -8.25617048e-05 9.99993060e-01 -9.12083979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.07, Y:-19.74, Z:-0.91 [[ 9.92381415e-01 1.23147851e-01 3.70586670e-03 2.20068359e+02] [-1.23147285e-01 9.92388332e-01 -3.81541342e-04 -1.97377167e+01] [-3.72464487e-03 -7.77328849e-05 9.99993060e-01 -9.13337178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:-19.74, Z:-0.91 [[ 9.92926098e-01 1.18676159e-01 3.70589845e-03 2.20125489e+02] [-1.18675563e-01 9.92933012e-01 -3.81232760e-04 -1.97447628e+01] [-3.72495215e-03 -6.12636271e-05 9.99993060e-01 -9.14628569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.18, Y:-19.75, Z:-0.91 [[ 9.93471566e-01 1.14019799e-01 3.70592087e-03 2.20183773e+02] [-1.14019171e-01 9.93478477e-01 -3.81014666e-04 -1.97535656e+01] [-3.72519584e-03 -4.40187873e-05 9.99993060e-01 -9.12440636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.24, Y:-19.76, Z:-0.91 [[ 9.94320151e-01 1.06365898e-01 3.70593900e-03 2.20242194e+02] [-1.06365217e-01 9.94327057e-01 -3.80838235e-04 -1.97605547e+01] [-3.72542362e-03 -1.55078760e-05 9.99993060e-01 -9.13415849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.30, Y:-19.77, Z:-0.91 [[ 9.94453561e-01 1.05111275e-01 3.70595696e-03 2.20301116e+02] [-1.05110586e-01 9.94460467e-01 -3.80663392e-04 -1.97670946e+01] [-3.72543970e-03 -1.09832427e-05 9.99993060e-01 -9.11244420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.36, Y:-19.78, Z:-0.91 [[ 9.94452585e-01 1.05120509e-01 3.70597565e-03 2.20358667e+02] [-1.05119821e-01 9.94459491e-01 -3.80481383e-04 -1.97768299e+01] [-3.72543905e-03 -1.12008019e-05 9.99993060e-01 -9.14464802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.42, Y:-19.78, Z:-0.91 [[ 9.94219063e-01 1.07306664e-01 3.70599930e-03 2.20417705e+02] [-1.07305992e-01 9.94225970e-01 -3.80250849e-04 -1.97802585e+01] [-3.72540420e-03 -1.96232901e-05 9.99993060e-01 -9.13475237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.48, Y:-19.78, Z:-0.92 [[ 9.93991491e-01 1.09394617e-01 3.70601838e-03 2.20475656e+02] [-1.09393960e-01 9.93998399e-01 -3.80064769e-04 -1.97849811e+01] [-3.72535338e-03 -2.76348806e-05 9.99993060e-01 -9.15884608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.53, Y:-19.79, Z:-0.91 [[ 9.93757882e-01 1.11496800e-01 3.70604206e-03 2.20534374e+02] [-1.11496159e-01 9.93764792e-01 -3.79833774e-04 -1.97907716e+01] [-3.72528437e-03 -3.57466485e-05 9.99993060e-01 -9.13156713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:-19.79, Z:-0.91 [[ 9.93455030e-01 1.14163777e-01 3.70606019e-03 2.20592681e+02] [-1.14163155e-01 9.93461942e-01 -3.79656743e-04 -1.97942737e+01] [-3.72517280e-03 -4.59236222e-05 9.99993060e-01 -9.11033207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.65, Y:-19.79, Z:-0.92 [[ 9.93170632e-01 1.16612007e-01 3.70608319e-03 2.20651079e+02] [-1.16611403e-01 9.93177545e-01 -3.79432162e-04 -1.97931212e+01] [-3.72504495e-03 -5.53306785e-05 9.99993060e-01 -9.17294405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.71, Y:-19.79, Z:-0.92 [[ 9.93005655e-01 1.18008616e-01 3.70611204e-03 2.20710615e+02] [-1.18008023e-01 9.93012569e-01 -3.79150148e-04 -1.97924510e+01] [-3.72495882e-03 -6.08527116e-05 9.99993060e-01 -9.15234289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.77, Y:-19.79, Z:-0.91 [[ 9.93388955e-01 1.14737301e-01 3.70613020e-03 2.20769978e+02] [-1.14736685e-01 9.93395867e-01 -3.78972527e-04 -1.97917683e+01] [-3.72513671e-03 -4.87619706e-05 9.99993060e-01 -9.14137148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06420382199997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:220.83, Y:-19.79, Z:-0.92 [[ 9.94065187e-01 1.08722900e-01 3.70614927e-03 2.20827767e+02] [-1.08722244e-01 9.94072095e-01 -3.78785972e-04 -1.97944949e+01] [-3.72536228e-03 -2.64029151e-05 9.99993060e-01 -9.19689529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.89, Y:-19.80, Z:-0.92 [[ 9.95187638e-01 9.79174643e-02 3.70617946e-03 2.20886503e+02] [-9.79167338e-02 9.95194539e-01 -3.78490341e-04 -1.97959304e+01] [-3.72543037e-03 1.37719207e-05 9.99993060e-01 -9.18578100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:-19.80, Z:-0.92 [[ 9.96114377e-01 8.79909744e-02 3.70619752e-03 2.20944749e+02] [-8.79901758e-02 9.96121271e-01 -3.78313352e-04 -1.98028319e+01] [-3.72511035e-03 5.07343978e-05 9.99993060e-01 -9.20083373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:-19.81, Z:-0.92 [[ 9.96957111e-01 7.78638728e-02 3.70621525e-03 2.21002864e+02] [-7.78630048e-02 9.96963996e-01 -3.78139594e-04 -1.98103391e+01] [-3.72440658e-03 8.84119007e-05 9.99993060e-01 -9.20423146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:-19.82, Z:-0.92 [[ 9.97605080e-01 6.90678568e-02 3.70623316e-03 2.21061315e+02] [-6.90669288e-02 9.97611957e-01 -3.77963996e-04 -1.98200121e+01] [-3.72348768e-03 1.21080660e-04 9.99993060e-01 -9.19712744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.12, Y:-19.83, Z:-0.92 [[ 9.97852250e-01 6.53999377e-02 3.70625091e-03 2.21119679e+02] [-6.53989850e-02 9.97859123e-01 -3.77789827e-04 -1.98319489e+01] [-3.72302372e-03 1.34593381e-04 9.99993060e-01 -9.16752953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.18, Y:-19.85, Z:-0.92 [[ 9.97857439e-01 6.53207063e-02 3.70626907e-03 2.21177149e+02] [-6.53197537e-02 9.97864313e-01 -3.77611597e-04 -1.98525789e+01] [-3.72301950e-03 1.34709958e-04 9.99993060e-01 -9.17621875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.24, Y:-19.87, Z:-0.92 [[ 9.97564990e-01 6.96444810e-02 3.70627815e-03 2.21235347e+02] [-6.96435586e-02 9.97571868e-01 -3.77522453e-04 -1.98654408e+01] [-3.72357118e-03 1.18484783e-04 9.99993060e-01 -9.15529232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54420382199996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:221.29, Y:-19.88, Z:-0.92 [[ 9.97026872e-01 7.69654502e-02 3.70629675e-03 2.21292691e+02] [-7.69645790e-02 9.97033756e-01 -3.77339808e-04 -1.98785505e+01] [-3.72434510e-03 9.09643599e-05 9.99993060e-01 -9.16597538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.35, Y:-19.90, Z:-0.92 [[ 9.95722735e-01 9.23173736e-02 3.70631522e-03 2.21349031e+02] [-9.23166092e-02 9.95729633e-01 -3.77158293e-04 -1.98968445e+01] [-3.72530616e-03 3.33906336e-05 9.99993060e-01 -9.19041493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.41, Y:-19.90, Z:-0.92 [[ 9.94566483e-01 1.04037371e-01 3.70633823e-03 2.21406911e+02] [-1.04036688e-01 9.94573389e-01 -3.76932021e-04 -1.99039738e+01] [-3.72544039e-03 -1.07112009e-05 9.99993060e-01 -9.16381182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.46, Y:-19.91, Z:-0.92 [[ 9.92657940e-01 1.20898624e-01 3.70636129e-03 2.21464492e+02] [-1.20898060e-01 9.92664856e-01 -3.76705193e-04 -1.99111116e+01] [-3.72471773e-03 -7.41524865e-05 9.99993060e-01 -9.18749552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.52, Y:-19.92, Z:-0.92 [[ 9.91070645e-01 1.33286303e-01 3.70638606e-03 2.21521569e+02] [-1.33285826e-01 9.91077569e-01 -3.76461235e-04 -1.99200460e+01] [-3.72349321e-03 -1.20909049e-04 9.99993060e-01 -9.20060049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.58, Y:-19.92, Z:-0.92 [[ 9.90475834e-01 1.37636786e-01 3.70640871e-03 2.21580638e+02] [-1.37636341e-01 9.90482759e-01 -3.76238160e-04 -1.99228172e+01] [-3.72291814e-03 -1.37481727e-04 9.99993060e-01 -9.22639300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.64, Y:-19.93, Z:-0.92 [[ 9.90920411e-01 1.34398667e-01 3.70642641e-03 2.21637862e+02] [-1.34398199e-01 9.90927335e-01 -3.76063670e-04 -1.99286162e+01] [-3.72334170e-03 -1.25487868e-04 9.99993060e-01 -9.23024058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:-19.93, Z:-0.92 [[ 9.91692230e-01 1.28579869e-01 3.70644826e-03 2.21696241e+02] [-1.28579362e-01 9.91699151e-01 -3.75848242e-04 -1.99346858e+01] [-3.72400811e-03 -1.03846970e-04 9.99993060e-01 -9.22121478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.75, Y:-19.94, Z:-0.92 [[ 9.92835539e-01 1.19431376e-01 3.70646572e-03 2.21754642e+02] [-1.19430806e-01 9.92842456e-01 -3.75675956e-04 -1.99366643e+01] [-3.72480402e-03 -6.96817478e-05 9.99993060e-01 -9.16096030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.81, Y:-19.94, Z:-0.91 [[ 9.93481441e-01 1.13933705e-01 3.70649217e-03 2.21813745e+02] [-1.13933097e-01 9.93488353e-01 -3.75414809e-04 -1.99402473e+01] [-3.72512920e-03 -4.93244878e-05 9.99993060e-01 -9.14418557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.87, Y:-19.94, Z:-0.92 [[ 9.93860034e-01 1.10582526e-01 3.70651055e-03 2.21871599e+02] [-1.10581895e-01 9.93866945e-01 -3.75233284e-04 -1.99429320e+01] [-3.72527256e-03 -3.69435965e-05 9.99993060e-01 -9.19958170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.93, Y:-19.95, Z:-0.92 [[ 9.94270096e-01 1.06832755e-01 3.70653326e-03 2.21930100e+02] [-1.06832099e-01 9.94277005e-01 -3.75008756e-04 -1.99453847e+01] [-3.72538401e-03 -2.31167376e-05 9.99993060e-01 -9.20350905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.99, Y:-19.95, Z:-0.92 [[ 9.94601429e-01 1.03702741e-01 3.70655014e-03 2.21989173e+02] [-1.03702064e-01 9.94608336e-01 -3.74841911e-04 -1.99480333e+01] [-3.72543780e-03 -1.15586005e-05 9.99993060e-01 -9.16302210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.05, Y:-19.95, Z:-0.92 [[ 9.94850625e-01 1.01284234e-01 3.70656853e-03 2.22047326e+02] [-1.01283541e-01 9.94857530e-01 -3.74659938e-04 -1.99543538e+01] [-3.72545476e-03 -2.68371181e-06 9.99993060e-01 -9.17532558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.11, Y:-19.96, Z:-0.92 [[ 9.94866524e-01 1.01127939e-01 3.70658701e-03 2.22106067e+02] [-1.01127246e-01 9.94873429e-01 -3.74477053e-04 -1.99602826e+01] [-3.72545502e-03 -2.28225008e-06 9.99993060e-01 -9.18633035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.16, Y:-19.97, Z:-0.92 [[ 9.94597959e-01 1.03736019e-01 3.70660540e-03 2.22164298e+02] [-1.03735345e-01 9.94604865e-01 -3.74294895e-04 -1.99650997e+01] [-3.72543563e-03 -1.22330514e-05 9.99993060e-01 -9.20027774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:-19.97, Z:-0.92 [[ 9.94296643e-01 1.06585394e-01 3.70662379e-03 2.22222323e+02] [-1.06584740e-01 9.94303552e-01 -3.74112749e-04 -1.99702644e+01] [-3.72538415e-03 -2.30904808e-05 9.99993060e-01 -9.23203708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.28, Y:-19.98, Z:-0.92 [[ 9.93875003e-01 1.10447903e-01 3.70664652e-03 2.22280728e+02] [-1.10447277e-01 9.93881914e-01 -3.73887379e-04 -1.99769902e+01] [-3.72526402e-03 -3.77916947e-05 9.99993060e-01 -9.23559203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.34, Y:-19.98, Z:-0.92 [[ 9.93887928e-01 1.10331537e-01 3.70666466e-03 2.22339107e+02] [-1.10330910e-01 9.93894839e-01 -3.73707477e-04 -1.99802947e+01] [-3.72526659e-03 -3.75363363e-05 9.99993060e-01 -9.21842313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.40, Y:-19.99, Z:-0.92 [[ 9.94331035e-01 1.06264070e-01 3.70668280e-03 2.22397822e+02] [-1.06263416e-01 9.94337944e-01 -3.73527472e-04 -1.99893904e+01] [-3.72538790e-03 -2.24748163e-05 9.99993060e-01 -9.21970108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:-20.00, Z:-0.92 [[ 9.94948650e-01 1.00316719e-01 3.70669665e-03 2.22455037e+02] [-1.00316024e-01 9.94955555e-01 -3.73389968e-04 -1.99973475e+01] [-3.72545568e-03 -3.37223788e-07 9.99993060e-01 -9.21510142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:-20.01, Z:-0.92 [[ 9.95552101e-01 9.41396556e-02 3.70672286e-03 2.22513425e+02] [-9.41389189e-02 9.95559001e-01 -3.73129603e-04 -2.00109872e+01] [-3.72538760e-03 2.25230781e-05 9.99993060e-01 -9.19091328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:-20.02, Z:-0.92 [[ 9.95926953e-01 9.00875388e-02 3.70673179e-03 2.22571358e+02] [-9.00867743e-02 9.95933850e-01 -3.73040887e-04 -2.00225209e+01] [-3.72526599e-03 3.75939644e-05 9.99993060e-01 -9.18699228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:-20.04, Z:-0.92 [[ 9.96335801e-01 8.54472503e-02 3.70675013e-03 2.22628094e+02] [-8.54464543e-02 9.96342694e-01 -3.72858551e-04 -2.00406475e+01] [-3.72505315e-03 5.47636672e-05 9.99993060e-01 -9.21507197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:-20.05, Z:-0.92 [[ 9.96358508e-01 8.51820633e-02 3.70676374e-03 2.22686825e+02] [-8.51812660e-02 9.96365401e-01 -3.72723202e-04 -2.00531211e+01] [-3.72504047e-03 5.56191053e-05 9.99993060e-01 -9.20966279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.74, Y:-20.07, Z:-0.92 [[ 9.96232604e-01 8.66421285e-02 3.70677249e-03 2.22744329e+02] [-8.66413416e-02 9.96239499e-01 -3.72636108e-04 -2.00716654e+01] [-3.72511915e-03 5.00724982e-05 9.99993060e-01 -9.20389786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:-20.09, Z:-0.92 [[ 9.96032871e-01 8.89088238e-02 3.70677683e-03 2.22803176e+02] [-8.89080528e-02 9.96039768e-01 -3.72592919e-04 -2.00865824e+01] [-3.72522393e-03 4.15524843e-05 9.99993060e-01 -9.22285701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.86, Y:-20.11, Z:-0.92 [[ 9.95809650e-01 9.13750557e-02 3.70677683e-03 2.22862295e+02] [-9.13743017e-02 9.95816548e-01 -3.72592919e-04 -2.01050843e+01] [-3.72531541e-03 3.23274793e-05 9.99993060e-01 -9.22231745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.92, Y:-20.12, Z:-0.93 [[ 9.95573812e-01 9.39097643e-02 3.70677683e-03 2.22920803e+02] [-9.39090279e-02 9.95580713e-01 -3.72592919e-04 -2.01226211e+01] [-3.72538563e-03 2.28439436e-05 9.99993060e-01 -9.26833442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:-20.14, Z:-0.92 [[ 9.95421352e-01 9.55122568e-02 3.70677240e-03 2.22980970e+02] [-9.55115314e-02 9.95428254e-01 -3.72637020e-04 -2.01398330e+01] [-3.72541738e-03 1.68913383e-05 9.99993060e-01 -9.20307142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:-20.16, Z:-0.92 [[ 9.95362691e-01 9.61216636e-02 3.70676363e-03 2.23041874e+02] [-9.61209420e-02 9.95369592e-01 -3.72724250e-04 -2.01552983e+01] [-3.72542668e-03 1.46982009e-05 9.99993060e-01 -9.18704382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.10, Y:-20.18, Z:-0.92 [[ 9.95204534e-01 9.77455720e-02 3.70669993e-03 2.23102084e+02] [-9.77448593e-02 9.95211436e-01 -3.73356632e-04 -2.01755857e+01] [-3.72544412e-03 9.25534944e-06 9.99993060e-01 -9.20134763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.16, Y:-20.18, Z:-0.92 [[ 9.95084263e-01 9.89624721e-02 3.70663562e-03 2.23162277e+02] [-9.89617655e-02 9.95091166e-01 -3.73994046e-04 -2.01847970e+01] [-3.72545173e-03 5.34038426e-06 9.99993060e-01 -9.22526191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.22, Y:-20.20, Z:-0.92 [[ 9.94688099e-01 1.02868109e-01 3.70657656e-03 2.23223076e+02] [-1.02867428e-01 9.94695005e-01 -3.74578444e-04 -2.01985271e+01] [-3.72544536e-03 -8.69727568e-06 9.99993060e-01 -9.19692684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.28, Y:-20.21, Z:-0.92 [[ 9.94468036e-01 1.04974219e-01 3.70651293e-03 2.23282809e+02] [-1.04973549e-01 9.94474943e-01 -3.75206989e-04 -2.02128165e+01] [-3.72542130e-03 -1.59544614e-05 9.99993060e-01 -9.19563163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.34, Y:-20.23, Z:-0.92 [[ 9.94673452e-01 1.03009640e-01 3.70645457e-03 2.23344334e+02] [-1.03008955e-01 9.94680358e-01 -3.75782587e-04 -2.02264658e+01] [-3.72544679e-03 -8.01704849e-06 9.99993060e-01 -9.23086727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.41, Y:-20.24, Z:-0.92 [[ 9.94947312e-01 1.00330002e-01 3.70643237e-03 2.23406500e+02] [-1.00329297e-01 9.94954215e-01 -3.76001516e-04 -2.02388520e+01] [-3.72545474e-03 2.23794323e-06 9.99993060e-01 -9.23845650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.47, Y:-20.25, Z:-0.92 [[ 9.95281844e-01 9.69552120e-02 3.70636139e-03 2.23467809e+02] [-9.69544814e-02 9.95288745e-01 -3.76699893e-04 -2.02541508e+01] [-3.72542279e-03 1.55742178e-05 9.99993060e-01 -9.21501059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.53, Y:-20.26, Z:-0.92 [[ 9.95228204e-01 9.75042801e-02 3.70629781e-03 2.23529919e+02] [-9.75035510e-02 9.95235105e-01 -3.77324356e-04 -2.02635826e+01] [-3.72542843e-03 1.41466434e-05 9.99993060e-01 -9.21908060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.59, Y:-20.27, Z:-0.92 [[ 9.94873653e-01 1.01057798e-01 3.70622328e-03 2.23592334e+02] [-1.01057091e-01 9.94880556e-01 -3.78055040e-04 -2.02743449e+01] [-3.72545489e-03 1.57685719e-06 9.99993060e-01 -9.22021361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.65, Y:-20.28, Z:-0.92 [[ 9.94798413e-01 1.01795784e-01 3.70614969e-03 2.23653470e+02] [-1.01795080e-01 9.94805317e-01 -3.78775046e-04 -2.02817422e+01] [-3.72545512e-03 -4.62988777e-07 9.99993060e-01 -9.21975221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.72, Y:-20.29, Z:-0.93 [[ 9.94942061e-01 1.00382071e-01 3.70608142e-03 2.23715541e+02] [-1.00381354e-01 9.94948963e-01 -3.79441902e-04 -2.02898964e+01] [-3.72545103e-03 5.50123835e-06 9.99993060e-01 -9.25746344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.78, Y:-20.30, Z:-0.92 [[ 9.95312351e-01 9.66415498e-02 3.70605827e-03 2.23777008e+02] [-9.66408060e-02 9.95319251e-01 -3.79667885e-04 -2.03009229e+01] [-3.72540283e-03 1.97316770e-05 9.99993060e-01 -9.24132299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.84, Y:-20.31, Z:-0.92 [[ 9.95407745e-01 9.56539914e-02 3.70599369e-03 2.23838465e+02] [-9.56532384e-02 9.95414644e-01 -3.80297216e-04 -2.03091270e+01] [-3.72537733e-03 2.40604972e-05 9.99993060e-01 -9.24269389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.90, Y:-20.32, Z:-0.93 [[ 9.95191505e-01 9.78781662e-02 3.70592726e-03 2.23899534e+02] [-9.78774262e-02 9.95198405e-01 -3.80943403e-04 -2.03191581e+01] [-3.72541894e-03 1.63850161e-05 9.99993060e-01 -9.25212467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.96, Y:-20.33, Z:-0.93 [[ 9.95042108e-01 9.93854603e-02 3.70586105e-03 2.23961117e+02] [-9.93847284e-02 9.95049009e-01 -3.81586417e-04 -2.03290745e+01] [-3.72543751e-03 1.13885588e-05 9.99993060e-01 -9.27165518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:-20.33, Z:-0.93 [[ 9.95008229e-01 9.97240708e-02 3.70581400e-03 2.24022573e+02] [-9.97233395e-02 9.95015130e-01 -3.82042859e-04 -2.03348697e+01] [-3.72543987e-03 1.05796410e-05 9.99993060e-01 -9.29389821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:-20.34, Z:-0.93 [[ 9.94865937e-01 1.01133751e-01 3.70574903e-03 2.24084463e+02] [-1.01133027e-01 9.94872838e-01 -3.82671953e-04 -2.03435964e+01] [-3.72545011e-03 5.93367202e-06 9.99993060e-01 -9.32401797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.14, Y:-20.35, Z:-0.93 [[ 9.94802605e-01 1.01754824e-01 3.70568271e-03 2.24144888e+02] [-1.01754102e-01 9.94809507e-01 -3.83313115e-04 -2.03526596e+01] [-3.72545235e-03 4.25246847e-06 9.99993060e-01 -9.34581085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48420382199996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:-20.36, Z:-0.94 [[ 9.94762191e-01 1.02149160e-01 3.70564554e-03 2.24205394e+02] [-1.02148440e-01 9.94769093e-01 -3.83672091e-04 -2.03585059e+01] [-3.72545344e-03 3.13657981e-06 9.99993060e-01 -9.36790459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.27, Y:-20.37, Z:-0.93 [[ 9.94850024e-01 1.01290169e-01 3.70561082e-03 2.24266588e+02] [-1.01289441e-01 9.94856925e-01 -3.84007175e-04 -2.03687214e+01] [-3.72544874e-03 6.69029802e-06 9.99993060e-01 -9.30920337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:-20.38, Z:-0.93 [[ 9.94871151e-01 1.01082448e-01 3.70554715e-03 2.24329509e+02] [-1.01081716e-01 9.94878052e-01 -3.84620608e-04 -2.03768027e+01] [-3.72544592e-03 8.08488071e-06 9.99993060e-01 -9.29143581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.39, Y:-20.38, Z:-0.93 [[ 9.94885246e-01 1.00943636e-01 3.70547277e-03 2.24390004e+02] [-1.00942901e-01 9.94892146e-01 -3.85335838e-04 -2.03835092e+01] [-3.72544296e-03 9.32376951e-06 9.99993060e-01 -9.28342612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:-20.39, Z:-0.93 [[ 9.94638777e-01 1.03343952e-01 3.70543785e-03 2.24452551e+02] [-1.03343233e-01 9.94645679e-01 -3.85671332e-04 -2.03928188e+01] [-3.72545455e-03 6.71736247e-07 9.99993060e-01 -9.26791295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:-20.40, Z:-0.93 [[ 9.94252027e-01 1.07000827e-01 3.70536063e-03 2.24513439e+02] [-1.07000130e-01 9.94258931e-01 -3.86411791e-04 -2.03980710e+01] [-3.72543429e-03 -1.22833631e-05 9.99993060e-01 -9.27334059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:-20.40, Z:-0.93 [[ 9.93950656e-01 1.09765045e-01 3.70529859e-03 2.24574798e+02] [-1.09764364e-01 9.93957562e-01 -3.87005810e-04 -2.04019895e+01] [-3.72538926e-03 -2.20450658e-05 9.99993060e-01 -9.25101065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.64, Y:-20.40, Z:-0.92 [[ 9.93594881e-01 1.12940177e-01 3.70526439e-03 2.24637526e+02] [-1.12939517e-01 9.93601789e-01 -3.87333001e-04 -2.04025674e+01] [-3.72530278e-03 -3.36186850e-05 9.99993060e-01 -9.19242231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.70, Y:-20.40, Z:-0.92 [[ 9.93323020e-01 1.15306765e-01 3.70519866e-03 2.24698444e+02] [-1.15306120e-01 9.93329929e-01 -3.87960742e-04 -2.04040865e+01] [-3.72521922e-03 -4.18617465e-05 9.99993060e-01 -9.20542812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.76, Y:-20.40, Z:-0.92 [[ 9.92915441e-01 1.18765311e-01 3.70516265e-03 2.24760857e+02] [-1.18764689e-01 9.92922352e-01 -3.88304351e-04 -2.04028923e+01] [-3.72505590e-03 -5.44891028e-05 9.99993060e-01 -9.23003193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08420382199995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:224.82, Y:-20.40, Z:-0.93 [[ 9.92618923e-01 1.21218585e-01 3.70509713e-03 2.24822377e+02] [-1.21217977e-01 9.92625836e-01 -3.88928516e-04 -2.04001812e+01] [-3.72492050e-03 -6.30665740e-05 9.99993060e-01 -9.34082754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.88, Y:-20.40, Z:-0.93 [[ 9.92765372e-01 1.20013288e-01 3.70503716e-03 2.24884746e+02] [-1.20012670e-01 9.92772284e-01 -3.89498930e-04 -2.03980021e+01] [-3.72500325e-03 -5.79703525e-05 9.99993060e-01 -9.33063682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:-20.40, Z:-0.93 [[ 9.93286833e-01 1.15618080e-01 3.70497303e-03 2.24948238e+02] [-1.15617429e-01 9.93293742e-01 -3.90108049e-04 -2.03971582e+01] [-3.72523006e-03 -4.08702683e-05 9.99993060e-01 -9.33686266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.01, Y:-20.40, Z:-0.93 [[ 9.94164121e-01 1.07814540e-01 3.70489899e-03 2.25008922e+02] [-1.07813832e-01 9.94171024e-01 -3.90809939e-04 -2.04001987e+01] [-3.72543821e-03 -1.09101380e-05 9.99993060e-01 -9.33098518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.07, Y:-20.40, Z:-0.93 [[ 9.94773041e-01 1.02043476e-01 3.70488979e-03 2.25071018e+02] [-1.02042728e-01 9.94779940e-01 -3.90897134e-04 -2.04029389e+01] [-3.72543854e-03 1.07968712e-05 9.99993060e-01 -9.31412972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.13, Y:-20.41, Z:-0.93 [[ 9.95328891e-01 9.64711021e-02 3.70482574e-03 2.25132661e+02] [-9.64703131e-02 9.95335785e-01 -3.91503238e-04 -2.04060626e+01] [-3.72531438e-03 3.22687851e-05 9.99993060e-01 -9.34607083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.19, Y:-20.41, Z:-0.93 [[ 9.95923748e-01 9.01230456e-02 3.70476214e-03 2.25194871e+02] [-9.01222104e-02 9.95930637e-01 -3.92104146e-04 -2.04146745e+01] [-3.72502374e-03 5.66244775e-05 9.99993060e-01 -9.33803900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:225.26, Y:-20.42, Z:-0.94 [[ 9.95979539e-01 8.95043762e-02 3.70468742e-03 2.25256337e+02] [-8.95035342e-02 9.95986427e-01 -3.92808833e-04 -2.04231596e+01] [-3.72497650e-03 5.96469427e-05 9.99993060e-01 -9.41404521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.32, Y:-20.43, Z:-0.94 [[ 9.95180130e-01 9.79937979e-02 3.70462211e-03 2.25319304e+02] [-9.79930123e-02 9.95187025e-01 -3.93423871e-04 -2.04275901e+01] [-3.72534495e-03 2.85005400e-05 9.99993060e-01 -9.37392960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.38, Y:-20.43, Z:-0.93 [[ 9.94666312e-01 1.03078634e-01 3.70454396e-03 2.25381313e+02] [-1.03077881e-01 9.94673210e-01 -3.94158374e-04 -2.04341424e+01] [-3.72543994e-03 1.01995141e-05 9.99993060e-01 -9.31825797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68420382199997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:225.44, Y:-20.44, Z:-0.94 [[ 9.94005721e-01 1.09265294e-01 3.70447341e-03 2.25443524e+02] [-1.09264581e-01 9.94012623e-01 -3.94820261e-04 -2.04391217e+01] [-3.72543349e-03 -1.23141378e-05 9.99993060e-01 -9.36626720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.51, Y:-20.44, Z:-0.94 [[ 9.93497755e-01 1.13791423e-01 3.70439847e-03 2.25505646e+02] [-1.13790739e-01 9.93504661e-01 -3.95522195e-04 -2.04438667e+01] [-3.72534417e-03 -2.85758250e-05 9.99993060e-01 -9.38446906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:-20.45, Z:-0.94 [[ 9.92934866e-01 1.18602824e-01 3.70434983e-03 2.25566837e+02] [-1.18602172e-01 9.92941775e-01 -3.95977172e-04 -2.04464173e+01] [-3.72516771e-03 -4.61643964e-05 9.99993060e-01 -9.35787788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.63, Y:-20.45, Z:-0.93 [[ 9.92507405e-01 1.22128329e-01 3.70429128e-03 2.25629279e+02] [-1.22127700e-01 9.92514316e-01 -3.96524135e-04 -2.04478937e+01] [-3.72498896e-03 -5.88434330e-05 9.99993060e-01 -9.34349349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.69, Y:-20.45, Z:-0.94 [[ 9.92773369e-01 1.19947139e-01 3.70422463e-03 2.25690890e+02] [-1.19946492e-01 9.92780279e-01 -3.97145773e-04 -2.04522682e+01] [-3.72511766e-03 -5.00330023e-05 9.99993060e-01 -9.35247416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:-20.46, Z:-0.94 [[ 9.93813422e-01 1.11000728e-01 3.70415639e-03 2.25752170e+02] [-1.11000016e-01 9.93820325e-01 -3.97781270e-04 -2.04596173e+01] [-3.72541992e-03 -1.58410526e-05 9.99993060e-01 -9.37173289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:-20.47, Z:-0.94 [[ 9.94935262e-01 1.00449512e-01 3.70408383e-03 2.25814018e+02] [-1.00448725e-01 9.94942157e-01 -3.98455804e-04 -2.04689540e+01] [-3.72537384e-03 2.43672320e-05 9.99993060e-01 -9.36226808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.87, Y:-20.48, Z:-0.94 [[ 9.95666882e-01 9.29179179e-02 3.70401353e-03 2.25873967e+02] [-9.29170760e-02 9.95673771e-01 -3.99108173e-04 -2.04804983e+01] [-3.72507342e-03 5.32126831e-05 9.99993060e-01 -9.42115965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:-20.49, Z:-0.94 [[ 9.95824782e-01 9.12101064e-02 3.70397365e-03 2.25935415e+02] [-9.12092513e-02 9.95831669e-01 -3.99477975e-04 -2.04888398e+01] [-3.72497069e-03 5.99734036e-05 9.99993060e-01 -9.37384070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:-20.50, Z:-0.93 [[ 9.95585669e-01 9.37841017e-02 3.70390833e-03 2.25997337e+02] [-9.37832622e-02 9.95592557e-01 -4.00082668e-04 -2.04988445e+01] [-3.72510496e-03 5.09519639e-05 9.99993060e-01 -9.33651913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:-20.51, Z:-0.93 [[ 9.95228014e-01 9.75063188e-02 3.70383891e-03 2.26057697e+02] [-9.75055027e-02 9.95234905e-01 -4.00724318e-04 -2.05105688e+01] [-3.72526292e-03 3.76673917e-05 9.99993060e-01 -9.31840511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.12, Y:-20.52, Z:-0.94 [[ 9.94928715e-01 1.00514349e-01 3.70377496e-03 2.26118282e+02] [-1.00513552e-01 9.94935608e-01 -4.01314584e-04 -2.05209832e+01] [-3.72535546e-03 2.69998280e-05 9.99993060e-01 -9.35608687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:-20.54, Z:-0.93 [[ 9.94689206e-01 1.02857505e-01 3.70371174e-03 2.26179618e+02] [-1.02856722e-01 9.94696101e-01 -4.01897200e-04 -2.05360657e+01] [-3.72540577e-03 1.88111590e-05 9.99993060e-01 -9.33602073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:-20.55, Z:-0.93 [[ 9.94509860e-01 1.04577350e-01 3.70363236e-03 2.26240229e+02] [-1.04576575e-01 9.94516756e-01 -4.02627374e-04 -2.05512432e+01] [-3.72543014e-03 1.31037042e-05 9.99993060e-01 -9.33878950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.30, Y:-20.57, Z:-0.94 [[ 9.94042126e-01 1.08933632e-01 3.70358308e-03 2.26300900e+02] [-1.08932886e-01 9.94049025e-01 -4.03080132e-04 -2.05666397e+01] [-3.72545213e-03 -2.76336373e-06 9.99993060e-01 -9.37097168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.36, Y:-20.58, Z:-0.94 [[ 9.93409824e-01 1.14556558e-01 3.70351520e-03 2.26362133e+02] [-1.14555849e-01 9.93416728e-01 -4.03702886e-04 -2.05784669e+01] [-3.72538076e-03 -2.32169144e-05 9.99993060e-01 -9.39489408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:-20.59, Z:-0.94 [[ 9.92860236e-01 1.19225986e-01 3.70344807e-03 2.26423059e+02] [-1.19225307e-01 9.92867142e-01 -4.04317730e-04 -2.05919185e+01] [-3.72523709e-03 -4.01137379e-05 9.99993060e-01 -9.36591585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.48, Y:-20.60, Z:-0.93 [[ 9.92511365e-01 1.22096176e-01 3.70338151e-03 2.26483058e+02] [-1.22095515e-01 9.92518273e-01 -4.04926496e-04 -2.06035080e+01] [-3.72511380e-03 -5.02721230e-05 9.99993060e-01 -9.33011093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:-20.61, Z:-0.94 [[ 9.92231478e-01 1.24350227e-01 3.70334604e-03 2.26544848e+02] [-1.24349581e-01 9.92238387e-01 -4.05250683e-04 -2.06126011e+01] [-3.72499511e-03 -5.84070429e-05 9.99993060e-01 -9.39148183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:-20.62, Z:-0.94 [[ 9.92151305e-01 1.24988297e-01 3.70328109e-03 2.26606043e+02] [-1.24987652e-01 9.92158214e-01 -4.05843308e-04 -2.06233566e+01] [-3.72496642e-03 -6.02064410e-05 9.99993060e-01 -9.44699008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:-20.63, Z:-0.94 [[ 9.92206805e-01 1.24546952e-01 3.70321646e-03 2.26667491e+02] [-1.24546302e-01 9.92213714e-01 -4.06432150e-04 -2.06338676e+01] [-3.72500204e-03 -5.79571723e-05 9.99993060e-01 -9.39252160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:-20.64, Z:-0.94 [[ 9.92168071e-01 1.24855135e-01 3.70314997e-03 2.26729413e+02] [-1.24854485e-01 9.92174980e-01 -4.07037079e-04 -2.06427267e+01] [-3.72499342e-03 -5.85056888e-05 9.99993060e-01 -9.35451457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:-20.65, Z:-0.94 [[ 9.91880784e-01 1.27117255e-01 3.70308413e-03 2.26790516e+02] [-1.27116619e-01 9.91887695e-01 -4.07635243e-04 -2.06500001e+01] [-3.72486105e-03 -6.63979697e-05 9.99993060e-01 -9.40776133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:-20.65, Z:-0.94 [[ 9.91374136e-01 1.31009958e-01 3.70302350e-03 2.26852581e+02] [-1.31009347e-01 9.91381049e-01 -4.08185212e-04 -2.06549576e+01] [-3.72458365e-03 -8.04664287e-05 9.99993060e-01 -9.36292948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:-20.66, Z:-0.94 [[ 9.91061873e-01 1.33351609e-01 3.70295330e-03 2.26914690e+02] [-1.33351012e-01 9.91068787e-01 -4.08821098e-04 -2.06588000e+01] [-3.72439838e-03 -8.86255649e-05 9.99993060e-01 -9.36440573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:-20.66, Z:-0.94 [[ 9.91243904e-01 1.31991711e-01 3.70287878e-03 2.26976125e+02] [-1.31991101e-01 9.91250817e-01 -4.09494897e-04 -2.06639197e+01] [-3.72453155e-03 -8.28377289e-05 9.99993060e-01 -9.41951033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24420382199995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:-20.67, Z:-0.94 [[ 9.91643461e-01 1.28955552e-01 3.70281088e-03 2.27038714e+02] [-1.28954920e-01 9.91650372e-01 -4.10107969e-04 -2.06681738e+01] [-3.72477949e-03 -7.08147945e-05 9.99993060e-01 -9.42393843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:-20.67, Z:-0.94 [[ 9.92105390e-01 1.25352246e-01 3.70273233e-03 2.27101737e+02] [-1.25351585e-01 9.92112298e-01 -4.10815970e-04 -2.06729929e+01] [-3.72502298e-03 -5.65706299e-05 9.99993060e-01 -9.36447289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:-20.68, Z:-0.94 [[ 9.92122397e-01 1.25217571e-01 3.70265128e-03 2.27163310e+02] [-1.25216907e-01 9.92129305e-01 -4.11545138e-04 -2.06770265e+01] [-3.72504153e-03 -5.53313916e-05 9.99993060e-01 -9.39175204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:-20.68, Z:-0.94 [[ 9.92108386e-01 1.25328538e-01 3.70257578e-03 2.27225863e+02] [-1.25327872e-01 9.92115293e-01 -4.12223281e-04 -2.06782186e+01] [-3.72504540e-03 -5.50657698e-05 9.99993060e-01 -9.35716593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.29, Y:-20.68, Z:-0.93 [[ 9.92245356e-01 1.24239462e-01 3.70250780e-03 2.27289425e+02] [-1.24238787e-01 9.92252263e-01 -4.12832997e-04 -2.06779551e+01] [-3.72511189e-03 -5.03634526e-05 9.99993060e-01 -9.34643613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:-20.68, Z:-0.94 [[ 9.92462532e-01 1.22492506e-01 3.70242698e-03 2.27352114e+02] [-1.22491815e-01 9.92469437e-01 -4.13556553e-04 -2.06792507e+01] [-3.72520320e-03 -4.30776169e-05 9.99993060e-01 -9.41298679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:-20.68, Z:-0.94 [[ 9.92728110e-01 1.20321206e-01 3.70235611e-03 2.27414287e+02] [-1.20320498e-01 9.92735013e-01 -4.14190061e-04 -2.06830574e+01] [-3.72529439e-03 -3.42912142e-05 9.99993060e-01 -9.43574780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66420382199996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:227.48, Y:-20.69, Z:-0.94 [[ 9.93210899e-01 1.16268664e-01 3.70230570e-03 2.27476385e+02] [-1.16267927e-01 9.93217800e-01 -4.14640141e-04 -2.06870710e+01] [-3.72540558e-03 -1.86342999e-05 9.99993060e-01 -9.44388436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.54, Y:-20.69, Z:-0.94 [[ 9.93625359e-01 1.12671823e-01 3.70223709e-03 2.27538693e+02] [-1.12671058e-01 9.93632256e-01 -4.15251829e-04 -2.06902206e+01] [-3.72544938e-03 -4.53022396e-06 9.99993060e-01 -9.42201989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.60, Y:-20.69, Z:-0.94 [[ 9.93821998e-01 1.10923982e-01 3.70216822e-03 2.27600766e+02] [-1.10923202e-01 9.93828894e-01 -4.15864978e-04 -2.06943821e+01] [-3.72545114e-03 2.63940947e-06 9.99993060e-01 -9.44741996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.66, Y:-20.70, Z:-0.94 [[ 9.93721214e-01 1.11823269e-01 3.70209949e-03 2.27663082e+02] [-1.11822493e-01 9.93728110e-01 -4.16475908e-04 -2.06985073e+01] [-3.72545203e-03 -1.17051291e-07 9.99993060e-01 -9.40059258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.73, Y:-20.70, Z:-0.94 [[ 9.93347706e-01 1.15094003e-01 3.70203070e-03 2.27725098e+02] [-1.15093248e-01 9.93354605e-01 -4.17086461e-04 -2.07032508e+01] [-3.72543339e-03 -1.17668582e-05 9.99993060e-01 -9.39888332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.79, Y:-20.71, Z:-0.94 [[ 9.93010214e-01 1.17970379e-01 3.70195919e-03 2.27787659e+02] [-1.17969641e-01 9.93017114e-01 -4.17720195e-04 -2.07057075e+01] [-3.72538744e-03 -2.19183771e-05 9.99993060e-01 -9.40259516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.85, Y:-20.71, Z:-0.94 [[ 9.92717679e-01 1.20407247e-01 3.70188516e-03 2.27848524e+02] [-1.20406524e-01 9.92724581e-01 -4.18375233e-04 -2.07111247e+01] [-3.72532781e-03 -3.04026339e-05 9.99993060e-01 -9.42040228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:-20.72, Z:-0.94 [[ 9.92615874e-01 1.21243656e-01 3.70181712e-03 2.27910375e+02] [-1.21242936e-01 9.92622776e-01 -4.18976449e-04 -2.07180771e+01] [-3.72530622e-03 -3.29365035e-05 9.99993060e-01 -9.40562358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.97, Y:-20.72, Z:-0.94 [[ 9.92483335e-01 1.22323860e-01 3.70174523e-03 2.27972221e+02] [-1.22323146e-01 9.92490238e-01 -4.19610641e-04 -2.07227988e+01] [-3.72527439e-03 -3.63525530e-05 9.99993060e-01 -9.41192367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:-20.73, Z:-0.94 [[ 9.92284709e-01 1.23924790e-01 3.70166879e-03 2.28033173e+02] [-1.23924085e-01 9.92291613e-01 -4.20283891e-04 -2.07270394e+01] [-3.72521848e-03 -4.16846377e-05 9.99993060e-01 -9.41260354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.09, Y:-20.73, Z:-0.94 [[ 9.91972361e-01 1.26400682e-01 3.70163030e-03 2.28094292e+02] [-1.26399992e-01 9.91979266e-01 -4.20622577e-04 -2.07327712e+01] [-3.72510749e-03 -5.06400699e-05 9.99993060e-01 -9.44296804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.16, Y:-20.74, Z:-0.94 [[ 9.91633277e-01 1.29033880e-01 3.70162046e-03 2.28155988e+02] [-1.29033208e-01 9.91640184e-01 -4.20709141e-04 -2.07366589e+01] [-3.72496133e-03 -6.04427789e-05 9.99993060e-01 -9.38343069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:-20.74, Z:-0.94 [[ 9.91060215e-01 1.33363971e-01 3.70155508e-03 2.28217348e+02] [-1.33363327e-01 9.91067125e-01 -4.21283616e-04 -2.07366220e+01] [-3.72467361e-03 -7.61342706e-05 9.99993060e-01 -9.36815913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.28, Y:-20.74, Z:-0.94 [[ 9.90587208e-01 1.36833043e-01 3.70154475e-03 2.28278104e+02] [-1.36832423e-01 9.90594120e-01 -4.21374396e-04 -2.07368784e+01] [-3.72438640e-03 -8.90832491e-05 9.99993060e-01 -9.39171137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:-20.74, Z:-0.94 [[ 9.90503453e-01 1.37438019e-01 3.70154475e-03 2.28338556e+02] [-1.37437403e-01 9.90510365e-01 -4.21374396e-04 -2.07382902e+01] [-3.72433130e-03 -9.13579038e-05 9.99993060e-01 -9.38481640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.40, Y:-20.74, Z:-0.94 [[ 9.90673778e-01 1.36204858e-01 3.70154475e-03 2.28399676e+02] [-1.36204234e-01 9.90680690e-01 -4.21374396e-04 -2.07370473e+01] [-3.72444214e-03 -8.67215025e-05 9.99993060e-01 -9.40443274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.46, Y:-20.73, Z:-0.94 [[ 9.90899171e-01 1.34555309e-01 3.70154475e-03 2.28458947e+02] [-1.34554673e-01 9.90906082e-01 -4.21374396e-04 -2.07346451e+01] [-3.72458136e-03 -8.05206038e-05 9.99993060e-01 -9.40406169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:-20.73, Z:-0.94 [[ 9.91200693e-01 1.32315854e-01 3.70155982e-03 2.28519477e+02] [-1.32315203e-01 9.91207602e-01 -4.21241947e-04 -2.07337175e+01] [-3.72475122e-03 -7.22373285e-05 9.99993060e-01 -9.38730988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.58, Y:-20.73, Z:-0.94 [[ 9.91505133e-01 1.30014881e-01 3.70156974e-03 2.28580378e+02] [-1.30014214e-01 9.91512041e-01 -4.21154764e-04 -2.07301846e+01] [-3.72490735e-03 -6.36795708e-05 9.99993060e-01 -9.42654241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.64, Y:-20.73, Z:-0.95 [[ 9.91760290e-01 1.28053994e-01 3.70158498e-03 2.28639079e+02] [-1.28053314e-01 9.91767196e-01 -4.21020776e-04 -2.07306743e+01] [-3.72502395e-03 -5.64485370e-05 9.99993060e-01 -9.46892133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.70, Y:-20.73, Z:-0.95 [[ 9.92364639e-01 1.23283092e-01 3.70160045e-03 2.28699281e+02] [-1.23282380e-01 9.92371542e-01 -4.20884691e-04 -2.07293115e+01] [-3.72525092e-03 -3.86710293e-05 9.99993060e-01 -9.49455199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.76, Y:-20.73, Z:-0.95 [[ 9.93328198e-01 1.15262262e-01 3.70161091e-03 2.28758808e+02] [-1.15261495e-01 9.93335095e-01 -4.20792708e-04 -2.07289772e+01] [-3.72544154e-03 -8.66794353e-06 9.99993060e-01 -9.45132379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.82, Y:-20.73, Z:-0.95 [[ 9.94343375e-01 1.06148722e-01 3.70162646e-03 2.28818587e+02] [-1.06147891e-01 9.94350264e-01 -4.20655893e-04 -2.07314318e+01] [-3.72536533e-03 2.53565575e-05 9.99993060e-01 -9.47268639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04420382199996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:228.88, Y:-20.74, Z:-0.95 [[ 9.94997450e-01 9.98317170e-02 3.70163691e-03 2.28878475e+02] [-9.98308432e-02 9.95004335e-01 -4.20563875e-04 -2.07367686e+01] [-3.72513039e-03 4.89224495e-05 9.99993060e-01 -9.49551426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.94, Y:-20.74, Z:-0.94 [[ 9.95162696e-01 9.81708007e-02 3.70164733e-03 2.28936269e+02] [-9.81699157e-02 9.95169579e-01 -4.20472146e-04 -2.07432276e+01] [-3.72504490e-03 5.50477877e-05 9.99993060e-01 -9.44808183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:228.99, Y:-20.75, Z:-0.95 [[ 9.95116015e-01 9.86428673e-02 3.70164560e-03 2.28994478e+02] [-9.86419855e-02 9.95122898e-01 -4.20487423e-04 -2.07479330e+01] [-3.72507038e-03 5.32960971e-05 9.99993060e-01 -9.48151954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:-20.75, Z:-0.94 [[ 9.94995884e-01 9.98473219e-02 3.70166603e-03 2.29052776e+02] [-9.98464491e-02 9.95002769e-01 -4.20307430e-04 -2.07535541e+01] [-3.72513452e-03 4.86059542e-05 9.99993060e-01 -9.44529454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.11, Y:-20.76, Z:-0.95 [[ 9.94517177e-01 1.04507809e-01 3.70168657e-03 2.29110129e+02] [-1.04506969e-01 9.94524066e-01 -4.20126493e-04 -2.07613688e+01] [-3.72532287e-03 3.09709702e-05 9.99993060e-01 -9.47906683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.17, Y:-20.77, Z:-0.95 [[ 9.94048667e-01 1.08873983e-01 3.70171197e-03 2.29167839e+02] [-1.08873174e-01 9.94055560e-01 -4.19902592e-04 -2.07678146e+01] [-3.72542383e-03 1.43864790e-05 9.99993060e-01 -9.48280338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:-20.77, Z:-0.95 [[ 9.93310718e-01 1.15412802e-01 3.70173675e-03 2.29225991e+02] [-1.15412039e-01 9.93317615e-01 -4.19683958e-04 -2.07729414e+01] [-3.72543723e-03 -1.03484135e-05 9.99993060e-01 -9.47537407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46420382199994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:-20.78, Z:-0.95 [[ 9.92758978e-01 1.20066271e-01 3.70175750e-03 2.29283300e+02] [-1.20065542e-01 9.92765879e-01 -4.19500900e-04 -2.07795268e+01] [-3.72534645e-03 -2.79902341e-05 9.99993060e-01 -9.50876952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:-20.79, Z:-0.95 [[ 9.92613892e-01 1.21259879e-01 3.70178322e-03 2.29342162e+02] [-1.21259159e-01 9.92620794e-01 -4.19273847e-04 -2.07856251e+01] [-3.72530809e-03 -3.26980740e-05 9.99993060e-01 -9.48667265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:229.40, Y:-20.79, Z:-0.95 [[ 9.92439652e-01 1.22677762e-01 3.70180381e-03 2.29400291e+02] [-1.22677052e-01 9.92446555e-01 -4.19091925e-04 -2.07891968e+01] [-3.72525570e-03 -3.82029332e-05 9.99993060e-01 -9.51732649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:229.46, Y:-20.79, Z:-0.95 [[ 9.92298185e-01 1.23816836e-01 3.70182929e-03 2.29458089e+02] [-1.23816135e-01 9.92305089e-01 -4.18866783e-04 -2.07935045e+01] [-3.72520680e-03 -4.27054451e-05 9.99993060e-01 -9.51980439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:-20.80, Z:-0.95 [[ 9.92480919e-01 1.22343455e-01 3.70185607e-03 2.29516515e+02] [-1.22342745e-01 9.92487822e-01 -4.18629925e-04 -2.07962552e+01] [-3.72526370e-03 -3.74130197e-05 9.99993060e-01 -9.49576389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.58, Y:-20.80, Z:-0.95 [[ 9.93123270e-01 1.17014812e-01 3.70188352e-03 2.29575452e+02] [-1.17014065e-01 9.93130169e-01 -4.18387083e-04 -2.08005293e+01] [-3.72540969e-03 -1.76624907e-05 9.99993060e-01 -9.46299952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.63, Y:-20.81, Z:-0.94 [[ 9.93780060e-01 1.11299096e-01 3.70190415e-03 2.29634286e+02] [-1.11298310e-01 9.93786955e-01 -4.18204417e-04 -2.08052693e+01] [-3.72544983e-03 3.58753522e-06 9.99993060e-01 -9.44982282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.69, Y:-20.81, Z:-0.95 [[ 9.94124941e-01 1.08175306e-01 3.70192522e-03 2.29691715e+02] [-1.08174500e-01 9.94131834e-01 -4.18017827e-04 -2.08101861e+01] [-3.72542092e-03 1.51080392e-05 9.99993060e-01 -9.47157917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.75, Y:-20.82, Z:-0.95 [[ 9.94444042e-01 1.05201443e-01 3.70195400e-03 2.29749721e+02] [-1.05200617e-01 9.94450932e-01 -4.17762793e-04 -2.08184791e+01] [-3.72536086e-03 2.59938743e-05 9.99993060e-01 -9.47135471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:229.81, Y:-20.82, Z:-0.95 [[ 9.94399616e-01 1.05620542e-01 3.70197445e-03 2.29807493e+02] [-1.05619720e-01 9.94406507e-01 -4.17581543e-04 -2.08247724e+01] [-3.72537267e-03 2.42414224e-05 9.99993060e-01 -9.52811250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.87, Y:-20.83, Z:-0.95 [[ 9.94214716e-01 1.07347071e-01 3.70199974e-03 2.29866297e+02] [-1.07346261e-01 9.94221608e-01 -4.17357210e-04 -2.08326567e+01] [-3.72541021e-03 1.75468483e-05 9.99993060e-01 -9.47685048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:-20.84, Z:-0.95 [[ 9.93962491e-01 1.09657926e-01 3.70201946e-03 2.29924706e+02] [-1.09657132e-01 9.93969385e-01 -4.17182189e-04 -2.08415218e+01] [-3.72544134e-03 8.71060954e-06 9.99993060e-01 -9.50288802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:-20.85, Z:-0.95 [[ 9.93834513e-01 1.10811803e-01 3.70203943e-03 2.29983312e+02] [-1.10811018e-01 9.93841408e-01 -4.17004926e-04 -2.08505575e+01] [-3.72544915e-03 4.20712907e-06 9.99993060e-01 -9.49258145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:-20.86, Z:-0.95 [[ 9.93297431e-01 1.15527087e-01 3.70206019e-03 2.30040964e+02] [-1.15526335e-01 9.93304330e-01 -4.16820527e-04 -2.08610320e+01] [-3.72542648e-03 -1.36586887e-05 9.99993060e-01 -9.53021905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:-20.87, Z:-0.96 [[ 9.92975667e-01 1.18260809e-01 3.70208106e-03 2.30098005e+02] [-1.18260077e-01 9.92982568e-01 -4.16635123e-04 -2.08695138e+01] [-3.72537356e-03 -2.40998525e-05 9.99993060e-01 -9.57421487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:-20.88, Z:-0.95 [[ 9.92657216e-01 1.20904700e-01 3.70210684e-03 2.30156691e+02] [-1.20903988e-01 9.92664119e-01 -4.16405918e-04 -2.08770931e+01] [-3.72529405e-03 -3.42511421e-05 9.99993060e-01 -9.52781656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:-20.89, Z:-0.96 [[ 9.92669724e-01 1.20801963e-01 3.70212167e-03 2.30215121e+02] [-1.20801250e-01 9.92676626e-01 -4.16274050e-04 -2.08866220e+01] [-3.72529637e-03 -3.39982809e-05 9.99993060e-01 -9.56474374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.27, Y:-20.89, Z:-0.96 [[ 9.92341207e-01 1.23471548e-01 3.70214150e-03 2.30273350e+02] [-1.23470855e-01 9.92348112e-01 -4.16097577e-04 -2.08939550e+01] [-3.72518934e-03 -4.41958044e-05 9.99993060e-01 -9.55777383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.33, Y:-20.90, Z:-0.96 [[ 9.91960940e-01 1.26490268e-01 3.70216223e-03 2.30331200e+02] [-1.26489596e-01 9.91967847e-01 -4.15913052e-04 -2.09004249e+01] [-3.72503485e-03 -5.57155033e-05 9.99993060e-01 -9.56712086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:-20.91, Z:-0.95 [[ 9.91917492e-01 1.26830531e-01 3.70218782e-03 2.30389601e+02] [-1.26829862e-01 9.91924399e-01 -4.15685135e-04 -2.09063846e+01] [-3.72501200e-03 -5.72226149e-05 9.99993060e-01 -9.54756775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.45, Y:-20.91, Z:-0.95 [[ 9.92536829e-01 1.21889035e-01 3.70220753e-03 2.30448532e+02] [-1.21888333e-01 9.92543733e-01 -4.15509520e-04 -2.09117509e+01] [-3.72524894e-03 -3.88474012e-05 9.99993060e-01 -9.51424898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:-20.92, Z:-0.95 [[ 9.93006585e-01 1.18000915e-01 3.70222814e-03 2.30505988e+02] [-1.18000187e-01 9.93013486e-01 -4.15325853e-04 -2.09185830e+01] [-3.72537130e-03 -2.44423044e-05 9.99993060e-01 -9.53269223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:-20.93, Z:-0.95 [[ 9.93395637e-01 1.14679559e-01 3.70225371e-03 2.30564064e+02] [-1.14678809e-01 9.93402536e-01 -4.15097717e-04 -2.09294667e+01] [-3.72543145e-03 -1.22137846e-05 9.99993060e-01 -9.54234129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.62, Y:-20.93, Z:-0.95 [[ 9.93089238e-01 1.17303272e-01 3.70227420e-03 2.30623271e+02] [-1.17302541e-01 9.93096139e-01 -4.14914927e-04 -2.09319772e+01] [-3.72538509e-03 -2.22386207e-05 9.99993060e-01 -9.52944771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.68, Y:-20.93, Z:-0.95 [[ 9.92413131e-01 1.22892108e-01 3.70229468e-03 2.30682674e+02] [-1.22891416e-01 9.92420036e-01 -4.14732122e-04 -2.09348146e+01] [-3.72519872e-03 -4.33946299e-05 9.99993060e-01 -9.54389083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.74, Y:-20.94, Z:-0.96 [[ 9.91750564e-01 1.28129274e-01 3.70230999e-03 2.30741848e+02] [-1.28128618e-01 9.91757473e-01 -4.14595338e-04 -2.09378364e+01] [-3.72491540e-03 -6.31967040e-05 9.99993060e-01 -9.56440024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.80, Y:-20.94, Z:-0.96 [[ 9.91744858e-01 1.28173437e-01 3.70233039e-03 2.30800237e+02] [-1.28172783e-01 9.91751766e-01 -4.14413113e-04 -2.09386782e+01] [-3.72490946e-03 -6.35459148e-05 9.99993060e-01 -9.55861121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.86, Y:-20.94, Z:-0.96 [[ 9.91826405e-01 1.27540873e-01 3.70235553e-03 2.30858629e+02] [-1.27540215e-01 9.91833314e-01 -4.14188422e-04 -2.09436814e+01] [-3.72494550e-03 -6.13962068e-05 9.99993060e-01 -9.55065906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.92, Y:-20.95, Z:-0.96 [[ 9.92292250e-01 1.23864376e-01 3.70237508e-03 2.30917155e+02] [-1.23863693e-01 9.92299156e-01 -4.14013591e-04 -2.09477812e+01] [-3.72514520e-03 -4.77673721e-05 9.99993060e-01 -9.57984860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:-20.95, Z:-0.96 [[ 9.92741484e-01 1.20210807e-01 3.70239476e-03 2.30975868e+02] [-1.20210099e-01 9.92748387e-01 -4.13837549e-04 -2.09503338e+01] [-3.72529417e-03 -3.42315379e-05 9.99993060e-01 -9.58602441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.03, Y:-20.95, Z:-0.95 [[ 9.92934755e-01 1.18603814e-01 3.70241431e-03 2.31034887e+02] [-1.18603096e-01 9.92941657e-01 -4.13662559e-04 -2.09518475e+01] [-3.72534335e-03 -2.83778701e-05 9.99993060e-01 -9.52263817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.09, Y:-20.96, Z:-0.95 [[ 9.93072774e-01 1.17442572e-01 3.70243412e-03 2.31093778e+02] [-1.17441847e-01 9.93079675e-01 -4.13485103e-04 -2.09552862e+01] [-3.72537283e-03 -2.41999045e-05 9.99993060e-01 -9.48727163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:-20.96, Z:-0.95 [[ 9.93061938e-01 1.17534163e-01 3.70245385e-03 2.31152364e+02] [-1.17533438e-01 9.93068840e-01 -4.13308405e-04 -2.09569109e+01] [-3.72536941e-03 -2.47212864e-05 9.99993060e-01 -9.49359010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:-20.96, Z:-0.95 [[ 9.93293539e-01 1.15560532e-01 3.70247358e-03 2.31210076e+02] [-1.15559795e-01 9.93300440e-01 -4.13131544e-04 -2.09593633e+01] [-3.72541034e-03 -1.74961938e-05 9.99993060e-01 -9.50840268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.27, Y:-20.96, Z:-0.95 [[ 9.93396652e-01 1.14670759e-01 3.70249806e-03 2.31269167e+02] [-1.14670016e-01 9.93403552e-01 -4.12912073e-04 -2.09634360e+01] [-3.72542366e-03 -1.43800414e-05 9.99993060e-01 -9.49317711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.33, Y:-20.97, Z:-0.95 [[ 9.93578761e-01 1.13081994e-01 3.70251744e-03 2.31328238e+02] [-1.13081241e-01 9.93585659e-01 -4.12738236e-04 -2.09665480e+01] [-3.72544149e-03 -8.59732165e-06 9.99993060e-01 -9.49873274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:-20.97, Z:-0.95 [[ 9.94104196e-01 1.08365767e-01 3.70253716e-03 2.31386984e+02] [-1.08364983e-01 9.94111091e-01 -4.12561211e-04 -2.09720024e+01] [-3.72544077e-03 8.90345591e-06 9.99993060e-01 -9.53666302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.45, Y:-20.98, Z:-0.95 [[ 9.94631238e-01 1.03416596e-01 3.70255677e-03 2.31445849e+02] [-1.03415778e-01 9.94638129e-01 -4.12385211e-04 -2.09770919e+01] [-3.72535161e-03 2.72684263e-05 9.99993060e-01 -9.52011772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.50, Y:-20.98, Z:-0.95 [[ 9.94963858e-01 1.00165920e-01 3.70257676e-03 2.31503643e+02] [-1.00165080e-01 9.94970747e-01 -4.12205611e-04 -2.09828622e+01] [-3.72524452e-03 3.92607883e-05 9.99993060e-01 -9.53136870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.56, Y:-20.99, Z:-0.96 [[ 9.95327327e-01 9.64873213e-02 3.70260143e-03 2.31562486e+02] [-9.64864562e-02 9.95334212e-01 -4.11983910e-04 -2.09892382e+01] [-3.72507710e-03 5.28079534e-05 9.99993060e-01 -9.55092972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.62, Y:-21.00, Z:-0.96 [[ 9.95418957e-01 9.55373784e-02 3.70262068e-03 2.31619439e+02] [-9.55365074e-02 9.95425842e-01 -4.11810833e-04 -2.09959216e+01] [-3.72502763e-03 5.61888617e-05 9.99993060e-01 -9.56677990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:-21.00, Z:-0.95 [[ 9.95172254e-01 9.80738298e-02 3.70264913e-03 2.31677689e+02] [-9.80729772e-02 9.95179141e-01 -4.11554867e-04 -2.10022328e+01] [-3.72516194e-03 4.64381603e-05 9.99993060e-01 -9.50823909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.74, Y:-21.01, Z:-0.95 [[ 9.94767311e-01 1.02099401e-01 3.70266905e-03 2.31735892e+02] [-1.02098577e-01 9.94774201e-01 -4.11375607e-04 -2.10084149e+01] [-3.72532085e-03 3.11857641e-05 9.99993060e-01 -9.49660100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:-21.02, Z:-0.95 [[ 9.94545863e-01 1.04234430e-01 3.70268925e-03 2.31794013e+02] [-1.04233622e-01 9.94552755e-01 -4.11193706e-04 -2.10155679e+01] [-3.72538033e-03 2.30062880e-05 9.99993060e-01 -9.51536206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:-21.02, Z:-0.95 [[ 9.94487695e-01 1.04787947e-01 3.70270933e-03 2.31851538e+02] [-1.04787143e-01 9.94494588e-01 -4.11012758e-04 -2.10241729e+01] [-3.72539358e-03 2.07507976e-05 9.99993060e-01 -9.52515522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.91, Y:-21.03, Z:-0.95 [[ 9.94530949e-01 1.04376635e-01 3.70273424e-03 2.31910101e+02] [-1.04375829e-01 9.94537841e-01 -4.10788252e-04 -2.10319341e+01] [-3.72538601e-03 2.20656727e-05 9.99993060e-01 -9.53926064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.97, Y:-21.05, Z:-0.96 [[ 9.94771782e-01 1.02055827e-01 3.70275361e-03 2.31967203e+02] [-1.02055005e-01 9.94778673e-01 -4.10613561e-04 -2.10475325e+01] [-3.72532583e-03 3.05822445e-05 9.99993060e-01 -9.56498429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:-21.06, Z:-0.96 [[ 9.94800345e-01 1.01777026e-01 3.70277304e-03 2.32025388e+02] [-1.01776203e-01 9.94807236e-01 -4.10438285e-04 -2.10571176e+01] [-3.72531860e-03 3.14499666e-05 9.99993060e-01 -9.56251098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:-21.07, Z:-0.95 [[ 9.94604363e-01 1.03674737e-01 3.70279232e-03 2.32083254e+02] [-1.03673928e-01 9.94611255e-01 -4.10264327e-04 -2.10679494e+01] [-3.72537296e-03 2.41676645e-05 9.99993060e-01 -9.52899651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:-21.08, Z:-0.95 [[ 9.94169474e-01 1.07765238e-01 3.70281250e-03 2.32140928e+02] [-1.07764458e-01 9.94176369e-01 -4.10082079e-04 -2.10789453e+01] [-3.72544128e-03 8.65950081e-06 9.99993060e-01 -9.53854762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:-21.09, Z:-0.95 [[ 9.93525491e-01 1.13549054e-01 3.70283268e-03 2.32199170e+02] [-1.13548315e-01 9.93532391e-01 -4.09899776e-04 -2.10868798e+01] [-3.72542794e-03 -1.32045360e-05 9.99993060e-01 -9.48961409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.26, Y:-21.09, Z:-0.95 [[ 9.92840532e-01 1.19389978e-01 3.70285309e-03 2.32256883e+02] [-1.19389280e-01 9.92847436e-01 -4.09715338e-04 -2.10945756e+01] [-3.72528410e-03 -3.52989708e-05 9.99993060e-01 -9.51961301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58420382199995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:-21.10, Z:-0.95 [[ 9.92274627e-01 1.24005461e-01 3.70287830e-03 2.32314841e+02] [-1.24004796e-01 9.92281534e-01 -4.09487363e-04 -2.11009125e+01] [-3.72507643e-03 -5.28507474e-05 9.99993060e-01 -9.52834188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:-21.11, Z:-0.95 [[ 9.92149410e-01 1.25003343e-01 3.70290338e-03 2.32372130e+02] [-1.25002686e-01 9.92156319e-01 -4.09260454e-04 -2.11064587e+01] [-3.72501791e-03 -5.68253511e-05 9.99993060e-01 -9.51502214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.43, Y:-21.11, Z:-0.95 [[ 9.92022506e-01 1.26006489e-01 3.70293220e-03 2.32430898e+02] [-1.26005840e-01 9.92029415e-01 -4.08999534e-04 -2.11088982e+01] [-3.72495426e-03 -6.08543397e-05 9.99993060e-01 -9.52831934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:-21.11, Z:-0.95 [[ 9.91857445e-01 1.27299239e-01 3.70295250e-03 2.32490400e+02] [-1.27298599e-01 9.91864355e-01 -4.08815616e-04 -2.11102936e+01] [-3.72486851e-03 -6.58938549e-05 9.99993060e-01 -9.53788409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.55, Y:-21.11, Z:-0.96 [[ 9.91990005e-01 1.26262099e-01 3.70297273e-03 2.32548434e+02] [-1.26261453e-01 9.91996915e-01 -4.08632272e-04 -2.11128730e+01] [-3.72493230e-03 -6.21835896e-05 9.99993060e-01 -9.56104043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.61, Y:-21.11, Z:-0.96 [[ 9.92447359e-01 1.22615365e-01 3.70299918e-03 2.32607917e+02] [-1.22614695e-01 9.92454266e-01 -4.08392478e-04 -2.11142229e+01] [-3.72513253e-03 -4.87340784e-05 9.99993060e-01 -9.56550499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.67, Y:-21.11, Z:-0.96 [[ 9.92805725e-01 1.19679071e-01 3.70301909e-03 2.32666517e+02] [-1.19678381e-01 9.92812630e-01 -4.08211852e-04 -2.11141642e+01] [-3.72525854e-03 -3.78962645e-05 9.99993060e-01 -9.56776095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:-21.12, Z:-0.95 [[ 9.93497341e-01 1.13795085e-01 3.70304374e-03 2.32725511e+02] [-1.13794355e-01 9.93504242e-01 -4.07988156e-04 -2.11154968e+01] [-3.72541671e-03 -1.60503262e-05 9.99993060e-01 -9.51595453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.78, Y:-21.12, Z:-0.95 [[ 9.93952995e-01 1.09743937e-01 3.70306405e-03 2.32783601e+02] [-1.09743179e-01 9.93959893e-01 -4.07803695e-04 -2.11186511e+01] [-3.72545113e-03 -1.04831846e-06 9.99993060e-01 -9.54449329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.84, Y:-21.12, Z:-0.95 [[ 9.94585461e-01 1.03855900e-01 3.70308905e-03 2.32842204e+02] [-1.03855102e-01 9.94592355e-01 -4.07576577e-04 -2.11226320e+01] [-3.72539329e-03 2.07850459e-05 9.99993060e-01 -9.54150129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:-21.12, Z:-0.96 [[ 9.94906956e-01 1.00729523e-01 3.70310892e-03 2.32901181e+02] [-1.00728704e-01 9.94913847e-01 -4.07395947e-04 -2.11249958e+01] [-3.72531114e-03 3.23116987e-05 9.99993060e-01 -9.57175640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.96, Y:-21.13, Z:-0.96 [[ 9.94695051e-01 1.02800987e-01 3.70312888e-03 2.32958758e+02] [-1.02800183e-01 9.94701944e-01 -4.07214471e-04 -2.11310695e+01] [-3.72537154e-03 2.43718919e-05 9.99993060e-01 -9.57002943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.02, Y:-21.13, Z:-0.96 [[ 9.94157938e-01 1.07871598e-01 3.70315357e-03 2.33018222e+02] [-1.07870831e-01 9.94164835e-01 -4.06989795e-04 -2.11331261e+01] [-3.72544770e-03 5.14988398e-06 9.99993060e-01 -9.56109412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.08, Y:-21.14, Z:-0.96 [[ 9.93805795e-01 1.11069029e-01 3.70318662e-03 2.33077102e+02] [-1.11068285e-01 9.93812694e-01 -4.06688890e-04 -2.11378094e+01] [-3.72544441e-03 -7.13681023e-06 9.99993060e-01 -9.55812834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42420382199995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:233.14, Y:-21.14, Z:-0.96 [[ 9.93228666e-01 1.16116763e-01 3.70320668e-03 2.33136659e+02] [-1.16116054e-01 9.93235570e-01 -4.06506159e-04 -2.11387993e+01] [-3.72535877e-03 -2.62481756e-05 9.99993060e-01 -9.60053600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.19, Y:-21.14, Z:-0.96 [[ 9.93016745e-01 1.17915349e-01 3.70322178e-03 2.33194644e+02] [-1.17914654e-01 9.93023650e-01 -4.06368475e-04 -2.11407931e+01] [-3.72530389e-03 -3.31334134e-05 9.99993060e-01 -9.56289236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.25, Y:-21.14, Z:-0.96 [[ 9.93175995e-01 1.16566411e-01 3.70324671e-03 2.33252513e+02] [-1.16565707e-01 9.93182899e-01 -4.06141200e-04 -2.11429771e+01] [-3.72534372e-03 -2.83018814e-05 9.99993060e-01 -9.56397013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.31, Y:-21.15, Z:-0.96 [[ 9.93805443e-01 1.11072170e-01 3.70327633e-03 2.33310573e+02] [-1.11071429e-01 9.93812343e-01 -4.05870913e-04 -2.11466540e+01] [-3.72544269e-03 -7.97147091e-06 9.99993060e-01 -9.55899288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.37, Y:-21.15, Z:-0.95 [[ 9.94351974e-01 1.06068078e-01 3.70330635e-03 2.33369612e+02] [-1.06067303e-01 9.94358870e-01 -4.05596882e-04 -2.11479944e+01] [-3.72543639e-03 1.05063430e-05 9.99993060e-01 -9.54244165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.43, Y:-21.15, Z:-0.96 [[ 9.94628422e-01 1.03443640e-01 3.70332631e-03 2.33427115e+02] [-1.03442847e-01 9.94635317e-01 -4.05414542e-04 -2.11518544e+01] [-3.72539669e-03 2.01542087e-05 9.99993060e-01 -9.57964484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.49, Y:-21.16, Z:-0.96 [[ 9.94863559e-01 1.01157224e-01 3.70335093e-03 2.33485373e+02] [-1.01156417e-01 9.94870451e-01 -4.05189517e-04 -2.11570284e+01] [-3.72534226e-03 2.84905755e-05 9.99993060e-01 -9.55318297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.54, Y:-21.16, Z:-0.95 [[ 9.95089915e-01 9.89057476e-02 3.70337069e-03 2.33544586e+02] [-9.89049252e-02 9.95096805e-01 -4.05008835e-04 -2.11587491e+01] [-3.72527004e-03 3.67386064e-05 9.99993060e-01 -9.51768904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.60, Y:-21.16, Z:-0.96 [[ 9.95355082e-01 9.62005537e-02 3.70339038e-03 2.33601812e+02] [-9.61997132e-02 9.95361970e-01 -4.04828655e-04 -2.11649276e+01] [-3.72515869e-03 4.66831665e-05 9.99993060e-01 -9.56416564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.66, Y:-21.17, Z:-0.95 [[ 9.95922675e-01 9.01349594e-02 3.70341477e-03 2.33660302e+02] [-9.01340778e-02 9.95929558e-01 -4.04605476e-04 -2.11746033e+01] [-3.72480933e-03 6.91518934e-05 9.99993060e-01 -9.50928801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:233.72, Y:-21.19, Z:-0.96 [[ 9.96461340e-01 8.39707227e-02 3.70343415e-03 2.33718447e+02] [-8.39697992e-02 9.96468218e-01 -4.04427972e-04 -2.11865126e+01] [-3.72431454e-03 9.20202175e-05 9.99993060e-01 -9.57880126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08420382199995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:233.78, Y:-21.20, Z:-0.96 [[ 9.96821911e-01 7.95761448e-02 3.70345353e-03 2.33776250e+02] [-7.95751916e-02 9.96828784e-01 -4.04250429e-04 -2.11992152e+01] [-3.72387777e-03 1.08262661e-04 9.99993060e-01 -9.60258734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:-21.21, Z:-0.95 [[ 9.96876882e-01 7.88845148e-02 3.70347290e-03 2.33833499e+02] [-7.88835575e-02 9.96883755e-01 -4.04072885e-04 -2.12126804e+01] [-3.72380706e-03 1.10667801e-04 9.99993060e-01 -9.54963452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.89, Y:-21.23, Z:-0.95 [[ 9.96583322e-01 8.25104061e-02 3.70349699e-03 2.33890746e+02] [-8.25094747e-02 9.96590198e-01 -4.03851939e-04 -2.12259921e+01] [-3.72419079e-03 9.68985157e-05 9.99993060e-01 -9.53782514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.95, Y:-21.24, Z:-0.96 [[ 9.96099048e-01 8.81644514e-02 3.70351662e-03 2.33947886e+02] [-8.81635597e-02 9.96105930e-01 -4.03671857e-04 -2.12379835e+01] [-3.72468438e-03 7.55819436e-05 9.99993060e-01 -9.57345721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32420382199996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:234.01, Y:-21.25, Z:-0.96 [[ 9.95651770e-01 9.30797307e-02 3.70354094e-03 2.34005764e+02] [-9.30788738e-02 9.95658657e-01 -4.03448607e-04 -2.12462975e+01] [-3.72501549e-03 5.69728995e-05 9.99993060e-01 -9.59711710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.06, Y:-21.25, Z:-0.96 [[ 9.94964828e-01 1.00156255e-01 3.70355975e-03 2.34063820e+02] [-1.00155448e-01 9.94971720e-01 -4.03275841e-04 -2.12549324e+01] [-3.72532782e-03 3.03135915e-05 9.99993060e-01 -9.57790650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:-21.27, Z:-0.96 [[ 9.94469376e-01 1.04961632e-01 3.70357924e-03 2.34120912e+02] [-1.04960858e-01 9.94476272e-01 -4.03096817e-04 -2.12656786e+01] [-3.72543137e-03 1.21365842e-05 9.99993060e-01 -9.61673779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:-21.28, Z:-0.96 [[ 9.94482834e-01 1.04834042e-01 3.70360527e-03 2.34179482e+02] [-1.04833268e-01 9.94489730e-01 -4.02857534e-04 -2.12751518e+01] [-3.72543059e-03 1.23738583e-05 9.99993060e-01 -9.62405728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:-21.29, Z:-0.96 [[ 9.94875778e-01 1.01036970e-01 3.70362436e-03 2.34236095e+02] [-1.01036171e-01 9.94882671e-01 -4.02681950e-04 -2.12852829e+01] [-3.72535746e-03 2.64184948e-05 9.99993060e-01 -9.58803890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.29, Y:-21.30, Z:-0.96 [[ 9.95133194e-01 9.84693290e-02 3.70365269e-03 2.34293812e+02] [-9.84685132e-02 9.95140086e-01 -4.02421237e-04 -2.12955956e+01] [-3.72527940e-03 3.57695582e-05 9.99993060e-01 -9.59615496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68420382199994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.35, Y:-21.31, Z:-0.96 [[ 9.95381856e-01 9.59231093e-02 3.70367240e-03 2.34351474e+02] [-9.59222765e-02 9.95388746e-01 -4.02239747e-04 -2.13068171e+01] [-3.72517791e-03 4.51174583e-05 9.99993060e-01 -9.59196961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.41, Y:-21.31, Z:-0.95 [[ 9.95440860e-01 9.53088506e-02 3.70369201e-03 2.34410243e+02] [-9.53080143e-02 9.95447749e-01 -4.02059101e-04 -2.13125671e+01] [-3.72515166e-03 4.72345263e-05 9.99993060e-01 -9.54719295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.47, Y:-21.32, Z:-0.96 [[ 9.95253078e-01 9.72501624e-02 3.70371206e-03 2.34467835e+02] [-9.72493402e-02 9.95259968e-01 -4.01874322e-04 -2.13211119e+01] [-3.72523869e-03 3.97831026e-05 9.99993060e-01 -9.57882730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.53, Y:-21.33, Z:-0.96 [[ 9.95134038e-01 9.84608004e-02 3.70373757e-03 2.34525734e+02] [-9.84599875e-02 9.95140929e-01 -4.01639050e-04 -2.13289098e+01] [-3.72528655e-03 3.50147344e-05 9.99993060e-01 -9.59739798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.58, Y:-21.34, Z:-0.96 [[ 9.95157685e-01 9.82215009e-02 3.70375666e-03 2.34584608e+02] [-9.82206869e-02 9.95164577e-01 -4.01462943e-04 -2.13358916e+01] [-3.72527972e-03 3.57334104e-05 9.99993060e-01 -9.62755499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.64, Y:-21.34, Z:-0.96 [[ 9.95412673e-01 9.56027836e-02 3.70377133e-03 2.34642692e+02] [-9.56019520e-02 9.95419563e-01 -4.01327585e-04 -2.13415609e+01] [-3.72517447e-03 4.53987955e-05 9.99993060e-01 -9.62796322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.70, Y:-21.35, Z:-0.96 [[ 9.95823203e-01 9.12273552e-02 3.70379563e-03 2.34701241e+02] [-9.12264942e-02 9.95830089e-01 -4.01103158e-04 -2.13504061e+01] [-3.72494271e-03 6.15435411e-05 9.99993060e-01 -9.62483291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.76, Y:-21.36, Z:-0.96 [[ 9.96190453e-01 8.71255577e-02 3.70381499e-03 2.34759329e+02] [-8.71246690e-02 9.96197336e-01 -4.00924326e-04 -2.13585525e+01] [-3.72466138e-03 7.67033314e-05 9.99993060e-01 -9.59413375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.82, Y:-21.37, Z:-0.96 [[ 9.96422038e-01 8.44357934e-02 3.70383447e-03 2.34817113e+02] [-8.44348868e-02 9.96428918e-01 -4.00744228e-04 -2.13692357e+01] [-3.72444493e-03 8.65775363e-05 9.99993060e-01 -9.63300398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.88, Y:-21.38, Z:-0.96 [[ 9.96173223e-01 8.73223369e-02 3.70384890e-03 2.34876158e+02] [-8.73214507e-02 9.96180106e-01 -4.00610809e-04 -2.13780581e+01] [-3.72468287e-03 7.56523009e-05 9.99993060e-01 -9.59364602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:-21.38, Z:-0.96 [[ 9.95569550e-01 9.39550518e-02 3.70385886e-03 2.34934476e+02] [-9.39542119e-02 9.95576439e-01 -4.00518769e-04 -2.13838285e+01] [-3.72510537e-03 5.07511514e-05 9.99993060e-01 -9.56868653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:-21.39, Z:-0.96 [[ 9.94973391e-01 1.00071141e-01 3.70387358e-03 2.34992731e+02] [-1.00070344e-01 9.94980284e-01 -4.00382601e-04 -2.13907667e+01] [-3.72534793e-03 2.77221324e-05 9.99993060e-01 -9.64519619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:-21.40, Z:-0.96 [[ 9.94557749e-01 1.04120915e-01 3.70389321e-03 2.35050937e+02] [-1.04120146e-01 9.94564646e-01 -4.00200917e-04 -2.13955686e+01] [-3.72543052e-03 1.23730207e-05 9.99993060e-01 -9.63182810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:-21.39, Z:-0.96 [[ 9.93963452e-01 1.09649151e-01 3.70391282e-03 2.35109543e+02] [-1.09648421e-01 9.93970354e-01 -4.00019349e-04 -2.13929422e+01] [-3.72544131e-03 -8.52357906e-06 9.99993060e-01 -9.62392351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:-21.40, Z:-0.96 [[ 9.93905695e-01 1.10171454e-01 3.70393886e-03 2.35167375e+02] [-1.10170730e-01 9.93912597e-01 -3.99778027e-04 -2.13971795e+01] [-3.72543562e-03 -1.07239889e-05 9.99993060e-01 -9.63190734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:-21.40, Z:-0.96 [[ 9.94359361e-01 1.05998785e-01 3.70396261e-03 2.35226198e+02] [-1.05998032e-01 9.94366259e-01 -3.99557932e-04 -2.13965397e+01] [-3.72544810e-03 4.69142269e-06 9.99993060e-01 -9.59060587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.28, Y:-21.40, Z:-0.96 [[ 9.95087873e-01 9.89262607e-02 3.70398636e-03 2.35283839e+02] [-9.89254596e-02 9.95094766e-01 -3.99337560e-04 -2.13981750e+01] [-3.72532242e-03 3.09574096e-05 9.99993060e-01 -9.60872047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:-21.40, Z:-0.97 [[ 9.95719631e-01 9.23509486e-02 3.70401138e-03 2.35342491e+02] [-9.23501028e-02 9.95726518e-01 -3.99105356e-04 -2.14018701e+01] [-3.72504012e-03 5.53312058e-05 9.99993060e-01 -9.65639279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76420382199996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:235.40, Y:-21.40, Z:-0.97 [[ 9.96341578e-01 8.53799708e-02 3.70403082e-03 2.35401276e+02] [-8.53790775e-02 9.96348460e-01 -3.98924862e-04 -2.14044020e+01] [-3.72456560e-03 8.12186917e-05 9.99993060e-01 -9.65426368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.46, Y:-21.41, Z:-0.97 [[ 9.97048126e-01 7.66897302e-02 3.70405034e-03 2.35459657e+02] [-7.66887776e-02 9.97055000e-01 -3.98743522e-04 -2.14132688e+01] [-3.72372145e-03 1.13507389e-04 9.99993060e-01 -9.65009520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.52, Y:-21.42, Z:-0.96 [[ 9.97368862e-01 7.23991229e-02 3.70406303e-03 2.35518597e+02] [-7.23981411e-02 9.97375732e-01 -3.98625663e-04 -2.14238583e+01] [-3.72320272e-03 1.29409545e-04 9.99993060e-01 -9.60514520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94420382199996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:235.58, Y:-21.43, Z:-0.97 [[ 9.97569147e-01 6.95850298e-02 3.70407265e-03 2.35577194e+02] [-6.95840290e-02 9.97576014e-01 -3.98536275e-04 -2.14348954e+01] [-3.72282619e-03 1.39823193e-04 9.99993060e-01 -9.65568057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.64, Y:-21.45, Z:-0.96 [[ 9.97651744e-01 6.83906216e-02 3.70408226e-03 2.35635323e+02] [-6.83896129e-02 9.97658610e-01 -3.98446861e-04 -2.14504237e+01] [-3.72265959e-03 1.44190453e-04 9.99993060e-01 -9.60358965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06420382199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:235.69, Y:-21.47, Z:-0.97 [[ 9.97380057e-01 7.22447387e-02 3.70409202e-03 2.35692857e+02] [-7.22437569e-02 9.97386926e-01 -3.98356108e-04 -2.14705603e+01] [-3.72319209e-03 1.29714914e-04 9.99993060e-01 -9.66795586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.75, Y:-21.48, Z:-0.96 [[ 9.96302332e-01 8.58367276e-02 3.70409685e-03 2.35750197e+02] [-8.58358397e-02 9.96309214e-01 -3.98311233e-04 -2.14826550e+01] [-3.72461555e-03 7.88941462e-05 9.99993060e-01 -9.63503905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.81, Y:-21.49, Z:-0.97 [[ 9.94463806e-01 1.05014367e-01 3.70411087e-03 2.35808685e+02] [-1.05013612e-01 9.94470705e-01 -3.98180795e-04 -2.14887789e+01] [-3.72544445e-03 6.99432770e-06 9.99993060e-01 -9.67817604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.87, Y:-21.49, Z:-0.96 [[ 9.92667903e-01 1.20816860e-01 3.70412941e-03 2.35867034e+02] [-1.20816216e-01 9.92674813e-01 -3.98008275e-04 -2.14944399e+01] [-3.72508208e-03 -5.24288600e-05 9.99993060e-01 -9.64318900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:-21.50, Z:-0.97 [[ 9.91866696e-01 1.27227104e-01 3.70414883e-03 2.35924378e+02] [-1.27226506e-01 9.91873610e-01 -3.97827425e-04 -2.14974671e+01] [-3.72466191e-03 -7.66741381e-05 9.99993060e-01 -9.65924856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.98, Y:-21.50, Z:-0.97 [[ 9.91719450e-01 1.28369825e-01 3.70417401e-03 2.35983041e+02] [-1.28369235e-01 9.91726364e-01 -3.97592834e-04 -2.14992046e+01] [-3.72456595e-03 -8.12014363e-05 9.99993060e-01 -9.69887305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.04, Y:-21.50, Z:-0.97 [[ 9.92705534e-01 1.20507270e-01 3.70419298e-03 2.36041075e+02] [-1.20506626e-01 9.92712443e-01 -3.97416065e-04 -2.15020565e+01] [-3.72508999e-03 -5.18626706e-05 9.99993060e-01 -9.66189313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.10, Y:-21.51, Z:-0.96 [[ 9.94133027e-01 1.08100899e-01 3.70422069e-03 2.36099339e+02] [-1.08100169e-01 9.94139928e-01 -3.97157614e-04 -2.15070915e+01] [-3.72544678e-03 -5.59938194e-06 9.99993060e-01 -9.62314143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.16, Y:-21.52, Z:-0.96 [[ 9.95423582e-01 9.54891162e-02 3.70423938e-03 2.36158167e+02] [-9.54883000e-02 9.95430473e-01 -3.96983216e-04 -2.15164806e+01] [-3.72522033e-03 4.14549334e-05 9.99993060e-01 -9.62357647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.22, Y:-21.53, Z:-0.96 [[ 9.96182455e-01 8.72169471e-02 3.70424920e-03 2.36216496e+02] [-8.72160740e-02 9.96189339e-01 -3.96891568e-04 -2.15261142e+01] [-3.72474923e-03 7.23063447e-05 9.99993060e-01 -9.64104550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66420382199996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:-21.54, Z:-0.97 [[ 9.96302565e-01 8.58340064e-02 3.70426366e-03 2.36275554e+02] [-8.58331243e-02 9.96309449e-01 -3.96756562e-04 -2.15367653e+01] [-3.72464809e-03 7.73410576e-05 9.99993060e-01 -9.69113958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.33, Y:-21.54, Z:-0.97 [[ 9.96053986e-01 8.86720661e-02 3.70427337e-03 2.36333664e+02] [-8.86712039e-02 9.96060872e-01 -3.96665883e-04 -2.15442858e+01] [-3.72485494e-03 6.66382550e-05 9.99993060e-01 -9.65720392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.39, Y:-21.55, Z:-0.96 [[ 9.95566273e-01 9.39897609e-02 3.70428781e-03 2.36392536e+02] [-9.39889360e-02 9.95573163e-01 -3.96531001e-04 -2.15524654e+01] [-3.72515938e-03 4.66108212e-05 9.99993060e-01 -9.64160883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.45, Y:-21.56, Z:-0.97 [[ 9.94682259e-01 1.02924641e-01 3.70429738e-03 2.36451194e+02] [-1.02923878e-01 9.94689157e-01 -3.96441525e-04 -2.15587108e+01] [-3.72542804e-03 1.30727003e-05 9.99993060e-01 -9.66219783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.51, Y:-21.56, Z:-0.96 [[ 9.93999600e-01 1.09320965e-01 3.70431657e-03 2.36510131e+02] [-1.09320247e-01 9.94006502e-01 -3.96262134e-04 -2.15621853e+01] [-3.72543452e-03 -1.10724009e-05 9.99993060e-01 -9.63235178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.57, Y:-21.57, Z:-0.97 [[ 9.93639656e-01 1.12545599e-01 3.70433089e-03 2.36568600e+02] [-1.12544904e-01 9.93646561e-01 -3.96128243e-04 -2.15655448e+01] [-3.72537814e-03 -2.32948322e-05 9.99993060e-01 -9.66093421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.63, Y:-21.57, Z:-0.97 [[ 9.93857306e-01 1.10607111e-01 3.70435023e-03 2.36626466e+02] [-1.10606403e-01 9.93864209e-01 -3.95947280e-04 -2.15714914e+01] [-3.72541570e-03 -1.62097589e-05 9.99993060e-01 -9.68518691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.68, Y:-21.58, Z:-0.97 [[ 9.94175079e-01 1.07713465e-01 3.70437645e-03 2.36684707e+02] [-1.07712738e-01 9.94181980e-01 -3.95701861e-04 -2.15762591e+01] [-3.72544673e-03 -5.61160170e-06 9.99993060e-01 -9.67212755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.74, Y:-21.58, Z:-0.97 [[ 9.94845589e-01 1.01333762e-01 3.70439544e-03 2.36741870e+02] [-1.01332991e-01 9.94852486e-01 -3.95523985e-04 -2.15825442e+01] [-3.72540695e-03 1.81078211e-05 9.99993060e-01 -9.70394470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:-21.59, Z:-0.97 [[ 9.95505846e-01 9.46276303e-02 3.70441896e-03 2.36801362e+02] [-9.46268144e-02 9.95512737e-01 -3.95303587e-04 -2.15920546e+01] [-3.72520290e-03 4.29896661e-05 9.99993060e-01 -9.68211491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.86, Y:-21.60, Z:-0.97 [[ 9.95836097e-01 9.10864753e-02 3.70442860e-03 2.36861233e+02] [-9.10856352e-02 9.95842985e-01 -3.95213223e-04 -2.15974347e+01] [-3.72502782e-03 5.61473606e-05 9.99993060e-01 -9.69287789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.92, Y:-21.61, Z:-0.97 [[ 9.95823575e-01 9.12232700e-02 3.70443833e-03 2.36919650e+02] [-9.12224312e-02 9.95830463e-01 -3.95122034e-04 -2.16080766e+01] [-3.72503686e-03 5.55439663e-05 9.99993060e-01 -9.70077427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:-21.62, Z:-0.97 [[ 9.95719276e-01 9.23547557e-02 3.70444806e-03 2.36977272e+02] [-9.23539250e-02 9.95726165e-01 -3.95030754e-04 -2.16164835e+01] [-3.72509883e-03 5.12194177e-05 9.99993060e-01 -9.70281707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.04, Y:-21.62, Z:-0.97 [[ 9.95394002e-01 9.57969613e-02 3.70445959e-03 2.37036253e+02] [-9.57961549e-02 9.95400894e-01 -3.94922567e-04 -2.16186528e+01] [-3.72525478e-03 3.82305693e-05 9.99993060e-01 -9.67679316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:-21.63, Z:-0.97 [[ 9.95481660e-01 9.48817210e-02 3.70447382e-03 2.37094880e+02] [-9.48809087e-02 9.95488552e-01 -3.94789078e-04 -2.16285731e+01] [-3.72521955e-03 4.15214444e-05 9.99993060e-01 -9.69644408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:-21.64, Z:-0.97 [[ 9.95875872e-01 9.06505597e-02 3.70448788e-03 2.37153040e+02] [-9.06497186e-02 9.95882761e-01 -3.94657141e-04 -2.16417164e+01] [-3.72501150e-03 5.72187405e-05 9.99993060e-01 -9.70842637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:-21.65, Z:-0.97 [[ 9.96453419e-01 8.40646153e-02 3.70449724e-03 2.37212615e+02] [-8.40637291e-02 9.96460302e-01 -3.94569201e-04 -2.16527256e+01] [-3.72455375e-03 8.17559775e-05 9.99993060e-01 -9.69942905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68420382199994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:-21.67, Z:-0.98 [[ 9.96889849e-01 7.87204233e-02 3.70449724e-03 2.37271236e+02] [-7.87195001e-02 9.96896727e-01 -3.94569201e-04 -2.16681094e+01] [-3.72406183e-03 1.01725861e-04 9.99993060e-01 -9.78193369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.33, Y:-21.68, Z:-0.97 [[ 9.96866094e-01 7.90206734e-02 3.70447142e-03 2.37331084e+02] [-7.90197515e-02 9.96872972e-01 -3.94811480e-04 -2.16835871e+01] [-3.72408571e-03 1.00847767e-04 9.99993060e-01 -9.73399044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.39, Y:-21.69, Z:-0.97 [[ 9.96579398e-01 8.25577362e-02 3.70446176e-03 2.37390988e+02] [-8.25568383e-02 9.96586280e-01 -3.94902109e-04 -2.16943517e+01] [-3.72441799e-03 8.77226558e-05 9.99993060e-01 -9.72376009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.45, Y:-21.71, Z:-0.98 [[ 9.95850311e-01 9.09309364e-02 3.70445699e-03 2.37449830e+02] [-9.09300962e-02 9.95857199e-01 -3.94946834e-04 -2.17055953e+01] [-3.72502305e-03 5.64612964e-05 9.99993060e-01 -9.78180812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.51, Y:-21.72, Z:-0.98 [[ 9.95052450e-01 9.92819199e-02 3.70446165e-03 2.37510041e+02] [-9.92811377e-02 9.95059345e-01 -3.94903115e-04 -2.17153573e+01] [-3.72536592e-03 2.51661446e-05 9.99993060e-01 -9.77767185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.57, Y:-21.72, Z:-0.98 [[ 9.94398395e-01 1.05631950e-01 3.70446165e-03 2.37570364e+02] [-1.05631212e-01 9.94405295e-01 -3.94903115e-04 -2.17215047e+01] [-3.72545067e-03 1.38424894e-06 9.99993060e-01 -9.79013316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:-21.73, Z:-0.98 [[ 9.93946924e-01 1.09798858e-01 3.70446165e-03 2.37630079e+02] [-1.09798149e-01 9.93953827e-01 -3.94903115e-04 -2.17303038e+01] [-3.72542375e-03 -1.42302968e-05 9.99993060e-01 -9.81427503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:-21.74, Z:-0.98 [[ 9.93813908e-01 1.10996366e-01 3.70446165e-03 2.37689304e+02] [-1.10995665e-01 9.93820812e-01 -3.94903115e-04 -2.17352796e+01] [-3.72540390e-03 -1.87189780e-05 9.99993060e-01 -9.81370203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:-21.74, Z:-0.98 [[ 9.93927426e-01 1.09975219e-01 3.70445816e-03 2.37749949e+02] [-1.09974511e-01 9.93934329e-01 -3.94935849e-04 -2.17416376e+01] [-3.72542130e-03 -1.48584045e-05 9.99993060e-01 -9.82258327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.81, Y:-21.75, Z:-0.98 [[ 9.94306151e-01 1.06496734e-01 3.70445816e-03 2.37810405e+02] [-1.06496002e-01 9.94313052e-01 -3.94935849e-04 -2.17472255e+01] [-3.72545048e-03 -1.82284104e-06 9.99993060e-01 -9.80006942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.87, Y:-21.75, Z:-0.98 [[ 9.94691185e-01 1.02838335e-01 3.70445816e-03 2.37871179e+02] [-1.02837578e-01 9.94698083e-01 -3.94935849e-04 -2.17517512e+01] [-3.72543198e-03 1.18817032e-05 9.99993060e-01 -9.80682686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:-21.76, Z:-0.98 [[ 9.94962980e-01 1.00174576e-01 3.70444850e-03 2.37931597e+02] [-1.00173799e-01 9.94969876e-01 -3.95026445e-04 -2.17588837e+01] [-3.72538627e-03 2.19480070e-05 9.99993060e-01 -9.78196467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.99, Y:-21.76, Z:-0.98 [[ 9.95220437e-01 9.75836002e-02 3.70444365e-03 2.37991321e+02] [-9.75828056e-02 9.95227331e-01 -3.95071908e-04 -2.17628290e+01] [-3.72531611e-03 3.16936315e-05 9.99993060e-01 -9.76822449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.05, Y:-21.77, Z:-0.98 [[ 9.95199020e-01 9.78017737e-02 3.70441982e-03 2.38052670e+02] [-9.78009797e-02 9.95205914e-01 -3.95295261e-04 -2.17683416e+01] [-3.72532109e-03 3.11015689e-05 9.99993060e-01 -9.77255598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.11, Y:-21.77, Z:-0.98 [[ 9.94885788e-01 1.00938330e-01 3.70441052e-03 2.38112997e+02] [-1.00937558e-01 9.94892684e-01 -3.95382436e-04 -2.17725026e+01] [-3.72540016e-03 1.94462159e-05 9.99993060e-01 -9.80738248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.17, Y:-21.78, Z:-0.98 [[ 9.94625236e-01 1.03474238e-01 3.70441052e-03 2.38172881e+02] [-1.03473483e-01 9.94632134e-01 -3.95382436e-04 -2.17755316e+01] [-3.72543763e-03 9.94909017e-06 9.99993060e-01 -9.80317390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:-21.78, Z:-0.98 [[ 9.94205261e-01 1.07434523e-01 3.70441511e-03 2.38233063e+02] [-1.07433795e-01 9.94212162e-01 -3.95339351e-04 -2.17754330e+01] [-3.72544765e-03 -4.93091254e-06 9.99993060e-01 -9.76665424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:-21.78, Z:-0.98 [[ 9.93961325e-01 1.09668419e-01 3.70442480e-03 2.38292972e+02] [-1.09667707e-01 9.93968228e-01 -3.95248584e-04 -2.17776259e+01] [-3.72542684e-03 -1.33939685e-05 9.99993060e-01 -9.80041953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.35, Y:-21.78, Z:-0.98 [[ 9.93915445e-01 1.10083445e-01 3.70443449e-03 2.38352910e+02] [-1.10082736e-01 9.93922349e-01 -3.95157705e-04 -2.17780289e+01] [-3.72542055e-03 -1.50409395e-05 9.99993060e-01 -9.79671244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.41, Y:-21.78, Z:-0.98 [[ 9.94316155e-01 1.06403296e-01 3.70444415e-03 2.38411695e+02] [-1.06402562e-01 9.94323055e-01 -3.95067113e-04 -2.17788532e+01] [-3.72545067e-03 -1.34073741e-06 9.99993060e-01 -9.81962546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.47, Y:-21.78, Z:-0.98 [[ 9.94770954e-01 1.02063838e-01 3.70445854e-03 2.38471650e+02] [-1.02063075e-01 9.94777851e-01 -3.94932186e-04 -2.17814026e+01] [-3.72542160e-03 1.47786381e-05 9.99993060e-01 -9.82633105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.53, Y:-21.78, Z:-0.98 [[ 9.95370530e-01 9.60405362e-02 3.70446779e-03 2.38531516e+02] [-9.60397317e-02 9.95377423e-01 -3.94845374e-04 -2.17829839e+01] [-3.72526476e-03 3.72413565e-05 9.99993060e-01 -9.80064417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:-21.79, Z:-0.98 [[ 9.95754596e-01 9.19731574e-02 3.70447744e-03 2.38590121e+02] [-9.19723251e-02 9.95761485e-01 -3.94754866e-04 -2.17874236e+01] [-3.72508281e-03 5.23695688e-05 9.99993060e-01 -9.76433901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.65, Y:-21.79, Z:-0.98 [[ 9.95783125e-01 9.16637566e-02 3.70449168e-03 2.38649077e+02] [-9.16629227e-02 9.95790014e-01 -3.94621178e-04 -2.17880678e+01] [-3.72506828e-03 5.33925754e-05 9.99993060e-01 -9.78176446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.71, Y:-21.78, Z:-0.98 [[ 9.95571884e-01 9.39302987e-02 3.70450551e-03 2.38708240e+02] [-9.39294809e-02 9.95578775e-01 -3.94491300e-04 -2.17844121e+01] [-3.72518174e-03 4.47821671e-05 9.99993060e-01 -9.80895778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:-21.78, Z:-0.98 [[ 9.95559453e-01 9.40619545e-02 3.70452037e-03 2.38766727e+02] [-9.40611382e-02 9.95566345e-01 -3.94351717e-04 -2.17841359e+01] [-3.72518929e-03 4.41491773e-05 9.99993060e-01 -9.84887596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.83, Y:-21.78, Z:-0.99 [[ 9.95716601e-01 9.23835806e-02 3.70454513e-03 2.38825108e+02] [-9.23827536e-02 9.95723492e-01 -3.94118974e-04 -2.17818402e+01] [-3.72511273e-03 5.01947253e-05 9.99993060e-01 -9.87332430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.88, Y:-21.78, Z:-0.99 [[ 9.96157453e-01 8.75020255e-02 3.70456852e-03 2.38884411e+02] [-8.75011655e-02 9.96164339e-01 -3.93898981e-04 -2.17845030e+01] [-3.72482601e-03 6.82313428e-05 9.99993060e-01 -9.89804006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.94, Y:-21.79, Z:-0.99 [[ 9.96538867e-01 8.30455492e-02 3.70458701e-03 2.38943148e+02] [-8.30446590e-02 9.96545749e-01 -3.93725035e-04 -2.17899489e+01] [-3.72448754e-03 8.47161356e-05 9.99993060e-01 -9.88237905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:-21.80, Z:-0.99 [[ 9.97001894e-01 7.72884146e-02 3.70460611e-03 2.39001425e+02] [-7.72874854e-02 9.97008771e-01 -3.93545182e-04 -2.17951742e+01] [-3.72394127e-03 1.06045601e-04 9.99993060e-01 -9.89878115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:-21.80, Z:-0.99 [[ 9.97131869e-01 7.55930692e-02 3.70462024e-03 2.39060399e+02] [-7.55921288e-02 9.97138744e-01 -3.93412176e-04 -2.18013456e+01] [-3.72375960e-03 1.12243688e-04 9.99993060e-01 -9.87711313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:-21.81, Z:-0.99 [[ 9.96830137e-01 7.94729790e-02 3.70462984e-03 2.39119756e+02] [-7.94720657e-02 9.96837016e-01 -3.93321749e-04 -2.18127336e+01] [-3.72417060e-03 9.76603867e-05 9.99993060e-01 -9.91101679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:-21.82, Z:-1.00 [[ 9.96195806e-01 8.70642924e-02 3.70463478e-03 2.39177944e+02] [-8.70634317e-02 9.96202692e-01 -3.93275194e-04 -2.18159004e+01] [-3.72480737e-03 6.92408822e-05 9.99993060e-01 -9.96507840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:-21.82, Z:-1.00 [[ 9.95710920e-01 9.24447896e-02 3.70465928e-03 2.39236602e+02] [-9.24439670e-02 9.95717811e-01 -3.93044302e-04 -2.18206990e+01] [-3.72513012e-03 4.88851039e-05 9.99993060e-01 -9.98367726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.29, Y:-21.83, Z:-1.00 [[ 9.95515027e-01 9.45309791e-02 3.70467774e-03 2.39294829e+02] [-9.45301715e-02 9.95521920e-01 -3.92870207e-04 -2.18263115e+01] [-3.72522630e-03 4.09043732e-05 9.99993060e-01 -1.00001304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:-21.83, Z:-1.00 [[ 9.95516135e-01 9.45193135e-02 3.70469702e-03 2.39351964e+02] [-9.45185065e-02 9.95523027e-01 -3.92688274e-04 -2.18324586e+01] [-3.72522782e-03 4.07650826e-05 9.99993060e-01 -1.00108059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:-21.84, Z:-1.00 [[ 9.95720584e-01 9.23406406e-02 3.70472089e-03 2.39410224e+02] [-9.23398194e-02 9.95727475e-01 -3.92462956e-04 -2.18383056e+01] [-3.72513266e-03 4.86901858e-05 9.99993060e-01 -9.98183940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.47, Y:-21.85, Z:-1.00 [[ 9.96023437e-01 8.90145377e-02 3.70474011e-03 2.39469521e+02] [-8.90136942e-02 9.96030325e-01 -3.92281466e-04 -2.18473464e+01] [-3.72495225e-03 6.09489307e-05 9.99993060e-01 -9.95939355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:-21.85, Z:-1.00 [[ 9.95990178e-01 8.93859053e-02 3.70474959e-03 2.39528219e+02] [-8.93850647e-02 9.95997066e-01 -3.92191922e-04 -2.18546109e+01] [-3.72497615e-03 5.94700204e-05 9.99993060e-01 -9.96818389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.59, Y:-21.86, Z:-1.00 [[ 9.95726409e-01 9.22778014e-02 3.70476842e-03 2.39586083e+02] [-9.22769814e-02 9.95733300e-01 -3.92013990e-04 -2.18649543e+01] [-3.72513547e-03 4.84738364e-05 9.99993060e-01 -9.96089597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:-21.87, Z:-1.00 [[ 9.95398203e-01 9.57532922e-02 3.70478790e-03 2.39643718e+02] [-9.57524970e-02 9.95405096e-01 -3.91829793e-04 -2.18724318e+01] [-3.72528375e-03 3.52839796e-05 9.99993060e-01 -1.00047442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:-21.88, Z:-1.01 [[ 9.95232540e-01 9.74600772e-02 3.70481208e-03 2.39700951e+02] [-9.74592946e-02 9.95239435e-01 -3.91600987e-04 -2.18787627e+01] [-3.72534054e-03 2.86656722e-05 9.99993060e-01 -1.00536574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.76, Y:-21.89, Z:-1.00 [[ 9.95166404e-01 9.81330900e-02 3.70483485e-03 2.39759397e+02] [-9.81323130e-02 9.95173299e-01 -3.91385462e-04 -2.18888231e+01] [-3.72536059e-03 2.59296494e-05 9.99993060e-01 -1.00141616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:-21.90, Z:-1.00 [[ 9.95124431e-01 9.85578080e-02 3.70485413e-03 2.39817161e+02] [-9.85570345e-02 9.95131327e-01 -3.91202875e-04 -2.18965881e+01] [-3.72537250e-03 2.41561022e-05 9.99993060e-01 -1.00021596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.88, Y:-21.90, Z:-1.00 [[ 9.94863201e-01 1.01160691e-01 3.70486678e-03 2.39875056e+02] [-1.01159936e-01 9.94870099e-01 -3.91083012e-04 -2.19006518e+01] [-3.72542341e-03 1.42900089e-05 9.99993060e-01 -1.00453791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:-21.91, Z:-1.01 [[ 9.94750741e-01 1.02260629e-01 3.70489034e-03 2.39933531e+02] [-1.02259883e-01 9.94757641e-01 -3.90859744e-04 -2.19091690e+01] [-3.72543753e-03 9.94636777e-06 9.99993060e-01 -1.00658814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:-21.92, Z:-1.01 [[ 9.94705158e-01 1.02703078e-01 3.70490863e-03 2.39992071e+02] [-1.02702335e-01 9.94712058e-01 -3.90686261e-04 -2.19154489e+01] [-3.72544197e-03 8.11487073e-06 9.99993060e-01 -1.00664507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:-21.92, Z:-1.01 [[ 9.94642968e-01 1.03303631e-01 3.70492783e-03 2.40049968e+02] [-1.03302893e-01 9.94649868e-01 -3.90504145e-04 -2.19196423e+01] [-3.72544647e-03 5.68243850e-06 9.99993060e-01 -1.01162366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.11, Y:-21.93, Z:-1.01 [[ 9.94659663e-01 1.03142753e-01 3.70495150e-03 2.40108233e+02] [-1.03142015e-01 9.94666563e-01 -3.90279425e-04 -2.19255344e+01] [-3.72544587e-03 6.05904026e-06 9.99993060e-01 -1.00934113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.17, Y:-21.93, Z:-1.01 [[ 9.94765081e-01 1.02121041e-01 3.70497059e-03 2.40166484e+02] [-1.02120297e-01 9.94771980e-01 -3.90098145e-04 -2.19344828e+01] [-3.72543816e-03 9.70331804e-06 9.99993060e-01 -1.00996806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:-21.94, Z:-1.01 [[ 9.95102440e-01 9.87795898e-02 3.70498986e-03 2.40225267e+02] [-9.87788227e-02 9.95109337e-01 -3.89914982e-04 -2.19425609e+01] [-3.72538565e-03 2.20308132e-05 9.99993060e-01 -1.01066852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:-21.95, Z:-1.01 [[ 9.95218848e-01 9.75997861e-02 3.70500901e-03 2.40283991e+02] [-9.75990115e-02 9.95225744e-01 -3.89732915e-04 -2.19501417e+01] [-3.72535820e-03 2.62643248e-05 9.99993060e-01 -1.01212319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:-21.96, Z:-1.01 [[ 9.95139334e-01 9.84072106e-02 3.70502825e-03 2.40341619e+02] [-9.84064422e-02 9.95146231e-01 -3.89549975e-04 -2.19613217e+01] [-3.72537942e-03 2.30578545e-05 9.99993060e-01 -1.01146480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.40, Y:-21.97, Z:-1.02 [[ 9.94892108e-01 1.00875995e-01 3.70504123e-03 2.40399379e+02] [-1.00875245e-01 9.94899007e-01 -3.89426415e-04 -2.19669893e+01] [-3.72542562e-03 1.36903258e-05 9.99993060e-01 -1.01552848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:-21.97, Z:-1.02 [[ 9.94621459e-01 1.03510507e-01 3.70506465e-03 2.40457536e+02] [-1.03509776e-01 9.94628360e-01 -3.89203484e-04 -2.19712785e+01] [-3.72544903e-03 3.59972601e-06 9.99993060e-01 -1.02485892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.52, Y:-21.98, Z:-1.02 [[ 9.94616573e-01 1.03557451e-01 3.70507843e-03 2.40516374e+02] [-1.03556720e-01 9.94623474e-01 -3.89072261e-04 -2.19790264e+01] [-3.72544931e-03 3.29195002e-06 9.99993060e-01 -1.01866111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:-21.98, Z:-1.02 [[ 9.94683523e-01 1.02912398e-01 3.70509754e-03 2.40574907e+02] [-1.02911664e-01 9.94690423e-01 -3.88890242e-04 -2.19817500e+01] [-3.72544667e-03 5.52496357e-06 9.99993060e-01 -1.02342945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.63, Y:-21.98, Z:-1.02 [[ 9.94739829e-01 1.02366713e-01 3.70511167e-03 2.40634350e+02] [-1.02365975e-01 9.94746730e-01 -3.88755541e-04 -2.19844784e+01] [-3.72544334e-03 7.43325361e-06 9.99993060e-01 -1.02043659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:-21.99, Z:-1.02 [[ 9.95242262e-01 9.73607305e-02 3.70512124e-03 2.40693025e+02] [-9.73599582e-02 9.95249159e-01 -3.88664363e-04 -2.19935794e+01] [-3.72535944e-03 2.60847510e-05 9.99993060e-01 -1.02131515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:-22.00, Z:-1.02 [[ 9.95596608e-01 9.36678532e-02 3.70514047e-03 2.40751267e+02] [-9.36670560e-02 9.95603501e-01 -3.88480899e-04 -2.20002508e+01] [-3.72523900e-03 3.97206648e-05 9.99993060e-01 -1.02357417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:-22.01, Z:-1.02 [[ 9.95777466e-01 9.17251874e-02 3.70515025e-03 2.40810228e+02] [-9.17243771e-02 9.95784358e-01 -3.88387578e-04 -2.20072721e+01] [-3.72515559e-03 4.68949995e-05 9.99993060e-01 -1.01618843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:-22.01, Z:-1.02 [[ 9.95632962e-01 9.32806368e-02 3.70516024e-03 2.40868754e+02] [-9.32798376e-02 9.95639855e-01 -3.88292336e-04 -2.20139219e+01] [-3.72522536e-03 4.09799031e-05 9.99993060e-01 -1.01920905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:-22.02, Z:-1.02 [[ 9.95362803e-01 9.61205583e-02 3.70517498e-03 2.40928040e+02] [-9.61197794e-02 9.95369699e-01 -3.88151546e-04 -2.20204135e+01] [-3.72532825e-03 3.02110092e-05 9.99993060e-01 -1.02280924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.99, Y:-22.02, Z:-1.02 [[ 9.94994820e-01 9.98578013e-02 3.70518458e-03 2.40987061e+02] [-9.98570486e-02 9.95001718e-01 -3.88059969e-04 -2.20234848e+01] [-3.72541583e-03 1.61288624e-05 9.99993060e-01 -1.02327170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:-22.03, Z:-1.02 [[ 9.94823055e-01 1.01554716e-01 3.70520374e-03 2.41045397e+02] [-1.01553976e-01 9.94829955e-01 -3.87876914e-04 -2.20296790e+01] [-3.72543840e-03 9.59072450e-06 9.99993060e-01 -1.02407885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:-22.03, Z:-1.03 [[ 9.95030199e-01 9.95046442e-02 3.70522305e-03 2.41103345e+02] [-9.95038903e-02 9.95037098e-01 -3.87692345e-04 -2.20345151e+01] [-3.72541158e-03 1.70814830e-05 9.99993060e-01 -1.02589083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:-22.04, Z:-1.02 [[ 9.95551614e-01 9.41448668e-02 3.70525092e-03 2.41162220e+02] [-9.41440769e-02 9.95558508e-01 -3.87425782e-04 -2.20408687e+01] [-3.72526823e-03 3.68749345e-05 9.99993060e-01 -1.01821910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:-22.05, Z:-1.02 [[ 9.96142016e-01 8.76775582e-02 3.70526518e-03 2.41220096e+02] [-8.76767240e-02 9.96148906e-01 -3.87289346e-04 -2.20518441e+01] [-3.72495244e-03 6.09296772e-05 9.99993060e-01 -1.02370236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76420382199996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:-22.06, Z:-1.03 [[ 9.96431784e-01 8.43206458e-02 3.70527928e-03 2.41277985e+02] [-8.43197889e-02 9.96438670e-01 -3.87154428e-04 -2.20614156e+01] [-3.72472867e-03 7.33446103e-05 9.99993060e-01 -1.02635414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:-22.08, Z:-1.02 [[ 9.96650766e-01 8.16916233e-02 3.70529020e-03 2.41337229e+02] [-8.16907486e-02 9.96657650e-01 -3.87049851e-04 -2.20805035e+01] [-3.72452456e-03 8.30655998e-05 9.99993060e-01 -1.01800231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:241.40, Y:-22.09, Z:-1.02 [[ 9.96459116e-01 8.39970324e-02 3.70529020e-03 2.41396402e+02] [-8.39961736e-02 9.96466002e-01 -3.87049851e-04 -2.20912222e+01] [-3.72470676e-03 7.44491530e-05 9.99993060e-01 -1.02344567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94420382199996 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:-22.10, Z:-1.02 [[ 9.95727802e-01 9.22627515e-02 3.70530180e-03 2.41455243e+02] [-9.22619503e-02 9.95734695e-01 -3.86938836e-04 -2.20994182e+01] [-3.72519760e-03 4.34273864e-05 9.99993060e-01 -1.02331713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00420382199997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:-22.11, Z:-1.02 [[ 9.94817405e-01 1.01610049e-01 3.70531131e-03 2.41513019e+02] [-1.01609313e-01 9.94824305e-01 -3.86847686e-04 -2.21120806e+01] [-3.72544137e-03 8.34867276e-06 9.99993060e-01 -1.02316748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06420382199997 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:241.57, Y:-22.12, Z:-1.02 [[ 9.94192264e-01 1.07554701e-01 3.70532554e-03 2.41572013e+02] [-1.07554006e-01 9.94199168e-01 -3.86711375e-04 -2.21173144e+01] [-3.72542420e-03 -1.40571493e-05 9.99993060e-01 -1.02466107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:-22.13, Z:-1.03 [[ 9.93977587e-01 1.09520897e-01 3.70533504e-03 2.41630302e+02] [-1.09520217e-01 9.93984493e-01 -3.86620330e-04 -2.21260210e+01] [-3.72538858e-03 -2.15171543e-05 9.99993060e-01 -1.02724687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18420382199994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:241.69, Y:-22.13, Z:-1.03 [[ 9.93844096e-01 1.10725710e-01 3.70534917e-03 2.41689099e+02] [-1.10725039e-01 9.93851003e-01 -3.86484820e-04 -2.21338434e+01] [-3.72535880e-03 -2.61692745e-05 9.99993060e-01 -1.02921016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24420382199995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:-22.14, Z:-1.03 [[ 9.93875010e-01 1.10447881e-01 3.70535871e-03 2.41748063e+02] [-1.10447208e-01 9.93881917e-01 -3.86393404e-04 -2.21415461e+01] [-3.72536535e-03 -2.52197736e-05 9.99993060e-01 -1.02715198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30420382199995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:241.81, Y:-22.15, Z:-1.03 [[ 9.93986669e-01 1.09438437e-01 3.70536820e-03 2.41806801e+02] [-1.09437757e-01 9.93993575e-01 -3.86302365e-04 -2.21505284e+01] [-3.72538851e-03 -2.15277842e-05 9.99993060e-01 -1.02714180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36420382199995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:241.87, Y:-22.16, Z:-1.03 [[ 9.94070274e-01 1.08676398e-01 3.70537791e-03 2.41866417e+02] [-1.08675714e-01 9.94077180e-01 -3.86209227e-04 -2.21567188e+01] [-3.72540345e-03 -1.87654768e-05 9.99993060e-01 -1.02869935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42420382199995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:-22.17, Z:-1.03 [[ 9.94404322e-01 1.05576107e-01 3.70538759e-03 2.41925386e+02] [-1.05575401e-01 9.94411226e-01 -3.86116260e-04 -2.21656791e+01] [-3.72544367e-03 -7.24210254e-06 9.99993060e-01 -1.02882934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48420382199996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:241.99, Y:-22.17, Z:-1.03 [[ 9.94546566e-01 1.04227630e-01 3.70538256e-03 2.41985149e+02] [-1.04226914e-01 9.94553468e-01 -3.86164559e-04 -2.21724694e+01] [-3.72545009e-03 -2.14195476e-06 9.99993060e-01 -1.02764756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54420382199996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:-22.18, Z:-1.03 [[ 9.95002134e-01 9.97848860e-02 3.70539176e-03 2.42046365e+02] [-9.97841401e-02 9.95009033e-01 -3.86076303e-04 -2.21803389e+01] [-3.72542285e-03 1.44074154e-05 9.99993060e-01 -1.02523601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60420382199996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:242.11, Y:-22.19, Z:-1.03 [[ 9.95348489e-01 9.62686610e-02 3.70538193e-03 2.42106746e+02] [-9.62678904e-02 9.95355386e-01 -3.86170595e-04 -2.21870332e+01] [-3.72534799e-03 2.76650165e-05 9.99993060e-01 -1.02634095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66420382199996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:-22.20, Z:-1.02 [[ 9.95452132e-01 9.51909825e-02 3.70537707e-03 2.42167622e+02] [-9.51902042e-02 9.95459028e-01 -3.86217174e-04 -2.21953792e+01] [-3.72531545e-03 3.17451092e-05 9.99993060e-01 -1.02281580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:-22.20, Z:-1.02 [[ 9.95417231e-01 9.55552511e-02 3.70536712e-03 2.42227105e+02] [-9.55544750e-02 9.95424127e-01 -3.86312672e-04 -2.22036477e+01] [-3.72532603e-03 3.04778809e-05 9.99993060e-01 -1.02336340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:-22.21, Z:-1.03 [[ 9.95374151e-01 9.60029646e-02 3.70536220e-03 2.42287175e+02] [-9.60021915e-02 9.95381048e-01 -3.86359841e-04 -2.22086612e+01] [-3.72533900e-03 2.88497072e-05 9.99993060e-01 -1.02834441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84420382199997 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:-22.22, Z:-1.03 [[ 9.95422092e-01 9.55046001e-02 3.70533456e-03 2.42346339e+02] [-9.55038226e-02 9.95428988e-01 -3.86624774e-04 -2.22203898e+01] [-3.72532187e-03 3.09812271e-05 9.99993060e-01 -1.03051460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90420382199994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:-22.23, Z:-1.03 [[ 9.95426376e-01 9.54599403e-02 3.70532994e-03 2.42406752e+02] [-9.54591622e-02 9.95433272e-01 -3.86669016e-04 -2.22314136e+01] [-3.72532011e-03 3.11928456e-05 9.99993060e-01 -1.03030364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96420382199994 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:242.47, Y:-22.24, Z:-1.03 [[ 9.95126798e-01 9.85338854e-02 3.70532073e-03 2.42467273e+02] [-9.85331283e-02 9.95133696e-01 -3.86757224e-04 -2.22393383e+01] [-3.72539821e-03 1.97756351e-05 9.99993060e-01 -1.03217335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02420382199995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:242.53, Y:-22.25, Z:-1.03 [[ 9.94747224e-01 1.02294820e-01 3.70531077e-03 2.42527255e+02] [-1.02294088e-01 9.94754125e-01 -3.86852679e-04 -2.22506166e+01] [-3.72544619e-03 5.78924198e-06 9.99993060e-01 -1.03449881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:242.59, Y:-22.26, Z:-1.03 [[ 9.94301480e-01 1.06540313e-01 3.70530087e-03 2.42588290e+02] [-1.06539610e-01 9.94308384e-01 -3.86947468e-04 -2.22588545e+01] [-3.72543722e-03 -1.00188709e-05 9.99993060e-01 -1.02822385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14420382199995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:242.65, Y:-22.26, Z:-1.03 [[ 9.93650405e-01 1.12450624e-01 3.70529129e-03 2.42647329e+02] [-1.12449962e-01 9.93657313e-01 -3.87039145e-04 -2.22634347e+01] [-3.72531258e-03 -3.20782616e-05 9.99993060e-01 -1.03018845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20420382199995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:242.71, Y:-22.27, Z:-1.02 [[ 9.93542085e-01 1.13403687e-01 3.70529602e-03 2.42708327e+02] [-1.13403032e-01 9.93548994e-01 -3.86993823e-04 -2.22704970e+01] [-3.72527966e-03 -3.56971552e-05 9.99993060e-01 -1.02435230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26420382199996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:242.77, Y:-22.28, Z:-1.03 [[ 9.93857507e-01 1.10605273e-01 3.70528668e-03 2.42769158e+02] [-1.10604598e-01 9.93864414e-01 -3.87083301e-04 -2.22785980e+01] [-3.72536602e-03 -2.51160994e-05 9.99993060e-01 -1.02638251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32420382199996 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:-22.29, Z:-1.03 [[ 9.94216015e-01 1.07334922e-01 3.70527688e-03 2.42829436e+02] [-1.07334225e-01 9.94222920e-01 -3.87177030e-04 -2.22854024e+01] [-3.72542882e-03 -1.27654166e-05 9.99993060e-01 -1.03142408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38420382199996 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:-22.29, Z:-1.03 [[ 9.94516468e-01 1.04514427e-01 3.70526715e-03 2.42889742e+02] [-1.04513710e-01 9.94523371e-01 -3.87270153e-04 -2.22949362e+01] [-3.72545009e-03 -2.10467058e-06 9.99993060e-01 -1.02989377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44420382199996 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:242.95, Y:-22.30, Z:-1.03 [[ 9.94608548e-01 1.03634493e-01 3.70525790e-03 2.42951012e+02] [-1.03633769e-01 9.94615449e-01 -3.87358601e-04 -2.23034313e+01] [-3.72545047e-03 1.28033321e-06 9.99993060e-01 -1.03447252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50420382199997 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:-22.31, Z:-1.03 [[ 9.94272967e-01 1.06806084e-01 3.70519339e-03 2.43012264e+02] [-1.06805380e-01 9.94279870e-01 -3.87974666e-04 -2.23092608e+01] [-3.72543726e-03 -9.98186580e-06 9.99993060e-01 -1.03096153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56420382199997 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:-22.31, Z:-1.03 [[ 9.93757063e-01 1.11504134e-01 3.70518402e-03 2.43073568e+02] [-1.11503463e-01 9.93763970e-01 -3.88064167e-04 -2.23142983e+01] [-3.72534914e-03 -2.74993408e-05 9.99993060e-01 -1.02633052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62420382199997 meters Centerline goodness : 0.998345 with order 1 Centerline is valid? [True, True] Translation: X:243.13, Y:-22.32, Z:-1.03 [[ 9.93277911e-01 1.15694701e-01 3.70517448e-03 2.43133730e+02] [-1.15694058e-01 9.93284820e-01 -3.88155206e-04 -2.23168771e+01] [-3.72520107e-03 -4.31206796e-05 9.99993060e-01 -1.02889992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68420382199994 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:-22.31, Z:-1.03 [[ 9.92781904e-01 1.19876446e-01 3.70516978e-03 2.43194919e+02] [-1.19875832e-01 9.92788817e-01 -3.88200060e-04 -2.23126067e+01] [-3.72498717e-03 -5.87623157e-05 9.99993060e-01 -1.02595906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74420382199995 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:243.26, Y:-22.31, Z:-1.02 [[ 9.92924407e-01 1.18690326e-01 3.70516978e-03 2.43255289e+02] [-1.18689704e-01 9.92931319e-01 -3.88200060e-04 -2.23128188e+01] [-3.72505471e-03 -5.43121895e-05 9.99993060e-01 -1.02253448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80420382199995 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:-22.32, Z:-1.03 [[ 9.93724685e-01 1.11792313e-01 3.70517458e-03 2.43315079e+02] [-1.11791643e-01 9.93731593e-01 -3.88154295e-04 -2.23168196e+01] [-3.72534170e-03 -2.84890468e-05 9.99993060e-01 -1.02694162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86420382199995 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:-22.32, Z:-1.03 [[ 9.94656082e-01 1.03177271e-01 3.70517932e-03 2.43374576e+02] [-1.03176542e-01 9.94662983e-01 -3.88109001e-04 -2.23210469e+01] [-3.72544875e-03 3.74738984e-06 9.99993060e-01 -1.02623338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92420382199995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:-22.32, Z:-1.03 [[ 9.95469119e-01 9.50131825e-02 3.70518386e-03 2.43436021e+02] [-9.50123961e-02 9.95476014e-01 -3.88065626e-04 -2.23242489e+01] [-3.72529301e-03 3.42689493e-05 9.99993060e-01 -1.02600196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98420382199996 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:-22.34, Z:-1.02 [[ 9.96263385e-01 8.62875437e-02 3.70517428e-03 2.43497604e+02] [-8.62866967e-02 9.96270272e-01 -3.88157127e-04 -2.23361376e+01] [-3.72484811e-03 6.69994838e-05 9.99993060e-01 -1.02498317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04420382199996 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:-22.35, Z:-1.02 [[ 9.96447896e-01 8.41300345e-02 3.70510576e-03 2.43557857e+02] [-8.41291701e-02 9.96454782e-01 -3.88810108e-04 -2.23459936e+01] [-3.72468095e-03 7.57215417e-05 9.99993060e-01 -1.02348015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10420382199996 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:-22.36, Z:-1.02 [[ 9.96525031e-01 8.32113923e-02 3.70504280e-03 2.43618550e+02] [-8.32105193e-02 9.96531915e-01 -3.89409078e-04 -2.23593291e+01] [-3.72459667e-03 7.97573572e-05 9.99993060e-01 -1.01969773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16420382199996 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:-22.38, Z:-1.02 [[ 9.96095882e-01 8.82001486e-02 3.70497956e-03 2.43678938e+02] [-8.81993079e-02 9.96102771e-01 -3.90009838e-04 -2.23751452e+01] [-3.72493933e-03 6.17105601e-05 9.99993060e-01 -1.02316552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22420382199996 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:-22.39, Z:-1.02 [[ 9.95773303e-01 9.17703790e-02 3.70491218e-03 2.43738877e+02] [-9.17695606e-02 9.95780194e-01 -3.90648853e-04 -2.23871156e+01] [-3.72512817e-03 4.89995357e-05 9.99993060e-01 -1.02450428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28420382199997 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:-22.40, Z:-1.02 [[ 9.95336922e-01 9.63882073e-02 3.70485085e-03 2.43798579e+02] [-9.63874188e-02 9.95343816e-01 -3.91229667e-04 -2.24045661e+01] [-3.72531031e-03 3.23043224e-05 9.99993060e-01 -1.02031670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34420382199997 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:-22.42, Z:-1.02 [[ 9.94833713e-01 1.01450275e-01 3.70479126e-03 2.43859727e+02] [-1.01449520e-01 9.94840611e-01 -3.91793179e-04 -2.24186429e+01] [-3.72542432e-03 1.39197685e-05 9.99993060e-01 -1.02394508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40420382199994 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:-22.43, Z:-1.02 [[ 9.94355246e-01 1.06037347e-01 3.70472725e-03 2.43922166e+02] [-1.06036621e-01 9.94362148e-01 -3.92397467e-04 -2.24311786e+01] [-3.72544933e-03 -2.65427872e-06 9.99993060e-01 -1.02018327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46420382199994 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:-22.44, Z:-1.02 [[ 9.93584581e-01 1.13030774e-01 3.70464821e-03 2.43982376e+02] [-1.13030094e-01 9.93591487e-01 -3.93142309e-04 -2.24421236e+01] [-3.72534410e-03 -2.81165975e-05 9.99993060e-01 -1.02329755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52420382199995 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:-22.45, Z:-1.02 [[ 9.92947798e-01 1.18494502e-01 3.70458479e-03 2.44043170e+02] [-1.18493858e-01 9.92954707e-01 -3.93739024e-04 -2.24515953e+01] [-3.72514081e-03 -4.80082455e-05 9.99993060e-01 -1.02165889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58420382199995 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:-22.46, Z:-1.02 [[ 9.92822030e-01 1.19543690e-01 3.70452286e-03 2.44103861e+02] [-1.19543051e-01 9.92828940e-01 -3.94320776e-04 -2.24610402e+01] [-3.72509607e-03 -5.13596110e-05 9.99993060e-01 -1.02438774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64420382199995 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:-22.47, Z:-1.03 [[ 9.93120209e-01 1.17040705e-01 3.70451317e-03 2.44164808e+02] [-1.17040048e-01 9.93127118e-01 -3.94411846e-04 -2.24737995e+01] [-3.72521473e-03 -4.18780235e-05 9.99993060e-01 -1.02823928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70420382199995 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:-22.48, Z:-1.03 [[ 9.93466101e-01 1.14067451e-01 3.70446512e-03 2.44225538e+02] [-1.14066771e-01 9.93473007e-01 -3.94862607e-04 -2.24813503e+01] [-3.72532707e-03 -3.02737616e-05 9.99993060e-01 -1.02861643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76420382199996 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:-22.49, Z:-1.02 [[ 9.94177306e-01 1.07692907e-01 3.70440511e-03 2.44286749e+02] [-1.07692181e-01 9.94184207e-01 -3.95424785e-04 -2.24938804e+01] [-3.72544550e-03 -5.81311799e-06 9.99993060e-01 -1.02346626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82420382199996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:-22.50, Z:-1.02 [[ 9.94213255e-01 1.07360523e-01 3.70433884e-03 2.44349397e+02] [-1.07359793e-01 9.94220156e-01 -3.96044645e-04 -2.25042912e+01] [-3.72544790e-03 -3.94421431e-06 9.99993060e-01 -1.02135968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88420382199996 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:-22.51, Z:-1.02 [[ 9.93853506e-01 1.10641251e-01 3.70426149e-03 2.44411568e+02] [-1.10640540e-01 9.93860409e-01 -3.96766785e-04 -2.25090067e+01] [-3.72541762e-03 -1.55134316e-05 9.99993060e-01 -1.02488241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94420382199996 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:-22.51, Z:-1.02 [[ 9.93134083e-01 1.16922929e-01 3.70418957e-03 2.44473969e+02] [-1.16922260e-01 9.93140991e-01 -3.97437095e-04 -2.25094597e+01] [-3.72525201e-03 -3.83938906e-05 9.99993060e-01 -1.02118653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00420382199997 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:-22.51, Z:-1.03 [[ 9.92927067e-01 1.18668101e-01 3.70412326e-03 2.44534616e+02] [-1.18667442e-01 9.92933976e-01 -3.98054194e-04 -2.25102040e+01] [-3.72518617e-03 -4.43200473e-05 9.99993060e-01 -1.02660304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06420382199997 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:-22.51, Z:-1.03 [[ 9.93344501e-01 1.15121601e-01 3.70409586e-03 2.44597327e+02] [-1.15120916e-01 9.93351406e-01 -3.98308956e-04 -2.25119074e+01] [-3.72532280e-03 -3.07608957e-05 9.99993060e-01 -1.02614615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12420382199997 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:-22.51, Z:-1.02 [[ 9.93815789e-01 1.10979540e-01 3.70402067e-03 2.44660410e+02] [-1.10978823e-01 9.93822691e-01 -3.99007007e-04 -2.25091568e+01] [-3.72542140e-03 -1.45283910e-05 9.99993060e-01 -1.02275301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18420382199994 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:-22.51, Z:-1.02 [[ 9.94077598e-01 1.08609442e-01 3.70395297e-03 2.44722419e+02] [-1.08608707e-01 9.94084498e-01 -3.99634441e-04 -2.25112584e+01] [-3.72544630e-03 -5.01389733e-06 9.99993060e-01 -1.02313064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24420382199995 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:244.79, Y:-22.51, Z:-1.02 [[ 9.94353278e-01 1.06055830e-01 3.70388460e-03 2.44785628e+02] [-1.06055074e-01 9.94360177e-01 -4.00267127e-04 -2.25122724e+01] [-3.72544600e-03 5.19117324e-06 9.99993060e-01 -1.02250677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30420382199995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:244.85, Y:-22.51, Z:-1.02 [[ 9.94600337e-01 1.03713314e-01 3.70380585e-03 2.44846867e+02] [-1.03712540e-01 9.94607233e-01 -4.00994470e-04 -2.25126767e+01] [-3.72542055e-03 1.46981215e-05 9.99993060e-01 -1.02488716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36420382199995 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:244.91, Y:-22.52, Z:-1.03 [[ 9.94618762e-01 1.03536473e-01 3.70374248e-03 2.44907842e+02] [-1.03535695e-01 9.94625658e-01 -4.01578963e-04 -2.25152878e+01] [-3.72541537e-03 1.59484192e-05 9.99993060e-01 -1.02936851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42420382199995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:244.97, Y:-22.52, Z:-1.03 [[ 9.94582309e-01 1.03886064e-01 3.70368068e-03 2.44968903e+02] [-1.03885286e-01 9.94589204e-01 -4.02148139e-04 -2.25192659e+01] [-3.72541840e-03 1.52114964e-05 9.99993060e-01 -1.02529233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48420382199996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:-22.52, Z:-1.03 [[ 9.94808991e-01 1.01692447e-01 3.70367118e-03 2.45029799e+02] [-1.01691655e-01 9.94815885e-01 -4.02235586e-04 -2.25224261e+01] [-3.72537524e-03 2.35151272e-05 9.99993060e-01 -1.02722882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54420382199996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:-22.53, Z:-1.03 [[ 9.95117937e-01 9.86233968e-02 3.70366179e-03 2.45091351e+02] [-9.86225824e-02 9.95124829e-01 -4.02322049e-04 -2.25306699e+01] [-3.72528417e-03 3.50931980e-05 9.99993060e-01 -1.02542129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60420382199996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:-22.54, Z:-1.03 [[ 9.95167633e-01 9.81206658e-02 3.70359251e-03 2.45153423e+02] [-9.81198456e-02 9.95174524e-01 -4.02958741e-04 -2.25365319e+01] [-3.72525950e-03 3.76155716e-05 9.99993060e-01 -1.02663576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66420382199996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:245.22, Y:-22.54, Z:-1.03 [[ 9.94827059e-01 1.01515545e-01 3.70352345e-03 2.45215418e+02] [-1.01514746e-01 9.94833953e-01 -4.03592449e-04 -2.25372577e+01] [-3.72536178e-03 2.55424483e-05 9.99993060e-01 -1.02534246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72420382199996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:-22.54, Z:-1.03 [[ 9.94361724e-01 1.05976627e-01 3.70351348e-03 2.45275694e+02] [-1.05975859e-01 9.94368621e-01 -4.03683909e-04 -2.25396299e+01] [-3.72543866e-03 8.92480603e-06 9.99993060e-01 -1.02932077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78420382199997 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:-22.54, Z:-1.03 [[ 9.94059078e-01 1.08778833e-01 3.70349409e-03 2.45336087e+02] [-1.08778083e-01 9.94065976e-01 -4.03861727e-04 -2.25399586e+01] [-3.72544908e-03 -1.39657337e-06 9.99993060e-01 -1.02780143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84420382199997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:-22.53, Z:-1.03 [[ 9.93791870e-01 1.11193540e-01 3.70350322e-03 2.45397050e+02] [-1.11192808e-01 9.93798771e-01 -4.03778010e-04 -2.25340114e+01] [-3.72543445e-03 -1.05316175e-05 9.99993060e-01 -1.03145487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90420382199994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:-22.53, Z:-1.03 [[ 9.93676476e-01 1.12220070e-01 3.70351359e-03 2.45456749e+02] [-1.12219345e-01 9.93683378e-01 -4.03682883e-04 -2.25342053e+01] [-3.72542122e-03 -1.44756855e-05 9.99993060e-01 -1.03190097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96420382199994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:-22.54, Z:-1.03 [[ 9.93910242e-01 1.10130446e-01 3.70352305e-03 2.45515994e+02] [-1.10129706e-01 9.93917142e-01 -4.03596093e-04 -2.25350016e+01] [-3.72544326e-03 -6.72961461e-06 9.99993060e-01 -1.03165880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02420382199995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:245.58, Y:-22.53, Z:-1.03 [[ 9.94616598e-01 1.03557266e-01 3.70354200e-03 2.45576551e+02] [-1.03556482e-01 9.94623493e-01 -4.03422100e-04 -2.25306829e+01] [-3.72540717e-03 1.77245371e-05 9.99993060e-01 -1.02744193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08420382199995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:-22.53, Z:-1.03 [[ 9.94940539e-01 1.00397249e-01 3.70355194e-03 2.45635137e+02] [-1.00396443e-01 9.94947432e-01 -4.03330842e-04 -2.25327950e+01] [-3.72533280e-03 2.94667644e-05 9.99993060e-01 -1.02904183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14420382199995 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:245.69, Y:-22.54, Z:-1.03 [[ 9.95242289e-01 9.73605157e-02 3.70356668e-03 2.45694000e+02] [-9.73596893e-02 9.95249179e-01 -4.03195484e-04 -2.25368700e+01] [-3.72522701e-03 4.06990954e-05 9.99993060e-01 -1.02982100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20420382199995 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:-22.54, Z:-1.03 [[ 9.95180012e-01 9.79950415e-02 3.70358087e-03 2.45753050e+02] [-9.79942200e-02 9.95186902e-01 -4.03065020e-04 -2.25366144e+01] [-3.72525355e-03 3.81927323e-05 9.99993060e-01 -1.02865289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26420382199996 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:245.81, Y:-22.54, Z:-1.03 [[ 9.95094423e-01 9.88603716e-02 3.70359960e-03 2.45812783e+02] [-9.88595568e-02 9.95101314e-01 -4.02892878e-04 -2.25397016e+01] [-3.72528697e-03 3.47802409e-05 9.99993060e-01 -1.03302714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32420382199996 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:245.87, Y:-22.54, Z:-1.03 [[ 9.95187610e-01 9.79178481e-02 3.70360902e-03 2.45871990e+02] [-9.79170270e-02 9.95194500e-01 -4.02806247e-04 -2.25429771e+01] [-3.72525325e-03 3.82214012e-05 9.99993060e-01 -1.03328371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38420382199996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:245.93, Y:-22.55, Z:-1.03 [[ 9.95408107e-01 9.56503224e-02 3.70362094e-03 2.45931310e+02] [-9.56494861e-02 9.95414996e-01 -4.02696609e-04 -2.25452499e+01] [-3.72515789e-03 4.65980298e-05 9.99993060e-01 -1.02721567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44420382199996 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:245.99, Y:-22.55, Z:-1.03 [[ 9.95651848e-01 9.30788984e-02 3.70363571e-03 2.45989818e+02] [-9.30780448e-02 9.95658734e-01 -4.02560743e-04 -2.25505965e+01] [-3.72502716e-03 5.60831772e-05 9.99993060e-01 -1.02826962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50420382199997 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:246.05, Y:-22.56, Z:-1.03 [[ 9.95897543e-01 9.04122049e-02 3.70365533e-03 2.46049539e+02] [-9.04113335e-02 9.95904428e-01 -4.02380203e-04 -2.25558599e+01] [-3.72486682e-03 6.58770386e-05 9.99993060e-01 -1.03100421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56420382199997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:-22.56, Z:-1.03 [[ 9.96090296e-01 8.82632766e-02 3.70366520e-03 2.46107751e+02] [-8.82623907e-02 9.96097178e-01 -4.02289264e-04 -2.25616866e+01] [-3.72471783e-03 7.38220866e-05 9.99993060e-01 -1.02896910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62420382199994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:246.17, Y:-22.57, Z:-1.02 [[ 9.96254998e-01 8.63843804e-02 3.70367989e-03 2.46166243e+02] [-8.63834820e-02 9.96261879e-01 -4.02153989e-04 -2.25716817e+01] [-3.72457491e-03 8.07111562e-05 9.99993060e-01 -1.02380549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68420382199994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:246.22, Y:-22.58, Z:-1.03 [[ 9.96366500e-01 8.50886622e-02 3.70369470e-03 2.46224213e+02] [-8.50877553e-02 9.96373380e-01 -4.02017571e-04 -2.25807021e+01] [-3.72446994e-03 8.54177720e-05 9.99993060e-01 -1.02895182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74420382199995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:246.28, Y:-22.59, Z:-1.03 [[ 9.96424147e-01 8.44109061e-02 3.70370931e-03 2.46283125e+02] [-8.44099950e-02 9.96431027e-01 -4.01882912e-04 -2.25917348e+01] [-3.72441417e-03 8.78157536e-05 9.99993060e-01 -1.02835333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80420382199995 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:246.34, Y:-22.61, Z:-1.03 [[ 9.96227381e-01 8.67022952e-02 3.70371913e-03 2.46340902e+02] [-8.67014003e-02 9.96234262e-01 -4.01792390e-04 -2.26068480e+01] [-3.72460822e-03 7.91589454e-05 9.99993060e-01 -1.02735678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86420382199995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:246.40, Y:-22.62, Z:-1.02 [[ 9.95835047e-01 9.10979775e-02 3.70370610e-03 2.46399761e+02] [-9.10971125e-02 9.95841933e-01 -4.01912483e-04 -2.26185578e+01] [-3.72491925e-03 6.28416056e-05 9.99993060e-01 -1.02149622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92420382199995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:246.46, Y:-22.63, Z:-1.03 [[ 9.95676727e-01 9.28123782e-02 3.70371596e-03 2.46458032e+02] [-9.28115255e-02 9.95683614e-01 -4.01821596e-04 -2.26318234e+01] [-3.72502331e-03 5.63368833e-05 9.99993060e-01 -1.02521147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98420382199996 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:246.52, Y:-22.65, Z:-1.03 [[ 9.95275496e-01 9.70204578e-02 3.70372577e-03 2.46516305e+02] [-9.70196345e-02 9.95282387e-01 -4.01731158e-04 -2.26476728e+01] [-3.72522916e-03 4.04990572e-05 9.99993060e-01 -1.02832989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:-22.66, Z:-1.03 [[ 9.95011966e-01 9.96868555e-02 3.70373065e-03 2.46574582e+02] [-9.96860509e-02 9.95018859e-01 -4.01686188e-04 -2.26617321e+01] [-3.72532467e-03 3.04722823e-05 9.99993060e-01 -1.02575170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10420382199996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:246.63, Y:-22.68, Z:-1.03 [[ 9.94645216e-01 1.03282027e-01 3.70374008e-03 2.46633150e+02] [-1.03281248e-01 9.94652111e-01 -4.01599184e-04 -2.26786410e+01] [-3.72541087e-03 1.69218093e-05 9.99993060e-01 -1.02799189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16420382199996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:246.69, Y:-22.69, Z:-1.03 [[ 9.94054393e-01 1.08821622e-01 3.70374008e-03 2.46692061e+02] [-1.08820881e-01 9.94061293e-01 -4.01599184e-04 -2.26873886e+01] [-3.72544733e-03 -3.83282607e-06 9.99993060e-01 -1.02962449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22420382199996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:-22.70, Z:-1.03 [[ 9.93371425e-01 1.14889054e-01 3.70374478e-03 2.46750728e+02] [-1.14888356e-01 9.93378329e-01 -4.01555849e-04 -2.27003813e+01] [-3.72535417e-03 -2.66230411e-05 9.99993060e-01 -1.02972932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28420382199997 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:246.81, Y:-22.71, Z:-1.03 [[ 9.92694393e-01 1.20599022e-01 3.70375417e-03 2.46809570e+02] [-1.20598363e-01 9.92701301e-01 -4.01469239e-04 -2.27087711e+01] [-3.72513838e-03 -4.81304280e-05 9.99993060e-01 -1.02637652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34420382199997 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:246.87, Y:-22.71, Z:-1.03 [[ 9.92538665e-01 1.21874036e-01 3.70376356e-03 2.46869344e+02] [-1.21873386e-01 9.92545574e-01 -4.01382545e-04 -2.27149973e+01] [-3.72507224e-03 -5.30025117e-05 9.99993060e-01 -1.02649299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40420382199994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:246.93, Y:-22.72, Z:-1.03 [[ 9.92947913e-01 1.18493562e-01 3.70376356e-03 2.46929208e+02] [-1.18492889e-01 9.92954820e-01 -4.01382545e-04 -2.27197107e+01] [-3.72523113e-03 -4.03176830e-05 9.99993060e-01 -1.03188545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46420382199994 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:246.99, Y:-22.73, Z:-1.03 [[ 9.93429761e-01 1.14383529e-01 3.70376356e-03 2.46989532e+02] [-1.14382828e-01 9.93436665e-01 -4.01382545e-04 -2.27261717e+01] [-3.72536607e-03 -2.49015840e-05 9.99993060e-01 -1.02892493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:247.05, Y:-22.73, Z:-1.03 [[ 9.94187532e-01 1.07598479e-01 3.70376356e-03 2.47049270e+02] [-1.07597730e-01 9.94194431e-01 -4.01382545e-04 -2.27338860e+01] [-3.72544926e-03 5.32970477e-07 9.99993060e-01 -1.03330430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:247.11, Y:-22.74, Z:-1.03 [[ 9.95027247e-01 9.95342151e-02 3.70375880e-03 2.47109919e+02] [-9.95334104e-02 9.95034140e-01 -4.01426515e-04 -2.27407899e+01] [-3.72532212e-03 3.07825762e-05 9.99993060e-01 -1.03324486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64420382199995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:247.17, Y:-22.75, Z:-1.03 [[ 9.95627896e-01 9.33347422e-02 3.70374955e-03 2.47172017e+02] [-9.33338942e-02 9.95634784e-01 -4.01511759e-04 -2.27490504e+01] [-3.72505688e-03 5.40709384e-05 9.99993060e-01 -1.03423091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:247.23, Y:-22.76, Z:-1.03 [[ 9.95798150e-01 9.15004260e-02 3.70368399e-03 2.47232627e+02] [-9.14995631e-02 9.95805035e-01 -4.02115609e-04 -2.27599314e+01] [-3.72494092e-03 6.15405124e-05 9.99993060e-01 -1.03386995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76420382199996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:-22.77, Z:-1.03 [[ 9.95533079e-01 9.43407210e-02 3.70362366e-03 2.47293216e+02] [-9.43398757e-02 9.95539967e-01 -4.02670511e-04 -2.27660185e+01] [-3.72509361e-03 5.14724174e-05 9.99993060e-01 -1.03094975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82420382199996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:247.35, Y:-22.77, Z:-1.03 [[ 9.95043274e-01 9.93738674e-02 3.70361411e-03 2.47353428e+02] [-9.93730566e-02 9.95050166e-01 -4.02758359e-04 -2.27705731e+01] [-3.72530549e-03 3.27225414e-05 9.99993060e-01 -1.03214989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88420382199996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:247.41, Y:-22.78, Z:-1.04 [[ 9.94851833e-01 1.01272475e-01 3.70360938e-03 2.47414164e+02] [-1.01271677e-01 9.94858726e-01 -4.02801842e-04 -2.27814222e+01] [-3.72536085e-03 2.56574178e-05 9.99993060e-01 -1.03626731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94420382199996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-22.79, Z:-1.03 [[ 9.94971534e-01 1.00089609e-01 3.70360000e-03 2.47474284e+02] [-1.00088802e-01 9.94978427e-01 -4.02888110e-04 -2.27860372e+01] [-3.72532701e-03 3.01733134e-05 9.99993060e-01 -1.03436174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00420382199997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:247.54, Y:-22.79, Z:-1.04 [[ 9.94927488e-01 1.00526504e-01 3.70357973e-03 2.47535083e+02] [-1.00525700e-01 9.94934380e-01 -4.03074307e-04 -2.27898919e+01] [-3.72533846e-03 2.87247646e-05 9.99993060e-01 -1.03558247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06420382199997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:247.60, Y:-22.80, Z:-1.04 [[ 9.94529988e-01 1.04385760e-01 3.70357058e-03 2.47595505e+02] [-1.04384982e-01 9.94536884e-01 -4.03158364e-04 -2.27997400e+01] [-3.72542154e-03 1.43559331e-05 9.99993060e-01 -1.03642308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12420382199994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:247.66, Y:-22.80, Z:-1.04 [[ 9.94331674e-01 1.06258204e-01 3.70356146e-03 2.47656741e+02] [-1.06257439e-01 9.94338571e-01 -4.03242136e-04 -2.27999679e+01] [-3.72544180e-03 7.42547123e-06 9.99993060e-01 -1.03798272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18420382199994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:-22.81, Z:-1.04 [[ 9.94367043e-01 1.05926712e-01 3.70356146e-03 2.47717015e+02] [-1.05925945e-01 9.94373940e-01 -4.03242136e-04 -2.28055739e+01] [-3.72543911e-03 8.66744286e-06 9.99993060e-01 -1.03774920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24420382199995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:247.78, Y:-22.81, Z:-1.04 [[ 9.94873558e-01 1.01058831e-01 3.70356146e-03 2.47776795e+02] [-1.01058030e-01 9.94880451e-01 -4.03242136e-04 -2.28104050e+01] [-3.72535207e-03 2.69003146e-05 9.99993060e-01 -1.03946688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30420382199995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:247.84, Y:-22.82, Z:-1.04 [[ 9.95649753e-01 9.31013040e-02 3.70353804e-03 2.47837903e+02] [-9.31004472e-02 9.95656640e-01 -4.03457145e-04 -2.28183360e+01] [-3.72501462e-03 5.69009592e-05 9.99993060e-01 -1.04242695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36420382199995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:247.90, Y:-22.83, Z:-1.04 [[ 9.96080316e-01 8.83758307e-02 3.70352922e-03 2.47899551e+02] [-8.83749409e-02 9.96087198e-01 -4.03538044e-04 -2.28262177e+01] [-3.72470106e-03 7.46571268e-05 9.99993060e-01 -1.03567415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42420382199995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-22.83, Z:-1.03 [[ 9.96179033e-01 8.72560483e-02 3.70346074e-03 2.47960485e+02] [-8.72551485e-02 9.96185914e-01 -4.04165587e-04 -2.28316990e+01] [-3.72460131e-03 7.94752672e-05 9.99993060e-01 -1.03478838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:248.02, Y:-22.84, Z:-1.04 [[ 9.96193855e-01 8.70866644e-02 3.70345090e-03 2.48021173e+02] [-8.70857630e-02 9.96200736e-01 -4.04255712e-04 -2.28418533e+01] [-3.72458579e-03 8.01992086e-05 9.99993060e-01 -1.03703466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54420382199996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:-22.85, Z:-1.03 [[ 9.96195136e-01 8.70720150e-02 3.70338762e-03 2.48082060e+02] [-8.70711114e-02 9.96202017e-01 -4.04834614e-04 -2.28505482e+01] [-3.72457198e-03 8.08361974e-05 9.99993060e-01 -1.03247763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60420382199996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:248.14, Y:-22.86, Z:-1.03 [[ 9.96027307e-01 8.89712811e-02 3.70337798e-03 2.48142400e+02] [-8.89703903e-02 9.96034189e-01 -4.04922721e-04 -2.28617441e+01] [-3.72471758e-03 7.38231020e-05 9.99993060e-01 -1.03169650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66420382199996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:248.20, Y:-22.87, Z:-1.03 [[ 9.95578908e-01 9.38558628e-02 3.70331601e-03 2.48202076e+02] [-9.38550037e-02 9.95585794e-01 -4.05488694e-04 -2.28684078e+01] [-3.72502631e-03 5.61212527e-05 9.99993060e-01 -1.03487912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72420382199996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:248.26, Y:-22.88, Z:-1.04 [[ 9.94923257e-01 1.00568372e-01 3.70331132e-03 2.48262615e+02] [-1.00567559e-01 9.94930149e-01 -4.05531596e-04 -2.28756300e+01] [-3.72531973e-03 3.10398381e-05 9.99993060e-01 -1.03780579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.32, Y:-22.89, Z:-1.04 [[ 9.94356005e-01 1.06030282e-01 3.70330195e-03 2.48323285e+02] [-1.06029507e-01 9.94362901e-01 -4.05617130e-04 -2.28854651e+01] [-3.72543377e-03 1.06685510e-05 9.99993060e-01 -1.03753269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84420382199997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:248.38, Y:-22.89, Z:-1.04 [[ 9.94043873e-01 1.08917692e-01 3.70329263e-03 2.48384350e+02] [-1.08916937e-01 9.94050771e-01 -4.05702139e-04 -2.28856413e+01] [-3.72544904e-03 -6.55644866e-08 9.99993060e-01 -1.03874527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90420382199994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:248.44, Y:-22.89, Z:-1.04 [[ 9.94133090e-01 1.08100343e-01 3.70329263e-03 2.48444109e+02] [-1.08099582e-01 9.94139988e-01 -4.05702139e-04 -2.28935939e+01] [-3.72544784e-03 2.99753554e-06 9.99993060e-01 -1.04238629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96420382199994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:248.50, Y:-22.90, Z:-1.04 [[ 9.94486245e-01 1.04801687e-01 3.70328806e-03 2.48503678e+02] [-1.04800903e-01 9.94493140e-01 -4.05743845e-04 -2.29014792e+01] [-3.72541722e-03 1.53987398e-05 9.99993060e-01 -1.03918052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.57, Y:-22.91, Z:-1.03 [[ 9.94764517e-01 1.02126596e-01 3.70328355e-03 2.48565085e+02] [-1.02125793e-01 9.94771410e-01 -4.05785094e-04 -2.29070098e+01] [-3.72536204e-03 2.54598455e-05 9.99993060e-01 -1.03303857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.63, Y:-22.92, Z:-1.04 [[ 9.94866209e-01 1.01131161e-01 3.70327382e-03 2.48626091e+02] [-1.01130351e-01 9.94873101e-01 -4.05873868e-04 -2.29153252e+01] [-3.72533400e-03 2.92768170e-05 9.99993060e-01 -1.03516455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.69, Y:-22.92, Z:-1.03 [[ 9.94834270e-01 1.01444869e-01 3.70326423e-03 2.48687360e+02] [-1.01444060e-01 9.94841162e-01 -4.05961312e-04 -2.29202388e+01] [-3.72534238e-03 2.81900652e-05 9.99993060e-01 -1.03419960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.75, Y:-22.93, Z:-1.03 [[ 9.94973936e-01 1.00065745e-01 3.70325473e-03 2.48748345e+02] [-1.00064927e-01 9.94980827e-01 -4.06047973e-04 -2.29276518e+01] [-3.72529894e-03 3.34412378e-05 9.99993060e-01 -1.03396956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26420382199996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:248.81, Y:-22.94, Z:-1.03 [[ 9.95117444e-01 9.86283902e-02 3.70324493e-03 2.48809379e+02] [-9.86275616e-02 9.95124334e-01 -4.06137295e-04 -2.29371065e+01] [-3.72524581e-03 3.89122885e-05 9.99993060e-01 -1.03377952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:248.87, Y:-22.94, Z:-1.03 [[ 9.95207497e-01 9.77155274e-02 3.70317538e-03 2.48871434e+02] [-9.77146902e-02 9.95214386e-01 -4.06770449e-04 -2.29425627e+01] [-3.72520120e-03 4.29663654e-05 9.99993060e-01 -1.03175426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38420382199996 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:248.93, Y:-22.95, Z:-1.04 [[ 9.95261848e-01 9.71603865e-02 3.70310627e-03 2.48932351e+02] [-9.71595431e-02 9.95268736e-01 -4.07398708e-04 -2.29537089e+01] [-3.72516891e-03 4.56762785e-05 9.99993060e-01 -1.03797269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44420382199996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:248.99, Y:-22.96, Z:-1.04 [[ 9.95400323e-01 9.57313141e-02 3.70308576e-03 2.48994105e+02] [-9.57304601e-02 9.95407210e-01 -4.07584979e-04 -2.29622653e+01] [-3.72509691e-03 5.12121154e-05 9.99993060e-01 -1.03803562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50420382199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:249.05, Y:-22.97, Z:-1.04 [[ 9.95327082e-01 9.64898358e-02 3.70301788e-03 2.49054729e+02] [-9.64889848e-02 9.95333969e-01 -4.08200775e-04 -2.29689195e+01] [-3.72512671e-03 4.89928497e-05 9.99993060e-01 -1.03842331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56420382199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:249.12, Y:-22.98, Z:-1.04 [[ 9.95291504e-01 9.68561359e-02 3.70295535e-03 2.49116147e+02] [-9.68552854e-02 9.95298391e-01 -4.08767201e-04 -2.29785276e+01] [-3.72513712e-03 4.81917250e-05 9.99993060e-01 -1.03924855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62420382199994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:249.18, Y:-22.99, Z:-1.04 [[ 9.95123699e-01 9.85652685e-02 3.70288385e-03 2.49177033e+02] [-9.85644273e-02 9.95130587e-01 -4.09413923e-04 -2.29901200e+01] [-3.72520697e-03 4.24448718e-05 9.99993060e-01 -1.04160731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68420382199994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:249.24, Y:-23.00, Z:-1.04 [[ 9.94798769e-01 1.01792424e-01 3.70281801e-03 2.49238734e+02] [-1.01791603e-01 9.94805660e-01 -4.10008551e-04 -2.29997295e+01] [-3.72532007e-03 3.09602220e-05 9.99993060e-01 -1.03711521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74420382199995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:-23.01, Z:-1.04 [[ 9.94513897e-01 1.04538985e-01 3.70274798e-03 2.49299089e+02] [-1.04538180e-01 9.94520789e-01 -4.10639963e-04 -2.30110008e+01] [-3.72538773e-03 2.13086136e-05 9.99993060e-01 -1.04087920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80420382199995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:249.36, Y:-23.02, Z:-1.04 [[ 9.94142494e-01 1.08013847e-01 3.70268347e-03 2.49360454e+02] [-1.08013064e-01 9.94149390e-01 -4.11220807e-04 -2.30216642e+01] [-3.72543806e-03 8.87389142e-06 9.99993060e-01 -1.04318250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86420382199995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:-23.03, Z:-1.04 [[ 9.93791869e-01 1.11193576e-01 3.70261884e-03 2.49420824e+02] [-1.11192813e-01 9.93798767e-01 -4.11801907e-04 -2.30292802e+01] [-3.72544777e-03 -2.45921791e-06 9.99993060e-01 -1.04477860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92420382199995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:249.48, Y:-23.04, Z:-1.04 [[ 9.93090576e-01 1.17291937e-01 3.70260970e-03 2.49481928e+02] [-1.17291216e-01 9.93097478e-01 -4.11884116e-04 -2.30387922e+01] [-3.72536304e-03 -2.52453602e-05 9.99993060e-01 -1.04223250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98420382199996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:249.54, Y:-23.04, Z:-1.04 [[ 9.92804429e-01 1.19689838e-01 3.70254183e-03 2.49544235e+02] [-1.19689132e-01 9.92811332e-01 -4.12493291e-04 -2.30449486e+01] [-3.72529674e-03 -3.36288533e-05 9.99993060e-01 -1.04178060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04420382199996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:249.61, Y:-23.05, Z:-1.05 [[ 9.92455282e-01 1.22551234e-01 3.70247329e-03 2.49605407e+02] [-1.22550546e-01 9.92462187e-01 -4.13107601e-04 -2.30483960e+01] [-3.72519158e-03 -4.37493016e-05 9.99993060e-01 -1.04536766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10420382199996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:249.67, Y:-23.05, Z:-1.04 [[ 9.92403219e-01 1.22972123e-01 3.70241029e-03 2.49667520e+02] [-1.22971435e-01 9.92410124e-01 -4.13671488e-04 -2.30545670e+01] [-3.72517951e-03 -4.47617894e-05 9.99993060e-01 -1.04123908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16420382199996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:249.73, Y:-23.06, Z:-1.04 [[ 9.92581425e-01 1.21525336e-01 3.70234076e-03 2.49727669e+02] [-1.21524636e-01 9.92588329e-01 -4.14292810e-04 -2.30629843e+01] [-3.72524730e-03 -3.87062640e-05 9.99993060e-01 -1.04351297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22420382199996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:249.79, Y:-23.06, Z:-1.04 [[ 9.93134847e-01 1.16916503e-01 3.70227686e-03 2.49789396e+02] [-1.16915769e-01 9.93141748e-01 -4.14863075e-04 -2.30635048e+01] [-3.72539005e-03 -2.08395684e-05 9.99993060e-01 -1.04107976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28420382199997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:249.85, Y:-23.07, Z:-1.04 [[ 9.93766703e-01 1.11418283e-01 3.70221427e-03 2.49851449e+02] [-1.11417509e-01 9.93773599e-01 -4.15420864e-04 -2.30694283e+01] [-3.72544828e-03 3.39931396e-07 9.99993060e-01 -1.04077034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:-23.08, Z:-1.04 [[ 9.94534197e-01 1.04345698e-01 3.70214508e-03 2.49913437e+02] [-1.04344873e-01 9.94541087e-01 -4.16036515e-04 -2.30761763e+01] [-3.72534702e-03 2.74626840e-05 9.99993060e-01 -1.03937252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40420382199994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:249.98, Y:-23.08, Z:-1.04 [[ 9.95473264e-01 9.49698658e-02 3.70207617e-03 2.49975391e+02] [-9.49689729e-02 9.95480146e-01 -4.16648820e-04 -2.30812443e+01] [-3.72491241e-03 6.31803892e-05 9.99993060e-01 -1.03638645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46420382199994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.04, Y:-23.10, Z:-1.04 [[ 9.96406630e-01 8.46175075e-02 3.70200747e-03 2.50036387e+02] [-8.46165408e-02 9.96413502e-01 -4.17258363e-04 -2.30957158e+01] [-3.72403759e-03 1.02507933e-04 9.99993060e-01 -1.03652068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52420382199995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:250.10, Y:-23.11, Z:-1.04 [[ 9.96911020e-01 7.84519831e-02 3.70193979e-03 2.50096562e+02] [-7.84509717e-02 9.96917886e-01 -4.17857928e-04 -2.31100945e+01] [-3.72331177e-03 1.26146399e-04 9.99993060e-01 -1.04394904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:250.16, Y:-23.12, Z:-1.04 [[ 9.96858274e-01 7.91193894e-02 3.70192986e-03 2.50156920e+02] [-7.91183823e-02 9.96865140e-01 -4.17945903e-04 -2.31233239e+01] [-3.72339245e-03 1.23742129e-04 9.99993060e-01 -1.04182718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64420382199995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:250.22, Y:-23.14, Z:-1.04 [[ 9.96639885e-01 8.18244200e-02 3.70186635e-03 2.50217930e+02] [-8.18234294e-02 9.96646754e-01 -4.18507696e-04 -2.31363747e+01] [-3.72369723e-03 1.14202062e-04 9.99993060e-01 -1.04026990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:250.28, Y:-23.15, Z:-1.04 [[ 9.96055397e-01 8.86563137e-02 3.70179839e-03 2.50279977e+02] [-8.86553680e-02 9.96062272e-01 -4.19107946e-04 -2.31492494e+01] [-3.72437828e-03 8.92704334e-05 9.99993060e-01 -1.03875919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76420382199996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:-23.16, Z:-1.04 [[ 9.94976336e-01 1.00041934e-01 3.70171975e-03 2.50342418e+02] [-1.00041064e-01 9.94983221e-01 -4.19801362e-04 -2.31592512e+01] [-3.72514678e-03 4.73684366e-05 9.99993060e-01 -1.03954024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82420382199996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:-23.17, Z:-1.04 [[ 9.93742507e-01 1.11633898e-01 3.70164116e-03 2.50404100e+02] [-1.11633107e-01 9.93749401e-01 -4.20493246e-04 -2.31686248e+01] [-3.72544498e-03 4.63631085e-06 9.99993060e-01 -1.04239892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.47, Y:-23.17, Z:-1.04 [[ 9.92664320e-01 1.20846373e-01 3.70156789e-03 2.50466423e+02] [-1.20845643e-01 9.92671221e-01 -4.21137246e-04 -2.31738056e+01] [-3.72533282e-03 -2.92704329e-05 9.99993060e-01 -1.03846747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94420382199996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:250.53, Y:-23.18, Z:-1.04 [[ 9.92106186e-01 1.25345984e-01 3.70149797e-03 2.50527387e+02] [-1.25345282e-01 9.92113089e-01 -4.21750839e-04 -2.31754945e+01] [-3.72516936e-03 -4.55436923e-05 9.99993060e-01 -1.04151481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00420382199997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:250.59, Y:-23.18, Z:-1.04 [[ 9.92182351e-01 1.24741659e-01 3.70146001e-03 2.50590161e+02] [-1.24740952e-01 9.92189254e-01 -4.22083789e-04 -2.31801070e+01] [-3.72520028e-03 -4.29395596e-05 9.99993060e-01 -1.03959672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.65, Y:-23.19, Z:-1.03 [[ 9.92611313e-01 1.21281001e-01 3.70137838e-03 2.50652013e+02] [-1.21280267e-01 9.92618214e-01 -4.22798350e-04 -2.31858075e+01] [-3.72533301e-03 -2.92297338e-05 9.99993060e-01 -1.03451376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.71, Y:-23.19, Z:-1.04 [[ 9.93235414e-01 1.16059093e-01 3.70130244e-03 2.50713239e+02] [-1.16058320e-01 9.93242310e-01 -4.23462152e-04 -2.31860561e+01] [-3.72543682e-03 -8.96933882e-06 9.99993060e-01 -1.04026152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.77, Y:-23.19, Z:-1.04 [[ 9.93954918e-01 1.09726574e-01 3.70123234e-03 2.50774989e+02] [-1.09725756e-01 9.93961809e-01 -4.24073965e-04 -2.31888872e+01] [-3.72541578e-03 1.53898876e-05 9.99993060e-01 -1.03836094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:-23.20, Z:-1.04 [[ 9.94619920e-01 1.03525442e-01 3.70116470e-03 2.50835372e+02] [-1.03524578e-01 9.94626805e-01 -4.24663519e-04 -2.31976036e+01] [-3.72524109e-03 3.92172809e-05 9.99993060e-01 -1.04231780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30420382199995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:250.90, Y:-23.20, Z:-1.04 [[ 9.95092941e-01 9.88753791e-02 3.70109741e-03 2.50898390e+02] [-9.88744812e-02 9.95099822e-01 -4.25249140e-04 -2.32023890e+01] [-3.72500804e-03 5.72183315e-05 9.99993060e-01 -1.04194746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.96, Y:-23.21, Z:-1.04 [[ 9.95327942e-01 9.64810336e-02 3.70101388e-03 2.50959911e+02] [-9.64801164e-02 9.95334821e-01 -4.25974880e-04 -2.32078427e+01] [-3.72484648e-03 6.69104513e-05 9.99993060e-01 -1.04248167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.02, Y:-23.22, Z:-1.04 [[ 9.95323183e-01 9.65301258e-02 3.70093648e-03 2.51021375e+02] [-9.65292064e-02 9.95330061e-01 -4.26646241e-04 -2.32179484e+01] [-3.72483755e-03 6.74024322e-05 9.99993060e-01 -1.04448050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:-23.23, Z:-1.04 [[ 9.95202678e-01 9.77646853e-02 3.70086530e-03 2.51082764e+02] [-9.77637722e-02 9.95209557e-01 -4.27262798e-04 -2.32264761e+01] [-3.72490773e-03 6.34025280e-05 9.99993060e-01 -1.04322904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.15, Y:-23.24, Z:-1.04 [[ 9.95171520e-01 9.80813475e-02 3.70079450e-03 2.51145304e+02] [-9.80804343e-02 9.95178399e-01 -4.27875166e-04 -2.32356196e+01] [-3.72491732e-03 6.28336469e-05 9.99993060e-01 -1.04270604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.21, Y:-23.25, Z:-1.04 [[ 9.94909476e-01 1.00704713e-01 3.70071152e-03 2.51206833e+02] [-1.00703815e-01 9.94916357e-01 -4.28591700e-04 -2.32489133e+01] [-3.72505963e-03 5.37341754e-05 9.99993060e-01 -1.04392999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.27, Y:-23.26, Z:-1.04 [[ 9.94507499e-01 1.04599908e-01 3.70062916e-03 2.51267008e+02] [-1.04599034e-01 9.94514383e-01 -4.29301655e-04 -2.32581978e+01] [-3.72523384e-03 3.98614784e-05 9.99993060e-01 -1.04381159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.33, Y:-23.27, Z:-1.04 [[ 9.93535060e-01 1.13465375e-01 3.70056275e-03 2.51328640e+02] [-1.13464561e-01 9.93541951e-01 -4.29873369e-04 -2.32683741e+01] [-3.72544007e-03 7.21153555e-06 9.99993060e-01 -1.04204941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.39, Y:-23.27, Z:-1.04 [[ 9.92381050e-01 1.23150960e-01 3.70049198e-03 2.51390878e+02] [-1.23150211e-01 9.92387948e-01 -4.30481660e-04 -2.32729267e+01] [-3.72533788e-03 -2.85145264e-05 9.99993060e-01 -1.04188750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.45, Y:-23.27, Z:-1.05 [[ 9.91669764e-01 1.28753200e-01 3.70042180e-03 2.51451532e+02] [-1.28752487e-01 9.91676667e-01 -4.31084085e-04 -2.32740895e+01] [-3.72512541e-03 -4.89454584e-05 9.99993060e-01 -1.04748749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.51, Y:-23.28, Z:-1.05 [[ 9.91979893e-01 1.26341599e-01 3.70041686e-03 2.51513434e+02] [-1.26340869e-01 9.91986794e-01 -4.31126529e-04 -2.32790534e+01] [-3.72523387e-03 -3.98450345e-05 9.99993060e-01 -1.04968443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96420382199994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.58, Y:-23.29, Z:-1.05 [[ 9.93104301e-01 1.17175740e-01 3.70039100e-03 2.51575377e+02] [-1.17174946e-01 9.93111195e-01 -4.31348382e-04 -2.32854449e+01] [-3.72544329e-03 -5.21918311e-06 9.99993060e-01 -1.05027888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:-23.29, Z:-1.05 [[ 9.93465306e-01 1.14074508e-01 3.70031823e-03 2.51636600e+02] [-1.14073690e-01 9.93472197e-01 -4.31971742e-04 -2.32930131e+01] [-3.72544024e-03 7.03998525e-06 9.99993060e-01 -1.05268363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.70, Y:-23.30, Z:-1.05 [[ 9.94513658e-01 1.04541345e-01 3.70024653e-03 2.51699037e+02] [-1.04540459e-01 9.94520540e-01 -4.32585036e-04 -2.33048318e+01] [-3.72519420e-03 4.33862559e-05 9.99993060e-01 -1.05309343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:-23.32, Z:-1.05 [[ 9.95026470e-01 9.95421175e-02 3.70016420e-03 2.51760245e+02] [-9.95411943e-02 9.95033348e-01 -4.33288053e-04 -2.33180509e+01] [-3.72491719e-03 6.28143181e-05 9.99993060e-01 -1.05301663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:-23.33, Z:-1.05 [[ 9.94760821e-01 1.02162703e-01 3.70009140e-03 2.51822312e+02] [-1.02161796e-01 9.94767701e-01 -4.33908903e-04 -2.33276925e+01] [-3.72506072e-03 5.36275962e-05 9.99993060e-01 -1.05218256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26420382199996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:251.88, Y:-23.34, Z:-1.06 [[ 9.94043099e-01 1.08924870e-01 3.70000619e-03 2.51883781e+02] [-1.08924007e-01 9.94049985e-01 -4.34634265e-04 -2.33410532e+01] [-3.72533358e-03 2.90256933e-05 9.99993060e-01 -1.05578654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.94, Y:-23.35, Z:-1.06 [[ 9.93340142e-01 1.15159334e-01 3.69997942e-03 2.51943713e+02] [-1.15158513e-01 9.93347033e-01 -4.34862065e-04 -2.33528083e+01] [-3.72544200e-03 5.88181584e-06 9.99993060e-01 -1.06024115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.01, Y:-23.36, Z:-1.05 [[ 9.92510574e-01 1.22102710e-01 3.69991001e-03 2.52005426e+02] [-1.22101935e-01 9.92517470e-01 -4.35451800e-04 -2.33564863e+01] [-3.72539517e-03 -1.95756561e-05 9.99993060e-01 -1.05497665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.07, Y:-23.37, Z:-1.06 [[ 9.91884557e-01 1.27087909e-01 3.69984148e-03 2.52065994e+02] [-1.27087166e-01 9.91891457e-01 -4.36033270e-04 -2.33663262e+01] [-3.72525571e-03 -3.77077026e-05 9.99993061e-01 -1.05677873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:-23.37, Z:-1.06 [[ 9.91562882e-01 1.29573776e-01 3.69977386e-03 2.52128661e+02] [-1.29573048e-01 9.91569783e-01 -4.36606262e-04 -2.33713526e+01] [-3.72515669e-03 -4.64684146e-05 9.99993061e-01 -1.05871888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:-23.37, Z:-1.06 [[ 9.91843392e-01 1.27408784e-01 3.69969191e-03 2.52190932e+02] [-1.27408039e-01 9.91850291e-01 -4.37299639e-04 -2.33741112e+01] [-3.72525631e-03 -3.76377348e-05 9.99993061e-01 -1.05814389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.25, Y:-23.38, Z:-1.06 [[ 9.92326667e-01 1.23588427e-01 3.69961557e-03 2.52253200e+02] [-1.23587653e-01 9.92333563e-01 -4.37944542e-04 -2.33791652e+01] [-3.72537757e-03 -2.26427560e-05 9.99993061e-01 -1.05861177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:-23.39, Z:-1.05 [[ 9.92736208e-01 1.20254459e-01 3.69954200e-03 2.52315321e+02] [-1.20253660e-01 9.92743101e-01 -4.38565109e-04 -2.33867021e+01] [-3.72543421e-03 -9.50400115e-06 9.99993061e-01 -1.05469707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:-23.39, Z:-1.05 [[ 9.92814417e-01 1.19607051e-01 3.69946814e-03 2.52377758e+02] [-1.19606245e-01 9.92821310e-01 -4.39187277e-04 -2.33896492e+01] [-3.72544070e-03 -6.44803047e-06 9.99993061e-01 -1.05455839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:-23.40, Z:-1.06 [[ 9.92957501e-01 1.18413330e-01 3.69939479e-03 2.52439325e+02] [-1.18412513e-01 9.92964392e-01 -4.39804243e-04 -2.33994101e+01] [-3.72544598e-03 -1.34771157e-06 9.99993061e-01 -1.05523706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:-23.41, Z:-1.06 [[ 9.93156391e-01 1.16733447e-01 3.69931675e-03 2.52500726e+02] [-1.16732616e-01 9.93163281e-01 -4.40459670e-04 -2.34064519e+01] [-3.72544194e-03 5.61441587e-06 9.99993061e-01 -1.05552038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:-23.42, Z:-1.06 [[ 9.93389956e-01 1.14728855e-01 3.69924114e-03 2.52561365e+02] [-1.14728008e-01 9.93396844e-01 -4.41093830e-04 -2.34164669e+01] [-3.72542066e-03 1.37716135e-05 9.99993061e-01 -1.06079282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.984203822 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:-23.43, Z:-1.07 [[ 9.93429870e-01 1.14382735e-01 3.69919883e-03 2.52621471e+02] [-1.14381884e-01 9.93436757e-01 -4.41448310e-04 -2.34274136e+01] [-3.72541416e-03 1.54266045e-05 9.99993061e-01 -1.06648265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:-23.43, Z:-1.06 [[ 9.93327459e-01 1.15268707e-01 3.69913317e-03 2.52683384e+02] [-1.15267860e-01 9.93334347e-01 -4.41997850e-04 -2.34332470e+01] [-3.72542455e-03 1.26574360e-05 9.99993061e-01 -1.05830809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:-23.44, Z:-1.06 [[ 9.93353510e-01 1.15043996e-01 3.69905538e-03 2.52744054e+02] [-1.15043145e-01 9.93360397e-01 -4.42647889e-04 -2.34441290e+01] [-3.72541911e-03 1.41548696e-05 9.99993061e-01 -1.06402337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:-23.45, Z:-1.07 [[ 9.93388436e-01 1.14742029e-01 3.69898399e-03 2.52804410e+02] [-1.14741174e-01 9.93395322e-01 -4.43243702e-04 -2.34529470e+01] [-3.72541207e-03 1.58874042e-05 9.99993061e-01 -1.06587599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.87, Y:-23.46, Z:-1.07 [[ 9.93130299e-01 1.16955234e-01 3.69891403e-03 2.52866305e+02] [-1.16954392e-01 9.93137188e-01 -4.43826725e-04 -2.34610884e+01] [-3.72543694e-03 8.17352766e-06 9.99993061e-01 -1.06685716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284203822 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:252.93, Y:-23.46, Z:-1.07 [[ 9.92446881e-01 1.22619355e-01 3.69883914e-03 2.52929494e+02] [-1.22618550e-01 9.92453774e-01 -4.44450027e-04 -2.34648716e+01] [-3.72542504e-03 -1.24532496e-05 9.99993061e-01 -1.06831919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:252.99, Y:-23.47, Z:-1.07 [[ 9.91983303e-01 1.26314867e-01 3.69875211e-03 2.52990310e+02] [-1.26314085e-01 9.91990198e-01 -4.45173112e-04 -2.34676593e+01] [-3.72535782e-03 -2.56001932e-05 9.99993061e-01 -1.07053670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:253.05, Y:-23.47, Z:-1.06 [[ 9.91974536e-01 1.26383701e-01 3.69871448e-03 2.53052090e+02] [-1.26382918e-01 9.91981431e-01 -4.45485490e-04 -2.34739087e+01] [-3.72535819e-03 -2.55440678e-05 9.99993061e-01 -1.06024913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:-23.48, Z:-1.06 [[ 9.92002517e-01 1.26163891e-01 3.69864065e-03 2.53114808e+02] [-1.26163104e-01 9.92009411e-01 -4.46097688e-04 -2.34768696e+01] [-3.72536775e-03 -2.41019557e-05 9.99993061e-01 -1.06280525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.18, Y:-23.48, Z:-1.06 [[ 9.92038905e-01 1.25877449e-01 3.69861323e-03 2.53175998e+02] [-1.25876660e-01 9.92045799e-01 -4.46324911e-04 -2.34825020e+01] [-3.72537595e-03 -2.27974038e-05 9.99993061e-01 -1.06363676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.24, Y:-23.49, Z:-1.07 [[ 9.92031255e-01 1.25937726e-01 3.69854273e-03 2.53237767e+02] [-1.25936935e-01 9.92038149e-01 -4.46908332e-04 -2.34870628e+01] [-3.72537810e-03 -2.24361002e-05 9.99993061e-01 -1.06607233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.30, Y:-23.49, Z:-1.07 [[ 9.91798447e-01 1.27758220e-01 3.69846750e-03 2.53298839e+02] [-1.27757440e-01 9.91805342e-01 -4.47530048e-04 -2.34922324e+01] [-3.72533547e-03 -2.86471320e-05 9.99993061e-01 -1.06720757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.36, Y:-23.49, Z:-1.07 [[ 9.91466522e-01 1.30309087e-01 3.69839794e-03 2.53360238e+02] [-1.30308322e-01 9.91473419e-01 -4.48104115e-04 -2.34937500e+01] [-3.72525529e-03 -3.76518006e-05 9.99993061e-01 -1.06809687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.42, Y:-23.50, Z:-1.07 [[ 9.91477556e-01 1.30225102e-01 3.69838738e-03 2.53421230e+02] [-1.30224336e-01 9.91484453e-01 -4.48191286e-04 -2.34955974e+01] [-3.72525935e-03 -3.72484401e-05 9.99993061e-01 -1.06789366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.48, Y:-23.50, Z:-1.07 [[ 9.92045140e-01 1.25828303e-01 3.69838738e-03 2.53482731e+02] [-1.25827507e-01 9.92052034e-01 -4.48191286e-04 -2.35047211e+01] [-3.72538787e-03 -2.07328764e-05 9.99993061e-01 -1.06737644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:-23.51, Z:-1.07 [[ 9.92527160e-01 1.21967859e-01 3.69830916e-03 2.53544490e+02] [-1.21967033e-01 9.92534050e-01 -4.48835836e-04 -2.35059409e+01] [-3.72544131e-03 -5.59003881e-06 9.99993061e-01 -1.07263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:-23.51, Z:-1.08 [[ 9.92814170e-01 1.19609138e-01 3.69826480e-03 2.53605535e+02] [-1.19608295e-01 9.92821058e-01 -4.49201034e-04 -2.35137192e+01] [-3.72544372e-03 3.63000513e-06 9.99993061e-01 -1.07666547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00420382199997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:-23.52, Z:-1.08 [[ 9.92938336e-01 1.18573960e-01 3.69819530e-03 2.53666496e+02] [-1.18573107e-01 9.92945223e-01 -4.49772463e-04 -2.35193207e+01] [-3.72543666e-03 8.08981211e-06 9.99993061e-01 -1.07693457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.73, Y:-23.53, Z:-1.07 [[ 9.92893035e-01 1.18952697e-01 3.69818438e-03 2.53727537e+02] [-1.18951847e-01 9.92899922e-01 -4.49862267e-04 -2.35272832e+01] [-3.72543931e-03 6.75925004e-06 9.99993061e-01 -1.06887328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.79, Y:-23.53, Z:-1.07 [[ 9.92719749e-01 1.20390297e-01 3.69817324e-03 2.53788717e+02] [-1.20389456e-01 9.92726637e-01 -4.49953782e-04 -2.35338078e+01] [-3.72544516e-03 1.45694051e-06 9.99993061e-01 -1.07336186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.85, Y:-23.54, Z:-1.07 [[ 9.92579769e-01 1.21538992e-01 3.69816222e-03 2.53849608e+02] [-1.21538158e-01 9.92586658e-01 -4.50044394e-04 -2.35417153e+01] [-3.72544442e-03 -2.76286468e-06 9.99993061e-01 -1.07494016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:253.91, Y:-23.55, Z:-1.08 [[ 9.92431219e-01 1.22746078e-01 3.69815130e-03 2.53910805e+02] [-1.22745253e-01 9.92438109e-01 -4.50134063e-04 -2.35481528e+01] [-3.72543848e-03 -7.20342087e-06 9.99993061e-01 -1.07685249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.97, Y:-23.56, Z:-1.07 [[ 9.92442881e-01 1.22651746e-01 3.69814027e-03 2.53971750e+02] [-1.22650920e-01 9.92449772e-01 -4.50224706e-04 -2.35556550e+01] [-3.72543931e-03 -6.75800236e-06 9.99993061e-01 -1.07454570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:-23.56, Z:-1.07 [[ 9.92229169e-01 1.24368806e-01 3.69812912e-03 2.54031107e+02] [-1.24367991e-01 9.92236061e-01 -4.50316266e-04 -2.35646463e+01] [-3.72542236e-03 -1.31119555e-05 9.99993061e-01 -1.07352929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.09, Y:-23.57, Z:-1.07 [[ 9.91501777e-01 1.30040574e-01 3.69812360e-03 2.54090146e+02] [-1.30039799e-01 9.91508673e-01 -4.50361553e-04 -2.35711850e+01] [-3.72528690e-03 -3.43689691e-05 9.99993061e-01 -1.07303144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:-23.58, Z:-1.08 [[ 9.90734225e-01 1.35764570e-01 3.69812022e-03 2.54150776e+02] [-1.35763834e-01 9.90741126e-01 -4.50389291e-04 -2.35781258e+01] [-3.72502670e-03 -5.58548957e-05 9.99993061e-01 -1.07513080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.21, Y:-23.58, Z:-1.08 [[ 9.90328705e-01 1.38691673e-01 3.69811471e-03 2.54210438e+02] [-1.38690957e-01 9.90335607e-01 -4.50434580e-04 -2.35812269e+01] [-3.72484620e-03 -6.68167752e-05 9.99993061e-01 -1.07648655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:-23.58, Z:-1.08 [[ 9.90400008e-01 1.38181578e-01 3.69812018e-03 2.54271371e+02] [-1.38180859e-01 9.90406910e-01 -4.50389681e-04 -2.35848685e+01] [-3.72487933e-03 -6.49434800e-05 9.99993061e-01 -1.07731188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.33, Y:-23.59, Z:-1.08 [[ 9.90822179e-01 1.35121184e-01 3.69812018e-03 2.54330911e+02] [-1.35120444e-01 9.90829078e-01 -4.50389681e-04 -2.35891265e+01] [-3.72506219e-03 -5.34355551e-05 9.99993061e-01 -1.08143945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.39, Y:-23.59, Z:-1.08 [[ 9.91264918e-01 1.31833935e-01 3.69812543e-03 2.54391706e+02] [-1.31833173e-01 9.91271815e-01 -4.50346504e-04 -2.35929332e+01] [-3.72521846e-03 -4.11229177e-05 9.99993061e-01 -1.07948092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.45, Y:-23.60, Z:-1.08 [[ 9.92147272e-01 1.25020454e-01 3.69812543e-03 2.54451939e+02] [-1.25019643e-01 9.92154164e-01 -4.50346504e-04 -2.35970543e+01] [-3.72541307e-03 -1.55282671e-05 9.99993061e-01 -1.07991693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.51, Y:-23.60, Z:-1.08 [[ 9.93136080e-01 1.16906162e-01 3.69812543e-03 2.54512552e+02] [-1.16905295e-01 9.93142965e-01 -4.50346504e-04 -2.36027154e+01] [-3.72541554e-03 1.49249161e-05 9.99993061e-01 -1.07769745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.57, Y:-23.61, Z:-1.08 [[ 9.93944374e-01 1.09822156e-01 3.69812543e-03 2.54572849e+02] [-1.09821240e-01 9.93951253e-01 -4.50346504e-04 -2.36115068e+01] [-3.72521443e-03 4.14866530e-05 9.99993061e-01 -1.07847495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.63, Y:-23.62, Z:-1.08 [[ 9.94130030e-01 1.08128665e-01 3.69812340e-03 2.54633326e+02] [-1.08127738e-01 9.94136907e-01 -4.50363206e-04 -2.36230971e+01] [-3.72513813e-03 4.78498698e-05 9.99993061e-01 -1.08190187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.69, Y:-23.63, Z:-1.08 [[ 9.93860659e-01 1.10577190e-01 3.69811223e-03 2.54693253e+02] [-1.10576279e-01 9.93867538e-01 -4.50454879e-04 -2.36344948e+01] [-3.72524374e-03 3.87658910e-05 9.99993061e-01 -1.07734712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.75, Y:-23.64, Z:-1.08 [[ 9.93576511e-01 1.13101906e-01 3.69810666e-03 2.54753739e+02] [-1.13101013e-01 9.93583393e-01 -4.50500667e-04 -2.36420065e+01] [-3.72532984e-03 2.93472724e-05 9.99993061e-01 -1.07728624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.81, Y:-23.65, Z:-1.09 [[ 9.93147335e-01 1.16810508e-01 3.69809552e-03 2.54813278e+02] [-1.16809640e-01 9.93154220e-01 -4.50592047e-04 -2.36540311e+01] [-3.72541306e-03 1.55310827e-05 9.99993061e-01 -1.08825863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.87, Y:-23.67, Z:-1.09 [[ 9.92912349e-01 1.18791376e-01 3.69809000e-03 2.54873160e+02] [-1.18790522e-01 9.92919236e-01 -4.50637360e-04 -2.36667831e+01] [-3.72543653e-03 8.14535939e-06 9.99993061e-01 -1.09043699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.93, Y:-23.68, Z:-1.08 [[ 9.92551371e-01 1.21770686e-01 3.69808506e-03 2.54933603e+02] [-1.21769852e-01 9.92558260e-01 -4.50677907e-04 -2.36789616e+01] [-3.72544423e-03 -2.99429632e-06 9.99993061e-01 -1.08074681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.99, Y:-23.69, Z:-1.08 [[ 9.91987514e-01 1.26281812e-01 3.69807406e-03 2.54993670e+02] [-1.26281009e-01 9.91994407e-01 -4.50768153e-04 -2.36907607e+01] [-3.72539260e-03 -1.98401428e-05 9.99993061e-01 -1.08267241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38420382199996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:255.05, Y:-23.70, Z:-1.08 [[ 9.91310080e-01 1.31493916e-01 3.69806283e-03 2.55053524e+02] [-1.31493149e-01 9.91316977e-01 -4.50860260e-04 -2.37038666e+01] [-3.72523784e-03 -3.93276073e-05 9.99993061e-01 -1.08257398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.11, Y:-23.71, Z:-1.08 [[ 9.90478073e-01 1.37620897e-01 3.69805175e-03 2.55113347e+02] [-1.37620172e-01 9.90484975e-01 -4.50951098e-04 -2.37128740e+01] [-3.72492499e-03 -6.22693442e-05 9.99993061e-01 -1.08294029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.17, Y:-23.72, Z:-1.08 [[ 9.89801209e-01 1.42407486e-01 3.69802303e-03 2.55173786e+02] [-1.42406794e-01 9.89808113e-01 -4.51186497e-04 -2.37195961e+01] [-3.72458553e-03 -8.00386647e-05 9.99993061e-01 -1.08053025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.23, Y:-23.73, Z:-1.08 [[ 9.89751908e-01 1.42749726e-01 3.69802303e-03 2.55233894e+02] [-1.42749036e-01 9.89758814e-01 -4.51186497e-04 -2.37256872e+01] [-3.72455764e-03 -8.13265278e-05 9.99993061e-01 -1.08119000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.29, Y:-23.73, Z:-1.08 [[ 9.89867230e-01 1.41947845e-01 3.69802303e-03 2.55294892e+02] [-1.41947149e-01 9.89874135e-01 -4.51186497e-04 -2.37293823e+01] [-3.72462230e-03 -7.83090996e-05 9.99993061e-01 -1.07855523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:-23.73, Z:-1.08 [[ 9.90423131e-01 1.38015748e-01 3.69801245e-03 2.55355543e+02] [-1.38015024e-01 9.90430033e-01 -4.51273239e-04 -2.37310033e+01] [-3.72490540e-03 -6.34298239e-05 9.99993061e-01 -1.07782987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:-23.73, Z:-1.08 [[ 9.90849473e-01 1.34920892e-01 3.69800722e-03 2.55416494e+02] [-1.34920148e-01 9.90856372e-01 -4.51316053e-04 -2.37344421e+01] [-3.72508598e-03 -5.17494061e-05 9.99993061e-01 -1.07649533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.48, Y:-23.74, Z:-1.08 [[ 9.91372648e-01 1.31021365e-01 3.69800722e-03 2.55476822e+02] [-1.31020593e-01 9.91379544e-01 -4.51316053e-04 -2.37378666e+01] [-3.72526076e-03 -3.70927064e-05 9.99993061e-01 -1.07820657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.864203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.54, Y:-23.74, Z:-1.08 [[ 9.92247484e-01 1.24222605e-01 3.69798307e-03 2.55536915e+02] [-1.24221785e-01 9.92254375e-01 -4.51513863e-04 -2.37433755e+01] [-3.72542811e-03 -1.13565651e-05 9.99993061e-01 -1.07752328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.60, Y:-23.75, Z:-1.08 [[ 9.92677361e-01 1.20739314e-01 3.69797794e-03 2.55596816e+02] [-1.20738470e-01 9.92684249e-01 -4.51555871e-04 -2.37507644e+01] [-3.72544500e-03 1.76109239e-06 9.99993061e-01 -1.08291590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.984203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.66, Y:-23.76, Z:-1.08 [[ 9.92705663e-01 1.20506394e-01 3.69797794e-03 2.55657271e+02] [-1.20505548e-01 9.92712551e-01 -4.51555871e-04 -2.37560679e+01] [-3.72544448e-03 2.63521215e-06 9.99993061e-01 -1.08472244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.72, Y:-23.76, Z:-1.08 [[ 9.92481745e-01 1.22336873e-01 3.69797794e-03 2.55717597e+02] [-1.22336040e-01 9.92488634e-01 -4.51555871e-04 -2.37617926e+01] [-3.72544301e-03 -4.23501619e-06 9.99993061e-01 -1.08073438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.78, Y:-23.77, Z:-1.08 [[ 9.92196724e-01 1.24627385e-01 3.69797794e-03 2.55777938e+02] [-1.24626568e-01 9.92203616e-01 -4.51555871e-04 -2.37669459e+01] [-3.72542331e-03 -1.28340417e-05 9.99993061e-01 -1.08125573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.84, Y:-23.77, Z:-1.09 [[ 9.92005856e-01 1.26137647e-01 3.69797794e-03 2.55837647e+02] [-1.26136840e-01 9.92012749e-01 -4.51555871e-04 -2.37689139e+01] [-3.72539946e-03 -1.85051839e-05 9.99993061e-01 -1.08742331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:-23.78, Z:-1.09 [[ 9.91867173e-01 1.27223566e-01 3.69798349e-03 2.55897588e+02] [-1.27222767e-01 9.91874066e-01 -4.51510423e-04 -2.37752552e+01] [-3.72537669e-03 -2.26293258e-05 9.99993061e-01 -1.08773608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.96, Y:-23.78, Z:-1.08 [[ 9.91743566e-01 1.28183555e-01 3.69798349e-03 2.55958333e+02] [-1.28182763e-01 9.91750460e-01 -4.51510423e-04 -2.37783000e+01] [-3.72535304e-03 -2.62351837e-05 9.99993061e-01 -1.08435673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.02, Y:-23.78, Z:-1.08 [[ 9.91991596e-01 1.26249745e-01 3.69798349e-03 2.56018787e+02] [-1.26248939e-01 9.91998489e-01 -4.51510423e-04 -2.37841183e+01] [-3.72539711e-03 -1.89719473e-05 9.99993061e-01 -1.08400377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.08, Y:-23.79, Z:-1.09 [[ 9.92471404e-01 1.22420736e-01 3.69798349e-03 2.56078971e+02] [-1.22419903e-01 9.92478294e-01 -4.51510423e-04 -2.37858513e+01] [-3.72544258e-03 -4.59559654e-06 9.99993061e-01 -1.09032698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:-23.80, Z:-1.09 [[ 9.92978945e-01 1.18233415e-01 3.69798904e-03 2.56138978e+02] [-1.18232553e-01 9.92985831e-01 -4.51464961e-04 -2.37953561e+01] [-3.72542896e-03 1.10725155e-05 9.99993061e-01 -1.08737359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.20, Y:-23.80, Z:-1.08 [[ 9.92640331e-01 1.21043369e-01 3.69798904e-03 2.56199063e+02] [-1.21042527e-01 9.92647220e-01 -4.51464961e-04 -2.37966425e+01] [-3.72544538e-03 5.28389070e-07 9.99993061e-01 -1.08441797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.26, Y:-23.80, Z:-1.09 [[ 9.92065904e-01 1.25664500e-01 3.69800016e-03 2.56258383e+02] [-1.25663690e-01 9.92072796e-01 -4.51373873e-04 -2.38003658e+01] [-3.72540703e-03 -1.69117174e-05 9.99993061e-01 -1.08558451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.32, Y:-23.80, Z:-1.09 [[ 9.91821798e-01 1.27576819e-01 3.69801156e-03 2.56316528e+02] [-1.27576023e-01 9.91828692e-01 -4.51280409e-04 -2.38022605e+01] [-3.72536689e-03 -2.41878627e-05 9.99993061e-01 -1.08736987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:256.38, Y:-23.80, Z:-1.09 [[ 9.91877274e-01 1.27144793e-01 3.69804320e-03 2.56376424e+02] [-1.27143995e-01 9.91884167e-01 -4.51020988e-04 -2.38021234e+01] [-3.72537547e-03 -2.28265187e-05 9.99993061e-01 -1.09220675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.43, Y:-23.81, Z:-1.09 [[ 9.92192993e-01 1.24657083e-01 3.69806030e-03 2.56434826e+02] [-1.24656269e-01 9.92199885e-01 -4.50880748e-04 -2.38106089e+01] [-3.72542048e-03 -1.36256788e-05 9.99993061e-01 -1.09211635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.49, Y:-23.81, Z:-1.09 [[ 9.92562761e-01 1.21677813e-01 3.69807722e-03 2.56493408e+02] [-1.21676979e-01 9.92569650e-01 -4.50741933e-04 -2.38133527e+01] [-3.72544450e-03 -2.58120504e-06 9.99993061e-01 -1.09229486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.55, Y:-23.82, Z:-1.09 [[ 9.92735091e-01 1.20263721e-01 3.69809946e-03 2.56552314e+02] [-1.20262877e-01 9.92741979e-01 -4.50559402e-04 -2.38198011e+01] [-3.72544453e-03 2.54204965e-06 9.99993061e-01 -1.09006228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:-23.83, Z:-1.09 [[ 9.93063619e-01 1.17520096e-01 3.69811624e-03 2.56611719e+02] [-1.17519234e-01 9.93070504e-01 -4.50421630e-04 -2.38252773e+01] [-3.72542375e-03 1.26975467e-05 9.99993061e-01 -1.08710185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:-23.83, Z:-1.09 [[ 9.93626910e-01 1.12658278e-01 3.69812732e-03 2.56670583e+02] [-1.12657382e-01 9.93633791e-01 -4.50330656e-04 -2.38337445e+01] [-3.72531774e-03 3.08393166e-05 9.99993061e-01 -1.08621839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:-23.84, Z:-1.09 [[ 9.94152247e-01 1.07924201e-01 3.69813844e-03 2.56728514e+02] [-1.07923273e-01 9.94159124e-01 -4.50239279e-04 -2.38436947e+01] [-3.72512979e-03 4.84911862e-05 9.99993061e-01 -1.08718224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:-23.86, Z:-1.09 [[ 9.94114855e-01 1.08268085e-01 3.69815486e-03 2.56786721e+02] [-1.08267160e-01 9.94121733e-01 -4.50104409e-04 -2.38561961e+01] [-3.72514806e-03 4.70667563e-05 9.99993061e-01 -1.08900011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.84, Y:-23.87, Z:-1.09 [[ 9.93828698e-01 1.10864071e-01 3.69816601e-03 2.56844692e+02] [-1.10863164e-01 9.93835578e-01 -4.50012739e-04 -2.38653663e+01] [-3.72525920e-03 3.72451883e-05 9.99993061e-01 -1.09045326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.90, Y:-23.87, Z:-1.09 [[ 9.93261020e-01 1.15839841e-01 3.69818263e-03 2.56902898e+02] [-1.15838969e-01 9.93267905e-01 -4.49876091e-04 -2.38749460e+01] [-3.72539969e-03 1.84507218e-05 9.99993061e-01 -1.09238968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:-23.88, Z:-1.09 [[ 9.92549682e-01 1.21784448e-01 3.69819554e-03 2.56960907e+02] [-1.21783617e-01 9.92556572e-01 -4.49769962e-04 -2.38848020e+01] [-3.72544328e-03 -3.96059803e-06 9.99993061e-01 -1.09327982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.02, Y:-23.89, Z:-1.09 [[ 9.92030452e-01 1.25944054e-01 3.69821670e-03 2.57019246e+02] [-1.25943253e-01 9.92037346e-01 -4.49595896e-04 -2.38935783e+01] [-3.72539301e-03 -1.97526220e-05 9.99993061e-01 -1.09307378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.08, Y:-23.91, Z:-1.09 [[ 9.91836423e-01 1.27463066e-01 3.69823784e-03 2.57077463e+02] [-1.27462277e-01 9.91843317e-01 -4.49421936e-04 -2.39061190e+01] [-3.72535719e-03 -2.56327696e-05 9.99993061e-01 -1.08991930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:-23.92, Z:-1.10 [[ 9.91814498e-01 1.27633553e-01 3.69824876e-03 2.57135992e+02] [-1.27632764e-01 9.91821393e-01 -4.49332051e-04 -2.39150582e+01] [-3.72535209e-03 -2.63636703e-05 9.99993061e-01 -1.09640450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.19, Y:-23.93, Z:-1.10 [[ 9.91857951e-01 1.27295436e-01 3.69825961e-03 2.57194137e+02] [-1.27294646e-01 9.91864845e-01 -4.49242746e-04 -2.39273182e+01] [-3.72536025e-03 -2.51836587e-05 9.99993061e-01 -1.09831416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.25, Y:-23.94, Z:-1.09 [[ 9.91747477e-01 1.28153287e-01 3.69825642e-03 2.57253410e+02] [-1.28152503e-01 9.91754372e-01 -4.49269054e-04 -2.39391681e+01] [-3.72533728e-03 -2.83793642e-05 9.99993061e-01 -1.09494799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.31, Y:-23.95, Z:-1.10 [[ 9.91745284e-01 1.28170256e-01 3.69825642e-03 2.57313382e+02] [-1.28169471e-01 9.91752179e-01 -4.49269054e-04 -2.39470514e+01] [-3.72533679e-03 -2.84431040e-05 9.99993061e-01 -1.09617487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.37, Y:-23.96, Z:-1.09 [[ 9.91861669e-01 1.27266465e-01 3.69825642e-03 2.57373154e+02] [-1.27265675e-01 9.91868563e-01 -4.49269054e-04 -2.39566203e+01] [-3.72536116e-03 -2.50483448e-05 9.99993061e-01 -1.09180037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.43, Y:-23.97, Z:-1.10 [[ 9.92246958e-01 1.24226801e-01 3.69825642e-03 2.57432373e+02] [-1.24225990e-01 9.92253849e-01 -4.49269054e-04 -2.39690516e+01] [-3.72542042e-03 -1.36337105e-05 9.99993061e-01 -1.09514508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:257.49, Y:-23.98, Z:-1.10 [[ 9.92117688e-01 1.25255003e-01 3.69825074e-03 2.57492021e+02] [-1.25254198e-01 9.92124581e-01 -4.49315800e-04 -2.39814041e+01] [-3.72540451e-03 -1.74472772e-05 9.99993061e-01 -1.09651826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.55, Y:-23.99, Z:-1.10 [[ 9.91712022e-01 1.28427371e-01 3.69822498e-03 2.57552670e+02] [-1.28426587e-01 9.91718917e-01 -4.49527683e-04 -2.39879844e+01] [-3.72533133e-03 -2.91484060e-05 9.99993061e-01 -1.09612341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.61, Y:-24.00, Z:-1.10 [[ 9.91332167e-01 1.31327291e-01 3.69821940e-03 2.57611983e+02] [-1.31326528e-01 9.91339065e-01 -4.49573621e-04 -2.39992845e+01] [-3.72523064e-03 -3.99975196e-05 9.99993061e-01 -1.09773028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.67, Y:-24.01, Z:-1.10 [[ 9.91412214e-01 1.30721629e-01 3.69821940e-03 2.57671938e+02] [-1.30720862e-01 9.91419111e-01 -4.49573621e-04 -2.40067957e+01] [-3.72525439e-03 -3.77216463e-05 9.99993061e-01 -1.10250610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.73, Y:-24.02, Z:-1.10 [[ 9.91908803e-01 1.26898583e-01 3.69819072e-03 2.57732581e+02] [-1.26897788e-01 9.91915697e-01 -4.49809409e-04 -2.40163692e+01] [-3.72537360e-03 -2.31223098e-05 9.99993061e-01 -1.10069415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.79, Y:-24.03, Z:-1.10 [[ 9.92354204e-01 1.23367167e-01 3.69818003e-03 2.57793904e+02] [-1.23366347e-01 9.92361095e-01 -4.49897282e-04 -2.40290846e+01] [-3.72543253e-03 -9.77350349e-06 9.99993061e-01 -1.09937321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.85, Y:-24.04, Z:-1.10 [[ 9.92779999e-01 1.19892444e-01 3.69810542e-03 2.57854741e+02] [-1.19891598e-01 9.92786886e-01 -4.50509758e-04 -2.40409049e+01] [-3.72544328e-03 3.88531121e-06 9.99993061e-01 -1.09736252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.92, Y:-24.06, Z:-1.10 [[ 9.93073684e-01 1.17435012e-01 3.69802948e-03 2.57915434e+02] [-1.17434146e-01 9.93080570e-01 -4.51132256e-04 -2.40557559e+01] [-3.72541994e-03 1.37326382e-05 9.99993061e-01 -1.09790986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:257.98, Y:-24.07, Z:-1.11 [[ 9.93187256e-01 1.16470592e-01 3.69795192e-03 2.57975375e+02] [-1.16469717e-01 9.93194141e-01 -4.51767084e-04 -2.40678574e+01] [-3.72540176e-03 1.79898961e-05 9.99993061e-01 -1.10735893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.04, Y:-24.08, Z:-1.11 [[ 9.93064674e-01 1.17511191e-01 3.69788034e-03 2.58035740e+02] [-1.17510321e-01 9.93071558e-01 -4.52352280e-04 -2.40837119e+01] [-3.72541624e-03 1.46759648e-05 9.99993061e-01 -1.10968556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.10, Y:-24.10, Z:-1.10 [[ 9.92693513e-01 1.20606447e-01 3.69780782e-03 2.58097755e+02] [-1.20605596e-01 9.92700400e-01 -4.52944286e-04 -2.40985500e+01] [-3.72544331e-03 3.65853861e-06 9.99993061e-01 -1.10407857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:-24.11, Z:-1.11 [[ 9.92212043e-01 1.24505374e-01 3.69771657e-03 2.58158014e+02] [-1.24504548e-01 9.92218933e-01 -4.53687996e-04 -2.41119246e+01] [-3.72543099e-03 -1.02278373e-05 9.99993061e-01 -1.11158773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56420382199997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:258.22, Y:-24.13, Z:-1.11 [[ 9.92013613e-01 1.26076639e-01 3.69764342e-03 2.58218567e+02] [-1.26075822e-01 9.92020504e-01 -4.54283419e-04 -2.41284242e+01] [-3.72541262e-03 -1.55280973e-05 9.99993061e-01 -1.11079202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.28, Y:-24.14, Z:-1.11 [[ 9.91883935e-01 1.27092828e-01 3.69756491e-03 2.58278644e+02] [-1.27092015e-01 9.91890827e-01 -4.54921569e-04 -2.41371063e+01] [-3.72539798e-03 -1.87015801e-05 9.99993061e-01 -1.10830625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:-24.15, Z:-1.10 [[ 9.91830482e-01 1.27509306e-01 3.69755376e-03 2.58339295e+02] [-1.27508496e-01 9.91837374e-01 -4.55012117e-04 -2.41531776e+01] [-3.72539029e-03 -2.01746331e-05 9.99993061e-01 -1.10404225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.40, Y:-24.17, Z:-1.10 [[ 9.91840719e-01 1.27429658e-01 3.69747714e-03 2.58399906e+02] [-1.27428845e-01 9.91847610e-01 -4.55633950e-04 -2.41667789e+01] [-3.72539514e-03 -1.92489349e-05 9.99993061e-01 -1.10171229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.46, Y:-24.18, Z:-1.10 [[ 9.91581935e-01 1.29427954e-01 3.69739898e-03 2.58459885e+02] [-1.29427152e-01 9.91588828e-01 -4.56267299e-04 -2.41769426e+01] [-3.72535326e-03 -2.61174084e-05 9.99993061e-01 -1.10426565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.52, Y:-24.19, Z:-1.10 [[ 9.91043390e-01 1.33489062e-01 3.69732722e-03 2.58521623e+02] [-1.33488286e-01 9.91050286e-01 -4.56848087e-04 -2.41890468e+01] [-3.72522142e-03 -4.07935967e-05 9.99993061e-01 -1.10237681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:-24.20, Z:-1.11 [[ 9.90685841e-01 1.36117209e-01 3.69723786e-03 2.58582789e+02] [-1.36116449e-01 9.90692739e-01 -4.57570079e-04 -2.41959398e+01] [-3.72510987e-03 -4.99466919e-05 9.99993061e-01 -1.10593985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.65, Y:-24.20, Z:-1.11 [[ 9.90808369e-01 1.35222437e-01 3.69716629e-03 2.58645584e+02] [-1.35221669e-01 9.90815266e-01 -4.58147642e-04 -2.42026739e+01] [-3.72516064e-03 -4.60004780e-05 9.99993061e-01 -1.10553537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.71, Y:-24.21, Z:-1.11 [[ 9.91141562e-01 1.32758184e-01 3.69707610e-03 2.58707604e+02] [-1.32757396e-01 9.91148457e-01 -4.58874345e-04 -2.42074135e+01] [-3.72527059e-03 -3.60047590e-05 9.99993061e-01 -1.10552238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.77, Y:-24.21, Z:-1.11 [[ 9.91805433e-01 1.27704014e-01 3.69699773e-03 2.58769308e+02] [-1.27703188e-01 9.91812323e-01 -4.59504874e-04 -2.42126354e+01] [-3.72540852e-03 -1.63789660e-05 9.99993061e-01 -1.10791913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.83, Y:-24.22, Z:-1.11 [[ 9.92394374e-01 1.23043646e-01 3.69691816e-03 2.58830572e+02] [-1.23042785e-01 9.92401260e-01 -4.60144116e-04 -2.42184032e+01] [-3.72544405e-03 1.76532502e-06 9.99993061e-01 -1.10896812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.89, Y:-24.22, Z:-1.11 [[ 9.93113034e-01 1.17101812e-01 3.69687366e-03 2.58893004e+02] [-1.17100909e-01 9.93119915e-01 -4.60501371e-04 -2.42222131e+01] [-3.72536440e-03 2.44226459e-05 9.99993061e-01 -1.11023121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:-24.23, Z:-1.11 [[ 9.93661783e-01 1.12350321e-01 3.69679399e-03 2.58955299e+02] [-1.12349382e-01 9.93668659e-01 -4.61140089e-04 -2.42287060e+01] [-3.72519756e-03 4.28847616e-05 9.99993061e-01 -1.10937289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.02, Y:-24.24, Z:-1.11 [[ 9.93722127e-01 1.11815337e-01 3.69671479e-03 2.59017501e+02] [-1.11814393e-01 9.93729001e-01 -4.61774110e-04 -2.42363119e+01] [-3.72516612e-03 4.55292312e-05 9.99993061e-01 -1.11015661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:-24.24, Z:-1.11 [[ 9.93316052e-01 1.15367051e-01 3.69662494e-03 2.59079544e+02] [-1.15366129e-01 9.93322930e-01 -4.62492265e-04 -2.42417275e+01] [-3.72529868e-03 3.29356824e-05 9.99993061e-01 -1.11175380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.14, Y:-24.25, Z:-1.11 [[ 9.93060398e-01 1.17547362e-01 3.69654533e-03 2.59141191e+02] [-1.17546453e-01 9.93067277e-01 -4.63127647e-04 -2.42464359e+01] [-3.72535764e-03 2.53979344e-05 9.99993061e-01 -1.10653545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.20, Y:-24.25, Z:-1.11 [[ 9.93018711e-01 1.17899010e-01 3.69646607e-03 2.59203210e+02] [-1.17898101e-01 9.93025590e-01 -4.63759459e-04 -2.42546705e+01] [-3.72536218e-03 2.47154916e-05 9.99993061e-01 -1.10977637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:-24.26, Z:-1.12 [[ 9.92717007e-01 1.20412963e-01 3.69638671e-03 2.59265206e+02] [-1.20412068e-01 9.92723888e-01 -4.64391059e-04 -2.42607310e+01] [-3.72541010e-03 1.59193330e-05 9.99993061e-01 -1.11679792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:-24.27, Z:-1.11 [[ 9.92585259e-01 1.21494203e-01 3.69630617e-03 2.59327328e+02] [-1.21493314e-01 9.92592141e-01 -4.65031304e-04 -2.42685501e+01] [-3.72542306e-03 1.25067314e-05 9.99993061e-01 -1.11431680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.39, Y:-24.28, Z:-1.11 [[ 9.92297886e-01 1.23819395e-01 3.69621231e-03 2.59388686e+02] [-1.23818519e-01 9.92304770e-01 -4.65776142e-04 -2.42765659e+01] [-3.72544122e-03 4.52914716e-06 9.99993061e-01 -1.11244237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.45, Y:-24.28, Z:-1.12 [[ 9.92117682e-01 1.25255111e-01 3.69612516e-03 2.59449244e+02] [-1.25254242e-01 9.92124567e-01 -4.66466629e-04 -2.42849251e+01] [-3.72544391e-03 -1.65565206e-07 9.99993061e-01 -1.11682461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:-24.29, Z:-1.11 [[ 9.91863856e-01 1.27249483e-01 3.69605283e-03 2.59511512e+02] [-1.27248626e-01 9.91870742e-01 -4.67039045e-04 -2.42890056e+01] [-3.72543714e-03 -7.07849699e-06 9.99993061e-01 -1.11498057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88420382199996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:259.57, Y:-24.30, Z:-1.12 [[ 9.91613758e-01 1.29183958e-01 3.69597267e-03 2.59573258e+02] [-1.29183112e-01 9.91620646e-01 -4.67672545e-04 -2.42975148e+01] [-3.72541860e-03 -1.37067230e-05 9.99993061e-01 -1.11611319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.64, Y:-24.30, Z:-1.11 [[ 9.91264715e-01 1.31835520e-01 3.69589132e-03 2.59636751e+02] [-1.31834690e-01 9.91271605e-01 -4.68314538e-04 -2.42994009e+01] [-3.72537261e-03 -2.30230092e-05 9.99993061e-01 -1.11192677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.70, Y:-24.31, Z:-1.12 [[ 9.91301004e-01 1.31562381e-01 3.69579937e-03 2.59697638e+02] [-1.31561547e-01 9.91307893e-01 -4.69039075e-04 -2.43072069e+01] [-3.72538299e-03 -2.12661763e-05 9.99993061e-01 -1.11949918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.76, Y:-24.31, Z:-1.12 [[ 9.91869347e-01 1.27206680e-01 3.69572553e-03 2.59759414e+02] [-1.27205813e-01 9.91876232e-01 -4.69620148e-04 -2.43104225e+01] [-3.72544114e-03 -4.31594270e-06 9.99993061e-01 -1.11746170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.82, Y:-24.32, Z:-1.12 [[ 9.92427095e-01 1.22779488e-01 3.69565357e-03 2.59820874e+02] [-1.22778588e-01 9.92433976e-01 -4.70185809e-04 -2.43161849e+01] [-3.72542134e-03 1.28780102e-05 9.99993061e-01 -1.12096072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.88, Y:-24.33, Z:-1.12 [[ 9.92955731e-01 1.18428286e-01 3.69562969e-03 2.59882131e+02] [-1.18427355e-01 9.92962608e-01 -4.70373381e-04 -2.43257613e+01] [-3.72532761e-03 2.93962930e-05 9.99993061e-01 -1.12028707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244203822 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:259.94, Y:-24.33, Z:-1.13 [[ 9.93247335e-01 1.15957206e-01 3.69555092e-03 2.59944302e+02] [-1.15956257e-01 9.93254210e-01 -4.70991486e-04 -2.43330053e+01] [-3.72523636e-03 3.92887886e-05 9.99993061e-01 -1.12576508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.01, Y:-24.34, Z:-1.12 [[ 9.93203275e-01 1.16333994e-01 3.69547196e-03 2.60005672e+02] [-1.16333045e-01 9.93210149e-01 -4.71610144e-04 -2.43423826e+01] [-3.72524455e-03 3.84992339e-05 9.99993061e-01 -1.11769542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:-24.35, Z:-1.12 [[ 9.93148292e-01 1.16802461e-01 3.69538953e-03 2.60067316e+02] [-1.16801512e-01 9.93155166e-01 -4.72255208e-04 -2.43524602e+01] [-3.72525577e-03 3.73923681e-05 9.99993061e-01 -1.11844668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:-24.36, Z:-1.12 [[ 9.93018400e-01 1.17901662e-01 3.69530427e-03 2.60126954e+02] [-1.17900718e-01 9.93025275e-01 -4.72921411e-04 -2.43641806e+01] [-3.72528876e-03 3.39406367e-05 9.99993061e-01 -1.11999252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-24.38, Z:-1.12 [[ 9.92974191e-01 1.18273415e-01 3.69526212e-03 2.60187344e+02] [-1.18272472e-01 9.92981066e-01 -4.73250484e-04 -2.43784892e+01] [-3.72529827e-03 3.28777295e-05 9.99993061e-01 -1.11952856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544203822 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:260.25, Y:-24.39, Z:-1.12 [[ 9.92960634e-01 1.18387179e-01 3.69518616e-03 2.60248122e+02] [-1.18386236e-01 9.92967509e-01 -4.73842882e-04 -2.43910433e+01] [-3.72529672e-03 3.30481497e-05 9.99993061e-01 -1.12452601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.31, Y:-24.40, Z:-1.12 [[ 9.92499197e-01 1.22195293e-01 3.69510340e-03 2.60309037e+02] [-1.22194373e-01 9.92506076e-01 -4.74487385e-04 -2.44030591e+01] [-3.72539270e-03 1.94075061e-05 9.99993061e-01 -1.12207608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:-24.41, Z:-1.12 [[ 9.91830049e-01 1.27512748e-01 3.69502094e-03 2.60370355e+02] [-1.27511863e-01 9.91836932e-01 -4.75128619e-04 -2.44123492e+01] [-3.72544319e-03 8.78359792e-08 9.99993061e-01 -1.11913085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.43, Y:-24.42, Z:-1.12 [[ 9.91445732e-01 1.30467271e-01 3.69493899e-03 2.60430854e+02] [-1.30466404e-01 9.91452617e-01 -4.75765117e-04 -2.44209666e+01] [-3.72542870e-03 -1.03701078e-05 9.99993061e-01 -1.11639604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:-24.43, Z:-1.12 [[ 9.91686872e-01 1.28621520e-01 3.69486364e-03 2.60493795e+02] [-1.28620638e-01 9.91693755e-01 -4.76349583e-04 -2.44289035e+01] [-3.72544200e-03 -2.84608958e-06 9.99993061e-01 -1.11675887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:260.55, Y:-24.44, Z:-1.12 [[ 9.92418180e-01 1.22851559e-01 3.69476988e-03 2.60554921e+02] [-1.22850635e-01 9.92425057e-01 -4.77075708e-04 -2.44388347e+01] [-3.72539170e-03 1.95537812e-05 9.99993061e-01 -1.12330317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904203822 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:260.61, Y:-24.45, Z:-1.13 [[ 9.93052530e-01 1.17613871e-01 3.69468567e-03 2.60614430e+02] [-1.17612908e-01 9.93059402e-01 -4.77726957e-04 -2.44521017e+01] [-3.72522966e-03 3.98652372e-05 9.99993061e-01 -1.12823375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:-24.47, Z:-1.13 [[ 9.93564143e-01 1.13210619e-01 3.69460791e-03 2.60674453e+02] [-1.13209623e-01 9.93571010e-01 -4.78327575e-04 -2.44653377e+01] [-3.72500708e-03 5.69839594e-05 9.99993061e-01 -1.13083855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.73, Y:-24.48, Z:-1.12 [[ 9.93733127e-01 1.11717601e-01 3.69453494e-03 2.60734581e+02] [-1.11716593e-01 9.93739993e-01 -4.78890532e-04 -2.44814888e+01] [-3.72490763e-03 6.31485306e-05 9.99993061e-01 -1.12022989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.79, Y:-24.50, Z:-1.12 [[ 9.93570329e-01 1.13156318e-01 3.69445945e-03 2.60794864e+02] [-1.13155318e-01 9.93577196e-01 -4.79472231e-04 -2.44992551e+01] [-3.72498597e-03 5.83416501e-05 9.99993061e-01 -1.12211450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.85, Y:-24.51, Z:-1.13 [[ 9.92995416e-01 1.18095113e-01 3.69437586e-03 2.60854999e+02] [-1.18094144e-01 9.93002287e-01 -4.80115382e-04 -2.45134092e+01] [-3.72522296e-03 4.04682173e-05 9.99993061e-01 -1.12952418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.91, Y:-24.53, Z:-1.13 [[ 9.91963312e-01 1.26471894e-01 3.69429879e-03 2.60914600e+02] [-1.26470980e-01 9.91970191e-01 -4.80707725e-04 -2.45273386e+01] [-3.72543029e-03 9.62283716e-06 9.99993061e-01 -1.13030868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26420382199996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:-24.54, Z:-1.13 [[ 9.90837913e-01 1.35005860e-01 3.69425244e-03 2.60975648e+02] [-1.35005005e-01 9.90844800e-01 -4.81063660e-04 -2.45384097e+01] [-3.72537723e-03 -2.20864565e-05 9.99993061e-01 -1.13053506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:-24.55, Z:-1.13 [[ 9.89852077e-01 1.42053580e-01 3.69416917e-03 2.61036452e+02] [-1.42052771e-01 9.89858969e-01 -4.81702227e-04 -2.45468455e+01] [-3.72513401e-03 -4.79530188e-05 9.99993061e-01 -1.12662576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:-24.56, Z:-1.12 [[ 9.89339021e-01 1.45583844e-01 3.69409299e-03 2.61097227e+02] [-1.45583058e-01 9.89345916e-01 -4.82285739e-04 -2.45570370e+01] [-3.72494882e-03 -6.06532531e-05 9.99993061e-01 -1.12058252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.16, Y:-24.56, Z:-1.12 [[ 9.89119306e-01 1.47069208e-01 3.69401945e-03 2.61159294e+02] [-1.47068430e-01 9.89126202e-01 -4.82848348e-04 -2.45642417e+01] [-3.72486355e-03 -6.56790176e-05 9.99993061e-01 -1.11698570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.22, Y:-24.56, Z:-1.13 [[ 9.88858329e-01 1.48813842e-01 3.69393738e-03 2.61220861e+02] [-1.48813073e-01 9.88865226e-01 -4.83475437e-04 -2.45640151e+01] [-3.72475406e-03 -7.16174614e-05 9.99993061e-01 -1.12558406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.28, Y:-24.57, Z:-1.12 [[ 9.88778901e-01 1.49340684e-01 3.69386225e-03 2.61283935e+02] [-1.49339918e-01 9.88785798e-01 -4.84048718e-04 -2.45707349e+01] [-3.72472670e-03 -7.30239250e-05 9.99993061e-01 -1.12154200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.35, Y:-24.57, Z:-1.12 [[ 9.88708654e-01 1.49805053e-01 3.69376917e-03 2.61346367e+02] [-1.49804286e-01 9.88715551e-01 -4.84758007e-04 -2.45706450e+01] [-3.72470622e-03 -7.40580185e-05 9.99993061e-01 -1.12287833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.41, Y:-24.57, Z:-1.12 [[ 9.88851103e-01 1.48861857e-01 3.69375109e-03 2.61408357e+02] [-1.48861084e-01 9.88857999e-01 -4.84895688e-04 -2.45715879e+01] [-3.72477779e-03 -7.03661557e-05 9.99993061e-01 -1.12434535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744203822 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:261.47, Y:-24.57, Z:-1.13 [[ 9.89820338e-01 1.42274577e-01 3.69369154e-03 2.61471629e+02] [-1.42273756e-01 9.89827229e-01 -4.85348930e-04 -2.45680073e+01] [-3.72516927e-03 -4.51071269e-05 9.99993061e-01 -1.12581487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.804203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:261.53, Y:-24.57, Z:-1.13 [[ 9.91305773e-01 1.31526509e-01 3.69360645e-03 2.61533045e+02] [-1.31525611e-01 9.91312654e-01 -4.85995634e-04 -2.45739384e+01] [-3.72544012e-03 -4.03356648e-06 9.99993061e-01 -1.12901232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.864203822 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:-24.58, Z:-1.13 [[ 9.92360550e-01 1.23316248e-01 3.69352174e-03 2.61596281e+02] [-1.23315290e-01 9.92367423e-01 -4.86638535e-04 -2.45799725e+01] [-3.72534109e-03 2.74531787e-05 9.99993061e-01 -1.12929396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:-24.59, Z:-1.13 [[ 9.92983846e-01 1.18192386e-01 3.69342456e-03 2.61657775e+02] [-1.18191391e-01 9.92990714e-01 -4.87375016e-04 -2.45881219e+01] [-3.72514030e-03 4.74245336e-05 9.99993061e-01 -1.12780189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.984203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:261.72, Y:-24.59, Z:-1.13 [[ 9.93181673e-01 1.16518340e-01 3.69333421e-03 2.61719873e+02] [-1.16517331e-01 9.93188539e-01 -4.88058701e-04 -2.45939378e+01] [-3.72504500e-03 5.43935143e-05 9.99993061e-01 -1.12892801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.78, Y:-24.60, Z:-1.12 [[ 9.92861760e-01 1.19213616e-01 3.69325165e-03 2.61781697e+02] [-1.19212623e-01 9.92868628e-01 -4.88682687e-04 -2.46036544e+01] [-3.72517132e-03 4.49121372e-05 9.99993061e-01 -1.12132817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:-24.61, Z:-1.12 [[ 9.92088514e-01 1.25486020e-01 3.69316688e-03 2.61843356e+02] [-1.25485068e-01 9.92095388e-01 -4.89322488e-04 -2.46104774e+01] [-3.72537696e-03 2.20139242e-05 9.99993061e-01 -1.12157152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.91, Y:-24.62, Z:-1.12 [[ 9.91351847e-01 1.31178798e-01 3.69308120e-03 2.61906274e+02] [-1.31177883e-01 9.91358726e-01 -4.89968278e-04 -2.46155379e+01] [-3.72544172e-03 1.28038266e-06 9.99993061e-01 -1.11884583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:-24.62, Z:-1.12 [[ 9.91087685e-01 1.33159914e-01 3.69298007e-03 2.61968965e+02] [-1.33159010e-01 9.91094565e-01 -4.90729307e-04 -2.46221679e+01] [-3.72543795e-03 -5.39779632e-06 9.99993061e-01 -1.12040477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:-24.63, Z:-1.13 [[ 9.91547648e-01 1.29690493e-01 3.69288012e-03 2.62029014e+02] [-1.29689562e-01 9.91554525e-01 -4.91480302e-04 -2.46324804e+01] [-3.72543232e-03 8.39813168e-06 9.99993061e-01 -1.12573660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:262.09, Y:-24.64, Z:-1.13 [[ 9.91775764e-01 1.27934349e-01 3.69279982e-03 2.62090397e+02] [-1.27933404e-01 9.91782639e-01 -4.92082929e-04 -2.46419900e+01] [-3.72540906e-03 1.56034736e-05 9.99993061e-01 -1.13100890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:-24.65, Z:-1.13 [[ 9.91360543e-01 1.31113074e-01 3.69271386e-03 2.62152607e+02] [-1.31112149e-01 9.91367420e-01 -4.92727117e-04 -2.46496512e+01] [-3.72543918e-03 4.31057301e-06 9.99993061e-01 -1.13183955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464203822 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:262.22, Y:-24.66, Z:-1.13 [[ 9.90774355e-01 1.35471553e-01 3.69268327e-03 2.62215520e+02] [-1.35470657e-01 9.90781236e-01 -4.92956275e-04 -2.46581019e+01] [-3.72542285e-03 -1.18417941e-05 9.99993061e-01 -1.13144572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:262.28, Y:-24.66, Z:-1.13 [[ 9.90304858e-01 1.38861991e-01 3.69258625e-03 2.62277442e+02] [-1.38861115e-01 9.90311742e-01 -4.93681971e-04 -2.46636369e+01] [-3.72536518e-03 -2.38609914e-05 9.99993061e-01 -1.13272913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.34, Y:-24.67, Z:-1.13 [[ 9.89993457e-01 1.41064955e-01 3.69250152e-03 2.62339358e+02] [-1.41064092e-01 9.90000342e-01 -4.94314876e-04 -2.46704903e+01] [-3.72530828e-03 -3.15108829e-05 9.99993061e-01 -1.12949425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.40, Y:-24.68, Z:-1.12 [[ 9.89922315e-01 1.41563329e-01 3.69244171e-03 2.62400859e+02] [-1.41562468e-01 9.89929201e-01 -4.94761270e-04 -2.46757450e+01] [-3.72529592e-03 -3.29359394e-05 9.99993061e-01 -1.12201215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.46, Y:-24.68, Z:-1.12 [[ 9.90220261e-01 1.39463979e-01 3.69236114e-03 2.62461407e+02] [-1.39463101e-01 9.90227145e-01 -4.95361789e-04 -2.46818644e+01] [-3.72536136e-03 -2.44308562e-05 9.99993061e-01 -1.12186391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.52, Y:-24.69, Z:-1.12 [[ 9.90664208e-01 1.36274697e-01 3.69231455e-03 2.62523582e+02] [-1.36273796e-01 9.90671089e-01 -4.95708844e-04 -2.46908722e+01] [-3.72542185e-03 -1.20847122e-05 9.99993061e-01 -1.12053323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:-24.70, Z:-1.12 [[ 9.91293566e-01 1.31618512e-01 3.69221631e-03 2.62584548e+02] [-1.31617575e-01 9.91300443e-01 -4.96439518e-04 -2.47000648e+01] [-3.72543629e-03 6.15674189e-06 9.99993061e-01 -1.12450990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:-24.71, Z:-1.13 [[ 9.91682827e-01 1.28652781e-01 3.69213139e-03 2.62646129e+02] [-1.28651822e-01 9.91689700e-01 -4.97070294e-04 -2.47115365e+01] [-3.72539814e-03 1.79366448e-05 9.99993061e-01 -1.12749971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.71, Y:-24.72, Z:-1.13 [[ 9.91693969e-01 1.28566876e-01 3.69203530e-03 2.62706846e+02] [-1.28565913e-01 9.91700841e-01 -4.97782930e-04 -2.47225067e+01] [-3.72539291e-03 1.89784383e-05 9.99993061e-01 -1.12827898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00420382199997 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:262.77, Y:-24.73, Z:-1.14 [[ 9.91302311e-01 1.31552645e-01 3.69195226e-03 2.62766697e+02] [-1.31551702e-01 9.91309186e-01 -4.98398095e-04 -2.47316131e+01] [-3.72543178e-03 8.38058088e-06 9.99993061e-01 -1.13952510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06420382199997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:262.83, Y:-24.74, Z:-1.14 [[ 9.91023700e-01 1.33635309e-01 3.69195226e-03 2.62828055e+02] [-1.33634380e-01 9.91030577e-01 -4.98398095e-04 -2.47436109e+01] [-3.72544116e-03 5.52574254e-07 9.99993061e-01 -1.14098220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.89, Y:-24.76, Z:-1.13 [[ 9.91256431e-01 1.31897908e-01 3.69186980e-03 2.62887813e+02] [-1.31896965e-01 9.91263306e-01 -4.99008161e-04 -2.47565398e+01] [-3.72543320e-03 7.69862865e-06 9.99993061e-01 -1.12866131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.95, Y:-24.77, Z:-1.13 [[ 9.91571128e-01 1.29510877e-01 3.69186373e-03 2.62948571e+02] [-1.29509917e-01 9.91578001e-01 -4.99053049e-04 -2.47695149e+01] [-3.72540366e-03 1.67136297e-05 9.99993061e-01 -1.12904032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.01, Y:-24.79, Z:-1.13 [[ 9.91558568e-01 1.29607011e-01 3.69177351e-03 2.63009773e+02] [-1.29606048e-01 9.91565440e-01 -4.99719560e-04 -2.47889974e+01] [-3.72540219e-03 1.70250347e-05 9.99993061e-01 -1.12645980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.07, Y:-24.80, Z:-1.13 [[ 9.91243042e-01 1.31998499e-01 3.69167659e-03 2.63070880e+02] [-1.31997550e-01 9.91249916e-01 -5.00434588e-04 -2.48001070e+01] [-3.72543072e-03 8.76003623e-06 9.99993061e-01 -1.12654324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.13, Y:-24.82, Z:-1.13 [[ 9.90050082e-01 1.40667008e-01 3.69159041e-03 2.63130026e+02] [-1.40666117e-01 9.90056964e-01 -5.01069513e-04 -2.48169025e+01] [-3.72536874e-03 -2.31977775e-05 9.99993061e-01 -1.13396353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.424203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:263.19, Y:-24.83, Z:-1.13 [[ 9.89750198e-01 1.42761751e-01 3.69151140e-03 2.63191610e+02] [-1.42760873e-01 9.89757082e-01 -5.01650914e-04 -2.48261762e+01] [-3.72531611e-03 -3.04942989e-05 9.99993061e-01 -1.13253546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.25, Y:-24.84, Z:-1.13 [[ 9.89288873e-01 1.45924294e-01 3.69143229e-03 2.63252590e+02] [-1.45923436e-01 9.89295759e-01 -5.02232332e-04 -2.48404007e+01] [-3.72520621e-03 -4.18136264e-05 9.99993061e-01 -1.12971614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.31, Y:-24.86, Z:-1.13 [[ 9.89271094e-01 1.46044777e-01 3.69134948e-03 2.63312960e+02] [-1.46043917e-01 9.89277980e-01 -5.02840302e-04 -2.48562026e+01] [-3.72520795e-03 -4.16537609e-05 9.99993061e-01 -1.12866029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:-24.86, Z:-1.14 [[ 9.89021589e-01 1.47724982e-01 3.69126318e-03 2.63373861e+02] [-1.47724132e-01 9.89028477e-01 -5.03472995e-04 -2.48641913e+01] [-3.72513994e-03 -4.73429857e-05 9.99993061e-01 -1.13739301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.43, Y:-24.87, Z:-1.14 [[ 9.88630718e-01 1.50318591e-01 3.69125092e-03 2.63433987e+02] [-1.50317758e-01 9.88637607e-01 -5.03562869e-04 -2.48725069e+01] [-3.72500434e-03 -5.70228407e-05 9.99993061e-01 -1.14454721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.50, Y:-24.88, Z:-1.13 [[ 9.88605858e-01 1.50482000e-01 3.69117238e-03 2.63496310e+02] [-1.50481167e-01 9.88612747e-01 -5.04137913e-04 -2.48831768e+01] [-3.72500375e-03 -5.70582326e-05 9.99993061e-01 -1.13303664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.56, Y:-24.89, Z:-1.13 [[ 9.88791910e-01 1.49254595e-01 3.69107644e-03 2.63558546e+02] [-1.49253750e-01 9.88798798e-01 -5.04839373e-04 -2.48870598e+01] [-3.72508154e-03 -5.17259119e-05 9.99993061e-01 -1.13214050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.62, Y:-24.89, Z:-1.13 [[ 9.89280441e-01 1.45981456e-01 3.69099245e-03 2.63620559e+02] [-1.45980587e-01 9.89287326e-01 -5.05452705e-04 -2.48914587e+01] [-3.72523877e-03 -3.87787676e-05 9.99993061e-01 -1.13304841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.68, Y:-24.90, Z:-1.13 [[ 9.89108672e-01 1.47140790e-01 3.69090613e-03 2.63682187e+02] [-1.47139926e-01 9.89115557e-01 -5.06082195e-04 -2.48988583e+01] [-3.72519801e-03 -4.25093680e-05 9.99993061e-01 -1.13377609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.74, Y:-24.90, Z:-1.14 [[ 9.88916844e-01 1.48424571e-01 3.69081958e-03 2.63743599e+02] [-1.48423714e-01 9.88923730e-01 -5.06712649e-04 -2.49036337e+01] [-3.72514767e-03 -4.67084754e-05 9.99993061e-01 -1.13525016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024203822 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:263.81, Y:-24.90, Z:-1.13 [[ 9.88710427e-01 1.49793423e-01 3.69073997e-03 2.63806877e+02] [-1.49792572e-01 9.88717314e-01 -5.07291867e-04 -2.49005908e+01] [-3.72508749e-03 -5.12806746e-05 9.99993061e-01 -1.13167266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:263.87, Y:-24.90, Z:-1.13 [[ 9.88995643e-01 1.47898604e-01 3.69065053e-03 2.63867800e+02] [-1.47897738e-01 9.89002528e-01 -5.07941676e-04 -2.49021071e+01] [-3.72518657e-03 -4.34867627e-05 9.99993061e-01 -1.13104232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:263.93, Y:-24.90, Z:-1.13 [[ 9.89522797e-01 1.44329531e-01 3.69060614e-03 2.63930210e+02] [-1.44328639e-01 9.89529679e-01 -5.08264016e-04 -2.49025497e+01] [-3.72532182e-03 -2.97213321e-05 9.99993061e-01 -1.13044212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:263.99, Y:-24.91, Z:-1.13 [[ 9.90369147e-01 1.38402790e-01 3.69051968e-03 2.63993791e+02] [-1.38401855e-01 9.90376023e-01 -5.08891010e-04 -2.49058235e+01] [-3.72543414e-03 -6.78481402e-06 9.99993061e-01 -1.13143304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26420382199996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:264.06, Y:-24.91, Z:-1.13 [[ 9.91448190e-01 1.30448713e-01 3.69042037e-03 2.64055522e+02] [-1.30447719e-01 9.91455058e-01 -5.09610206e-04 -2.49129395e+01] [-3.72536394e-03 2.38451951e-05 9.99993061e-01 -1.13278968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32420382199996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:264.12, Y:-24.92, Z:-1.14 [[ 9.92032222e-01 1.25930343e-01 3.69033364e-03 2.64117344e+02] [-1.25929316e-01 9.92039085e-01 -5.10237459e-04 -2.49227360e+01] [-3.72520959e-03 4.14508093e-05 9.99993061e-01 -1.13638233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:264.18, Y:-24.93, Z:-1.14 [[ 9.92118079e-01 1.25252144e-01 3.69030238e-03 2.64178035e+02] [-1.25251111e-01 9.92124941e-01 -5.10463469e-04 -2.49323139e+01] [-3.72517768e-03 4.42255620e-05 9.99993061e-01 -1.13531405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:264.24, Y:-24.94, Z:-1.13 [[ 9.91980523e-01 1.26336950e-01 3.69022197e-03 2.64239440e+02] [-1.26335922e-01 9.91987386e-01 -5.11044130e-04 -2.49430606e+01] [-3.72521740e-03 4.07382267e-05 9.99993061e-01 -1.13385912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:264.30, Y:-24.95, Z:-1.14 [[ 9.91371478e-01 1.31030439e-01 3.69013290e-03 2.64300885e+02] [-1.31029442e-01 9.91378345e-01 -5.11686441e-04 -2.49519655e+01] [-3.72536435e-03 2.37552896e-05 9.99993061e-01 -1.13552049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.36, Y:-24.96, Z:-1.13 [[ 9.90525528e-01 1.37279140e-01 3.69004415e-03 2.64362025e+02] [-1.37278184e-01 9.90532401e-01 -5.12325702e-04 -2.49606086e+01] [-3.72543992e-03 9.09126837e-07 9.99993061e-01 -1.13196954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.42, Y:-24.97, Z:-1.13 [[ 9.89743910e-01 1.42805384e-01 3.68996090e-03 2.64422773e+02] [-1.42804464e-01 9.89750788e-01 -5.12924597e-04 -2.49673268e+01] [-3.72539010e-03 -1.92788920e-05 9.99993061e-01 -1.12641024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:-24.97, Z:-1.13 [[ 9.89227215e-01 1.46341730e-01 3.68987866e-03 2.64483846e+02] [-1.46340832e-01 9.89234096e-01 -5.13515501e-04 -2.49728579e+01] [-3.72530253e-03 -3.19964050e-05 9.99993061e-01 -1.12842262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.55, Y:-24.98, Z:-1.13 [[ 9.88764342e-01 1.49437151e-01 3.68979823e-03 2.64545453e+02] [-1.49436273e-01 9.88771225e-01 -5.14092809e-04 -2.49780939e+01] [-3.72519088e-03 -4.30730571e-05 9.99993061e-01 -1.12622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.61, Y:-24.98, Z:-1.13 [[ 9.88479506e-01 1.51309789e-01 3.68975218e-03 2.64606021e+02] [-1.51308922e-01 9.88486391e-01 -5.14423121e-04 -2.49784795e+01] [-3.72510707e-03 -4.97957135e-05 9.99993061e-01 -1.13306093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.864203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:264.67, Y:-24.98, Z:-1.14 [[ 9.88477881e-01 1.51320403e-01 3.68974608e-03 2.64668285e+02] [-1.51319536e-01 9.88484766e-01 -5.14466857e-04 -2.49849461e+01] [-3.72510712e-03 -4.97915570e-05 9.99993061e-01 -1.13687159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.924203822 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:264.73, Y:-24.99, Z:-1.13 [[ 9.89366866e-01 1.45394602e-01 3.68966155e-03 2.64729862e+02] [-1.45393692e-01 9.89373746e-01 -5.15072372e-04 -2.49907465e+01] [-3.72534301e-03 -2.68579763e-05 9.99993061e-01 -1.13493597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.984203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:264.79, Y:-25.00, Z:-1.13 [[ 9.90012956e-01 1.40928113e-01 3.68957603e-03 2.64791441e+02] [-1.40927170e-01 9.90019832e-01 -5.15684266e-04 -2.49979135e+01] [-3.72542785e-03 -9.42740336e-06 9.99993061e-01 -1.13240482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.85, Y:-25.01, Z:-1.13 [[ 9.90710908e-01 1.35934853e-01 3.68948790e-03 2.64852697e+02] [-1.35933873e-01 9.90717778e-01 -5.16314003e-04 -2.50057856e+01] [-3.72542632e-03 9.99153699e-06 9.99993061e-01 -1.12971882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:264.91, Y:-25.02, Z:-1.13 [[ 9.91054534e-01 1.33406516e-01 3.68939826e-03 2.64913870e+02] [-1.33405516e-01 9.91061401e-01 -5.16953756e-04 -2.50179204e+01] [-3.72538521e-03 2.01432847e-05 9.99993061e-01 -1.13123835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164203822 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:264.98, Y:-25.03, Z:-1.13 [[ 9.91241314e-01 1.32011543e-01 3.68930704e-03 2.64975145e+02] [-1.32010530e-01 9.91248179e-01 -5.17603953e-04 -2.50301107e+01] [-3.72534858e-03 2.60430434e-05 9.99993061e-01 -1.13359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:265.04, Y:-25.05, Z:-1.14 [[ 9.91034205e-01 1.33557459e-01 3.68921030e-03 2.65036032e+02] [-1.33556455e-01 9.91041071e-01 -5.18292494e-04 -2.50463311e+01] [-3.72538076e-03 2.09277377e-05 9.99993061e-01 -1.13537013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:-25.06, Z:-1.14 [[ 9.90794784e-01 1.35322154e-01 3.68912050e-03 2.65097492e+02] [-1.35321160e-01 9.90801652e-01 -5.18930890e-04 -2.50594130e+01] [-3.72540954e-03 1.49379525e-05 9.99993061e-01 -1.13653059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.16, Y:-25.07, Z:-1.13 [[ 9.90611541e-01 1.36657108e-01 3.68908842e-03 2.65159063e+02] [-1.36656123e-01 9.90618410e-01 -5.19158877e-04 -2.50706132e+01] [-3.72542566e-03 1.01482557e-05 9.99993061e-01 -1.12988159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404203822 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:265.22, Y:-25.09, Z:-1.13 [[ 9.90582707e-01 1.36865962e-01 3.68906220e-03 2.65220060e+02] [-1.36864977e-01 9.90589576e-01 -5.19345152e-04 -2.50866808e+01] [-3.72542723e-03 9.55091300e-06 9.99993061e-01 -1.13353836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.28, Y:-25.10, Z:-1.13 [[ 9.90542594e-01 1.37155973e-01 3.68902987e-03 2.65280936e+02] [-1.37154990e-01 9.90549463e-01 -5.19574653e-04 -2.51020466e+01] [-3.72542933e-03 8.69197101e-06 9.99993061e-01 -1.12961423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.34, Y:-25.12, Z:-1.14 [[ 9.90267085e-01 1.39131205e-01 3.68893828e-03 2.65340856e+02] [-1.39130232e-01 9.90273956e-01 -5.20224160e-04 -2.51170717e+01] [-3.72543891e-03 1.91802345e-06 9.99993061e-01 -1.14037743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.40, Y:-25.13, Z:-1.13 [[ 9.89573961e-01 1.43978360e-01 3.68888625e-03 2.65402535e+02] [-1.43977420e-01 9.89580836e-01 -5.20592807e-04 -2.51279338e+01] [-3.72540524e-03 -1.59512380e-05 9.99993061e-01 -1.13316677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:-25.14, Z:-1.14 [[ 9.88921875e-01 1.48391099e-01 3.68879581e-03 2.65463149e+02] [-1.48390187e-01 9.88928754e-01 -5.21232860e-04 -2.51353806e+01] [-3.72530256e-03 -3.19225231e-05 9.99993061e-01 -1.13915187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.52, Y:-25.15, Z:-1.13 [[ 9.88954862e-01 1.48171097e-01 3.68871301e-03 2.65524666e+02] [-1.48170182e-01 9.88961741e-01 -5.21818155e-04 -2.51466709e+01] [-3.72531441e-03 -3.05026760e-05 9.99993061e-01 -1.13449529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76420382199996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:265.58, Y:-25.15, Z:-1.14 [[ 9.89496498e-01 1.44509771e-01 3.68862040e-03 2.65584470e+02] [-1.44508827e-01 9.89503373e-01 -5.22472003e-04 -2.51547327e+01] [-3.72540464e-03 -1.60539896e-05 9.99993061e-01 -1.13528492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.65, Y:-25.16, Z:-1.13 [[ 9.90010461e-01 1.40945665e-01 3.68861385e-03 2.65645426e+02] [-1.40944697e-01 9.90017333e-01 -5.22518243e-04 -2.51642480e+01] [-3.72543833e-03 -2.59203461e-06 9.99993061e-01 -1.13242795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.71, Y:-25.18, Z:-1.13 [[ 9.90261596e-01 1.39170279e-01 3.68856491e-03 2.65706799e+02] [-1.39169297e-01 9.90268465e-01 -5.22863498e-04 -2.51758012e+01] [-3.72543657e-03 4.43665559e-06 9.99993061e-01 -1.13396476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:265.77, Y:-25.19, Z:-1.14 [[ 9.90323434e-01 1.38729560e-01 3.68847550e-03 2.65767870e+02] [-1.38728572e-01 9.90330303e-01 -5.23493454e-04 -2.51851008e+01] [-3.72543308e-03 6.73089613e-06 9.99993061e-01 -1.13623226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.83, Y:-25.19, Z:-1.13 [[ 9.90078569e-01 1.40466449e-01 3.68838357e-03 2.65828154e+02] [-1.40465471e-01 9.90085439e-01 -5.24140378e-04 -2.51941096e+01] [-3.72543900e-03 8.49618552e-07 9.99993061e-01 -1.13295972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:265.89, Y:-25.20, Z:-1.13 [[ 9.89655127e-01 1.43419406e-01 3.68829913e-03 2.65889814e+02] [-1.43418447e-01 9.89662000e-01 -5.24733908e-04 -2.52020924e+01] [-3.72542652e-03 -9.66452954e-06 9.99993061e-01 -1.13276352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.95, Y:-25.21, Z:-1.13 [[ 9.89052630e-01 1.47517093e-01 3.68820804e-03 2.65952230e+02] [-1.47516160e-01 9.89059506e-01 -5.25373354e-04 -2.52060846e+01] [-3.72535877e-03 -2.44483883e-05 9.99993061e-01 -1.12968235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:266.01, Y:-25.21, Z:-1.13 [[ 9.88529768e-01 1.50981109e-01 3.68811557e-03 2.66014294e+02] [-1.50980197e-01 9.88536648e-01 -5.26021677e-04 -2.52078939e+01] [-3.72525674e-03 -3.68443280e-05 9.99993061e-01 -1.13463505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:266.08, Y:-25.21, Z:-1.14 [[ 9.88639585e-01 1.50260341e-01 3.68802384e-03 2.66075828e+02] [-1.50259421e-01 9.88646463e-01 -5.26664030e-04 -2.52102388e+01] [-3.72528844e-03 -3.34794210e-05 9.99993061e-01 -1.13615621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:-25.22, Z:-1.13 [[ 9.89766921e-01 1.42645856e-01 3.68793962e-03 2.66137177e+02] [-1.42644882e-01 9.89773792e-01 -5.27253132e-04 -2.52170265e+01] [-3.72543646e-03 -4.20800332e-06 9.99993061e-01 -1.13029828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.20, Y:-25.22, Z:-1.13 [[ 9.90630327e-01 1.36520899e-01 3.68785412e-03 2.66198640e+02] [-1.36519880e-01 9.90637191e-01 -5.27850458e-04 -2.52246547e+01] [-3.72538807e-03 1.94392691e-05 9.99993061e-01 -1.13449985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.26, Y:-25.23, Z:-1.14 [[ 9.90888594e-01 1.34633556e-01 3.68783389e-03 2.66258861e+02] [-1.34632524e-01 9.90895456e-01 -5.27991767e-04 -2.52339495e+01] [-3.72534326e-03 2.66786360e-05 9.99993061e-01 -1.13930107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.484203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:-25.25, Z:-1.14 [[ 9.90766981e-01 1.35525604e-01 3.68774701e-03 2.66320223e+02] [-1.35524575e-01 9.90773844e-01 -5.28597909e-04 -2.52463889e+01] [-3.72536183e-03 2.39370088e-05 9.99993061e-01 -1.13782995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:-25.26, Z:-1.15 [[ 9.90334087e-01 1.38653519e-01 3.68765363e-03 2.66380470e+02] [-1.38652509e-01 9.90340952e-01 -5.29248544e-04 -2.52552229e+01] [-3.72541658e-03 1.28304439e-05 9.99993061e-01 -1.14687752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604203822 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:266.44, Y:-25.26, Z:-1.15 [[ 9.90102176e-01 1.40299975e-01 3.68756781e-03 2.66441454e+02] [-1.40298975e-01 9.90109043e-01 -5.29845823e-04 -2.52648579e+01] [-3.72543159e-03 7.23951882e-06 9.99993061e-01 -1.14585718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:-25.28, Z:-1.15 [[ 9.90226871e-01 1.39417164e-01 3.68747584e-03 2.66502624e+02] [-1.39416155e-01 9.90233737e-01 -5.30485143e-04 -2.52782619e+01] [-3.72542171e-03 1.12069387e-05 9.99993061e-01 -1.14537823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724203822 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:-25.29, Z:-1.14 [[ 9.89868865e-01 1.41936722e-01 3.68738500e-03 2.66563870e+02] [-1.41935728e-01 9.89875733e-01 -5.31115793e-04 -2.52882609e+01] [-3.72543777e-03 2.36331268e-06 9.99993061e-01 -1.13988653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784203822 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:266.63, Y:-25.30, Z:-1.14 [[ 9.89262728e-01 1.46101533e-01 3.68735853e-03 2.66625370e+02] [-1.46100568e-01 9.89269600e-01 -5.31299502e-04 -2.52986887e+01] [-3.72541537e-03 -1.31303800e-05 9.99993061e-01 -1.13720912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.69, Y:-25.31, Z:-1.13 [[ 9.88984441e-01 1.47973579e-01 3.68726367e-03 2.66685473e+02] [-1.47972624e-01 9.88991314e-01 -5.31957032e-04 -2.53095593e+01] [-3.72538733e-03 -1.95168544e-05 9.99993061e-01 -1.13406927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:266.75, Y:-25.32, Z:-1.14 [[ 9.88854163e-01 1.48841689e-01 3.68717650e-03 2.66747199e+02] [-1.48840738e-01 9.88861037e-01 -5.32560567e-04 -2.53193979e+01] [-3.72537239e-03 -2.21773358e-05 9.99993061e-01 -1.13691894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:266.81, Y:-25.33, Z:-1.13 [[ 9.88683015e-01 1.49974336e-01 3.68708312e-03 2.66808855e+02] [-1.49973390e-01 9.88689890e-01 -5.33206231e-04 -2.53296139e+01] [-3.72534906e-03 -2.57924120e-05 9.99993061e-01 -1.13340845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.87, Y:-25.34, Z:-1.13 [[ 9.88284212e-01 1.52580217e-01 3.68698932e-03 2.66869095e+02] [-1.52579287e-01 9.88291089e-01 -5.33854068e-04 -2.53375671e+01] [-3.72527426e-03 -3.49586565e-05 9.99993061e-01 -1.12912367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:266.93, Y:-25.35, Z:-1.13 [[ 9.87983768e-01 1.54513693e-01 3.68697596e-03 2.66929641e+02] [-1.54512776e-01 9.87990646e-01 -5.33946342e-04 -2.53456235e+01] [-3.72519978e-03 -4.21545722e-05 9.99993061e-01 -1.13232382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144203822 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:266.99, Y:-25.35, Z:-1.14 [[ 9.87568387e-01 1.57146709e-01 3.68696281e-03 2.66990966e+02] [-1.57145810e-01 9.87575268e-01 -5.34037151e-04 -2.53545119e+01] [-3.72507546e-03 -5.19925486e-05 9.99993061e-01 -1.13637888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:267.05, Y:-25.36, Z:-1.14 [[ 9.86920702e-01 1.61164311e-01 3.68686704e-03 2.67052415e+02] [-1.61163437e-01 9.86927586e-01 -5.34697504e-04 -2.53584753e+01] [-3.72484494e-03 -6.64841286e-05 9.99993061e-01 -1.13721769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.11, Y:-25.37, Z:-1.13 [[ 9.86757841e-01 1.62158472e-01 3.68677943e-03 2.67114757e+02] [-1.62157604e-01 9.86764726e-01 -5.35300885e-04 -2.53664187e+01] [-3.72478747e-03 -6.96269716e-05 9.99993061e-01 -1.13287262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.18, Y:-25.37, Z:-1.13 [[ 9.86468385e-01 1.63910141e-01 3.68667603e-03 2.67176324e+02] [-1.63909281e-01 9.86475271e-01 -5.36012071e-04 -2.53676575e+01] [-3.72467255e-03 -7.55214566e-05 9.99993061e-01 -1.13395312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:-25.37, Z:-1.13 [[ 9.86687189e-01 1.62587824e-01 3.68659297e-03 2.67238241e+02] [-1.62586953e-01 9.86694074e-01 -5.36582744e-04 -2.53710719e+01] [-3.72478125e-03 -6.99525992e-05 9.99993061e-01 -1.13456748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44420382199996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:267.30, Y:-25.38, Z:-1.14 [[ 9.87344254e-01 1.58548835e-01 3.68650050e-03 2.67298422e+02] [-1.58547934e-01 9.87351135e-01 -5.37217290e-04 -2.53754858e+01] [-3.72504563e-03 -5.40686314e-05 9.99993061e-01 -1.14345881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.36, Y:-25.38, Z:-1.14 [[ 9.88269025e-01 1.52678564e-01 3.68649396e-03 2.67360740e+02] [-1.52677622e-01 9.88275900e-01 -5.37262167e-04 -2.53813850e+01] [-3.72530155e-03 -3.18855737e-05 9.99993061e-01 -1.13891900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.42, Y:-25.39, Z:-1.14 [[ 9.88900178e-01 1.48535684e-01 3.68639525e-03 2.67422477e+02] [-1.48534710e-01 9.88907048e-01 -5.37938608e-04 -2.53885225e+01] [-3.72540532e-03 -1.55900653e-05 9.99993061e-01 -1.13910523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.48, Y:-25.40, Z:-1.14 [[ 9.88894285e-01 1.48574909e-01 3.68630116e-03 2.67482836e+02] [-1.48573934e-01 9.88901156e-01 -5.38582598e-04 -2.53971162e+01] [-3.72540734e-03 -1.50870104e-05 9.99993061e-01 -1.14190687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684203822 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:267.54, Y:-25.40, Z:-1.14 [[ 9.88353088e-01 1.52133447e-01 3.68621432e-03 2.67544148e+02] [-1.52132494e-01 9.88359961e-01 -5.39176268e-04 -2.54046008e+01] [-3.72533339e-03 -2.78964503e-05 9.99993061e-01 -1.14381800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.61, Y:-25.41, Z:-1.14 [[ 9.87699299e-01 1.56321804e-01 3.68611990e-03 2.67606806e+02] [-1.56320878e-01 9.87706177e-01 -5.39821045e-04 -2.54108313e+01] [-3.72518919e-03 -4.30366294e-05 9.99993061e-01 -1.13910885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.67, Y:-25.42, Z:-1.14 [[ 9.87300023e-01 1.58824048e-01 3.68601058e-03 2.67667669e+02] [-1.58823136e-01 9.87306902e-01 -5.40566433e-04 -2.54173996e+01] [-3.72507864e-03 -5.17225106e-05 9.99993061e-01 -1.14459981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.73, Y:-25.43, Z:-1.14 [[ 9.87094893e-01 1.60093994e-01 3.68592299e-03 2.67729083e+02] [-1.60093089e-01 9.87101773e-01 -5.41163054e-04 -2.54270088e+01] [-3.72501807e-03 -5.59115113e-05 9.99993061e-01 -1.14211855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.79, Y:-25.43, Z:-1.14 [[ 9.87001760e-01 1.60667171e-01 3.68582920e-03 2.67790999e+02] [-1.60666268e-01 9.87008641e-01 -5.41801081e-04 -2.54322683e+01] [-3.72499492e-03 -5.74298023e-05 9.99993061e-01 -1.14103458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.85, Y:-25.44, Z:-1.14 [[ 9.87451328e-01 1.57880621e-01 3.68573586e-03 2.67852033e+02] [-1.57879696e-01 9.87458205e-01 -5.42435298e-04 -2.54417901e+01] [-3.72515014e-03 -4.62744035e-05 9.99993061e-01 -1.13958841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044203822 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:-25.45, Z:-1.14 [[ 9.87796835e-01 1.55704300e-01 3.68564166e-03 2.67914291e+02] [-1.55703357e-01 9.87803710e-01 -5.43074600e-04 -2.54503039e+01] [-3.72524956e-03 -3.74194084e-05 9.99993061e-01 -1.14288155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:267.98, Y:-25.46, Z:-1.15 [[ 9.88086436e-01 1.53855817e-01 3.68553305e-03 2.67975777e+02] [-1.53854858e-01 9.88093309e-01 -5.43810652e-04 -2.54564094e+01] [-3.72531898e-03 -2.97052375e-05 9.99993061e-01 -1.14702053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164203822 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:268.04, Y:-25.46, Z:-1.15 [[ 9.88544017e-01 1.50887851e-01 3.68543918e-03 2.68036394e+02] [-1.50886870e-01 9.88550887e-01 -5.44446110e-04 -2.54645922e+01] [-3.72539447e-03 -1.78754362e-05 9.99993061e-01 -1.14827541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224203822 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:268.10, Y:-25.47, Z:-1.15 [[ 9.89091092e-01 1.47259056e-01 3.68542534e-03 2.68096315e+02] [-1.47258049e-01 9.89097958e-01 -5.44539762e-04 -2.54733081e+01] [-3.72543509e-03 -4.10911754e-06 9.99993061e-01 -1.14521305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:268.16, Y:-25.48, Z:-1.14 [[ 9.89154710e-01 1.46831123e-01 3.68537753e-03 2.68157674e+02] [-1.46830112e-01 9.89161575e-01 -5.44863188e-04 -2.54835373e+01] [-3.72543671e-03 -2.17040477e-06 9.99993061e-01 -1.14316880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.22, Y:-25.50, Z:-1.14 [[ 9.88778366e-01 1.49344437e-01 3.68528245e-03 2.68218727e+02] [-1.49343441e-01 9.88785234e-01 -5.45505468e-04 -2.54956844e+01] [-3.72542108e-03 -1.09887589e-05 9.99993061e-01 -1.13750046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:268.28, Y:-25.51, Z:-1.14 [[ 9.87935233e-01 1.54823752e-01 3.68518766e-03 2.68280311e+02] [-1.54822792e-01 9.87942106e-01 -5.46145096e-04 -2.55066100e+01] [-3.72530829e-03 -3.09950595e-05 9.99993061e-01 -1.13675298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:-25.51, Z:-1.14 [[ 9.86781675e-01 1.62013412e-01 3.68509185e-03 2.68341299e+02] [-1.62012500e-01 9.86788554e-01 -5.46790824e-04 -2.55106937e+01] [-3.72499390e-03 -5.74677779e-05 9.99993061e-01 -1.13602925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.40, Y:-25.51, Z:-1.14 [[ 9.85609062e-01 1.69000586e-01 3.68500387e-03 2.68401890e+02] [-1.68999720e-01 9.85615947e-01 -5.47383090e-04 -2.55141216e+01] [-3.72450664e-03 -8.32588886e-05 9.99993061e-01 -1.13616831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.46, Y:-25.52, Z:-1.14 [[ 9.85050672e-01 1.72225415e-01 3.68500387e-03 2.68461234e+02] [-1.72224572e-01 9.85057560e-01 -5.47383090e-04 -2.55199135e+01] [-3.72421420e-03 -9.54481319e-05 9.99993061e-01 -1.13874351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.52, Y:-25.52, Z:-1.14 [[ 9.85704780e-01 1.68441408e-01 3.68501049e-03 2.68522169e+02] [-1.68440538e-01 9.85711665e-01 -5.47338529e-04 -2.55189142e+01] [-3.72455230e-03 -8.11909461e-05 9.99993061e-01 -1.14095265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.58, Y:-25.53, Z:-1.14 [[ 9.87260135e-01 1.59071829e-01 3.68501049e-03 2.68582315e+02] [-1.59070894e-01 9.87267011e-01 -5.47338529e-04 -2.55262927e+01] [-3.72515543e-03 -4.58124029e-05 9.99993061e-01 -1.14307207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.64, Y:-25.54, Z:-1.14 [[ 9.88838492e-01 1.48945823e-01 3.68500403e-03 2.68643744e+02] [-1.48944818e-01 9.88845358e-01 -5.47382040e-04 -2.55356108e+01] [-3.72542939e-03 -7.58982227e-06 9.99993061e-01 -1.14367153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:268.70, Y:-25.54, Z:-1.14 [[ 9.89614865e-01 1.43697041e-01 3.68491052e-03 2.68704987e+02] [-1.43695997e-01 9.89621726e-01 -5.48010801e-04 -2.55439505e+01] [-3.72541504e-03 1.28127446e-05 9.99993061e-01 -1.14086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.77, Y:-25.55, Z:-1.14 [[ 9.89723577e-01 1.42946366e-01 3.68482201e-03 2.68765811e+02] [-1.42945314e-01 9.89730436e-01 -5.48605285e-04 -2.55533203e+01] [-3.72540163e-03 1.62395451e-05 9.99993061e-01 -1.14270716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:268.83, Y:-25.56, Z:-1.15 [[ 9.89642399e-01 1.43507298e-01 3.68480832e-03 2.68826026e+02] [-1.43506250e-01 9.89649259e-01 -5.48697204e-04 -2.55612226e+01] [-3.72540988e-03 1.42209929e-05 9.99993061e-01 -1.14981999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.89, Y:-25.57, Z:-1.15 [[ 9.89784668e-01 1.42522744e-01 3.68477150e-03 2.68886778e+02] [-1.42521688e-01 9.89791527e-01 -5.48944361e-04 -2.55694085e+01] [-3.72539267e-03 1.81768579e-05 9.99993061e-01 -1.14576574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06420382199997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:268.95, Y:-25.58, Z:-1.15 [[ 9.90101030e-01 1.40308134e-01 3.68475797e-03 2.68948076e+02] [-1.40307063e-01 9.90107886e-01 -5.49035160e-04 -2.55822474e+01] [-3.72534203e-03 2.66027104e-05 9.99993061e-01 -1.14767181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.01, Y:-25.59, Z:-1.14 [[ 9.90187561e-01 1.39696162e-01 3.68466130e-03 2.69009269e+02] [-1.39695084e-01 9.90194416e-01 -5.49683188e-04 -2.55940551e+01] [-3.72531967e-03 2.95603857e-05 9.99993061e-01 -1.14308404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:269.07, Y:-25.61, Z:-1.15 [[ 9.89890609e-01 1.41785070e-01 3.68456411e-03 2.69069637e+02] [-1.41784003e-01 9.89897466e-01 -5.50333904e-04 -2.56058615e+01] [-3.72536980e-03 2.23581138e-05 9.99993061e-01 -1.14811377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:269.13, Y:-25.62, Z:-1.15 [[ 9.89222874e-01 1.46371210e-01 3.68447486e-03 2.69129984e+02] [-1.46370173e-01 9.89229735e-01 -5.50930771e-04 -2.56165516e+01] [-3.72543249e-03 5.69609677e-06 9.99993061e-01 -1.14529538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:-25.63, Z:-1.15 [[ 9.88596507e-01 1.50543587e-01 3.68446128e-03 2.69189053e+02] [-1.50542579e-01 9.88603373e-01 -5.51021557e-04 -2.56278594e+01] [-3.72542361e-03 -9.93031611e-06 9.99993061e-01 -1.14778325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:-25.64, Z:-1.15 [[ 9.88096920e-01 1.53788496e-01 3.68445454e-03 2.69249490e+02] [-1.53787510e-01 9.88103789e-01 -5.51066622e-04 -2.56382777e+01] [-3.72537120e-03 -2.21158597e-05 9.99993061e-01 -1.15003810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.424203822 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:-25.65, Z:-1.15 [[ 9.87647131e-01 1.56651107e-01 3.68444118e-03 2.69310499e+02] [-1.56650141e-01 9.87654003e-01 -5.51155952e-04 -2.56473558e+01] [-3.72529227e-03 -3.28206354e-05 9.99993061e-01 -1.15437302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:-25.66, Z:-1.15 [[ 9.86932708e-01 1.61090829e-01 3.68442064e-03 2.69370308e+02] [-1.61089893e-01 9.86939584e-01 -5.51293205e-04 -2.56593122e+01] [-3.72510885e-03 -4.94336309e-05 9.99993061e-01 -1.15172116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544203822 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:269.43, Y:-25.67, Z:-1.16 [[ 9.86393845e-01 1.64358170e-01 3.68441388e-03 2.69430980e+02] [-1.64357257e-01 9.86400724e-01 -5.51338367e-04 -2.56667813e+01] [-3.72492549e-03 -6.17233865e-05 9.99993061e-01 -1.15585339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.49, Y:-25.68, Z:-1.15 [[ 9.86296030e-01 1.64944130e-01 3.68440019e-03 2.69491570e+02] [-1.64943221e-01 9.86302910e-01 -5.51429840e-04 -2.56774406e+01] [-3.72488975e-03 -6.38437725e-05 9.99993061e-01 -1.15215910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.55, Y:-25.69, Z:-1.14 [[ 9.86646015e-01 1.62837546e-01 3.68438664e-03 2.69550978e+02] [-1.62836621e-01 9.86652893e-01 -5.51520375e-04 -2.56912755e+01] [-3.72501896e-03 -5.57976924e-05 9.99993061e-01 -1.14453912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.61, Y:-25.70, Z:-1.14 [[ 9.86798325e-01 1.61911984e-01 3.68437977e-03 2.69610763e+02] [-1.61911053e-01 9.86805202e-01 -5.51566294e-04 -2.56984748e+01] [-3.72507031e-03 -5.22571127e-05 9.99993061e-01 -1.13932832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.67, Y:-25.71, Z:-1.14 [[ 9.86842762e-01 1.61640927e-01 3.68437299e-03 2.69670927e+02] [-1.61639994e-01 9.86849638e-01 -5.51611553e-04 -2.57059124e+01] [-3.72508515e-03 -5.11881593e-05 9.99993061e-01 -1.13912424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.73, Y:-25.72, Z:-1.14 [[ 9.87007729e-01 1.60630535e-01 3.68436630e-03 2.69731867e+02] [-1.60629595e-01 9.87014604e-01 -5.51656212e-04 -2.57162761e+01] [-3.72513618e-03 -4.73293215e-05 9.99993061e-01 -1.14015614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:-25.72, Z:-1.15 [[ 9.87578640e-01 1.57082319e-01 3.68434639e-03 2.69791849e+02] [-1.57081354e-01 9.87585512e-01 -5.51789203e-04 -2.57216605e+01] [-3.72528344e-03 -3.38068875e-05 9.99993061e-01 -1.14655115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.85, Y:-25.73, Z:-1.15 [[ 9.88347934e-01 1.52166971e-01 3.68433981e-03 2.69853367e+02] [-1.52165971e-01 9.88354801e-01 -5.51833102e-04 -2.57281999e+01] [-3.72540571e-03 -1.52280384e-05 9.99993061e-01 -1.14540788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.91, Y:-25.74, Z:-1.15 [[ 9.89097003e-01 1.47219380e-01 3.68424791e-03 2.69914782e+02] [-1.47218343e-01 9.89103864e-01 -5.52445961e-04 -2.57376208e+01] [-3.72543460e-03 4.03376986e-06 9.99993061e-01 -1.14529103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.98, Y:-25.74, Z:-1.15 [[ 9.89248599e-01 1.46197252e-01 3.68415297e-03 2.69976256e+02] [-1.46196206e-01 9.89255459e-01 -5.53078420e-04 -2.57437716e+01] [-3.72542698e-03 8.52286540e-06 9.99993061e-01 -1.14628207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.04, Y:-25.75, Z:-1.14 [[ 9.88900685e-01 1.48532361e-01 3.68413948e-03 2.70037323e+02] [-1.48531331e-01 9.88907548e-01 -5.53168242e-04 -2.57514928e+01] [-3.72543672e-03 -1.81686785e-07 9.99993061e-01 -1.14071156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20420382199995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:270.10, Y:-25.76, Z:-1.14 [[ 9.88388900e-01 1.51900654e-01 3.68412600e-03 2.70097347e+02] [-1.51899647e-01 9.88395766e-01 -5.53258012e-04 -2.57576434e+01] [-3.72541479e-03 -1.27833625e-05 9.99993061e-01 -1.14494460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.16, Y:-25.76, Z:-1.14 [[ 9.87520759e-01 1.57445790e-01 3.68412600e-03 2.70157653e+02] [-1.57444822e-01 9.87527631e-01 -5.53258012e-04 -2.57642542e+01] [-3.72528436e-03 -3.36927898e-05 9.99993061e-01 -1.14194105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.22, Y:-25.77, Z:-1.14 [[ 9.86283054e-01 1.65021712e-01 3.68412600e-03 2.70216171e+02] [-1.65020796e-01 9.86289932e-01 -5.53258012e-04 -2.57689474e+01] [-3.72491597e-03 -6.22884047e-05 9.99993061e-01 -1.14415514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.28, Y:-25.77, Z:-1.14 [[ 9.85262872e-01 1.71007309e-01 3.68413888e-03 2.70275053e+02] [-1.71006435e-01 9.85269757e-01 -5.53172221e-04 -2.57707484e+01] [-3.72446711e-03 -8.49914060e-05 9.99993061e-01 -1.14176169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.33, Y:-25.77, Z:-1.14 [[ 9.85177261e-01 1.71499830e-01 3.68416534e-03 2.70333613e+02] [-1.71498961e-01 9.85184146e-01 -5.52995913e-04 -2.57714021e+01] [-3.72441999e-03 -8.70315288e-05 9.99993061e-01 -1.14394887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.39, Y:-25.78, Z:-1.15 [[ 9.85900026e-01 1.67294848e-01 3.68420201e-03 2.70392684e+02] [-1.67293950e-01 9.85906907e-01 -5.52751534e-04 -2.57757959e+01] [-3.72475269e-03 -7.13869557e-05 9.99993061e-01 -1.14701099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:-25.78, Z:-1.15 [[ 9.87010844e-01 1.60611393e-01 3.68422774e-03 2.70451230e+02] [-1.60610449e-01 9.87017719e-01 -5.52579977e-04 -2.57805421e+01] [-3.72514870e-03 -4.63230420e-05 9.99993061e-01 -1.15036067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.51, Y:-25.78, Z:-1.15 [[ 9.87847314e-01 1.55383753e-01 3.68425345e-03 2.70511280e+02] [-1.55382774e-01 9.87854184e-01 -5.52408535e-04 -2.57820171e+01] [-3.72534049e-03 -2.67742329e-05 9.99993061e-01 -1.15112767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.57, Y:-25.79, Z:-1.16 [[ 9.87917474e-01 1.54937054e-01 3.68426696e-03 2.70568905e+02] [-1.54936072e-01 9.87924344e-01 -5.52318410e-04 -2.57862480e+01] [-3.72535160e-03 -2.51808419e-05 9.99993061e-01 -1.15628446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.63, Y:-25.79, Z:-1.15 [[ 9.87829764e-01 1.55495285e-01 3.68430049e-03 2.70628349e+02] [-1.55494307e-01 9.87836634e-01 -5.52094607e-04 -2.57885668e+01] [-3.72533511e-03 -2.75122669e-05 9.99993061e-01 -1.14618793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.69, Y:-25.79, Z:-1.15 [[ 9.88114031e-01 1.53678518e-01 3.68432111e-03 2.70687087e+02] [-1.53677528e-01 9.88120900e-01 -5.51956966e-04 -2.57881028e+01] [-3.72537862e-03 -2.08009373e-05 9.99993061e-01 -1.14928399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.75, Y:-25.79, Z:-1.15 [[ 9.89316469e-01 1.45737264e-01 3.68435504e-03 2.70746011e+02] [-1.45736220e-01 9.89323329e-01 -5.51730426e-04 -2.57919460e+01] [-3.72542608e-03 8.89202038e-06 9.99993061e-01 -1.14825235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.924203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:270.80, Y:-25.80, Z:-1.15 [[ 9.90341341e-01 1.38601780e-01 3.68438134e-03 2.70804998e+02] [-1.38600687e-01 9.90348194e-01 -5.51554763e-04 -2.57982164e+01] [-3.72526687e-03 3.55696987e-05 9.99993061e-01 -1.14622223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:-25.80, Z:-1.15 [[ 9.90743442e-01 1.35697666e-01 3.68440870e-03 2.70862233e+02] [-1.35696554e-01 9.90750292e-01 -5.51371926e-04 -2.58039847e+01] [-3.72514888e-03 4.63065581e-05 9.99993061e-01 -1.14773084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:270.92, Y:-25.81, Z:-1.15 [[ 9.90792523e-01 1.35338838e-01 3.68444229e-03 2.70920146e+02] [-1.35337725e-01 9.90799373e-01 -5.51147345e-04 -2.58113491e+01] [-3.72513475e-03 4.74286326e-05 9.99993061e-01 -1.14803836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:270.98, Y:-25.82, Z:-1.15 [[ 9.90816285e-01 1.35164769e-01 3.68446964e-03 2.70978151e+02] [-1.35163654e-01 9.90823134e-01 -5.50964452e-04 -2.58158810e+01] [-3.72512874e-03 4.78981708e-05 9.99993061e-01 -1.14567745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:-25.83, Z:-1.14 [[ 9.90673014e-01 1.36210880e-01 3.68450343e-03 2.71035982e+02] [-1.36209773e-01 9.90679865e-01 -5.50738393e-04 -2.58262203e+01] [-3.72517992e-03 4.37362862e-05 9.99993061e-01 -1.14382507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.09, Y:-25.84, Z:-1.14 [[ 9.90242666e-01 1.39305015e-01 3.68453041e-03 2.71093911e+02] [-1.39303931e-01 9.90249520e-01 -5.50557841e-04 -2.58370351e+01] [-3.72529994e-03 3.19162951e-05 9.99993061e-01 -1.14124104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.15, Y:-25.85, Z:-1.14 [[ 9.89432237e-01 1.44949204e-01 3.68455797e-03 2.71150491e+02] [-1.44948160e-01 9.89439098e-01 -5.50373301e-04 -2.58469820e+01] [-3.72542189e-03 1.04871895e-05 9.99993061e-01 -1.14323517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.21, Y:-25.86, Z:-1.15 [[ 9.88766384e-01 1.49423767e-01 3.68459208e-03 2.71207149e+02] [-1.49422755e-01 9.88773249e-01 -5.50144882e-04 -2.58585968e+01] [-3.72543080e-03 -6.59713309e-06 9.99993061e-01 -1.14743696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.26, Y:-25.87, Z:-1.15 [[ 9.88251717e-01 1.52790597e-01 3.68462553e-03 2.71264436e+02] [-1.52789608e-01 9.88258586e-01 -5.49920771e-04 -2.58687165e+01] [-3.72538554e-03 -1.95123451e-05 9.99993061e-01 -1.15140460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.32, Y:-25.88, Z:-1.15 [[ 9.87970491e-01 1.54598613e-01 3.68465835e-03 2.71322205e+02] [-1.54597638e-01 9.87977362e-01 -5.49700763e-04 -2.58776023e+01] [-3.72534201e-03 -2.65513461e-05 9.99993061e-01 -1.14912524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.38, Y:-25.89, Z:-1.14 [[ 9.87846011e-01 1.55392025e-01 3.68467765e-03 2.71380673e+02] [-1.55391056e-01 9.87852883e-01 -5.49571349e-04 -2.58875952e+01] [-3.72531845e-03 -2.96740862e-05 9.99993061e-01 -1.14039293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584203822 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:271.44, Y:-25.90, Z:-1.14 [[ 9.87735040e-01 1.56095849e-01 3.68470491e-03 2.71438546e+02] [-1.56094886e-01 9.87741912e-01 -5.49388564e-04 -2.58960811e+01] [-3.72529474e-03 -3.25132550e-05 9.99993061e-01 -1.14376185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.50, Y:-25.91, Z:-1.14 [[ 9.87448959e-01 1.57895457e-01 3.68473184e-03 2.71496283e+02] [-1.57894507e-01 9.87455833e-01 -5.49207885e-04 -2.59059593e+01] [-3.72522738e-03 -3.94841619e-05 9.99993061e-01 -1.14043957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:-25.91, Z:-1.14 [[ 9.87158522e-01 1.59701202e-01 3.68475937e-03 2.71553563e+02] [-1.59700265e-01 9.87165398e-01 -5.49023118e-04 -2.59120236e+01] [-3.72514660e-03 -4.64841989e-05 9.99993061e-01 -1.14050189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.61, Y:-25.92, Z:-1.14 [[ 9.87015315e-01 1.60583902e-01 3.68479331e-03 2.71611366e+02] [-1.60582972e-01 9.87022192e-01 -5.48795200e-04 -2.59185285e+01] [-3.72510045e-03 -5.00457943e-05 9.99993061e-01 -1.14298693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.67, Y:-25.93, Z:-1.14 [[ 9.87428931e-01 1.58020659e-01 3.68482670e-03 2.71669272e+02] [-1.58019712e-01 9.87435805e-01 -5.48570948e-04 -2.59265500e+01] [-3.72521536e-03 -4.06004286e-05 9.99993061e-01 -1.13982198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.73, Y:-25.94, Z:-1.14 [[ 9.88601652e-01 1.50509782e-01 3.68486608e-03 2.71727444e+02] [-1.50508784e-01 9.88608520e-01 -5.48306277e-04 -2.59379698e+01] [-3.72541546e-03 -1.25482198e-05 9.99993061e-01 -1.14114301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.78, Y:-25.95, Z:-1.14 [[ 9.89629279e-01 1.43597743e-01 3.68489345e-03 2.71784671e+02] [-1.43596697e-01 9.89636139e-01 -5.48122263e-04 -2.59534628e+01] [-3.72541285e-03 1.32993095e-05 9.99993061e-01 -1.14184714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.84, Y:-25.97, Z:-1.14 [[ 9.89711723e-01 1.43028411e-01 3.68492085e-03 2.71842491e+02] [-1.43027363e-01 9.89718583e-01 -5.47938016e-04 -2.59658118e+01] [-3.72540534e-03 1.52561684e-05 9.99993061e-01 -1.14481560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:-25.98, Z:-1.15 [[ 9.89151227e-01 1.46854592e-01 3.68494109e-03 2.71900167e+02] [-1.46853571e-01 9.89158091e-01 -5.47801818e-04 -2.59794139e+01] [-3.72543651e-03 7.12083292e-07 9.99993061e-01 -1.14750279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12420382199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:271.96, Y:-25.99, Z:-1.15 [[ 9.88452028e-01 1.51489304e-01 3.68496767e-03 2.71958620e+02] [-1.51488315e-01 9.88458897e-01 -5.47622970e-04 -2.59890872e+01] [-3.72539810e-03 -1.69305079e-05 9.99993061e-01 -1.14958303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.02, Y:-26.00, Z:-1.15 [[ 9.87916494e-01 1.54943284e-01 3.68499426e-03 2.72015492e+02] [-1.54942320e-01 9.87923366e-01 -5.47444005e-04 -2.59989873e+01] [-3.72531471e-03 -3.01325957e-05 9.99993061e-01 -1.15069028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.07, Y:-26.01, Z:-1.15 [[ 9.87241537e-01 1.59187210e-01 3.68502869e-03 2.72073114e+02] [-1.59186276e-01 9.87248414e-01 -5.47212128e-04 -2.60084945e+01] [-3.72514790e-03 -4.63754518e-05 9.99993061e-01 -1.14910169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.13, Y:-26.02, Z:-1.15 [[ 9.86903774e-01 1.61267980e-01 3.68506094e-03 2.72129948e+02] [-1.61267061e-01 9.86910652e-01 -5.46994856e-04 -2.60175112e+01] [-3.72503866e-03 -5.44476604e-05 9.99993061e-01 -1.15310673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.19, Y:-26.02, Z:-1.15 [[ 9.87013672e-01 1.60593998e-01 3.68509289e-03 2.72188560e+02] [-1.60593075e-01 9.87020550e-01 -5.46779537e-04 -2.60233055e+01] [-3.72507192e-03 -5.21215220e-05 9.99993061e-01 -1.14851391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.25, Y:-26.03, Z:-1.15 [[ 9.87083099e-01 1.60166709e-01 3.68511938e-03 2.72246054e+02] [-1.60165784e-01 9.87089977e-01 -5.46600961e-04 -2.60327998e+01] [-3.72509168e-03 -5.06894643e-05 9.99993061e-01 -1.15019223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.30, Y:-26.04, Z:-1.15 [[ 9.87289397e-01 1.58890107e-01 3.68515202e-03 2.72304500e+02] [-1.58889174e-01 9.87296274e-01 -5.46380785e-04 -2.60380498e+01] [-3.72515136e-03 -4.60948050e-05 9.99993061e-01 -1.14986774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.36, Y:-26.05, Z:-1.15 [[ 9.87649361e-01 1.56637032e-01 3.68517870e-03 2.72361908e+02] [-1.56636084e-01 9.87656235e-01 -5.46200822e-04 -2.60472278e+01] [-3.72524499e-03 -3.77770686e-05 9.99993061e-01 -1.14857399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:-26.05, Z:-1.14 [[ 9.87940411e-01 1.54790708e-01 3.68518887e-03 2.72419891e+02] [-1.54789747e-01 9.87947284e-01 -5.46132191e-04 -2.60539573e+01] [-3.72530852e-03 -3.08833913e-05 9.99993061e-01 -1.14443624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:-26.06, Z:-1.15 [[ 9.88307636e-01 1.52428464e-01 3.68522230e-03 2.72477236e+02] [-1.52427488e-01 9.88314506e-01 -5.45906512e-04 -2.60645996e+01] [-3.72537035e-03 -2.22056044e-05 9.99993061e-01 -1.14983606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.54, Y:-26.07, Z:-1.15 [[ 9.88562744e-01 1.50765118e-01 3.68524878e-03 2.72535551e+02] [-1.50764131e-01 9.88569613e-01 -5.45727701e-04 -2.60719822e+01] [-3.72540166e-03 -1.61172581e-05 9.99993061e-01 -1.15117217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:-26.08, Z:-1.15 [[ 9.88461502e-01 1.51427465e-01 3.68527493e-03 2.72594295e+02] [-1.51426483e-01 9.88468372e-01 -5.45551018e-04 -2.60794583e+01] [-3.72538912e-03 -1.87920450e-05 9.99993061e-01 -1.15366209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:-26.09, Z:-1.15 [[ 9.88146845e-01 1.53467363e-01 3.68530093e-03 2.72652717e+02] [-1.53466396e-01 9.88153717e-01 -5.45375359e-04 -2.60856373e+01] [-3.72534113e-03 -2.66589109e-05 9.99993061e-01 -1.15465028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:-26.09, Z:-1.16 [[ 9.88084253e-01 1.53869838e-01 3.68532780e-03 2.72709908e+02] [-1.53868875e-01 9.88091125e-01 -5.45193695e-04 -2.60946396e+01] [-3.72532856e-03 -2.83599374e-05 9.99993061e-01 -1.15679579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:-26.10, Z:-1.16 [[ 9.88148956e-01 1.53453771e-01 3.68536098e-03 2.72767204e+02] [-1.53452805e-01 9.88155828e-01 -5.44969331e-04 -2.61010696e+01] [-3.72533853e-03 -2.70181052e-05 9.99993061e-01 -1.16073192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.83, Y:-26.11, Z:-1.15 [[ 9.88572493e-01 1.50701175e-01 3.68539677e-03 2.72825162e+02] [-1.50700191e-01 9.88579362e-01 -5.44727189e-04 -2.61089300e+01] [-3.72539822e-03 -1.68876827e-05 9.99993061e-01 -1.15469977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:-26.12, Z:-1.16 [[ 9.88880669e-01 1.48665532e-01 3.68542404e-03 2.72882791e+02] [-1.48664535e-01 9.88887536e-01 -5.44542619e-04 -2.61173601e+01] [-3.72542462e-03 -9.40418328e-06 9.99993061e-01 -1.15839062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:-26.13, Z:-1.15 [[ 9.89283992e-01 1.45957528e-01 3.68545771e-03 2.72941361e+02] [-1.45956513e-01 9.89290857e-01 -5.44314660e-04 -2.61285722e+01] [-3.72543644e-03 5.65223934e-07 9.99993061e-01 -1.15386266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.00, Y:-26.14, Z:-1.15 [[ 9.89379171e-01 1.45310953e-01 3.68547113e-03 2.72998966e+02] [-1.45309934e-01 9.89386035e-01 -5.44223795e-04 -2.61365749e+01] [-3.72543535e-03 2.90811947e-06 9.99993061e-01 -1.15125369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:-26.15, Z:-1.15 [[ 9.89409775e-01 1.45102424e-01 3.68549774e-03 2.73056117e+02] [-1.45101404e-01 9.89416640e-01 -5.44043522e-04 -2.61509681e+01] [-3.72543482e-03 3.51108337e-06 9.99993061e-01 -1.15307405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.11, Y:-26.16, Z:-1.15 [[ 9.88699980e-01 1.49862490e-01 3.68552357e-03 2.73114397e+02] [-1.49861504e-01 9.88706849e-01 -5.43868490e-04 -2.61615434e+01] [-3.72540788e-03 -1.45953403e-05 9.99993061e-01 -1.15266295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.17, Y:-26.17, Z:-1.15 [[ 9.87718350e-01 1.56201399e-01 3.68555021e-03 2.73172072e+02] [-1.56200458e-01 9.87725226e-01 -5.43687888e-04 -2.61689098e+01] [-3.72523572e-03 -3.86741273e-05 9.99993061e-01 -1.15250497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.23, Y:-26.18, Z:-1.15 [[ 9.87194954e-01 1.59475829e-01 3.68558305e-03 2.73229270e+02] [-1.59474912e-01 9.87201832e-01 -5.43465168e-04 -2.61789626e+01] [-3.72508390e-03 -5.12519598e-05 9.99993061e-01 -1.15250014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.29, Y:-26.19, Z:-1.15 [[ 9.87148030e-01 1.59766023e-01 3.68561540e-03 2.73287658e+02] [-1.59765108e-01 9.87154909e-01 -5.43245689e-04 -2.61875842e+01] [-3.72506554e-03 -5.25688323e-05 9.99993061e-01 -1.15294817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.35, Y:-26.19, Z:-1.15 [[ 9.87067982e-01 1.60259837e-01 3.68564076e-03 2.73345826e+02] [-1.60258927e-01 9.87074861e-01 -5.43073606e-04 -2.61945788e+01] [-3.72503623e-03 -5.46062630e-05 9.99993061e-01 -1.15327001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.40, Y:-26.20, Z:-1.15 [[ 9.87318733e-01 1.58707705e-01 3.68566643e-03 2.73403434e+02] [-1.58706784e-01 9.87325611e-01 -5.42899310e-04 -2.62034700e+01] [-3.72511517e-03 -4.89256088e-05 9.99993061e-01 -1.15301274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.46, Y:-26.21, Z:-1.15 [[ 9.87827803e-01 1.55507706e-01 3.68569821e-03 2.73462980e+02] [-1.55506763e-01 9.87834679e-01 -5.42683496e-04 -2.62121316e+01] [-3.72525197e-03 -3.70731530e-05 9.99993061e-01 -1.15271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.52, Y:-26.22, Z:-1.15 [[ 9.87998829e-01 1.54417390e-01 3.68570482e-03 2.73522310e+02] [-1.54416441e-01 9.88005703e-01 -5.42638564e-04 -2.62184844e+01] [-3.72529022e-03 -3.30071546e-05 9.99993061e-01 -1.14935847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.804203822 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:273.58, Y:-26.23, Z:-1.15 [[ 9.87926279e-01 1.54880866e-01 3.68571819e-03 2.73580985e+02] [-1.54879919e-01 9.87933154e-01 -5.42547804e-04 -2.62262378e+01] [-3.72527346e-03 -3.48465028e-05 9.99993061e-01 -1.15100008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.64, Y:-26.23, Z:-1.15 [[ 9.88031098e-01 1.54210783e-01 3.68574544e-03 2.73638708e+02] [-1.54209832e-01 9.88037972e-01 -5.42362619e-04 -2.62328787e+01] [-3.72529461e-03 -3.25070524e-05 9.99993061e-01 -1.15461878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.924203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:273.70, Y:-26.24, Z:-1.16 [[ 9.88544987e-01 1.50881490e-01 3.68577911e-03 2.73697376e+02] [-1.50880517e-01 9.88551858e-01 -5.42133692e-04 -2.62390408e+01] [-3.72538172e-03 -2.01887156e-05 9.99993061e-01 -1.15582469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.76, Y:-26.25, Z:-1.15 [[ 9.88887318e-01 1.48621287e-01 3.68580453e-03 2.73755301e+02] [-1.48620299e-01 9.88894187e-01 -5.41960795e-04 -2.62479610e+01] [-3.72541759e-03 -1.18472156e-05 9.99993061e-01 -1.15066887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:-26.26, Z:-1.15 [[ 9.88638026e-01 1.50270651e-01 3.68583141e-03 2.73812969e+02] [-1.50269675e-01 9.88644896e-01 -5.41777900e-04 -2.62554140e+01] [-3.72539173e-03 -1.82464559e-05 9.99993061e-01 -1.15140985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.87, Y:-26.26, Z:-1.15 [[ 9.88318377e-01 1.52358784e-01 3.68586934e-03 2.73871359e+02] [-1.52357824e-01 9.88325250e-01 -5.41519782e-04 -2.62625948e+01] [-3.72534303e-03 -2.63770793e-05 9.99993061e-01 -1.14996618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.93, Y:-26.27, Z:-1.15 [[ 9.88127943e-01 1.53589006e-01 3.68589653e-03 2.73928282e+02] [-1.53588055e-01 9.88134817e-01 -5.41334645e-04 -2.62696734e+01] [-3.72530574e-03 -3.12017890e-05 9.99993061e-01 -1.15093761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:-26.28, Z:-1.15 [[ 9.88510189e-01 1.51109300e-01 3.68593692e-03 2.73985240e+02] [-1.51108333e-01 9.88517060e-01 -5.41059489e-04 -2.62804384e+01] [-3.72537065e-03 -2.21329672e-05 9.99993061e-01 -1.15395119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.04, Y:-26.29, Z:-1.15 [[ 9.88627929e-01 1.50337063e-01 3.68596967e-03 2.74043063e+02] [-1.50336092e-01 9.88634800e-01 -5.40836270e-04 -2.62917001e+01] [-3.72538562e-03 -1.94484333e-05 9.99993061e-01 -1.15037216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.10, Y:-26.30, Z:-1.15 [[ 9.87927599e-01 1.54872442e-01 3.68599665e-03 2.74100701e+02] [-1.54871502e-01 9.87934474e-01 -5.40652321e-04 -2.63020128e+01] [-3.72525531e-03 -3.67304901e-05 9.99993061e-01 -1.14797187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.16, Y:-26.31, Z:-1.15 [[ 9.86578070e-01 1.63248658e-01 3.68601660e-03 2.74158259e+02] [-1.63247777e-01 9.86584954e-01 -5.40516290e-04 -2.63125471e+01] [-3.72480707e-03 -6.84724972e-05 9.99993061e-01 -1.14583299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.22, Y:-26.32, Z:-1.15 [[ 9.86002953e-01 1.66687102e-01 3.68604256e-03 2.74215800e+02] [-1.66686247e-01 9.86009839e-01 -5.40339195e-04 -2.63193310e+01] [-3.72454181e-03 -8.16365568e-05 9.99993061e-01 -1.14548315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.28, Y:-26.32, Z:-1.15 [[ 9.85733282e-01 1.68274508e-01 3.68607441e-03 2.74275550e+02] [-1.68273664e-01 9.85740170e-01 -5.40121804e-04 -2.63205770e+01] [-3.72440035e-03 -8.78532109e-05 9.99993061e-01 -1.14769503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.33, Y:-26.33, Z:-1.15 [[ 9.86105081e-01 1.66081856e-01 3.68609486e-03 2.74333352e+02] [-1.66080997e-01 9.86111967e-01 -5.39982204e-04 -2.63272928e+01] [-3.72458350e-03 -7.97111148e-05 9.99993061e-01 -1.14993715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.39, Y:-26.33, Z:-1.15 [[ 9.87155240e-01 1.59721461e-01 3.68612874e-03 2.74392010e+02] [-1.59720559e-01 9.87162120e-01 -5.39750840e-04 -2.63337097e+01] [-3.72501646e-03 -5.59326723e-05 9.99993061e-01 -1.14880592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.45, Y:-26.34, Z:-1.15 [[ 9.88636118e-01 1.50283192e-01 3.68615552e-03 2.74450351e+02] [-1.50282225e-01 9.88642990e-01 -5.39567916e-04 -2.63389503e+01] [-3.72537980e-03 -2.05273233e-05 9.99993061e-01 -1.14808258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.51, Y:-26.35, Z:-1.15 [[ 9.89944467e-01 1.41408499e-01 3.68618223e-03 2.74508605e+02] [-1.41407471e-01 9.89951330e-01 -5.39385391e-04 -2.63469385e+01] [-3.72541468e-03 1.27078793e-05 9.99993061e-01 -1.14819026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.57, Y:-26.36, Z:-1.15 [[ 9.90802068e-01 1.35268898e-01 3.68620918e-03 2.74566520e+02] [-1.35267828e-01 9.90808924e-01 -5.39201122e-04 -2.63571562e+01] [-3.72526609e-03 3.56160767e-05 9.99993061e-01 -1.14781142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.62, Y:-26.37, Z:-1.15 [[ 9.91155947e-01 1.32651051e-01 3.68622908e-03 2.74624396e+02] [-1.32649964e-01 9.91162800e-01 -5.39065004e-04 -2.63690662e+01] [-3.72516068e-03 4.53193296e-05 9.99993061e-01 -1.14752644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.68, Y:-26.38, Z:-1.15 [[ 9.90999837e-01 1.33812310e-01 3.68625581e-03 2.74681797e+02] [-1.33811232e-01 9.91006692e-01 -5.38882195e-04 -2.63801003e+01] [-3.72521325e-03 4.07697384e-05 9.99993061e-01 -1.14986032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.74, Y:-26.39, Z:-1.15 [[ 9.90124330e-01 1.40143575e-01 3.68628257e-03 2.74738502e+02] [-1.40142540e-01 9.90131192e-01 -5.38699039e-04 -2.63908267e+01] [-3.72539857e-03 1.67740200e-05 9.99993061e-01 -1.15199787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.80, Y:-26.40, Z:-1.16 [[ 9.88824597e-01 1.49038007e-01 3.68631560e-03 2.74795869e+02] [-1.49037035e-01 9.88831468e-01 -5.38472950e-04 -2.64028974e+01] [-3.72539780e-03 -1.69422501e-05 9.99993061e-01 -1.15624813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.85, Y:-26.41, Z:-1.16 [[ 9.87918681e-01 1.54929311e-01 3.68634143e-03 2.74853236e+02] [-1.54928381e-01 9.87925557e-01 -5.38296065e-04 -2.64096202e+01] [-3.72522875e-03 -3.93261695e-05 9.99993061e-01 -1.15930964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.91, Y:-26.42, Z:-1.16 [[ 9.87455050e-01 1.57857325e-01 3.68637342e-03 2.74911950e+02] [-1.57856416e-01 9.87461930e-01 -5.38076878e-04 -2.64157757e+01] [-3.72509279e-03 -5.05909678e-05 9.99993061e-01 -1.15759576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.97, Y:-26.42, Z:-1.15 [[ 9.87543565e-01 1.57302629e-01 3.68639969e-03 2.74970842e+02] [-1.57301717e-01 9.87550444e-01 -5.37896895e-04 -2.64245398e+01] [-3.72511824e-03 -4.86803834e-05 9.99993061e-01 -1.15382861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.03, Y:-26.43, Z:-1.15 [[ 9.88357300e-01 1.52106076e-01 3.68641291e-03 2.75029267e+02] [-1.52105128e-01 9.88364174e-01 -5.37806236e-04 -2.64317807e+01] [-3.72532205e-03 -2.91775867e-05 9.99993061e-01 -1.15310488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.09, Y:-26.44, Z:-1.16 [[ 9.89654837e-01 1.43421457e-01 3.68643940e-03 2.75087757e+02] [-1.43420449e-01 9.89661703e-01 -5.37624623e-04 -2.64437655e+01] [-3.72543480e-03 3.35201433e-06 9.99993061e-01 -1.15522169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.15, Y:-26.46, Z:-1.15 [[ 9.90570628e-01 1.36953429e-01 3.68645275e-03 2.75145812e+02] [-1.36952377e-01 9.90577487e-01 -5.37533070e-04 -2.64578101e+01] [-3.72533410e-03 2.75960047e-05 9.99993061e-01 -1.15475200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.20, Y:-26.47, Z:-1.16 [[ 9.90565905e-01 1.36987580e-01 3.68646608e-03 2.75204891e+02] [-1.36986529e-01 9.90572765e-01 -5.37441636e-04 -2.64748856e+01] [-3.72533572e-03 2.73751701e-05 9.99993061e-01 -1.15535446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.26, Y:-26.49, Z:-1.16 [[ 9.90174255e-01 1.39790395e-01 3.68646608e-03 2.75262670e+02] [-1.39789363e-01 9.90181117e-01 -5.37441636e-04 -2.64915264e+01] [-3.72539828e-03 1.68321275e-05 9.99993061e-01 -1.15821541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.32, Y:-26.51, Z:-1.16 [[ 9.89076756e-01 1.47355286e-01 3.68647259e-03 2.75319512e+02] [-1.47354307e-01 9.89083626e-01 -5.37396974e-04 -2.65072621e+01] [-3.72541796e-03 -1.16907565e-05 9.99993061e-01 -1.15868288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.38, Y:-26.52, Z:-1.16 [[ 9.87541177e-01 1.57317618e-01 3.68649144e-03 2.75377355e+02] [-1.57316709e-01 9.87548057e-01 -5.37267621e-04 -2.65218267e+01] [-3.72510912e-03 -4.93728012e-05 9.99993061e-01 -1.15719719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.44, Y:-26.53, Z:-1.16 [[ 9.86532655e-01 1.63522877e-01 3.68650460e-03 2.75436907e+02] [-1.63522011e-01 9.86539540e-01 -5.37177299e-04 -2.65348477e+01] [-3.72472333e-03 -7.28816976e-05 9.99993061e-01 -1.15596803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.49, Y:-26.55, Z:-1.16 [[ 9.85110582e-01 1.71882373e-01 3.68650460e-03 2.75494067e+02] [-1.71881565e-01 9.85117475e-01 -5.37177299e-04 -2.65457545e+01] [-3.72397141e-03 -1.04463140e-04 9.99993061e-01 -1.15503599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.55, Y:-26.56, Z:-1.16 [[ 9.84756162e-01 1.73901440e-01 3.68653085e-03 2.75553465e+02] [-1.73900647e-01 9.84763056e-01 -5.36997092e-04 -2.65553747e+01] [-3.72374395e-03 -1.12278903e-04 9.99993061e-01 -1.15578015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.61, Y:-26.56, Z:-1.16 [[ 9.84881371e-01 1.73190922e-01 3.68655165e-03 2.75612614e+02] [-1.73190124e-01 9.84888264e-01 -5.36854280e-04 -2.65606156e+01] [-3.72381974e-03 -1.09736559e-04 9.99993061e-01 -1.15652854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.67, Y:-26.57, Z:-1.16 [[ 9.85253517e-01 1.71061147e-01 3.68656460e-03 2.75671981e+02] [-1.71060335e-01 9.85260409e-01 -5.36765340e-04 -2.65656273e+01] [-3.72404584e-03 -1.01775035e-04 9.99993061e-01 -1.15895281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:275.73, Y:-26.57, Z:-1.16 [[ 9.86062556e-01 1.66334135e-01 3.68657764e-03 2.75730399e+02] [-1.66333291e-01 9.86069444e-01 -5.36675771e-04 -2.65683312e+01] [-3.72448906e-03 -8.40047078e-05 9.99993061e-01 -1.16326453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:-26.57, Z:-1.16 [[ 9.87178667e-01 1.59576594e-01 3.68659700e-03 2.75791479e+02] [-1.59575703e-01 9.87185549e-01 -5.36542728e-04 -2.65715059e+01] [-3.72497494e-03 -5.86277716e-05 9.99993061e-01 -1.15788884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.85, Y:-26.58, Z:-1.16 [[ 9.88245381e-01 1.52831530e-01 3.68659700e-03 2.75851393e+02] [-1.52830592e-01 9.88252256e-01 -5.36542728e-04 -2.65758881e+01] [-3.72528845e-03 -3.31889294e-05 9.99993061e-01 -1.16148047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.91, Y:-26.58, Z:-1.16 [[ 9.89284191e-01 1.45956156e-01 3.68659130e-03 2.75910929e+02] [-1.45955170e-01 9.89291060e-01 -5.36581894e-04 -2.65791846e+01] [-3.72542924e-03 -7.24507388e-06 9.99993061e-01 -1.16242764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.97, Y:-26.59, Z:-1.16 [[ 9.90505588e-01 1.37423030e-01 3.68660397e-03 2.75970971e+02] [-1.37421985e-01 9.90512448e-01 -5.36494804e-04 -2.65873682e+01] [-3.72535387e-03 2.47806666e-05 9.99993061e-01 -1.15672032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.03, Y:-26.60, Z:-1.16 [[ 9.91401003e-01 1.30806954e-01 3.68660397e-03 2.76030151e+02] [-1.30805864e-01 9.91407857e-01 -5.36494804e-04 -2.65995636e+01] [-3.72510539e-03 4.96520715e-05 9.99993061e-01 -1.16091372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:-26.61, Z:-1.16 [[ 9.91699377e-01 1.28525305e-01 3.68659709e-03 2.76089442e+02] [-1.28524198e-01 9.91706228e-01 -5.36542120e-04 -2.66095461e+01] [-3.72498053e-03 5.82715511e-05 9.99993061e-01 -1.16117003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44420382199996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:276.15, Y:-26.62, Z:-1.16 [[ 9.91230866e-01 1.32090041e-01 3.68659709e-03 2.76149534e+02] [-1.32088959e-01 9.91237721e-01 -5.36542120e-04 -2.66194794e+01] [-3.72516596e-03 4.48783392e-05 9.99993061e-01 -1.16487073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50420382199997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:276.21, Y:-26.63, Z:-1.16 [[ 9.90396401e-01 1.38207735e-01 3.68659037e-03 2.76207898e+02] [-1.38206696e-01 9.90403262e-01 -5.36588247e-04 -2.66304606e+01] [-3.72537178e-03 2.19235959e-05 9.99993061e-01 -1.16386957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:276.27, Y:-26.64, Z:-1.17 [[ 9.89455880e-01 1.44787672e-01 3.68659704e-03 2.76267167e+02] [-1.44786678e-01 9.89462748e-01 -5.36542439e-04 -2.66377053e+01] [-3.72543517e-03 -2.88506806e-06 9.99993061e-01 -1.16726228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.33, Y:-26.65, Z:-1.16 [[ 9.88623031e-01 1.50369252e-01 3.68660354e-03 2.76326648e+02] [-1.50368297e-01 9.88629904e-01 -5.36497802e-04 -2.66463594e+01] [-3.72535927e-03 -2.39542132e-05 9.99993061e-01 -1.15690728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:-26.65, Z:-1.15 [[ 9.87415410e-01 1.58105081e-01 3.68661021e-03 2.76386151e+02] [-1.58104180e-01 9.87422291e-01 -5.36451906e-04 -2.66521361e+01] [-3.72505687e-03 -5.31676042e-05 9.99993061e-01 -1.15464106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.45, Y:-26.66, Z:-1.15 [[ 9.87021144e-01 1.60548030e-01 3.68662343e-03 2.76445195e+02] [-1.60547146e-01 9.87028027e-01 -5.36361065e-04 -2.66594147e+01] [-3.72491236e-03 -6.24771574e-05 9.99993061e-01 -1.15403375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.50, Y:-26.66, Z:-1.15 [[ 9.86774083e-01 1.62059613e-01 3.68663655e-03 2.76503002e+02] [-1.62058740e-01 9.86780967e-01 -5.36270850e-04 -2.66646423e+01] [-3.72481063e-03 -6.82734993e-05 9.99993061e-01 -1.15454849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.56, Y:-26.67, Z:-1.16 [[ 9.86355243e-01 1.64589620e-01 3.68666886e-03 2.76562327e+02] [-1.64588766e-01 9.86362130e-01 -5.36048680e-04 -2.66680555e+01] [-3.72461859e-03 -7.80498513e-05 9.99993061e-01 -1.15565526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.62, Y:-26.67, Z:-1.16 [[ 9.86077827e-01 1.66243576e-01 3.68669480e-03 2.76620877e+02] [-1.66242734e-01 9.86084716e-01 -5.35870181e-04 -2.66672911e+01] [-3.72447837e-03 -8.44765187e-05 9.99993061e-01 -1.15986409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.68, Y:-26.67, Z:-1.16 [[ 9.86666826e-01 1.62711348e-01 3.68672688e-03 2.76679373e+02] [-1.62710482e-01 9.86673711e-01 -5.35649431e-04 -2.66684927e+01] [-3.72475273e-03 -7.13615828e-05 9.99993061e-01 -1.16319699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:-26.67, Z:-1.17 [[ 9.88135465e-01 1.53540586e-01 3.68675789e-03 2.76738233e+02] [-1.53539657e-01 9.88142342e-01 -5.35435906e-04 -2.66703909e+01] [-3.72525271e-03 -3.69803325e-05 9.99993061e-01 -1.16868935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.80, Y:-26.68, Z:-1.17 [[ 9.89750460e-01 1.42760058e-01 3.68678431e-03 2.76796314e+02] [-1.42759055e-01 9.89757327e-01 -5.35253868e-04 -2.66753662e+01] [-3.72543466e-03 3.44591698e-06 9.99993061e-01 -1.16585377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.85, Y:-26.68, Z:-1.16 [[ 9.90719341e-01 1.35873451e-01 3.68681063e-03 2.76854920e+02] [-1.35872401e-01 9.90726201e-01 -5.35072567e-04 -2.66823243e+01] [-3.72532204e-03 2.91709301e-05 9.99993061e-01 -1.16375162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224203822 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:276.91, Y:-26.69, Z:-1.16 [[ 9.91003185e-01 1.33787498e-01 3.68683630e-03 2.76913353e+02] [-1.33786433e-01 9.91010042e-01 -5.34895647e-04 -2.66895226e+01] [-3.72525414e-03 3.68346109e-05 9.99993061e-01 -1.16286690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284203822 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:276.97, Y:-26.69, Z:-1.16 [[ 9.91053340e-01 1.33415457e-01 3.68686259e-03 2.76972519e+02] [-1.33414391e-01 9.91060197e-01 -5.34714353e-04 -2.66928651e+01] [-3.72524192e-03 3.80499209e-05 9.99993061e-01 -1.16463910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.03, Y:-26.70, Z:-1.16 [[ 9.90760635e-01 1.35572013e-01 3.68688899e-03 2.77030797e+02] [-1.35570962e-01 9.90767495e-01 -5.34532269e-04 -2.66996736e+01] [-3.72531738e-03 2.97584438e-05 9.99993061e-01 -1.16488653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:277.09, Y:-26.71, Z:-1.17 [[ 9.90279261e-01 1.39044568e-01 3.68691551e-03 2.77087887e+02] [-1.39043542e-01 9.90286124e-01 -5.34349255e-04 -2.67058674e+01] [-3.72539963e-03 1.65131931e-05 9.99993061e-01 -1.16980081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.15, Y:-26.71, Z:-1.16 [[ 9.89727980e-01 1.42915822e-01 3.68694837e-03 2.77146760e+02] [-1.42914824e-01 9.89734847e-01 -5.34122408e-04 -2.67105975e+01] [-3.72543583e-03 1.71631474e-06 9.99993061e-01 -1.16297591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.20, Y:-26.72, Z:-1.16 [[ 9.90115155e-01 1.40208365e-01 3.68697495e-03 2.77204507e+02] [-1.40207348e-01 9.90122020e-01 -5.33938868e-04 -2.67198576e+01] [-3.72541779e-03 1.17199839e-05 9.99993061e-01 -1.16484078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.26, Y:-26.73, Z:-1.17 [[ 9.90462600e-01 1.37732511e-01 3.68700159e-03 2.77261608e+02] [-1.37731479e-01 9.90469462e-01 -5.33754911e-04 -2.67298795e+01] [-3.72537788e-03 2.08480967e-05 9.99993061e-01 -1.16635128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.32, Y:-26.74, Z:-1.16 [[ 9.90478191e-01 1.37620341e-01 3.68703449e-03 2.77320160e+02] [-1.37619308e-01 9.90485054e-01 -5.33527499e-04 -2.67368313e+01] [-3.72537679e-03 2.10402161e-05 9.99993061e-01 -1.16138584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.38, Y:-26.75, Z:-1.16 [[ 9.90548070e-01 1.37116475e-01 3.68706091e-03 2.77376681e+02] [-1.37115439e-01 9.90554931e-01 -5.33344890e-04 -2.67489057e+01] [-3.72536674e-03 2.27507756e-05 9.99993061e-01 -1.16436583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.43, Y:-26.76, Z:-1.16 [[ 9.90774423e-01 1.35471210e-01 3.68709358e-03 2.77434153e+02] [-1.35470164e-01 9.90781283e-01 -5.33118949e-04 -2.67615768e+01] [-3.72532557e-03 2.87094475e-05 9.99993061e-01 -1.16113390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.49, Y:-26.77, Z:-1.16 [[ 9.90836521e-01 1.35016276e-01 3.68711862e-03 2.77491808e+02] [-1.35015227e-01 9.90843380e-01 -5.32945680e-04 -2.67723702e+01] [-3.72531342e-03 3.02448844e-05 9.99993061e-01 -1.15799470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.55, Y:-26.79, Z:-1.16 [[ 9.90861049e-01 1.34836145e-01 3.68714448e-03 2.77548366e+02] [-1.34835096e-01 9.90867909e-01 -5.32766726e-04 -2.67881867e+01] [-3.72530935e-03 3.07413190e-05 9.99993061e-01 -1.16048782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.61, Y:-26.80, Z:-1.16 [[ 9.90602961e-01 1.36719340e-01 3.68715700e-03 2.77606123e+02] [-1.36718305e-01 9.90609823e-01 -5.32680074e-04 -2.68027438e+01] [-3.72536161e-03 2.35726044e-05 9.99993061e-01 -1.16329962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.66, Y:-26.82, Z:-1.16 [[ 9.89655641e-01 1.43415888e-01 3.68719304e-03 2.77663674e+02] [-1.43414900e-01 9.89662510e-01 -5.32430503e-04 -2.68172099e+01] [-3.72543571e-03 -1.87556930e-06 9.99993061e-01 -1.16199911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.72, Y:-26.83, Z:-1.16 [[ 9.88130603e-01 1.53571858e-01 3.68721934e-03 2.77721374e+02] [-1.53570941e-01 9.88137482e-01 -5.32248271e-04 -2.68259156e+01] [-3.72521799e-03 -4.03189378e-05 9.99993061e-01 -1.16184993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.78, Y:-26.83, Z:-1.16 [[ 9.86597155e-01 1.63133252e-01 3.68725209e-03 2.77778111e+02] [-1.63132402e-01 9.86604042e-01 -5.32021274e-04 -2.68338518e+01] [-3.72464818e-03 -7.66196169e-05 9.99993061e-01 -1.16301088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.84, Y:-26.84, Z:-1.16 [[ 9.85816725e-01 1.67784948e-01 3.68729090e-03 2.77837151e+02] [-1.67784132e-01 9.85823616e-01 -5.31752157e-04 -2.68350775e+01] [-3.72423846e-03 -9.44587358e-05 9.99993061e-01 -1.15915554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.90, Y:-26.83, Z:-1.16 [[ 9.86063234e-01 1.66330101e-01 3.68731734e-03 2.77896032e+02] [-1.66329275e-01 9.86070124e-01 -5.31568774e-04 -2.68349235e+01] [-3.72436935e-03 -8.91483965e-05 9.99993061e-01 -1.16456273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.95, Y:-26.84, Z:-1.16 [[ 9.87577336e-01 1.57090450e-01 3.68734999e-03 2.77954383e+02] [-1.57089561e-01 9.87584218e-01 -5.31342182e-04 -2.68394145e+01] [-3.72503744e-03 -5.45026948e-05 9.99993061e-01 -1.16294552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.01, Y:-26.84, Z:-1.16 [[ 9.89502266e-01 1.44470302e-01 3.68737625e-03 2.78012783e+02] [-1.44469326e-01 9.89509137e-01 -5.31159889e-04 -2.68432144e+01] [-3.72542932e-03 -7.12884757e-06 9.99993061e-01 -1.16459660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.424203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.07, Y:-26.85, Z:-1.17 [[ 9.91252771e-01 1.31925538e-01 3.68740252e-03 2.78070618e+02] [-1.31924475e-01 9.91259628e-01 -5.30977435e-04 -2.68486481e+01] [-3.72522274e-03 3.98742105e-05 9.99993061e-01 -1.16883487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.13, Y:-26.85, Z:-1.17 [[ 9.92492401e-01 1.22250716e-01 3.68743513e-03 2.78129813e+02] [-1.22249588e-01 9.92499248e-01 -5.30750919e-04 -2.68529973e+01] [-3.72466127e-03 7.59788296e-05 9.99993061e-01 -1.16835492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:-26.86, Z:-1.17 [[ 9.93118200e-01 1.17058295e-01 3.68744790e-03 2.78189007e+02] [-1.17057131e-01 9.93125041e-01 -5.30662146e-04 -2.68611567e+01] [-3.72421525e-03 9.53681644e-05 9.99993061e-01 -1.17304776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.25, Y:-26.87, Z:-1.17 [[ 9.93274586e-01 1.15723804e-01 3.68746065e-03 2.78247629e+02] [-1.15722631e-01 9.93281426e-01 -5.30573536e-04 -2.68676112e+01] [-3.72408616e-03 1.00282561e-04 9.99993061e-01 -1.16814215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664203822 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:278.31, Y:-26.88, Z:-1.17 [[ 9.93179370e-01 1.16538158e-01 3.68747948e-03 2.78305548e+02] [-1.16536991e-01 9.93186210e-01 -5.30442664e-04 -2.68780890e+01] [-3.72417058e-03 9.70969472e-05 9.99993061e-01 -1.17057584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.36, Y:-26.89, Z:-1.17 [[ 9.92991005e-01 1.18132408e-01 3.68750543e-03 2.78363911e+02] [-1.18131253e-01 9.92997848e-01 -5.30262187e-04 -2.68888954e+01] [-3.72432611e-03 9.09359449e-05 9.99993061e-01 -1.16525752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784203822 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:-26.90, Z:-1.17 [[ 9.92336855e-01 1.23506957e-01 3.68751843e-03 2.78421785e+02] [-1.23505839e-01 9.92343704e-01 -5.30171749e-04 -2.68981739e+01] [-3.72476560e-03 7.06789081e-05 9.99993061e-01 -1.17119116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:-26.91, Z:-1.17 [[ 9.91547099e-01 1.29694846e-01 3.68754428e-03 2.78479814e+02] [-1.29693772e-01 9.91553954e-01 -5.29991942e-04 -2.69096302e+01] [-3.72513633e-03 4.72604455e-05 9.99993061e-01 -1.16804586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:-26.92, Z:-1.17 [[ 9.90712302e-01 1.35924749e-01 3.68757054e-03 2.78537484e+02] [-1.35923718e-01 9.90719164e-01 -5.29809135e-04 -2.69189912e+01] [-3.72536098e-03 2.36601274e-05 9.99993061e-01 -1.16895583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964203822 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:278.59, Y:-26.93, Z:-1.17 [[ 9.89906540e-01 1.41673722e-01 3.68759672e-03 2.78594289e+02] [-1.41672732e-01 9.89913409e-01 -5.29626831e-04 -2.69272859e+01] [-3.72543565e-03 1.84916027e-06 9.99993061e-01 -1.17413739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024203822 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:-26.93, Z:-1.17 [[ 9.89481375e-01 1.44613311e-01 3.68762924e-03 2.78653275e+02] [-1.44612342e-01 9.89488247e-01 -5.29400368e-04 -2.69309499e+01] [-3.72542413e-03 -9.44489573e-06 9.99993061e-01 -1.17255630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.71, Y:-26.94, Z:-1.17 [[ 9.89744790e-01 1.42799344e-01 3.68765656e-03 2.78710446e+02] [-1.42798363e-01 9.89751659e-01 -5.29209985e-04 -2.69442596e+01] [-3.72543504e-03 -2.80849396e-06 9.99993061e-01 -1.17134857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.77, Y:-26.95, Z:-1.17 [[ 9.90308574e-01 1.38835623e-01 3.68767693e-03 2.78769045e+02] [-1.38834616e-01 9.90315439e-01 -5.29067979e-04 -2.69520276e+01] [-3.72541688e-03 1.19633471e-05 9.99993061e-01 -1.16958147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.83, Y:-26.96, Z:-1.17 [[ 9.90879727e-01 1.34698806e-01 3.68770276e-03 2.78827089e+02] [-1.34697771e-01 9.90886588e-01 -5.28887881e-04 -2.69634721e+01] [-3.72533577e-03 2.73389378e-05 9.99993061e-01 -1.17109720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.89, Y:-26.98, Z:-1.17 [[ 9.91259032e-01 1.31878476e-01 3.68772885e-03 2.78885908e+02] [-1.31877422e-01 9.91265891e-01 -5.28705915e-04 -2.69761240e+01] [-3.72524475e-03 3.77563412e-05 9.99993061e-01 -1.16915936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.94, Y:-26.99, Z:-1.17 [[ 9.91362270e-01 1.31100152e-01 3.68774178e-03 2.78943832e+02] [-1.31099092e-01 9.91369128e-01 -5.28615699e-04 -2.69875879e+01] [-3.72521495e-03 4.05900598e-05 9.99993061e-01 -1.16609756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:279.00, Y:-27.00, Z:-1.17 [[ 9.91175881e-01 1.32501972e-01 3.68776089e-03 2.79002547e+02] [-1.32500923e-01 9.91182741e-01 -5.28482370e-04 -2.69994310e+01] [-3.72526990e-03 3.51872576e-05 9.99993061e-01 -1.17098910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.06, Y:-27.01, Z:-1.17 [[ 9.90643271e-01 1.36426938e-01 3.68777338e-03 2.79060552e+02] [-1.36425916e-01 9.90650135e-01 -5.28395168e-04 -2.70112803e+01] [-3.72538053e-03 2.03432564e-05 9.99993061e-01 -1.16741841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50420382199997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:279.12, Y:-27.02, Z:-1.17 [[ 9.90230426e-01 1.39391907e-01 3.68779827e-03 2.79119561e+02] [-1.39390906e-01 9.90237293e-01 -5.28221399e-04 -2.70201969e+01] [-3.72542517e-03 9.01535716e-06 9.99993061e-01 -1.17031784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.18, Y:-27.03, Z:-1.17 [[ 9.89896569e-01 1.41743371e-01 3.68781143e-03 2.79176323e+02] [-1.41742388e-01 9.89903438e-01 -5.28129490e-04 -2.70313039e+01] [-3.72543607e-03 7.43726814e-08 9.99993061e-01 -1.16934841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.23, Y:-27.04, Z:-1.17 [[ 9.90122294e-01 1.40157923e-01 3.68784643e-03 2.79234881e+02] [-1.40156929e-01 9.90129162e-01 -5.27884981e-04 -2.70429177e+01] [-3.72543156e-03 5.79345681e-06 9.99993061e-01 -1.16764044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.29, Y:-27.05, Z:-1.17 [[ 9.90377031e-01 1.38346432e-01 3.68785951e-03 2.79293314e+02] [-1.38345426e-01 9.90383898e-01 -5.27793593e-04 -2.70539963e+01] [-3.72541504e-03 1.25161565e-05 9.99993061e-01 -1.16707841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744203822 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:279.35, Y:-27.07, Z:-1.17 [[ 9.90336293e-01 1.38637754e-01 3.68787250e-03 2.79351326e+02] [-1.38636750e-01 9.90343159e-01 -5.27702806e-04 -2.70671920e+01] [-3.72541884e-03 1.13285830e-05 9.99993061e-01 -1.17039054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.41, Y:-27.08, Z:-1.16 [[ 9.90204248e-01 1.39577741e-01 3.68788539e-03 2.79411153e+02] [-1.39576744e-01 9.90211116e-01 -5.27612697e-04 -2.70776896e+01] [-3.72542810e-03 7.70129788e-06 9.99993061e-01 -1.16472356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.864203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:279.47, Y:-27.09, Z:-1.17 [[ 9.89964964e-01 1.41264891e-01 3.68788539e-03 2.79470275e+02] [-1.41263905e-01 9.89971833e-01 -5.27612697e-04 -2.70889172e+01] [-3.72543582e-03 1.35299132e-06 9.99993061e-01 -1.16782707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:-27.10, Z:-1.17 [[ 9.89253878e-01 1.46161434e-01 3.68788539e-03 2.79529539e+02] [-1.46160483e-01 9.89260752e-01 -5.27612697e-04 -2.70983347e+01] [-3.72539691e-03 -1.70802021e-05 9.99993061e-01 -1.16882378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.59, Y:-27.11, Z:-1.17 [[ 9.88743194e-01 1.49577053e-01 3.68789866e-03 2.79587703e+02] [-1.49576126e-01 9.88750072e-01 -5.27519964e-04 -2.71072087e+01] [-3.72531495e-03 -3.00398201e-05 9.99993061e-01 -1.16982051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:-27.11, Z:-1.17 [[ 9.88296331e-01 1.52501675e-01 3.68791825e-03 2.79646506e+02] [-1.52500769e-01 9.88303211e-01 -5.27382962e-04 -2.71126463e+01] [-3.72520824e-03 -4.11997219e-05 9.99993061e-01 -1.17055316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.71, Y:-27.12, Z:-1.17 [[ 9.88708231e-01 1.49807985e-01 3.68793749e-03 2.79706234e+02] [-1.49807060e-01 9.88715109e-01 -5.27248387e-04 -2.71167614e+01] [-3.72530554e-03 -3.11842531e-05 9.99993061e-01 -1.16806692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.76, Y:-27.13, Z:-1.17 [[ 9.89208155e-01 1.46470559e-01 3.68795057e-03 2.79764624e+02] [-1.46469612e-01 9.89215030e-01 -5.27156910e-04 -2.71254165e+01] [-3.72538910e-03 -1.87047721e-05 9.99993061e-01 -1.17290952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.82, Y:-27.13, Z:-1.17 [[ 9.89476200e-01 1.44648711e-01 3.68797000e-03 2.79823922e+02] [-1.44647751e-01 9.89483072e-01 -5.27020944e-04 -2.71316315e+01] [-3.72541678e-03 -1.19818842e-05 9.99993061e-01 -1.17131858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.88, Y:-27.14, Z:-1.17 [[ 9.90111132e-01 1.40236749e-01 3.68798302e-03 2.79882549e+02] [-1.40235759e-01 9.90118000e-01 -5.26929786e-04 -2.71398420e+01] [-3.72543329e-03 4.53194734e-06 9.99993061e-01 -1.16920337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.94, Y:-27.15, Z:-1.17 [[ 9.90534745e-01 1.37212673e-01 3.68799629e-03 2.79941624e+02] [-1.37211663e-01 9.90541610e-01 -5.26836872e-04 -2.71470900e+01] [-3.72540248e-03 1.58141222e-05 9.99993061e-01 -1.16867714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:280.00, Y:-27.16, Z:-1.17 [[ 9.90736944e-01 1.35745003e-01 3.68800953e-03 2.80000893e+02] [-1.35743983e-01 9.90743808e-01 -5.26744226e-04 -2.71553090e+01] [-3.72537550e-03 2.12398628e-05 9.99993061e-01 -1.17204304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.06, Y:-27.17, Z:-1.17 [[ 9.90666468e-01 1.36258390e-01 3.68801606e-03 2.80059962e+02] [-1.36257373e-01 9.90673332e-01 -5.26698500e-04 -2.71664467e+01] [-3.72538624e-03 1.92631634e-05 9.99993061e-01 -1.16902756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.12, Y:-27.17, Z:-1.17 [[ 9.90438731e-01 1.37904021e-01 3.68802904e-03 2.80119158e+02] [-1.37903016e-01 9.90445597e-01 -5.26607545e-04 -2.71748871e+01] [-3.72541343e-03 1.29821811e-05 9.99993061e-01 -1.16930246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:280.18, Y:-27.18, Z:-1.18 [[ 9.90140823e-01 1.40026961e-01 3.68804245e-03 2.80178007e+02] [-1.40025972e-01 9.90147691e-01 -5.26513636e-04 -2.71841721e+01] [-3.72543282e-03 4.90091700e-06 9.99993061e-01 -1.17562648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.24, Y:-27.19, Z:-1.17 [[ 9.89419604e-01 1.45035327e-01 3.68804910e-03 2.80236995e+02] [-1.45034372e-01 9.89426477e-01 -5.26467058e-04 -2.71907854e+01] [-3.72540975e-03 -1.39970578e-05 9.99993061e-01 -1.16937679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.30, Y:-27.20, Z:-1.17 [[ 9.88749073e-01 1.49538187e-01 3.68806217e-03 2.80295793e+02] [-1.49537264e-01 9.88755951e-01 -5.26375472e-04 -2.71957688e+01] [-3.72530665e-03 -3.10494656e-05 9.99993061e-01 -1.16603445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.35, Y:-27.20, Z:-1.17 [[ 9.88335948e-01 1.52244711e-01 3.68808813e-03 2.80353895e+02] [-1.52243807e-01 9.88342828e-01 -5.26193540e-04 -2.71997081e+01] [-3.72520563e-03 -4.14325858e-05 9.99993061e-01 -1.16886971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.41, Y:-27.21, Z:-1.17 [[ 9.88541054e-01 1.50907198e-01 3.68812028e-03 2.80411693e+02] [-1.50906286e-01 9.88547933e-01 -5.25968105e-04 -2.72097883e+01] [-3.72525605e-03 -3.66194668e-05 9.99993061e-01 -1.17216134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.47, Y:-27.22, Z:-1.17 [[ 9.89178528e-01 1.46670508e-01 3.68814480e-03 2.80470750e+02] [-1.46669567e-01 9.89185403e-01 -5.25796059e-04 -2.72158735e+01] [-3.72537778e-03 -2.08324302e-05 9.99993061e-01 -1.17253509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.53, Y:-27.22, Z:-1.17 [[ 9.89871153e-01 1.41920743e-01 3.68816366e-03 2.80530375e+02] [-1.41919769e-01 9.89878024e-01 -5.25663743e-04 -2.72239575e+01] [-3.72543475e-03 -3.08396084e-06 9.99993061e-01 -1.17006190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.59, Y:-27.24, Z:-1.17 [[ 9.90580420e-01 1.36882539e-01 3.68817019e-03 2.80590113e+02] [-1.36881531e-01 9.90587286e-01 -5.25617927e-04 -2.72367425e+01] [-3.72540242e-03 1.58244445e-05 9.99993061e-01 -1.16794929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.65, Y:-27.25, Z:-1.17 [[ 9.90857023e-01 1.34865699e-01 3.68817019e-03 2.80648456e+02] [-1.34864677e-01 9.90863887e-01 -5.25617927e-04 -2.72457826e+01] [-3.72536248e-03 2.34083323e-05 9.99993061e-01 -1.16629883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12420382199997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:280.71, Y:-27.26, Z:-1.17 [[ 9.90816008e-01 1.35166695e-01 3.68818371e-03 2.80706678e+02] [-1.35165675e-01 9.90822872e-01 -5.25523028e-04 -2.72586402e+01] [-3.72536999e-03 2.21807883e-05 9.99993061e-01 -1.17344185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:-27.27, Z:-1.17 [[ 9.90558613e-01 1.37040256e-01 3.68819017e-03 2.80765423e+02] [-1.37039250e-01 9.90565479e-01 -5.25477746e-04 -2.72716697e+01] [-3.72540546e-03 1.50896937e-05 9.99993061e-01 -1.16674284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:-27.29, Z:-1.17 [[ 9.90382031e-01 1.38310625e-01 3.68820326e-03 2.80823095e+02] [-1.38309627e-01 9.90388899e-01 -5.25385807e-04 -2.72864937e+01] [-3.72542201e-03 1.02186448e-05 9.99993061e-01 -1.16634048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:-27.30, Z:-1.16 [[ 9.90358829e-01 1.38476667e-01 3.68820974e-03 2.80881891e+02] [-1.38475671e-01 9.90365696e-01 -5.25340367e-04 -2.73021875e+01] [-3.72542379e-03 9.54815338e-06 9.99993061e-01 -1.16492251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:-27.32, Z:-1.17 [[ 9.90329208e-01 1.38688342e-01 3.68820974e-03 2.80939823e+02] [-1.38687348e-01 9.90336076e-01 -5.25340367e-04 -2.73155488e+01] [-3.72542574e-03 8.75188405e-06 9.99993061e-01 -1.16736056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.00, Y:-27.33, Z:-1.17 [[ 9.89986161e-01 1.41116259e-01 3.68821608e-03 2.80998815e+02] [-1.41115281e-01 9.89993031e-01 -5.25295808e-04 -2.73306158e+01] [-3.72543600e-03 -4.28068669e-07 9.99993061e-01 -1.16800693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:281.06, Y:-27.35, Z:-1.17 [[ 9.89662912e-01 1.43365676e-01 3.68821608e-03 2.81059235e+02] [-1.43364713e-01 9.89669785e-01 -5.25295808e-04 -2.73494751e+01] [-3.72542540e-03 -8.89426256e-06 9.99993061e-01 -1.17231272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:-27.37, Z:-1.17 [[ 9.89083545e-01 1.47309669e-01 3.68812498e-03 2.81119822e+02] [-1.47308732e-01 9.89090421e-01 -5.25934635e-04 -2.73650493e+01] [-3.72536435e-03 -2.30997222e-05 9.99993061e-01 -1.16539079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.18, Y:-27.38, Z:-1.17 [[ 9.88211164e-01 1.53052582e-01 3.68803367e-03 2.81179578e+02] [-1.53051683e-01 9.88218045e-01 -5.26574152e-04 -2.73775782e+01] [-3.72517496e-03 -4.40933039e-05 9.99993061e-01 -1.16684545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.24, Y:-27.39, Z:-1.17 [[ 9.87027016e-01 1.60511897e-01 3.68798538e-03 2.81240201e+02] [-1.60511048e-01 9.87033903e-01 -5.26912157e-04 -2.73889542e+01] [-3.72474228e-03 -7.18858654e-05 9.99993061e-01 -1.16878303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.30, Y:-27.40, Z:-1.17 [[ 9.86057374e-01 1.66364823e-01 3.68796613e-03 2.81300195e+02] [-1.66364015e-01 9.86064266e-01 -5.27046897e-04 -2.73958332e+01] [-3.72425368e-03 -9.38463711e-05 9.99993061e-01 -1.17016715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.36, Y:-27.40, Z:-1.17 [[ 9.85737782e-01 1.68248101e-01 3.68795980e-03 2.81360409e+02] [-1.68247305e-01 9.85744676e-01 -5.27091175e-04 -2.74011161e+01] [-3.72406883e-03 -1.00915613e-04 9.99993061e-01 -1.17174069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.42, Y:-27.41, Z:-1.17 [[ 9.86405218e-01 1.64289819e-01 3.68795980e-03 2.81422381e+02] [-1.64288996e-01 9.86412109e-01 -5.27091174e-04 -2.74081359e+01] [-3.72444391e-03 -8.59657293e-05 9.99993061e-01 -1.16718003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904203822 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:281.48, Y:-27.41, Z:-1.17 [[ 9.87670098e-01 1.56506158e-01 3.68786895e-03 2.81483990e+02] [-1.56505278e-01 9.87676981e-01 -5.27726055e-04 -2.74134245e+01] [-3.72501565e-03 -5.59517099e-05 9.99993061e-01 -1.16970498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.54, Y:-27.42, Z:-1.17 [[ 9.88941924e-01 1.48257446e-01 3.68777697e-03 2.81544559e+02] [-1.48256507e-01 9.88948800e-01 -5.28368058e-04 -2.74223099e+01] [-3.72535710e-03 -2.42116055e-05 9.99993061e-01 -1.16882323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.61, Y:-27.43, Z:-1.17 [[ 9.89933133e-01 1.41487785e-01 3.68769211e-03 2.81605821e+02] [-1.41486797e-01 9.89940002e-01 -5.28959639e-04 -2.74300383e+01] [-3.72543526e-03 1.87492917e-06 9.99993061e-01 -1.16903981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.67, Y:-27.44, Z:-1.17 [[ 9.90767736e-01 1.35520092e-01 3.68760419e-03 2.81667096e+02] [-1.35519059e-01 9.90774598e-01 -5.29571853e-04 -2.74433673e+01] [-3.72535219e-03 2.49420553e-05 9.99993061e-01 -1.16879649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:281.73, Y:-27.45, Z:-1.17 [[ 9.90924752e-01 1.34367180e-01 3.68750246e-03 2.81727972e+02] [-1.34366137e-01 9.90931612e-01 -5.30279289e-04 -2.74532879e+01] [-3.72531489e-03 2.99914113e-05 9.99993061e-01 -1.17334019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.79, Y:-27.46, Z:-1.17 [[ 9.90536037e-01 1.37203357e-01 3.68748276e-03 2.81787852e+02] [-1.37202333e-01 9.90542901e-01 -5.30416227e-04 -2.74630706e+01] [-3.72538476e-03 1.94651501e-05 9.99993061e-01 -1.17346851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.85, Y:-27.48, Z:-1.17 [[ 9.89643436e-01 1.43500081e-01 3.68743732e-03 2.81849166e+02] [-1.43499099e-01 9.89650305e-01 -5.30731971e-04 -2.74753508e+01] [-3.72543355e-03 -3.90852336e-06 9.99993061e-01 -1.17136742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.91, Y:-27.48, Z:-1.17 [[ 9.88932564e-01 1.48319881e-01 3.68734721e-03 2.81911093e+02] [-1.48318931e-01 9.88939438e-01 -5.31357265e-04 -2.74845098e+01] [-3.72537392e-03 -2.14268925e-05 9.99993061e-01 -1.17179212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.97, Y:-27.49, Z:-1.18 [[ 9.87818018e-01 1.55569811e-01 3.68731455e-03 2.81971535e+02] [-1.55568910e-01 9.87824899e-01 -5.31583793e-04 -2.74908438e+01] [-3.72511951e-03 -4.85234570e-05 9.99993061e-01 -1.17530679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:-27.50, Z:-1.17 [[ 9.86922230e-01 1.61154944e-01 3.68730809e-03 2.82031554e+02] [-1.61154082e-01 9.86929116e-01 -5.31628597e-04 -2.74992380e+01] [-3.72478629e-03 -6.95486693e-05 9.99993061e-01 -1.17173476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:282.09, Y:-27.51, Z:-1.17 [[ 9.86767701e-01 1.62098454e-01 3.68730809e-03 2.82092364e+02] [-1.62097599e-01 9.86774587e-01 -5.31628597e-04 -2.75066046e+01] [-3.72471809e-03 -7.31098608e-05 9.99993061e-01 -1.17319370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.15, Y:-27.51, Z:-1.17 [[ 9.87094297e-01 1.60097637e-01 3.68729536e-03 2.82154339e+02] [-1.60096767e-01 9.87101181e-01 -5.31716877e-04 -2.75066028e+01] [-3.72486022e-03 -6.54693715e-05 9.99993061e-01 -1.16959782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:282.22, Y:-27.52, Z:-1.18 [[ 9.87951396e-01 1.54720531e-01 3.68728251e-03 2.82215242e+02] [-1.54719624e-01 9.87958276e-01 -5.31805971e-04 -2.75150580e+01] [-3.72516258e-03 -4.50965125e-05 9.99993061e-01 -1.17721770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.28, Y:-27.52, Z:-1.17 [[ 9.89389761e-01 1.45238788e-01 3.68719980e-03 2.82276887e+02] [-1.45237812e-01 9.89396632e-01 -5.32378822e-04 -2.75224572e+01] [-3.72542512e-03 -8.79067763e-06 9.99993061e-01 -1.17206532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.34, Y:-27.53, Z:-1.17 [[ 9.90891367e-01 1.34613168e-01 3.68710848e-03 2.82337965e+02] [-1.34612116e-01 9.90898226e-01 -5.33010506e-04 -2.75292794e+01] [-3.72529949e-03 3.18260323e-05 9.99993061e-01 -1.17103868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.40, Y:-27.54, Z:-1.17 [[ 9.91606822e-01 1.29237440e-01 3.68702397e-03 2.82399920e+02] [-1.29236349e-01 9.91613675e-01 -5.33594444e-04 -2.75382179e+01] [-3.72506377e-03 5.26183733e-05 9.99993061e-01 -1.17060829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:-27.55, Z:-1.17 [[ 9.92278051e-01 1.23978529e-01 3.68693312e-03 2.82461730e+02] [-1.23977400e-01 9.92284898e-01 -5.34221505e-04 -2.75481681e+01] [-3.72472005e-03 7.29998928e-05 9.99993061e-01 -1.16999961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.52, Y:-27.56, Z:-1.17 [[ 9.92158398e-01 1.24932462e-01 3.68682790e-03 2.82522105e+02] [-1.24931337e-01 9.92165246e-01 -5.34946625e-04 -2.75583641e+01] [-3.72477471e-03 7.01514489e-05 9.99993061e-01 -1.17273005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.58, Y:-27.57, Z:-1.17 [[ 9.91452598e-01 1.30415309e-01 3.68674357e-03 2.82583861e+02] [-1.30414219e-01 9.91459452e-01 -5.35527192e-04 -2.75692002e+01] [-3.72509770e-03 5.01460413e-05 9.99993061e-01 -1.17070513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.64, Y:-27.58, Z:-1.17 [[ 9.90575732e-01 1.36916497e-01 3.68671033e-03 2.82644181e+02] [-1.36915452e-01 9.90582592e-01 -5.35755913e-04 -2.75789366e+01] [-3.72534490e-03 2.59391948e-05 9.99993061e-01 -1.17237310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:-27.59, Z:-1.17 [[ 9.89812324e-01 1.42330504e-01 3.68662429e-03 2.82705347e+02] [-1.42329494e-01 9.89819189e-01 -5.36347323e-04 -2.75932329e+01] [-3.72543005e-03 6.16782089e-06 9.99993061e-01 -1.17317250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.77, Y:-27.61, Z:-1.17 [[ 9.89195984e-01 1.46552770e-01 3.68653186e-03 2.82765930e+02] [-1.46551787e-01 9.89202854e-01 -5.36981874e-04 -2.76056882e+01] [-3.72542402e-03 -9.08751717e-06 9.99993061e-01 -1.17135814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.83, Y:-27.62, Z:-1.17 [[ 9.88476045e-01 1.51332478e-01 3.68643890e-03 2.82826092e+02] [-1.51331525e-01 9.88482919e-01 -5.37619305e-04 -2.76187156e+01] [-3.72534115e-03 -2.64506183e-05 9.99993061e-01 -1.17297425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.89, Y:-27.63, Z:-1.17 [[ 9.87206634e-01 1.59403487e-01 3.68635342e-03 2.82886737e+02] [-1.59402589e-01 9.87213515e-01 -5.38204771e-04 -2.76302785e+01] [-3.72500964e-03 -5.62949590e-05 9.99993061e-01 -1.17285172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.95, Y:-27.64, Z:-1.17 [[ 9.85967710e-01 1.66895433e-01 3.68634032e-03 2.82947012e+02] [-1.66894586e-01 9.85974598e-01 -5.38294505e-04 -2.76415221e+01] [-3.72447681e-03 -8.44892435e-05 9.99993061e-01 -1.17488298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.01, Y:-27.65, Z:-1.18 [[ 9.85745824e-01 1.68201016e-01 3.68632722e-03 2.83006666e+02] [-1.68200178e-01 9.85752713e-01 -5.38384238e-04 -2.76535328e+01] [-3.72436383e-03 -8.93308801e-05 9.99993061e-01 -1.17575731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.07, Y:-27.67, Z:-1.17 [[ 9.86127431e-01 1.65949091e-01 3.68624334e-03 2.83067233e+02] [-1.65948236e-01 9.86134318e-01 -5.38957907e-04 -2.76679916e+01] [-3.72457064e-03 -8.02444021e-05 9.99993061e-01 -1.17215308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.13, Y:-27.68, Z:-1.17 [[ 9.86425336e-01 1.64169025e-01 3.68615091e-03 2.83128241e+02] [-1.64168155e-01 9.86432221e-01 -5.39589329e-04 -2.76831683e+01] [-3.72472188e-03 -7.28840073e-05 9.99993061e-01 -1.17099265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.19, Y:-27.69, Z:-1.18 [[ 9.86555815e-01 1.63383101e-01 3.68604324e-03 2.83188264e+02] [-1.63382222e-01 9.86562698e-01 -5.40323825e-04 -2.76944186e+01] [-3.72479255e-03 -6.91743242e-05 9.99993061e-01 -1.17727683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.25, Y:-27.71, Z:-1.18 [[ 9.86319621e-01 1.64802967e-01 3.68598982e-03 2.83248649e+02] [-1.64802096e-01 9.86326506e-01 -5.40688012e-04 -2.77084258e+01] [-3.72469645e-03 -7.41676546e-05 9.99993061e-01 -1.17731229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:-27.71, Z:-1.18 [[ 9.84868117e-01 1.73266287e-01 3.68589963e-03 2.83310556e+02] [-1.73265474e-01 9.84875009e-01 -5.41302169e-04 -2.77131194e+01] [-3.72393985e-03 -1.05527897e-04 9.99993061e-01 -1.17907105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.37, Y:-27.71, Z:-1.18 [[ 9.83906629e-01 1.78645345e-01 3.68580564e-03 2.83372477e+02] [-1.78644567e-01 9.83913525e-01 -5.41941399e-04 -2.77136262e+01] [-3.72332933e-03 -1.25229417e-04 9.99993061e-01 -1.18227755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.43, Y:-27.71, Z:-1.18 [[ 9.83803636e-01 1.79211667e-01 3.68571940e-03 2.83433536e+02] [-1.79210891e-01 9.83810532e-01 -5.42527311e-04 -2.77135808e+01] [-3.72327678e-03 -1.26780715e-04 9.99993061e-01 -1.17600986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.49, Y:-27.72, Z:-1.18 [[ 9.84403404e-01 1.75887330e-01 3.68571940e-03 2.83494526e+02] [-1.75886530e-01 9.84410298e-01 -5.42527311e-04 -2.77163703e+01] [-3.72368381e-03 -1.14202665e-04 9.99993061e-01 -1.17913537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:-27.71, Z:-1.17 [[ 9.86792557e-01 1.61947103e-01 3.68571940e-03 2.83557308e+02] [-1.61946205e-01 9.86799439e-01 -5.42527311e-04 -2.77138135e+01] [-3.72492656e-03 -6.15263580e-05 9.99993061e-01 -1.17373827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:-27.72, Z:-1.17 [[ 9.88985902e-01 1.47963853e-01 3.68563363e-03 2.83619113e+02] [-1.47962857e-01 9.88992769e-01 -5.43109319e-04 -2.77164105e+01] [-3.72542556e-03 -8.20942074e-06 9.99993061e-01 -1.17309341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.68, Y:-27.73, Z:-1.17 [[ 9.90777735e-01 1.35447025e-01 3.68554824e-03 2.83680654e+02] [-1.35445940e-01 9.90784589e-01 -5.43688174e-04 -2.77257193e+01] [-3.72522534e-03 3.94815922e-05 9.99993061e-01 -1.17422667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.74, Y:-27.74, Z:-1.18 [[ 9.91642186e-01 1.28965858e-01 3.68545055e-03 2.83742214e+02] [-1.28964726e-01 9.91649032e-01 -5.44349605e-04 -2.77353523e+01] [-3.72487598e-03 6.45069136e-05 9.99993061e-01 -1.17693001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.80, Y:-27.74, Z:-1.18 [[ 9.91718452e-01 1.28378072e-01 3.68536067e-03 2.83803397e+02] [-1.28376933e-01 9.91725298e-01 -5.44957409e-04 -2.77446698e+01] [-3.72482599e-03 6.73290185e-05 9.99993061e-01 -1.17641008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.86, Y:-27.75, Z:-1.18 [[ 9.91069867e-01 1.33292676e-01 3.68526587e-03 2.83863875e+02] [-1.33291569e-01 9.91076718e-01 -5.45597758e-04 -2.77543778e+01] [-3.72510538e-03 4.95106286e-05 9.99993061e-01 -1.17703068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.92, Y:-27.76, Z:-1.18 [[ 9.89226925e-01 1.46343810e-01 3.68525239e-03 2.83923486e+02] [-1.46342793e-01 9.89233789e-01 -5.45688741e-04 -2.77578027e+01] [-3.72543436e-03 4.99867731e-07 9.99993061e-01 -1.17861147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.364203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:283.98, Y:-27.76, Z:-1.18 [[ 9.88306640e-01 1.52434919e-01 3.68525907e-03 2.83982768e+02] [-1.52433944e-01 9.88313510e-01 -5.45643618e-04 -2.77645730e+01] [-3.72536647e-03 -2.24953646e-05 9.99993061e-01 -1.18221324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.424203822 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:-27.77, Z:-1.18 [[ 9.87611024e-01 1.56878562e-01 3.68526572e-03 2.84042571e+02] [-1.56877619e-01 9.87617899e-01 -5.45598735e-04 -2.77719017e+01] [-3.72522713e-03 -3.92963842e-05 9.99993061e-01 -1.18033458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:-27.78, Z:-1.18 [[ 9.87082433e-01 1.60170812e-01 3.68526572e-03 2.84101917e+02] [-1.60169891e-01 9.87089311e-01 -5.45598735e-04 -2.77757555e+01] [-3.72507539e-03 -5.17176815e-05 9.99993061e-01 -1.17599389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.16, Y:-27.78, Z:-1.18 [[ 9.87016093e-01 1.60579114e-01 3.68527916e-03 2.84160830e+02] [-1.60578196e-01 9.87022971e-01 -5.45507959e-04 -2.77781051e+01] [-3.72505237e-03 -5.33503445e-05 9.99993061e-01 -1.17999139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.22, Y:-27.78, Z:-1.18 [[ 9.87240243e-01 1.59195227e-01 3.68529902e-03 2.84219452e+02] [-1.59194300e-01 9.87247121e-01 -5.45373730e-04 -2.77808224e+01] [-3.72512174e-03 -4.82637044e-05 9.99993061e-01 -1.18045881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664203822 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:284.28, Y:-27.78, Z:-1.18 [[ 9.87737345e-01 1.56081244e-01 3.68532555e-03 2.84279698e+02] [-1.56080297e-01 9.87744220e-01 -5.45194429e-04 -2.77843362e+01] [-3.72525363e-03 -3.66978056e-05 9.99993061e-01 -1.18151595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.34, Y:-27.79, Z:-1.18 [[ 9.88165502e-01 1.53347186e-01 3.68533910e-03 2.84338132e+02] [-1.53346220e-01 9.88172374e-01 -5.45102790e-04 -2.77889078e+01] [-3.72534027e-03 -2.64810471e-05 9.99993061e-01 -1.18301531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.40, Y:-27.79, Z:-1.18 [[ 9.88645288e-01 1.50222879e-01 3.68535928e-03 2.84397597e+02] [-1.50221891e-01 9.88652156e-01 -5.44966320e-04 -2.77903837e+01] [-3.72540481e-03 -1.48432576e-05 9.99993061e-01 -1.18091602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.46, Y:-27.79, Z:-1.18 [[ 9.89188032e-01 1.46606464e-01 3.68538535e-03 2.84456202e+02] [-1.46605452e-01 9.89194897e-01 -5.44789954e-04 -2.77939947e+01] [-3.72543411e-03 -1.39788229e-06 9.99993061e-01 -1.17761751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.51, Y:-27.80, Z:-1.18 [[ 9.89459740e-01 1.44761320e-01 3.68540476e-03 2.84514565e+02] [-1.44760296e-01 9.89466604e-01 -5.44658644e-04 -2.77981485e+01] [-3.72543043e-03 5.41751822e-06 9.99993061e-01 -1.17654424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.57, Y:-27.80, Z:-1.18 [[ 9.89526050e-01 1.44307357e-01 3.68543721e-03 2.84573910e+02] [-1.44306330e-01 9.89532913e-01 -5.44438976e-04 -2.78023975e+01] [-3.72542797e-03 6.90463008e-06 9.99993061e-01 -1.17872260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:-27.80, Z:-1.18 [[ 9.89357365e-01 1.45459347e-01 3.68545739e-03 2.84633455e+02] [-1.45458329e-01 9.89364229e-01 -5.44302300e-04 -2.78037782e+01] [-3.72543357e-03 2.42901550e-06 9.99993061e-01 -1.18256575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:-27.81, Z:-1.18 [[ 9.89110892e-01 1.47126004e-01 3.68547761e-03 2.84692894e+02] [-1.47124998e-01 9.89117758e-01 -5.44165364e-04 -2.78066471e+01] [-3.72543223e-03 -3.98599611e-06 9.99993061e-01 -1.17619410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.75, Y:-27.81, Z:-1.18 [[ 9.88921850e-01 1.48391349e-01 3.68550416e-03 2.84750628e+02] [-1.48390352e-01 9.88928717e-01 -5.43985535e-04 -2.78085954e+01] [-3.72542364e-03 -8.93407944e-06 9.99993061e-01 -1.17647602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:-27.81, Z:-1.18 [[ 9.88602356e-01 1.50505143e-01 3.68554489e-03 2.84809800e+02] [-1.50504162e-01 9.88609226e-01 -5.43709439e-04 -2.78055478e+01] [-3.72539474e-03 -1.71774115e-05 9.99993061e-01 -1.18020345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:-27.81, Z:-1.18 [[ 9.88671068e-01 1.50053110e-01 3.68557800e-03 2.84869152e+02] [-1.50052127e-01 9.88677937e-01 -5.43484869e-04 -2.78082591e+01] [-3.72540125e-03 -1.57010525e-05 9.99993061e-01 -1.18096506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:-27.81, Z:-1.18 [[ 9.89258437e-01 1.46130634e-01 3.68560488e-03 2.84926943e+02] [-1.46129624e-01 9.89265302e-01 -5.43302557e-04 -2.78115973e+01] [-3.72543417e-03 -1.10941492e-06 9.99993061e-01 -1.18313406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:-27.81, Z:-1.18 [[ 9.89773798e-01 1.42598191e-01 3.68564664e-03 2.84986044e+02] [-1.42597158e-01 9.89780660e-01 -5.43019123e-04 -2.78136968e+01] [-3.72541531e-03 1.19033641e-05 9.99993061e-01 -1.17880203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44420382199996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:285.04, Y:-27.82, Z:-1.19 [[ 9.90619106e-01 1.36602353e-01 3.68567347e-03 2.85044161e+02] [-1.36601278e-01 9.90625962e-01 -5.42836927e-04 -2.78229474e+01] [-3.72527663e-03 3.42769229e-05 9.99993061e-01 -1.18508616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50420382199997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:285.10, Y:-27.83, Z:-1.19 [[ 9.91291184e-01 1.31636636e-01 3.68570015e-03 2.85101074e+02] [-1.31635528e-01 9.91298035e-01 -5.42655756e-04 -2.78309494e+01] [-3.72506069e-03 5.27607821e-05 9.99993061e-01 -1.18627556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.16, Y:-27.84, Z:-1.18 [[ 9.91579715e-01 1.29445295e-01 3.68573300e-03 2.85159066e+02] [-1.29444173e-01 9.91586563e-01 -5.42432487e-04 -2.78385280e+01] [-3.72493866e-03 6.07683912e-05 9.99993061e-01 -1.18255005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.22, Y:-27.85, Z:-1.18 [[ 9.91301729e-01 1.31557198e-01 3.68575989e-03 2.85216151e+02] [-1.31556091e-01 9.91308580e-01 -5.42249770e-04 -2.78480699e+01] [-3.72506226e-03 5.26489699e-05 9.99993061e-01 -1.18243109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684203822 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:285.28, Y:-27.85, Z:-1.19 [[ 9.90208434e-01 1.39548098e-01 3.68579304e-03 2.85275695e+02] [-1.39547047e-01 9.90215294e-01 -5.42024347e-04 -2.78504156e+01] [-3.72536710e-03 2.23755450e-05 9.99993061e-01 -1.18521852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.34, Y:-27.85, Z:-1.18 [[ 9.89018927e-01 1.47742942e-01 3.68584258e-03 2.85335117e+02] [-1.47741949e-01 9.89025795e-01 -5.41687247e-04 -2.78524114e+01] [-3.72542385e-03 -8.81462638e-06 9.99993061e-01 -1.18105311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.39, Y:-27.86, Z:-1.18 [[ 9.88302272e-01 1.52463220e-01 3.68586905e-03 2.85393222e+02] [-1.52462261e-01 9.88309145e-01 -5.41507071e-04 -2.78572340e+01] [-3.72533800e-03 -2.67832603e-05 9.99993061e-01 -1.18170576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.45, Y:-27.86, Z:-1.18 [[ 9.88924096e-01 1.48376365e-01 3.68590190e-03 2.85451832e+02] [-1.48375378e-01 9.88930965e-01 -5.41283378e-04 -2.78624526e+01] [-3.72541618e-03 -1.16089123e-05 9.99993061e-01 -1.18384159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.51, Y:-27.87, Z:-1.18 [[ 9.90135196e-01 1.40066800e-01 3.68592788e-03 2.85510405e+02] [-1.40065756e-01 9.90142056e-01 -5.41106389e-04 -2.78722653e+01] [-3.72538325e-03 1.94962061e-05 9.99993061e-01 -1.18443729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.57, Y:-27.88, Z:-1.19 [[ 9.90550454e-01 1.37099280e-01 3.68597507e-03 2.85568840e+02] [-1.37098217e-01 9.90557311e-01 -5.40784739e-04 -2.78831255e+01] [-3.72531075e-03 3.03339587e-05 9.99993061e-01 -1.18759051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.63, Y:-27.90, Z:-1.19 [[ 9.90121851e-01 1.40161102e-01 3.68599494e-03 2.85626182e+02] [-1.40160061e-01 9.90128711e-01 -5.40649283e-04 -2.78951029e+01] [-3.72538742e-03 1.86793940e-05 9.99993061e-01 -1.18775461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104203822 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:-27.90, Z:-1.18 [[ 9.89292944e-01 1.45896827e-01 3.68602122e-03 2.85685207e+02] [-1.45895826e-01 9.89299811e-01 -5.40470052e-04 -2.79004412e+01] [-3.72543296e-03 -3.09190109e-06 9.99993061e-01 -1.18428035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.74, Y:-27.91, Z:-1.18 [[ 9.88729482e-01 1.49667715e-01 3.68604886e-03 2.85742491e+02] [-1.49666740e-01 9.88736353e-01 -5.40281483e-04 -2.79071974e+01] [-3.72539320e-03 -1.74866873e-05 9.99993061e-01 -1.18178355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:-27.92, Z:-1.18 [[ 9.88237874e-01 1.52880072e-01 3.68608314e-03 2.85799509e+02] [-1.52879121e-01 9.88244748e-01 -5.40047515e-04 -2.79158616e+01] [-3.72531481e-03 -2.98297438e-05 9.99993061e-01 -1.18239947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.86, Y:-27.92, Z:-1.18 [[ 9.87998313e-01 1.54420678e-01 3.68611616e-03 2.85857470e+02] [-1.54419739e-01 9.88005189e-01 -5.39822056e-04 -2.79231474e+01] [-3.72526158e-03 -3.58658133e-05 9.99993061e-01 -1.18237050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.92, Y:-27.93, Z:-1.18 [[ 9.87750218e-01 1.55999743e-01 3.68614195e-03 2.85915832e+02] [-1.55998815e-01 9.87757095e-01 -5.39645877e-04 -2.79280635e+01] [-3.72519748e-03 -4.19984441e-05 9.99993061e-01 -1.18309423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.97, Y:-27.94, Z:-1.18 [[ 9.88112232e-01 1.53690040e-01 3.68616803e-03 2.85973487e+02] [-1.53689097e-01 9.88119107e-01 -5.39467631e-04 -2.79371158e+01] [-3.72528387e-03 -3.34692700e-05 9.99993061e-01 -1.18165080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:286.03, Y:-27.94, Z:-1.18 [[ 9.88628609e-01 1.50332584e-01 3.68619457e-03 2.86032114e+02] [-1.50331618e-01 9.88635481e-01 -5.39286253e-04 -2.79443758e+01] [-3.72537504e-03 -2.09977769e-05 9.99993061e-01 -1.18457871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.09, Y:-27.95, Z:-1.18 [[ 9.89102085e-01 1.47185177e-01 3.68622103e-03 2.86089184e+02] [-1.47184190e-01 9.89108954e-01 -5.39105332e-04 -2.79519945e+01] [-3.72542254e-03 -9.32324932e-06 9.99993061e-01 -1.18119929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.15, Y:-27.96, Z:-1.17 [[ 9.89631500e-01 1.43582400e-01 3.68625363e-03 2.86147236e+02] [-1.43581388e-01 9.89638366e-01 -5.38882302e-04 -2.79622562e+01] [-3.72543203e-03 4.01748581e-06 9.99993061e-01 -1.17497072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.20, Y:-27.97, Z:-1.17 [[ 9.90092580e-01 1.40367712e-01 3.68628011e-03 2.86204216e+02] [-1.40366679e-01 9.90099442e-01 -5.38701090e-04 -2.79749655e+01] [-3.72540012e-03 1.59330550e-05 9.99993061e-01 -1.17434032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70420382199995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:286.26, Y:-27.98, Z:-1.18 [[ 9.90458924e-01 1.37758962e-01 3.68632218e-03 2.86262439e+02] [-1.37757912e-01 9.90465783e-01 -5.38413108e-04 -2.79849414e+01] [-3.72534721e-03 2.54560213e-05 9.99993061e-01 -1.17784118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.32, Y:-28.00, Z:-1.18 [[ 9.90477518e-01 1.37625209e-01 3.68634865e-03 2.86320304e+02] [-1.37624159e-01 9.90484377e-01 -5.38231775e-04 -2.79991351e+01] [-3.72534501e-03 2.57758403e-05 9.99993061e-01 -1.17739823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.38, Y:-28.02, Z:-1.18 [[ 9.90207617e-01 1.39553879e-01 3.68639701e-03 2.86376043e+02] [-1.39552844e-01 9.90214479e-01 -5.37900352e-04 -2.80185213e+01] [-3.72538978e-03 1.81858394e-05 9.99993061e-01 -1.17959711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.43, Y:-28.03, Z:-1.18 [[ 9.89866186e-01 1.41955429e-01 3.68642975e-03 2.86433135e+02] [-1.41954411e-01 9.89873050e-01 -5.37675923e-04 -2.80337637e+01] [-3.72542347e-03 8.92225144e-06 9.99993061e-01 -1.17607047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.49, Y:-28.05, Z:-1.18 [[ 9.89143141e-01 1.46909006e-01 3.68644880e-03 2.86489745e+02] [-1.46908023e-01 9.89150011e-01 -5.37545243e-04 -2.80530611e+01] [-3.72542111e-03 -9.85971404e-06 9.99993061e-01 -1.17813577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.55, Y:-28.07, Z:-1.18 [[ 9.88037923e-01 1.54167026e-01 3.68647405e-03 2.86546352e+02] [-1.54166094e-01 9.88044800e-01 -5.37372003e-04 -2.80709284e+01] [-3.72524656e-03 -3.73853858e-05 9.99993061e-01 -1.18127377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06420382199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.60, Y:-28.08, Z:-1.18 [[ 9.86485610e-01 1.63806446e-01 3.68649923e-03 2.86604242e+02] [-1.63805581e-01 9.86492495e-01 -5.37199217e-04 -2.80845557e+01] [-3.72470052e-03 -7.39298531e-05 9.99993061e-01 -1.17771935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.66, Y:-28.10, Z:-1.18 [[ 9.84812605e-01 1.73581513e-01 3.68652451e-03 2.86661864e+02] [-1.73580718e-01 9.84819499e-01 -5.37025700e-04 -2.80970286e+01] [-3.72377895e-03 -1.11039893e-04 9.99993061e-01 -1.17925045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184203822 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:286.72, Y:-28.11, Z:-1.19 [[ 9.84012937e-01 1.78058836e-01 3.68655001e-03 2.86719411e+02] [-1.78058073e-01 9.84019834e-01 -5.36850571e-04 -2.81062329e+01] [-3.72322932e-03 -1.28152083e-04 9.99993061e-01 -1.18635023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244203822 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:286.78, Y:-28.11, Z:-1.19 [[ 9.84277786e-01 1.76588928e-01 3.68657510e-03 2.86778242e+02] [-1.76588155e-01 9.84284682e-01 -5.36678255e-04 -2.81137415e+01] [-3.72341084e-03 -1.22765012e-04 9.99993061e-01 -1.18516987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.84, Y:-28.12, Z:-1.18 [[ 9.85570793e-01 1.69223585e-01 3.68659451e-03 2.86836357e+02] [-1.69222761e-01 9.85577683e-01 -5.36544890e-04 -2.81239384e+01] [-3.72422132e-03 -9.50527274e-05 9.99993061e-01 -1.18489249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:-28.13, Z:-1.18 [[ 9.87338884e-01 1.58582271e-01 3.68662084e-03 2.86893876e+02] [-1.58581373e-01 9.87345765e-01 -5.36363883e-04 -2.81338117e+01] [-3.72502728e-03 -5.50564769e-05 9.99993061e-01 -1.18403515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.95, Y:-28.15, Z:-1.18 [[ 9.89114533e-01 1.47101494e-01 3.68665397e-03 2.86952321e+02] [-1.47100518e-01 9.89121403e-01 -5.36136066e-04 -2.81469017e+01] [-3.72541477e-03 -1.20087329e-05 9.99993061e-01 -1.17807848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484203822 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:287.01, Y:-28.16, Z:-1.18 [[ 9.90009950e-01 1.40949310e-01 3.68666745e-03 2.87011050e+02] [-1.40948291e-01 9.90016814e-01 -5.36043398e-04 -2.81593625e+01] [-3.72541771e-03 1.10588225e-05 9.99993061e-01 -1.18383711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.07, Y:-28.17, Z:-1.18 [[ 9.89989519e-01 1.41092734e-01 3.68668104e-03 2.87068366e+02] [-1.41091717e-01 9.89996384e-01 -5.35949916e-04 -2.81715922e+01] [-3.72541953e-03 1.04246425e-05 9.99993061e-01 -1.18282266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.13, Y:-28.18, Z:-1.18 [[ 9.89692762e-01 1.43159509e-01 3.68670113e-03 2.87125577e+02] [-1.43158507e-01 9.89699629e-01 -5.35811660e-04 -2.81837509e+01] [-3.72543327e-03 2.50629388e-06 9.99993061e-01 -1.18443528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.18, Y:-28.19, Z:-1.18 [[ 9.89113255e-01 1.47110085e-01 3.68672085e-03 2.87183707e+02] [-1.47109110e-01 9.89120126e-01 -5.35675907e-04 -2.81941496e+01] [-3.72541312e-03 -1.25060851e-05 9.99993061e-01 -1.18100658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724203822 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:287.24, Y:-28.20, Z:-1.19 [[ 9.88177045e-01 1.53272751e-01 3.68674646e-03 2.87241432e+02] [-1.53271820e-01 9.88183921e-01 -5.35499637e-04 -2.82035622e+01] [-3.72526107e-03 -3.59058908e-05 9.99993061e-01 -1.18567771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.30, Y:-28.21, Z:-1.18 [[ 9.87568405e-01 1.57146596e-01 3.68677197e-03 2.87299291e+02] [-1.57145693e-01 9.87575286e-01 -5.35323909e-04 -2.82147756e+01] [-3.72508921e-03 -5.06913567e-05 9.99993061e-01 -1.18096760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.36, Y:-28.22, Z:-1.18 [[ 9.87633552e-01 1.56736644e-01 3.68679798e-03 2.87358317e+02] [-1.56735738e-01 9.87640432e-01 -5.35144755e-04 -2.82202266e+01] [-3.72510754e-03 -4.93260865e-05 9.99993061e-01 -1.18309130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.42, Y:-28.23, Z:-1.18 [[ 9.88039791e-01 1.54155047e-01 3.68682370e-03 2.87416181e+02] [-1.54154123e-01 9.88046669e-01 -5.34967460e-04 -2.82307831e+01] [-3.72522181e-03 -3.97699393e-05 9.99993061e-01 -1.18360338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.47, Y:-28.24, Z:-1.19 [[ 9.88189495e-01 1.53192461e-01 3.68685031e-03 2.87474181e+02] [-1.53191532e-01 9.88196371e-01 -5.34784034e-04 -2.82424442e+01] [-3.72525698e-03 -3.63262825e-05 9.99993061e-01 -1.18583272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.53, Y:-28.25, Z:-1.19 [[ 9.88440675e-01 1.51563314e-01 3.68687671e-03 2.87532985e+02] [-1.51562374e-01 9.88447551e-01 -5.34601938e-04 -2.82494635e+01] [-3.72531030e-03 -3.03694871e-05 9.99993061e-01 -1.18507028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08420382199995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.59, Y:-28.26, Z:-1.19 [[ 9.88832608e-01 1.48984833e-01 3.68689005e-03 2.87592014e+02] [-1.48983875e-01 9.88839481e-01 -5.34509944e-04 -2.82590088e+01] [-3.72537632e-03 -2.07463064e-05 9.99993061e-01 -1.18734066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.65, Y:-28.27, Z:-1.19 [[ 9.89603726e-01 1.43773684e-01 3.68690328e-03 2.87650532e+02] [-1.43772691e-01 9.89610594e-01 -5.34418673e-04 -2.82707744e+01] [-3.72543389e-03 -1.21329554e-06 9.99993061e-01 -1.18828987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.71, Y:-28.28, Z:-1.19 [[ 9.89766361e-01 1.42649773e-01 3.68691657e-03 2.87708778e+02] [-1.42648773e-01 9.89773228e-01 -5.34326994e-04 -2.82792773e+01] [-3.72543294e-03 2.92476099e-06 9.99993061e-01 -1.19026623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.77, Y:-28.29, Z:-1.18 [[ 9.90196458e-01 1.39633023e-01 3.68693632e-03 2.87768235e+02] [-1.39632002e-01 9.90203322e-01 -5.34190673e-04 -2.82871503e+01] [-3.72540725e-03 1.41394134e-05 9.99993061e-01 -1.18469456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:287.83, Y:-28.29, Z:-1.19 [[ 9.90572589e-01 1.36939226e-01 3.68694287e-03 2.87827459e+02] [-1.36938186e-01 9.90579451e-01 -5.34145461e-04 -2.82949016e+01] [-3.72535531e-03 2.42265831e-05 9.99993061e-01 -1.18544423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.89, Y:-28.31, Z:-1.18 [[ 9.90788577e-01 1.35367659e-01 3.68695608e-03 2.87887027e+02] [-1.35366609e-01 9.90795436e-01 -5.34054248e-04 -2.83057653e+01] [-3.72531293e-03 3.00441076e-05 9.99993061e-01 -1.18317805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.95, Y:-28.31, Z:-1.18 [[ 9.90885849e-01 1.34653780e-01 3.68695608e-03 2.87946570e+02] [-1.34652725e-01 9.90892708e-01 -5.34054248e-04 -2.83144442e+01] [-3.72529032e-03 3.27281143e-05 9.99993061e-01 -1.18469397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.01, Y:-28.32, Z:-1.19 [[ 9.90816167e-01 1.35165565e-01 3.68696269e-03 2.88006000e+02] [-1.35164514e-01 9.90823026e-01 -5.34008647e-04 -2.83217954e+01] [-3.72530711e-03 3.07578807e-05 9.99993061e-01 -1.18966424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.07, Y:-28.33, Z:-1.19 [[ 9.90980717e-01 1.33953817e-01 3.68695206e-03 2.88065439e+02] [-1.33952757e-01 9.90987575e-01 -5.34082014e-04 -2.83327893e+01] [-3.72526600e-03 3.53875859e-05 9.99993061e-01 -1.18525769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.12, Y:-28.34, Z:-1.18 [[ 9.91311820e-01 1.31481109e-01 3.68695206e-03 2.88123662e+02] [-1.31480032e-01 9.91318675e-01 -5.34082014e-04 -2.83433229e+01] [-3.72516613e-03 4.46812386e-05 9.99993061e-01 -1.18240590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.18, Y:-28.36, Z:-1.18 [[ 9.91355660e-01 1.31150148e-01 3.68696480e-03 2.88182645e+02] [-1.31149069e-01 9.91362515e-01 -5.33994008e-04 -2.83557729e+01] [-3.72515209e-03 4.58359799e-05 9.99993061e-01 -1.17863151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.24, Y:-28.37, Z:-1.18 [[ 9.91204003e-01 1.32291461e-01 3.68696480e-03 2.88241634e+02] [-1.32290389e-01 9.91210859e-01 -5.33994008e-04 -2.83660310e+01] [-3.72520240e-03 4.15469886e-05 9.99993061e-01 -1.18060708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.804203822 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:288.30, Y:-28.38, Z:-1.18 [[ 9.90487059e-01 1.37556508e-01 3.68696007e-03 2.88300527e+02] [-1.37555473e-01 9.90493921e-01 -5.34026700e-04 -2.83790234e+01] [-3.72537038e-03 2.17849983e-05 9.99993061e-01 -1.18377756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.36, Y:-28.39, Z:-1.18 [[ 9.89927712e-01 1.41525727e-01 3.68696007e-03 2.88359355e+02] [-1.41524719e-01 9.89934578e-01 -5.34026700e-04 -2.83910015e+01] [-3.72542778e-03 6.85183997e-06 9.99993061e-01 -1.18438836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.42, Y:-28.40, Z:-1.19 [[ 9.89182004e-01 1.46647093e-01 3.68696666e-03 2.88418245e+02] [-1.46646121e-01 9.89188875e-01 -5.33981203e-04 -2.84018332e+01] [-3.72541319e-03 -1.24747626e-05 9.99993061e-01 -1.18933974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.48, Y:-28.42, Z:-1.19 [[ 9.88521189e-01 1.51037299e-01 3.68697951e-03 2.88477881e+02] [-1.51036359e-01 9.88528064e-01 -5.33892422e-04 -2.84151067e+01] [-3.72532039e-03 -2.91039883e-05 9.99993061e-01 -1.18699114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.54, Y:-28.43, Z:-1.19 [[ 9.87882242e-01 1.55161472e-01 3.68697951e-03 2.88535674e+02] [-1.55160560e-01 9.87889121e-01 -5.33892422e-04 -2.84282053e+01] [-3.72516649e-03 -4.46509631e-05 9.99993061e-01 -1.18570159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.60, Y:-28.44, Z:-1.19 [[ 9.87248170e-01 1.59146024e-01 3.68696135e-03 2.88595027e+02] [-1.59145139e-01 9.87255053e-01 -5.34017846e-04 -2.84409162e+01] [-3.72495804e-03 -5.95538350e-05 9.99993061e-01 -1.18796086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.65, Y:-28.45, Z:-1.19 [[ 9.86526589e-01 1.63559453e-01 3.68696135e-03 2.88653900e+02] [-1.63558599e-01 9.86533476e-01 -5.34017846e-04 -2.84496736e+01] [-3.72465446e-03 -7.62114301e-05 9.99993061e-01 -1.18875439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.71, Y:-28.46, Z:-1.18 [[ 9.86195472e-01 1.65544244e-01 3.68695874e-03 2.88714041e+02] [-1.65543403e-01 9.86202361e-01 -5.34035847e-04 -2.84596666e+01] [-3.72449397e-03 -8.36879633e-05 9.99993061e-01 -1.18426218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.77, Y:-28.47, Z:-1.19 [[ 9.85977247e-01 1.66839066e-01 3.68695874e-03 2.88773801e+02] [-1.66838235e-01 9.85984137e-01 -5.34035847e-04 -2.84699383e+01] [-3.72438087e-03 -8.85784943e-05 9.99993061e-01 -1.18698754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.83, Y:-28.48, Z:-1.19 [[ 9.86353035e-01 1.64602847e-01 3.68695874e-03 2.88833171e+02] [-1.64602000e-01 9.86359922e-01 -5.34035847e-04 -2.84781164e+01] [-3.72457216e-03 -8.01329052e-05 9.99993061e-01 -1.18569842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.89, Y:-28.49, Z:-1.19 [[ 9.87560551e-01 1.57195944e-01 3.68695874e-03 2.88894165e+02] [-1.57195046e-01 9.87567432e-01 -5.34035847e-04 -2.84914893e+01] [-3.72506864e-03 -5.21789130e-05 9.99993061e-01 -1.18553572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464203822 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:288.95, Y:-28.51, Z:-1.19 [[ 9.88617793e-01 1.50403679e-01 3.68686948e-03 2.88954568e+02] [-1.50402731e-01 9.88624667e-01 -5.34651377e-04 -2.85058207e+01] [-3.72534365e-03 -2.59493744e-05 9.99993061e-01 -1.19157685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.02, Y:-28.52, Z:-1.19 [[ 9.88780122e-01 1.49332774e-01 3.68678028e-03 2.89015565e+02] [-1.49331816e-01 9.88786995e-01 -5.35265773e-04 -2.85183095e+01] [-3.72537312e-03 -2.12934374e-05 9.99993061e-01 -1.18978305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:289.08, Y:-28.53, Z:-1.19 [[ 9.88500937e-01 1.51169793e-01 3.68669118e-03 2.89076565e+02] [-1.51168846e-01 9.88507811e-01 -5.35878761e-04 -2.85304844e+01] [-3.72533171e-03 -2.75961929e-05 9.99993061e-01 -1.19301387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.14, Y:-28.54, Z:-1.19 [[ 9.88118738e-01 1.53648198e-01 3.68660007e-03 2.89137336e+02] [-1.53647266e-01 9.88125614e-01 -5.36504800e-04 -2.85419045e+01] [-3.72525696e-03 -3.63055744e-05 9.99993061e-01 -1.18977118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.20, Y:-28.55, Z:-1.19 [[ 9.87289733e-01 1.58887987e-01 3.68650681e-03 2.89197950e+02] [-1.58887088e-01 9.87296614e-01 -5.37144858e-04 -2.85510949e+01] [-3.72502156e-03 -5.54207297e-05 9.99993061e-01 -1.19204021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.26, Y:-28.56, Z:-1.19 [[ 9.86255166e-01 1.65188247e-01 3.68645525e-03 2.89257730e+02] [-1.65187391e-01 9.86262053e-01 -5.37498478e-04 -2.85579559e+01] [-3.72459936e-03 -7.88452762e-05 9.99993061e-01 -1.18893295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.32, Y:-28.56, Z:-1.19 [[ 9.85285232e-01 1.70878385e-01 3.68645525e-03 2.89317470e+02] [-1.70877569e-01 9.85292123e-01 -5.37498478e-04 -2.85615861e+01] [-3.72408219e-03 -1.00343200e-04 9.99993061e-01 -1.18868812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.38, Y:-28.56, Z:-1.19 [[ 9.85238399e-01 1.71148201e-01 3.68646165e-03 2.89378459e+02] [-1.71147387e-01 9.85245291e-01 -5.37454600e-04 -2.85644659e+01] [-3.72405337e-03 -1.01407368e-04 9.99993061e-01 -1.18642785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94420382199996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:289.44, Y:-28.57, Z:-1.19 [[ 9.86362657e-01 1.64545187e-01 3.68646165e-03 2.89438977e+02] [-1.64544327e-01 9.86369543e-01 -5.37454600e-04 -2.85695583e+01] [-3.72464906e-03 -7.64612018e-05 9.99993061e-01 -1.19041064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.50, Y:-28.58, Z:-1.19 [[ 9.87975660e-01 1.54565535e-01 3.68646165e-03 2.89499479e+02] [-1.54564605e-01 9.87982537e-01 -5.37454600e-04 -2.85775526e+01] [-3.72523169e-03 -3.88044256e-05 9.99993061e-01 -1.18961688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.56, Y:-28.59, Z:-1.19 [[ 9.88874205e-01 1.48708497e-01 3.68644903e-03 2.89560552e+02] [-1.48707526e-01 9.88881076e-01 -5.37541173e-04 -2.85896301e+01] [-3.72539662e-03 -1.66421152e-05 9.99993061e-01 -1.18903464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.62, Y:-28.60, Z:-1.19 [[ 9.89455787e-01 1.44788315e-01 3.68635611e-03 2.89622454e+02] [-1.44787315e-01 9.89462654e-01 -5.38177587e-04 -2.86025946e+01] [-3.72543353e-03 -1.23467632e-06 9.99993061e-01 -1.18805985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184203822 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:289.68, Y:-28.61, Z:-1.19 [[ 9.89561916e-01 1.44061186e-01 3.68624942e-03 2.89683328e+02] [-1.44060178e-01 9.89568782e-01 -5.38907391e-04 -2.86132600e+01] [-3.72543299e-03 2.24048232e-06 9.99993061e-01 -1.19367389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.74, Y:-28.63, Z:-1.19 [[ 9.89117105e-01 1.47084209e-01 3.68615545e-03 2.89743772e+02] [-1.47083220e-01 9.89123974e-01 -5.39549417e-04 -2.86292121e+01] [-3.72542392e-03 -8.49405433e-06 9.99993061e-01 -1.18964626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.80, Y:-28.64, Z:-1.19 [[ 9.88394284e-01 1.51865575e-01 3.68606106e-03 2.89803375e+02] [-1.51864616e-01 9.88401157e-01 -5.40193467e-04 -2.86428366e+01] [-3.72534381e-03 -2.58581132e-05 9.99993061e-01 -1.19146510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.86, Y:-28.66, Z:-1.19 [[ 9.87610407e-01 1.56882433e-01 3.68597435e-03 2.89864340e+02] [-1.56881507e-01 9.87617284e-01 -5.40784475e-04 -2.86583836e+01] [-3.72517156e-03 -4.41768370e-05 9.99993061e-01 -1.18980974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.93, Y:-28.67, Z:-1.19 [[ 9.86449634e-01 1.64022965e-01 3.68588505e-03 2.89925076e+02] [-1.64022086e-01 9.86456518e-01 -5.41392456e-04 -2.86697770e+01] [-3.72476613e-03 -7.05101654e-05 9.99993061e-01 -1.18690909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:-28.68, Z:-1.19 [[ 9.85047533e-01 1.72243351e-01 3.68583720e-03 2.89985393e+02] [-1.72242528e-01 9.85054424e-01 -5.41718026e-04 -2.86802010e+01] [-3.72405757e-03 -1.01239913e-04 9.99993061e-01 -1.18686133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:-28.69, Z:-1.19 [[ 9.83950548e-01 1.78403288e-01 3.68580860e-03 2.90045170e+02] [-1.78402508e-01 9.83957444e-01 -5.41912560e-04 -2.86880496e+01] [-3.72335779e-03 -1.24342337e-04 9.99993061e-01 -1.19179790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.11, Y:-28.69, Z:-1.19 [[ 9.83662053e-01 1.79987169e-01 3.68577929e-03 2.90106421e+02] [-1.79986399e-01 9.83668949e-01 -5.42111821e-04 -2.86937106e+01] [-3.72315981e-03 -1.30135317e-04 9.99993061e-01 -1.19264006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.17, Y:-28.70, Z:-1.20 [[ 9.84444622e-01 1.75656490e-01 3.68576652e-03 2.90167189e+02] [-1.75655690e-01 9.84451515e-01 -5.42198635e-04 -2.87009454e+01] [-3.72369914e-03 -1.13661330e-04 9.99993061e-01 -1.19681752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.23, Y:-28.71, Z:-1.19 [[ 9.85147099e-01 1.71672969e-01 3.68568440e-03 2.90229809e+02] [-1.71672139e-01 9.85153989e-01 -5.42756249e-04 -2.87054888e+01] [-3.72414327e-03 -9.80345806e-05 9.99993061e-01 -1.19481978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:-28.71, Z:-1.19 [[ 9.85835649e-01 1.67673761e-01 3.68559482e-03 2.90291486e+02] [-1.67672901e-01 9.85842535e-01 -5.43363908e-04 -2.87137836e+01] [-3.72452401e-03 -8.23068653e-05 9.99993061e-01 -1.19342989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844203822 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:-28.72, Z:-1.19 [[ 9.87740476e-01 1.56061429e-01 3.68550588e-03 2.90353075e+02] [-1.56060486e-01 9.87747351e-01 -5.43966492e-04 -2.87198582e+01] [-3.72524086e-03 -3.78641167e-05 9.99993061e-01 -1.19113130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:-28.73, Z:-1.19 [[ 9.88591877e-01 1.50573962e-01 3.68541394e-03 2.90413303e+02] [-1.50572978e-01 9.88598747e-01 -5.44588675e-04 -2.87293677e+01] [-3.72539648e-03 -1.65478098e-05 9.99993061e-01 -1.19060534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.47, Y:-28.74, Z:-1.19 [[ 9.89202041e-01 1.46511913e-01 3.68532901e-03 2.90474749e+02] [-1.46510899e-01 9.89208906e-01 -5.45162808e-04 -2.87372425e+01] [-3.72543312e-03 -6.64704381e-07 9.99993061e-01 -1.18763137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:290.54, Y:-28.74, Z:-1.19 [[ 9.88969359e-01 1.48074393e-01 3.68523785e-03 2.90536349e+02] [-1.48073387e-01 9.88976225e-01 -5.45778348e-04 -2.87441147e+01] [-3.72542841e-03 -5.92758855e-06 9.99993061e-01 -1.19026513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.60, Y:-28.75, Z:-1.19 [[ 9.88244533e-01 1.52837046e-01 3.68514365e-03 2.90598318e+02] [-1.52836071e-01 9.88251404e-01 -5.46413656e-04 -2.87528777e+01] [-3.72536063e-03 -2.32325683e-05 9.99993061e-01 -1.19069466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.66, Y:-28.76, Z:-1.19 [[ 9.87439798e-01 1.57952732e-01 3.68504984e-03 2.90659493e+02] [-1.57951791e-01 9.87446673e-01 -5.47045579e-04 -2.87583173e+01] [-3.72519755e-03 -4.18856454e-05 9.99993061e-01 -1.18866923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20420382199995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:290.72, Y:-28.76, Z:-1.19 [[ 9.87278683e-01 1.58956666e-01 3.68503622e-03 2.90721135e+02] [-1.58955731e-01 9.87285560e-01 -5.47137308e-04 -2.87629381e+01] [-3.72515417e-03 -4.55806266e-05 9.99993061e-01 -1.19284522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.78, Y:-28.77, Z:-1.20 [[ 9.87647057e-01 1.56651562e-01 3.68502233e-03 2.90781047e+02] [-1.56650610e-01 9.87653931e-01 -5.47230871e-04 -2.87683610e+01] [-3.72525136e-03 -3.67900367e-05 9.99993061e-01 -1.19702647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.84, Y:-28.78, Z:-1.19 [[ 9.88034310e-01 1.54190220e-01 3.68501546e-03 2.90841875e+02] [-1.54189251e-01 9.88041181e-01 -5.47277093e-04 -2.87765615e+01] [-3.72533180e-03 -2.74612285e-05 9.99993061e-01 -1.19479002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38420382199996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:290.90, Y:-28.78, Z:-1.19 [[ 9.88325247e-01 1.52314239e-01 3.68500232e-03 2.90903256e+02] [-1.52313257e-01 9.88332116e-01 -5.47365566e-04 -2.87816658e+01] [-3.72537771e-03 -2.02994978e-05 9.99993061e-01 -1.19481110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44420382199996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:290.96, Y:-28.79, Z:-1.20 [[ 9.88663676e-01 1.50101822e-01 3.68498875e-03 2.90963244e+02] [-1.50100824e-01 9.88670543e-01 -5.47456887e-04 -2.87897973e+01] [-3.72541411e-03 -1.18691116e-05 9.99993061e-01 -1.19670726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.02, Y:-28.80, Z:-1.19 [[ 9.89131242e-01 1.46989138e-01 3.68498204e-03 2.91023400e+02] [-1.46988118e-01 9.89138106e-01 -5.47502043e-04 -2.88004174e+01] [-3.72543301e-03 -9.72016037e-08 9.99993061e-01 -1.19346978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.08, Y:-28.81, Z:-1.19 [[ 9.89464724e-01 1.44727267e-01 3.68496872e-03 2.91083564e+02] [-1.44726231e-01 9.89471585e-01 -5.47591724e-04 -2.88118638e+01] [-3.72542329e-03 8.51105857e-06 9.99993061e-01 -1.19453028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.14, Y:-28.83, Z:-1.20 [[ 9.89763023e-01 1.42672980e-01 3.68495520e-03 2.91143645e+02] [-1.42671930e-01 9.89769883e-01 -5.47682693e-04 -2.88254369e+01] [-3.72539719e-03 1.63364098e-05 9.99993061e-01 -1.19742371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.20, Y:-28.84, Z:-1.20 [[ 9.89414259e-01 1.45071863e-01 3.68490279e-03 2.91204780e+02] [-1.45070828e-01 9.89421121e-01 -5.48035097e-04 -2.88360651e+01] [-3.72542512e-03 7.66184234e-06 9.99993061e-01 -1.19855870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.26, Y:-28.85, Z:-1.20 [[ 9.88677103e-01 1.50013360e-01 3.68480806e-03 2.91264588e+02] [-1.50012357e-01 9.88683970e-01 -5.48671244e-04 -2.88484113e+01] [-3.72541868e-03 -1.03080457e-05 9.99993061e-01 -1.19843805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:-28.86, Z:-1.20 [[ 9.87839540e-01 1.55433158e-01 3.68479452e-03 2.91323995e+02] [-1.55432192e-01 9.87846411e-01 -5.48762209e-04 -2.88607389e+01] [-3.72530688e-03 -3.06466803e-05 9.99993061e-01 -1.19791413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.38, Y:-28.87, Z:-1.19 [[ 9.87152921e-01 1.59735825e-01 3.68478786e-03 2.91384395e+02] [-1.59734889e-01 9.87159797e-01 -5.48806915e-04 -2.88681597e+01] [-3.72513856e-03 -4.68328314e-05 9.99993061e-01 -1.19381325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.924203822 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:291.44, Y:-28.88, Z:-1.19 [[ 9.86721175e-01 1.62381480e-01 3.68478113e-03 2.91444660e+02] [-1.62380562e-01 9.86728054e-01 -5.48852108e-04 -2.88805920e+01] [-3.72500033e-03 -5.67728348e-05 9.99993061e-01 -1.19477563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.50, Y:-28.89, Z:-1.20 [[ 9.86857491e-01 1.61550966e-01 3.68476762e-03 2.91504664e+02] [-1.61550042e-01 9.86864369e-01 -5.48942737e-04 -2.88930050e+01] [-3.72504811e-03 -5.35461126e-05 9.99993061e-01 -1.19580630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.57, Y:-28.90, Z:-1.20 [[ 9.86992999e-01 1.60721010e-01 3.68468085e-03 2.91565930e+02] [-1.60720078e-01 9.86999876e-01 -5.49524594e-04 -2.89022945e+01] [-3.72509969e-03 -4.98252659e-05 9.99993061e-01 -1.19732765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.63, Y:-28.91, Z:-1.20 [[ 9.86911522e-01 1.61220568e-01 3.68458557e-03 2.91626920e+02] [-1.61219637e-01 9.86918399e-01 -5.50162709e-04 -2.89136274e+01] [-3.72508283e-03 -5.10656316e-05 9.99993061e-01 -1.19862983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.69, Y:-28.93, Z:-1.20 [[ 9.86476478e-01 1.63861476e-01 3.68448435e-03 2.91688405e+02] [-1.63860562e-01 9.86483357e-01 -5.50839732e-04 -2.89251691e+01] [-3.72494390e-03 -6.03512363e-05 9.99993061e-01 -1.19936003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.75, Y:-28.93, Z:-1.20 [[ 9.85929391e-01 1.67121694e-01 3.68439125e-03 2.91749621e+02] [-1.67120800e-01 9.85936273e-01 -5.51461743e-04 -2.89334501e+01] [-3.72473620e-03 -7.20360716e-05 9.99993061e-01 -1.19888918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:291.81, Y:-28.94, Z:-1.20 [[ 9.85913941e-01 1.67212818e-01 3.68437799e-03 2.91810341e+02] [-1.67211924e-01 9.85920823e-01 -5.51550358e-04 -2.89409365e+01] [-3.72473126e-03 -7.22907428e-05 9.99993061e-01 -1.19728919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.87, Y:-28.95, Z:-1.20 [[ 9.86435225e-01 1.64109638e-01 3.68436453e-03 2.91870675e+02] [-1.64108722e-01 9.86442103e-01 -5.51640211e-04 -2.89501771e+01] [-3.72494177e-03 -6.04790185e-05 9.99993061e-01 -1.20010433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.93, Y:-28.96, Z:-1.20 [[ 9.87253988e-01 1.59109990e-01 3.68427813e-03 2.91933041e+02] [-1.59109037e-01 9.87260862e-01 -5.52216656e-04 -2.89615708e+01] [-3.72520679e-03 -4.10238490e-05 9.99993061e-01 -1.19991275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.99, Y:-28.97, Z:-1.20 [[ 9.87989331e-01 1.54478185e-01 3.68417109e-03 2.91993230e+02] [-1.54477197e-01 9.87996199e-01 -5.52929866e-04 -2.89719059e+01] [-3.72536264e-03 -2.28316138e-05 9.99993061e-01 -1.19890753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.06, Y:-28.98, Z:-1.20 [[ 9.88583017e-01 1.50632158e-01 3.68408464e-03 2.92055602e+02] [-1.50631141e-01 9.88589881e-01 -5.53505304e-04 -2.89814708e+01] [-3.72542449e-03 -7.75192980e-06 9.99993061e-01 -1.19628834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58420382199995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:292.12, Y:-28.99, Z:-1.20 [[ 9.88974266e-01 1.48041645e-01 3.68397723e-03 2.92116532e+02] [-1.48040607e-01 9.88981128e-01 -5.54219259e-04 -2.89911222e+01] [-3.72543149e-03 2.73035837e-06 9.99993061e-01 -1.20414763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.18, Y:-29.00, Z:-1.20 [[ 9.88898166e-01 1.48549135e-01 3.68388402e-03 2.92179029e+02] [-1.48548099e-01 9.88905028e-01 -5.54838144e-04 -2.89999884e+01] [-3.72543215e-03 1.44445470e-06 9.99993061e-01 -1.20031850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.24, Y:-29.01, Z:-1.20 [[ 9.88676823e-01 1.50015231e-01 3.68377534e-03 2.92240142e+02] [-1.50014202e-01 9.88683686e-01 -5.55558727e-04 -2.90084887e+01] [-3.72543086e-03 -3.35058120e-06 9.99993061e-01 -1.20114912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76420382199996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:-29.02, Z:-1.20 [[ 9.88878300e-01 1.48681333e-01 3.68367432e-03 2.92301628e+02] [-1.48680293e-01 9.88885161e-01 -5.56227790e-04 -2.90172866e+01] [-3.72543156e-03 2.35181556e-06 9.99993061e-01 -1.20054650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:-29.03, Z:-1.20 [[ 9.89191153e-01 1.46585449e-01 3.68357759e-03 2.92362933e+02] [-1.46584392e-01 9.89198012e-01 -5.56867645e-04 -2.90307215e+01] [-3.72541632e-03 1.08935677e-05 9.99993061e-01 -1.19976268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:-29.05, Z:-1.20 [[ 9.89266067e-01 1.46079020e-01 3.68354266e-03 2.92422584e+02] [-1.46077958e-01 9.89272925e-01 -5.57098577e-04 -2.90457556e+01] [-3.72540944e-03 1.30343261e-05 9.99993061e-01 -1.20441365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.48, Y:-29.06, Z:-1.20 [[ 9.88680818e-01 1.49988907e-01 3.68345292e-03 2.92484089e+02] [-1.49987871e-01 9.88687680e-01 -5.57691327e-04 -2.90569983e+01] [-3.72543203e-03 -1.09454104e-06 9.99993061e-01 -1.20036892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:-29.07, Z:-1.20 [[ 9.87654034e-01 1.56607604e-01 3.68335637e-03 2.92545393e+02] [-1.56606611e-01 9.87660902e-01 -5.58328225e-04 -2.90659827e+01] [-3.72534552e-03 -2.54028345e-05 9.99993061e-01 -1.19574627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.61, Y:-29.07, Z:-1.20 [[ 9.86621498e-01 1.62986052e-01 3.68325965e-03 2.92606050e+02] [-1.62985101e-01 9.86628372e-01 -5.58965607e-04 -2.90742259e+01] [-3.72511207e-03 -4.88289619e-05 9.99993061e-01 -1.19506336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.67, Y:-29.08, Z:-1.19 [[ 9.85789826e-01 1.67943005e-01 3.68317087e-03 2.92667762e+02] [-1.67942087e-01 9.85796704e-01 -5.59549938e-04 -2.90844983e+01] [-3.72483021e-03 -6.69607659e-05 9.99993061e-01 -1.19489435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.73, Y:-29.09, Z:-1.20 [[ 9.85259343e-01 1.71027666e-01 3.68307366e-03 2.92731012e+02] [-1.71026766e-01 9.85266224e-01 -5.60189098e-04 -2.90896719e+01] [-3.72461591e-03 -7.79726339e-05 9.99993061e-01 -1.19504385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.79, Y:-29.10, Z:-1.19 [[ 9.85653613e-01 1.68740601e-01 3.68296120e-03 2.92792611e+02] [-1.68739683e-01 9.85660492e-01 -5.60927453e-04 -2.90989842e+01] [-3.72480059e-03 -6.85815340e-05 9.99993061e-01 -1.19343878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.85, Y:-29.11, Z:-1.19 [[ 9.86312259e-01 1.64847093e-01 3.68286329e-03 2.92854186e+02] [-1.64846145e-01 9.86319134e-01 -5.61569618e-04 -2.91096286e+01] [-3.72505164e-03 -5.32228157e-05 9.99993061e-01 -1.19429024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.364203822 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:-29.12, Z:-1.20 [[ 9.87443656e-01 1.57928668e-01 3.68275908e-03 2.92914029e+02] [-1.57927669e-01 9.87450523e-01 -5.62252186e-04 -2.91226947e+01] [-3.72533812e-03 -2.64172034e-05 9.99993061e-01 -1.20248258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.424203822 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:292.97, Y:-29.14, Z:-1.20 [[ 9.88008881e-01 1.54353129e-01 3.68266978e-03 2.92974780e+02] [-1.54352103e-01 9.88015745e-01 -5.62836437e-04 -2.91351871e+01] [-3.72541129e-03 -1.23404285e-05 9.99993061e-01 -1.20295067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.03, Y:-29.15, Z:-1.21 [[ 9.88158925e-01 1.53389626e-01 3.68257301e-03 2.93034859e+02] [-1.53388591e-01 9.88165787e-01 -5.63468922e-04 -2.91468690e+01] [-3.72542294e-03 -8.06784180e-06 9.99993061e-01 -1.20538279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.10, Y:-29.16, Z:-1.20 [[ 9.88138438e-01 1.53521550e-01 3.68248401e-03 2.93096563e+02] [-1.53520514e-01 9.88145300e-01 -5.64049977e-04 -2.91620435e+01] [-3.72542309e-03 -7.97737276e-06 9.99993061e-01 -1.20155996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.16, Y:-29.17, Z:-1.20 [[ 9.87496308e-01 1.57599120e-01 3.68237119e-03 2.93156523e+02] [-1.57598110e-01 9.87503173e-01 -5.64785526e-04 -2.91722529e+01] [-3.72536294e-03 -2.26111177e-05 9.99993061e-01 -1.19859113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.22, Y:-29.18, Z:-1.20 [[ 9.86051289e-01 1.66401009e-01 3.68235719e-03 2.93218380e+02] [-1.66400060e-01 9.86058163e-01 -5.64876812e-04 -2.91817404e+01] [-3.72501444e-03 -5.57469480e-05 9.99993061e-01 -1.19941198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.28, Y:-29.19, Z:-1.20 [[ 9.84516104e-01 1.75255478e-01 3.68226253e-03 2.93280485e+02] [-1.75254588e-01 9.84522986e-01 -5.65493164e-04 -2.91859575e+01] [-3.72437788e-03 -8.85962764e-05 9.99993061e-01 -1.19605037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.34, Y:-29.19, Z:-1.20 [[ 9.84001214e-01 1.78123701e-01 3.68216419e-03 2.93341077e+02] [-1.78122829e-01 9.84008098e-01 -5.66132773e-04 -2.91922720e+01] [-3.72412105e-03 -9.88021666e-05 9.99993061e-01 -1.19981855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.40, Y:-29.20, Z:-1.20 [[ 9.84941280e-01 1.72849984e-01 3.68210849e-03 2.93403174e+02] [-1.72849073e-01 9.84948160e-01 -5.66494868e-04 -2.91973030e+01] [-3.72460460e-03 -7.84848583e-05 9.99993061e-01 -1.20324534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904203822 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:-29.21, Z:-1.20 [[ 9.85552571e-01 1.69329775e-01 3.68200673e-03 2.93464977e+02] [-1.69328837e-01 9.85559447e-01 -5.67155470e-04 -2.92071401e+01] [-3.72487282e-03 -6.45083859e-05 9.99993061e-01 -1.20382952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.53, Y:-29.21, Z:-1.20 [[ 9.87272698e-01 1.58993912e-01 3.68189747e-03 2.93525236e+02] [-1.58992899e-01 9.87279563e-01 -5.67863897e-04 -2.92144355e+01] [-3.72534903e-03 -2.47590322e-05 9.99993061e-01 -1.20138207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024203822 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:293.59, Y:-29.22, Z:-1.20 [[ 9.88078453e-01 1.53907165e-01 3.68185002e-03 2.93587915e+02] [-1.53906116e-01 9.88085312e-01 -5.68171403e-04 -2.92242744e+01] [-3.72542757e-03 -5.26131469e-06 9.99993061e-01 -1.20486206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08420382199995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:293.65, Y:-29.23, Z:-1.20 [[ 9.88144593e-01 1.53481945e-01 3.68174344e-03 2.93649773e+02] [-1.53480891e-01 9.88151452e-01 -5.68861189e-04 -2.92301750e+01] [-3.72543005e-03 -2.96015517e-06 9.99993061e-01 -1.20297246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14420382199995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:293.71, Y:-29.24, Z:-1.20 [[ 9.87698738e-01 1.56325457e-01 3.68164652e-03 2.93710209e+02] [-1.56324420e-01 9.87705600e-01 -5.69487740e-04 -2.92373957e+01] [-3.72540831e-03 -1.30489349e-05 9.99993061e-01 -1.20309564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.77, Y:-29.24, Z:-1.20 [[ 9.87112046e-01 1.59988299e-01 3.68155730e-03 2.93771404e+02] [-1.59987285e-01 9.87118911e-01 -5.70063923e-04 -2.92423201e+01] [-3.72533839e-03 -2.62853929e-05 9.99993061e-01 -1.19953836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.83, Y:-29.24, Z:-1.20 [[ 9.86683003e-01 1.62613336e-01 3.68154370e-03 2.93832793e+02] [-1.62612340e-01 9.86689871e-01 -5.70151744e-04 -2.92442708e+01] [-3.72525616e-03 -3.61054024e-05 9.99993061e-01 -1.19644532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.89, Y:-29.25, Z:-1.20 [[ 9.86456637e-01 1.63980942e-01 3.68152975e-03 2.93892830e+02] [-1.63979956e-01 9.86463506e-01 -5.70241837e-04 -2.92453346e+01] [-3.72520354e-03 -4.11782397e-05 9.99993061e-01 -1.19951801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.95, Y:-29.25, Z:-1.20 [[ 9.86420572e-01 1.64197749e-01 3.68152094e-03 2.93952563e+02] [-1.64196764e-01 9.86427442e-01 -5.70298693e-04 -2.92467110e+01] [-3.72519504e-03 -4.19394607e-05 9.99993061e-01 -1.19937179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.01, Y:-29.24, Z:-1.20 [[ 9.86373280e-01 1.64481604e-01 3.68153446e-03 2.94013001e+02] [-1.64480621e-01 9.86380150e-01 -5.70211427e-04 -2.92435885e+01] [-3.72518180e-03 -4.30997591e-05 9.99993061e-01 -1.19701420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.07, Y:-29.24, Z:-1.20 [[ 9.86619952e-01 1.62995449e-01 3.68154852e-03 2.94072139e+02] [-1.62994456e-01 9.86626820e-01 -5.70120631e-04 -2.92407036e+01] [-3.72524157e-03 -3.75796084e-05 9.99993061e-01 -1.19895843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.13, Y:-29.24, Z:-1.20 [[ 9.87266682e-01 1.59031267e-01 3.68158638e-03 2.94131934e+02] [-1.59030247e-01 9.87273547e-01 -5.69876041e-04 -2.92389844e+01] [-3.72536095e-03 -2.28639634e-05 9.99993061e-01 -1.20119993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.19, Y:-29.24, Z:-1.20 [[ 9.88534431e-01 1.50950738e-01 3.68161386e-03 2.94190747e+02] [-1.50949663e-01 9.88541286e-01 -5.69698445e-04 -2.92374581e+01] [-3.72542370e-03 7.42815491e-06 9.99993061e-01 -1.20447405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:294.25, Y:-29.24, Z:-1.20 [[ 9.89686938e-01 1.43199896e-01 3.68164800e-03 2.94250524e+02] [-1.43198768e-01 9.89693785e-01 -5.69477734e-04 -2.92382755e+01] [-3.72525329e-03 3.63972162e-05 9.99993061e-01 -1.20447949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744203822 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:294.31, Y:-29.24, Z:-1.21 [[ 9.90343321e-01 1.38587705e-01 3.68167651e-03 2.94308774e+02] [-1.38586546e-01 9.90350163e-01 -5.69293339e-04 -2.92428252e+01] [-3.72504599e-03 5.35650264e-05 9.99993061e-01 -1.20987490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.37, Y:-29.24, Z:-1.20 [[ 9.90186840e-01 1.39701352e-01 3.68171412e-03 2.94368170e+02] [-1.39700202e-01 9.90193683e-01 -5.69050029e-04 -2.92441734e+01] [-3.72510712e-03 4.91296438e-05 9.99993061e-01 -1.20325972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.43, Y:-29.25, Z:-1.20 [[ 9.89882685e-01 1.41840456e-01 3.68174194e-03 2.94425417e+02] [-1.41839321e-01 9.89889531e-01 -5.68869937e-04 -2.92497026e+01] [-3.72520658e-03 4.08987224e-05 9.99993061e-01 -1.20328005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.48, Y:-29.25, Z:-1.20 [[ 9.89417772e-01 1.45047979e-01 3.68177627e-03 2.94484100e+02] [-1.45046867e-01 9.89424622e-01 -5.68647668e-04 -2.92538420e+01] [-3.72532129e-03 2.85999968e-05 9.99993061e-01 -1.19726348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.54, Y:-29.26, Z:-1.20 [[ 9.89021885e-01 1.47723238e-01 3.68180443e-03 2.94542803e+02] [-1.47722146e-01 9.89028738e-01 -5.68465306e-04 -2.92575682e+01] [-3.72538592e-03 1.83405784e-05 9.99993061e-01 -1.19675697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.60, Y:-29.26, Z:-1.20 [[ 9.88843723e-01 1.48911167e-01 3.68183344e-03 2.94600029e+02] [-1.48910084e-01 9.88850577e-01 -5.68277320e-04 -2.92641638e+01] [-3.72540597e-03 1.36753350e-05 9.99993061e-01 -1.19877483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104203822 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:294.66, Y:-29.27, Z:-1.20 [[ 9.88788374e-01 1.49278248e-01 3.68186926e-03 2.94658124e+02] [-1.49277168e-01 9.88795229e-01 -5.68045179e-04 -2.92706034e+01] [-3.72541155e-03 1.20574547e-05 9.99993061e-01 -1.20093702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.72, Y:-29.28, Z:-1.20 [[ 9.88374420e-01 1.51994898e-01 3.68191115e-03 2.94715182e+02] [-1.51993838e-01 9.88381278e-01 -5.67773518e-04 -2.92783638e+01] [-3.72543073e-03 1.54501586e-06 9.99993061e-01 -1.19909012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.77, Y:-29.28, Z:-1.20 [[ 9.87739152e-01 1.56069894e-01 3.68195261e-03 2.94773765e+02] [-1.56068863e-01 9.87746014e-01 -5.67504537e-04 -2.92842495e+01] [-3.72540439e-03 -1.40917064e-05 9.99993061e-01 -1.19863237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.83, Y:-29.29, Z:-1.20 [[ 9.86851150e-01 1.61589761e-01 3.68198031e-03 2.94832421e+02] [-1.61588769e-01 9.86858018e-01 -5.67324782e-04 -2.92889361e+01] [-3.72526566e-03 -3.51015497e-05 9.99993061e-01 -1.19790083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.89, Y:-29.29, Z:-1.20 [[ 9.85678114e-01 1.68597442e-01 3.68200806e-03 2.94892155e+02] [-1.68596500e-01 9.85684990e-01 -5.67144626e-04 -2.92883838e+01] [-3.72491921e-03 -6.17516246e-05 9.99993061e-01 -1.19825947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.95, Y:-29.29, Z:-1.20 [[ 9.85009670e-01 1.72459829e-01 3.68203564e-03 2.94949758e+02] [-1.72458914e-01 9.85016549e-01 -5.66965473e-04 -2.92924471e+01] [-3.72464481e-03 -7.65333951e-05 9.99993061e-01 -1.20215656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:295.01, Y:-29.29, Z:-1.20 [[ 9.85537196e-01 1.69419236e-01 3.68206978e-03 2.95009087e+02] [-1.69418300e-01 9.85544072e-01 -5.66743658e-04 -2.92906979e+01] [-3.72485933e-03 -6.52630478e-05 9.99993061e-01 -1.20250454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.07, Y:-29.29, Z:-1.20 [[ 9.86556465e-01 1.63379262e-01 3.68209834e-03 2.95067484e+02] [-1.63378286e-01 9.86563335e-01 -5.66558068e-04 -2.92939975e+01] [-3.72518706e-03 -4.26333896e-05 9.99993061e-01 -1.20429528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58420382199995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:295.13, Y:-29.30, Z:-1.20 [[ 9.88161768e-01 1.53371323e-01 3.68213378e-03 2.95125837e+02] [-1.53370277e-01 9.88168628e-01 -5.66327617e-04 -2.93000070e+01] [-3.72542751e-03 -5.10657994e-06 9.99993061e-01 -1.20384301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64420382199995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:295.19, Y:-29.30, Z:-1.20 [[ 9.89092421e-01 1.47250212e-01 3.68216171e-03 2.95185022e+02] [-1.47249125e-01 9.89099274e-01 -5.66145991e-04 -2.93037980e+01] [-3.72538859e-03 1.77756202e-05 9.99993061e-01 -1.20292148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70420382199995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:295.24, Y:-29.31, Z:-1.21 [[ 9.89347057e-01 1.45529524e-01 3.68218952e-03 2.95243285e+02] [-1.45528426e-01 9.89353909e-01 -5.65965033e-04 -2.93057556e+01] [-3.72535322e-03 2.40725949e-05 9.99993061e-01 -1.20802711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.30, Y:-29.31, Z:-1.21 [[ 9.89512688e-01 1.44399039e-01 3.68222390e-03 2.95302662e+02] [-1.44397933e-01 9.89519538e-01 -5.65741291e-04 -2.93103363e+01] [-3.72532499e-03 2.81026649e-05 9.99993061e-01 -1.20603866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.36, Y:-29.32, Z:-1.21 [[ 9.89593875e-01 1.43841592e-01 3.68224494e-03 2.95360085e+02] [-1.43840483e-01 9.89600725e-01 -5.65604297e-04 -2.93191702e+01] [-3.72530969e-03 3.00626572e-05 9.99993061e-01 -1.21028916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:295.42, Y:-29.32, Z:-1.21 [[ 9.89554359e-01 1.44113186e-01 3.68229545e-03 2.95419176e+02] [-1.44112081e-01 9.89561210e-01 -5.65275297e-04 -2.93215962e+01] [-3.72532036e-03 2.87073762e-05 9.99993061e-01 -1.20573353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.48, Y:-29.33, Z:-1.20 [[ 9.89075185e-01 1.47365935e-01 3.68232397e-03 2.95476205e+02] [-1.47364852e-01 9.89082040e-01 -5.65089461e-04 -2.93281797e+01] [-3.72539544e-03 1.62708359e-05 9.99993061e-01 -1.20454523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:-29.33, Z:-1.21 [[ 9.87872135e-01 1.55225916e-01 3.68237329e-03 2.95534756e+02] [-1.55224890e-01 9.87878998e-01 -5.64767841e-04 -2.93346180e+01] [-3.72540584e-03 -1.36775748e-05 9.99993061e-01 -1.20584743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.59, Y:-29.34, Z:-1.20 [[ 9.86706605e-01 1.62470047e-01 3.68240122e-03 2.95592729e+02] [-1.62469071e-01 9.86713475e-01 -5.64585688e-04 -2.93373905e+01] [-3.72520317e-03 -4.11958794e-05 9.99993061e-01 -1.20489369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.65, Y:-29.34, Z:-1.20 [[ 9.86171946e-01 1.65684434e-01 3.68243593e-03 2.95650815e+02] [-1.65683482e-01 9.86178820e-01 -5.64359200e-04 -2.93404760e+01] [-3.72504586e-03 -5.35635963e-05 9.99993061e-01 -1.20303104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.71, Y:-29.35, Z:-1.20 [[ 9.86718659e-01 1.62396821e-01 3.68246999e-03 2.95709380e+02] [-1.62395847e-01 9.86725530e-01 -5.64136889e-04 -2.93484032e+01] [-3.72520119e-03 -4.13734370e-05 9.99993061e-01 -1.20102177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.77, Y:-29.35, Z:-1.20 [[ 9.88027537e-01 1.54233672e-01 3.68256439e-03 2.95768052e+02] [-1.54232643e-01 9.88034399e-01 -5.63519977e-04 -2.93546559e+01] [-3.72541405e-03 -1.11983847e-05 9.99993061e-01 -1.20394157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.82, Y:-29.37, Z:-1.21 [[ 9.89218238e-01 1.46402582e-01 3.68259195e-03 2.95824736e+02] [-1.46401500e-01 9.89225092e-01 -5.63339804e-04 -2.93679139e+01] [-3.72538677e-03 1.81290240e-05 9.99993061e-01 -1.20874825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.88, Y:-29.38, Z:-1.21 [[ 9.89997864e-01 1.41034279e-01 3.68262597e-03 2.95882815e+02] [-1.41033160e-01 9.90004712e-01 -5.63117342e-04 -2.93778175e+01] [-3.72523591e-03 3.81125868e-05 9.99993061e-01 -1.20592132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.424203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:295.94, Y:-29.39, Z:-1.21 [[ 9.90124601e-01 1.40141759e-01 3.68265393e-03 2.95940476e+02] [-1.40140635e-01 9.90131449e-01 -5.62934419e-04 -2.93899915e+01] [-3.72520209e-03 4.12857582e-05 9.99993061e-01 -1.20941932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.00, Y:-29.40, Z:-1.21 [[ 9.89653928e-01 1.43427822e-01 3.68268176e-03 2.95996569e+02] [-1.43426720e-01 9.89660780e-01 -5.62752305e-04 -2.94013440e+01] [-3.72532004e-03 2.87350622e-05 9.99993061e-01 -1.20956269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.05, Y:-29.41, Z:-1.21 [[ 9.88816739e-01 1.49090221e-01 3.68275715e-03 2.96054577e+02] [-1.49089161e-01 9.88823597e-01 -5.62258496e-04 -2.94124646e+01] [-3.72542442e-03 6.91143752e-06 9.99993061e-01 -1.20782646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.11, Y:-29.42, Z:-1.21 [[ 9.88140767e-01 1.53506554e-01 3.68278483e-03 2.96111698e+02] [-1.53505526e-01 9.88147629e-01 -5.62077128e-04 -2.94232957e+01] [-3.72541763e-03 -9.91649773e-06 9.99993061e-01 -1.20718532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.17, Y:-29.43, Z:-1.21 [[ 9.87896931e-01 1.55068017e-01 3.68281907e-03 2.96169947e+02] [-1.55067000e-01 9.87903796e-01 -5.61852726e-04 -2.94345881e+01] [-3.72539632e-03 -1.60311221e-05 9.99993061e-01 -1.20687383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.23, Y:-29.44, Z:-1.21 [[ 9.86971037e-01 1.60855859e-01 3.68290901e-03 2.96226966e+02] [-1.60854885e-01 9.86977908e-01 -5.61262519e-04 -2.94437183e+01] [-3.72523220e-03 -3.84640547e-05 9.99993061e-01 -1.20770832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.28, Y:-29.46, Z:-1.22 [[ 9.86887875e-01 1.61365292e-01 3.68295064e-03 2.96283690e+02] [-1.61364322e-01 9.86894747e-01 -5.60989221e-04 -2.94566794e+01] [-3.72520883e-03 -4.06633720e-05 9.99993061e-01 -1.21589379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:-29.46, Z:-1.22 [[ 9.87211566e-01 1.59373022e-01 3.68298491e-03 2.96341793e+02] [-1.59372039e-01 9.87218435e-01 -5.60764165e-04 -2.94636962e+01] [-3.72528128e-03 -3.33719455e-05 9.99993061e-01 -1.21803486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.40, Y:-29.47, Z:-1.22 [[ 9.87788587e-01 1.55756680e-01 3.68301237e-03 2.96400170e+02] [-1.55755673e-01 9.87795453e-01 -5.60583739e-04 -2.94743023e+01] [-3.72537753e-03 -1.99118503e-05 9.99993061e-01 -1.21766689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:-29.49, Z:-1.22 [[ 9.88031175e-01 1.54210350e-01 3.68303980e-03 2.96456944e+02] [-1.54209332e-01 9.88038040e-01 -5.60403480e-04 -2.94853521e+01] [-3.72540344e-03 -1.42629977e-05 9.99993061e-01 -1.21720361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024203822 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.52, Y:-29.49, Z:-1.21 [[ 9.87827754e-01 1.55508082e-01 3.68307374e-03 2.96515129e+02] [-1.55507075e-01 9.87834620e-01 -5.60180309e-04 -2.94916841e+01] [-3.72538032e-03 -1.93823669e-05 9.99993061e-01 -1.21272349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.57, Y:-29.50, Z:-1.21 [[ 9.87474125e-01 1.57738033e-01 3.68310086e-03 2.96573738e+02] [-1.57737041e-01 9.87480993e-01 -5.60001984e-04 -2.94980064e+01] [-3.72532570e-03 -2.79739630e-05 9.99993061e-01 -1.21385827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.63, Y:-29.50, Z:-1.21 [[ 9.87420127e-01 1.58075700e-01 3.68312816e-03 2.96632597e+02] [-1.58074712e-01 9.87426996e-01 -5.59822341e-04 -2.95034606e+01] [-3.72531448e-03 -2.94295755e-05 9.99993061e-01 -1.20916929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.69, Y:-29.51, Z:-1.21 [[ 9.87592991e-01 1.56992098e-01 3.68315649e-03 2.96689309e+02] [-1.56991103e-01 9.87599859e-01 -5.59635868e-04 -2.95086807e+01] [-3.72534324e-03 -2.55303387e-05 9.99993061e-01 -1.21217097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.75, Y:-29.52, Z:-1.21 [[ 9.87778758e-01 1.55818992e-01 3.68320546e-03 2.96748066e+02] [-1.55817990e-01 9.87785625e-01 -5.59313443e-04 -2.95155750e+01] [-3.72536906e-03 -2.14317316e-05 9.99993061e-01 -1.21185577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.81, Y:-29.52, Z:-1.21 [[ 9.88348516e-01 1.52163219e-01 3.68323310e-03 2.96805126e+02] [-1.52162192e-01 9.88355379e-01 -5.59131368e-04 -2.95202730e+01] [-3.72542247e-03 -7.83216416e-06 9.99993061e-01 -1.21232493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38420382199996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:296.86, Y:-29.53, Z:-1.21 [[ 9.88801734e-01 1.49189693e-01 3.68328083e-03 2.96863653e+02] [-1.49188646e-01 9.88808594e-01 -5.58816752e-04 -2.95276179e+01] [-3.72542944e-03 3.05529230e-06 9.99993061e-01 -1.21362485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.92, Y:-29.54, Z:-1.21 [[ 9.89786796e-01 1.42508006e-01 3.68330769e-03 2.96921801e+02] [-1.42506914e-01 9.89793649e-01 -5.58639626e-04 -2.95393570e+01] [-3.72532518e-03 2.80373128e-05 9.99993061e-01 -1.20587777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.98, Y:-29.55, Z:-1.20 [[ 9.91012212e-01 1.33720710e-01 3.68333529e-03 2.96979595e+02] [-1.33719558e-01 9.91019055e-01 -5.58457586e-04 -2.95533883e+01] [-3.72493281e-03 6.09043206e-05 9.99993061e-01 -1.20408133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56420382199997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:297.04, Y:-29.57, Z:-1.21 [[ 9.91944486e-01 1.26619786e-01 3.68336286e-03 2.97037162e+02] [-1.26618586e-01 9.91951320e-01 -5.58275717e-04 -2.95678676e+01] [-3.72440540e-03 8.73963231e-05 9.99993061e-01 -1.20979932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.09, Y:-29.59, Z:-1.21 [[ 9.92205288e-01 1.24559623e-01 3.68339028e-03 2.97092937e+02] [-1.24558409e-01 9.92212120e-01 -5.58094712e-04 -2.95860778e+01] [-3.72422055e-03 9.49472910e-05 9.99993061e-01 -1.21152342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:297.15, Y:-29.60, Z:-1.21 [[ 9.91786013e-01 1.27855143e-01 3.68342405e-03 2.97149812e+02] [-1.27853952e-01 9.91792849e-01 -5.57871790e-04 -2.96019563e+01] [-3.72452041e-03 8.23491160e-05 9.99993061e-01 -1.21288297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744203822 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:297.21, Y:-29.62, Z:-1.21 [[ 9.91552776e-01 1.29651551e-01 3.68345105e-03 2.97207189e+02] [-1.29650374e-01 9.91559615e-01 -5.57693460e-04 -2.96153446e+01] [-3.72466712e-03 7.54216940e-05 9.99993061e-01 -1.21178343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.804203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:297.26, Y:-29.63, Z:-1.21 [[ 9.90540966e-01 1.37167875e-01 3.68347823e-03 2.97261539e+02] [-1.37166750e-01 9.90547814e-01 -5.57513851e-04 -2.96345201e+01] [-3.72513430e-03 4.69895696e-05 9.99993061e-01 -1.20933182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.32, Y:-29.65, Z:-1.21 [[ 9.89417765e-01 1.45047988e-01 3.68352537e-03 2.97318135e+02] [-1.45046918e-01 9.89424621e-01 -5.57202231e-04 -2.96544799e+01] [-3.72539176e-03 1.70217820e-05 9.99993061e-01 -1.20608783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.924203822 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:297.37, Y:-29.67, Z:-1.22 [[ 9.88147529e-01 1.53463003e-01 3.68355273e-03 2.97374327e+02] [-1.53461993e-01 9.88154394e-01 -5.57021270e-04 -2.96713564e+01] [-3.72540098e-03 -1.48661515e-05 9.99993061e-01 -1.21571548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.43, Y:-29.69, Z:-1.21 [[ 9.86814545e-01 1.61813115e-01 3.68358685e-03 2.97430756e+02] [-1.61812164e-01 9.86821419e-01 -5.56795560e-04 -2.96891359e+01] [-3.72513923e-03 -4.65952014e-05 9.99993061e-01 -1.21120425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.49, Y:-29.70, Z:-1.21 [[ 9.85351439e-01 1.70496255e-01 3.68362799e-03 2.97488232e+02] [-1.70495365e-01 9.85358321e-01 -5.56523242e-04 -2.97022838e+01] [-3.72457862e-03 -7.96705236e-05 9.99993061e-01 -1.21201464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.54, Y:-29.71, Z:-1.21 [[ 9.84618117e-01 1.74681409e-01 3.68365516e-03 2.97544070e+02] [-1.74680549e-01 9.84625003e-01 -5.56343354e-04 -2.97144259e+01] [-3.72420182e-03 -9.56771621e-05 9.99993061e-01 -1.21354372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.60, Y:-29.72, Z:-1.21 [[ 9.84112176e-01 1.77509594e-01 3.68372346e-03 2.97602219e+02] [-1.77508756e-01 9.84119064e-01 -5.55890795e-04 -2.97248168e+01] [-3.72389843e-03 -1.06834269e-04 9.99993061e-01 -1.21223611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:-29.73, Z:-1.22 [[ 9.84211847e-01 1.76956122e-01 3.68375084e-03 2.97659756e+02] [-1.76955281e-01 9.84218736e-01 -5.55709249e-04 -2.97337260e+01] [-3.72395275e-03 -1.04923539e-04 9.99993061e-01 -1.21531031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:-29.74, Z:-1.21 [[ 9.84478269e-01 1.75467855e-01 3.68379663e-03 2.97717327e+02] [-1.75467005e-01 9.84485156e-01 -5.55405569e-04 -2.97431765e+01] [-3.72409892e-03 -9.96000469e-05 9.99993061e-01 -1.21438206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.78, Y:-29.75, Z:-1.21 [[ 9.85075957e-01 1.72080761e-01 3.68383691e-03 2.97775697e+02] [-1.72079887e-01 9.85082841e-01 -5.55138286e-04 -2.97479400e+01] [-3.72441315e-03 -8.70608615e-05 9.99993061e-01 -1.20972050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:-29.75, Z:-1.21 [[ 9.85678278e-01 1.68596448e-01 3.68386433e-03 2.97833370e+02] [-1.68595551e-01 9.85685159e-01 -5.54956220e-04 -2.97538561e+01] [-3.72469405e-03 -7.40748451e-05 9.99993061e-01 -1.21239040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.89, Y:-29.76, Z:-1.21 [[ 9.86927136e-01 1.61124973e-01 3.68390590e-03 2.97891717e+02] [-1.61124024e-01 9.86934010e-01 -5.54680182e-04 -2.97580288e+01] [-3.72514485e-03 -4.61368207e-05 9.99993061e-01 -1.21018364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.95, Y:-29.76, Z:-1.21 [[ 9.87263684e-01 1.59049825e-01 3.68394039e-03 2.97950561e+02] [-1.59048863e-01 9.87270556e-01 -5.54451001e-04 -2.97628110e+01] [-3.72523121e-03 -3.85371930e-05 9.99993061e-01 -1.21135278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:-29.76, Z:-1.21 [[ 9.87625904e-01 1.56784891e-01 3.68396802e-03 2.98008770e+02] [-1.56783914e-01 9.87632774e-01 -5.54267370e-04 -2.97628434e+01] [-3.72530830e-03 -3.01781125e-05 9.99993061e-01 -1.21274115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.07, Y:-29.76, Z:-1.22 [[ 9.88050181e-01 1.54088504e-01 3.68400223e-03 2.98066949e+02] [-1.54087509e-01 9.88057049e-01 -5.54039849e-04 -2.97624306e+01] [-3.72537555e-03 -2.02395561e-05 9.99993061e-01 -1.21527226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.13, Y:-29.76, Z:-1.22 [[ 9.88865157e-01 1.48768709e-01 3.68403536e-03 2.98126230e+02] [-1.48767678e-01 9.88872020e-01 -5.53819476e-04 -2.97626474e+01] [-3.72543050e-03 -4.12602693e-07 9.99993061e-01 -1.21585525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76420382199996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:298.19, Y:-29.76, Z:-1.22 [[ 9.89885634e-01 1.41819813e-01 3.68406253e-03 2.98186209e+02] [-1.41818734e-01 9.89892489e-01 -5.53638712e-04 -2.97597814e+01] [-3.72534276e-03 2.55699234e-05 9.99993061e-01 -1.21734322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.25, Y:-29.76, Z:-1.21 [[ 9.91184965e-01 1.32434109e-01 3.68408943e-03 2.98245013e+02] [-1.32432966e-01 9.91191809e-01 -5.53459638e-04 -2.97646757e+01] [-3.72493620e-03 6.06859799e-05 9.99993061e-01 -1.21478545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:-29.77, Z:-1.22 [[ 9.92623644e-01 1.21180563e-01 3.68411620e-03 2.98303250e+02] [-1.21179343e-01 9.92630475e-01 -5.53281390e-04 -2.97738129e+01] [-3.72401297e-03 1.02761408e-04 9.99993061e-01 -1.21635169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.36, Y:-29.78, Z:-1.22 [[ 9.93558603e-01 1.13259568e-01 3.68414328e-03 2.98361859e+02] [-1.13258294e-01 9.93565425e-01 -5.53101025e-04 -2.97814933e+01] [-3.72308136e-03 1.32278498e-04 9.99993061e-01 -1.21504156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:-29.79, Z:-1.21 [[ 9.93736110e-01 1.11691406e-01 3.68417016e-03 2.98418756e+02] [-1.11690123e-01 9.93742930e-01 -5.52921884e-04 -2.97904891e+01] [-3.72287468e-03 1.37973023e-04 9.99993061e-01 -1.21382378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:-29.80, Z:-1.21 [[ 9.92837171e-01 1.19418498e-01 3.68421006e-03 2.98476205e+02] [-1.19417268e-01 9.92844001e-01 -5.52655954e-04 -2.98024998e+01] [-3.72384320e-03 1.08739073e-04 9.99993061e-01 -1.20969091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.53, Y:-29.81, Z:-1.21 [[ 9.91739653e-01 1.28214224e-01 3.68423736e-03 2.98534322e+02] [-1.28213056e-01 9.91746493e-01 -5.52473882e-04 -2.98071995e+01] [-3.72466449e-03 7.55429240e-05 9.99993061e-01 -1.20928818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.59, Y:-29.82, Z:-1.21 [[ 9.89798311e-01 1.42427979e-01 3.68427117e-03 2.98591350e+02] [-1.42426911e-01 9.89805168e-01 -5.52248326e-04 -2.98150698e+01] [-3.72536625e-03 2.18751002e-05 9.99993061e-01 -1.21374265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.65, Y:-29.82, Z:-1.21 [[ 9.88492229e-01 1.51226781e-01 3.68430452e-03 2.98649139e+02] [-1.51225774e-01 9.88499095e-01 -5.52025698e-04 -2.98248246e+01] [-3.72541276e-03 -1.14886899e-05 9.99993061e-01 -1.21106391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.71, Y:-29.83, Z:-1.21 [[ 9.88113777e-01 1.53680152e-01 3.68433193e-03 2.98706841e+02] [-1.53679163e-01 9.88120646e-01 -5.51842692e-04 -2.98317109e+01] [-3.72537172e-03 -2.09216799e-05 9.99993061e-01 -1.21325094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.76, Y:-29.85, Z:-1.22 [[ 9.88557910e-01 1.50796828e-01 3.68436598e-03 2.98763803e+02] [-1.50795819e-01 9.88564776e-01 -5.51615297e-04 -2.98455821e+01] [-3.72541627e-03 -1.02833211e-05 9.99993061e-01 -1.21507852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.82, Y:-29.86, Z:-1.22 [[ 9.89069594e-01 1.47403405e-01 3.68439315e-03 2.98820560e+02] [-1.47402374e-01 9.89076456e-01 -5.51433731e-04 -2.98587660e+01] [-3.72542973e-03 2.31803927e-06 9.99993061e-01 -1.21521482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.88, Y:-29.87, Z:-1.21 [[ 9.89024787e-01 1.47703743e-01 3.68442664e-03 2.98877765e+02] [-1.47702714e-01 9.89031650e-01 -5.51209921e-04 -2.98708296e+01] [-3.72543032e-03 9.60459506e-07 9.99993061e-01 -1.21099857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.94, Y:-29.88, Z:-1.21 [[ 9.88216665e-01 1.53017148e-01 3.68446033e-03 2.98935362e+02] [-1.53016158e-01 9.88223533e-01 -5.50984644e-04 -2.98806548e+01] [-3.72538050e-03 -1.92897547e-05 9.99993061e-01 -1.20828961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604203822 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:-29.89, Z:-1.21 [[ 9.86969871e-01 1.60862977e-01 3.68449392e-03 2.98993707e+02] [-1.60862042e-01 9.86976748e-01 -5.50759931e-04 -2.98889500e+01] [-3.72510670e-03 -4.91117565e-05 9.99993061e-01 -1.21236632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:299.05, Y:-29.90, Z:-1.21 [[ 9.86242560e-01 1.65263541e-01 3.68452142e-03 2.99052188e+02] [-1.65262637e-01 9.86249440e-01 -5.50575867e-04 -2.98951356e+01] [-3.72484731e-03 -6.59123748e-05 9.99993061e-01 -1.21432573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.11, Y:-29.90, Z:-1.22 [[ 9.85560651e-01 1.69282685e-01 3.68454880e-03 2.99109758e+02] [-1.69281809e-01 9.85567535e-01 -5.50392556e-04 -2.99006744e+01] [-3.72454361e-03 -8.12818423e-05 9.99993061e-01 -1.21703599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.17, Y:-29.90, Z:-1.22 [[ 9.85478845e-01 1.69758268e-01 3.68458274e-03 2.99169136e+02] [-1.69757397e-01 9.85485730e-01 -5.50165296e-04 -2.99047973e+01] [-3.72449882e-03 -8.33089159e-05 9.99993061e-01 -1.21571695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.23, Y:-29.91, Z:-1.22 [[ 9.85721115e-01 1.68345793e-01 3.68467157e-03 2.99228142e+02] [-1.68344915e-01 9.85727999e-01 -5.49569670e-04 -2.99084425e+01] [-3.72460168e-03 -7.85732936e-05 9.99993061e-01 -1.21988627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.29, Y:-29.91, Z:-1.22 [[ 9.86415435e-01 1.64228540e-01 3.68469873e-03 2.99286975e+02] [-1.64227633e-01 9.86422315e-01 -5.49387510e-04 -2.99139742e+01] [-3.72489416e-03 -6.32050330e-05 9.99993061e-01 -1.22224045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.35, Y:-29.92, Z:-1.22 [[ 9.87423336e-01 1.58055616e-01 3.68472576e-03 2.99345450e+02] [-1.58054666e-01 9.87430211e-01 -5.49206204e-04 -2.99185356e+01] [-3.72521466e-03 -4.00890783e-05 9.99993061e-01 -1.22345705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:299.40, Y:-29.92, Z:-1.22 [[ 9.88433655e-01 1.51609142e-01 3.68475261e-03 2.99404064e+02] [-1.51608148e-01 9.88440523e-01 -5.49025978e-04 -2.99240247e+01] [-3.72539616e-03 -1.59627660e-05 9.99993061e-01 -1.22307329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:-29.94, Z:-1.22 [[ 9.89462908e-01 1.44739686e-01 3.68477966e-03 2.99461916e+02] [-1.44738646e-01 9.89469769e-01 -5.48844394e-04 -2.99352703e+01] [-3.72541764e-03 9.73115053e-06 9.99993061e-01 -1.21898269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.52, Y:-29.94, Z:-1.22 [[ 9.89876285e-01 1.41885035e-01 3.68479966e-03 2.99519786e+02] [-1.41883975e-01 9.89883143e-01 -5.48710058e-04 -2.99446119e+01] [-3.72537482e-03 2.03410502e-05 9.99993061e-01 -1.21620890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.58, Y:-29.96, Z:-1.22 [[ 9.90152752e-01 1.39942668e-01 3.68482655e-03 2.99577885e+02] [-1.39941596e-01 9.90159608e-01 -5.48529439e-04 -2.99568722e+01] [-3.72532909e-03 2.74674259e-05 9.99993061e-01 -1.21885620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.64, Y:-29.97, Z:-1.22 [[ 9.90254838e-01 1.39218455e-01 3.68484677e-03 2.99635207e+02] [-1.39217378e-01 9.90261693e-01 -5.48393595e-04 -2.99687948e+01] [-3.72530911e-03 3.00547059e-05 9.99993061e-01 -1.21924022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.69, Y:-29.98, Z:-1.22 [[ 9.90314398e-01 1.38794148e-01 3.68487397e-03 2.99691959e+02] [-1.38793069e-01 9.90321253e-01 -5.48210736e-04 -2.99803545e+01] [-3.72529745e-03 3.14660166e-05 9.99993061e-01 -1.21972519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.75, Y:-29.99, Z:-1.22 [[ 9.89516376e-01 1.44373693e-01 3.68490754e-03 2.99750043e+02] [-1.44372653e-01 9.89523237e-01 -5.47985010e-04 -2.99905779e+01] [-3.72541626e-03 1.02402625e-05 9.99993061e-01 -1.21997917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:-30.00, Z:-1.22 [[ 9.87932763e-01 1.54839521e-01 3.68493414e-03 2.99808814e+02] [-1.54838555e-01 9.87939635e-01 -5.47806061e-04 -2.99966602e+01] [-3.72531452e-03 -2.93743212e-05 9.99993061e-01 -1.22447128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.87, Y:-30.00, Z:-1.22 [[ 9.86909217e-01 1.61234669e-01 3.68496105e-03 2.99867213e+02] [-1.61233748e-01 9.86916095e-01 -5.47624979e-04 -3.00028958e+01] [-3.72504351e-03 -5.36839411e-05 9.99993061e-01 -1.21968044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:299.92, Y:-30.01, Z:-1.22 [[ 9.86872570e-01 1.61458821e-01 3.68498848e-03 2.99924769e+02] [-1.61457902e-01 9.86879449e-01 -5.47440363e-04 -3.00064203e+01] [-3.72502847e-03 -5.47166303e-05 9.99993061e-01 -1.22193868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.98, Y:-30.02, Z:-1.22 [[ 9.87689464e-01 1.56383961e-01 3.68502246e-03 2.99983133e+02] [-1.56383008e-01 9.87696338e-01 -5.47211551e-04 -3.00165784e+01] [-3.72525830e-03 -3.57998139e-05 9.99993061e-01 -1.21926174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.04, Y:-30.02, Z:-1.22 [[ 9.88729533e-01 1.49667399e-01 3.68504909e-03 3.00040130e+02] [-1.49666399e-01 9.88736400e-01 -5.47032136e-04 -3.00235038e+01] [-3.72541505e-03 -1.06612011e-05 9.99993061e-01 -1.22105492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:300.10, Y:-30.03, Z:-1.22 [[ 9.89271229e-01 1.46044017e-01 3.68508187e-03 3.00098202e+02] [-1.46042993e-01 9.89278093e-01 -5.46811219e-04 -3.00319051e+01] [-3.72542927e-03 2.76421965e-06 9.99993061e-01 -1.22254900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.16, Y:-30.04, Z:-1.23 [[ 9.89619250e-01 1.43666835e-01 3.68510822e-03 3.00156055e+02] [-1.43665796e-01 9.89626111e-01 -5.46633568e-04 -3.00409551e+01] [-3.72541244e-03 1.15350960e-05 9.99993061e-01 -1.22680542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.864203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:300.21, Y:-30.05, Z:-1.23 [[ 9.89669999e-01 1.43316827e-01 3.68513474e-03 3.00213009e+02] [-1.43315786e-01 9.89676860e-01 -5.46454762e-04 -3.00507166e+01] [-3.72540874e-03 1.26719036e-05 9.99993061e-01 -1.22901608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.27, Y:-30.06, Z:-1.22 [[ 9.89996804e-01 1.41041649e-01 3.68517456e-03 3.00271686e+02] [-1.41040593e-01 9.90003663e-01 -5.46186046e-04 -3.00614109e+01] [-3.72537130e-03 2.09632357e-05 9.99993061e-01 -1.22254132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984203822 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:300.33, Y:-30.07, Z:-1.22 [[ 9.90364549e-01 1.38435831e-01 3.68518769e-03 3.00329500e+02] [-1.38434758e-01 9.90371405e-01 -5.46097496e-04 -3.00743824e+01] [-3.72530397e-03 3.06775358e-05 9.99993061e-01 -1.22130963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.39, Y:-30.09, Z:-1.22 [[ 9.90353532e-01 1.38514621e-01 3.68521383e-03 3.00387122e+02] [-1.38513549e-01 9.90360388e-01 -5.45920989e-04 -3.00874544e+01] [-3.72530784e-03 3.02027333e-05 9.99993061e-01 -1.22069698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.44, Y:-30.10, Z:-1.22 [[ 9.89565861e-01 1.44034111e-01 3.68524028e-03 3.00443348e+02] [-1.44033077e-01 9.89572723e-01 -5.45742396e-04 -3.00997606e+01] [-3.72541878e-03 9.25154627e-06 9.99993061e-01 -1.22420178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.50, Y:-30.11, Z:-1.22 [[ 9.88040134e-01 1.54152887e-01 3.68527285e-03 3.00500386e+02] [-1.54151925e-01 9.88047006e-01 -5.45522413e-04 -3.01074337e+01] [-3.72531666e-03 -2.90938645e-05 9.99993061e-01 -1.22463648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.56, Y:-30.12, Z:-1.22 [[ 9.86739650e-01 1.62269167e-01 3.68530520e-03 3.00558570e+02] [-1.62268262e-01 9.86746530e-01 -5.45303763e-04 -3.01172229e+01] [-3.72494810e-03 -5.99352243e-05 9.99993061e-01 -1.22323876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.62, Y:-30.12, Z:-1.22 [[ 9.86281340e-01 1.65031929e-01 3.68533084e-03 3.00617428e+02] [-1.65031044e-01 9.86288222e-01 -5.45130410e-04 -3.01246555e+01] [-3.72476233e-03 -7.05420451e-05 9.99993061e-01 -1.22423787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.68, Y:-30.13, Z:-1.22 [[ 9.86308530e-01 1.64869344e-01 3.68541502e-03 3.00676083e+02] [-1.64868459e-01 9.86315413e-01 -5.44560726e-04 -3.01316596e+01] [-3.72476301e-03 -7.05038064e-05 9.99993061e-01 -1.22339576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:-30.14, Z:-1.23 [[ 9.87218785e-01 1.59328241e-01 3.68544155e-03 3.00734515e+02] [-1.59327319e-01 9.87225663e-01 -5.44381086e-04 -3.01408645e+01] [-3.72509776e-03 -4.97682881e-05 9.99993061e-01 -1.22509283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.79, Y:-30.15, Z:-1.22 [[ 9.88326193e-01 1.52308085e-01 3.68546854e-03 3.00792493e+02] [-1.52307115e-01 9.88333065e-01 -5.44198316e-04 -3.01495178e+01] [-3.72535622e-03 -2.34776287e-05 9.99993061e-01 -1.22331325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.85, Y:-30.16, Z:-1.22 [[ 9.88633142e-01 1.50302787e-01 3.68549536e-03 3.00850619e+02] [-1.50301803e-01 9.88640011e-01 -5.44016631e-04 -3.01577820e+01] [-3.72539539e-03 -1.61037276e-05 9.99993061e-01 -1.22446733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:300.91, Y:-30.17, Z:-1.23 [[ 9.89082487e-01 1.47316835e-01 3.68552224e-03 3.00909115e+02] [-1.47315831e-01 9.89089354e-01 -5.43834483e-04 -3.01665527e+01] [-3.72542678e-03 -5.03860921e-06 9.99993061e-01 -1.22527385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64420382199995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:300.97, Y:-30.17, Z:-1.23 [[ 9.89098471e-01 1.47209482e-01 3.68554968e-03 3.00965190e+02] [-1.47208478e-01 9.89105337e-01 -5.43648429e-04 -3.01744689e+01] [-3.72542706e-03 -4.82233043e-06 9.99993061e-01 -1.22710540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.02, Y:-30.18, Z:-1.22 [[ 9.89128779e-01 1.47005697e-01 3.68561261e-03 3.01023122e+02] [-1.47004693e-01 9.89135645e-01 -5.43221491e-04 -3.01813138e+01] [-3.72542746e-03 -4.48633979e-06 9.99993061e-01 -1.22405980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76420382199996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:301.08, Y:-30.19, Z:-1.23 [[ 9.89114841e-01 1.47099447e-01 3.68564557e-03 3.01081517e+02] [-1.47098445e-01 9.89121708e-01 -5.42997750e-04 -3.01874006e+01] [-3.72542671e-03 -5.06560011e-06 9.99993061e-01 -1.22624496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82420382199996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:301.14, Y:-30.19, Z:-1.23 [[ 9.89023603e-01 1.47711638e-01 3.68567205e-03 3.01139040e+02] [-1.47710641e-01 9.89030471e-01 -5.42817970e-04 -3.01935019e+01] [-3.72542249e-03 -7.55319513e-06 9.99993061e-01 -1.22727029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88420382199996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.20, Y:-30.19, Z:-1.23 [[ 9.89049117e-01 1.47540708e-01 3.68571221e-03 3.01197380e+02] [-1.47539711e-01 9.89055984e-01 -5.42545161e-04 -3.01946621e+01] [-3.72542321e-03 -7.18510049e-06 9.99993061e-01 -1.22861195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.26, Y:-30.20, Z:-1.23 [[ 9.89551318e-01 1.44133983e-01 3.68574532e-03 3.01255874e+02] [-1.44132963e-01 9.89558182e-01 -5.42320082e-04 -3.02017970e+01] [-3.72542619e-03 5.41615749e-06 9.99993061e-01 -1.22568836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00420382199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:301.31, Y:-30.21, Z:-1.23 [[ 9.90014451e-01 1.40917715e-01 3.68577064e-03 3.01314571e+02] [-1.40916673e-01 9.90021312e-01 -5.42147945e-04 -3.02082126e+01] [-3.72538974e-03 1.73477636e-05 9.99993061e-01 -1.22656931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.37, Y:-30.21, Z:-1.23 [[ 9.90221849e-01 1.39452873e-01 3.68579715e-03 3.01372402e+02] [-1.39451822e-01 9.90228709e-01 -5.41967656e-04 -3.02114482e+01] [-3.72536110e-03 2.26770875e-05 9.99993061e-01 -1.22621555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12420382199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:301.43, Y:-30.22, Z:-1.23 [[ 9.90375290e-01 1.38358952e-01 3.68582991e-03 3.01431237e+02] [-1.38357893e-01 9.90382148e-01 -5.41744794e-04 -3.02184511e+01] [-3.72533539e-03 2.65669955e-05 9.99993061e-01 -1.22521657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.49, Y:-30.22, Z:-1.23 [[ 9.90445470e-01 1.37855670e-01 3.68585633e-03 3.01487843e+02] [-1.37854609e-01 9.90452328e-01 -5.41564954e-04 -3.02247189e+01] [-3.72532279e-03 2.82782707e-05 9.99993061e-01 -1.22806020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.55, Y:-30.23, Z:-1.23 [[ 9.90814280e-01 1.35179425e-01 3.68590196e-03 3.01545994e+02] [-1.35178347e-01 9.90821135e-01 -5.41254259e-04 -3.02312292e+01] [-3.72523600e-03 3.80283159e-05 9.99993061e-01 -1.22573431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.60, Y:-30.25, Z:-1.23 [[ 9.91633526e-01 1.29032414e-01 3.68592758e-03 3.01602884e+02] [-1.29031294e-01 9.91640375e-01 -5.41079732e-04 -3.02450046e+01] [-3.72493143e-03 6.09527978e-05 9.99993061e-01 -1.22651199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:-30.26, Z:-1.23 [[ 9.92326233e-01 1.23592321e-01 3.68596581e-03 3.01659433e+02] [-1.23591164e-01 9.92333075e-01 -5.40819183e-04 -3.02586791e+01] [-3.72454688e-03 8.11162561e-05 9.99993061e-01 -1.22926928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.72, Y:-30.28, Z:-1.22 [[ 9.92372388e-01 1.23221174e-01 3.68599715e-03 3.01715975e+02] [-1.23220016e-01 9.92379230e-01 -5.40605514e-04 -3.02776069e+01] [-3.72452105e-03 8.22933576e-05 9.99993061e-01 -1.22173572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:301.77, Y:-30.30, Z:-1.22 [[ 9.91590240e-01 1.29364637e-01 3.68602350e-03 3.01771758e+02] [-1.29363522e-01 9.91597089e-01 -5.40425729e-04 -3.02957353e+01] [-3.72496216e-03 5.90438962e-05 9.99993061e-01 -1.22494094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.83, Y:-30.31, Z:-1.22 [[ 9.90715596e-01 1.35900779e-01 3.68605624e-03 3.01828785e+02] [-1.35899710e-01 9.90722452e-01 -5.40202377e-04 -3.03121473e+01] [-3.72527260e-03 3.42529475e-05 9.99993061e-01 -1.22324917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.89, Y:-30.33, Z:-1.23 [[ 9.88786676e-01 1.49289390e-01 3.68608271e-03 3.01885012e+02] [-1.49288414e-01 9.88793547e-01 -5.40021684e-04 -3.03253910e+01] [-3.72539430e-03 -1.63231969e-05 9.99993061e-01 -1.22638669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.94, Y:-30.34, Z:-1.23 [[ 9.86526277e-01 1.63561354e-01 3.68611560e-03 3.01942005e+02] [-1.63560478e-01 9.86533161e-01 -5.39797065e-04 -3.03388781e+01] [-3.72476522e-03 -7.03788405e-05 9.99993061e-01 -1.23164498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:302.00, Y:-30.35, Z:-1.23 [[ 9.84802887e-01 1.73636652e-01 3.68614173e-03 3.01998769e+02] [-1.73635847e-01 9.84809779e-01 -5.39618593e-04 -3.03514978e+01] [-3.72384599e-03 -1.08628394e-04 9.99993061e-01 -1.23026160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.06, Y:-30.36, Z:-1.23 [[ 9.84108320e-01 1.77530917e-01 3.68618221e-03 3.02055381e+02] [-1.77530141e-01 9.84115216e-01 -5.39341919e-04 -3.03619600e+01] [-3.72337787e-03 -1.23637578e-04 9.99993061e-01 -1.22612372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.11, Y:-30.37, Z:-1.23 [[ 9.83820954e-01 1.79116561e-01 3.68621511e-03 3.02112406e+02] [-1.79115797e-01 9.83827851e-01 -5.39116955e-04 -3.03697727e+01] [-3.72316587e-03 -1.29864801e-04 9.99993061e-01 -1.22749149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.17, Y:-30.38, Z:-1.22 [[ 9.83574785e-01 1.80463440e-01 3.68624753e-03 3.02169869e+02] [-1.80462686e-01 9.83581684e-01 -5.38895234e-04 -3.03767629e+01] [-3.72297644e-03 -1.35186367e-04 9.99993061e-01 -1.22485938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.23, Y:-30.38, Z:-1.23 [[ 9.83058102e-01 1.83257140e-01 3.68628751e-03 3.02227199e+02] [-1.83256407e-01 9.83065003e-01 -5.38621609e-04 -3.03796815e+01] [-3.72256649e-03 -1.46039465e-04 9.99993061e-01 -1.22927008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.29, Y:-30.38, Z:-1.23 [[ 9.82997645e-01 1.83581156e-01 3.68633346e-03 3.02286613e+02] [-1.83580426e-01 9.83004546e-01 -5.38306936e-04 -3.03776016e+01] [-3.72250556e-03 -1.47584217e-04 9.99993061e-01 -1.22803149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.35, Y:-30.37, Z:-1.23 [[ 9.83913294e-01 1.78608623e-01 3.68635867e-03 3.02345967e+02] [-1.78607859e-01 9.83920191e-01 -5.38134215e-04 -3.03748317e+01] [-3.72319814e-03 -1.28935223e-04 9.99993061e-01 -1.22902058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.40, Y:-30.38, Z:-1.23 [[ 9.85830273e-01 1.67705348e-01 3.68639011e-03 3.02404657e+02] [-1.67704508e-01 9.85837161e-01 -5.37918746e-04 -3.03756556e+01] [-3.72439221e-03 -8.79276570e-05 9.99993061e-01 -1.22880279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20420382199995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:302.46, Y:-30.38, Z:-1.23 [[ 9.88504918e-01 1.51143762e-01 3.68642842e-03 3.02464230e+02] [-1.51142808e-01 9.88511792e-01 -5.37656110e-04 -3.03767156e+01] [-3.72534133e-03 -2.57014344e-05 9.99993061e-01 -1.23162647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26420382199996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:-30.38, Z:-1.23 [[ 9.91170273e-01 1.32543952e-01 3.68645401e-03 3.02522644e+02] [-1.32542869e-01 9.91177128e-01 -5.37480556e-04 -3.03820029e+01] [-3.72516870e-03 4.41215572e-05 9.99993061e-01 -1.22940263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:-30.39, Z:-1.23 [[ 9.93031385e-01 1.17792521e-01 3.68648073e-03 3.02579540e+02] [-1.17791337e-01 9.93038223e-01 -5.37297270e-04 -3.03898528e+01] [-3.72410587e-03 9.93175566e-05 9.99993061e-01 -1.22625694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38420382199996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:302.64, Y:-30.40, Z:-1.23 [[ 9.93737206e-01 1.11681576e-01 3.68651345e-03 3.02637686e+02] [-1.11680351e-01 9.93744037e-01 -5.37072642e-04 -3.04012922e+01] [-3.72343188e-03 1.21997950e-04 9.99993061e-01 -1.22654188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:-30.41, Z:-1.22 [[ 9.93783021e-01 1.11273163e-01 3.68653933e-03 3.02695094e+02] [-1.11271936e-01 9.93789851e-01 -5.36894972e-04 -3.04104463e+01] [-3.72338737e-03 1.23348739e-04 9.99993061e-01 -1.22393695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.75, Y:-30.42, Z:-1.23 [[ 9.93486041e-01 1.13894234e-01 3.68657812e-03 3.02751700e+02] [-1.13893026e-01 9.93492874e-01 -5.36628457e-04 -3.04214466e+01] [-3.72370798e-03 1.13257344e-04 9.99993061e-01 -1.22555982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.81, Y:-30.43, Z:-1.23 [[ 9.92729578e-01 1.20309578e-01 3.68661012e-03 3.02808816e+02] [-1.20308415e-01 9.92736419e-01 -5.36408533e-04 -3.04345634e+01] [-3.72436721e-03 8.89783955e-05 9.99993061e-01 -1.22703998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:-30.45, Z:-1.22 [[ 9.91583095e-01 1.29419375e-01 3.68663477e-03 3.02866484e+02] [-1.29418275e-01 9.91589947e-01 -5.36239088e-04 -3.04459536e+01] [-3.72502970e-03 5.46077008e-05 9.99993061e-01 -1.22293951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.92, Y:-30.46, Z:-1.22 [[ 9.90248652e-01 1.39262399e-01 3.68666075e-03 3.02923839e+02] [-1.39261369e-01 9.90255514e-01 -5.36060387e-04 -3.04589514e+01] [-3.72538919e-03 1.74236531e-05 9.99993061e-01 -1.22325751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.98, Y:-30.47, Z:-1.23 [[ 9.88807923e-01 1.49148583e-01 3.68668670e-03 3.02982031e+02] [-1.49147622e-01 9.88814795e-01 -5.35881888e-04 -3.04687734e+01] [-3.72537638e-03 -1.99762964e-05 9.99993061e-01 -1.22528872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.04, Y:-30.48, Z:-1.23 [[ 9.87847122e-01 1.55384912e-01 3.68671322e-03 3.03039713e+02] [-1.55383994e-01 9.87854001e-01 -5.35699349e-04 -3.04773591e+01] [-3.72517400e-03 -4.36671654e-05 9.99993061e-01 -1.22722576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.10, Y:-30.49, Z:-1.23 [[ 9.87617423e-01 1.56838243e-01 3.68673957e-03 3.03096489e+02] [-1.56837336e-01 9.87624303e-01 -5.35517944e-04 -3.04862399e+01] [-3.72510329e-03 -4.93315623e-05 9.99993061e-01 -1.22937870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.15, Y:-30.50, Z:-1.23 [[ 9.88346168e-01 1.52178380e-01 3.68678507e-03 3.03153208e+02] [-1.52177442e-01 9.88353044e-01 -5.35204490e-04 -3.04957023e+01] [-3.72529180e-03 -3.20782165e-05 9.99993061e-01 -1.23345086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.21, Y:-30.51, Z:-1.23 [[ 9.89306624e-01 1.45804019e-01 3.68681680e-03 3.03210676e+02] [-1.45803038e-01 9.89313493e-01 -5.34985873e-04 -3.05068017e+01] [-3.72542070e-03 -8.28402279e-06 9.99993061e-01 -1.23272270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:303.27, Y:-30.52, Z:-1.23 [[ 9.90558376e-01 1.37042004e-01 3.68684228e-03 3.03268662e+02] [-1.37040962e-01 9.90565237e-01 -5.34810191e-04 -3.05173158e+01] [-3.72534926e-03 2.45123000e-05 9.99993061e-01 -1.22952026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.33, Y:-30.53, Z:-1.23 [[ 9.91234734e-01 1.32061004e-01 3.68686904e-03 3.03325500e+02] [-1.32059928e-01 9.91241590e-01 -5.34625671e-04 -3.05280562e+01] [-3.72518113e-03 4.30518735e-05 9.99993061e-01 -1.23126653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.38, Y:-30.54, Z:-1.23 [[ 9.91100670e-01 1.33063399e-01 3.68690613e-03 3.03383811e+02] [-1.33062332e-01 9.91107527e-01 -5.34369739e-04 -3.05372544e+01] [-3.72522547e-03 3.90258802e-05 9.99993061e-01 -1.23245895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.44, Y:-30.55, Z:-1.23 [[ 9.90716782e-01 1.35892107e-01 3.68693200e-03 3.03442066e+02] [-1.35891060e-01 9.90723642e-01 -5.34191241e-04 -3.05473118e+01] [-3.72532307e-03 2.82111311e-05 9.99993061e-01 -1.22777502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.50, Y:-30.56, Z:-1.23 [[ 9.90606399e-01 1.36694437e-01 3.68695800e-03 3.03498501e+02] [-1.36693396e-01 9.90613260e-01 -5.34011682e-04 -3.05579689e+01] [-3.72534591e-03 2.50125768e-05 9.99993061e-01 -1.23118621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.56, Y:-30.57, Z:-1.23 [[ 9.90434985e-01 1.37930946e-01 3.68699138e-03 3.03555959e+02] [-1.37929915e-01 9.90441848e-01 -5.33781147e-04 -3.05684042e+01] [-3.72537549e-03 2.01291161e-05 9.99993061e-01 -1.23313291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.61, Y:-30.58, Z:-1.24 [[ 9.89650255e-01 1.43453052e-01 3.68701645e-03 3.03613592e+02] [-1.43452059e-01 9.89657123e-01 -5.33607919e-04 -3.05803569e+01] [-3.72542978e-03 -8.24888496e-07 9.99993061e-01 -1.23585243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.67, Y:-30.59, Z:-1.24 [[ 9.88959417e-01 1.48140737e-01 3.68704182e-03 3.03671972e+02] [-1.48139778e-01 9.88966289e-01 -5.33432546e-04 -3.05909046e+01] [-3.72538316e-03 -1.86544164e-05 9.99993061e-01 -1.23811816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.73, Y:-30.60, Z:-1.24 [[ 9.88243727e-01 1.52842212e-01 3.68706086e-03 3.03729876e+02] [-1.52841286e-01 9.88250604e-01 -5.33300945e-04 -3.05992255e+01] [-3.72525102e-03 -3.65038100e-05 9.99993061e-01 -1.23625778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.79, Y:-30.61, Z:-1.23 [[ 9.88023059e-01 1.54262244e-01 3.68708708e-03 3.03787695e+02] [-1.54261328e-01 9.88029938e-01 -5.33119589e-04 -3.06079564e+01] [-3.72519264e-03 -4.20405034e-05 9.99993061e-01 -1.23308421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.84, Y:-30.62, Z:-1.24 [[ 9.88138631e-01 1.53520200e-01 3.68711984e-03 3.03843588e+02] [-1.53519280e-01 9.88145509e-01 -5.32892879e-04 -3.06186580e+01] [-3.72522074e-03 -3.94719458e-05 9.99993061e-01 -1.23510106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.90, Y:-30.62, Z:-1.24 [[ 9.88211132e-01 1.53052815e-01 3.68716521e-03 3.03901172e+02] [-1.53051893e-01 9.88218010e-01 -5.32578809e-04 -3.06248202e+01] [-3.72523575e-03 -3.80273065e-05 9.99993061e-01 -1.23866149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.96, Y:-30.64, Z:-1.23 [[ 9.88285415e-01 1.52572418e-01 3.68719679e-03 3.03958437e+02] [-1.52571493e-01 9.88292293e-01 -5.32360108e-04 -3.06363518e+01] [-3.72525163e-03 -3.64373886e-05 9.99993061e-01 -1.23468904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.01, Y:-30.64, Z:-1.24 [[ 9.88466041e-01 1.51397785e-01 3.68722918e-03 3.04014724e+02] [-1.51396853e-01 9.88472918e-01 -5.32135631e-04 -3.06421163e+01] [-3.72529034e-03 -3.22368936e-05 9.99993061e-01 -1.23556347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.07, Y:-30.65, Z:-1.23 [[ 9.88990872e-01 1.47930587e-01 3.68728670e-03 3.04073014e+02] [-1.47929633e-01 9.88997746e-01 -5.31736772e-04 -3.06509332e+01] [-3.72537837e-03 -1.95761525e-05 9.99993061e-01 -1.23349279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.13, Y:-30.66, Z:-1.23 [[ 9.89743278e-01 1.42809827e-01 3.68731229e-03 3.04130363e+02] [-1.42808837e-01 9.89750147e-01 -5.31559291e-04 -3.06610838e+01] [-3.72542977e-03 -4.73545029e-07 9.99993061e-01 -1.23132865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:-30.67, Z:-1.23 [[ 9.89973070e-01 1.41208087e-01 3.68734396e-03 3.04188468e+02] [-1.41207088e-01 9.89979937e-01 -5.31339447e-04 -3.06673942e+01] [-3.72542597e-03 5.33264018e-06 9.99993061e-01 -1.23136724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06420382199997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:-30.68, Z:-1.23 [[ 9.90065536e-01 1.40558304e-01 3.68738170e-03 3.04246504e+02] [-1.40557301e-01 9.90072403e-01 -5.31077473e-04 -3.06763310e+01] [-3.72542221e-03 7.51308630e-06 9.99993061e-01 -1.22921379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.30, Y:-30.69, Z:-1.23 [[ 9.90308955e-01 1.38832907e-01 3.68740779e-03 3.04302925e+02] [-1.38831893e-01 9.90315820e-01 -5.30896218e-04 -3.06873424e+01] [-3.72540414e-03 1.38214771e-05 9.99993061e-01 -1.22964888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.36, Y:-30.70, Z:-1.24 [[ 9.90775278e-01 1.35464944e-01 3.68743996e-03 3.04360178e+02] [-1.35463907e-01 9.90782140e-01 -5.30672703e-04 -3.06960767e+01] [-3.72533720e-03 2.62623728e-05 9.99993061e-01 -1.23610303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:-30.71, Z:-1.23 [[ 9.91568227e-01 1.29533218e-01 3.68747146e-03 3.04417750e+02] [-1.29532141e-01 9.91575082e-01 -5.30453712e-04 -3.07085567e+01] [-3.72511619e-03 4.83349716e-05 9.99993061e-01 -1.23428687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.47, Y:-30.72, Z:-1.23 [[ 9.91993613e-01 1.26234201e-01 3.68749841e-03 3.04474405e+02] [-1.26233102e-01 9.92000465e-01 -5.30266336e-04 -3.07227621e+01] [-3.72493788e-03 6.05364563e-05 9.99993061e-01 -1.23245665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.53, Y:-30.73, Z:-1.23 [[ 9.91851270e-01 1.27347796e-01 3.68753168e-03 3.04532515e+02] [-1.27346705e-01 9.91858123e-01 -5.30034816e-04 -3.07314134e+01] [-3.72500702e-03 5.61206936e-05 9.99993061e-01 -1.23116287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.59, Y:-30.74, Z:-1.23 [[ 9.91348836e-01 1.31201708e-01 3.68755774e-03 3.04590274e+02] [-1.31200645e-01 9.91355693e-01 -5.29853489e-04 -3.07408761e+01] [-3.72519904e-03 4.14596857e-05 9.99993061e-01 -1.22900380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.65, Y:-30.75, Z:-1.23 [[ 9.89968164e-01 1.41242475e-01 3.68758372e-03 3.04647843e+02] [-1.41241482e-01 9.89975032e-01 -5.29672617e-04 -3.07501019e+01] [-3.72542808e-03 3.51924042e-06 9.99993061e-01 -1.23097470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.71, Y:-30.76, Z:-1.23 [[ 9.88697230e-01 1.49880583e-01 3.68760948e-03 3.04706671e+02] [-1.49879650e-01 9.88704106e-01 -5.29493205e-04 -3.07567146e+01] [-3.72531539e-03 -2.91891546e-05 9.99993061e-01 -1.23144644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.76, Y:-30.76, Z:-1.23 [[ 9.87983748e-01 1.54513805e-01 3.68763556e-03 3.04764326e+02] [-1.54512906e-01 9.87990628e-01 -5.29311480e-04 -3.07606269e+01] [-3.72513531e-03 -4.68361460e-05 9.99993061e-01 -1.23065831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.82, Y:-30.77, Z:-1.23 [[ 9.88195392e-01 1.53154392e-01 3.68766797e-03 3.04821985e+02] [-1.53153484e-01 9.88202272e-01 -5.29085585e-04 -3.07687539e+01] [-3.72519365e-03 -4.19392616e-05 9.99993061e-01 -1.23435726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.88, Y:-30.77, Z:-1.23 [[ 9.88878366e-01 1.48680794e-01 3.68769967e-03 3.04880931e+02] [-1.48679856e-01 9.88885241e-01 -5.28864574e-04 -3.07737654e+01] [-3.72534378e-03 -2.53039192e-05 9.99993061e-01 -1.23359093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.94, Y:-30.78, Z:-1.23 [[ 9.89542689e-01 1.44193156e-01 3.68772596e-03 3.04937964e+02] [-1.44192187e-01 9.89549561e-01 -5.28681225e-04 -3.07823585e+01] [-3.72541981e-03 -8.58863046e-06 9.99993061e-01 -1.23356496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.99, Y:-30.79, Z:-1.23 [[ 9.90062996e-01 1.40576186e-01 3.68775837e-03 3.04994986e+02] [-1.40575192e-01 9.90069864e-01 -5.28455048e-04 -3.07901877e+01] [-3.72542662e-03 4.79644615e-06 9.99993061e-01 -1.23208501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.05, Y:-30.80, Z:-1.23 [[ 9.90907708e-01 1.34492806e-01 3.68779427e-03 3.05053578e+02] [-1.34491772e-01 9.90914570e-01 -5.28204377e-04 -3.07982464e+01] [-3.72532876e-03 2.74238039e-05 9.99993061e-01 -1.23027017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:305.11, Y:-30.81, Z:-1.23 [[ 9.91206800e-01 1.32270480e-01 3.68782041e-03 3.05110305e+02] [-1.32269431e-01 9.91213659e-01 -5.28021837e-04 -3.08087711e+01] [-3.72525966e-03 3.55929272e-05 9.99993061e-01 -1.23397721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.17, Y:-30.82, Z:-1.23 [[ 9.90884456e-01 1.34664005e-01 3.68785266e-03 3.05168512e+02] [-1.34662973e-01 9.90891319e-01 -5.27796483e-04 -3.08186501e+01] [-3.72533637e-03 2.63681286e-05 9.99993061e-01 -1.23470105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.23, Y:-30.83, Z:-1.24 [[ 9.90201608e-01 1.39596470e-01 3.68787874e-03 3.05225707e+02] [-1.39595473e-01 9.90208476e-01 -5.27614165e-04 -3.08267668e+01] [-3.72542186e-03 7.63321850e-06 9.99993061e-01 -1.24017778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.28, Y:-30.83, Z:-1.24 [[ 9.89361978e-01 1.45427907e-01 3.68791096e-03 3.05283514e+02] [-1.45426951e-01 9.89368851e-01 -5.27388888e-04 -3.08347741e+01] [-3.72540129e-03 -1.45431337e-05 9.99993061e-01 -1.24482969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.34, Y:-30.84, Z:-1.24 [[ 9.89168380e-01 1.46738937e-01 3.68793571e-03 3.05341974e+02] [-1.46737991e-01 9.89175254e-01 -5.27215736e-04 -3.08420951e+01] [-3.72537782e-03 -1.96551419e-05 9.99993061e-01 -1.24411203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:-30.85, Z:-1.24 [[ 9.89576149e-01 1.43963342e-01 3.68796065e-03 3.05399906e+02] [-1.43962378e-01 9.89583021e-01 -5.27041210e-04 -3.08511374e+01] [-3.72541786e-03 -9.38017423e-06 9.99993061e-01 -1.23984169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.46, Y:-30.86, Z:-1.24 [[ 9.89570191e-01 1.44004291e-01 3.68798674e-03 3.05458331e+02] [-1.44003327e-01 9.89577063e-01 -5.26858608e-04 -3.08579160e+01] [-3.72541699e-03 -9.71878798e-06 9.99993061e-01 -1.23739779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.52, Y:-30.86, Z:-1.24 [[ 9.88817783e-01 1.49083165e-01 3.68801265e-03 3.05517384e+02] [-1.49082238e-01 9.88824660e-01 -5.26677194e-04 -3.08623639e+01] [-3.72531655e-03 -2.90294040e-05 9.99993061e-01 -1.24049113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.58, Y:-30.87, Z:-1.24 [[ 9.88278795e-01 1.52615271e-01 3.68803853e-03 3.05576602e+02] [-1.52614369e-01 9.88285676e-01 -5.26495843e-04 -3.08666175e+01] [-3.72518696e-03 -4.25229955e-05 9.99993061e-01 -1.24119860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.63, Y:-30.87, Z:-1.24 [[ 9.88322911e-01 1.52329318e-01 3.68806452e-03 3.05634321e+02] [-1.52328414e-01 9.88329792e-01 -5.26313741e-04 -3.08694830e+01] [-3.72519705e-03 -4.16290919e-05 9.99993061e-01 -1.24315510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.69, Y:-30.88, Z:-1.24 [[ 9.88715206e-01 1.49761940e-01 3.68809665e-03 3.05692557e+02] [-1.49761020e-01 9.88722084e-01 -5.26088517e-04 -3.08766643e+01] [-3.72529064e-03 -3.21813988e-05 9.99993061e-01 -1.24320694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.75, Y:-30.88, Z:-1.24 [[ 9.89770370e-01 1.42621918e-01 3.68812164e-03 3.05751515e+02] [-1.42620949e-01 9.89777242e-01 -5.25913253e-04 -3.08820729e+01] [-3.72542562e-03 -5.47005305e-06 9.99993061e-01 -1.24249432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.81, Y:-30.89, Z:-1.24 [[ 9.90248193e-01 1.39265625e-01 3.68814770e-03 3.05809327e+02] [-1.39264633e-01 9.90255061e-01 -5.25730457e-04 -3.08886954e+01] [-3.72542310e-03 6.97510077e-06 9.99993061e-01 -1.24464256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.87, Y:-30.90, Z:-1.24 [[ 9.90595056e-01 1.36776578e-01 3.68817914e-03 3.05867136e+02] [-1.36775569e-01 9.90601922e-01 -5.25509773e-04 -3.08971528e+01] [-3.72539477e-03 1.61145825e-05 9.99993061e-01 -1.24358858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.804203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.93, Y:-30.91, Z:-1.24 [[ 9.90917823e-01 1.34418244e-01 3.68820496e-03 3.05925589e+02] [-1.34417220e-01 9.90924687e-01 -5.25328532e-04 -3.09062716e+01] [-3.72534708e-03 2.47991495e-05 9.99993061e-01 -1.24021627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.864203822 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:305.98, Y:-30.91, Z:-1.24 [[ 9.91339277e-01 1.31273895e-01 3.68823119e-03 3.05983941e+02] [-1.31272850e-01 9.91346137e-01 -5.25144296e-04 -3.09142670e+01] [-3.72525148e-03 3.64315463e-05 9.99993061e-01 -1.24086961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.924203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.04, Y:-30.93, Z:-1.24 [[ 9.91653041e-01 1.28882285e-01 3.68825713e-03 3.06039756e+02] [-1.28881224e-01 9.91659899e-01 -5.24962025e-04 -3.09292331e+01] [-3.72515500e-03 4.52330945e-05 9.99993061e-01 -1.24193325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.10, Y:-30.94, Z:-1.24 [[ 9.91637174e-01 1.29004312e-01 3.68828914e-03 3.06096246e+02] [-1.29003253e-01 9.91644032e-01 -5.24737065e-04 -3.09397156e+01] [-3.72516325e-03 4.45474843e-05 9.99993061e-01 -1.24446867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.15, Y:-30.95, Z:-1.24 [[ 9.91270376e-01 1.31793162e-01 3.68832057e-03 3.06153334e+02] [-1.31792122e-01 9.91277237e-01 -5.24516031e-04 -3.09535673e+01] [-3.72527585e-03 3.38456076e-05 9.99993061e-01 -1.24247435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:-30.97, Z:-1.24 [[ 9.90710514e-01 1.35937758e-01 3.68834622e-03 3.06210753e+02] [-1.35936748e-01 9.90717379e-01 -5.24335630e-04 -3.09695524e+01] [-3.72538571e-03 1.80830308e-05 9.99993061e-01 -1.24077704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:-30.98, Z:-1.24 [[ 9.90092028e-01 1.40371551e-01 3.68837184e-03 3.06266944e+02] [-1.40370572e-01 9.90098898e-01 -5.24155343e-04 -3.09841630e+01] [-3.72542939e-03 1.22316205e-06 9.99993061e-01 -1.23932599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.32, Y:-31.00, Z:-1.25 [[ 9.89592241e-01 1.43852673e-01 3.68840358e-03 3.06323442e+02] [-1.43851719e-01 9.89599115e-01 -5.23931913e-04 -3.09995336e+01] [-3.72540992e-03 -1.21042397e-05 9.99993061e-01 -1.24565284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.38, Y:-31.01, Z:-1.25 [[ 9.89489941e-01 1.44554671e-01 3.68843492e-03 3.06380159e+02] [-1.44553723e-01 9.89496815e-01 -5.23711137e-04 -3.10119941e+01] [-3.72539950e-03 -1.49700976e-05 9.99993061e-01 -1.24656466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.44, Y:-31.03, Z:-1.25 [[ 9.89228659e-01 1.46332003e-01 3.68846589e-03 3.06436528e+02] [-1.46331068e-01 9.89235535e-01 -5.23492954e-04 -3.10323963e+01] [-3.72536530e-03 -2.18829194e-05 9.99993061e-01 -1.24881705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.49, Y:-31.05, Z:-1.25 [[ 9.88251292e-01 1.52793256e-01 3.68849142e-03 3.06493529e+02] [-1.52792367e-01 9.88258174e-01 -5.23312997e-04 -3.10495661e+01] [-3.72514049e-03 -4.64085896e-05 9.99993061e-01 -1.24628704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.55, Y:-31.06, Z:-1.24 [[ 9.86714786e-01 1.62420214e-01 3.68851735e-03 3.06550516e+02] [-1.62419393e-01 9.86721677e-01 -5.23130196e-04 -3.10611970e+01] [-3.72450694e-03 -8.29064469e-05 9.99993061e-01 -1.23751214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.61, Y:-31.07, Z:-1.23 [[ 9.85616969e-01 1.68954387e-01 3.68853369e-03 3.06608616e+02] [-1.68953612e-01 9.85623865e-01 -5.23014959e-04 -3.10722377e+01] [-3.72387250e-03 -1.07698670e-04 9.99993061e-01 -1.23435206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.67, Y:-31.08, Z:-1.24 [[ 9.84231546e-01 1.76846425e-01 3.68855952e-03 3.06667465e+02] [-1.76845706e-01 9.84238448e-01 -5.22832674e-04 -3.10773596e+01] [-3.72288319e-03 -1.37717503e-04 9.99993061e-01 -1.23677186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.72, Y:-31.09, Z:-1.24 [[ 9.84016878e-01 1.78037015e-01 3.68858576e-03 3.06724941e+02] [-1.78036305e-01 9.84023781e-01 -5.22647537e-04 -3.10863868e+01] [-3.72270671e-03 -1.42408181e-04 9.99993061e-01 -1.23928322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.78, Y:-31.09, Z:-1.24 [[ 9.84891178e-01 1.73135096e-01 3.68861795e-03 3.06783242e+02] [-1.73134353e-01 9.84898077e-01 -5.22420242e-04 -3.10924955e+01] [-3.72336201e-03 -1.24099393e-04 9.99993061e-01 -1.23966645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.84, Y:-31.10, Z:-1.24 [[ 9.86375210e-01 1.64469872e-01 3.68863741e-03 3.06840811e+02] [-1.64469068e-01 9.86382103e-01 -5.22282799e-04 -3.10995370e+01] [-3.72430571e-03 -9.14999509e-05 9.99993061e-01 -1.24417208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.90, Y:-31.11, Z:-1.25 [[ 9.87659292e-01 1.56574314e-01 3.68866984e-03 3.06898886e+02] [-1.56573456e-01 9.87666179e-01 -5.22053626e-04 -3.11069643e+01] [-3.72491464e-03 -6.19366718e-05 9.99993061e-01 -1.24544549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.96, Y:-31.11, Z:-1.25 [[ 9.88767589e-01 1.49415693e-01 3.68869545e-03 3.06957430e+02] [-1.49414785e-01 9.88774469e-01 -5.21872635e-04 -3.11146544e+01] [-3.72526385e-03 -3.51348924e-05 9.99993061e-01 -1.24707231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.02, Y:-31.12, Z:-1.25 [[ 9.89207014e-01 1.46478245e-01 3.68871456e-03 3.07015454e+02] [-1.46477318e-01 9.89213891e-01 -5.21737529e-04 -3.11241368e+01] [-3.72535088e-03 -2.42065927e-05 9.99993061e-01 -1.24700621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.07, Y:-31.13, Z:-1.24 [[ 9.88772430e-01 1.49383651e-01 3.68873346e-03 3.07074681e+02] [-1.49382744e-01 9.88779310e-01 -5.21603872e-04 -3.11277567e+01] [-3.72526242e-03 -3.52855989e-05 9.99993061e-01 -1.24125236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.13, Y:-31.13, Z:-1.24 [[ 9.88040843e-01 1.54148258e-01 3.68875214e-03 3.07132713e+02] [-1.54147385e-01 9.88047727e-01 -5.21471760e-04 -3.11323353e+01] [-3.72504713e-03 -5.33760979e-05 9.99993061e-01 -1.24224226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.19, Y:-31.14, Z:-1.25 [[ 9.87436670e-01 1.57972199e-01 3.68878281e-03 3.07191073e+02] [-1.57971354e-01 9.87443558e-01 -5.21254661e-04 -3.11352794e+01] [-3.72480857e-03 -6.80160482e-05 9.99993061e-01 -1.24600574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.25, Y:-31.14, Z:-1.25 [[ 9.87369651e-01 1.58390546e-01 3.68881445e-03 3.07250349e+02] [-1.58389704e-01 9.87376539e-01 -5.21030671e-04 -3.11401338e+01] [-3.72477518e-03 -6.98203583e-05 9.99993061e-01 -1.25188677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.31, Y:-31.15, Z:-1.25 [[ 9.87640643e-01 1.56691903e-01 3.68883256e-03 3.07309265e+02] [-1.56691050e-01 9.87647530e-01 -5.20902423e-04 -3.11450141e+01] [-3.72488756e-03 -6.35426425e-05 9.99993061e-01 -1.24896079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.304203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.37, Y:-31.15, Z:-1.25 [[ 9.87978554e-01 1.54546978e-01 3.68885760e-03 3.07368178e+02] [-1.54546111e-01 9.87985439e-01 -5.20725031e-04 -3.11514160e+01] [-3.72501408e-03 -5.56334328e-05 9.99993061e-01 -1.24603928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.364203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.43, Y:-31.16, Z:-1.24 [[ 9.88600010e-01 1.50520474e-01 3.68888319e-03 3.07426773e+02] [-1.50519580e-01 9.88606891e-01 -5.20543691e-04 -3.11569712e+01] [-3.72520783e-03 -4.06396506e-05 9.99993061e-01 -1.24470439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.424203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.48, Y:-31.16, Z:-1.25 [[ 9.88996720e-01 1.47891445e-01 3.68890883e-03 3.07484640e+02] [-1.47890533e-01 9.89003599e-01 -5.20361956e-04 -3.11613627e+01] [-3.72530119e-03 -3.09184243e-05 9.99993061e-01 -1.24653063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.54, Y:-31.17, Z:-1.24 [[ 9.89471231e-01 1.44682668e-01 3.68894058e-03 3.07543066e+02] [-1.44681735e-01 9.89478107e-01 -5.20136761e-04 -3.11693284e+01] [-3.72538072e-03 -1.90619609e-05 9.99993061e-01 -1.24414637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.60, Y:-31.18, Z:-1.24 [[ 9.89627791e-01 1.43607895e-01 3.68896639e-03 3.07601261e+02] [-1.43606954e-01 9.89634666e-01 -5.19953645e-04 -3.11768569e+01] [-3.72539847e-03 -1.52006513e-05 9.99993061e-01 -1.24292505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.66, Y:-31.18, Z:-1.24 [[ 9.88833827e-01 1.48976689e-01 3.68899226e-03 3.07659422e+02] [-1.48975787e-01 9.88840707e-01 -5.19770071e-04 -3.11776155e+01] [-3.72525934e-03 -3.56042952e-05 9.99993061e-01 -1.24127426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.72, Y:-31.18, Z:-1.24 [[ 9.88223779e-01 1.52971086e-01 3.68902411e-03 3.07718635e+02] [-1.52970212e-01 9.88230663e-01 -5.19543882e-04 -3.11822914e+01] [-3.72508194e-03 -5.08851826e-05 9.99993061e-01 -1.24108545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.78, Y:-31.19, Z:-1.25 [[ 9.87828966e-01 1.55500242e-01 3.68904988e-03 3.07776222e+02] [-1.55499386e-01 9.87835852e-01 -5.19360815e-04 -3.11877945e+01] [-3.72493647e-03 -6.06053357e-05 9.99993061e-01 -1.24527159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784203822 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:307.84, Y:-31.19, Z:-1.25 [[ 9.88326844e-01 1.52303773e-01 3.68908174e-03 3.07835177e+02] [-1.52302896e-01 9.88333728e-01 -5.19134410e-04 -3.11899774e+01] [-3.72511004e-03 -4.87833605e-05 9.99993061e-01 -1.24741962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.89, Y:-31.20, Z:-1.25 [[ 9.89022417e-01 1.47719495e-01 3.68910687e-03 3.07892297e+02] [-1.47718587e-01 9.89029297e-01 -5.18955794e-04 -3.11967970e+01] [-3.72529466e-03 -3.16907392e-05 9.99993061e-01 -1.24780172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.95, Y:-31.20, Z:-1.25 [[ 9.90354462e-01 1.38507868e-01 3.68913812e-03 3.07950789e+02] [-1.38506896e-01 9.90361333e-01 -5.18733553e-04 -3.12035562e+01] [-3.72542843e-03 2.75901863e-06 9.99993061e-01 -1.24663082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.01, Y:-31.21, Z:-1.24 [[ 9.91025512e-01 1.33621947e-01 3.68916255e-03 3.08009608e+02] [-1.33620943e-01 9.91032378e-01 -5.18559756e-04 -3.12106275e+01] [-3.72537050e-03 2.09565711e-05 9.99993061e-01 -1.24490195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.07, Y:-31.22, Z:-1.25 [[ 9.91799883e-01 1.27747338e-01 3.68918776e-03 3.08067327e+02] [-1.27746293e-01 9.91806743e-01 -5.18380319e-04 -3.12201498e+01] [-3.72518301e-03 4.28494778e-05 9.99993061e-01 -1.24722139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.12, Y:-31.23, Z:-1.25 [[ 9.91916884e-01 1.26835659e-01 3.68921325e-03 3.08124215e+02] [-1.26834608e-01 9.91923744e-01 -5.18198845e-04 -3.12300244e+01] [-3.72514431e-03 4.60902661e-05 9.99993061e-01 -1.25122022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:-31.24, Z:-1.25 [[ 9.91761773e-01 1.28042861e-01 3.68924472e-03 3.08182092e+02] [-1.28041820e-01 9.91768634e-01 -5.17974742e-04 -3.12375427e+01] [-3.72520016e-03 4.13299405e-05 9.99993061e-01 -1.25196663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.24, Y:-31.24, Z:-1.25 [[ 9.90662790e-01 1.36285090e-01 3.68926902e-03 3.08240455e+02] [-1.36284107e-01 9.90669659e-01 -5.17801563e-04 -3.12449321e+01] [-3.72541552e-03 1.01780083e-05 9.99993061e-01 -1.24923956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.30, Y:-31.25, Z:-1.25 [[ 9.89936029e-01 1.41467479e-01 3.68929514e-03 3.08297831e+02] [-1.41466532e-01 9.89942904e-01 -5.17615431e-04 -3.12536957e+01] [-3.72541729e-03 -9.50562545e-06 9.99993061e-01 -1.25164054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32420382199996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.36, Y:-31.26, Z:-1.25 [[ 9.88912499e-01 1.48453554e-01 3.68933118e-03 3.08355991e+02] [-1.48452657e-01 9.88919380e-01 -5.17358388e-04 -3.12601929e+01] [-3.72525480e-03 -3.60688401e-05 9.99993061e-01 -1.25407516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.41, Y:-31.27, Z:-1.25 [[ 9.88299345e-01 1.52482111e-01 3.68935674e-03 3.08414591e+02] [-1.52481243e-01 9.88306229e-01 -5.17176050e-04 -3.12658749e+01] [-3.72507435e-03 -5.14329502e-05 9.99993061e-01 -1.25404126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44420382199996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.47, Y:-31.27, Z:-1.26 [[ 9.88422407e-01 1.51682346e-01 3.68938257e-03 3.08472049e+02] [-1.51681473e-01 9.88429291e-01 -5.16991744e-04 -3.12701649e+01] [-3.72511232e-03 -4.86047571e-05 9.99993061e-01 -1.25548299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:-31.27, Z:-1.25 [[ 9.88713730e-01 1.49771656e-01 3.68942343e-03 3.08529644e+02] [-1.49770771e-01 9.88720612e-01 -5.16700027e-04 -3.12741724e+01] [-3.72519601e-03 -4.16993797e-05 9.99993061e-01 -1.25257698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.59, Y:-31.28, Z:-1.25 [[ 9.89260713e-01 1.46115127e-01 3.68946198e-03 3.08587317e+02] [-1.46114217e-01 9.89267592e-01 -5.16424604e-04 -3.12784730e+01] [-3.72532261e-03 -2.82042752e-05 9.99993061e-01 -1.25171317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62420382199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.65, Y:-31.28, Z:-1.25 [[ 9.90143212e-01 1.40010025e-01 3.68949376e-03 3.08645605e+02] [-1.40009073e-01 9.90150086e-01 -5.16197453e-04 -3.12818353e+01] [-3.72542538e-03 -5.45319827e-06 9.99993061e-01 -1.25120239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.70, Y:-31.28, Z:-1.25 [[ 9.91073006e-01 1.33269217e-01 3.68952494e-03 3.08703715e+02] [-1.33268219e-01 9.91079873e-01 -5.15974510e-04 -3.12849841e+01] [-3.72537743e-03 1.96719911e-05 9.99993061e-01 -1.24787210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.76, Y:-31.29, Z:-1.25 [[ 9.91929588e-01 1.26736260e-01 3.68955548e-03 3.08761813e+02] [-1.26735218e-01 9.91936449e-01 -5.15755990e-04 -3.12923478e+01] [-3.72516955e-03 4.39970072e-05 9.99993061e-01 -1.25028103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.804203822 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:-31.30, Z:-1.25 [[ 9.92489311e-01 1.22275735e-01 3.68957958e-03 3.08820076e+02] [-1.22274663e-01 9.92496167e-01 -5.15583533e-04 -3.13000665e+01] [-3.72493695e-03 6.05690446e-05 9.99993061e-01 -1.25005854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.864203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.88, Y:-31.31, Z:-1.25 [[ 9.92737646e-01 1.20242895e-01 3.68960486e-03 3.08878711e+02] [-1.20241809e-01 9.92744500e-01 -5.15402550e-04 -3.13068437e+01] [-3.72480843e-03 6.80147493e-05 9.99993061e-01 -1.24751391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.924203822 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:308.94, Y:-31.32, Z:-1.25 [[ 9.92951105e-01 1.18467256e-01 3.68963036e-03 3.08935787e+02] [-1.18466159e-01 9.92957957e-01 -5.15219974e-04 -3.13189946e+01] [-3.72468452e-03 7.44919063e-05 9.99993061e-01 -1.24917309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.99, Y:-31.33, Z:-1.25 [[ 9.93163981e-01 1.16669165e-01 3.68966195e-03 3.08993067e+02] [-1.16668056e-01 9.93170831e-01 -5.14993664e-04 -3.13328420e+01] [-3.72454850e-03 8.10074689e-05 9.99993061e-01 -1.24868699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044203822 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:309.05, Y:-31.35, Z:-1.25 [[ 9.93351543e-01 1.15061281e-01 3.68968693e-03 3.09051020e+02] [-1.15060162e-01 9.93358392e-01 -5.14814586e-04 -3.13457618e+01] [-3.72441670e-03 8.68558871e-05 9.99993061e-01 -1.24748073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.11, Y:-31.36, Z:-1.25 [[ 9.93597500e-01 1.12917643e-01 3.68971174e-03 3.09107085e+02] [-1.12916510e-01 9.93604346e-01 -5.14636725e-04 -3.13622892e+01] [-3.72422519e-03 9.47123922e-05 9.99993061e-01 -1.24982260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:-31.38, Z:-1.25 [[ 9.93805784e-01 1.11069573e-01 3.68974237e-03 3.09164725e+02] [-1.11068428e-01 9.93812628e-01 -5.14417015e-04 -3.13788354e+01] [-3.72404864e-03 1.01416720e-04 9.99993061e-01 -1.25234229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224203822 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:309.22, Y:-31.39, Z:-1.25 [[ 9.93620689e-01 1.12713409e-01 3.68977886e-03 3.09221895e+02] [-1.12712276e-01 9.93627535e-01 -5.14155186e-04 -3.13947342e+01] [-3.72421805e-03 9.49918575e-05 9.99993061e-01 -1.25451172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284203822 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:-31.41, Z:-1.26 [[ 9.93214219e-01 1.16240701e-01 3.68980297e-03 3.09278601e+02] [-1.16239594e-01 9.93221069e-01 -5.13982089e-04 -3.14068421e+01] [-3.72453569e-03 8.15931219e-05 9.99993061e-01 -1.25697165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344203822 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:-31.42, Z:-1.26 [[ 9.92648731e-01 1.20974716e-01 3.68983294e-03 3.09336439e+02] [-1.20973642e-01 9.92655587e-01 -5.13766863e-04 -3.14206656e+01] [-3.72488608e-03 6.36174976e-05 9.99993061e-01 -1.25757283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404203822 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.39, Y:-31.44, Z:-1.26 [[ 9.92295240e-01 1.23840790e-01 3.68985661e-03 3.09394347e+02] [-1.23839736e-01 9.92302099e-01 -5.13596766e-04 -3.14353545e+01] [-3.72505669e-03 5.26887561e-05 9.99993061e-01 -1.25542210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464203822 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:309.45, Y:-31.45, Z:-1.26 [[ 9.92209042e-01 1.24529519e-01 3.68987547e-03 3.09451120e+02] [-1.24528470e-01 9.92215902e-01 -5.13461245e-04 -3.14520150e+01] [-3.72509420e-03 4.99663422e-05 9.99993061e-01 -1.26021515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52420382199995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.51, Y:-31.47, Z:-1.26 [[ 9.92356415e-01 1.23349626e-01 3.68989420e-03 3.09510055e+02] [-1.23348570e-01 9.92363274e-01 -5.13326599e-04 -3.14699282e+01] [-3.72503413e-03 5.42597699e-05 9.99993061e-01 -1.25717402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58420382199995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:309.57, Y:-31.48, Z:-1.26 [[ 9.92290829e-01 1.23876129e-01 3.68989420e-03 3.09569549e+02] [-1.23875077e-01 9.92297688e-01 -5.13326599e-04 -3.14829830e+01] [-3.72506240e-03 5.22833483e-05 9.99993061e-01 -1.25508878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64420382199995 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:309.63, Y:-31.50, Z:-1.25 [[ 9.91926038e-01 1.26764035e-01 3.68989420e-03 3.09628145e+02] [-1.26763002e-01 9.91932900e-01 -5.13326599e-04 -3.14991800e+01] [-3.72519881e-03 4.14399530e-05 9.99993061e-01 -1.24780321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70420382199995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.69, Y:-31.51, Z:-1.24 [[ 9.91189646e-01 1.32398904e-01 3.68989420e-03 3.09686382e+02] [-1.32397911e-01 9.91196514e-01 -5.13326599e-04 -3.15146162e+01] [-3.72537415e-03 2.02697261e-05 9.99993061e-01 -1.24383286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76420382199996 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:309.74, Y:-31.53, Z:-1.24 [[ 9.90389249e-01 1.38258890e-01 3.68986245e-03 3.09744882e+02] [-1.38257936e-01 9.90396122e-01 -5.13554750e-04 -3.15266658e+01] [-3.72542897e-03 -1.53366352e-06 9.99993061e-01 -1.24402090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82420382199996 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:309.80, Y:-31.54, Z:-1.25 [[ 9.89699743e-01 1.43111155e-01 3.68987508e-03 3.09804682e+02] [-1.43110235e-01 9.89706622e-01 -5.13463947e-04 -3.15368892e+01] [-3.72537622e-03 -1.98837558e-05 9.99993061e-01 -1.24999774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88420382199996 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:309.86, Y:-31.55, Z:-1.25 [[ 9.89286690e-01 1.45939132e-01 3.68987508e-03 3.09862978e+02] [-1.45938232e-01 9.89293571e-01 -5.13463947e-04 -3.15476099e+01] [-3.72530418e-03 -3.05307989e-05 9.99993061e-01 -1.25360570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94420382199996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:309.92, Y:-31.55, Z:-1.25 [[ 9.88342436e-01 1.52202543e-01 3.68988134e-03 3.09923333e+02] [-1.52201687e-01 9.88349322e-01 -5.13419007e-04 -3.15545474e+01] [-3.72503540e-03 -5.41723714e-05 9.99993061e-01 -1.25301631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00420382199997 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:309.98, Y:-31.56, Z:-1.25 [[ 9.87672130e-01 1.56493286e-01 3.68988134e-03 3.09981325e+02] [-1.56492460e-01 9.87679020e-01 -5.13419007e-04 -3.15616363e+01] [-3.72476501e-03 -7.03489616e-05 9.99993061e-01 -1.25415883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06420382199997 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:310.04, Y:-31.57, Z:-1.25 [[ 9.87595869e-01 1.56973835e-01 3.68989992e-03 3.10040545e+02] [-1.56973013e-01 9.87602759e-01 -5.13285392e-04 -3.15688518e+01] [-3.72472772e-03 -7.22961753e-05 9.99993061e-01 -1.25393627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12420382199997 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:310.10, Y:-31.58, Z:-1.25 [[ 9.87745875e-01 1.56027151e-01 3.68991183e-03 3.10100215e+02] [-1.56026322e-01 9.87752764e-01 -5.13199817e-04 -3.15767889e+01] [-3.72479371e-03 -6.88123687e-05 9.99993061e-01 -1.25316601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184203822 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:310.16, Y:-31.58, Z:-1.26 [[ 9.87849393e-01 1.55370400e-01 3.68991183e-03 3.10158685e+02] [-1.55369566e-01 9.87856282e-01 -5.13199817e-04 -3.15790595e+01] [-3.72483864e-03 -6.63358725e-05 9.99993061e-01 -1.25792185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244203822 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:-31.58, Z:-1.26 [[ 9.87462862e-01 1.57808368e-01 3.68993042e-03 3.10217049e+02] [-1.57807552e-01 9.87469753e-01 -5.13066116e-04 -3.15822097e+01] [-3.72466080e-03 -7.56651516e-05 9.99993061e-01 -1.25643487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.304203822 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:-31.59, Z:-1.25 [[ 9.87316363e-01 1.58722349e-01 3.68996005e-03 3.10276986e+02] [-1.58721540e-01 9.87323255e-01 -5.12852914e-04 -3.15866446e+01] [-3.72458458e-03 -7.93280693e-05 9.99993061e-01 -1.25151172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.364203822 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:-31.59, Z:-1.25 [[ 9.88038289e-01 1.54164599e-01 3.68997241e-03 3.10336987e+02] [-1.54163759e-01 9.88045177e-01 -5.12763923e-04 -3.15902347e+01] [-3.72490949e-03 -6.22296276e-05 9.99993061e-01 -1.25321961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.424203822 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:-31.60, Z:-1.26 [[ 9.88650934e-01 1.50185599e-01 3.68998492e-03 3.10395331e+02] [-1.50184731e-01 9.88657819e-01 -5.12673930e-04 -3.15981789e+01] [-3.72512868e-03 -4.73238326e-05 9.99993061e-01 -1.25721515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484203822 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:-31.60, Z:-1.26 [[ 9.88899493e-01 1.48540149e-01 3.68999619e-03 3.10455171e+02] [-1.48539270e-01 9.88906377e-01 -5.12592769e-04 -3.16045455e+01] [-3.72520137e-03 -4.12066128e-05 9.99993061e-01 -1.26090507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544203822 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:310.51, Y:-31.61, Z:-1.26 [[ 9.88197852e-01 1.53138463e-01 3.69001667e-03 3.10513343e+02] [-1.53137617e-01 9.88204740e-01 -5.12445299e-04 -3.16111259e+01] [-3.72496705e-03 -5.86830173e-05 9.99993061e-01 -1.25914698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604203822 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:310.57, Y:-31.61, Z:-1.26 [[ 9.87425229e-01 1.58043670e-01 3.69003565e-03 3.10572691e+02] [-1.58042859e-01 9.87432120e-01 -5.12308615e-04 -3.16144350e+01] [-3.72462686e-03 -7.73173306e-05 9.99993061e-01 -1.25702703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664203822 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:310.63, Y:-31.62, Z:-1.26 [[ 9.86712003e-01 1.62437082e-01 3.69006063e-03 3.10631810e+02] [-1.62436302e-01 9.86718899e-01 -5.12128622e-04 -3.16164360e+01] [-3.72424124e-03 -9.40763455e-05 9.99993061e-01 -1.25650484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724203822 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:310.69, Y:-31.62, Z:-1.26 [[ 9.86938755e-01 1.61053649e-01 3.69008559e-03 3.10690869e+02] [-1.61052860e-01 9.86945649e-01 -5.11948691e-04 -3.16169155e+01] [-3.72436512e-03 -8.90368338e-05 9.99993061e-01 -1.26207864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784203822 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:310.75, Y:-31.62, Z:-1.26 [[ 9.87573577e-01 1.57114012e-01 3.69010468e-03 3.10749569e+02] [-1.57113196e-01 9.87580469e-01 -5.11811103e-04 -3.16226703e+01] [-3.72468800e-03 -7.43130162e-05 9.99993061e-01 -1.26150341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844203822 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:310.81, Y:-31.63, Z:-1.26 [[ 9.89176714e-01 1.46682690e-01 3.69013047e-03 3.10807034e+02] [-1.46681802e-01 9.89183596e-01 -5.11625052e-04 -3.16288071e+01] [-3.72526307e-03 -3.51873989e-05 9.99993061e-01 -1.25584722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904203822 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:310.87, Y:-31.64, Z:-1.25 [[ 9.91114736e-01 1.32958503e-01 3.69016166e-03 3.10866190e+02] [-1.32957521e-01 9.91121605e-01 -5.11399977e-04 -3.16379609e+01] [-3.72539393e-03 1.62213085e-05 9.99993061e-01 -1.25100787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964203822 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:310.92, Y:-31.65, Z:-1.25 [[ 9.92405582e-01 1.22953420e-01 3.69017440e-03 3.10923946e+02] [-1.22952368e-01 9.92412441e-01 -5.11308070e-04 -3.16512062e+01] [-3.72504206e-03 5.37093016e-05 9.99993061e-01 -1.25131479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02420382199995 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:-31.67, Z:-1.25 [[ 9.92815921e-01 1.19594858e-01 3.69018068e-03 3.10981931e+02] [-1.19593784e-01 9.92822777e-01 -5.11262718e-04 -3.16652591e+01] [-3.72483982e-03 6.62670962e-05 9.99993061e-01 -1.25018444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08420382199995 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:311.04, Y:-31.68, Z:-1.26 [[ 9.92796146e-01 1.19758908e-01 3.69019307e-03 3.11039821e+02] [-1.19757835e-01 9.92803001e-01 -5.11173304e-04 -3.16789068e+01] [-3.72485231e-03 6.55613544e-05 9.99993061e-01 -1.25507022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14420382199995 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:311.10, Y:-31.69, Z:-1.25 [[ 9.92653303e-01 1.20937184e-01 3.69019923e-03 3.11097312e+02] [-1.20936120e-01 9.92660160e-01 -5.11128828e-04 -3.16898471e+01] [-3.72492824e-03 6.10953438e-05 9.99993061e-01 -1.25473249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20420382199995 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:311.16, Y:-31.71, Z:-1.26 [[ 9.91782747e-01 1.27880276e-01 3.69021663e-03 3.11156488e+02] [-1.27879260e-01 9.91789612e-01 -5.11003120e-04 -3.17055578e+01] [-3.72526574e-03 3.49019066e-05 9.99993061e-01 -1.25767981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26420382199996 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:311.21, Y:-31.72, Z:-1.28 [[ 9.90170865e-01 1.39814308e-01 3.69021663e-03 3.11214690e+02] [-1.39813374e-01 9.90177741e-01 -5.11003120e-04 -3.17180251e+01] [-3.72541592e-03 -9.96123807e-06 9.99993061e-01 -1.27624672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32420382199996 meters Centerline goodness : 0.992672 with order 1 Centerline is valid? [True, True] Translation: X:311.27, Y:-31.73, Z:-1.28 [[ 9.88710611e-01 1.49792223e-01 3.69022905e-03 3.11274368e+02] [-1.49791359e-01 9.88717496e-01 -5.10913462e-04 -3.17260762e+01] [-3.72512489e-03 -4.76188623e-05 9.99993061e-01 -1.27525730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38420382199996 meters Centerline goodness : 0.989731 with order 1 Centerline is valid? [True, True] Translation: X:311.33, Y:-31.73, Z:-1.28 [[ 9.88308861e-01 1.52420400e-01 3.69023240e-03 3.11334646e+02] [-1.52419555e-01 9.88315748e-01 -5.10889257e-04 -3.17334707e+01] [-3.72498474e-03 -5.75471985e-05 9.99993061e-01 -1.27532857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44420382199996 meters Centerline goodness : 0.984093 with order 1 Centerline is valid? [True, True] Translation: X:311.39, Y:-31.74, Z:-1.26 [[ 9.88269600e-01 1.52674754e-01 3.69022670e-03 3.11394183e+02] [-1.52673911e-01 9.88276488e-01 -5.10930406e-04 -3.17368775e+01] [-3.72497046e-03 -5.84643536e-05 9.99993061e-01 -1.26105658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50420382199997 meters Centerline goodness : 0.979331 with order 1 Centerline is valid? [True, True] Translation: X:311.45, Y:-31.75, Z:-1.27 [[ 9.88739776e-01 1.49599587e-01 3.69024057e-03 3.11452514e+02] [-1.49598722e-01 9.88746662e-01 -5.10830234e-04 -3.17451188e+01] [-3.72513303e-03 -4.69771034e-05 9.99993061e-01 -1.26615393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56420382199997 meters Centerline goodness : 0.089007 with order 1 Centerline is valid? [True, False] Translation: X:311.45, Y:-31.74, Z:-1.27 [[ 9.90053421e-01 1.40663732e-01 2.81748134e-03 3.11452227e+02] [-1.40630162e-01 9.90013608e-01 -9.80880574e-03 -3.17415764e+01] [-4.16908809e-03 9.31501882e-03 9.99947923e-01 -1.26719986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62420382199997 meters Centerline goodness : 0.113998 with order 1 Centerline is valid? [False, False] Translation: X:311.45, Y:-31.75, Z:-1.27 [[ 9.91572457e-01 1.29412536e-01 6.03803618e-03 3.11454192e+02] [-1.29406543e-01 9.91590670e-01 -1.37458344e-03 -3.17482468e+01] [-6.16514867e-03 5.81637694e-04 9.99980826e-01 -1.27103778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684203822 meters Centerline goodness : 0.141879 with order 1 Centerline is valid? [False, False] Translation: X:311.43, Y:-31.76, Z:-1.27 [[ 9.93107886e-01 1.16949795e-01 7.71180522e-03 3.11429127e+02] [-1.17057720e-01 9.93004731e-01 1.54626884e-02 -3.17614616e+01] [-5.84950083e-03 -1.62588441e-02 9.99850706e-01 -1.27136119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744203822 meters Centerline goodness : 0.142876 with order 1 Centerline is valid? [False, False] Translation: X:311.43, Y:-31.76, Z:-1.27 [[ 9.94050822e-01 1.08688143e-01 7.06048240e-03 3.11429171e+02] [-1.08734317e-01 9.94049452e-01 6.52185517e-03 -3.17589257e+01] [-6.30962034e-03 -7.25077223e-03 9.99953806e-01 -1.27226121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.804203822 meters Centerline goodness : 0.135475 with order 1 Centerline is valid? [False, False] Translation: X:311.43, Y:-31.76, Z:-1.27 [[ 9.94854882e-01 1.01098209e-01 6.55103248e-03 3.11429064e+02] [-1.01084991e-01 9.94875091e-01 -2.31909217e-03 -3.17552908e+01] [-6.75191510e-03 1.64494910e-03 9.99975853e-01 -1.27248008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.864203822 meters Centerline goodness : 0.127804 with order 1 Centerline is valid? [False, False] Translation: X:311.45, Y:-31.76, Z:-1.28 [[ 9.94742617e-01 1.01924591e-01 9.92488698e-03 3.11453709e+02] [-1.01808251e-01 9.94736443e-01 -1.15969778e-02 -3.17602018e+01] [-1.10546640e-02 1.05255726e-02 9.99883497e-01 -1.28011531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.924203822 meters Centerline goodness : 0.136673 with order 1 Centerline is valid? [False, False] Translation: X:311.46, Y:-31.76, Z:-1.28 [[ 9.95067338e-01 9.87889953e-02 9.04036034e-03 3.11456218e+02] [-9.86459901e-02 9.95008120e-01 -1.50933975e-02 -3.17633684e+01] [-1.04862935e-02 1.41271516e-02 9.99845219e-01 -1.28089833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984203822 meters Centerline goodness : 0.129741 with order 1 Centerline is valid? [False, False] Translation: X:311.46, Y:-31.77, Z:-1.28 [[ 9.95008571e-01 9.93550521e-02 9.30144594e-03 3.11456020e+02] [-9.92220909e-02 9.94969529e-01 -1.38062978e-02 -3.17687910e+01] [-1.06263807e-02 1.28144757e-02 9.99861425e-01 -1.28228824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044203822 meters Centerline goodness : 0.088505 with order 1 Centerline is valid? [False, False] Translation: X:311.48, Y:-31.82, Z:-1.28 [[ 9.93883300e-01 1.09811908e-01 1.17188543e-02 3.11481207e+02] [-1.10192457e-01 9.93132651e-01 3.93085254e-02 -3.18190494e+01] [-7.32183262e-03 -4.03594163e-02 9.99158400e-01 -1.27783680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104203822 meters Centerline goodness : 0.087129 with order 1 Centerline is valid? [False, False] Translation: X:311.49, Y:-31.81, Z:-1.29 [[ 9.93359946e-01 1.13981594e-01 1.56273493e-02 3.11490178e+02] [-1.14350663e-01 9.93120641e-01 2.52055153e-02 -3.18142252e+01] [-1.26468784e-02 -2.68251471e-02 9.99560137e-01 -1.28756988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164203822 meters Centerline goodness : 0.088222 with order 1 Centerline is valid? [False, False] Translation: X:311.50, Y:-31.81, Z:-1.30 [[ 9.92399507e-01 1.21575957e-01 1.90395588e-02 3.11497487e+02] [-1.21835445e-01 9.92463653e-01 1.31157015e-02 -3.18112139e+01] [-1.73015161e-02 -1.53357088e-02 9.99732701e-01 -1.29727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224203822 meters Centerline goodness : 0.085066 with order 1 Centerline is valid? [False, False] Translation: X:311.55, Y:-31.81, Z:-1.30 [[ 9.90606197e-01 1.35937970e-01 1.48401470e-02 3.11554023e+02] [-1.36014124e-01 9.90697807e-01 4.24425345e-03 -3.18128978e+01] [-1.41251459e-02 -6.22285337e-03 9.99880871e-01 -1.29783727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284203822 meters Centerline goodness : 0.086232 with order 1 Centerline is valid? [False, False] Translation: X:311.57, Y:-31.81, Z:-1.31 [[ 9.88871157e-01 1.47106065e-01 2.22180032e-02 3.11566306e+02] [-1.47139065e-01 9.89115803e-01 -1.51059974e-04 -3.18066456e+01] [-2.19983999e-02 -3.11975737e-03 9.99753138e-01 -1.30783785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344203822 meters Centerline goodness : 0.086631 with order 1 Centerline is valid? [False, False] Translation: X:311.59, Y:-31.80, Z:-1.32 [[ 9.88101129e-01 1.51589991e-01 2.60121989e-02 3.11591761e+02] [-1.51439638e-01 9.88436770e-01 -7.66730312e-03 -3.18019343e+01] [-2.68737003e-02 3.63679288e-03 9.99632221e-01 -1.31651505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404203822 meters Centerline goodness : 0.087403 with order 1 Centerline is valid? [False, False] Translation: X:311.59, Y:-31.80, Z:-1.32 [[ 9.88715235e-01 1.47649904e-01 2.53316099e-02 3.11594059e+02] [-1.47360436e-01 9.88998117e-01 -1.29470483e-02 -3.17951360e+01] [-2.69645450e-02 9.06806678e-03 9.99595260e-01 -1.31876955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464203822 meters Centerline goodness : 0.090156 with order 1 Centerline is valid? [False, False] Translation: X:311.60, Y:-31.78, Z:-1.32 [[ 9.89528191e-01 1.42131344e-01 2.51523325e-02 3.11596939e+02] [-1.41663150e-01 9.89722498e-01 -1.95174078e-02 -3.17826625e+01] [-2.76678648e-02 1.57498666e-02 9.99493087e-01 -1.32249123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52420382199995 meters Centerline goodness : 0.089883 with order 3 Centerline is valid? [False, False] Translation: X:311.60, Y:-31.78, Z:-1.32 [[ 9.90219982e-01 1.37218986e-01 2.52058806e-02 3.11596761e+02] [-1.36591732e-01 9.90308754e-01 -2.51251129e-02 -3.17752054e+01] [-2.84092467e-02 2.14364740e-02 9.99366495e-01 -1.32354884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58420382199995 meters Centerline goodness : 0.092585 with order 1 Centerline is valid? [False, False] Translation: X:311.63, Y:-31.78, Z:-1.34 [[ 9.90321865e-01 1.35174833e-01 3.14701216e-02 3.11626685e+02] [-1.34587988e-01 9.90698105e-01 -2.00833010e-02 -3.17772124e+01] [-3.38921467e-02 1.56534317e-02 9.99302903e-01 -1.33611408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64420382199995 meters SLAMing on 317.70420382199995 meters Centerline goodness : 0.068991 with order 1 Centerline is valid? [False, False] Translation: X:311.64, Y:-31.76, Z:-1.35 [[ 9.89657273e-01 1.39729296e-01 3.24685302e-02 3.11637420e+02] [-1.39236420e-01 9.90113469e-01 -1.69863797e-02 -3.17649952e+01] [-3.45210240e-02 1.22898923e-02 9.99328403e-01 -1.34703616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76420382199996 meters Centerline goodness : 0.812667 with order 1 Centerline is valid? [False, False] Translation: X:311.64, Y:-31.76, Z:-1.35 [[ 9.89738713e-01 1.39159123e-01 3.24348459e-02 3.11640020e+02] [-1.38629693e-01 9.90179823e-01 -1.80479094e-02 -3.17596968e+01] [-3.46278612e-02 1.33662819e-02 9.99310889e-01 -1.34953426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82420382199996 meters Centerline goodness : 0.800176 with order 1 Centerline is valid? [False, False] Translation: X:311.66, Y:-31.75, Z:-1.35 [[ 9.91126246e-01 1.29844599e-01 2.84454561e-02 3.11659765e+02] [-1.29224194e-01 9.91356302e-01 -2.26669225e-02 -3.17518789e+01] [-3.11427596e-02 1.87899407e-02 9.99338314e-01 -1.34828964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88420382199996 meters Centerline goodness : 0.786796 with order 1 Centerline is valid? [False, False] Translation: X:311.68, Y:-31.75, Z:-1.35 [[ 9.92485476e-01 1.19904635e-01 2.44020276e-02 3.11682452e+02] [-1.19256718e-01 9.92510413e-01 -2.64747964e-02 -3.17497084e+01] [-2.73937173e-02 2.33657452e-02 9.99351603e-01 -1.34730339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94420382199996 meters Centerline goodness : 0.774109 with order 1 Centerline is valid? [False, False] Translation: X:311.69, Y:-31.75, Z:-1.35 [[ 9.92739071e-01 1.17850795e-01 2.40899866e-02 3.11688697e+02] [-1.17170819e-01 9.92719121e-01 -2.79239343e-02 -3.17477203e+01] [-2.72054482e-02 2.48985371e-02 9.99319732e-01 -1.35224303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00420382199997 meters Centerline goodness : 0.768245 with order 3 Centerline is valid? [False, False] Translation: X:311.69, Y:-31.75, Z:-1.35 [[ 9.92731943e-01 1.17875482e-01 2.42623118e-02 3.11690154e+02] [-1.17189180e-01 9.92714862e-01 -2.79981875e-02 -3.17481909e+01] [-2.73858573e-02 2.49514146e-02 9.99313485e-01 -1.35386075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06420382199997 meters Centerline goodness : 0.758740 with order 3 Centerline is valid? [False, False] Translation: X:311.69, Y:-31.74, Z:-1.36 [[ 9.92711497e-01 1.18066795e-01 2.41684726e-02 3.11694383e+02] [-1.17363863e-01 9.92674426e-01 -2.86916016e-02 -3.17439733e+01] [-2.73789502e-02 2.56459775e-02 9.99296091e-01 -1.35709915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12420382199997 meters Centerline goodness : 0.748046 with order 3 Centerline is valid? [False, False] Translation: X:311.70, Y:-31.74, Z:-1.36 [[ 9.92266632e-01 1.21605400e-01 2.48808656e-02 3.11698976e+02] [-1.20973183e-01 9.92327868e-01 -2.55125543e-02 -3.17405576e+01] [-2.77924407e-02 2.23053388e-02 9.99364824e-01 -1.36220219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184203822 meters Centerline goodness : 0.742784 with order 3 Centerline is valid? [False, False] Translation: X:311.70, Y:-31.74, Z:-1.36 [[ 9.92265191e-01 1.21643991e-01 2.47493344e-02 3.11702094e+02] [-1.21000045e-01 9.92310844e-01 -2.60418652e-02 -3.17374999e+01] [-2.77268693e-02 2.28457658e-02 9.99354437e-01 -1.36410322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244203822 meters Centerline goodness : 0.730298 with order 2 Centerline is valid? [False, False] Translation: X:311.71, Y:-31.73, Z:-1.37 [[ 9.92292635e-01 1.21394941e-01 2.48715768e-02 3.11707976e+02] [-1.20719092e-01 9.92317170e-01 -2.70838553e-02 -3.17340343e+01] [-2.79683357e-02 2.38726359e-02 9.99323706e-01 -1.36967996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.304203822 meters Centerline goodness : 0.629756 with order 2 Centerline is valid? [False, False] Translation: X:311.71, Y:-31.73, Z:-1.38 [[ 9.92364626e-01 1.20759966e-01 2.50894411e-02 3.11713741e+02] [-1.20050573e-01 9.92370399e-01 -2.80864866e-02 -3.17310719e+01] [-2.82897418e-02 2.48600340e-02 9.99290583e-01 -1.37563277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.364203822 meters Centerline goodness : 0.715809 with order 1 Centerline is valid? [False, False] Translation: X:311.72, Y:-31.73, Z:-1.38 [[ 9.92384310e-01 1.20567000e-01 2.52384415e-02 3.11715763e+02] [-1.19843356e-01 9.92384898e-01 -2.84567175e-02 -3.17287857e+01] [-2.84771892e-02 2.52153404e-02 9.99276356e-01 -1.37683164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.424203822 meters Centerline goodness : 0.583000 with order 2 Centerline is valid? [False, False] Translation: X:311.76, Y:-31.73, Z:-1.38 [[ 9.92218361e-01 1.20486005e-01 3.13981912e-02 3.11756906e+02] [-1.19580234e-01 9.92392362e-01 -2.92910922e-02 -3.17301089e+01] [-3.46884918e-02 2.53085565e-02 9.99077667e-01 -1.38088564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484203822 meters Centerline goodness : 0.692418 with order 2 Centerline is valid? [False, False] Translation: X:311.76, Y:-31.73, Z:-1.38 [[ 9.92222866e-01 1.20378130e-01 3.16684292e-02 3.11758261e+02] [-1.19452719e-01 9.92396879e-01 -2.96560660e-02 -3.17286400e+01] [-3.49975921e-02 2.56425469e-02 9.99058371e-01 -1.38161100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544203822 meters Centerline goodness : 0.586282 with order 1 Centerline is valid? [False, False] Translation: X:311.76, Y:-31.72, Z:-1.38 [[ 9.92246700e-01 1.20052893e-01 3.21525898e-02 3.11761023e+02] [-1.19083504e-01 9.92414383e-01 -3.05419802e-02 -3.17241048e+01] [-3.55753457e-02 2.64763360e-02 9.99016215e-01 -1.38415791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604203822 meters Centerline goodness : 0.674979 with order 1 Centerline is valid? [False, False] Translation: X:311.77, Y:-31.72, Z:-1.39 [[ 9.92221564e-01 1.20364582e-01 3.17605901e-02 3.11772987e+02] [-1.19395999e-01 9.92368377e-01 -3.08155630e-02 -3.17193442e+01] [-3.52273076e-02 2.67837788e-02 9.99020353e-01 -1.39379207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664203822 meters Centerline goodness : 0.469709 with order 3 Centerline is valid? [False, False] Translation: X:311.78, Y:-31.71, Z:-1.40 [[ 9.92402713e-01 1.18951244e-01 3.14238318e-02 3.11780818e+02] [-1.17937627e-01 9.92493737e-01 -3.23558170e-02 -3.17137584e+01] [-3.50367209e-02 2.84039484e-02 9.98982304e-01 -1.39947790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724203822 meters Centerline goodness : 0.479627 with order 3 Centerline is valid? [False, False] Translation: X:311.79, Y:-31.71, Z:-1.41 [[ 9.92870045e-01 1.15288614e-01 3.02920717e-02 3.11792876e+02] [-1.14154733e-01 9.92780312e-01 -3.68232153e-02 -3.17093032e+01] [-3.43186698e-02 3.31026841e-02 9.98862574e-01 -1.40835705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784203822 meters Centerline goodness : 0.507821 with order 1 Centerline is valid? [False, False] Translation: X:311.82, Y:-31.71, Z:-1.41 [[ 9.93553644e-01 1.10126026e-01 2.68963750e-02 3.11815457e+02] [-1.09121813e-01 9.93364573e-01 -3.63215526e-02 -3.17069944e+01] [-3.07178543e-02 3.31524298e-02 9.98978143e-01 -1.40588704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844203822 meters Centerline goodness : 0.476544 with order 2 Centerline is valid? [False, False] Translation: X:311.85, Y:-31.71, Z:-1.41 [[ 9.94421560e-01 1.02976051e-01 2.28406176e-02 3.11845361e+02] [-1.02117315e-01 9.94119781e-01 -3.60265822e-02 -3.17057364e+01] [-2.64161849e-02 3.34931876e-02 9.99089782e-01 -1.40615264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904203822 meters Centerline goodness : 0.504966 with order 2 Centerline is valid? [False, False] Translation: X:311.85, Y:-31.71, Z:-1.41 [[ 9.94580027e-01 1.01620934e-01 2.19944673e-02 3.11851477e+02] [-1.00777068e-01 9.94236608e-01 -3.65725397e-02 -3.17059282e+01] [-2.55842402e-02 3.41577796e-02 9.99088931e-01 -1.40993640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964203822 meters Centerline goodness : 0.566778 with order 2 Centerline is valid? [False, False] Translation: X:311.88, Y:-31.71, Z:-1.43 [[ 9.95145763e-01 9.36977584e-02 3.00938540e-02 3.11882121e+02] [-9.25398041e-02 9.94990883e-01 -3.78090962e-02 -3.17145080e+01] [-3.34857379e-02 3.48406825e-02 9.98831734e-01 -1.42596651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02420382199995 meters Centerline goodness : 0.469846 with order 1 Centerline is valid? [False, False] Translation: X:311.91, Y:-31.72, Z:-1.42 [[ 9.95723492e-01 8.84800304e-02 2.65708906e-02 3.11907232e+02] [-8.74965372e-02 9.95508994e-01 -3.61413724e-02 -3.17173186e+01] [-2.96493503e-02 3.36619526e-02 9.98993388e-01 -1.42266873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08420382199995 meters Centerline goodness : 0.468781 with order 1 Centerline is valid? [False, False] Translation: X:311.91, Y:-31.72, Z:-1.42 [[ 9.95691211e-01 8.87694559e-02 2.68141192e-02 3.11908781e+02] [-8.77844554e-02 9.95491804e-01 -3.59159724e-02 -3.17196798e+01] [-2.98814773e-02 3.34073552e-02 9.98995018e-01 -1.42310877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14420382199995 meters Centerline goodness : 0.476733 with order 1 Centerline is valid? [False, False] Translation: X:311.94, Y:-31.73, Z:-1.43 [[ 9.95366369e-01 9.34062649e-02 2.28267547e-02 3.11937359e+02] [-9.25474722e-02 9.95051488e-01 -3.61593913e-02 -3.17304215e+01] [-2.60913099e-02 3.38792836e-02 9.99085301e-01 -1.42578902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3514.52 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%| | 0/10640 [00:00